Delta ASDA B2 User Manual

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Delta Standard AC Servo Drive for General Purpose Applications ASDA-B2 Series User Manual
Industrial Automation Headquarters
Taiwan: Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan District,
Taoyuan City 330477, Taiwan
TEL: +886-3-362-6301 / FAX: +886-3-371-6301
Asia EMEA
China: Delta Electronics (Shanghai) Co., Ltd. EMEA Headquarters: Delta Electronics (Netherlands) B.V.
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Delta Standard AC Servo Drive for

Mail: [email protected]
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General Purpose Applications
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ASDA-B2 Series User Manual
Samutprakarn 10280, Thailand Italy: Delta Electronics (Italy) S.r.l.
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*We reserve the right to change the information in this manual without prior notice. DELTA_IA-ASD_ASDA-B2_UM_EN_20230421 www.delta.eom.tw/ia
Send Quote Requests to [email protected]
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Preface
Thank you for purchasing ASDA-B2. This user manual provides the related information of
ECMA series servo motors. This manual includes:
 Installation and inspection of servo drive and servo motor
 The configuration of servo drive
 Procedures of trial run
 Control functions and adjustment methods of servo drives
 Parameter
 Communication protocol
 Inspection and maintenance
 Troubleshooting
 Application examples
This manual addresses personnel with the following qualifications:

 Servo system designers
 Installation or wiring personnel
 Trial and tuning personnel
 Maintenance and inspection personnel
Before using the product, please read through this manual carefully in order to ensure the
correct use of the product. In addition, please place this manual safely for quick reference
whenever is needed. Please follow the rules below if you have not finished reading this
manual yet.
 The installation environment should be free of water, corrosive gas, and
inflammable gas.
 Do not connect the three-phase power to the U, V and W connector of the
motor when wiring. It may damage the servo drive.
 Ensure that the motor and drive are correctly connected to a ground.
The grounding method must comply with the electrical standard of the
country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.).
 Do not disassemble the servo drive, motor or change the wiring when the
power is on.
 Be ensured that the emergency stop can be activated any time before
connecting to the power and operation.
i
Preface ASDA-B2
 Do not touch the heat sink to avoid scald when connecting to the power
and operation.
If you have any enquiry, please contact the distributors or Delta customer service center.
Safety Precautions
ASDA-B2 series is the high resolution and open type servo drive. It should be installed in a
shielded control box during operation. This servo drive uses precise feedback control and
the digital signal processor with high-speed calculation function to control the current
output which generated by IGBT so as to operate three-phase permanent magnet
synchronous motors (PMSM) and to achieve precise positioning.
ASDA-B2 is applicable on industrial application and is suggested to be installed in the

panel-board of the user manual. (Servo drives, wire rod and motors all should be installed
in the environment which complies with the minimum requirement of UL Level 1 or NEMA
250 Type 1.)
Pay special attention to the following safety precautions anytime during inspection,
installation, wiring, operation and examination.
The symbol of danger, warning and stop represent:
It indicates the potential hazards. It is possible to cause severe injury or fatal

harm if not follow the instructions.
It indicates the potential hazards. It is possible to cause minor injury or lead to

serious damage of the product or even malfunction if not follow the instructions.
It indicates the absolute prohibited activity. It is possible to damage the product or

cannot be used due to malfunction if not follow the instructions.
Inspection
 Please follow the instruction when using servo drive and servo motor, or it is
possible to cause fire or malfunction.
Installation
 It is prohibited to expose the product with the environment which containing
water, corrosive gas, inflammable gas, etc. Or it is possible to cause electric
shock or fire.
ii
ASDA-B2 Preface
Wiring
 Please connect the ground terminal to class-3 ground system (under 100 Ω);
poor grounding may result in electric shock or fire.
 Do not connect the three-phase source to the motor output terminal U, V and
W. Or it is possible to cause personnel injury or fire.
 Please tighten the screws of the power and motor output terminal. Or it is
possible to cause fire.
Operation
 Before the operation, please change the parameter setting value according to
the needs. If it is not adjusted to the correct setting value, it is possible to lead
to malfunction of the machine or the operation might out of control.
 Before the machine starts to operate, please be ensured the emergency stop
can be activated anytime.
 During the operation, it is prohibited to touch any rotating motor parts.

Or it is possible to cause personnel injury.
 In order to prevent any accident, please separate the couplings and belts of the
machine and isolate them. Then conduct the initial trial run.
 If users fail to operate the machine properly after the servo motor connects to
the equipment, it would cause the damage of the equipment and lead to the
personnel injury.
 In order to prevent the danger, it is strongly recommended that you check if the
motor can operate normally without load first. Then, operate the motor with
load.
 Do not touch the heat sink of the servo drive. Or it is possible to cause scald
due to the high temperature.
Maintenance and Inspection

 It is prohibited to touch the internal parts of the servo drive and servo motor.
Or it is possible to cause electric shock.
 It is prohibited to disassemble the panel of the servo drive when turning on
the power. Or it is possible to cause electric shock.
 Do not touch the ground terminal within 10 minutes after turning off the
power. Or the residual voltage may cause electric shock.
 Do not disassemble the motor. Or it is possible to cause electric shock or
personnel injury.
 Do not change the wiring when the power is on. Or it is possible to cause
electric shock or personnel injury.
 Only the qualified electrical and electronics professionals can install, wire
and maintain the servo drive and servo motor.
iii
Preface ASDA-B2
Main Circuit Wiring

 Do not put the power cable and the encoder cable in the same channel and
bond them together. Please separate the power cable and the encoder
cable for at least 30 centimeters (= 11.8 inches) when wiring.
 Please use stranded wires and multi-core shielded-pair wires for the
encoder cables and encoder feedback cables. The maximum length of
command input cable is 3 meters (= 9.84 feet) and the maximum length of
feedback cable is 20 meters (= 65.62 feet).
 The high voltage might remain in the servo motor even when the power is
off. Do not touch the power terminal temporally (at least 10 minutes).
Please conduct the inspection not until the indicator light, CHARGE is off.
 Do not turn the power on and off too often. If continuous power on and off is
needed, please be ensured the interval is one minute at most.
Terminal Wiring of the Main Circuit

 When wiring, please disassemble the terminal socket from the servo drive.
 One terminal of the terminal socket for one electric wire only.
 When inserting the electric wires, do not connect the conductor to the
adjacent wire.
 Before connecting to the power, please inspect and be ensured the wiring is
correct.
Note: If there is any difference of each version, please refer to DELTA’s website for the
latest information.
iv
Table of Contents
Chapter 1 Installation and Model Explanation ··············································1-1
1.1 Inspection ·······················································································1-1
1.2 Product Model ··················································································1-2
1.2.1 Nameplate Information ·································································1-2
1.2.2 Model Explanation ······································································1-3
1.3 Servo Drive and Corresponding Servo Motor ··········································1-5
1.4 Servo Drive Features ·········································································1-7
1.5 Control Modes of Servo Drive ······························································1-8
Chapter 2 Installation ···············································································2-1
2.1 Precautions ·····················································································2-1
2.2 Ambient Conditions of Storage ····························································2-1
2.3 Ambient Conditions of Installation ·························································2-2
2.4 Installation Direction and Space ···························································2-3
2.5 Safety precautions for using motors ······················································2-5
2.5.1 Troubleshooting for the Motor Operation and Status ·························2-7
2.5.2 Servo Motor Mounting Directions and Precautions ····························2-8
2.5.3 Precautions for Using Oil Seal Servo Motors ···································2-9
2.5.4 Precautions for Using Couplings ···················································2-10
2.5.5 Oil and Water Prevention Measures for the Servo Motor ····················2-11
2.5.6 Measures to Suppress Temperature Increase of the Servo Motor ········2-12

Table of Contents ASDA-B2
2.6 Specification of Circuit Breaker and Fuse ···············································2-12
2.7 EMI Filter Selection ···········································································2-13
2.8 Selection of Regenerative Resistor ·······················································2-15
Chapter 3 Wiring ······················································································3-1
3.1 Connections ····················································································3-1
3.1.1 Connecting to Peripheral Devices ·················································3-1
3.1.2 Servo Drive Connectors and Terminals ··········································3-2
3.1.3 Wiring Method ··········································································3-4
3.1.4 Specification of Motor Power Cable ···············································3-6
3.1.5 Specification of Encoder Cable Connector ······································3-8
3.1.6 Selection of Wiring Rod ······························································3-12
3.2 Basic Wiring ····················································································3-14
3.2.1 200 W (included) and Models below (without built-in regenerative
resistor and cooling fan) ·······································································3-14
3.2.2 400 W ~ 750 W Models (with built-in regenerative resistor, but without
cooling fan)························································································3-15
3.2.3 1 kW ~ 3 kW Models (with built-in regenerative resistor and
cooling fan)························································································3-16
3.3 I / O Signal (CN1) Connection ·····························································3-17
3.3.1 I/O Signal (CN1) Connector Terminal Layout ···································3-17
3.3.2 Signals Explanation of Connector CN1···········································3-19
3.3.3 Wiring Diagrams (CN1) ·······························································3-27
3.3.4 DI and DO Signal Specified by Users·············································3-34

ASDA-B2 Table of Contents
3.4 CN2 Connector ···············································································3-35
3.5 Wiring of CN3 Connector ····································································3-37
3.6 Analog Monitor Output Connector - CN5 ················································3-38
3.7 Standard Connection Example ····························································3-39
3.7.1 Position (PT) Control Mode ·························································3-39
3.7.2 Speed Control Mode ··································································3-40
3.7.3 Torque Control Mode ·································································3-41
Chapter 4 Panel Display and Operation·······················································4-1
4.1 Panel Description··············································································4-1
4.2 Parameter Setting Procedure ······························································4-2
4.3 Status Display ··················································································4-3
4.3.1 Save Setting Display ···································································4-3
4.3.2 Decimal Point·············································································4-3
4.3.3 Alarm Message ··········································································4-3
4.3.4 Positive and Negative Sign Setting ·················································4-4
4.3.5 Monitor Display ··········································································4-4
4.4 General Function ··············································································4-7
4.4.1 Operation of Fault Code Display·····················································4-7
4.4.2 JOG Mode·················································································4-8
4.4.3 Force DO Output ········································································4-9
4.4.4 Digital Input Diagnosis Operation ···················································4-10
4.4.5 Digital Output Diagnosis Operation ·················································4-10

Chapter 5 Trial Operation and Tuning ·························································5-1
5.1 Inspection without Load ······································································5-1
5.2 Applying Power to the Servo Drive························································5-3
5.3 JOG Trial Run without Load ································································5-7
5.4 Trial Run without Load (Speed Mode) ···················································5-8
5.5 Tuning Procedure ·············································································5-10
5.5.1 Flowchart of Tuning Procedure ·····················································5-11
5.5.2 Inertia Estimation Flowchart (with Mechanism) ································5-12
5.5.3 Flowchart of Auto Tuning ····························································5-13
5.5.4 Flowchart of Semi-Auto Tuning·····················································5-14
5.5.5 Limit of Inertia Ratio ···································································5-15
5.5.6 Mechanical Resonance Suppression Method ··································5-17
5.5.7 Tuning Modes and Parameters·····················································5-18
5.5.8 Tuning in Manual Mode ······························································5-19
Chapter 6 Control Modes of Operation························································6-1
6.1 Selection of Operation Mode ·······························································6-1
6.2 Position Mode ··················································································6-3
6.2.1 Position Command in PT Mode ····················································6-3
6.2.2 Control Structure of Position Mode ················································6-7
6.2.3 Electronic Gear Ratio ·································································6-8
6.2.4 Low-pass Filter ·········································································6-10
6.2.5 Gain Adjustment of Position Loop ·················································6-11
6.3 Speed Mode ····················································································6-13

6.3.1 Selection of Speed Mode ····························································6-13
6.3.2 Control Structure of Speed Mode ··················································6-14
6.3.3 Smoothing Speed Command ·······················································6-15
6.3.4 The Scaling of Analog Command ··················································6-19
6.3.5 Timing Diagram in Speed Mode····················································6-20
6.3.6 Gain Adjustment of Speed Loop ···················································6-20
6.3.7 Resonance Suppression ·····························································6-27
6.4 Torque Mode ···················································································6-35
6.4.1 Selection of Torque Command ·····················································6-35
6.4.2 Control Structure of Torque Mode ·················································6-36
6.4.3 Smooth Torque Mode ·································································6-37
6.4.4 The Scaling of Analog Command ··················································6-37
6.4.5 Timing Diagram of Torque Mode···················································6-39
6.5 Dual Modes ·····················································································6-40
6.5.1 Speed / Position Dual Mode ························································6-40
6.5.2 Speed / Torque Dual Mode ··························································6-41
6.5.3 Torque / Position Dual Mode ························································6-41
6.6 Others ····························································································6-42
6.6.1 The Use of Speed Limit ······························································6-42
6.6.2 The Use of Torque Limit ·····························································6-42
6.6.3 Analog Monitor ·········································································6-43
6.6.4 The Use of Brake ······································································6-48

Chapter 7 Parameters ···············································································7-1
7.1 Parameter Definition ··········································································7-1
7.2 Lists of Parameters ···········································································7-2
7.3 Parameter Description ·······································································7-12
P0-xx Monitor Parameters ··································································7-12
P1-xx Basic Parameters ·····································································7-21
P2-xx Extension Parameters ·······························································7-51
P3-xx Communication Parameters ························································7-81
P4-xx Diagnosis Parameters ·······························································7-86
Table 7.1 Function Description of Digital Input (DI) ···································7-97
Table 7.2 Function Description of Digital Input Output (DO) ························7-103
Table 7.3 Monitoring Variables Descriptions ···········································7-106
Chapter 8 Communications ·······································································8-1
8.1 RS-485 / RS-232 Communication Hardware Interface ······························8-1
8.2 RS-485 / RS-232 Communication Parameter Settings ······························8-3
8.3 MODBUS Communication Protocol·······················································8-6
8.4 Write-in and Read-out Communication Parameters ··································8-18
Chapter 9 Troubleshooting ·······································································9-1
9.1 Alarm of Servo Drive ·········································································9-1
9.2 Causes and Corrective Actions ····························································9-4
9.3 Corrective Actions after the Alarm Occurs ··············································9-16

Chapter 10 Specifications ·········································································10-1
10.1 Specifications of Servo Drives (ASDA-B2 Series) ···································10-1
10.2 Specifications of Servo Motors (ECMA Series) ······································10-4
10.3 Torque Features (T-N Curves) ···························································10-12
10.4 Overload Features ···········································································10-14
10.5 Dimensions of Servo Drives ·······························································10-16
10.6 Dimensions of Servo Motors ······························································10-17
Appendix A Accessories ············································································A-1
Appendix B Maintenance and Inspection······················································B-1

About this Manual…
User Information
Be sure to store this manual in a safe place.
Due to constantly growing product range, technical improvement, alteration or changed
texts, figures and diagrams, we reserve the right to make information changes within this
manual without prior notice.
Coping or reproducing any part of this manual, without written consent of Delta Electronics
Inc. is prohibited.
Technical Support and Service

Welcome to contact us or visit our web site (http://www.deltaww.com) if you need any
technical support, service and information, or, if you have any question in using the
product. We are looking forward to serve you needs and willing to offer our best support
and service to you. Reach us by the following ways.

Chapter 1 Installation and Model
Explanation
1.1 Inspection
In order to prevent the negligence during purchasing and delivery, please inspect the
following items carefully.
Item Content
Check the part number of the motor and the servo drive on
Check if the product is
the nameplate. Refer to Section 1.2 for the model
what you have purchased
explanation.
Rotate the motor shaft by hand. If it can be rotated
Check if the motor shaft smoothly, it means the motor shaft is normal. However, it
can rotate smoothly cannot be rotated by hand if the motor has an
electromagnetic brake.
Check if there is any
Visually check if there is any damage or scrape of the
damage shown on its
appearance.
appearance
Check if there is any loose
Check if the screws are un-tightened or fall off.
screw
If any of the above situations happens, please contact the distributors to solve the
problems.
A complete and workable servo set should include:
(1) A Servo drive and a servo motor
(2) A UVW motor power cable, red (U), white (V) and black (W) wires can connect to
the socket attached by the servo drive. And a green ground wire which should be
locked to the ground terminal of the servo drive. (selective purchase)
(3) An encoder cable which connects to the socket of the encoder. One side of it
connects to CN2 servo drive and another side is the plug. (selective purchase)
(4) 44-PIN connector which is used in CN1 (CviLux analog product) (selective
purchase)
(5) 9-PIN connector which is used in CN2 (CviLux analog product) (selective purchase)
(6) 6-PIN connector which is used in CN3 (CviLux analog product) (selective purchase)
1-1
Chapter 1 Installation and Model Explanation ASDA-B2
1.2 Product Model

1.2.1 Nameplate Information
ASDA-B2 Series Servo Drive
 Nameplate Information
Model Name MODEL : ASD-B2-1521-F

Capacity Specification POWER : 1.5kW LISTED
Applicable Power Supply INPUT : 200~230V 3PH 50/60Hz 5.9A 19XK
IND. CONT. EQ.
200~230V 1PH 50/60Hz 10.3A
Rated Current Output OUTPUT : 110V 0~250Hz 8.3A
Barcode and serial number

B21521FW14170001
Firmware Version 01.74
DELTA ELECTRONICS, INC. MADE IN CHINA
 Serial Number
B21521F W 14 17 0001
Serial Number
(Production sequence of a week, starting from 0001)
Week of Production (from 1 to 52)
Year of Production (3: year 2013 or 14: year 2014)
Production Factory (T: Taoyuan; W: Wujiang)
Model Name
ECMA Series Servo Motor

 Nameplate Information
AC SERVO MOTOR
Model Name MODEL : ECMA-E11320RS
Input Power INPUT : kW 2.0 VAC 110 A 11.0
Rated speed and Rated Output OUTPUT : r/min 2000 N.m 9.55 Ins.A
Barcode and serial number

E11320RSW13370017
Delta Electronics, Inc. MADE IN CHINA
 Serial Number
E11320RS W 13 37 0017 Serial Number

(Production sequence of a week, starting from 0001)
Week of Production (from 1 to 52)
Year of Production (13: year 2013)
Production Factory (T: Taoyuan; W: Wujiang)
Model Name
1-2
ASDA-B2 Chapter 1 Installation and Model Explanation
1.2.2 Model Explanation

ASDA-B2 Series Servo Drive
A S D - B 2 - 0 4 2 1 -□
Model Type
Input Voltage and Phase

21: 220V 1 phase
23: 220V 3 phase
Rated Power Input

01: 100W 20: 2kW
02: 200W 30: 3kW
04: 400W
07: 750W
10: 1kW
15: 1.5kW
Product Series
B2
Product Name
AC SERVO Drive
Model Type
Full-Closed Extension Port for

Type EtherCAT CANopen DMCNET E-CAM
Control Digital Input
B × × × × × ×
1-3
ECMA Series Servo Motor
E C M A - C 1 0 6 0 2 E S
Standard Shaft Diameter: S
Specific Shaft Diameter: 3=42mm, 7=14mm
Type of Shaft w/o with w/o With

Diameter Brake Brake Brake Brake
and w/o Oil w/o Oil with Oil With Oil
Oil Seal Seal Seal
Seal Seal
Round Shaft
(with fixed A B C D
screw holes)
Keyway E F G H
Keyway
(with fixed P Q R S
screw holes)
Rated Power Output

01:100W 05:500W 10:1.0kW
02:200W 06:600W 15:1.5kW
03:300W 07:700W 20:2.0kW
04:400W 09:900W 30:3.0kW
Motor Frame Size

04:40mm 09:86mm 18:180mm
06:60mm 10:100mm
08:80mm 13:130mm
Name of the Series

Rated Voltage and Rated Speed
C = 220V/3,000 rpm; E = 220V/2,000 rpm;
F = 220V/1,500 rpm; G = 220V/1,000 rpm;
Encoder Type
1: Incremental, 20-bit
2: Incremental, 17-bit
M: Magnetic encoder, 13-bit
Servo Type
A: AC Servo
Product Name
ECM: Electronically
Commutated Motor
1-4
1.3 Servo Drive and Corresponding Servo Motor

Motor Servo Drive
Max.
Max. Continuous
Rated Instantaneou
Motor Power
Output
Model Number Current
Instantaneous
Model Number
Output
s output
series (W) current Current
(Arms) current
(A) (Arms)
(A)
100 ECMA-C△0401□S 0.90 2.70 ASD-B2-0121-□ 0.90 2.70
200 ECMA-C△0602□S 1.55 4.65 ASD-B2-0221-□ 1.55 4.65
ECMA-C 3000 r/min
400 ECMA-C△0604□S 2.60 7.80

ASD-B2-0421-□ 2.60 7.80
400 ECMA-C△0804□7 2.60 7.80
Low Inertia
Single- 750 ECMA-C△0807□S 5.10 15.30

/Three- ASD-B2-0721-□ 5.10 15.30
phase 750 ECMA-C△0907□S 3.66 11.00
1000 ECMA-C△0910□S 4.25 12.37
ASD-B2-1021-□ 7.30 21.90
1000 ECMA-C△1010□S 7.30 21.90
2000 ECMA-C△1020□S 12.05 36.15 ASD-B2-2023-□ 13.40 40.20
3000 ECMA-C△1330□4 17.2 47.5 ASD-B2-3023-□ 19.40 58.20
500 ECMA-E△1305□S 2.90 8.70 ASD-B2-0421-□ 2.60 7.80
ECMA-E 2000 r/min
1000 ECMA-E△1310□S 5.60 16.80 ASD-B2-1021-□ 7.30 21.90

Medium Inertia
Single- 1500 ECMA-E△1315□S 8.30 24.90 ASD-B2-1521-□ 8.30 24.90

/Three- 2000 ECMA-E△1320□S 11.01 33.03
phase 2000 ECMA-E△1820□S 11.22 ASD-B2-2023-□ 13.40 40.20
33.66
3000 ECMA-E△1830□S 16.10 48.30
ASD-B2-3023-□ 19.40 58.20
3500 ECMA-E△1835□S 19.20 57.60
Medium-high
850 ECMA-F△1308□S 7.10 19.40 ASD-B2-1021-□ 7.30 21.90

1500 r/min
ECMA-F
Single- 1300 ECMA-F△1313□S 12.60

inertia
38.60
/Three- ASD-B2-2023-□ 13.40 40.20
phase 1800 ECMA-F△1318□S 13.00 36.00
3000 ECMA-F△1830□S 19.40 58.20 ASD-B2-3023-□ 19.40 58.20
400 ECMA-C△0604□H 2.60 7.80 ASD-B2-0421-□ 2.60 7.80
ECMA-C/G 3000
High Inertia
750 ECMA-C△0807□H 5.10 15.30 ASD-B2-0721-□ 5.10 15.30

Single-
r/min
/Three- 300 ECMA-G△1303□S 2.50 7.50 ASD-B2-0421-□ 2.60 7.80

phase
600 ECMA-G△1306□S 4.80 14.40 ASD-B2-0721-□ 5.10 15.30
900 ECMA-G△1309□S 7.50 22.50 ASD-B2-1021-□ 7.30 21.90
1-5
Note: 1. The boxes () at the ends of the servo drive model names are the mode code
of ASDA-B2. Please refer to the ordering information of the actual purchased
product.
2. The boxes (△) in the model names are for encoder resolution types.
△ = 1: Incremental type, 20-bit; △ = 2: Incremental type, 17-bit; △ = M:
Magnetic. The listed motor model name is for information searching, please
contact to your local distributors for actual purchased product.
3. The boxes () in the model names represents brake or keyway /
oil seal.
4. The above table shows the specification of servo drive which has triple rated
current. If you need 6 times rated current for your servo drive, please contact
with local distributors. For detailed specification of the servo motor and servo
drive, please refer to Chapter 10.
1-6
1.4 Servo Drive Features
1-7
1.5 Control Modes of Servo Drive

Various operation modes are provided. Please refer to the following table:
Mode Code Description
Servo drive receives the position command and
Position Mode commands the servo motor to the target position.
P
(Terminal Input) The position command is sent from CN1 and its
signal type is pulse.
Servo drive receives the speed command and
commands the servo motor to the target speed.
Speed Mode S Speed command is from the internal register (there
are 3 in total) or external analog voltage (-10V ~
+10V). The command can be selected by DI.
Servo drive receives the speed command and
commands the servo motor to the target speed.
Speed Mode Speed command is from internal register only (there
Sz
Single (No analog input) are 3 in total) and the command can be selected by
Mode DI. The external analog voltage command is not
available in Sz mode.
Servo drive receives the torque command and
commands the servo motor to the target torque.
Torque Mode T Torque command is from the internal register (there
are 3 in total) or external analog voltage (-10V ~
+10V). The command can be selected by DI.
Servo drive receives the torque command and
commands the servo motor to the target torque.
Torque Mode Torque command is from internal register only (there
Tz
(No analog input) are 3 in total) and the command can be selected by
DI. The external analog voltage command is not
available in Tz mode.
Either S or P control mode can be selected via the
S-P Digital Input (DI) (Please refer to Chapter 7, table 7-
1, Function Description of Digital Input (0x18)).
Either T or P control mode can be selected via the
Dual Mode T-P Digital Input (DI) (Please refer to Chapter 7, table 7-
Either S or T control mode can be selected via the
S-T Digital Input (DI) (Please refer to Chapter 7, table 7-
Users can use P1-01 to select the control mode. When the setting of new control mode is
complete, please re-power on the servo drive to take the new mode into effect.
1-8
Chapter 2 Installation
2.1 Precautions
Please pay close attention to the followings:
 Do not strain the cables between the servo drive and servo motor.
 Make sure that each screw is tightened when fixing the servo drive.
 The motor shaft and the ball screw should be parallel.
 If the connection between the servo drive and the servo motor is over 20 meters
(65.62 feet), please thicken the connecting wire, UVW as well as the encoder cable.
 Tighten the fixed four screws of the motor.
2.2 Ambient Conditions of Storage
Before the installation, this product has to be kept in shipping carton. In order to retain the
warranty coverage and for the maintenance, please follow the instructions below when
storage, if the product is not in use temporally:
 Store the product in a dry and dust-free location.

 Store the product within an ambient temperature range of -20 °C to +65 °C (-4°F to
+149°F).
 Store the product within a relative humidity range of 0% to 90% and a non-condensing
environment.
 Avoid storing the product in the environment of corrosive gas and liquid.
 It is better to store the product in shipping carton and put it on the shelf or working
platform.
2-1
Chapter 2 Installation ASDA-B2
2.3 Ambient Conditions of Installation
Operating Temperature
ASDA-B2 Series Servo Drive: 0°C to 55°C (32°F to 131°F)
ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F)
The ambient temperature of servo drive should be under 45°C (113°F) for long-term
reliability.
If the temperature of servo drive is greater than 45°C, please place the product in a well-
ventilated environment so as to ensure its reliability performance. If the product is installed
in an electric box, make sure the size of the electric box and its ventilation condition will
not overheat and endanger the internal electronic device. Also, pay attention to the
vibration of the machine. Check if the vibration will influence the electronic device of the
electric box.
Failure to observe the following precautions may void the warranty. The ambient
conditions should also include:
 Location has no over-heat device, no water drop, vapor, dust and oily dust, no
corrosive and inflammable gas and liquid, no airborne dust and metal particles, with
solid foundation and no vibration and no interference of electromagnetic noise.
 Do not mount the servo drive or motor in a location where temperatures and humidity
will exceed specification.
 Do not mount the servo drive or motor in a location where vibration and shock will
exceed specification.
 Make sure the storage environment of servo drive and servo motor complies with the
specification which mentioned in Chapter 10.
2-2
ASDA-B2 Chapter 2 Installation
2.4 Installation Direction and Space
Precautions:
 Incorrect installation direction may result in a drive malfunction or premature failure of
the drive and or motor.
 For better ventilation and cooling, allow sufficient clearance space between the AC
servo drive and the adjacent objects and the wall, or overheating may result in
machine malfunction.
 Do not block the ventilation holes of the servo drive, and do not mount the servo drive
in the incorrect direction, or it may result in machine malfunction.
Drive Mounting
The ASDA-B2 servo drives must be mounted vertically on a dry and solid surface such as
a NEMA enclosure. A minimum spacing of 50 mm (2 inches) must be maintained above
and below the drive for ventilation and heat dissipation. Additional space may be
necessary for wiring and cable connections. Also, as the drive conducts heat away via the
mounting, the mounting plane or surface should not conduct heat into the drive from
external sources.
Motor Mounting
The ECMA servo motors should be mounted firmly to a dry and solid mounting surface to
ensure maximum heat transfer for maximum power output and to provide a good ground.
For the dimensions and weights specifications of servo drive or motor, please refer to
Chapter 10 - Specifications.
2-3
Scheme of Installation
In order to have smaller wind resistance of the fan and increase the ventilation, please
follow the suggested clearance value when installing one or more than one servo drives.
(Refer to the following diagrams.)
Note: the above diagrams are not in equal proportion. Please refer to the annotation.
2-4
2.5 Safety precautions for using motors
The Delta AC servo motor is designed for industrial applications. It is necessary that you
fully understand the motor specifications and the operation manual. For your safety and
correct use, read the manual, specifications, and precautions for the motor carefully before
connecting the motor to any equipment.
The safety precautions are as follows:
Handling, mounting, and storage
 When removing or installing a servo motor, hold the whole motor instead of holding
the cable or only the motor shaft.
 Do not hit the motor shaft. Impact force will damage the shaft and the encoder that is
attached at the rear end of the shaft.
 Keep the axial or radial shaft load within the allowable range listed in the
specifications.
 The shaft of servo motor is not water- or oil-proof. Do not use, install, or store the
servo motor in an environment that contains water, oily liquids, corrosive and
inflammable gases, or is with high humidity.
 The material of motor shaft is not rustproof. Although rustproof oil has been applied to
the shaft during the manufacturing process, you must check the shaft condition and
apply rustproof oil every three months if storing the motor for more than six months.
 Ensure that the environmental conditions for storing the servo motor conform to the
specifications in the instruction sheet.
 The encoder attached to the motor is easily damaged; take the necessary steps to
avoid electromagnetic interference, vibration, and abnormal temperature changes.
Wiring
 If the current exceeds the maximum current in the specifications, the internal parts of
the motor may lose their magnetism. Contact the distributor or local Delta sales
representative if this problem occurs.
 Check if the motor wiring and the voltage of the motor brake are correct. Also, make
sure that the wiring of the encoder signal and power cables is correct. Incorrect wiring
will lead to abnormal operation, malfunction, or damage of the motor.
 To avoid capacitive coupling and noise, isolate the motor power cable from the
encoder power and signal cables. Do not connect them to the same circuit.
 The AC servo motor must be correctly grounded.
 The encoder connector must not undergo any high-voltage component test because it
will damage the encoder.
 When the motor or brake is undergoing high-voltage component tests, cut off the
power supply for the controller. To maintain the product lifespan, do not perform this
kind of test unless necessary.
2-5
Operation
 AC servo motor operation is controlled by the servo drive. Do not directly connect a
commercial type power supply (100/200V, 50/60 Hz) to the servo motor circuit;
otherwise the motor cannot operate normally and may be permanently damaged.
 Follow the motor specifications when using the product. The motor’s operation
temperature must not exceed the specified range.
 The material of the motor shaft is not rustproof. To ensure a longer motor life, apply
rustproof oil during operation.
 The built-in brake is for clamping, not for stopping the motor. Note that the built-in
brake is not a device for safely stopping the machine. Install another safety device for
stopping the machine. When the built-in brake is clamping the motor, rotation
backlash can still occur and the maximum rotation is 1° to 2°. When a motor with a
brake is operating, the brake lining sometimes generates a noise (a swishing or
clicking sound) caused by the structure of brake module, which is not a malfunction. It
will not affect the motor’s function.
 When using a servo motor with a brake, do not use the built-in brake for dynamic
braking.
 If any odor, noise, smoke, heat, or abnormal vibration occurs during motor operation,
stop the motor and turn off the power immediately.
Others
 Delta servo motors have no user-replaceable parts.

 Do not disassemble the motor or change its parts, or it will void the warranty.
 Do not disassemble the motor by yourself, or it may lead to permanent malfunction or
damage.
 Do not splash any water or oil on the product.
2-6
2.5.1 Troubleshooting for the Motor Operation and Status
Servo motor makes abnormal noise:

Possible causes Checking methods Handling measures
Check if there is foreign object, Replace the connecting
There is a source of
damage, or deformation in the component (such as the
vibration in the
movable parts of the connecting coupling) or contact the
connecting component.
component. manufacturer.
1. Whether the servo motor has
been subjected to excessive force
or vibration, resulting in damage
The encoder is to the encoder.
subjected to excessive 2. If there is any abnormal noises Replace the servo motor.
vibration / shocks. when you shake the motor (disc
damage).
3. Visually inspect the encoder's rear
cover for dust (encoder damage).
Servo motor overheating:

Possible causes Checking methods Handling measures
Check if the installation
surface is flat; if there are
other objects (such as
paint, gasket) between
Mounting surface of Measure the temperatures of the the mounting surface and
the servo motor has servo motor frame and the mounting motor surface, resulting
poor thermal surface (metal). The temperature in poor heat dissipation.
conductivity. difference should not exceed 20°C. Remove the object or use
other methods to help
dissipate heat (such as
forced air cooling for the
servo motor).
2-7
2.5.2 Servo Motor Mounting Directions and Precautions
The servo motor can be installed horizontally or vertically.

Installation direction Precautions
Horizontal
If you are using a servo motor with oil seal, please refer to
the precaution measures in Section 2.4.5 for preventing oil /
water from entering the servo motor.
Vertical - Shaft end up  Do not use servo motors with oil seals in the vertical
direction.
 When wiring, you need to install an oil trap (marked as
(1) in the figure on the left) to prevent vapor from
entering the motor.
 When installing the servo motor in a machine (such as
in a gearbox), it must comply with the precaution
(1 )
measures in Section 2.4.5 to prevent oil and gas from
entering the servo motor.
Vertical - Shaft end down
If you are using a servo motor with oil seal, please refer to
the precaution measures in Section 2.4.5 for preventing oil /
water from entering the servo motor.
Note: if you require to install gears on the servo motor, please follow the manufacturer's
instructions for installation.
2-8
2.5.3 Precautions for Using Oil Seal Servo Motors
This section defines the operating conditions for using the oil seal servo motor:
1. In the operating environment, the oil level must be lower than the oil seal lip.
(2)
(3) (1)
(4)
(5) (6)
(1) Servo motor; (2) Motor shaft; (3) Gear; (4) Oil; (5) Oil seal lip; (6) Oil seal
2. The oil seal cannot be submerged in the liquid; it can only withstand splashes of oil.
3. The oil seal lip cannot be soaked in oil.
4. The oil seal cannot be lower than the oil level, otherwise the oil will enter the servo
motor and cause damage.
2-9
2.5.4 Precautions for Using Couplings
Caution:
It is suggested that you use a flexible coupling specifically designed for servo motors,
especially double spring couplings, which provide some buffer tolerance during eccentric
motion and deflection. Please select appropriate coupling size for the operating conditions.
Improper usage or connection may result in damage.
1. The anti-rust coating or oil on the motor shaft end must be wiped off.
2. If using a servo motor with a keyway, attach the supplied key or use a key that
matches the dimensions of the drawing to the motor shaft.
Note: when installing the key on the motor, do not apply excessive force to the keyway or motor
shaft.
3. Use dial gauge or other methods to ensure that the centering accuracy is within the
specification. If you cannot use the dial gauge or other methods, you can slide the
coupling along both axes and adjust it until it does not get stuck.
This distance is measured at four

different positions on the circumference
for the centering accuracy. The difference
between the maximum and minimum
measurements must be 0.03 mm or less;
(1) and even within this range, you can make
adjustments to increase the centering
accuracy as much as possible.
Note: when measuring, rotate the
coupling and the motor shaft together.
4. Servo motor shaft installation safety precautions

(1) When connecting the shaft, make sure that the required centering accuracy is
reached. If the shaft is not correctly centered, vibration may damage the bearings
and encoder.
(2) When installing the coupling, do not apply excessive force to the shaft. Also, do
not apply excessive force to the area around the encoder, as the impact may
damage the encoder.
(3) If the coupling makes any abnormal noise, please re-align the shaft until the noise
disappears.
(4) Make sure that the axial load and radial load are within the specifications. Please
refer to the specifications for the maximum axial load (N) and maximum radial
load (N) for each servo motor.
2-10
2.5.5 Oil and Water Prevention Measures for the Servo Motor
Please follow these precautions and do not allow water, oil, or other foreign objects to
enter the servo motor:
1. Do not submerge the cable in oil or water.
(1)
(2)
(1) Servo motor; (2) Oil
2. If oil or water is unavoidable, please use oil-resistant cables. Delta does not provide
oil-resistant cables.
3. If the servo motor must be mounted with the shaft end up, do not use it in a machine,
gearbox, or other environment where the servo motor may have contact with oil or
water.
(1)
(2)
(1) Gear; (2) Oil

4. Do not use the servo motor in an environment with cutting fluid. Depending on the
type of cutting fluid, the sealing material, the coated colloids, cables, or other
components may be affected or even deteriorate.
5. Do not let the servo motor be in continuous exposure to oil mist, water vapor, oil,
water, or grease.
If you cannot avoid using the servo motor under the above conditions, please take
prevention measures to avoid dirt and water for the machine.
2-11
2.5.6 Measures to Suppress Temperature Increase of the Servo Motor
1. When installing the servo motor, please pay attention to the cooling conditions (such
as size of the heat sink) provided in the specifications of each servo motor type.
2. The servo motor generates heat during operation, and the heat generated by the
servo motor is dissipated to the heat sink through the motor mounting surface.
Therefore, if the surface area of the heat sink is too small, the temperature of the
servo motor may increase abnormally.
3. If it is difficult to apply large heat sinks in the operating environment or if the ambient
air temperature exceeds the given specifications, please take the following measures:
(1) Reduce servo motor full load rating: for more details, please refer to the
specifications of each servo motor type. When selecting servo motors, consider
motors with the power capacity 1 to 2 levels higher.
(2) Reduce the acceleration and deceleration of the work cycle to lower the motor
load.
(3) Apply external forced air cooling to the servo motor using cooling fans or other
means.
Note: do not place a gasket or other insulating materials between the servo motor and heat sink,
as this may result in motor temperature increase, noise resistance being affected, and motor
malfunction.
2.6 Specification of Circuit Breaker and Fuse
Servo Drive Model Circuit Breaker Fuse (Class T)

ASD-B2-0121-B 5A 5A
ASD-B2-0221-B 5A 6A
ASD-B2-0421-B 10A 10A
ASD-B2-0721-B 10A 20A
ASD-B2-1021-B 15A 25A
ASD-B2-1521-B 20A 40A
ASD-B2-2023-B 30A 50A
ASD-B2-3023-B 30A 70A
Note:
1. Operation mode: standard.
2. If the servo drive is equipped with a residual-current device (RCD) for electricity leakage
protection, select a circuit breaker with sensitivity of at least 200 mA with minimum 0.1 sec
working time to avoid incorrect operation of the RCD.
3. Select the Type B residual-current device (RCD) with time delay, as the system ground wire
may contain DC electricity.
4. Use the fuse and circuit breaker that comply with the UL/ CSA standard.
2-12
2.7 EMI Filter Selection
Recommended EMI Filter

Item Power Servo Drive Model FootPrint
1PH 3PH
1 100W ASD-B2-0121-B RF007S21AA RF022M43AA N
5 1000W ASD-B2-1021-B RF015B21AA RF075M43BA N
6 1500W ASD-B2-1521-B RF015B21AA RF075M43BA N
7 2000W ASD-B2-2023-B - RF037B43BA N
8 3000W ASD-B2-3023-B - RF037B43BA N
EMI Filter Installation

All electronic equipment (including servo drive) generates high or low frequency noise
during operation and interfere the peripheral equipments via conduction or radiation. With
EMI Filter and the correct installation, much interference can be eliminated. It is suggested
to use Delta’s EMI Filter to suppress the interference better.
When installing servo drive and EMI Filter, please follow the instructions of the user
manual and make sure it meets the following specification.
1. EN61000-6-4 (2001)
2. EN61800-3 (2004) PDS of category C2
3. EN55011+A2 (2007) Class A Group 1
General Precaution
In order to ensure the best performance of EMI Filter, apart from the instructions of servo
drive installation and wiring, please follow the precautions mention below:
1. The servo drive and EMI Filter should be installed on the same metal plate.
2. When installing servo drive and EMI Filter, the servo drive should be installed above
the EMI Filter.
3. The wiring should be as short as possible.
4. The metal plate should be well grounded.
5. The metal cover of the servo drive and EMI Filter or grounding should be firmly fixed
on the metal plate. Also, the contact area should be as large as possible.
6. The suggested installation specification is a servo drive with an EMI filter.
2-13
Motor Cable Selection and Installation Precautions

The selection of motor cables and installation affect the performance of EMI Filter.
Please follow the precautions mention below.
1. Use the cable that has braidded shielding (The effect of double shielding is better)
2. The shield on both sides of the motor cable should be grounded in the shortest
distance and the largest contact area.
3. The protective paint of the U-shape saddle and metal plate should be removed in
order to ensure the good contact. Please see diagram 1.
4. Correctly connect the braided shielding of the motor cable and the metal plate. The
braidded shielding on both sides of the motor cable should be fixed by the U-shape
saddle and metal plate. Please see diagram 2 for the correct connection.
Figure 1
Saddle on both ends
Saddle on one end
Figure 2
2-14
2.8 Selection of Regenerative Resistor
When the direction of pull-out torque is different from the rotation, it means the electricity is
sent back to the servo drive from the load-end. It becomes the capacitance of DC Bus and
increases the voltage. When the voltage increases to a specific value, the come-back
eletricity can only be consumed by regenerative resistor. There is a built-in regenerative
resistor in the servo drive. Users can also use the external regenerative resistor if needed.
Specification of the regenerative resistor of ASDA-B2
Specification of built-in regenerative

resistor *1The capacity of built- Min. Allowable
Servo Drive
in regenerative Resistance
(kW) Resistance Capacity resistor (Watt) (Ohm)
(P1-52) (Ohm) (P1-53) (Watt)
0.1 - - - 60
0.2 - - - 60
0.4 100 60 30 60
0.75 100 60 30 60
1.0 40 60 30 30
1.5 40 60 30 30
2.0 20 100 50 15
3.0 20 100 50 15
*1 Regenerative Power Calculation: The amount of regenerative power (average value)
that can be processed is rated at 50% of the capacity of the servo drive's built-in
regenerative resistor. The regenerative power calculation method of external regenerative
resistor is the same.
When the regenerative resistor exceeds the capacity of built-in regenerative resistor, the
external regenerative resistor should be applied. Please pay special attention to the
followings when using the regenerative resistor.
1. Please correctly set up the resistance (P1-52) and capacity (P1-53) of regenerative
resistor. Or it might influence the performance of this function.
2. If users desire to use the external regenerative resistor, please make sure the applied
value is the same as the built-in regenerative resistor. If users desire to connect it in
parallel to increase the power of regenerative resistor, please make sure the
capacitance meets the requirements.
3. In natural environment, if the capacity of regenerative resistor (the average value) is
within the rated capacity, the temperature of the capacitance will increase to 120℃ or
even higher (under the condition of regenerative energy keeps existing). For safety
concerns, please apply the method of forced cooling in order to reduce the
temperature of regenerative resistor. Or, it is suggested that you use the regenerative
2-15
resistor which is equipped with thermal switches. Please contact the distributors for
load characteristics of the regenerative resistor.
When using the external regenerative resistor, the resistor should connect to P, C terminal
and the contact of P, D terminal should be opened. It is recommended to choose the
above mentioned capacitance. For easy calculation of regenerative resistor capacity,
except the energy consumed by IGBT, two ways are provided to select the capacity of
external regenerative resistor according to the selected linear motor or rotary motor.
(1) Regenerative Power Selection

(a) When the external load on torque does not exist
If the motor operates back and forth, the energy generated by the brake will go
into the capacitance of DC bus. When the voltage of the capacitance exceeds a
specific value, the redundant energy will be consumed by regenerative resistor.
Two ways of selecting regenerative resistor are provided here. The table below
provides the energy calculation method. Users can refer to it and calculate the
selected regenerative resistor.
Regenerative Max.
Servo Drive Rotor Inertia power from empty regenerative
Servo Motor load 3000r/min to power of
(kW) J (× 10-4kg.m2) stop capacitance
Eo (joule) Ec(joule)
0.1 ECMA-C△0401 0.037 0.18 3
0.2 ECMA-C△0602 0.177 0.87 4
ECMA-C△0604 0.277 1.37 8
0.4
ECMA-C△0804 0.68 3.36 8
Low Inertia
0.75 ECMA-C△0807 1.13 5.59 14

ECMA-C△1010 2.65 13.10 18
1.0
ECMC-C△0910 2.62 12.96 18
2.0 ECMC-C△1020 4.45 22.01 21
3.0 ECMA-C△1330 12.70 62.80 28
0.4 ECMA-E△1305 8.17 40.40 8
Medium Inertia
1.0 ECMA-E△1310 8.41 41.59 18

1.5 ECMA-E△1315 11.18 55.28 18
ECMA-E△1320 14.59 72.15
2.0 21
ECMA-E△1820 34.68 171.50
2-16
Regenerative Max.
Rotor Inertia power from empty regenerative
Servo Drive
Servo Motor load 3000r/min to power of
(kW) J (× 10-4kg.m2) stop capacitance
Eo (joule) Ec(joule)
ECMA-E△1830 54.95 217.73 28
Medium
Inertia
3.0 ECMA-F△1830 54.95 217.73 28

ECMA-E△1835 54.95 217.73 28
1.0 ECMA-F△1308 13.6 67.25 18
Medium-high
Inertia
2.0 ECMA-F△1313 20.0 98.90 21

2.0 ECMA-F△1318 24.9 123.13 21
3.0 ECMA-F△1830 54.95 217.73 28
0.4 ECMA-G△1303 8.17 40.40 8
Inertia
High
0.75 ECMA-G△1306 8.41 41.59 14

1.0 ECMA-G△1309 11.18 55.29 18
Eo = J x wr2/182 (joule), Wr : r/min

Assume that the load inertia is N times to the motor inertia and the motor decelerates
from 3000r/min to 0, its regenerative energy is (N+1) x Eo. The consumed regenerative
resistor is (N+1) × Eo - Ec joule. If the cycle of back and forth operation is T sec, then
the power of regenerative resistor it needs is 2× ((N+1) x Eo - Ec) / T.
Followings are the calculation procedure:
Step Procedure Calculation and Setting Method
Set the capacity of regenerative
1 Set P1-53 to the maximum value
resistor to the maximum
Set T cycle of back and forth
2 Enter by the user
operation
3 Set the rotational speed wr Enter by the user or read via P0-02
4 Set the load/motor inertia ratio N Enter by the user or read via P0-02
Calculate the maximum
5 Eo= J * wr2/182
regenerative energy Eo
Set the absorbable regenerative
6 Refer to the above table
energy Ec
Calculate the needful capacitance
7 2 x ((N+1) xEo – Ec) / T
of regenerative resistor
Take 400W as the example. When the cycle of back and forth operation is T = 0.4sec,
the maximum speed is 3000r/min, and the load inertia is 7 times to the motor inertia,
then, the required power of regenerative resistor is 2 × ((7+1) × 1.68 – 8) / 0.4 = 27.2 W.
If it is smaller than the built-in capacity of regenerative resistor, the built-in 60W
2-17
regenerative resistor will do. Generally speaking, when the need of the external load
inertia is not much, the built-in regenerative is enough. The diagram below describes
the actual operation. The smaller power of the regenerative resistor it is, the more
energy it accumulates and the higher temperature it will be. When the temperature is
higher than a specific value, ALE05 occurs.
(b) If the external load torque exists, the motor is in reverse rotation.
Usually, the motor is in forward rotation, which means the torque output direction
of the motor is the same as the rotation direction. However, in some applications,
the direction of torque output is different from the rotation. In this situation, the
motor is in reverse rotation. The external energy goes into the servo drive
through the motor. The diagram below is one example. When the external force
direction is the same as the moving direction, the servo system has to use the
force of the opposite direction to keep the speed and stability. Huge amount of
energy will return to the servo drive at the moment. When DC-BUS is full and
unable to store the regenerative energy, the energy will be leaded to regenerative
resistor and consumed.
Motor Rotation Speed
External Load Torque
Motor Output Torque
Reverse Forward Reverse Forward

Rotation Rotation Rotation Rotation
Negative torque: TL × Wr TL: external load torque

For safety reasons, please calculate it by considering the safest situation.
For example, when the external load torque is the +70% rated torque and the rotation
reaches 3000 r/min, then take 400 W (the rated torque is 1.27 Nt-m) as the example,
the user has to connect the regenerative resistor of 40, which is 2 × (0.7× 1.27) × (3000
× 2 × π／60) = 560W.
2-18
(2) Simple Selection

Choose the appropriate regenerative resistor according to the allowable frequency and
empty load frequency in actual operation. The so-called empty allowable frequency is the
frequency of continuous operation when the servo motor runs from 0 r/min to the rated
speed and then decelerates from the rated speed to 0 r/min within the shortest time. The
following table lists the allowable frequency when the servo drive runs without load
(times/min).
Allowable Frequencies for Servo Motor Running Without Load (times/min)

When Using Built-in Regenerative Resistor
Motor Capacity 600W 750W 900W 1.0kW 1.5kW 2.0kW 2.0kW 3.0kW
ECMA Series 06 07 09 10 15 20 20 30
83
ECMAC - 312 - 137 - -
(F100)
24 10
ECMAE - - - 42 32 11
(F130) (F180)
ECMAG 42 - 31 - - - - -
When the servo motor runs with load, the allowable frequency will be different
according to different load inertia or speed. The following is the calculation method.
m represents load / motor inertia ratio.

2
Allowable frequency when serv o motor run without load Rated s peed times
Allowable fr equency = x
m+ 1 Operating speed mi n.
The comparison table of external regenerative resistor is provided below. Please

choose the appropriate regenerative resistor according to the allowable frequency.
The table below describes the suggested allowable frequency (times/min) of
regenerative resistor when the servo drive runs without load.
When Using External Regenerative Resistor
Motor Capacity ECMAC
400W 400W
100W 200W 750W 1.0kW 2.0kW
(F60) (F80)
Regenerative
Resistor 01 02 04 04 07 10 20
200W 80Ω 32793 6855 4380 1784 1074 458 273
400W 40Ω - - - - - 916 545
1kW 30Ω - - - - - - 1363
2-19

Motor Capacity ECMAE
0.5kW 1kW 1.5kW 2.0kW 2.0kW 3.0kW
Regenerative
Resistor 05 1.0 15 20 20 30
200W 80Ω 149 144 109 83 35 22

400W 40Ω - 289 217 166 70 44
1kW 30Ω - - - 416 175 110

Motor Capacity ECMAG
0.3kW 0.6kW 0.9kW
Regenerative
Resistor 03 06 09
200W 80Ω 149 144 109
400W 40Ω - - 217
If the regenerative resistor wattage is not enough, you can connect the same
regenerative resistors in parallel to increase the power, but the resistance cannot be
lower than the minimum allowable resistance specified in the manual after parallel
connection.
Dimensions of Regenerative Resistor

Delta Part Number: BR400W040 (400 W 40 Ω)
L1 L2 H D W MAX. WEIGHT(g)
265 250 30 5.3 60 930
2-20
Delta Part Number: BR1K0W020 (1 kW 20 Ω), BR1K5W005 (1.5 kW 5 Ω)

A B C D E F G ØH ØI
470 445 48 9.1 98 47 15 55 8.1
A
B
D
C
G ØI
Ø H
E
F
Note: refer to Appendix A for selecting the regenerative resistor.
2-21
(This page is intentionally left blank.)
2-22
Chapter 3 Wiring
This chapter provides information on wiring ASDA-B2 series products, the descriptions of
I/O signals and gives typical examples of wiring diagrams.
3.1 Connections
3.1.1 Connecting to Peripheral Devices
3-1
Chapter 3 Wiring ASDA-B2
Note: Installation notes:

1. Check if the power and wiring among R, S, T and L1c, L2c are correct.
2. Please check if the output terminal U, V, W of the servo motor is correctly wired.
The incorrect wiring may disable the operation of the motor or cause malfunction.
3. When applying to the external regenerative resistor, the contact between
P and D should be opened and the external regenerative resistor should connect to
terminal P and C. When applying to the internal regenerative resistor, the contact
between P and D should be closed and the contact between P and C should be
opened.
4. When an alarm occurs or the system is in emergency stop status, use ALARM or
WARN to output and disconnect the power of magnetic contactor in order to
disconnect the power of servo drive.
3.1.2 Servo Drive Connectors and Terminals
Terminal
Name Description
Signal
Control circuit Used to connect single-phase AC control circuit power.
L1c, L2c terminal (Control circuit uses the same voltage as the main circuit.)
Main circuit Used to connect three-phase AC main circuit power
R, S, T terminal depending on connecting servo drive model.
Used to connect servo motor
Terminal Wire
Description
Symbol Color
U, V, W, Servo motor U Red
Connecting to three-phase
FG ( ) output V White
motor main circuit cable.
W Black
Connecting to ground terminal
FG( ) Green
( ) of the servo drive.
Ensure the circuit is closed between P
Internal
and D, and the circuit is open between P
resistor
and C.
Connect regenerative resistor to P and
External
C, and ensure an open circuit between P
resistor
and D.
Regenerative
resistor terminal Connect regenerative unit to P and ,
P , D, C, or regenerative and ensure an open circuit between P
unit and D, and P and C.
(N terminal is built in L1c, L2c, , and R,
Regenerative S, T.)
unit
P : Connecting to (+) terminal of V_BUS
voltage.
: Connecting to (-) terminal of V_BUS
voltage.
3-2
ASDA-B2 Chapter 3 Wiring
Terminal
Name Description
Signal
two Used to connect grounding wire of power supply and

Ground terminal
places servo motor.
Used to connect external controllers. Please refer to

CN1 I/O connector
section 3.3 for details.
Encoder Used to connect encoder of servo motor. Please refer to
CN2 connector section 3.4 for details.
Communication Used to connect RS485 or RS-232. Please refer to
CN3 connector section 3.5 for details.
Reserved
CN4 Reserved
connector
Used to monitor the operation status. The drive provides
Analog voltage two channels, MON1 and MON2 to output the analog
CN5
output terminal voltage data. Output voltage is reference to the power
ground (GND).
Pay special attention to the followings when wiring:

1. When the power is cutoff, do not touch R, S, T and U, V, W since the
capacitance inside the servo drive still contains huge amount of electric charge.
Wait until the charging light is off.
2. Separate R, S, T and U, V, W from the other wires. The interval should be at

least 30 cm (11.8 inches).
3. If the wire of encoder CN2 connecter is not long enough, please use shielded
twisted-pair cable which cannot exceed 20 meters (65.62 inches). If it exceeds
20 meters, please choose the bigger wire diameter of signal cable to ensure it
will not cause signal fading.
4. When selecting the wire rod, please refer to Section 3.1.6.
3-3
3.1.3 Wiring Method
The wiring method is divided into single-phase and three-phase. Single-phase is for 1.5
kW and the model below 1.5 kW. In the diagram below, Power On is contact a, Power Off
and ALRM_RY are contact b. MC is the coil of magnetic contactor and self-remaining
power and is the contact of main power circuit.
 Wiring Method of Single-phase Power Supply (suitable for 1.5 kW and models below
1.5 kW)
3-4
 Wiring Method of Three-phase Power Supply (suitable for all series)
3-5
3.1.4 Specification of Motor Power Cable
Terminal
Motor Model U, V, W / Connector of Brake
Identification
ECMA-C△0401S (100W)
ECMA-C△0602S (200W)
ECMA-C△0604S (400W)
ECMA-C△0604H (400W)
ECMA-CM0604PS (400W)
ECMA-C△08047 (400W) A
ECMA-C△0807S (750W)
ECMA-C△ 0807H (750W) HOUSING: JOWLE (C4201H00-2*2PA)
ECMA-C△0907S (750W)
ECMA-C△0910S (1000W)
ECMA-C△0602S (200W)
ECMA-C△0604S (400W)
ECMA-C△08047 (400W) B
ECMA-C△0807S (750W)
ECMA-C△0907S (750W)
ECMA-C△0910S (1000W) HOUSING: JOWLE (C4201H00-2*3PA)
ECMA-G△1303S (300W)
ECMA-E△1305S (500W)
ECMA-G△1306S (600W)
ECMA-F△1308S (850W)
ECMA-G△1309S (900W)
ECMA-C△1010S (1000W)
ECMA-E△1310S (1000W) C
ECMA-F△1313S (1300W)
ECMA-E△1315S (1500W)
ECMA-F△1318S (1800W)
ECMA-C△1020S (2000W) 3106A-20-18S
ECMA-E△1320S (2000W)
ECMA-C△13304 (3000W)
3-6
Terminal
Motor Model U, V, W / Connector of Brake
Identification
ECMA-E△1820S (2000W)
ECMA-E△1830S (3000W)
D
ECMA-F△1830S (3000W)
ECMA-E△1835S (3500W)
3106A-24-11S
CASE
Terminal U V W BRAKE1 BRAKE2
GROUND
Identification (Red) (White) (Black) (Brown) (Blue)
(Yellow green)
A 1 2 3 4 - -
B 1 2 4 5 3 6
C F I B E G H
D D E F G A B
When selecting the wire rod, please choose 600V PVC cable and the length should not
longer than 30m. If the length exceeds 30m, please take the received voltage into
consideration when selecting the wire size. Please refer to Section 3.1.6 for wire rod
selection.
Note: 1. The coil of brake has no polarity. The names of terminal identification are
BRAKE1 and BRAKE2.
2. The power supply for brake is DC24V. Never use it for VDD,
the +24V source voltage.
3. () in servo motor model represents brake or keyway / oil seal.
4. (△) in servo motor model represents encoder type.
△ = 1: incremental, 20-bit; △ = 2: incremental, 17-bit; △ = M: magnetic.
3-7
3.1.5 Specification of Encoder Cable Connector
Encoder Connection (Diagram 1)

Servo Drive
*2 Quick Connector *1
Connector of Connector of
CN2 Connector Encoder Cable Encoder Cable
(Drive Side) (Motor Side)
Servo Motor
Note: This diagram shows the connection between the servo drive and the motor
encoder. It is not drawn by the practical scale and specification will be different
according to the selected servo drive and motor model.
1. Please refer to the Section of Specification and Definition of Encoder
Connector.
2. Please refer to section 3.4 CN2 Connector.
Motor Model Connector of Encoder Cable

ECMA-C△0401S (100W)
ECMA-C△0602S (200W)
ECMA-C△0604S (400W)
ECMA-C△0604H (400W)
9 6 3 3 6 9
8 5 2 View from View from 2 5 8
ECMA-C△08047 (400W) 7 4 1 this side this side 1 4 7
ECMA-C△0807S (750W)
HOUSING： AMP (1-172161-9)
ECMA-C△ 0807H (750W)
ECMA-C△0907S (750W)
ECMA-C△0910S (1000W)
3-8
Terminal Identification of Encoder Connector

Connector of Connector of
Encoder Cable Motor Encoder
Housing : AMP(1-172161-9)
Motor
Servo Drive
Encoder
CN2
View from this side View from this side
1 2 3 (Encoder type is 17bit , 20bit):

Blue 3 2 1
T+ Reserved Reserved White
-
4 5 6 Reserved T+
Blue/Black 6 5 4
T- Reserved Reserved White/Red
-
7 8 9 Reserved T-
Red/Red & Black/Black
white & white Shield 9 8 7
DC+5V GND Blue Brown
Shield
GND DC+5V
The wire color of the servo drive

is for reference only. Please refer
to the real object.
1 1
2 2
Motor 3 3 Servo Drive

Encoder 4 4 CN2
‧ ‧
‧ ‧
‧ ‧
If not using housing and directly wire the cores, please follow the corresponding core number for wiring.
For example, core number 1 from the servo drive CN2 should connect to core number 1 from the motor
encoder; core number 2 from the servo drive CN2 should connect to core number 2 from the motor encoder and
so on. Please number the cores from the servo drive in order and then connect it to the encoder.
3-9
Encoder Connection (Diagram 2)

Servo Drive
： 1
CN2 Connector
Military Connector of
Connector Encoder Cable
Servo Motor
Note: This diagram shows the connection between the servo drive and the motor
encoder. It is not drawn by the practical scale and specification will be different
according to the selected servo drive and motor model.
Please refer to section 3.4 CN2 Connector.
3-10
Motor Model Connector of Encoder Cable

ECMA-G△1303S (300W)
ECMA-E△1305S (500W)
ECMA-G△1306S (600W)
ECMA-GM1306PS (600W)
ECMA-F△1308S (850W) Pin Terminal
Color
ECMA-G△1309S (900W) No. Identification
rom
wf e
ECMA-GM1309PS (900W) Vie is sid A T+ Blue
th
ECMA-C△1010S (1000W) Blue&
B T-
ECMA-E△1310S (1000W) Black
B A M
Red/
ECMA-F△1313S (1300W) C
P
N
T
L S DC+5V Red &
ECMA-E△1315S (1500W) D K
E
R S
J
White
ECMA-F△1318S (1800W) F G H Black/
ECMA-C△1020S (2000W) R GND Black &
3106A-20-29S White
ECMA-E△ 1320S (2000W) Military Connector BRAID
ECMA-E△1820S (2000W) L –
SHIELD
ECMA-C△13304 (3000W)
ECMA-E△1830S (3000W)
ECMA-F△1830S (3000W)
ECMA-E△1835S (3500W)
Please select shielded multi-core and the shielded cable should connect to the SHIELD
end. Please refer to the description of Section 3.1.6.
Note: 1. () in servo motor model represents brake or keyway / oil seal.
3-11
3.1.6 Selection of Wiring Rod
The recommended wire rods are shown as the following table:

Servo Drive and Power Wiring – Wire Diameter mm² (AWG)
corresponding Servo Motor L1c, L2c R, S, T U, V, W P ,C
ASD-B2-0121- ECMA-C△0401S
ASD-B2-0221- ECMA-C△0602S
ECMA-C△0604S
ECMA-C△0604H
ECMA-CM0604PS
ASD-B2-0421-
ECMA-C△08047
ECMA-E△1305S 1.3 2.1 0.82 2.1
ECMA-G△1303S (AWG16) (AWG14) (AWG18) (AWG14)
ECMA-C△0807S
ECMA-C△0807H
ECMA-CM0807PS
ASD-B2-0721-
ECMA-C△0907S
ECMA-G△1306S
ECMA-GM1306PS
ECMA-C△0910S
ECMA-C△1010S
ECMA-E△1310S
ASD-B2-1021- 1.3 2.1 1.3 2.1
ECMA-F△1308S
(AWG16) (AWG14) (AWG16) (AWG14)
ECMA-G△1309S
ECMA-GM1309PS
ASD-B2-1521- ECMA-E△1315S
ECMA-C△1020S 1.3 2.1 2.1 2.1
ECMA-E△1320S (AWG16) (AWG14) (AWG14) (AWG14)
ASD-B2-2023- ECMA-E△1820S
ECMA-F△1313S
ECMA-F△1318S
1.3 2.1 3.3 2.1
ECMA-C△13304
(AWG16) (AWG14) (AWG12) (AWG14)
ECMA-E△1830S
ASD-B2-3023-
ECMA-E△1835S
ECMA-F△1830S
3-12
Servo Drive Encoder Wiring - Wire Diameter mm2 (AWG)

Model Size Number Specification Standard Length
ASD-B2-0121-
ASD-B2-0221-
ASD-B2-0421-
ASD-B2-0721-
0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
ASD-B2-1021-
ASD-B2-1521-
ASD-B2-2023-
ASD-B2-3023-
Note: 1. Please use shielded twisted-pair cable for encoder wiring so as to reduce the
interference of the noise.
2. The shield should connect to the phase of SHIELD.
3. Please follow the Selection of Wire Rod when wiring in order to avoid the
danger it may occur.
4. () at the end of the servo drive model represents the model code of ASDA-B2.
Please refer to the model information of the product you purchased.
5. () in servo motor model represents brake or keyway / oil seal.
3-13
3.2 Basic Wiring

3.2.1 200 W (included) and Models Below
(without built-in regenerative resistor and cooling fan)
Connect to external
Power regenerative resistor
1-phase /3-phase
200~230V
P D C Servo Drive
IPM Module
R
Phase Loss
Detection
Rectifier
S Servo
Circuit
Regeneration
Motor
T
Circuit
V M
Encoder
L1C ±15V
Control Power
+5V
L2C +3.3V
+24V Protection GATE
Circuit DRIVE
External speed
A/D
External torque
Position pulse
CN1
Data Processing Unit

Digital input
CN2
A,B,Z output
Digital output
Display
Serial
Communication CN3
RS-232/RS-485
MODE SHIFT
Battery CN4
CHARGE SET
Analog output
D/A CN5
monitor
3-14
3.2.2 400 W ~ 750 W Models

(with built-in regenerative resistor, but without cooling fan)
Connect to external
1-phase / 3-phase
200~230V
P D C Servo Drive
IPM Module
R
Phase Loss
Detection
Rectifier
S Servo
Circuit
U
Regeneration
Motor
T
Circuit
V M
Encoder
L1C ±15V
Control Power
+5V
L2C +3.3V
Circuit DRIVE
External speed
A/D
External torque
Position pulse
CN1

Digital input
CN2
A,B,Z output
Digital output
Display
Serial
communication CN3
RS-232/RS-485 MODE SHIFT
Battery CN4
CHARGE SET
Analog output
D/A CN5
monitor
3-15
3.2.3 1 kW ~ 3 kW Models
(with built-in regenerative resistor and cooling fan)
Connect to external
1kW~1.5kW: 1-phase / 3-phase 200~230V
2kW~3kW: 3-phase 200~230V
P D C Servo Drive Models above 1 kW
IPM Module
R +12V
Phase Loss
Detection
Rectifier
S Servo
Circuit
U
Regenerative
Motor
T
Circuit
V M
Encoder
L1C ±15V
Control Power
+5V
L2C +3.3V
Circuit DRIVE
External speed
A/D
External torque
Position pulse
CN1

Digital input
CN2
A,B,Z output
Digital output
Display
Serial
communication CN3
RS-232/RS-485
MODE SHIFT
Battery CN4
CHARGE SET
Analog output
D/A CN5
monitor
3-16
3.3 I / O Signal (CN1) Connection

3.3.1 I/O Signal (CN1) Connector Terminal Layout
In order to have a more flexible communication with the master, 6 programmable Digital
Outputs (DO) and 9 programmable Digital Inputs (DI) are provided. The setting of 9 digital
inputs and 6 digital outputs of each axis provided by ASDA-B2, which are parameter P2-
10~P2-17, P2-36 and parameter P2-18~P2-22, P2-37 respectively. In addition, the
differential output encoder signal, A+, A-, B+, B-, Z+ and Z-, input of analog torque
command, analog speed/position command and pulse position command are also
provided. The followings are the pin diagrams.
Side View Rear View
3-17
16 DO6+ Digital output

1 DO4+ Digital output 31 DI7- Digital input
+24V power
17 VDD output (for
2 DO3- Digital output external I/O) 32 DI6- Digital input
Analog torque
18 T_REF
Input
3 DO3+ Digital output 33 DI5- Digital input
Analog input
19 GND
signal ground
4 DO2- Digital output 34 DI3- Digital input
Analog speed
20 V_REF
input (+) Pulse applied
5 DO2+ Digital output 35 PULL HI
Encoder power
21 OA
A pulse output High-speed
6 DO1- Digital output 36 /HPULSE
Encoder position pulse (-)
22 /OA
/A pulse output
7 DO1+ Digital output 37 /SIGN Position sign (-)
Encoder /B pulse
23 /OB
output High-speed
8 DI4- Digital input 38 HPULSE
Encoder /Z pulse position pulse (+)
24 /OZ
output
9 DI1- Digital input 39 SIGN Position sign (+)
Encoder B pulse
25 OB
output High-speed
10 DI2- Digital input 40 /HSIGN
position sign (-)
26 DO4- Digital output
Power
11 COM+ 41 /PULSE Pulse input (-)
input (12~24V)
High-speed
12 DI9- Digital input 42 HSIGN
position sign (+)
28 DO5+ Digital output
Encoder Z pulse
13 OZ Line-driver 43 PULSE Pulse input (+)
output Analog input
29 GND
signal ground
Encoder Z pulse
VDD(24V) power
14 COM- 44 OCZ Line-driver
ground
30 DI8- Digital input output
3-18
3.3.2 Signals Explanation of Connector CN1
The following details the signals listed in previous section:

General Signals
Wiring
Diagram
Signal Pin No Function
(Refer to
3.3.3)
(1) The speed command of the motor is -
10 V ~ +10 V which means the speed
command is -3000 ~ +3000 r/min
(default). It can change the
V_REF 20 corresponding range via parameters. C1
Analog (2) The position command of the motor is
Command -10 V ~ +10 V which means the
(input) position command is -3 cycles ~ +3
cycles (default).
The torque command of the motor is -10
T_REF 18 V ~ +10 V which means the rated torque C1
command of -100 % ~ +100 %.
Position pulse can be inputted by Line
Driver (single phase max. frequency
500KHz) or open-collector (single phase
PULSE 43 max. frequency 200 KHz). Three kinds of
Position /PULSE 41 command type can be selected via P1-00,
Pulse SIGN 39 CW pulse + CCW pulse, pulse + direction, C3/C4
(Input) /SIGN 37 A pulse + B pulse.
PULL HI 35 When position pulse uses open-collector,
the terminal should be connected to an
external applied power in order to pull
high.
High position pulse command only
High- HPULSE 38 accepts differential input (+5V, Line-
speed /HPULSE 36 Drive). The max. input frequency is 4MHz.
Position Three kinds of command type can be C4-2
Pulse HSIGN 42 selected via P1-00, CW pulse + CCW
Input /HSIGN 40 pulse, pulse + direction, A pulse + B
pulse.
OA 21
/OA 22
OB 25 Encoder signal output A, B, Z (Line Drive
Position C13/C14
/OB 23 output)
Pulse
(Output) OZ 13
/OZ 24
Encoder signal output Z (Open-collector
OCZ 44 -
output).
3-19
Wiring
Diagram
Signal Pin No Function
(Refer to
3.3.3)
VDD is the +24 V power provided by the
drive and is for Digital Input (DI) and
VDD 17
Digital Output (DO) signal. The maximum
current is 500 mA.
COM+ is the common input of Digital
Input (DI) and Digital Output (DO) voltage.
Power When using VDD, VDD should be -
COM+ 11 connected to COM+. If not using, it needs
COM- 14 to apply the external power (+12 V ~ + 24
V). Its positive end should connect to
COM+ and the negative end should
connect to COM-.
GND 19 VCC voltage is based on GND.
There are numerous operation mode of this servo drive (please refer to Chapter 6.1).
Each operation mode needs different I/O signal. In order to use the terminal in a more
efficient way, the selection of I/O signal has to be programmable. That is to say, users
can choose the desired DI/DO signal to meet the demand. Basically, the default setting
of DI/DO signal has already have the appropriate function which can satisfy the demand
of normal application.
3-20
Users have to select the operation mode based on the needs first (please refer to Chapter
6.1 for the introduction of each mode) and refer to the following DI/DO table to know the
corresponding default setting of DI/DO signal and Pin No of the selected mode in order to
conduct the wiring.
The table below lists the default setting of DI/DO signal function and pin No:
The explanation of DO signal default setting is as the followings.
DO Operation Pin No. Wiring Method

Details
Signal Mode (Refer to 3.3.3)
+ -
When the servo drive applies to the
power and no alarm (ALRM) occurs in
SRDY ALL 7 6
control circuit and motor power circuit,
this DO is ON.
When the DI.SON is ON and the motor
SON N/A - - servo circuit can operate smoothly, this
DO is ON.
When the motor speed is slower than
ZSPD ALL 5 4 the setting value of parameter P1-38,
this DO is ON.
When the motor actual speed (r/min) is
TSPD ALL - - faster than the setting value of
parameter P1-39, this DO is ON.
When the deviation between the motor
PT, PT-S, command and actual position (PULSE)
TPOS 1 26
PT-T is smaller than the setting value of
parameter P1-54, this DO is ON.
ALL
TQL (except for - - When torque is limiting, this DO is ON. C5 / C6 / C7 / C8
T and Tz)
When the alarm occurs (except
forward/reverse limit, emergency stop,
ALRM ALL 28 27
communication error, under voltage),
this DO is ON.
BRKR ALL - - Control contact of brake.
When the overload level is reached,
OLW ALL - -
this DO is ON.
A warning occurs.
When it is in the status of forward /
WARN ALL - - reverse limit, emergency stop,
communication error, under voltage,
this DO is ON.
When the deviation between the speed
command and the feedback speed of
S_CMP S, Sz - - the motor is smaller than the setting
value of parameter P1-47, this DO is
ON.
3-21
Note: 1. For example, if the user selects S mode, pin 3 and 2 are TSPD.
2. The unlisted Pin No means the signal is not the preset one. If users want to
use it, parameters need to be changed and set as the desired ones. Please
refer to Section 3.3.4 for further details.
The explanation of DI signal default setting is as the followings

DI Operatio Pin Wiring Method
Function
Signal n Mode No. (Refer to 3.3.3)
When DI is ON, the servo circuit will be
SON ALL 9 activated and the motor coil will generate
current.
When the alarm (ALRM) occurs, this signal
ARST ALL 33 is used to reset the servo drive and output
the signal, Ready (SRDY) again.
C9 / C10 / C11 /
GAINUP ALL - It is for switching the controller gain. C12
CCLR PT 10 It is for clearing the deviation counter.
When this DI is ON and the motor speed is
slower than the setting of P1-38, the motor
ZCLAMP ALL -
position will be locked when the signal is
triggered.
When this DI is ON, the motor will operate
CMDINV T, S -
in the opposite direction.
ON means the torque limit command is
TRQLM S, Sz 10
effective.
ON means the speed limit command is
SPDLM T, Tz 10
effective.
STP - - Motor stops.
SPD0 34 Select the source of speed command:
SPD1 SPD0 Command source C9 / C10 / C11 /

C12
S mode: analog
S, Sz, OFF OFF input
PT-S, Sz mode: 0
SPD1 S-T 8
OFF ON P1-09
ON OFF P1-10
ON ON P1-11
PT, T,
TCM0 34 Select the source of torque command:
Tz, PT-T
3-22
DI Operatio Pin Wiring Method

Function
Signal n Mode No. (Refer to 3.3.3)
TCM1 TCM0 Command source
T mode: analog
OFF OFF input
Tz mode: 0
TCM1 S-T 8
OFF ON P1-12
ON OFF P1-13
ON ON P1-14
S-P PT-S 31 Mode switching. OFF: Speed; ON: Position
S-T S-T 31 Mode switching. OFF: Speed; ON: Torque
T-P PT-T 31 Mode switching. OFF: Torque; ON: Position

It is contact B and has to be ON frequently;
EMGS ALL 30
otherwise the alarm (ALRM) will occur.
Reverse inhibit limit (contact B) and has to
PT, S, T,
NL (CWL) 32 be ON frequently; or the alarm (ALRM) will
Sz, Tz
occur.
Forward inhibit limit (contact B) and has to
PL PT, S, T,
31 be ON frequently; or the alarm (ALRM) will
(CCWL) Sz, Tz
occur.
TLLM N/A - Reverse operation torque limit
TRLM N/A - Forward operation torque limit
When this DI is ON, the motor JOG
JOGU ALL -
operates in forward direction.
When this DI is ON, the motor JOG
JOGD ALL -
operates in reverse direction.
Electronic gear ratio (numerator) selection 0
PT, PT-
GNUM0 - (Please refer to P2-60~P2-62 for gear ratio
S
selection (numerator).)
Electronic gear ratio (numerator) selection 1
PT, PT-
GNUM1 - (Please refer to P2-60~P2-62 for gear ratio
S
selection (numerator).)
In position mode, when this DI is ON, the
PT, PT- C9 / C10 / C11 /
INHP - external pulse input command is not
S C12
working.
The default setting of DI and DO in each operation mode is shown as the followings.
Please note that the following table neither detail the information as the previous one nor
show the Pin number of each signal. However, each operation mode is separated in
different columns in order to avoid the confusion.
3-23
Table 3.1 Default Value of DI Function
DI
Symbol Function PT S T Sz Tz PT-S PT-T S-T
Code
SON 0x01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1
ARST 0x02 Alarm Reset DI5 DI5 DI5 DI5 DI5
GAINUP 0x03 Gain switching
CCLR 0x04 Pulse clear DI2 DI2 DI2
ZCLAMP 0x05 Zero speed CLAMP
The input command
CMDINV 0x06 will be in reverse
direction
Reserved 0x07 Reserved
TRQLM 0x09 Torque limit DI2 DI2
SPDLM 0x10 Speed limit DI2 DI2
STP 0x46 Motor stop
Speed command
SPD0 0x14 DI3 DI3 DI3 DI3
selection 0
Speed command
SPD1 0x15 DI4 DI4 DI4 DI4
selection 1
Torque command
TCM0 0x16 DI3 DI3 DI3 DI3 DI5
selection 0
Torque command
TCM1 0x17 DI4 DI4 DI4 DI4 DI6
selection 1
Mode switch between
S-P 0x18 speed and position DI7
command
Mode switch between
S-T 0x19 speed and torque DI7
command
Mode switch between
T-P 0x20 torque and position DI7
command
Reserved 0x2C Reserved
Reserved 0x2D Reserved
EMGS 0x21 Emergency stop DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8
NL(CWL) 0x22 Reverse inhibit limit DI6 DI6 DI6 DI6 DI6
PL(CCWL) 0x23 Forward inhibit limit DI7 DI7 DI7 DI7 DI7
3-24
DI
Symbol Function PT S T Sz Tz PT-S PT-T S-T
Code
Reverse operation
TLLM 0x25
torque limit
Forward operation
TRLM 0x26
torque limit
JOGU 0x37 Forward JOG input
JOGD 0x38 Reverse JOG input
Electronic gear ratio
GNUM0 0x43 (Numerator) selection
0
Electronic gear ratio
GNUM1 0x44 (Numerator) selection
1
INHP 0x45 Pulse inhibit input
Note: For corresponding pin of DI1 ~ DI8, please refer to section 3.3.1.
3-25
Table 3.2 Default Value of DO Function
DO
Signal Function PT S T Sz Tz PT-S PT-T S-T
Code
SRDY 0x01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
SON 0x02 Servo On
Zero-speed
ZSPD 0x03 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
reached
Reach the target
TSPD 0x04 DO3 DO3 DO3 DO3 DO3 DO3 DO3
speed
Reach the target
TPOS 0x05 DO4 DO4 DO4
position
TQL 0x06 Torque limit
ALRM 0x07 Servo alarm DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5
BRKR 0x08 Brake DO4 DO4 DO4 DO4
Early warning for
OLW 0x10
overload
WARN 0x11 Servo warning
Reverse software
SNL(SCWL) 0x13
limit
Forward software
SPL(SCCWL) 0x14
limit
Target speed
SP_OK 0x19
reached
Note: For corresponding pin DO1 ~ DO6, please refer to section 3.3.1.
3-26
3.3.3 Wiring Diagrams (CN1)

The valid voltage range of analog input command in speed and torque mode is -10V ~+10V.
The command value can be set via relevant parameters.
C1: Speed / Torque analog signal input
Servo Drive
10kΩ
20 V-REF
10kΩ
(18 T-REF )
+
_ 10V Approx.
10kΩ
19 GND
SG
C2: Analog monitor output (MON1, MON2)
Servo Drive
CN5 Output +
_ 8V
Max. 1mA
24kΩ
MON1 1 8kΩ
(MON2 3)
8V full scale
GND 2
SG
3-27
Pulse command can be input by the way of open-collector or Line driver. The maximum
input pulse of Line driver is 500 kpps and 200 kpps for open-collector.
C3-1: The source of pulse input is open-collector NPN equipment which applies the
internal power of the servo drive.
Controller Servo Drive
DC24V
VDD 17
PULL_HI 35
Approx.
2KΩ
Max. input pulse
frequency is 200Kpps
75Ω
2KΩ
/SIGN 37 75Ω
約2KΩ Max. input pulse

75Ω
2KΩ
/PULSE 41 75Ω
14
COM-
SG
C3-2: The source of pulse input is open-collector PNP equipment which applies the
internal power of the servo drive.
DC24V
VDD 17 Max. input pulse

PULSE 43 75Ω
2KΩ 75Ω
SIGN 39
Approx.
2KΩ Max. input pulse
PULL_HI 35
75Ω
SG
14
COM-
2KΩ 75Ω
Approx.
2KΩ
3-28
C3-3: The source of pulse input is open-collector NPN equipment which applies the
external power of the servo drive.
PULL_HI 35
Approx.
+
DC24V 2KΩ
- Max. input pulse
2KΩ frequency is 200Kpps
75Ω
/SIGN 37 75Ω
Approx.
Max. input pulse
2KΩ
75Ω
2KΩ
/PULSE 41 75Ω
SG
C3-4: The source of pulse input is open-collector PNP equipment which applies the
external power of the servo drive.
+
DC24V Max. input pulse
- frequency is 200Kpps
PULSE 43 75Ω
2KΩ 75Ω
SIGN 39
Approx.
PULL_HI 2KΩ Max. input pulse
35
SG frequency is 200Kpps
75Ω
2KΩ 75Ω
Approx.
2KΩ
 Caution: Do not apply to dual power or it may damage the servo drive.
3-29
C4-1: Pulse input (Line driver) can only apply to 5V power. Never apply to 24V power.
The max. input

pulse frequency is
500Kpps
SIGN 39 51Ω
/SIGN 37 51Ω
The max. input

pulse frequency is
500Kpps
PULSE 43 51Ω
/PULSE 41 51Ω
SG
C4-2: High-speed pulse input (Line driver) can only apply to 5V power. Never apply to 24V power.
HSIGN 42 2KΩ
100Ω
/HSIGN 40 2KΩ
HPULSE 38 2KΩ
100Ω
/HPULSE 36 2KΩ
SG
19
GND GND
3-30
 The high-speed pulse input interface of the servo drive is not the
isolated interface. In order to reduce the interference of the noise, it is
suggested that the terminal ground of the controller and the servo drive
should be connected to each other.
When the drive connects to inductive load, the diode has to be installed. (The permissible
current is under 40 mA; the surge current is under 100 mA; the maximum voltage is 30V.)
C5: Wiring of DO signal. The servo drive applies C6: Wiring of DO signal. The servo drive applies
to the internal power and the resistor is to the internal power and the resistor is
general load. inductive load.
Servo Drive Servo Drive
Ensure the polarity (+, -) of

DC24V DC24V Diode is correct or it may
damage the drive.
VDD VDD
DOX：(DOX+,DOX-) DOX：(DOX+,DOX-) 17
17
X=1,2,3,4,5,6 X=1,2,3,4,5,6
DO1：(7,6) R DO1：(7,6)
DO2：(5,4) DO2：(5,4)
DO3：(3,2) DOX+ DO3：(3,2) DOX+
DO4：(1,26) DO4：(1,26)
DO5：(28,27) DO5：(28,27)
DO6：(16,15) DOX-
DO6：(16,15) DOX-
COM-
COM-
14
14
C7: Wiring of DO signal. The servo drive applies C8: Wiring of DO signal. The servo drive applies
to the external power and the resistor is to the external power and the resistor is
general load. inductive load.
Servo Drive Servo Drive Do not connect VDD-
and COM+
DOX：(DOX+,DOX-) DOX：(DOX+,DOX-) Ensure the polarity (+, -) of
X=1,2,3,4,5,6 X=1,2,3,4,5,6 Diode is correct or it may
damage the drive.
DO1：(7,6)
Do not connect VDD-
DO2：(5,4)
and COM+
DO3：(3,2)
DO4：(1,26) DO1：(7,6)
R DO2：(5,4) DC24V
DO5：(28,27) DC24V DO3：(3,2) DOX+
DO6：(16,15)
DOX+ DO4：(1,26)
DO5：(28,27)
DC24V DO6：(16,15) DOX-
DOX-
50mA
3-31
The DI wiring inputs signal via the relay or open-collector transistor.

Conditions of DI On / Off:
ON: 15V - 24V; the input current is higher than 3 mA.
OFF: below 5V; the input current must not be higher than 0.5 mA.
NPN transistor, common emitter (E) mode (SINK mode)

C9: Wiring of DI signal. The servo drive applies to C10: Wiring of DI signal. The servo drive
the internal power. applies to the external power.
Servo Drive
Servo Drive
DC24V
VDD
Approx.
4.7KΩ
COM+ COM+
Approx.
4.7KΩ Approx.
4.7KΩ
C
B
DC24V
E
SON
SON
COM-
PNP transistor, common emitter (E) mode (SOURCE mode)

C11: Wiring of DI signal. The servo drive applies C12: Wiring of DI signal. The servo drive applies
to the internal power. to the external power.
Servo Drive Servo Drive
DC24V
VDD
SON
SON
DC24V
Approx.
4.7KΩ COM+
Approx. Approx.
4.7KΩ
E 4.7KΩ
R
B COM+
C
COM-
 Caution: Do not apply to dual power or it may damage the servo drive.
3-32
C13: Encoder signal output (Line driver) C14: Encoder signal output (Opto-isolator)
Max. output Max. output

Servo Drive current is 20mA Controller Servo Drive current is 20mA Controller
AM26CS31 Type AM26CS31 Type
OA 21 OA 21
200Ω
/OA 22 /OA 22
High speed
125Ω photocoupler
OB 25 OB 25
200Ω
/OB 23 /OB 23
High speed
125Ω photocoupler
OZ 13 OZ 13
200Ω
/OZ 24 /OZ 24
High speed
125Ω photocoupler
SG SG
C15: Encoder OCZ output (Open-collector Z-pulse output)
24V
Servo Drive
Max. Spec: 30V
100mA
OCZ 44
GND 29
3-33
3.3.4 DI and DO Signal Specified by Users
If the default setting of DI/DO signal cannot satisfy the need, self-set the DI/DO signal will do
and easy. The signal function of DI1 ~ 9 and DO1 ~ 6 is determined by parameter P2-10 ~
P2-17, P2-36 and parameter P2-18 ~ P2-22, P2-37 respectively. Please refer to Chapter 7.2,
which shown as the following table. Enter DI or DO code in the corresponding parameter to
setup DI/DO.
Signal Name Pin No. Parameter Signal Name Pin No. Parameter
DI1- CN1-9 P2-10 DO1+ CN1-7
P2-18
DI2- CN1-10 P2-11 DO1- CN1-6
DI3- CN1-34 P2-12 DO2+ CN1-5
P2-19
DI4- CN1-8 P2-13 DO2- CN1-4
DI DI5- CN1-33 P2-14 DO3+ CN1-3
P2-20
DI6- CN1-32 P2-15 DO3- CN1-2
DO
DI7- CN1-31 P2-16 DO4+ CN1-1
P2-21
DI8- CN1-30 P2-17 DO4- CN1-26
DI9 CN1-12 P2-36 DO5+ CN1-28
P2-22
DO5- CN1-27
DO6+ CN1-16
P2-37
DO6- CN1-15
3-34
3.4 CN2 Connector

There are two types of CN2 encoder cable which shown as below:
Encoder
CN2 Connector Connector
CN2 on drive Connect to the servo Connect to the
side drive motor
Quick
Connector
Military
Connector
Definition of two sides:
(1) Encoder Connector
6 7 8 9
View from 1 2 3 4 5
this side Rear view
(2) Motor Connector
1 2 3 3 2 1
Quick 4 5 6 6 5 4
Connector 7 8 9 View from View from 9 8 7
this side this side
HOUSING：AMP (1-172161-9)
Military
Connector
B A M
C N L
P T
D K
R S
E J
F G H
3106A-20-29S
3-35
The definition of each signal is as follows:
Drive Connector Encoder Connector

Terminal Military Quick
PIN No. Description Color
Symbol Connector Connector
Serial communication
4 T+ A 1 Blue
signal input / output (+)
Serial communication Blue &
5 T- B 4
signal input / output (-) Black
Red / Red
8 +5V +5V power supply S 7
& White
Black /
7, 6 GND Ground R 8 Black &
White
Shell Shielding Shielding L 9 -
The shielding procedures of CN2 encoder connector are as followings:
(1) Solder the centre cores on the metal part of

the connector adequately for good ground
contact with the plate and shielding.
(2) Trim the ends of the cores and install the

cores with shielding into the plastic case of
the connector as shown in the figure.
(3) Tighten the screws to complete the

shielding.
3-36
3.5 Wiring of CN3 Connector

Layout of CN3 Connector
The servo drive connects to the personal computer via communication connector. The
user can operate the servo drive via MODBUS, PLC or HMI. There are two common
communication interfaces, RS-232 and RS-485. Among them, RS-232 is more common.
Its communication distance is about 15 meter. If the user selects RS-485, its transmission
distance is longer and supports more than one servo drives for connection.
*1 *1
CN3 Port (Female) Reserved
*2
Side View Please read carefully the following note. Improper wiring may
Rear View cause damage or injury!
PIN No. Signal Name Terminal Symbol Function and Description
1 Grounding GND + 5 V connects to the signal terminal

The drive transmits the data
RS-232 data
2 RS-232_TX The connector connects to RS-232 of
transmission
PC
3 - - Reserved
The drive receives the data
RS-232 data
4 RS-232_RX The connector connects to RS-232 of
receiving
PC
RS-485 data The drive transmits the date to
5 RS-485(+) differential terminal (+)
transmission
RS-485 data The drive transmits the date to
6 RS-485(-) differential terminal (-)
transmission
1. Please refer to section 8.1 for RS-485 wiring.

Note:
2. Two kinds of communication wire of IEEE1394 are commercially available. One of the internal
ground terminals (Pin 1) will short circuit with the shielding and will damage the drive. Do not
connect GND to the shielding.
3-37
3.6 Analog Monitor Output Connector - CN5

Analog Monitor Output Connector CN5 is used to monitor the motor operation status.
Motor characteristics such as speed and current can be represented by analog voltages.
The drive provides two channels which can be configured with the parameter P0-03 to
output the desired characteristics. Output voltage is reference to the power ground (GND).
CN5 Terminal Layout and Identification
3 2 1
CN5
Signal Cable for CN5 Connector
1
2
3
20±5
Wiring
Function and
PIN No. Signal Symbol Color Diagram
Description
(Refer to 3.3.3)
1 MON1 Monitor analog data 1 Red
2 GND Ground White C2
3 MON2 Monitor analog data 2 Black
3-38
3.7 Standard Connection Example

3.7.1 Position (PT) Control Mode
Servo Drive
MCCB ASDA-B2 series
MC
AC 200/230 V R ＊4
P⊕
Three-phase S Regenerative
50/60Hz D resistor
T
C
Red
U
L1c White Power supply
V
L2c Black
W
CN1 Green
24V EMGS BRKR Brake
＊5
/SIGN 37
CN2 Encoder
Pulse input
SIGN 39
4 T+ Blue
(Line Driver)＊1 /PULSE 41 Blue&
10KΩ 5 T- Black
PULSE 43
Reserved - -
± 10V 10KΩ T-REF 18
10KΩ Reserved - -
GND 19 Red/Red& SG Twisted-pair of
8 +5V White twisted-shield
/HSIGN 40 Black/Black cable
6,7 GND &White
High-speed HSIGN 42
CN3
pulse input ＊2 /HPULSE 36
(Line Receiver) DC 24V 6 RS485-
HPULSE 38
5 RS485+
VDD 17
4 RS232_RX
COM+ 11
3 -
COM- 14 ＊3
2 RS232_TX
SON DI1 9 5 KΩ
5 KΩ
1 GND
CCLR DI2 10
5 KΩ
TCM0 DI3 34 CN5
5 KΩ
TCM1 DI4 8 1 MON1
5 KΩ 10KΩ Twisted-pair of
ARST DI5 33 2 GND twisted-shield
5 KΩ 10KΩ cable
CWL DI6 32 3 MON2
5 KΩ
CCWL DI7 31 SG
5 KΩ
EMGS DI8 30
5 KΩ
0 DI9 12
DO1+ 7
SRDY
1.5KΩ
DO1- 6
DO2+ 5
ZSPD
1.5KΩ
24V DO2- 4
DO3+ 3
1.5KΩ
DO3- 2
DO4+ 1
TPOS
1.5KΩ
DO4- 26
ALRM
DO5+ 28
1.5KΩ
DO5- 27 Please note:
0
DO6+ 16 *1. Please refer to C3 ~ C4 wiring diagrams
1.5KΩ
DO6- 15
OA 21
in section 3.3.3.
A phase
differential signal /OA 22 *2. Please refer to C3 ~ C4 wiring diagrams
OB 25
B phase
differential signal
in section 3.3.3.
/OB 23
Encoder
pulse Z phase OZ 13 *3. Please refer to C9 ~ C12 wiring
input differential signal 24
/OZ diagrams (SINK / SOURCE mode) in
OCZ 44
section 3.3.3.
Z phase signal
(open-collector) GND 19 *4. Model that under 200W has no built-in
Max. output current 3A regenerative resistor.
Voltage 50V
*5. The brake coil has no polarity.
3-39
3.7.2 Speed Control Mode
Servo Drive
MCCB ASDA-B2 series
MC
AC 200/230 V R ＊2
P⊕
50/60Hz D resistor
T
C
Red
U
V
L2c Black
10KΩ W
CN1 Green 24V EMGS BRKR Brake
＊3
± 10V 10KΩ V_REF
/SIGN 20
10KΩ CN2 Encoder
SIGN
GND 19
10KΩ 4 T+ Blue
Blue&
5 T- Black
± 10V 10KΩ T_REF 18 10KΩ Reserved - -
GND 19
Reserved - -
Twisted-pair or
8 Red/Red& SG
+5V White twisted-shield
Black/Black cable
6,7 GND &White
CN3
DC 24V 6 RS485-
5 RS485+
VDD 17
4 RS232_RX
COM+ 11
3 -
COM- 14 *1
2 RS232_TX
SON DI1 9 5 KΩ
5 KΩ
1 GND
TRQLM DI2 10
5 KΩ
SPD0 DI3 34 CN5
5 KΩ
SPD1 DI4 8 1 MON1
5 KΩ 10KΩ Twisted-pair or
5 KΩ 10KΩ cable
CWL DI6 32 3 MON2
5 KΩ
CCWL DI7 31 SG
5 KΩ
EMGS DI8 30
5 KΩ
0 DI9 12
DO1+ 7
SRDY
1.5KΩ
DO1- 6
DO2+ 5
ZSPD
1.5KΩ
24V DO2- 4
DO3+ 3
TSPD
1.5KΩ
DO3- 2
DO4+ 1
BRKR
1.5KΩ
DO4- 26
ALRM
DO5+ 28
1.5KΩ
DO5- 27
DO6+ 16
0
1.5KΩ
DO6- 15
A phase OA 21
differential signal /OA 22
B phase OB 25
differential signal
/OB 23
Encoder
Z phase OZ 13
pulse
differential signal Please note:
output
/OZ 24
*1. Please refer to C9 ~ C12 wiring
OCZ 44 diagrams (SINK / SOURCE mode) in
Z phase signal
(open-collector) GND 19 section 3.3.3.
Max. output current 3A *2. The servo drive provides built-in
Voltage 50V
regenerative resistor.
3-40
3.7.3 Torque Control Mode
Servo Drive
MCCB ASDA-B2 series
MC
AC 200/230 V R ＊2
P⊕
50/60Hz D resistor
T
C
Red
U
V
L2c Black
10KΩ W
CN1 Green 24V EMGS BRKR Brake
＊3
± 10V 10KΩ V_REF
/SIGN 20
10KΩ CN2 Encoder
SIGN
GND 19
10KΩ 4 T+ Blue
Blue&
5 T- Black Blue&Black
± 10V 10KΩ T_REF 18
10KΩ Reserved - -
GND 19
Reserved - - Twisted pair or
8 Red/Red& SG twisted-shield
+5V White
cable
Black/Black
6,7 GND &White
CN3
DC 24V 6 RS485-
5 RS485+
VDD 17
4 RS232_RX
COM+ 11
3 -
COM- 14 *1
2 RS232_TX
SON DI1 9 5 KΩ
5 KΩ
1 GND
SPDLM DI2 10
5 KΩ
TCM0 DI3 34 CN5
5 KΩ
TCM1 DI4 8 1 MON1
5 KΩ 10KΩ Twisted pair or
5 KΩ 10KΩ cable
CWL DI6 32 3 MON2
5 KΩ
CCWL DI7 31 SG
5 KΩ
EMGS DI8 30
5 KΩ
0 DI9 12
DO1+ 7
SRDY
1.5KΩ
DO1- 6
DO2+ 5
ZSPD
1.5KΩ
24V DO2- 4
DO3+ 3
TSPD
1.5KΩ
DO3- 2
DO4+ 1
BRKR
1.5KΩ
DO4- 26
ALRM
DO5+ 28
1.5KΩ
DO5- 27
DO6+ 16
0
1.5KΩ
DO6- 15
A phase OA 21
differential signal /OA 22
B phase OB 25
differential signal
/OB 23
Encoder
pulse Z phase OZ 13
output differential signal Please note:
/OZ 24
*1. Please refer to C9 ~ C12 wiring
Z phase signal OCZ 44 diagrams (SINK / SOURCE mode) in
(open-collector) GND 19 section 3.3.3.
Max. output current 3A *2. The servo drive provides built-in
Voltage 50V
3-41
3-42
Chapter 4 Panel Display and
Operation
This chapter details the panel status and operation of ADSA-B2 series servo drive.
4.1 Panel Description
Name Function
Five-/Seven-segment display is for displaying the monitoring values,
Display
parameter values and setting values.
Charge LED The Charge LED lights to indicate the power is applied to the circuit.
MODE Key. Pressing MODE key can enter or exit different parameter
MODE Key groups, and switch among Monitor mode, Parameter mode and Alarm
Mode.
SHIFT Key. Pressing SHIFT key can scrolls through parameter groups.
After a parameter is selected and its value displayed, pressing SHIFT
SHIFT Key
key can move the cursor to the left and then change parameter settings
(blinking digits) by using arrow keys.
UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can
UP and DOWN
scroll through and change monitor codes, parameter groups and various
Key
parameter settings.
SET Key. Pressing the SET key can display and save the parameter
groups, the various parameter settings. In monitor mode, pressing SET
SET Key
key can switch decimal or hexadecimal display. In parameter mode,
pressing SET key can enter into parameter setting mode.
4-1
Chapter 4 Panel Display and Operation ASDA-B2
4.2 Parameter Setting Procedure
(1) When the servo drive connects to the power, the display will show the monitor variable
for about one second, and then enter into the Monitor Mode.
(2) Press the MODE Key can switch mode from Parameter Mode → Monitor Mode →
Alarm Mode. If no alarm occurs, then the Alarm Mode will be skipped.
(3) When new alarm occurs, it will switch to Alarm Display Mode in any conditions.
Pressing the MODE Key can switch to the other modes. If there is no Key to be
selected for 20 seconds, it will return to the Alarm Mode automatically.
(4) In Monitor Mode, press UP or DOWN Key can switch the monitor variable. The monitor
variable will be displayed for a second.
(5) In Parameter Mode, pressing the SHIFT Key can switch the group code. The
UP/DOWN Key can change parameter code of two bytes.
(6) In Parameter Mode, press the SET Key, the system will immediately enter into Editing
Setting Mode. The display will show the corresponded setting value of the parameter.
The UP/DOWN Key can be used to change the parameter value or press the MODE
Key to skip Editing Setting Mode and return to Parameter Mode.
(7) In Editing Setting Mode, pressing the SHIFT Key can move the blinking bit to the left.
And use the UP/DOWN Key to adjust the higher setting byte value.
(8) After adjusting the setting value, press the SET Key. It can save the parameter or
execute the command.
(9) After finish parameter setting, the display will show the end code 「SAVED」and
return to the Parameter Mode automatically.
4-2
ASDA-B2 Chapter 4 Panel Display and Operation
4.3 Status Display
4.3.1 Save Setting Display
When finishing editing parameter, press the SET Key to save the setting. The panel will
display the setting status according to the setting for a second.
Display Symbol Description
The setting value is saved correctly. (Saved)
Read-only parameter. Write-protected. (Read-Only)
Enter the wrong password or no password has been entered.

(Locked)
Incorrect setting value or enter the reserved setting value. (Out of
Range)
No entering is allowed when it is Servo ON. (Servo On)
Parameter will be effective after the servo drive is re-powered on.

(Power On)
4.3.2 Decimal Point

High byte / low byte indication: When the data is displayed in
decimal 32 bits, it is for indicating the current high or low byte.
Negative sign: When the data is displayed in decimal format, the
two decimal points in the left represents the negative sign, no
matter it is showed in 16 or 32 bits. When it is showed in
hexadecimal format, it only shows positive sign.
4.3.3 Alarm Message

When there is an error of the drive, it will show ‘AL’ as the alarm
sign and ‘nnn’ as the alarm code. For further explanation, please
refer to Chapter 7, P0-01, parameter description, or Chapter 9,
Troubleshooting.
4-3
4.3.4 Positive and Negative Sign Setting

When entering into the Editing Setting Mode, pressing UP /
DOWN Key can increase or decrease the displayed content.
The SHIFT Key can change the desired adjusted carry value.
(The carry value is blinking at the moment.)
Pressing the SHIFT Key for two seconds can switch the positive
(+) and negative (-) sign. If the parameter is over the range after
switching the positive or negative sign, then it cannot be
switched.
4.3.5 Monitor Display
When the drive is applied to the power, the display will show the monitor displayed symbol
for a second, and then enter into the Monitor Mode. In Monitor Mode, the UP / DOWN Key
can change the desired monitor variable. Or, the user can directly change parameter P0-
02 to set the monitor code. When the power is applied, it will display ASDB2 first. When
the value of P0-02 is 4, it will display the pulse number of pulse command.
P0-02 Monitor Displayed

Description Unit
Setting Symbol
Motor feedback pulse number (after the
0 [user unit]
scaling of electronic gear ratio) (User unit)
Input pulse number of pulse command
1 (after the scaling of electronic gear ratio) [user unit]
(User unit)
The difference of error pulse number
2 between control command pulse and [user unit]
feedback pulse number (User unit)
Motor feedback pulse number (encoder
3 [pulse]
unit, 1600000 pulse/rev)
Input pulse number of pulse command
4 (before the scaling of electronic gear ratio) [pulse]
(encoder unit)
Error pulse number (after the scaling of
5 [pulse]
electronic gear ratio) (encoder unit)
6 Input frequency of pulse command [Kpps]
7 Motor speed [r/min]
8 Speed input command [Volt]
9 Speed input command [r/min]
4-4
P0-02 Monitor Displayed

Description Unit
Setting Symbol
10 Torque input command [Volt]
11 Torque input command [%]
12 Average load [%]
13 Peak load [%]
14 Main circuit voltage [Volt]
Load / Motor Inertia Ratio

15 (Please note that if the display is 130, [0.1times]
it indicates that the actual inertia is 13.0)
16 IGBT temperature [oC]

Resonance frequency (Low byte is the
17 first resonance and high byte is the [Hz]
second one)
The absolute pulse number of encoder

Z phase equals to the homing value, 0.
18 -
It will be +5000 or -5000 pulse when
rotating in forward or reverse direction.
4-5
The following table lists the display examples of monitor value:
Example of the Displayed

Status Description
Value
If the value is 1234, it displays 01234 (shows in
(Dec.) decimal format).
16-bit If the value is 0x1234, it displays 1234 (shows in
(Hex.) hexadecimal format; the first digit does not show
any).
(Dec. High) If the value is 1234567890, the display of the high

byte is 1234.5 and displays 67890 as the low byte
(Dec. Low) (shows in decimal format).
32-bit
(Hex. High) If the value is 0x12345678, the display of the high
byte is h1234 and displays L5678 as the low byte
(Hex. Low) (shows in hexadecimal format).
Negative display. If the value is -12345, it displays
1.2.345 (only shows in decimal format; there is no
positive or negative sign for hexadecimal format display).
Note: 1. Dec means it is displayed in decimal format. Hex means it is displayed in

hexadecimal format.
2. The above display methods can be applied in Monitor Mode and Editing
Setting Mode.
3. When all monitor variables is 32 bits, high / low bit and the display
(Dec/Hex) can be switched. According to the definition in Chapter 7, each
parameter only supports one displaying method and cannot be switched.
4-6
4.4 General Function
4.4.1 Operation of Fault Code Display
When it is in Parameter Mode, select P4-00~P4-04 and press the SET Key,
the corresponding fault record will be shown.
4-7
4.4.2 JOG Mode
When it is in Parameter Mode, select P4-05 and follow the setting method below for JOG
operation.
(1) Press the SET Key to display the speed value of JOG. The default value is 20 r/min.
(2) Press UP or DOWN Key to adjust the desired speed value of JOG. It is adjusted to
100 r/min in the example.
(3) Press the SET Key to display JOG and enter JOG mode.
(4) When it is in JOG Mode, press UP or DOWN Key to enable the servo motor in forward
or reverse direction. The servo motor stops running as soon as the user stops
pressing the key. JOG operation is working only when it is Servo ON.
4-8
4.4.3 Force DO Output
Enter into the Output Diagnosis Mode by the following settings. Set P2-08 to 406 and
enable the function of force DO output. Then, set the force DO output by binary method via
P4-06. When the setting value is 2, DO2 will be forced to enable. When the setting value is
5, DO1 and DO3 will be forced to enable. No data is retained in this mode. It returns to the
normal DO mode when re-power on the drive or set P2-08 to 400.
Note: P4-06 is displayed in hexadecimal format. Therefore, it will not show the fifth 0.
4-9
4.4.4 Digital Input Diagnosis Operation
Enter into the Digital Input Diagnosis Mode by the following setting methods. When the
external output signal DI1 ~ DI9 is ON, the corresponding signal will be shown on the
panel. It is displayed by bit. When it shows bit, it means it is ON.
For example, if it shows 1E1, E is in hexadecimal format, it will be 1100 when it transfers
to binary format. Then, DI6 ~ DI8 is ON.
(Hexadecimal Display)
4.4.5 Digital Output Diagnosis Operation
Enter into the Digital Output Diagnosis Mode by the following setting methods. The output
signal DO1 ~ DO6 is ON and the corresponding signal will be shown on the panel. It is
displayed by bit. When it shows bit, it means it is ON.
For example, if it shows 3F, F is in hexadecimal format, it will be 1111 when it transfers to
binary format. Then, DO1 ~ DO4 is ON.
(Hexadecimal Display)
4-10
Chapter 5 Trial Operation and
Tuning
This chapter is divided into two parts to describe the trial operation. The first one is the
inspection without load and another one is the inspection with load. For safety reasons,
please conduct the first inspection.
5.1 Inspection without Load
Please remove the load of the servo motor, including coupling on the shaft and
accessories so as to avoid any damage on servo drive or mechanism. This is aiming to
avoid the falling off of the disassembled parts of the motor shaft and indirectly causing the
personnel injury or equipment damage during operation. Running the motor without load, if
the servo motor can run during normal operation, then it can connect to load for operation.
Caution: Please operate the servo motor without load first. If the servo motor runs
normally, connect the load afterwards in order to avoid any danger.
Please check the following items before operation.

 Check if there is any obvious damage shown on its appearance.
 The splicing parts of the wiring terminal should be isolated.
 Make sure the wiring is correct so as to avoid the damage or
any abnormity.
 Check if the electric conductivity objects including sheet metal
(such as screws) or inflammable objects are not inside the
servo drive.
Inspection before  Check if the control switch is in OFF status.
operation  Do not place the servo drive or external regenerative resistor on
(has not applied to inflammable objects.
the power yet)  To avoid the electromagnetic brake losing efficacy, please
check if stop function and circuit break function can work
normally.
 If the peripheral devices are interfered by the electronic
instruments, please reduce electromagnetic interference with
devices.
 Please make sure the external voltage level of the servo drive is
correct.
5-1
Chapter 5 Trial Operation and Tuning ASDA-B2
 The encoder cable should avoid excessive stress. When the

motor is running, make sure the cable is not frayed or over
extended.
 Please contact with Delta if there is any vibration of the servo
motor or unusual noise during the operation.
Inspection before  Make sure the setting of the parameters is correct. Different
running the servo machinery has different characteristic, please adjust the
drive parameter according to the characteristic of each machinery.
(has already applied  Please reset the parameter when the servo drive is in SERVO
to the power) OFF status, or it may cause malfunction.
 When the relay is operating, make sure it can work properly.
 Check if the power indicator and LED display works normally.
 PWM is used to control 7.5 kW. Thus, when the temperature is
lower than 40°C, the fan does not work.
5-2
ASDA-B2 Chapter 5 Trial Operation and Tuning
5.2 Applying Power to the Servo Drive
Please follow the instructions below.

A. Make sure the wiring between the motor and servo drive is correct.
(1) U, V, W and FG have to connect to cable red, white, black and green respectively.
If the wiring is incorrect, the motor cannot work normally. The ground wire FG of the
motor must be connected to the ground terminal of the servo drive. Please refer to
Chapter 3.1 for wiring.
(2) The encoder cable of the motor has correctly connected to CN2: If users only desire
to execute JOG function, it is unnecessary to connect CN1 and CN3 (Please refer
to Chapter 5.3). Refer to Chapter 3.1 and 3.4 for the wiring of CN2.
Caution: Do not connect the power terminal (R, S, T) to the output terminal (U, V, W) of
the servo drive. Or it might damage the servo drive.
B. Power circuit of the servo drive

Apply power to the servo drive. Please refer to Chapter 3.1.3 for power wiring.
C. Power On
Power of the servo drive: including control circuit (L1c, L2c) and main circuit (R, S, T)
power. When the power is on, the display of the servo drive will be:
The digital input (DI6 ~ DI8) of the default value is the signal of reverse limit error (NL),
forward limit error (PL) and emergency stop (EMGS), if not using the default setting of
DI6 ~ DI8, adjusting the setting of P2-15 ~ P2-17 is a must. Parameters could be set to
0 (disable this DI function) or modified to another function.
From the last setting, the servo drive status displays parameter P0-02 setting as the
motor speed (06), then the screen display will be:
If the screen displays no text, please check if the voltage of the control circuit terminal
(L1c and L2c) is over low.
5-3
(1) When the screen displays:
Warning of overvoltage:
It means the voltage input by the main circuit is higher than the rated voltage or
power input error (incorrect power system).
Corrective actions:
 Use the voltmeter to measure if the input voltage from the main circuit is within
the range of rated voltage value.
 Use the voltmeter to measure if the power system complies with the
specification.
Warning of encoder error:

Check if the motor encoder is securely connected or the wiring is correct.
Corrective actions:
 Check if the wiring is the same as the instruction of the user manual.
 Check the encoder connector.
 Check if the wiring is loose.
 Encoder is damaged.
Warning of emergency stop:

Please check if any of the digital input DI1 ~ DI9 is set to emergency stop (EMGS).
Corrective actions:
 If not desire to set emergency stop (EMGS) as one of the digital input,
make sure no digital input is set to emergency stop (EMGS) among DI1 ~ DI9.
(That is to say none of the parameters, P2-10 ~ P2-17 and P2-36 is set to 21.)
5-4
 If the function of emergency stop (EMGS) is needed and this DI is set as

normally close (function code: 0x0021), please make sure this DI is always
normally close. If not, please set this DI as normally open (function code:
0x0121).
Warning of negative limit error:

Please check if any of the digital input DI1 ~ DI9 is set to negative limit (NL) and
that DI is ON.
Corrective actions:
 If not desire to set negative limit (NL) as one of the digital input, make sure no
digital input is set to negative limit (NL) among DI1 ~ DI9. (That is to say none
of the parameters, P2-10 ~ P2-17 and P2-36 is set to 22.)
 If the function of negative limit (NL) is needed and this DI is set as normally
close (function code: 0x0022), please make sure this DI is always normally
close. If not, please set this DI as normally open (function code: 0x0122).
Warning of positive limit error:

Please check if any of the digital input DI1~DI9 is set positive limit (PL) and that DI
is ON.
Corrective actions:
 If not desire to set positive limit (PL) as one of the digital input, make sure no
digital input is set to positive limit (PL) among DI1 ~ DI9. (That is to say none
of the parameters, P2-10 ~ P2-17 and P2-36 is set to 23.)
 If the function of positive limit (PL) is needed and this DI is set as normally
close (function code: 0x0023), please make sure this DI is always normally
close. If not, please set this DI as normally open (function code: 0x0123).
5-5
Warning of over current:

Corrective actions:
 Check the connection between the motor and servo drive.
 Check if the conducting wire is short circuited.
Exclude short circuit and avoid metal conductors being exposed.
Warning of under voltage:

Corrective actions:
 Check if the wiring of main circuit input voltage is correct.
 Use voltmeter to measure if the main circuit voltage is normal.
 Use voltmeter to measure if the power system complies with the specification.
Note: During the process of power on or servo on, if an alarm occurs or shows any
abnormal display, please contact the distributors.
5-6
5.3 JOG Trial Run without Load
It is very convenient to test the motor and servo drive with the method of JOG trial run
without load since the extra wiring is unnecessary. For safety reasons, it is recommended
to set JOG at low speed. Please see the following descriptions.
STEP 1: Use software setting to Servo ON. Set parameter P2-30 to 1. This setting is to
force the servo ON through software.
STEP 2: Set P4-05 as JOG speed (Unit: [r/min]). After setting the desired JOG speed,
press the SET Key, the servo drive will enter JOG mode.
STEP 3: Press the MODE Key to exist JOG mode.
SET
Display the JOG speed. The default value is 20.
Press UP/DOWN Key to adjust JOG speed.
Adjust to 100
SET
Display JOG and enter JOG mode.
JOG Mode
The definition of forward and reverse direction

has nothing to do with the actual operation
Motor runs in Motor runs in direction of the motor.
forward direction reverse direction Operation direction of the motor can be
changed via P1-01.
MODE
Exit
Motor runs in
forward direction
Speed 0 Motor stops

Motor runs in
reverse direction
Press Release Press
If the motor does not run, please check if the wiring between UVW and encoder cable is correct.
If the motor run abnormally, please check if the UVW phase sequence is correct.
5-7
5.4 Trial Run without Load (Speed Mode)
Before the trial run without load, firmly secure the motor base so as to avoid the danger
cause by the reaction of motor operation.
STEP 1:
Set the control mode of the servo drive to speed mode. Set P1-01 to 2. Then, re-power on
the servo drive.
STEP 2:
In speed control mode, the digital input settings of trial run are as follows:
Parameter
Digital Input Symbol Function Description CN1 PIN No.
Setting Value
DI1 P2-10 = 101 SON Servo On DI1- = 9
DI2 P2-11 = 109 TRQLM Torque limit DI2- = 10
DI3 P2-12 = 114 SPD0 Speed command selection DI3- = 34
DI4 P2-13 = 115 SPD1 Speed command selection DI4- = 8
DI5 P2-14 = 102 ARST Alarm reset DI5- = 33
DI6 P2-15 = 0 Disabled Invalid DI function -
The above table disables the function of negative limit (DI6), positive limit (DI7) and
emergency stop (DI8). Thus, the value of parameter P2-15 ~ P2-17 and P2-36 is set to 0
(Disabled). The digital input of Delta’s servo drive can be programmed by users. When
programming digital input, please refer to the description of DI code.
The default setting includes the function of negative limit, positive limit and emergency
stop, therefore, after the setting is completed, if there is any alarm occurs, please re-power
on the servo drive or switch ON DI5 to clear the alarm. Please refer to Chapter 5.2.
5-8
The speed command selection is determined by SPD0 and SPD1. See the table below.
Speed DI signal of CN1

Command Source Content Range
Command No.
SPD1 SPD0
External analog Voltage between
S1 0 0 -10V ~ +10V
command V-REF and GND
S2 0 1 P1-09 -60000 ~ +60000
S3 1 0 Register parameter P1-10 -60000 ~ +60000
S4 1 1 P1-11 -60000 ~ +60000
0: means DI is OFF; 1: means DI is ON

Register parameter
The parameter setting range is from -50000 to 50000.
Setting speed = Setting value x unit (0.1 r/min).
For example: P1-09 = +30000; Setting speed = +30000 x 0.1 r/min = +3000 r/min
Command setting of speed register
P1-09 is set to 30000 Input command Rotation direction

P1-10 is set to 1000 + CW
P1-11 is set to -30000 - CCW
STEP 3:
(1) Users switch ON DI1 and Servo ON.
(2) Both DI3 (SPD0) and DI4 (SPD1), the speed command, are OFF, which means it
currently executes S1 command. The motor rotates according to analog voltage
command.
(3) When DI3 (SPD0) is ON, it means it currently executes S2 command (3000 r/min).
The speed is 3000 r/min at the moment.
(4) When DI4 (SPD1) is ON, it means it currently executes S3 command (100 r/min).
The speed is 100 r/min.
(5) When both DI3 (SPD0) and DI4 (SPD1) are ON, it means S4 command (-3000 r/min)
is executed at the moment. The speed is -3000 r/min.
(6) Step (3), (4), and (5) can be repeatedly executed.
(7) If users desire to stop the motor, switch OFF DI1 (Servo OFF).
5-9
5.5 Tuning Procedure
Estimate the ratio of Load Inertia to Servo Motor Inertia: JOG Mode
Tuning Procedure Display

1. After completing wiring, when applying to the power, the servo
drive will display:
2. Press the MODE Key to select the mode of parameter function.
3. Press the SHIFT Key twice to select the mode of parameter group.
4. Press the UP Key to select parameter P2-17.

5. Press the SET Key to display parameter value, which is shown as
the content on the right.
6. Press the SHIFT Key twice, then press the UP Key and then press
the SET Key.
7. Press the UP Key to select parameter P2-30.
8. Press the SET Key to display the parameter value.
9. Press the UP Key and select the parameter value 1.
10. Then, the servo drive is ON and will show:

11. Press the MODE Key and then press the DOWN Key for three
times to select the value of inertia ratio.
12. The panel displays the current value of inertia ratio (default value).
13. Press the MODE Key to select the mode of parameter function.
14. Press the SHIFT Key twice to select the mode of parameter group.
15. Press the UP Key twice to select parameter P4-05.
16. Press the SET Key to show the content, which is 20 r/min at JOG
speed. Press the UP or DOWN Key to increase or decrease the
JOG speed. Press the SHIFT Key to move to the next digit of the
left.
17. Set the desired JOG speed and press the SET Key which is shown
as the figure on the right.
18. Press the UP Key to rotate the motor in forward direction while press the DOWN Key
the motor will rotate in reverse direction.
19. Execute JOG operation at low speed first. With the constant speed, if the motor
operates smoothly in forward and reverse direction, users can execute JOG operation
at higher speed.
5-10
Tuning Procedure Display

20. In P4-05, the servo drive cannot display inertia ratio. Please press the MODE Key
twice to view the value of inertia ratio. If users desire to execute JOG operation again,
press the MODE Key, and then press the SET Key twice. Observe the panel display
to see if the load inertia ratio remains at the same value after acceleration and
deceleration.
5.5.1 Flowchart of Tuning Procedure
Trial run without load

is OK.
No
New model?
Yes
Exit the control of master.
Use the servo drive to perform trial If the estimation of inertia ratio is
run and estimate the inertia ratio incorrect, it cannot obtain the best
performance of tuning.
Semi-auto
Manual mode Auto mode
mode
Connect to the master. Pay attention

to the wiring of CN1. Perform trial run
by P4-07 and P4-09.
Resonance can be suppressed
by P2-23 and P2-24.
Use the selected gain tuning mode

to enhance the performance.
OK
5-11
5.5.2 Inertia Estimation Flowchart (with Mechanism)
Turn Off the power of servo drive.
Connect the motor to the

mechanism.
Turn On the power of servo drive.
Set P0-02 to 15. The panel will

display inertia ratio.
Set P2-32 to 0 in manual mode.
Set P2-30 to 1.
No
Decrease the value of P2-00. Set Yes Mechanical
the value of P2-06 and P2-00 to system
the same. vibrates?
Enter P4-05, JOG mode.
Set JOG speed at 20r/min.
Press the Up (forward) or Down

(reverse) key to perform JOG.
If it operates No Check the

smoothly at
constant speed?
mechanism.
Yes
Increase JOG speed which is

>200r/min.
Alternately accelerate and

decelerate the mechanical
system.
View the panel display to see if the inertia ratio remains the same after
alternately accelerate and decelerate. Then, select the tuning method
according to the inertia ratio.
Note: Users cannot view inertia ratio in JOG mode. Please press the
MODE Key twice. If users desire to perform JOG operation, press the
MODE Key, and then press the SET Key twice.
5-12
5.5.3 Flowchart of Auto Tuning
Set P2-32 to 1 (auto mode, continuous tuning)

Continue to estimate the system inertia. Automatically save the value in P1-37 every
30 minutes and refer the stiffness and bandwidth setting of P2-31.
P2-31 Stiffness setting in auto tuning mode (The default value is 80)
In auto and semi-auto mode, the bandwidth setting of speed circuit is:
1 ~ 50 Hz: low-stiffness, low-response
51 ~ 250 Hz: medium-stiffness, medium-response
251 ~ 850 Hz: high-stiffness, high-response
Stiffness setting in auto tuning mode: the bigger the value is, the stronger the stiffness will
be.
Adjust the value of P2-31: Increase the value of P2-31 to increase stiffness or decrease to
reduce the noise. Continue to tune until the performance is satisfied. Then, tuning is
completed.
Servo off. Set P2-32 to 1. Then, Servo on.
Set P0-02 to 15. The panel

will display inertia ratio.
Alternately accelerate and

decelerate.
1. Decrease the value of P2-31 to reduce the

noise. Yes Any
2. If not decrease the value of P2-31, then resonance?
adjust the value of P2-23 and P2-24 to
suppress the resonance. No
Satisfactory Yes Tuning

performance? completed.
No
High response No
is required?
Yes
Increase the value of P2-31
to increase the response and
stiffness.
5-13
5.5.4 Flowchart of Semi-Auto Tuning
Set P2-32 to 2 (semi-auto mode, non-continuous tuning)

After tuning for a while and wait until the system inertia is stable, it stops estimating.
The estimated inertia ratio will be saved to P1-37. When switching mode from manual or
auto to semi auto, the system starts tuning again. During the process of estimation,
the system will refer the stiffness and bandwidth setting of P2-31.
P2-31 Response setting in auto mode (The default value is 80)

In auto and semi-auto mode, the bandwidth setting of speed circuit is:
1 ~ 50 Hz: low-stiffness, low-response
51 ~ 250 Hz: medium-stiffness, medium-response
251 ~ 850 Hz: high-stiffness, high-response
Response setting in semi-auto tuning mode: the bigger the value is, the better the
response will be.
Adjust the value of P2-31: Increase the value of P2-31 to increase the response or
decrease to reduce the noise. Continue to tune until the performance is satisfied.
Then, tuning is completed.
Servo off. Set P2-32 to 1. Then, Servo on again.

displays inertia ratio.
The servo drive issues the

command of alternately
acceleration/deceleration.

noise. Yes Any
2. If not desire to decrease the value of P2- resonance?
31, the value of P2-23 and P2-24 can be
used to suppress the resonance as well. No
The value of inertia ratio is No

stable. Check if P2-33 bit0 is
1*.
Yes
Satisfactory
No Increase the value of P2-31
performance?
to increase response and
stiffness.
Yes
Tuning
completed.
Note: 1. When bit0 of P2-33 is set to 1, it means the inertia estimation in semi-auto
mode is completed. The result can be accessed by P1-37.
2. If the value of P2-33 bit 0 is cleared to 0, the system will start to estimate
again.
5-14
5.5.5 Limit of Inertia Ratio
Acceleration / Deceleration time of reaching 2000 r/min should be less than 1 second.
The speed in forward and reverse direction should be higher than 200 r/min.
The load inertia should be under 100 times of motor inertia.
The change of external force of inertia ratio cannot be too severe.
In auto mode, the inertia value will be saved to P1-37 every 30 minutes; while in semi-auto
mode, the inertia value will be saved to P1-37 only until the system inertia is stable and
stops the estimation of load inertia.
Servo off. Set P2-32 to 2. Then, Servo on again.

displays inertia ratio*.
The servo drive issues the

command of alternately
acceleration/deceleration.

noise. Yes Any
2. If not desire to decrease the value of P2- resonance?
31, value of P2-23 and P2-24 can be used to
suppress the resonance as well. No
The inertia ratio shown on No

the panel is stable.
Yes
Satisfactory
No Increase the value of P2-31
performance to increase response and
? stiffness.
Yes
If the value of inertia ratio

remains almost the same, then
servo off and set P2-32 to 0.
Yes
Tuning
completed.
5-15
NO
Motor alternately rotates
High-frequency in forward and reverse
resonance? direction.
Motor alternately rotates

in forward and reverse
direction.
YES
High-frequency
YES Set P2-47 to 1.
resonance?
Note 2
Suppress resonance by
P2-44 and P2-46.
NO
NO
NO YES NO
P2-47 is set to 0. Set P2-44 to 32; Repeatedly set
Remains the value of Set P2-46 to 32. P2-47 to 1 for No resonance?
P2-43 and P2-45. Note 1. over 3 times.
YES YES
Set P2-47 to 0.
It is suggested to reduce
the speed bandwidth.
Tuning
completed
Note:
1. Parameter P2-44 and P2-46 are the setting value of resonance suppression. If the
value has been set to the maximum (32dB), and still cannot suppress the resonance,
please reduce the speed bandwidth. After setting P2-47, users can check the value of
P2-44 and P2-46. If the value of P2-44 is not 0, it means the resonance frequency
exists in the system. Then, users can access P2-43 to see the resonance frequency
(Hz). When there is another resonance frequency, the information will be shown in
P2-43 and P2-44 as well as P2-45 and p2-46.
2. If resonance still exists, repeatedly set P2-47 to 1 for 3 times and manually adjust the
setting of resonance.
5-16
5.5.6 Mechanical Resonance Suppression Method
Three groups of Notch filter are provided to suppress mechanical resonance.

Two of them can be set to the auto resonance suppression and manual adjustment.
The procedure of manually suppress the resonance is as the followings:
Use the analytic tool provided by PC

Software to display the point of resonance.
The servo drive issues the command of

alternately accelerate / decelerate.
Save the value of resonance

YES frequency to P2-23 and set
High-frequency resonance? P2-24 to 4.
NO
NO
Increase the value No resonance?
of P2-24.
YES
Tuning
completed
5-17
5.5.7 Tuning Modes and Parameters
Auto-Set Inertia
Tuning Mode P2-32 User-defined Parameter
Parameter Adjustment
P1-37 (Inertia ratio of the motor)
P2-00 (Position control gain)
P2-04 (Speed control gain)
0
P2-06 (Speed integral The value
Manual Mode (Default N/A
compensation) remains
setting)
P2-25 (Low-pass filter of
resonance suppression)
P2-26 (Anti-interference gain)
P1-37
P2-00
P2-04 Continuous
Auto Mode P2-31 Frequency response of
tuning (update
(Continuous 1 P2-06 speed loop setting in auto
the inertia every
estimation) P2-25 mode (response level)
30 minutes)
P2-26
P2-49
P1-37
P2-00 Non-continuous
Semi-Auto P2-04 P2-31 Frequency response of tuning (stop
Mode (Non- speed loop setting in updating the
2 P2-06
continuous semi-auto mode inertia after
estimation) P2-25 (response level) operating for a
P2-26 while)
P2-49
When switching mode from auto mode 1 to manual mode 0, the value of P2-00, P2-04,
P2-06, P2-25, P2-26, and P2-49 will be modified to the one in auto mode.
When switching mode from semi-auto mode 2 to manual mode 0, the value of P2-00,
P2-04, P2-06, P2-25, P2-26, and P2-49 will be modified to the one in semi-auto mode.
5-18
5.5.8 Tuning in Manual Mode
The selection of position / speed response frequency should be determined by the

machinary stiffness and application. General speaking, the high-frequency machinary or
the one requries precise processing needs the higher response frequency. However, it
might easily cause the resonance. And the stronger stiffness machinary is needed to avoid
the resonance. When using the unknown resonse frequency machinary, users could
gradually increase the gain setting value to increase the resonse frequency. Then,
decrease the gain setting value until the resonance exists. The followings are the related
descriptions of gain adjustment.:
 Position control gain (KPP, parameter P2-00)
This parameter determines the response of position loop. The bigger KPP value will
cause the higher response frequency of position loop. And it will cause better
following error, smaller position error, and shorter settling time. However, if the value
is set too big, the machinery will vibrate or overshoot when positioning. The
calculation of position loop frequency response is as the following:
 Speed control gain (KVP, parameter P2-04)
This parameter determines the response of speed loop. The bigger KVP value will
cause the higher response frequency of speed loop and better following error.
However, if the value is set too big, it would easily cause machinery resonance.
The response frequency of speed loop must be 4~6 times higher than the response
frequency of position loop. Otherwise, the machinery might vibrate or overshoot when
positioning. The calculation of speed loop frequency response is as the following:
JM: Motor Inertia
JL: Load Inertia
P1-37: 0.1 times
When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the real
KVP
= Hz
speed loop frequency response will be: 2
 Speed integral compensation (KVI, parameter P2-06)
The higher the KVI value is, the better capability of eliminating the deviation will be.
However, if the value is set too big, it might easily cause the vibration of machinery.
It is suggested to set the value as the following:
5-19
 Low-pass filter of resonance suppression (NLP, parameter P2-25)
The high value of inertia ratio will reduce the frequency response of speed loop.
Therefore, the KVP value must be increased to maintain the response frequency.
During the process of increasing KVP value, it might cause machinary resonance.
Please use this parameter to elimiate the noise of resonance. The bigger the value is,
the better the capability of improving high-frequency noise will be. However, if the
value is set too big, it would cause the unstability of speed loop and overshoot.
It is suggested to set the value as the following:
 Anti-interference gain (DST, parameter P2-26)
This parameter is used to strengthen the ability of resisting external force and
gradually eliminate overshoot during acceleration / deceleration. Its default value is 0.
It is suggested not to adjust the value in manual mode, unless it is for fine-tuning.
 Position feed forward gain (PFG, parameter P2-02)
It can reduce the position error and shorten the settling time. However, if the value is
set too big, it might cause overshoot. If the setting of e-gear ratio is bigger than 10,
it might cause the noise as well.
5-20
Chapter 6 Control Modes of
Operation
6.1 Selection of Operation Mode
Three basic operation modes are provided in this servo drive, position, speed and torque.
Users can use single mode (only in one-mode control) and dual mode to control.
The following table lists all operation mode and description.
Short Setting
Mode Name Description
Name Code
The servo drive receives position command
Position mode and commands the motor to the target
PT 00 position. The position command is input via
(Terminal input)
terminal block and receives pulse signal.
The servo drive receives speed command
and commands the motor to the target
speed. The speed command can be issued
Speed Mode S 02
by register (3 sets of registers in total) or the
external analog voltage (-10V ~ +10V). DI
signal is used to select the command source.
The servo drive receives speed command
speed. The speed command is issued by
Speed mode
Single (No analog input) Sz 04 register (3 sets of registers in total) and
Mode cannot be issued by the external terminal
block. DI signal is used to select the
command source.
The servo drive receives torque command
torque. The torque command can be issued
Torque mode T 03
by register (3 sets of registers in total) or the
external analog voltage (-10V ~ +10V). DI
signal is used to select the command source.
The servo drive receives torque command
torque. The torque command can be issued
Torque mode
Tz 05 by register (3 sets of registers in total) and
(No analog input)
cannot be issued by the external terminal
block. DI signal is used to select the
command source.
6-1
Chapter 6 Control Modes of Operation ASDA-B2
Mode Name Short Name Setting Code Description

PT-S 06 Switch the mode of PT and S via DI signal.
PT-T 07 Switch the mode of PT and T via DI signal.
Dual Mode S-T 0A Switch the mode of S and T via DI signal.
Reserved 0B Reserved
Reserved 0C Reserved
The steps of changing mode:

(1) Switching the servo drive to Servo Off status. Turning SON signal of Digit input to be
off can complete this action.
(2) Using parameter P1-01. (Refer to Chapter 7).
(3) After the setting is completed, cut the power off and restart the drive again.
The following sections describe the operation of each control mode, including control
structure, command source and loop gain adjustment, etc.
6-2
ASDA-B2 Chapter 6 Control Modes of Operation
6.2 Position Mode
Position mode is used in precise positioning applications, such as industrial machinery.

The directional command pulse input can control the rotation angle of the motor with
external pulses. The servo motor accepts pulse inputs up to 4 Mpps. In the position
closed-loop system, speed mode is mainly used with the gain type position controller and
forward compensation added externally. At the same time, like the Speed mode, two
operating modes (manual and automatic) are provided for selection. This chapter
introduces the processing of the gain type position controller, forward compensation, and
position command.
6.2.1 Position Command in PT Mode
PT, position command is the pulse input from terminal block. There are three types of
pulse and each type has positive / negative logic which can be set in parameter P1-00.
See as the followings.
Address: 0100H
P1-00▲ PTT External Pulse Input Type
0101H
Operation Related Section:
Panel/Software Communication
Interface: Section 6.2.1
Default: 0x2
Control
PT
Mode:
Unit: -
Range: 0 ~ 1142
Data Size: 16-bit
Display
Hexadecimal
Format:
Settings:
6-3
 Pulse Type
0: AB phase pulse (4x)
1: Clockwise (CW) and Counterclockwise (CCW) pulse
2: Pulse + symbol
Other settings: reserved
 Filter Width
If the received frequency is much higher than the setting, it will be
regarded as the noise and filtered out.
Minimum Pulse Width Minimum Pulse Width
Setting Setting
Value (Low-speed Filter Value (High-speed Filter
Frequency *note 1) Frequency *note 1)
0 600 ns (0.83 Mpps) 0 150 ns (3.33 Mpps)
1 2.4 μs (208 Kpps) 1 600 ns (0.83 Mpps)
2 4.8 μs (104 Kpps) 2 1.2 μs (416 Kpps)
3 9.6 μs (52 Kpps) 3 2.4 μs (208 Kpps)
4 No Filter Function 4 No Filter Function
<150ns <150ns
150ns
150ns
Pulse Input Pulse Input
filtered signal filtered signal
When this pulse frequency is less than When this pulse frequency is less than
150 ns, this signal will be regarded as a 150 ns, this signal will be regarded as a
low-level pulse and two input pulses will high-level pulse and two input pulses will
be regarded as one input pulse. be regarded as one input pulse.
>150 ns
>150 ns
When the pulse frequencies of high-level duty

and low-level duty both are greater than 150 ns,
the signal will not be filtered (that is, the pulse
command will pass through).
If the user uses 2 ~ 4 MHz input pulse, it is suggested to set the filter value to 4.
Note: When the signal is the high-speed pulse specification of 4 Mpps and the settings
value of the filter is 4, then the pulse will not be filtered.
6-4
 Logic Type
High-speed and Low-speed Pulse Input
Logic Pulse Type Forward Rotation Reverse Rotation
Pulse Phase Lead Pulse Phase Lag
(43) (43)
Pulse TH Pulse TH
(41)
AB Phase (41)
Positive Logic
Pulse (39) (39)

Sign T1 T1 T1 T1 T1 Sign T1 T1 T1 T1 T1 T1
(37) (37)
0
(43)
Pulse TH
Clockwise (41)
and Counter- T2 T2 T2 T2 T2 T2 T3 T2 T2 T2 T2 T2 T2
(39)
clockwise Pulse Sign TH
(37)
High-speed Pulse Input

Sign = high Sign = low
Positive
Logic
(38) (38)
Pulse + HPULSE TH HPULSE TH
0 (36) (36)
Symbol T4 T5 T6 T5 T6 T5 T4 T4 T5 T6 T5 T6 T5 T4
(42) (42)
HSIGN HSIGN
(40) (40)
Low-speed Pulse Input

Sign = low Sign = high
Positive Logic
(43) (43)
Pulse + Pulse TH Pulse TH
0 (41) (41)
Symbol T4 T5 T6 T5 T6 T5 T4 T4 T5 T6 T5 T6 T5 T4
(39) (39)
Sign Sign
(37) (37)
Digital circuits use 0 and 1 to represent the high and low voltage levels. In positive logic,
1 represents high voltage and 0 represents low voltage; in negative logic, 1 represents low
voltage and 0 represents high voltage.
For example:
Positive Logic Negative Logic
6-5
Max. Min. time width

Pulse specification input
frequency T1 T2 T3 T4 T5 T6
High-
Differential
speed 4 Mpps 62.5ns 125ns 250ns 200ns 125ns 125ns
Signal
pulse
Differential
Low- 500 Kpps 0.5μs 1μs 2μs 2μs 1μs 1μs
Signal
speed
pulse Open
200 Kpps 1.25μs 2.5μs 5μs 5μs 2.5μs 2.5μs
collector
Max. input Voltage Forward

Pulse specification
frequency specification specification
High-speed Differential
4 Mpps 5V < 25 mA
pulse Signal
Differential
Low-speed 500 Kpps 2.8V ~ 3.7V < 25 mA
Signal
pulse
Open collector 200 Kpps 24V (Max.) < 25 mA
 The Source of External Pulse:

0: Low-speed optical coupler (CN1 Pin: PULSE, SIGN)
1: High-speed differential (CN1 Pin: HPULSE, HSIGN)
Position pulse can be input from these terminals, /PULSE (43), PULSE (41), HPULSE (38), /HPULSE (36),
/SIGN (39), SIGN (37) and HSIGN (42), /HSIGN (40). It can be an open-collector circuit or line driver.
Please refer to Chapter 3.10.1 for wiring method.
6-6
6.2.2 Control Structure of Position Mode
The basic control structure is as the following diagram:
Position
Command
Position
Command
Processing
Speed Current
Position Control Motor
Loop Loop
For a better control, the pulse signal should be processed and modified through position
command unit. Structure is shown as the diagram below.
Position Command
Processing Unit
GNUM0, GNUM1
Pulse Signal
1st Numerator (P1-44)
High speed Pulse Type 2nd Numerator (P2-60) Command

Selection Counter Selection
Low speed 3rd Numerator (P2-61) P1-01
P1-00
4th Numerator (P2-62)
INHIBIT Denominator (P1-45) Moving

Filter
P1-68
Low-pass
Filter
P1-08
PT mode which is shown in the figure can be selected via P1-01. It can set E-gear ratio for
the proper position resolution. Moreover, either S-curve filter or low-pass filter can be used
to smooth the command. See the description in later parts.
Pulse Command Inhibit Input Function (INHP)

Use DI to select INHP (Refer to P2-10~17, P2-36 and table 7.1 INHP (45)) before using
this function. If not, this function will be unable to use. When DI (INHP) is ON, the pulse
command will be cleared in position control mode and the motor will stop running.
6-7
6.2.3 Electronic Gear Ratio
Related parameters:
Address: 0158H
P1-44▲ GR1 Electronic Gear Ratio (Numerator) (N1)
0159H
Default: 16
Control
PT
Mode:
Unit: pulse
Range: 1 ~ (226-1)
Data Size: 32-bit
Display
Decimal
Format:
Settings:
Please refer to P2-60 ~ P2-62 for the setting of multiple gear ratio (numerator).
Note: PT mode, the setting value can be changed when Servo ON.
Address: 015AH
P1-45▲ GR2 Electronic Gear Ratio (Denominator) (M)
015BH
Default: 10
Control
PT
Mode:
Unit: pulse
Range: 1 ~ (231-1)
Data Size: 32-bit
Display
Decimal
Format:
Settings: If the setting is wrong, the servo motor will easily have sudden
unintended acceleration.
Please follow the rules for setting:
The setting of pulse input:
Pulse Position
input N command N
f2 = f1 x
f1 M f2 M
Range of command pulse input: 1 / 50＜Nx / M＜25600 (x = 1, 2,

3, 4)
6-8
Electronic gear provides simple ratio change of travel distance. The high electronic gear
ratio would cause the position command to be the stepped command. S-curve or low-pass
filter can be used to improve the situation. When electronic gear ratio is set to 1, the motor
will turn one cycle for every 10000PUU. When electronic gear ratio is changed to 0.5, then
every two pulses from the command will be refer to one PUU of motor encoder.
For example, after setting the electronic gear ratio properly, the moving distance of the
object is 1μm/pulse, which is easier to use.
Gear Ratio Moving distance of each pulse

command
Electronic gear is 1 3  1000 3000
    m
unapplied. 1 4  2500 10000
Electronic gear is 10000
  1m
applied. 3000
6-9
6.2.4 Low-pass Filter
Related parameters:
Smooth Constant of Position Command Address: 0110H

P1-08 PFLT
(Low-pass Filter) 0111H
Default: 0
Control
PT
Mode:
Unit: 10 ms
Range: 0 ~ 1000
Data Size: 16-bit
Display
Decimal
Format:
Example: 11 = 110 msec
Settings: 0: Disabled
Position
Tar get pos ition
Time (ms)
PF LT
6-10
6.2.5 Gain Adjustment of Position Loop
Before setting the position control unit, users have to manually (P2-32) complete the
setting of speed control unit since the speed loop is included in position loop. Then, set the
proportional gain (parameter P2-00) and feed forward gain (parameter P2-02) of position
loop. Users also can use the auto mode to set the gain of speed and position control unit
automatically.
(1) Proportional gain: Increase the gain so as to enhance the response bandwidth of
position loop.
(2) Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested that
fv
fp  .
4
fv: response bandwidth of speed loop (Hz).
KPP = 2 ×  × fp.
fp: response bandwidth of position loop (Hz).
For example, the desired position bandwidth is 20 Hz  KPP = 2 ×  × 20= 125.
Related parameters:
Address: 0200H
P2-00 KPP Position Loop Gain
0201H
Default: 35
Control
PT
Mode:
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display
Decimal
Format:
Settings: When the value of position loop gain is increased, the position
response can be enhanced and the position error can be
reduced. If the value is set too big, it may easily cause vibration
and noise.
6-11
Address: 0204H
P2-02 PFG Position Feed Forward Gain
0205H
Default: 50
Control
PT
Mode:
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display
Decimal
Format:
Settings: If the position command is changed smoothly, increasing the gain
value can reduce the position error. If the position command is
not changed smoothly, decreasing the gain value can tackle the
problem of mechanical vibration.
Position Control
Smooth Constant of
Position Feed
Position Feed Forward
Differentiator Forward Gain
Gain
P2-02
P2-03
Position
Position Loop
+ +
Gain Max. Speed Limit
Command + P2-00 P1-55
- Switching Rate of
Position Loop
Gain
P2-01 Gain Switching
P2-27 Speed
Command
+
Position Counter Encoder
When the value of proportional gain, KPP is set too big, the response bandwidth of
position loop will be increased and diminish the phase margin. And the motor rotor
rotates vibrantly in forward and reverse direction at the moment. Thus, KPP has to be
decreased until the rotor stops vibrating. When the external torque interrupts, the
over-low KPP cannot meet the demand of position deviation. In this situation,
parameter P2-02 can effectively reduce the position error.
6-12
6.3 Speed Mode
Speed control mode (S or Sz) is applicable in precision speed control, such as CNC
machine tools. This servo drive includes two types of command input, analog and register.
Analog command input can use external voltage to control the motor speed. There are two
methods in register input. One is used before operation. Users set different value of speed
command in three registers, and then use SP0, SP1 of CN1 DI signal for switching.
Another method is to change the value of register by communication. In order to deal with
the problem of non-continuous speed command when switching register, a complete
S-curve program is provided. In close-loop system, this servo drive adopts gain adjustment
and integrated PI controller and two modes (manual and auto) for selection.
Users can set all parameters and all auto or auxiliary function will be disabled in manual
mode. While in auto mode, it provides the function of load inertia estimation and parameter
adjustment. In auto mode, parameters which set by users will be regarded as the default
value.
6.3.1 Selection of Speed Mode
There are two types of speed command source, analog voltage and internal parameters.
The selection is determined by CN1 DI signal. See as the followings.
Speed CN1 DI Signal

Command Source Content Range
Command SPD1 SPD0
External Voltage
S analog between V- +/-10V
signal REF-GND
S1 0 0 Mode
Speed
Sz N/A command 0
is 0
S2 0 1 P1-09 -60000 ~ +60000
S3 1 0 Register parameter P1-10 -60000 ~ +60000
S4 1 1 P1-11 -60000 ~ +60000
6-13
 Status of SPD0 ~ SPD1: 0 means DI OFF, 1 means DI ON.

 When both SPD0 and SPD1 are 0, if it is in Sz mode, the command will be 0.
Thus, if there is no need to use analog voltage as the speed command, Sz
mode can be applied to tackle the problem of zero-drift. If it is in S mode, the
command will be the voltage deviation between V-REF and GND. The range of
input voltage is between -10V and +10V and its corresponding speed is
adjustable (P1-40).
 When one of SPD0 and SPD1 is not 0, the speed command is from the internal
parameter. The command is activated after changing the status of SPD0 ~
SPD1. There is no need to use CTRG for triggering.
 The setting range of internal parameters is between -60000 and +60000. Setting
value = setting range x unit (0.1 r/min).
For example: P1-09 = +30000, setting value = +30000 x 0.1 r/min = +3000 r/min
The speed command not only can be issued in speed mode (S or Sz), but also in
torque mode (T or Tz) as the speed limit.
6.3.2 Control Structure of Speed Mode
The basic control structure is shown as the following diagram:
Speed Command
Speed
Command
Processing
Speed
Estimator
Resonance Current
Speed control Torque Limit Motor
Suppression Loop
The speed command unit is to select speed command source according to Section 6.3.1,
including the scaling (P1-40) setting and S-curve setting. The speed control unit manages
the gain parameters of the servo drive and calculates the current command for servo
motor in time. The resonance suppression unit is to suppress the resonance of mechanism.
Detailed descriptions are shown as the following:
6-14
Here firstly introduces the function of speed command unit. Its structure is as the following
diagram.
SPD0, SPD1 signal of CN1
Internal
parameter
P1-09
~P1-11 S-curve Filter
Command
P1-34, Low-pass Filter
Selection
P1-35, P1-06
P1-01
Proportion Analog Command P1-36
A/D Gain Filter
P1-40 P1-59
Analog signal
The upper path is the command from register while the lower one is external analog
command. The command is selected according to the status of SPD0, SPD1 and P1-01
(S or Sz). Usually, S-curve and low-pass filter are applied for having a smooth resonance
of command.
6.3.3 Smoothing Speed Command
S-curve Filter
During the process of acceleration or deceleration, S-curve filter applies the program of
three-stage acceleration curve for smoothing the motion command, which generates the
continuous acceleration. It is for avoiding the jerk (the differentiation of acceleration) came
from the sudden command change and indirectly causes the resonance and noise. Users
can use acceleration constant of S-curve (TACC) to adjust the slope changed by
acceleration, deceleration constant of S-curve (TDEC) to adjust the slope changed by
deceleration and acceleration / deceleration constant of S-curve (TSL) to improve the
status of motor activation and stop. The calculation of the time to complete the command
is provided.
6-15
Related parameters:
Address: 0144H
P1-34 TACC Acceleration Constant of S-Curve
0145H
Default: 200
Control
S
Mode:
Unit: ms
Range: 1 ~ 20000
Data Size: 16-bit
Display
Decimal
Format:
Settings: The time that speed command accelerates from 0 to 3000 r/min.
P1-34, P1-35, and P1-36, the acceleration time of speed
command from zero to the rated speed, all can be set
individually.
Note: When the source of speed command is analog, and P1-36 is set
to 0, it will disable S-curve function.
Address: 0146H
P1-35 TDEC Deceleration Constant of S-Curve
0147H
Default: 200
Control
S
Mode:
Unit: ms
Range: 1 ~ 20000
Data Size: 16-bit
Display
Decimal
Format:
Settings: The time that speed command decelerates from 3000 r/min to 0.
P1-34, P1-35, and P1-36, the deceleration time of speed
command from the rated speed to zero, all can be set
individually.
6-16
Acceleration / Deceleration Constant of Address: 0148H

P1-36 TSL
S-curve 0149H
Default: 0
Control
S
Mode:
Unit: ms
Range: 0 ~ 10000 (0: Disabled)
Data Size: 16-bit
Display
Decimal
Format:
Settings: Acceleration / Deceleration Constant of S-Curve:
P1-34: Set the acceleration time of acceleration / deceleration of

trapezoid-curve
P1-35: Set the deceleration time of acceleration / deceleration of
trapezoid-curve
P1-36: Set the smoothing time of S-curve acceleration and
deceleration
P1-34, P1-35, and P1-36 can be set individually.
Analog Speed Command Filter
Analog speed command filter is provided especially for ASDA-B2 series users.
It mainly helps with buffer when the analog input signal changes too fast.
Speed (rpm) Analog speed command Motor Torque
3000
0
1 2 3 4 5 6 7 8 9 Time (sec)
-3000
6-17
Analog speed command filter smooth the analog input command. Its time program is the
same as S-curve filter in normal speed. Also, the speed curve and the acceleration curve
are both continuous. The above is the diagram of analog speed command filter. The slope
of speed command in acceleration and deceleration is different. Users could adjust the
time setting (P1-34, P1-35, and P1-36) according to the actual situation to improve the
performance.
Command End Low-pass Filter

It is usually used to eliminate the unwanted high-frequency response or noise. It also can
smooth the command.
Related parameters:
Analog Speed Command (Low-pass Address: 010CH

P1-06 SFLT
Filter) 010DH
Default: 0
Control
S
Mode:
Unit: ms
Data Size: 16-bit
Display
Decimal
Format:
Target Speed
SFLT
6-18
6.3.4 The Scaling of Analog Command
The motor speed command is controlled by the analog voltage deviation between V_REF
and VGND. Use parameter P1-40 to adjust the speed-control slope and its range.
5000rpm
The speed control ramp is
determined by parameter P1-40
3000rpm
-10 -5
5 10 Analog Input Voltage (V)
-3000rpm
-5000rpm
Related parameters:
Address: 0150H
P1-40▲ VCM Max. Speed of Analog Speed Command
0151H
Default: rated speed
Control
S, T
Mode:
Unit: r/min
Range: 0 ~ 50000
Data Size: 32-bit
Display
Decimal
Format:
Settings: Maximum Speed of Analog Speed Command:
In speed mode, the analog speed command inputs the swing
speed setting of the max. voltage (10V).
For example, if the setting is 3000, when the external voltage
input is 10V, it means the speed control command is 3000 r/min.
If the external voltage input is 5V, then the speed control
command is 1500 r/min.
6-19
6.3.5 Timing Diagram in Speed Mode
S4 (P1-11)
Internal speed
S3 (P1-10)
command
S2 (P1-09)
External analog
voltage or zero (0) S1
SPD0 OFF ON OFF ON
External I/O signal SPD1 OFF ON
SON ON
Note: (1) OFF means the contact point is open while ON means the contact
point is close.
(2) When it is in Sz mode, the speed command S1 = 0; When it is in S
mode, the speed command S1 is the external analog voltage input.
(3) When the servo drive is On, please select the command according
to SPD0 ~ SPD1 status.
6.3.6 Gain Adjustment of Speed Loop
Here introduces the function of speed control unit. The following shows its structure.
Speed Control
Speed Feed
Differentiator Forward Gain
P2-07 System Inertia J
(1+P1-37)*JM
Speed Loop + +
+ +
Gain +
P2-04
- + +
Integrator
Gain Switching
Switching
P2-27
Rate Inertia Ratio
P2-05 P1-37
Speed Integral
Compensation
P2-06
Motor Inertia
Gain Switching JM
P2-27
Torque Constant Torque

Current Command
Reciprocal
Command
1/KT
Low-pass Filter Speed

Encoder
P2-49 Estimator
6-20
Many kinds of gain in speed control unit are adjustable. Two ways, manual and auto, are
provided for selection.
Manual: All parameters are set by users and the auto or auxiliary function will be disabled
in this mode.
Auto: General load inertia estimation is provided. It adjusts the parameter automatically.
Its framework is divided into PI auto gain adjustment and PDFF auto gain
adjustment.
Parameter P2-32 can be used to adjust the gain.
Address: 0240H
P2-32▲ AUT2 Tuning Mode Selection
0241H
Interface: Section 5.6,
Default: 0 Section 6.3.6
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Display
Hexadecimal
Format:
Settings: 0: Manual Mode
1: Auto Mode (continuous adjustment)
2: Semi-auto Mode (non- continuous adjustment)
Relevant description of manual mode setting:
When P2-32 is set to 0, parameters related to gain control, such
as P2-00, P2-02, P2-04, P2-06, P2-07, P2-25, and P2-26, all can
be set by the user.
When switching mode from auto or semi-auto to manual,
parameters about gain will be updated automatically.
Relevant description of auto mode setting:

Continue to estimate the system inertia, save the inertia ratio to
P1-37 every 30 minutes automatically and refer to the stiffness
and bandwidth setting of P2-31.
1. Set the system to manual mode 0 from auto 1 or semi-auto 2,
the system will save the estimated inertia value to P1-37
automatically and set the corresponding parameters.
2. Set the system to auto mode 1 or semi-auto mode 2 from
manual mode 0, please set P1-37 to the appropriate value.
3. Set the system to manual mode 0 from auto mode 1, P2-00,
P2-04, and P2-06 will be modified to the corresponding
6-21
parameters of auto mode.

4. Set the system to manual mode 0 from semi-auto mode 2,
P2-00, P2-04, P2-06, P2-25, and P2-26 will be modified to the
corresponding parameters of semi-auto mode.
Relevant description of semi-auto mode setting:

1. When the system inertia is stable, the value of P2-33 will be 1
and the system stops estimating. The inertia value will be
saved to P1-37 automatically. When switching mode to
semi-auto mode (from manual or auto mode), the system
starts to estimate again.
2. When the system inertia is over the range, the value of P2-33
will be 0 and the system starts to estimate and adjust again.
Manual Mode
When P2-32 is set to 0, users can define Speed Loop Gain (P2-04), Speed Integral
Compensation (P2-06) and Speed Feed Forward Gain (P2-07). Influence of each
parameter is as the followings.
Proportional gain: To increase proportional gain can enhance the response frequency of
speed loop.
Integral gain: To increase the integral gain could increase the low-frequency stiffness of
speed loop, reduce the steady-state error and sacrifice the phase margin.
The over high integral gain will cause the instability of the system.
Feed forward gain: Diminish the deviation of phase delay.
Related parameters:
Address: 0208H
P2-04 KVP Speed Loop Gain
0209H
Default: 500
Control
ALL
Mode:
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16-bit
Display
Decimal
Format:
Settings: Increase the value of speed loop gain can enhance the speed
response. However, if the value is set too big, it would easily
cause resonance and noise.
6-22
Address: 020CH
P2-06 KVI Speed Integral Compensation
020DH
Keypad/Software Communication
Default: 100
Control
ALL
Mode:
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16-bit
Display
Decimal
Format:
Settings: Increasing the value of speed integral compensation can
enhance speed response and diminish the deviation of speed
control. However, if the value is set too big, it would easily cause
resonance and noise.
Address: 020EH
P2-07 KVF Speed Feed Forward Gain
020FH
Default: 0
Control
ALL
Mode:
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display
Decimal
Format:
Settings: When the speed control command runs smoothly, increasing the
gain value can reduce the speed command error. If the command
does not run smoothly, decreasing the gain value can reduce the
mechanical vibration during operation.
6-23
Theoretically, stepping response can be used to explain proportional gain (KVP), integral
gain (KVI) and feed forward gain (KVF). Here, the frequency domain and time domain are
used to illustrate the basic principle.
Frequency Domain
6-24
Time Domain
The bigger KVP value cause

higher bandwidth and shorten the
rising time. However, if the value
is set too big, the phase margin
will be too small.
To steady-state error, the result
is not as good as KVI. But it
helps to reduce the dynamic
following error.
The bigger KVI value cause greater low-

frequency gain and shorten the time the
steady-state error returns to zero.
However, the phase margin will
dramatically decrease as well.
To steady-state error, it is very helpful but
shows no benefit to dynamic following
error.
If the KVF value closes to 1, the

feed forward compensation will be
more complete and the dynamic
following error will become
smaller. However, if the KVF
value is set too big, it would cause
vibration.
6-25
Generally, instrument is needed when applying frequency domain for measurement.

Users are required to adopt the measurement techniques; while time domain only needs a
scope and goes with the analog input / output terminal provided by the servo drive. Thus,
time domain is frequently used to adjust PI controller. The abilities of PI controller to deal
with the resistance of torque load and the following command are the same. That is to say,
the following command and resistance of torque load have the same performance in
frequency domain and time domain. Users can reduce the bandwidth by setting the
low-pass filter in command end.
Auto Mode
Auto mode adopts adaptive principle. The servo drive automatically adjusts the
parameters according to the external load. Since the adaptive principle takes longer time,
it will be unsuitable if the load changes too fast. It would be better to wait until the load
inertia is steady or changes slowly. Depending on the speed of signal input, the adaptive
time will be different from one another.
Motor Speed
Inertia Measurement
6-26
6.3.7 Resonance Suppression
When resonance occurs, it is probably because the stiffness of the control system is too
strong or the response is too fast. Eliminating these two factors might improve the situation.
In addition, low-pass filter (parameter P2-25) and notch filter (parameter P2-23 and P2-24)
are provided to suppress the resonance if not changing the control parameters.
Related parameters:
Address: 022EH
P2-23 NCF1 Resonance Suppression (Notch Filter) 1
022FH
Default: 1000
Control
ALL
Mode:
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Display
Decimal
Format:
Settings: The first setting value of resonance frequency. If P2-24 is set to 0,
this function is disabled. P2-43 and P2-44 are the second Notch
filter.
Resonance Suppression (Notch Filter) Address: 0230H

P2-24 DPH1
Attenuation Rate (1) 0231H
Default: 0
Control
ALL
Mode:
Unit: dB
Data Size: 16-bit
Display
Decimal
Format:
Settings: The first resonance suppression (notch filter) attenuation rate.
When this parameter is set to 0, the function of Notch filter is
disabled.
6-27
Address: 0256H
0257H
Default: 1000
Control
ALL
Mode:
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Display
Decimal
Format:
Settings: The second setting value of resonance frequency. If P2-44 is set
to 0, this function is disabled. P2-23 and P2-24 are the first Notch
filter.

P2-44 DPH2
Default: 0
Control
ALL
Mode:
Unit: dB (0: Disable the function of notch filter)
Range: 0 ~ 32
Data Size: 16-bit
Display
Decimal
Format:
Settings: The second resonance suppression (notch filter) attenuation
rate. When this parameter is set to 0, the function of Notch filter
is disabled.
6-28
Address: 025AH
025BH
Default: 1000
Control
ALL
Mode:
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Display
Decimal
Format:
Settings: The third group of mechanism resonance frequency setting value.
If P2-46 is set to 0, this function will be disabled. P2-23 and
P2-24 are the first group of resonance suppression (Notch filter).
Resonance Suppression (Notch Filter) Address: 025CH

P2-46 DPH3
Attenuation Rate (3) 025DH
Default: 0
Control
ALL
Mode:
Unit: dB
Range: 0 ~ 32
Data Size: 16-bit
Display
Decimal
Format:
Settings: The third group of resonance suppression (Notch filter)
attenuation rate. Set the value to 0 to disable the function of
Notch filter.
6-29
Low-pass Filter of Resonance Address: 0232H

P2-25 NLP
Suppression 0233H
Keypad/Software Communication
Default: 0.2 (1kW and below 2 (1kW and below
models) or 0.5 models) or 5 (other
(other models) models)
Control
ALL
Mode:
Unit: 1ms 0.1ms
Range: 0.0 ~ 100.0 0 ~ 1000
Data Size: 16-bit
Display
One-digit Decimal
Format:
Input Value
1.5 = 1.5 ms 15 = 1.5 ms
Example:
Settings: Set the low-pass filter of resonance suppression. When the value
is set to 0, the function of low-pass filter is disabled.
Feed Forward
Differentiator Gain
P2-07 Speed Control
Low-pass Filter
P2-25
PI Controller
P2-04, P2-06
Current
Sensor
Notch Filter 1
P2-23, P2-24
Notch Filter 2 Notch Filter 3
Current Controller
P2-43, P2-44 P2-45, P2-46
PWM
Auto Resonance Suppression Mode Setting Torque

and Resonance Suppression Detection Level Load
P2-47, P2-48
Motor
Speed Estimator Encoder
There are two sets of auto resonance suppression, one is P2-43 and P2-44 and another
one is P2-45 and P2-46. When the resonance occurs, set P2-47 to 1 or 2 (enable the
function of resonance suppression), the servo drive searches the point of resonance
frequency and suppresses the resonance automatically. Write the point of frequency into
P2-43 and P2-45 and write the attenuation rate into P2-44 and P2-46. When P2-47 is set
to 1, the system will set P2-47 to 0 (disable the function of auto suppression) automatically
after completing resonance suppression and the system is stable for 20 minutes. When
P2-47 is set to 2, the system will keep searching the point of resonance.
6-30
When P2-47 is set to 1 or 2, but resonance still exists, please confirm the value of
parameter P2-44 and P2-46. If one of them is 32, it is suggested to reduce the speed
bandwidth first and then start to estimate again. If the value of both is smaller than 32 and
resonance still exists, please set P2-47 to 0 first and then manually increase the value of
P2-44 and P2-46. It is suggested to reduce the bandwidth if the resonance has not been
improved. Then use the function of auto resonance suppression.
When manually increase the value of P2-44 and P2-46, please check if the value of both is
bigger than 0. If yes, it means the frequency point of P2-43 and P2-45 is the one searched
by auto resonance suppression. If the value of both is 0, it means the default, 1000 of
P2-43 and P2-45 is not the one searched by auto resonance suppression. Deepen the
resonance suppression attenuation rate might worsen the situation.
Settings of P2-47
Current Value Desired Value Function
Clear the setting value of P2-43 ~ P2-46 and
0 1
enable auto resonance suppression function.
0 2
Save the setting value of P2-43 ~ P2-46 and
1 0
disable auto resonance suppression function.
1 1
Do not clear the setting value of P2-43 ~ P2-46
1 2 and enable auto resonance suppression function
continuously.
Save the setting value of P2-43 ~ P2-46 and
2 0
disable auto resonance suppression function.
2 1
Do not clear the setting value of P2-43 ~ P2-46
2 2 and enable auto resonance suppression function
continuously.
6-31
Flowchart of auto resonance suppression:
Drive the machine

by servo system
Check if vibration No
occurs
Yes
Set P2-47 = 1
No
Check if vibration
occurs
Yes
No Set P2-47 = 1 for

three time
Yes
Decrease frequency Yes P2-44 = 32

response or P2-46 = 32
No
Set P2-47 = 0
If P2-44 >0, value of P2-44 should + 1

If P2-46 >0, value of P2-46 should + 1
No Check if vibration
condition has improved
Yes
Yes
Check if vibration
occurs
No
Set P2-47 = 0
Complete
6-32
Here illustrates the effect via low-pass filter (parameter P2-25). The following diagram is
the system open-loop gain with resonance.
Gain
Frequency
When the value of P2-25 is increased from 0, BW becomes smaller (See as the following
diagram). Although it solves the problem of resonance frequency, the response bandwidth
and phase margin is reduced.
Gain
0dB Frequency
BW
If users know the resonance frequency, notch filter (parameter P2-23 and P2-24) can
directly eliminate the resonance. The frequency setting range of notch filter is merely from
50 to 1000 Hz. The suppression strength is from 0 to 32 dB. If the resonance frequency is
not within the range, it is suggested to use low-pass filter (parameter P2-25).
Here firstly illustrates the influence brought by notch filter (P2-23 and P2-24) and
low-pass filter (P2-25). The following diagrams are the system of open-loop gain with
resonance.
Resonance suppression with notch filter
Resonance
Resonance
Gain conditions
Point Gain Gain
Notch Filter is suppressed
0db
Low-pass Low-pass
Frequency Attenuation Frequency
Rate P2-24
Resonance Frequency Frequency Resonance Frequency

Resonance
Frequency . Frequency Frequency .
P2-23
6-33
Resonance suppression with low-pass filter

.
Resonance
Resonance conditions
Gain Gain Low-pass Filter Gain
Point is suppressed
Attenuation
Rate -3db Cut-off Frequency
0db
Low-pass of Low-pass Filter Low-pass
Frequency -
= 10000 / P2-25 Hz Frequency
Resonance Frequency Frequency Frequency

Resonance
Frequency Frequency .
When the value of P2-25 is increased from 0, BW becomes smaller. Although it solves the
problem of resonance frequency, the response bandwidth and phase margin is reduced.
Also, the system becomes unstable.
If users know the resonance frequency, notch filter (parameter P2-23 and P2-24) can
directly eliminate the resonance. In this case, notch filter will be more helpful than low-pass
filter. However, if the resonance frequency drifts because of time or other factors, notch
filter will not do.
6-34
6.4 Torque Mode
Torque control mode (T or Tz) is appropriate in torque control application, such as printing
machine, winding machine, etc. There are two kinds of command source, analog input and
register. Analog command input uses external voltage to control the torque of the motor
while register uses the internal parameters (P1-12 ~ P1-14) as the torque command.
6.4.1 Selection of Torque Command
Torque command source are external analog voltage and parameters. It uses CN1 DI
signal for selection. See as below.
DI signal of
Torque CN1 Command Source Content Range
Command
TCM1 TCM0
External analog Voltage between
T +/-10V
T1 0 0 Mode signal T-REF-GND
Tz None Torque command is 0 0
T2 0 1 P1-12 +/-470%
T3 1 0 Parameters P1-13 +/-470%
T4 1 1 P1-14 +/-470%
 The status of TCM0 ~ TCM1: 0 means DI OFF and 1 means DI ON.
 When TCM0 = TCM1 = 0, if it is in Tz mode, then the command is 0. Thus,
if there is no need to use analog voltage as torque command, Tz mode is
applicable and can avoid the problem of zero drift. If it is in T mode, the
command will be the voltage deviation between T-REF and GND. Its input
voltage range is -10V ~ +10V, which mean the corresponding torque is
adjustable (P1-41).
 When neither TCM0 nor TCM1 is 0, parameters become the source of torque
command. The command will be executed after TCM0 ~ TCM1 are changed.
There is no need to use CTRG for triggering.
The torque command can be used in torque mode (T or Tz) and speed mode (S or Sz).
When it is in speed mode, it can be regarded as the command input of torque limit.
6-35
6.4.2 Control Structure of Torque Mode
The basic control structure is as the following diagram:
Output Torque
Torque
Torque
Resonance + Current
Command Motor
Command Processing Suppression Control
-
Current
Sensor
The toque command unit is to select torque command source according to Section 6.4.1,
including the scaling (P1-41) setting and S-curve setting. The current control unit manages
the gain parameters of the servo drive and calculates the current for servo motor in time.
Since the current control unit is very complicated, and is not relevant to the application.
There is no need to adjust parameters. Only command end setting is provided.
The structure of torque command unit is as the following diagram.
TCM0, TCM1 signal of CN1

Internal
Parameter
P1-12
~P1-14 Command
Low-pass Filter
Selection
P1-07
P1-01
Proportion
A/D Gain
P1-41
Analog Signal
The upper path is the command from register while the lower one is external analog
command. The command is selected according to the status of TCM0, TCM1 and P1-01
(T or Tz). The torque represented by analog voltage command can be adjusted via the
scaling and can obtain a smoother response via low-pass filter.
6-36
6.4.3 Smooth Torque Mode
Related parameters:
Analog Torque Command (Low-pass Address: 010EH

P1-07 TFLT
Filter) 010FH
Default: 0
Control
T
Mode:
Unit: ms
Data Size: 16-bit
Display
Decimal
Format:
Target Speed
TFLT
6.4.4 The Scaling of Analog Command
The motor torque command is controlled by the analog voltage deviation between T_REF
and GND and goes with parameter P1-41 to adjust the torque slope and its range.
300%
The torque control ramp is
determined by parameter P1-41
100%
-10 -5
Torque command
5 10 Analog Input Voltage (V)
-100%
-300%
6-37
Relevant parameters:
Address: 0152H
P1-41▲ TCM Max. Output of Analog Torque Command
0153H
Default: 100
Control
ALL
Mode:
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Display
Decimal
Format:
Settings: Maximum Output of Analog Torque Command:
In torque mode, the analog torque command inputs the torque
setting of the max. voltage (10V). When the default setting is
100, if the external voltage inputs 10V, it means the torque
control command is 100% rated torque. If the external voltage
inputs 5V, then the torque control command is 50% rated torque.
Torque control command = input voltage value x setting value /
10 (%)
In speed, PT and PR mode, the analog torque limit inputs the
torque limit setting of the max. voltage (10V).
Torque limit command = input voltage value x setting value / 10
(%)
6-38
6.4.5 Timing Diagram of Torque Mode
T4 (P1-14)
Internal speed T3 (P1-13)
command
T2 (P1-12)
External analog
voltage or zero (0) T1
TCM0 OFF ON OFF ON
TCM1 OFF ON
External I/O signal
SON ON
Note: (1) OFF means the contact point is open while ON means the contact
point is close.
(2) When it is in Tz mode, the torque command T1 = 0; When it is in T
mode, the torque command T1 is the external analog voltage input.
(3) When the servo drive is Servo On, please select the command
according to TCM0 ~ TCM1 status.
6-39
6.5 Dual Modes
Apart from single mode, dual mode is also provided for operation. According to Section 6.1,
dual modes are as followings:
(1) Speed / Position dual mode (PT-S)
(2) Speed / Torque dual mode (S-T)
(3) Torque / Position dual mode (PT-T)
Mode Short Setting Description

Name Name Code
PT-S 06 PT and S can be switched via DI signal, S_P.
Dual Mode PT-T 07 PT and T can be switched via DI signal, T_P.
S-T 0A S and T can be switched via DI signal, S_T.
Sz and Tz dual mode is not provided here. For avoiding occupying too many digital inputs
in dual mode, speed and torque mode can use external analog voltage as the command
source so as to reduce digital input (SPD0, SPD1 or TCM0, TCM1). Please refer to
Chapter 3.3.2, table 3.1, Default Value of DI Input Function and table 3.2, Default Value of
DO Output Function for the default DI / DO of each mode.
The relationship between DI/DO signals and PIN define are set after the mode is selected.
If users desire to change the setting, please refer to Chapter 3.3.4.
6.5.1 Speed / Position Dual Mode
The command source of PT-S mode is from external pulse. Speed command can be
issued by the external analog voltage or internal parameters (P1-09 to P1-11). The switch
of speed and position mode is controlled by the S-P signal. The timing diagram is shown
as below:
6-40
6.5.2 Speed / Torque Dual Mode
S-T is the only mode. The speed command comes from the external analog voltage and
internal parameters (P1-09 ~ P1-11), which is selected via SPD0 ~ SPD1. Similarly, the
source of torque command could be external analog voltage and internal parameters
(P1-12 ~ P1-14) and is selected via TCM0 ~ TCM1. The switch of speed / torque mode is
controlled by S-T signal. The timing diagram is shown as below.
In torque mode (S-T is ON), the torque command is selected via TCM0 and TCM1. When
switching to speed mode (S-T is OFF), the torque command is selected via SPD0 and
SPD 1. The motor operates according to the speed command. When S-T is ON, it goes
back to the torque mode again. Please refer to the introduction of single mode for DI signal
and the selected command of each mode.
6.5.3 Torque / Position Dual Mode
The command source of PT-T mode is from external pulse. Torque command can be
issued by the external analog voltage or internal parameters (P1-12 to P1-14). The switch
of torque and position mode is controlled by T-P signal.
The timing diagram is shown as below:
6-41
6.6 Others
6.6.1 The Use of Speed Limit
The maximum speed in each mode is limited by internal parameters (P1-55), not matter it
is in position, speed or torque mode.
The issuing method of speed limit command and speed command is the same. The
command source could be external analog voltage or internal parameter (P1-09 ~ P1-11).
Please refer to Section 6.3.1 for descriptions.
Speed limit can be used in torque mode (T) only. It is used for limiting the motor speed.
When the command in torque mode is issued by external analog voltage, DI signal is
enough and can be regarded as SPD0 ~ SPD1 which is used to determine the speed limit
command (internal parameters). If the DI signal is not enough, speed limit command can
be issued by analog voltage. When the function of disable/enable limit function in P1-02 is
set to 1, the speed limit function is enabled. See the timing diagram as below.
Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 1
Disable / Enable Speed Limit Function
SPD0~1 INVALID SPD0~1 VALID
Command Source Selection of Speed Limit
6.6.2 The Use of Torque Limit
The issuing method of torque limit command and torque command is the same. The
command source could be external analog voltage or internal parameter (P1-12 ~ P1-14).
Please refer to Chapter 6.4.1 for descriptions.
Torque limit can be used in position mode (PT) or speed mode (S). It is used for limiting
the motor torque output. When the command in position mode is issued by external analog
voltage, DI signal is enough and can be regarded as TCM0 ~ TCM1, which is used to
determine torque limit command (internal parameters). If the DI signal is not enough,
torque limit command can be issued by analog voltage. When the function of disable /
enable torque limit function in P1-02 is set to 1, the torque limit function is enabled.
See the timing diagram as below.
Disable / Enable Torque Limit Function
Disable / Enable Torque Limit Function
TCM0~1 INVALID TCM0~1 VALID
Command Source Selection of Torque Limit
6-42
6.6.3 Analog Monitor
Users could observe the needed voltage signal via analog monitor. Two analog channels
are provided by the servo drive and locate in terminal 1 and 3 of CN5. The related
parameter settings are as the followings.
Address: 0006H
P0-03 MON Analog Monitor Output
0007H
Default: 00
Control
ALL
Mode:
Unit: -
Range: 00 ~ 77
Data Size: 16-bit
Display
Hexadecimal
Format:
Settings:
MON2
MON1
Not used
MON1, MON2
Description
Setting Value
0 Motor speed (+/-8 Volts / Max. speed)
1 Motor torque (+/-8 Volts / Max. torque)
Pulse command frequency (+8 Volts / 4.5
2
Mpps)
Speed command (+/-8 Volts / Max. speed
3
command)
Torque command (+/-8 Volts / Max. torque
4
command)
5 VBUS voltage (+/-8 Volts / 450V)
6 Reserved
6-43
Note: Please refer to parameter P1-04, P1-05 for proportional setting of

analog output voltage.
For example: P0-03 = 01 (MON1 is the analog output of motor speed;
MON2 is the analog output of motor torque (force))
Motor speed
MON1 output voltage = 8 × P1−04 (unit: Volts)
(Max. speed × 100 )
Motor torque
(Max. torque (force) × )
100
Address: 0106H
P1-03 AOUT Polarity Setting of Encoder Pulse Output
0107H
Default: 0
Control
ALL
Mode:
Unit: -
Range: 0 ~ 13
Data Size: 16-bit
Display
Hexadecimal
Format:
Settings：
Polarity of monitor analog output
Polarity of encoder pulse output
Not in use
 Polarity of monitor analog output

0: MON1 (+), MON2 (+)
1: MON1 (+), MON2 (-)
2: MON1 (-), MON2 (+)
3: MON1 (-), MON2 (-)
 Polarity of encoder pulse output
0: Forward output
1: Reverse output
6-44
Analog Monitor Output Proportion 1 Address: 0108H

P1-04 MON1
(MON1) 0109H
Default: 100
Control
ALL
Mode:
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Display
Decimal
Format:
Settings: Please refer to parameter P0-03 for the setting of analog output
selection.
Example: P0-03 = 01 (MON1 is motor speed analog output,
MON2 is motor torque analog output)
Motor speed
MON1 output voltage= 8 × (unit: Volts)
P1-04
(Max. motor speed × )
100
Motor toque
P1-05
(Max. motor torque × )
100
MON2 Analog Monitor Output Proportion Address: 010AH

P1-05 MON2
2 010BH
Default: 100
Control
ALL
Mode:
Range: 0 ~ 100
Data Size: 16-bit
Display
Decimal
Format:
Settings: Please refer to parameter P0-03 for the setting of analog output
selection.
6-45
Motor speed
P1-04
100
Motor toque
P1-05
100
Offset Adjustment Value of Analog Address: 0428H

P4-20 DOF1
Monitor Output (MON1) 0429H
Panel / Software Communication
Default: Factory setting
Control
ALL
Mode:
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Display
Decimal
Format:
Settings: Offset adjustment value (cannot reset)
Offset Adjustment Value of Analog Address: 042AH

P4-21 DOF2
Monitor Output (MON2) 042BH
Default: 0
Control
ALL
Mode:
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Display
Decimal
Format:
6-46
For example, if users desire to observe the voltage signal in channel 1 and set this
channel for observing the pulse command frequency, when the pulse command frequency
325 Kpps corresponds to 8V output voltage, users need to adjust the monitor output
proportion of P1-04 to 50 (= 325 Kpps / Max. input frequency). Other related settings
include P0-03 (X = 3) and P1-03 (The polarity setting range of monitor analog output is
between 0 and 3, and it can set positive/negative polarity output). Generally speaking, the
output voltage of Ch1 is V1; the pulse command frequency is (Max. input frequency × V1/8)
× P1-04 / 100.
Because of the offset value, the zero voltage level of analog monitor output does not
match to the zero point of the setting. This can be improved via the setting of offset
adjustment value of analog monitor output, DOF1 (P4-20) and DOF2 (P4-21). The voltage
level of analog monitor output is ±8V, if the output voltage exceeds the range, it will be
limited within ±8V. The provided resolution is about 10 bits, which equals to 13 mV/LSB.
8V
DOF
-8V
6-47
6.6.4 The Use of Brake
The gravity in the Z-axis direction will cause the mechnism to slide, thus the magnetic
brake is often applied in the Z-axis direction to avoid the mechanism from falling down.
Using the magnetic brake reduces the servo motor's continuous resistance. If the servo
motor continues to output resistance, it generates a huge amount of heat which will
shorten the lifespan of the servo motor. The magnetic brake must be operated after the
servo motor is turned off in order to prevent mis-operation. The servo drive operates the
magnetic brake by controlling the DO. If DO.BRKR is set to Off, the magnetic brake is not
working and the motor is locked; if DO.BRKR is set to On, the magnetic brake is working
and the motor can operate. You can set the relevant delay with register MBT1 (P1-42) and
MBT2 (P1-43).
Timing diagram of the magnetic brake control:
ON
SON OFF OFF
(DI input)
ON
BRKR OFF OFF
(DO output)
MBT1 (P1-42) MBT2 (P1-43)
ZSPD (P1-38)
Motor speed
ZSPD (P1-38)
Motor speed
The output timing of BRKR:

1. When Servo OFF, go through the time set by P1-43 and the motor speed is faster
than the setting in P1-38, DO.BRKR is OFF (the brake is locked).
2. When Servo Off, has not reached the time set by P1-43 but the motor speed is
slower than the setting in P1-38, DO.BRKR is OFF (the brake is locked.).
6-48
The wiring diagram of using mechanical brake:
Servo Drive Do not connect VDD-COM+

DOX：(DOX+,DOX-) Ensure the polarity of
X=1,2,3,4,5 Diode is correct, or it When emergency stop signal
might damage the drive is activated, this circuit Motor
breaker will be enabled.
DO1：(7,6)
DO2：(5,4) Brake 1(blue)
DO3：(3,2)
DO4：(1,26) Brake
DO5：(28,27)
DOX+
for brake
Relay DC24V DC24V Encoder
DOX-
Brake 2(brown)
Note: (1) Please refer to Chapter 3, Wiring.

(2) The brake signal controls the solenoid valve, provides power to the brake
and enables the brake.
(3) Please note that there is no polarity in coil brake.
(4) Do not use brake power and control power (VDD) at the same time.
Timing diagram of control power and main power:
L1, L2
Control Circuit
Power
1 sec
5V
Control Circuit
Power
> 0msec
R, S, T
Main Circuit
Power
800ms
BUS Voltage
READY
2 sec
SERVO
READY
SERVO ON
(DI Input)
1 msec (min)+ Response Filter Time of Digital Input ( P2-09)
SERVO ON
(DO Output)
Input available
Position \ Speed \
Torque Command
Input
6-49
6-50
Chapter 7 Parameters
7.1 Parameter Definition
Parameters are divided into five groups which are shown as follows. The first character
after the start code P is the group character and the second character is the parameter
character. As for the communication address, it is the combination of group number along
with two digit number in hexadecimal. The definition of parameter groups is as the
followings:
Group 0: Monitor parameters (example: P0-xx)

Group 1: Basic parameters (example: P1-xx)
Group 2: Extension parameters (example: P2-xx)
Group 3: Communication parameters (example: P3-xx)
Group 4: Diagnosis parameters (example: P4-xx)
Abbreviation of control modes:

PT: Position control mode (command from external signal)
S: Speed control mode
T: Torque control mode
Explanation of symbols (marked after parameter)

(★) Read-only register, such as P0-00, P0-01, P4-00.
(▲) Setting is invalid when Servo On, such as P1-00, P1-46, and P2-33.
() Not effective until re-power on or off the servo drive, such as P1-01 and P3-00.
() Volatile parameters, such as P2-31 and P3-06.
7-1
Chapter 7 Parameters ASDA-B2
7.2 Lists of Parameters

Monitor and General Output Parameter
Control Mode Related
Parameter Abbr. Funciton Default Unit
PT S T Section
Factory
P0-00★ VER Firmware Version N/A O O O -
Setting
11.1
Alarm Code Display of Drive
P0-01■ ALE N/A N/A O O O 11.2
(Seven-segment Display)
11.3
P0-02 STS Drive Status 00 N/A O O O 7.2
P0-03 MON Analog Output Monitor 01 N/A O O O -
P0-08★ TSON Servo On Time 0 Hour -
P0-09★ CM1 Status Monitor Register 1 N/A N/A O O O 4.3.5

Status Monitor Register 1
P0-17 CM1A 0 N/A -
Selection
P0-18 CM2A 0 N/A -
Selection
P0-19 CM3A 0 N/A -
Selection
P0-20 CM4A 0 N/A -
Selection
P0-21 CM5A 0 N/A -
Selection
Servo Digital Output Status
P0-46★ SVSTS 0 N/A O O O -
Display
MON1 Analog Monitor Output % (full
P1-04 MON1 100 O O O 6.4.4
Proportion scale)
MON2 Analog Monitor Output % (full
P1-05 MON2 100 O O O 6.4.4
Proportion scale)
(★) Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc.
(▲) Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
() Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00.
() Volatile parameters, e.g. parameter P2-30 and P3-06.
7-2
ASDA-B2 Chapter 7 Parameters
Filter and Resonance Suppression

Parameter Abbr. Function Default Unit
PT S T Section
Analog Speed Command
P1-06 SFLT 0 ms O 6.3.3
(Low-pass Filter)
Analog Torque Command
P1-07 TFLT 0 ms O 6.4.3
(Low-pass Filter)
Smooth Constant of Position
P1-08 PFLT Command 0 10ms O 6.2.4
(Low-pass Filter)
Acceleration Constant of
P1-34 TACC 200 ms O 6.3.3
S-Curve
Deceleration Constant of
P1-35 TDEC 200 ms O 6.3.3
S-Curve
Acceleration / Deceleration
P1-36 TSL 0 ms O 6.3.3
Constant of S-Curve
P1-59 MFLT Analog Speed Command 0 0.1ms O -
P1-62 FRCL Friction Compensation 0 % O O O -
P1-63 FRCT Friction Compensation 0 ms O O O -
Position Command Moving
P1-68 PFLT2 4 ms O -
Filter
Resonance suppression
P2-23 NCF1 1000 Hz O O O 6.3.7
(Notch filter) (1)
Resonance Suppression (Notch
P2-24 DPH1 0 dB O O O 6.3.7
filter) Attenuation Rate (1)
P2-43 NCF2 1000 Hz O O O 6.3.7
(Notch filter) (2)
P2-44 DPH2 0 dB O O O 6.3.7
P2-45 NCF3 1000 Hz O O O 6.3.7
(Notch filter) (3)
P2-46 DPH3 0 dB O O O 6.3.7
Auto Resonance Suppression
P2-47 ANCF 1 N/A O O O -
Mode Setting
Resonance Suppression
P2-48 ANCL 100 N/A O O O -
Detection Level
Low-pass Filter of Resonance
P2-25 NLP 2 or 5 0.1ms O O O 6.3.7
Suppression
P2-49 SJIT Speed Detection Filter 0 sec O O O -
P3-00.
7-3
Gain and Switch Parameter

PT S T Section
P2-00 KPP Position Loop Gain 35 rad/s O 6.2.5
Switching Rate of Position
P2-01 PPR 100 % O 6.2.5
Loop Gain
P2-02 PFG Position Feed Forward Gain 50 % O 6.2.5
Smooth Constant of Position
P2-03 PFF 5 ms O -
Feed Forward Gain
P2-04 KVP Speed Loop Gain 500 rad/s O O O 6.3.6
Switching Rate of Speed
P2-05 SPR 100 % O O O -
Loop Gain
P2-06 KVI Speed Integral Compensation 100 rad/s O O O 6.3.6
P2-07 KVF Speed Feed Forward Gain 0 % O O O 6.3.6
P2-26 DST Anti-interference Gain 0 0.001 O O O -
Gain Switching and Switching
P2-27 GCC 0 N/A O O O -
Selection
Gain Switching Time
P2-28 GUT 10 10ms O O O -
Constant
pulse
P2-29 GPE Gain Switching 1280000 Kpps O O O -
r/min
Speed Loop Frequency 5.6
P2-31 AUT1 Response Setting in Auto and 80 Hz O O O
Semi-auto Mode 6.3.6
5.6
P2-32▲ AUT2 Tuning Mode Selection 0 N/A O O O
6.3.6
P3-00.
7-4
Position Control Parameter

PT S T Section
Input Setting of Control Mode
P1-01 CTL 0 - O O O 6.1
and Control Command
Speed and Torque Limit
P1-02▲ PSTL 0 N/A O O O 6.6
Setting
P1-12 ~
TQ1 ~ 3 Internal Torque Limit 1 ~ 3 100 % O O O 6.4.1
P1-14
Pulse Number of Encoder
P1-46▲ GR3 2500 pulse O O O -
Output
P1-55 MSPD Maximum Speed Setting rated r/min O O O -
P2-50 CCLR Pulse Clear Mode 0 N/A O -
External Pulse Control Command (PT mode)
P1-00▲ PTT External Pulse Input Type 0x2 N/A O 6.2.1
P1-44▲ GR1 Gear Ratio (Numerator) (N1) 1 pulse O 6.2.3
P1-45▲ GR2 Gear Ratio (Denominator) (M) 1 pulse O 6.2.3
P2-60▲ GR4 Gear Ratio (Numerator) (N2) 1 pulse O -
P3-00.
7-5
Speed Control Parameter

PT S T Section
P1-01 CTL 0 - O O O 6.1
and Control Command
P1-02▲ PSTL 0 N/A O O O 6.6
Setting
Output Pulse Counts Per One
P1-46▲ GR3 1 pulse O O O -
Motor Revolution
P1-55 MSPD Maximum Speed Limit rated r/min O O O -
P1-09 ~ Internal Speed Command 1 ~ 1000 ~ 0.1
SP1 ~ 3 O O 6.3.1
P1-11 3 3000 r/min
P1-12 ~
TQ1 ~ 3 Internal Torque Limit 1 ~ 3 100 % O O O 6.6.2
P1-14
Maximum Speed of Analog
P1-40▲ VCM rated r/min O O 6.3.4
Speed Command
Maximum Output of Analog
P1-41▲ TCM 100 % O O O -
Torque Speed
Maximum Rotation Setting of
P1-76 AMSPD 5500 r/min O O O -
Encoder Setting (OA, OB)
P3-00.
7-6
Torque Control Parameter

PT S T Section
P1-01 CTL 0 - O O O 6.1
and Control Command
P1-02▲ PSTL 0 N/A O O O 6.6
Setting
Output Pulse Counts Per One
P1-46▲ GR3 1 pulse O O O -
Motor Revolution
P1-55 MSPD Maximum Speed Limit rated r/min O O O -
P1-09 ~ 1000 ~
SP1~3 Internal Speed Limit 1 ~ 3 r/min O O 6.6.1
P1-11 3000
P1-12 ~ Internal Torque Command
TQ1~3 100 % O O O 6.4.1
P1-14 1~3
Maximum Speed of Analog
P1-40▲ VCM rated r/min O O -
Speed Command
Maximum Output of Analog
P1-41▲ TCM 100 % O O O 6.4.4
Torque Limit
P3-00.
7-7
Planning of Digital Input / Output and Output Setting Parameter

PT S T Section
P2-09 DRT DI Debouncing Time 2 2ms O O O -
Table
P2-10 DI1 DI1 Functional Planning 101 N/A O O O
7.1
Table
7.1
Table
7.1
Table
7.1
Table
7.1
Table
7.1
Table
7.1
Table
7.1
Table
7.1
Table
P2-18 DO1 DO1 Functional Planning 101 N/A O O O
7.2
Table
7.2
Table
7.2
Table
7.2
Table
7.2
Table
7.2
0.1 Table
P1-38 ZSPD Zero Speed Range Setting 100 O O O
r/min 7.2
Table
P1-39 SSPD Target Motor Detection Level 3000 r/min O O O
7.2
P1-42 MBT1 Enable Delay Time of Brake 0 ms O O O 6.5.5
P1-43 MBT2 Disable Delay Time of Brake 0 ms O O O 6.5.5
Speed Reached (DO：SP_OK) Table
P1-47 SCPD 10 r/min O
Range 7.2
7-8
Planning of Digital Input / Output and Output Setting Parameter

PT S T Section
Table
P1-54 PER Position Completed Range 12800 pulse O
7.2
Output Overload Warning Table
P1-56 OVW 120 % O O O
Level 7.2
P3-00.
7-9
Communication Parameter
PT S T Section
P3-00 ADR Address Setting 0x7F N/A O O O 8.2
P3-01 BRT Transmission Speed 0x0203 bps O O O 8.2
P3-02 PTL Communication Protocol 6 N/A O O O 8.2
P3-03 FLT Communication Error Disposal 0 N/A O O O 8.2
P3-04 CWD Communication Time Out 0 sec O O O 8.2
P3-05 CMM Communication Mechanism 0 N/A O O O 8.2
Control Switch of Digital Input
P3-06 SDI 0 N/A O O O 8.2
(DI)
Communication Response
P3-07 CDT 0 1ms O O O 8.2
Delay Time
P3-08 MNS Monitor Mode 0000 N/A O O O 8.2
P3-00.
7-10
Diagnosis Parameter
PT S T Section
P4-00★ ASH1 Fault Record (N) 0 N/A O O O 4.4.1
P4-01★ ASH2 Fault Record (N-1) 0 N/A O O O 4.4.1
P4-05 JOG Servo Motor Jog Control 20 r/min O O O 4.4.2
P4-06▲ FOT Digital Output Register 0 N/A O O O 4.4.4
4.4.5
P4-07 ITST Multi-function of Digital Input 0 N/A O O O
8.2
P4-08★ PKEY Input Status of the Drive Panel N/A N/A O O O -
P4-09★ MOT Digital Output Status N/A N/A O O O 4.4.6
P4-10▲ CEN Adjustment Selection 0 N/A O O O -
Analog Speed Input Offset Factory
P4-11 SOF1 N/A O O O -
Adjustment 1 Setting
Analog Speed Input Offset Factory
P4-12 SOF2 N/A O O O -
Analog Torque Input Offset Factory
P4-14 TOF2 N/A O O O -
Analog Torque Input Offset Factory
P4-15 COF1 N/A O O O -
Current Detector (V1 Phase) Factory
Offset Adjustment Setting
Current Detector (V2 Phase) Factory
Current Detector (W1 Phase) Factory
IGBT NTC Adjustment Factory
P4-19 TIGB N/A O O O -
Detection Level Setting
Offset Adjustment Value of
P4-20 DOF1 0 mV O O O 6.4.4
Analog Monitor Output (MON1)
Offset Adjustment Value of
P4-21 DOF2 0 mV O O O 6.4.4
Analog Monitor Output (MON2)
P4-22 SAO Analog Speed Input Offset 0 mV O -
P4-23 TAO Analog Torque Input Offset 0 mV O -
P3-00.
7-11
7.3 Parameter Description

P0-xx Monitor Parameters
Address: 0000H
P0-00★ VER Firmware Version
0001H
Operation Related Section: N/A
Interface:
Control
ALL
Mode:
Unit: -
Range: -
Data Size: 16-bit
Format: Decimal
Settings: This parameter only shows the firmware version of the servo
drive.
Alarm Code Display of Drive Address: 0002H

P0-01■ ALE
(Seven-segment Display) 0003H
Interface: 11.1, 11.2, 11.3
Default: -
Control
ALL
Mode:
Unit: -
Range: 0 ~ 0
It only can be set to 0 to clear the alarm
(Same as DI.ARST).
Data Size: 16-bit
Format: BCD
Settings: Hexadecimal format: displays the alarm code
0x0000: alarm clear (same as DI:ARST).
0x0000 ~ 0xFFFF: displays the alarm code (not writable).
For the list of alarms, please refer to Section 9.1 Alarm of Servo
Drive.
Alarm of Servo Drive
001: Over current
002: Over voltage
003: Under voltage (In default setting, the alarm occurs only
when the voltage is not enough in Servo ON status; In Servo
ON status, when it applies to power R, S, T, the alarm still
will not be cleared. Please refer to P2-66.)
004: Motor combination error (The drive corresponds to the
wrong motor)
005: Regeneration error
7-12
006: Overload
007: Over speed
008: Abnormal pulse command
009: Excessive deviation of position command
010: Reserved
011: Encoder error (The servo drive cannot connect to the
encoder because of disconnection or abnormal wiring)
012: Adjustment error
013: Emergency stop
014: Reverse limit error
015: Forward limit error
016: IGBT overheat
017: Abnormal EEPROM
018: Abnormal signal output
019: Serial communication error
020: Serial communication time out
021: Reserved
022: Main circuit power lack phase
023: Early warning for overload
024: Encoder initial magnetic field error
025: The internal of the encoder is in error
026: Unreliable internal data of the encoder
027: The internal of the encoder is in error
030: Motor crash error
031: Incorrect wiring of the motor power line, U, V, W, GND
099: DSP firmware upgrade
Address: 0004H
P0-02 STS Drive Status
0005H
Interface: Table 7.2
Default: 00
Control
ALL
Mode:
Unit: -
Range: -112, 0 ~ 111
Data Size: 16-bit
Format: Decimal
Settings: Input the monitoring variable to P0-02 in order to view changes
to the variable on the panel. For the list of monitoring variables,
please refer to Table 7.3 Monitoring Variables Descriptions.
7-13
Address: 0006H
P0-03 MON Analog Monitor Output
0007H
Interface: 6.6.3
Default: 00
Control
ALL
Mode:
Unit: -
Range: 00 ~ 77
Data Size: 16-bit
Format: Hexadecimal
Settings:
MON2
MON1
Not used
MON1,
MON2
Description
Setting
Value
0 Motor speed (+/-8 Volts/Max. speed)
1 Motor torque (+/-8 Volts/Max. torque)
2 Pulse command frequency (+8 Volts／4.5Mpps)
Speed command (+/-8 Volts/ Max. speed
3
command)
Torque command (+/-8 Volts/Max. torque
4
command)
5 VBUS voltage (+/-8 Volts／450V)
6 Reserved
7 Reserved
Please refer to parameter P1-04, P1-05 for proportional setting
of analog output voltage.
For example: P0-03 = 01 (MON1 is the analog output of motor

speed; MON2 is the analog output of motor torque)
Note:
Motor speed
MON1 output voltage = 8 × P1−04 (unit：Volts)
(Max. speed × 100 )
Motor torque
(Max. torque × 100 )
Address: 0008H
P0-04■ Reserved
0009H
7-14
Address: 000AH
P0-05■ Reserved
000BH
Address: 000CH
P0-06■ Reserved
000DH
Address: 000EH
P0-07■ Reserved
000FH
Address: 0010H
P0-08★ TSON Servo Startup Time
0011H
Interface:
Default: 0
Control
-
Mode:
Unit: Hour
Range: High Word: 0 ~ 65535
Low Word: 0 ~ 65535
Data Size: 16-bit
Format: Decimal
Settings: High Word: Servo enable time
Low Word: Servo power on time
Address: 0012H
P0-09★ CM1 Status Monitor Register 1
0013H
Interface: 4.3.5
Default: -
Control
ALL
Mode:
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
Settings: The setting value which is set by P0-17 should be monitored via
P0-09.
For example, if P0-17 is set to 3, when accessing P0-09, it obtains
the total feedback pulse number of motor encoder. For MODBUS
communication, two 16bit data, 0012H and 0013H will be read as
a 32bit data; (0013H : 0012H) = (Hi-word：Low-word). Set P0-02 to
23, the panel displays “VAR-1” first, and then shows the content of
P0-09.
7-15
Address: 0014H
0015H
Interface: 4.3.5
Default: -
Control
ALL
Mode:
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
P0-10. Set P0-02 to 24, the panel displays “VAR-2” first, and then
shows the content of P0-10.
Address: 0016H
0017H
Interface: 4.3.5
Default: -
Control
ALL
Mode:
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
Address: 0018H
0019H
Interface: 4.3.5
Default: -
Control
ALL
Mode:
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
7-16
Address: 001AH
001BH
Interface: 4.3.5
Default: -
Control
ALL
Mode:
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
P0-13.
Address: 001CH
P0-14 Reserved
001DH
Address: 001EH
P0-15 Reserved
001FH
Address: 0020H
P0-16 Reserved
0021H
Address: 0022H
P0-17 CM1A Status Monitor Register 1 Selection
0023H
Interface:
Default: 0
Control
-
Mode:
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
Settings: Please refer to P0-02 for its setting value.
For example:
If P0-17 is set to 07, then reading P0-09 means reading “Motor
speed (r/min)”.
7-17
Address: 0024H
0025H
Interface:
Default: 0
Control
-
Mode:
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
Address: 0026H
0027H
Interface:
Default: 0
Control
-
Mode:
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
Address: 0028H
0029H
Interface:
Default: 0
Control
-
Mode:
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
7-18
Address: 002AH
002BH
Interface:
Default: 0
Control
-
Mode:
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
Address: 002CH
P0-22 Reserved
002DH
Address: 002EH
P0-23 Reserved
002FH
Address: 0030H
P0-24 Reserved
0031H
Address: 0058H
P0-44★ PCMN Status Monitor Register (for PC Software)
0059H
Interface:
Default: 0x0
Control
ALL
Mode:
Unit: -
Range: determined by the communication
address of the designated parameter
Data Size: 32-bit
Format: Decimal
Settings: Same as parameter P0-09
7-19
Status Monitor Register Selection (for PC Address: 005AH

P0-45■ PCMNA
Software) 005BH
Interface: 4.3.5
Default: 0x0
Control
ALL
Mode:
Unit: -
Range: 0~127
Data Size: 16-bit
Format: Decimal
Settings: Same as parameter P0-17
Address: 005CH
P0-46★ SVSTS Servo Output Status Display
005DH
Interface:
Default: 0
Control
ALL
Mode:
Unit: -
Range: 0x00 ~ 0xFF
Data Size: 16-bit
Format: Hexadecimal
Settings: Bit0: SRDY (Servo is ready)
Bit1: SON (Servo On)
Bit2: ZSPD (Zero speed detection)
Bit3: TSPD (Target speed reached)
Bit4: TPOS (Target position reached)
Bit5: TQL (Torque limiting)
Bit6: ALRM (Servo alarm)
Bit7: BRKR (Brake control output)
Bit9: OLW (Early warning for overload)
Bit10: WARN (When Servo warning, CW, CCW, EMGS, under
voltage, Communication error, etc, occurs, DO is ON)
Bit11 ~ Bit15: Reserved
7-20
P1-xx Basic Parameters

Address: 0100H
P1-00▲ PTT External Pulse Input Type
0101H
Interface: 6.2.1
Default: 0x2
Control
PT
Mode:
Unit: -
Range: 0 ~ 1142
Data Size: 16-bit
Format: Hexadecimal
Settings:
 Pulse type
0: AB phase pulse (4x)
1: Clockwise (CW) + Counterclockwise (CCW) pulse
2: Pulse + Symbol
Other settings: reserved
 Filter width
If the filter pulse frequency is too high instantaneously, the pulse
frequency exceeding the frequency setting will be filtered out as noise.
Minimum Pulse Width Minimum Pulse Width
Setting Setting
(Low-speed Filter Frequency (High-speed Filter
Value *note 1
Value
) Frequency *note 1)
0 600 ns (0.83 Mpps) 0 150 ns (3.33 Mpps)
1 2.4 us (208 Kpps) 1 600 ns (0.83 Mpps)
2 4.8 us (104 Kpps) 2 1.2 us (416 Kpps)
3 9.6 us (52 Kpps) 3 2.4 us (208 Kpps)
4 No Filter Function 4 No Filter Function
7-21
Note:
<150ns <150ns
150ns
150ns
Pulse Input Pulse Input
filtered signal filtered signal
When this pulse frequency is less than When this pulse frequency is less than
150 ns, this signal will be regarded as a 150 ns, this signal will be regarded as a
low-level pulse and two input pulses will high-level pulse and two input pulses will
be regarded as one input pulse. be regarded as one input pulse.
>150 ns
>150 ns
When the pulse frequencies of high-level duty

and low-level duty both are greater than 150 ns,
the signal will not be filtered (that is, the pulse
command will pass through).
If the user uses 2 ~ 4 MHz input pulse, it is suggested to set the filter value to 4. Please
note that the applicable version is: DSP version 1.005 sub10 and version above.
Note: When the signal is the high-speed pulse specification of 4 Mpps and the settings
value of the filter is 4, then pulse will not be filtered.
7-22
 Logic Type
High-speed and Low-speed Pulse Input
Pulse Phase Lead Pulse Phase Lag
(43) (43)
Pulse TH Pulse TH
(41) (41)
AB Phase
Positive Logic
(39) (39)
Pulse Sign T1 T1 T1 T1 T1 Sign T1 T1 T1 T1 T1 T1
(37) (37)
0
(43)
Clockwise Pulse TH
and (41)
Counter- (39)
T2 T2 T2 T2 T2 T2 T3 T2 T2 T2 T2 T2 T2
clockwise Sign TH
(37)
Pulse
High-speed Pulse Input

Sign = high Sign = low
Positive Logic
(38) (38)
Pulse + HPULSE TH HPULSE TH
0 (36) (36)
Symbol (42)
T4 T5 T6 T5 T6 T5 T4
(42)
T4 T5 T6 T5 T6 T5 T4
HSIGN HSIGN
(40) (40)
Low-speed Pulse Input

Sign = low Sign = high
Positive Logic
(43) (43)
Pulse + Pulse TH Pulse TH
0 (41) (41)
Symbol (39)
T4 T5 T6 T5 T6 T5 T4
(39)
T4 T5 T6 T5 T6 T5 T4
Sign Sign
(37) (37)
Digital circuits use 0 and 1 to represent the high and low voltage levels. In positive logic,
1 represents high voltage and 0 represents low voltage; in negative logic, 1 represents low
voltage and 0 represents high voltage.
For example:
Positive Logic Negative Logic
7-23
Max. input Min. time width

Pulse specification
frequency T1 T2 T3 T4 T5 T6
High-speed Differential
4 Mpps 62.5ns 125ns 250ns 200ns 125ns 125ns
pulse Signal
Differential
500 Kpps 0.5μs 1μs 2μs 2μs 1μs 1μs
Low-speed Signal
pulse Open
200 Kpps 1.25μs 2.5μs 5μs 5μs 2.5μs 2.5μs
collector
Max. input Voltage Forward

Pulse specification
frequency specification Current
High-speed pulse Differential Signal 4 Mpps 5V < 25 mA
Differential Signal 500 Kpps 2.8V ~ 3.7V < 25 mA
Low-speed pulse
Open collector 200 Kpps 24V (Max.) < 25 mA
 Source of external
0: Low-speed optical coupler (CN1 Pin: PULSE, SIGN)
1: High-speed differential (CN1 Pin: HPULSE, HSIGN)
Address: 0102H
P1-01● CTL Control Mode and Output Direction
0103H
Interface: 6.1, Table 7.1
Default: 0
Control
ALL
Mode:
Unit: -
Range: 00 ~ 110
Data Size: 16-bit
Format: Hexadecimal
Settings:
Control mode setting

Torque output direction setting
Not in use
 Control mode setting

Mode PT S T Sz Tz
Single Mode
00 ▲
01 Reserved
02 ▲
03 ▲
04 ▲
05 ▲
7-24
Dual Mode
06 ▲ ▲
07 ▲ ▲
08 Reserved
09 Reserved
0A ▲ ▲
Single mode:
PT: Position Control Mode (The command source is external
pulse and analog voltage which can be selected via DI.
PTAS.)
S: Speed Control Mode (The command source is the external
analog voltage and register. It can be selected via DI. SPD0,
SPD1.)
T: Torque Control Mode (The command source is the external
analog voltage and register. It can be selected via DI. TCM0,
TCM1.)
Sz: Zero Speed / Internal Speed Command
Tz: Zero Torque / Internal Torque Command
Dual Mode: It can switch mode via the external Digital Input (DI).
For example, if it is set to the dual mode of PT/S (Control mode
setting: 06), the mode can be switched via DI. S-P (Please refer to
table 7.1).
 Torque Output Direction Settings
0 1
Forward
Reverse
7-25
Address: 0104H
P1-02▲ PSTL Speed and Torque Limit Setting
0105H
Interface: 6.6
Default: 0
Control
ALL
Mode:
Unit: -
Range: 00 ~ 11
Data Size: 16-bit
Display
Hexadecimal
Format:
Settings:
Disable / enable speed limit function

Disable / enable torque limit function
Not in use
 Disable or Enable speed limit function

0: Disable speed limit function
1: Enable speed limit function (It is available in T mode only)
Others: Reserved
Block diagram of speed limit setting:
(0)
Vref
Speed Limit
P1-09(1) Command
P1-10(2)
P1-11(3)
SPD0
SPD1
When desire to use speed limit function, users could use parameter setting
or DI triggering. That is to say, set P1-02 to 0x0001 or trigger DI will do.
Also, users could enable or disable the limit function via DI.SPDLM, which
is a more flexible way but would need to take one DI setting. Speed limit
can be enabled by P1-02 or DI.
DI.SPD0 and DI.SPD1 are for selecting the limiting source.
 Disable or Enable torque limit function

0: Disable torque limit function
1: Enable torque limit function (It is available in position and speed mode)
Other: Reserved
7-26
(0)
Tref
Torque Limit
P1-12(1) Command
P1-13(2)
P1-14(3)
TCM0
TCM1
Users could use torque limit function via parameter setting or DI
triggering. That is to say, set P1-02 to 0x0010 or trigger DI will do. Also,
users could enable or disable the limit function via DI.TRQLM, which is a
more flexible way but would need to take one DI setting. Torque limit can be
enabled by P1-02 or DI. DI.TCM0 and DI.TCM1 are for selecting the
limiting source.
Address: 0106H
P1-03 AOUT Polarity Setting of Encoder Pulse Output
0107H
Interface: 3.3.3
Default: 0
Control
ALL
Mode:
Unit: -
Range: 0 ~ 13
Data Size: 16-bit
Format: Hexadecimal
Settings:
Polarity of monitor analog output
Polarity of encoder pulse output
Not in use
 Polarity of monitor analog output  Position pulse outputs polarity

0: MON1(+), MON2(+) 0: Forward output
1: MON1(+), MON2(-) 1: Reverse output
2: MON1(-), MON2(+)
3: MON1(-), MON2(-)
7-27
Address: 0108H
P1-04 MON1 MON1 Analog Monitor Output Proportion
0109H
Interface: 6.4.4
Default: 100
Control
ALL
Mode:
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: Please refer to the P1-03, for the setting of analog output
selection.
Motor speed
P1-04
100
Motor toque
P1-05
100
Address: 010AH
P1-05 MON2 MON2 Analog Monitor Output Proportion
010BH
Interface: 6.4.4
Default: 100
Control
ALL
Mode:
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: Please refer to the P1-03, for the setting of analog output
selection.
Motor speed
P1-04
100
Motor torque
P1-05
100
7-28
Address: 010CH
P1-06 SFLT Analog Speed Command (Low-pass Filter)
010DH
Interface: 6.3.3
Default: 0
Control
S
Mode:
Unit: ms
Data Size: 16-bit
Format: Decimal
Analog Torque Command (Low-pass Address: 010EH

P1-07 TFLT
Filter) 010FH
Interface: 6.4.3
Default: 0
Control
T
Mode:
Unit: ms
Data Size: 16-bit
Display
Decimal
Format:
Smooth Constant of Position Command Address: 0110H

P1-08 PFLT
(Low-pass Filter) 0111H
Interface: 6.2.4
Default: 0
Control
PT
Mode:
Unit: 10ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
7-29
Internal Speed Command 1 / Internal Address: 0112H

P1-09 SP1
Speed Limit 1 0113H
Interface: 6.3.1
Default: 1000
Control
S, T
Mode:
Unit: 0.1r/min
Range: -60000 ~ +60000
Data Size: 32-bit
Format: Decimal
Example 120 = 12 r/min
Settings: Internal Speed Command 1: The setting of the first internal speed
command.
Internal Speed Limit 1: The setting of the first internal speed limit.

P1-10 SP2
Speed Limit 2 0115H
Interface: 6.3.1
Default: 2000
Control
S, T
Mode:
Unit: 0.1r/min
Range: -60000 ~ +60000
Data Size: 32-bit
Format: Decimal
Settings: Internal Speed Command 2：The setting of the second internal
speed command.
Internal Speed Limit 2: The setting of the second internal speed
limit.
7-30

P1-11 SP3
Speed Limit 3 0117H
Interface: 6.3.1
Default: 3000
Control
S, T
Mode:
Unit: 0.1r/min
Range: -60000 ~ +60000
Data Size: 32-bit
Format: Decimal
Settings: Internal Speed Command 3: The setting of the third internal speed
command.
Internal Speed Limit 3: The setting of the third internal speed limit.
Internal Torque Command 1 / Internal Address: 0118H

P1-12 TQ1
Torque Limit 1 0119H
Interface: 6.4.1
Default: 100
Control
T, P&S
Mode:
Unit: %
Range: -470 ~ +470
Data Size: 16-bit
Format: Decimal
Settings: Internal Torque Command 1: The setting of the first internal torque
command.
Internal Torque Limit 1: The setting of the first internal torque limit.
7-31
Internal Torque Command 2 / Internal Address: 011AH

P1-13 TQ2
Torque Limit 2 011BH
Interface: 6.4.1
Default: 100
Control
T, P&S
Mode:
Unit: %
Range: -470 ~ +470
Data Size: 16-bit
Display
Decimal
Format:
Settings: Internal Torque Command 2: The setting of the second internal
torque command.
Internal Torque Limit 2: The setting of the second internal torque
limit.
Internal Torque Command 3 / Internal Address: 011CH

P1-14 TQ3
Torque Limit 3 011DH
Interface: 6.4.1
Default: 100
Control
T, P & S
Mode:
Unit: %
Range: -470 ~ +470
Data Size: 16-bit
Format: Decimal
Settings: Internal Torque Command 3: The setting of the third internal
torque command.
Internal Torque Limit 3: The setting of the third internal torque
limit.
Address: 011EH
P1-15 Reserved
011FH
Address: 0120H
P1-16 Reserved
0121H
Address: 0122H
P1-17 Reserved
0123H
Address: 0124H
P1-18 Reserved
0125H
Address: 0126H
P1-19 Reserved
0127H
7-32
Address: 0128H
P1-20 Reserved
0129H
Address: 012AH
P1-21 Reserved
012BH
Address: 012CH
P1-22 Reserved
012DH
Address: 012EH
P1-23 Reserved
012FH
Address: 0132H
P1-25 VSF1 Low-frequency Vibration Suppression (1)
0133H
Default: 1000
Control
PT
Mode:
Unit: 0.1Hz
Range: 10 ~ 1000
Data Size: 16bit
Format: DEC
150 = 15 Hz
Example
Settings: The setting value of the first low-frequency vibration suppression.
If P1-26 is set to 0, then it will disable the first low-frequency filter.
Low-frequency Vibration Suppression Address: 0134H

P1-26 VSG1
Gain (1) 0135H
Default: 0
Control
PT
Mode:
Unit: -
Range: 0~9 (0: Disable the first low-frequency
filter)
Data Size: 16bit
Format: DEC
Settings: The first low-frequency vibration suppression gain. The bigger
value it is, the better the position response will be. However, if the
value is set too big, the motor will not be able to smoothly
operate. It is suggested to set the value to 1.
7-33
Address: 0136H
P1-27 VSF2 Low-frequency Vibration Suppression (2)
0137H
Default: 1000
Control
PT
Mode:
Unit: 0.1Hz
Range: 10 ~ 1000
Data Size: 16bit
Format: DEC
Example 150 = 15 Hz
Settings: The setting value of the second low-frequency vibration
suppression. If P1-28 is set to 0, then it will disable the second
low-frequency filter.
Low-frequency Vibration Suppression Address: 0138H
P1-28 VSG2
Gain (2) 0139H
Default: 0
Control
PT
Mode:
Unit: -
Range: 0~9 (0: Disable the second low-frequency
filter)
Data Size: 16bit
Format: DEC
Settings: The second low-frequency vibration suppression gain. The bigger
value it is, the better the position response will be. However, if the
value is set too big, the motor will not be able to smoothly
operate. It is suggested to set the value to 1.
Address: 013EH
P1-31 Reserved
013FH
7-34
Address: 0140H
P1-32 LSTP Motor Stop Mode
0141H
Interface:
Default: 0
Control
ALL
Mode:
Unit: -
Range: 0 ~ 20
Data Size: 16-bit
Format: Hexadecimal
Settings:
Motor stop mode
Selection of executing dynamic brake
Not in use
 Motor stop mode: When an alarm occurs, such as CWL,
CCWL, EMGS and serial communication error, it is be in
motor stop mode.
0: Stop instantly
1: Decelerate to stop
 Selection of executing dynamic brake: Stop mode when servo
off or an alarm occurs.
0: Execute dynamic brake
1: Motor free run
2: Execute dynamic brake first, then execute free run until it
stops (The motor speed is slower than P1-38).
When PL and NL occurs, please refer to event time settings value
of P1-06, P1-35, P1-36 to determine the deceleration time. If the
setting is 1ms, the motor will stop instantly.
Address: 0142H
P1-33 Reserved
0143H
7-35
Address: 0144H
P1-34 TACC Acceleration Constant of S-Curve
0145H
Interface: 6.3.3
Default: 200
Control
S
Mode:
Unit: ms
Range: 1 ~ 20000
Data Size: 16-bit
Format: Decimal
Settings: The time that speed command accelerates from 0 to 3000 r/min.
P1-34, P1-35, and P1-36, the acceleration time of speed
command from zero to the rated speed, all can be set individually.
Address: 0146H
P1-35 TDEC Deceleration Constant of S-Curve
0147H
Interface: 6.3.3
Default: 200
Control
S
Mode:
Unit: ms
Range: 1 ~ 20000
Data Size: 16-bit
Format: Decimal
Settings: The time that speed command decelerates from 3000 r/min to 0.
P1-34, P1-35, and P1-36, the deceleration time of speed
command from the rated speed to zero, all can be set individually.
7-36
Acceleration / Deceleration Constant of Address: 0148H

P1-36 TSL
S-curve 0149H
Interface: 6.3.3
Default: 0
Control
S
Mode:
Unit: ms
Data Size: 16-bit
Format: Decimal
Settings: Acceleration / Deceleration Constant of S-Curve
P1-34: Set the acceleration time of acceleration / deceleration of

trapezoid-curve
P1-35: Set the deceleration time of acceleration / deceleration of
trapezoid-curve
P1-36: Set the smoothing time of S-curve acceleration and
deceleration
P1-34, P1-35, and P1-36 can be set individually.
7-37
Inertia Ratio and Load Weight Ratio to Address: 014AH

P1-37 GDR
Servo Motor 014BH
Interface:
Default: 1.0 10
Control
ALL
Mode:
Unit: 1 times 0.1 times
Range: 0.0 ~ 200.0 0 ~ 2000
Data Size: 16-bit
Format: One-digit Decimal
Example: 1.5 = 1.5 times 15 = 1.5 times
Settings: Inertia ratio to servo motor (rotary motor)
(J_load / J_motor)
Among them:
J_motor: Rotor inertia of the servo motor
J_load: Total equivalent of inertia of external mechanical load.
Address: 014CH
P1-38 ZSPD Zero Speed Range Setting
014DH
Default: 10.0 100
Control
ALL
Mode:
Unit: 1 r/min 0.1 r/min
Range: 0.0 ~ 200.0 0 ~ 2000
Data Size: 16-bit
Example: 1.5 = 1.5 r/min 15 = 1.5 r/min
Settings: Setting the output range of zero-speed signal (ZSPD). When the
forward / reverse speed of the motor is slower than the setting
value, the digital output will be enabled.
7-38
Address: 014EH
P1-39 SSPD Target Motor Detection Level
014FH
Default: 3000
Control
ALL
Mode:
Unit: r/min
Range: 0 ~ 5000
Data Size: 16-bit
Format: Decimal
Settings: When the target speed is reached, DO (TSPD) is enabled. It
means when the motor speed in forward / reverse direction is
higher than the setting value, the target speed is reached and
enables DO.
Address: 0150H
P1-40▲ VCM Max. Output of Analog Speed Command
0151H
Interface: 6.3.4
Control
S, T
Mode:
Unit: r/min
Range: 0 ~ 50000
Data Size: 32-bit
Format: Decimal
Settings: Maximum Speed of Analog Speed Command:
In speed mode, the analog speed command inputs the swing
speed setting of the max. voltage (10V).
For example, if the setting is 3000, when the external voltage
input is 10V, it means the speed control command is 3000 r/min.
If the external voltage input is 5V, then the speed control
command is 1500 r/min.
Speed control command = input voltage value x setting value / 10
In position or torque mode, analog speed limit inputs the swing
speed limit setting of the max. voltage (10V).
Speed limit command = input voltage value x setting value / 10
7-39
Address: 0152H
P1-41▲ TCM Max. Output of Analog Torque Command
0153H
Interface: 6.4.4
Default: 100
Control
ALL
Mode:
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Maximum Output of Analog Torque Speed:
In torque mode, the analog torque command inputs the torque
setting of the max. voltage (10V). When the default setting is 100,
if the external voltage inputs 10V, it means the torque control
command is 100% rated torque. If the external voltage inputs 5V,
then the torque control command is 50% rated torque.
Torque control command = input voltage value x setting value /
10 (%)
In speed, PT and PR mode, the analog torque limit inputs the
torque limit setting of the max. voltage (10V).
Torque limit command = input voltage value x setting value /
10 (%)
Address: 0154H
P1-42 MBT1 Enable Delay Time of Brake
0155H
Interface: 6.5.5
Default: 0
Control
ALL
Mode:
Unit: ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Set the delay time from servo ON to activate the signal of
mechanical brake (BRKR).
7-40
Address: 0156H
P1-43 MBT2 Disable Delay Time of Brake
0157H
Interface: 6.5.5
Default: 0
Control
ALL
Mode:
Unit: ms
Range: -1000 ~ +1000
Data Size: 16-bit
Format: Decimal
Settings: Set the delay time from servo OFF to switch off the signal of brake
(BRKR).
Note: (1) If the delay time of P1-43 has not finished yet and the motor
speed is slower than P1-38, the signal of brake (BRKR) will
be disabled.
(2) If the delay time of P1-43 is up and the motor speed is higher
than P1-38, the signal of brake (BRKR) will be disabled.
(3) When Servo OFF due to Alarm (except AL022) or
emergency, the setting of P1-43 is equivalent to 0 if P1-43 is
set to a negative value.
Address: 0158H
P1-44▲ GR1 Gear Ratio (Numerator) (N1)
0159H
Default: 16
Control
PT
Mode:
Unit: pulse
Range: 1 ~ (226-1)
Data Size: 32-bit
Format: Decimal
Settings: Please refer to P2-60 ~ P2-62 for the setting of multiple gear ratio
(numerator).
Note: In PT mode, the setting value can be changed when Servo ON.
7-41
Address: 015AH
P1-45▲ GR2 Gear Ratio (Denominator) (M)
015BH
Default: 10
Control
PT
Mode:
Unit: pulse
Range: 1 ~ (231-1)
Data Size: 32-bit
Format: Decimal
Settings: If the setting is wrong, the servo motor will easily have sudden
unintended acceleration.
Please follow the rules for setting:
The setting of pulse input:
Pulse Position
input N command N
f2 = f1 x
f1 M f2 M
Range of command pulse input: 1 / 50＜Nx / M＜25600 (x = 1, 2,

3, 4)
Note: The setting value cannot be changed when Servo ON in PT
mode.
Address: 015CH
P1-46▲ GR3 Pulse Number of Encoder Output
015DH
Interface:
Default: 2500
Control
ALL
Mode:
Unit: pulse
Range: 4 ~ 40000
Data Size: 32-bit
Format: Decimal
Settings: This parameter is used to set the number of single-phase pulse
output per revolution.
7-42
Example: P2-66 can be used to determine the value of P1-46 as the

number of single-phase pulse output or the number of pulses
after 4 times. For detailed settings, please refer to P2-66.
The pulse number setting of P1-46 and the current motor rotation
speed will determine the output width of Z pulse. When the speed
is faster, the pulse width is relatively smaller. In order to avoid the
width being too small, when the host controller cannot receive the
pulse, the servo drive has a minimum output pulse width of 250
μs. When the width is smaller than this value, 250 μs will still be
output.
In the following example, the speed is 3000 r/min and the pulse
number setting of P1-46 is 2500 pulse.
𝑟𝑒𝑣 1𝑚𝑖𝑛 𝑟𝑒𝑣

3000 × = 50 →
𝑚𝑖𝑛 60𝑠 𝑠
→This value is less than

250 μs, so the bandwidth of the servo drive OCZ signal will be
latched at 250 μs. If this value is higher than 250 μs, the higher
value will precede.
Note: The following circumstances might exceed the max. allowable
input pulse frequency and occurs AL018:
1. Encoder error
2. Motor speed is above the value set by parameter P1-76
Address: 015EH
P1-47 SPOK Speed Reached (DO:SP_OK) Range
015FH
Interface:
Default: 10 10
Control
S, Sz S / Sz
Mode:
Unit: r/min 0.1 r/min
Range: 0 ~ 300 0 ~ 300
Data Size: 16-bit 16-bit
Format: Decimal DEC
Settings: When the deviation between speed command and motor
feedback speed is smaller than this parameter, then the digital
output DO.SP_OK (DO code is 0x19) is ON.
7-43
1. Speed Command: It is the command issued by the user

(without acceleration / deceleration), not the one of front end
speed circuit.
Source: Analog voltage and register
2. Feedback Speed: The actual speed of the motor and have gone
through the filter.
3. Obtain the absolute value
4. DO.SP_OK will be ON when the absolute value of speed error is
smaller than P1-47, or it will be OFF. If P1-47 is 0, DO.SP_OK is
always OFF.
Address: 0160H
P1-48 Reserved
0161H
Address: 0162H
P1-49 Reserved
0163H
Address: 0164H
P1-50 Reserved
0165H
Address: 0166H
P1-51 Reserved
0167H
Address: 0168H
P1-52 RES1 Regenerative Resistor Value
0169H
Interface: 6.6.3
Default: See the table below
Control
ALL
Mode:
Unit: Ohm
Range: 10 ~ 750
Data Size: 16-bit
Format: Decimal
Settings:
Model Default
750 W models 100Ω
1 kW to 3 kW models 40Ω
7-44
Address: 016AH
P1-53 RES2 Regenerative Resistor Capacity
016BH
Interface: 6.6.3
Default: See the table below
Control
ALL
Mode:
Unit: Watt
Range: 30 ~ 3000
Data
16-bit
Size:
Format: Decimal
Settings:
Model Default
750 W models 60 W
1 kW to 3 kW models 60 W
Address: 016CH
P1-54 PER Position Completed Range
016DH
Default: 1600
Control
PT
Mode:
Unit: pulse
Range: 0 ~ 1280000
Data Size: 32-bit
Format: Decimal
Settings: In position mode (PT), if the deviation pulse number is smaller
than the setting range (the setting value of parameter P1-54),
DO.TPOS is ON.
Address: 016EH
P1-55 MSPD Maximum Speed Limit
016FH
Interface:
Control
ALL
Mode:
Unit: r/min
Range: 0 ~ Max. speed
Data Size: 16-bit
Format: Decimal
Settings: The default of the max. speed of servo motor is set to the rated
speed.
7-45
Address: 0170H
P1-56 OVW Output Overload Warning Level
0171H
Interface:
Default: 120
Control
ALL
Mode:
Unit: %
Range: 0 ~ 120
Data Size: 16-bit
Format: Decimal
Settings: The setting value is 0 ~ 100, if the servo motor continuously
outputs the load and is higher than the setting proportion (P1-56),
the early warning for overload (DO is set to 10, OLW) will occur.
If the setting value is over 100, it will disable this function.
Motor Crash Protection (Torque Address: 0172H

P1-57 CRSHA
Percentage) 0173H
Interface:
Default: 0
Control
ALL
Mode:
Unit: %
Range: 0 ~ 300
Data Size: 16-bit
Format: Decimal
Settings: Setup protection level (for the percentage of rated torque, set the
value to 0 means to disable the function, set the value to 1 or
number above means to enable the function).
Address: 0174H
P1-58 CRSHT Motor Crash Protection Time
0175H
Interface:
Default: 1
Control
ALL
Mode:
Unit: ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Setup the protection time:
When it reaches the level, AL.030 occurs after exceeding the
protection time.
7-46
Note: This function is only suitable for non-contactable application, such

as electric discharge machines. (Please setup P1-37 correctly).
Address: 0176H
P1-59 MFLT Analog Speed Command
0177H
Interface:
Default: 0.0 0
Control
S
Mode:
Unit: 1 ms 0.1 ms
Range: 0.0 ~ 4.0 0 ~ 40
(0: Disabled) (0: Disabled)
Data Size: 16-bit
Example: 1.5 = 1.5 ms 15 = 1.5 ms
Settings: (Moving filter)
0: Disabled
P1-06 is low-pass filter and P1-59 is moving filter. The difference
step command; while the low-pass filter brings better smooth
effect to command end.
Therefore, it is suggested that if the speed loop receives the
command from the controller for forming the position control loop,
then low-pass filter can be used. If it is only for the speed control,
then it should use Moving Filter for better smoothing.
Original step analog speed command
Command that has

gone through moving
filter
Address: 0178H
P1-60 Reserved
0179H
Address: 017AH
P1-61 Reserved
017BH
7-47
Address: 017CH
P1-62 FRCL Friction Compensation
017DH
Interface:
Default: 0
Control
PT, S
Mode:
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: The level of friction compensation (the percentage of rated torque.
Set the value to 0 means to disable the function; set the value to 1
or number above means to enable it.)
Address: 017EH
P1-63 FRCT Friction Compensation
017FH
Interface:
Default: 0
Control
PT, S
Mode:
Unit: ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Setup smoothing constant of friction compensation.
Address: 0180H
P1-64 Reserved
0181H
Address: 0182H
P1-65 Reserved
0183H
Address: 0184H
P1-66 Reserved
0185H
Address: 0186H
P1-67 Reserved
0187H
7-48
Address: 0188H
P1-68 PFLT2 Position Command Moving Filter 1
0189H
Interface:
Default: 4
Control
PT
Mode:
Unit: ms
Data Size: 16-bit
Format: Decimal
Moving Filter can activate smooth function in the beginning and
the end of step command, but it will delay the command.
Address: 018AH
P1-69 Reserved
018BH
Address: 018CH
P1-70 Reserved
018DH
Address: 018EH
P1-71 Reserved
018FH
Address: 0190H
P1-72 Reserved
0191H
Address: 0192H
P1-73 Reserved
0193H
Address: 0194H
P1-74 Reserved
0195H
Address: 0196H
P1-75 Reserved
0197H
7-49
Max. Rotation of Encoder Output Setting Address: 0198H

P1-76 AMSPD
(OA, OB) 0199H
Interface: P1-46
Default: 5500
Control
ALL
Mode:
Unit: r/min
Range: 0 ~ 6000
Data Size: 16-bit
Format: Decimal
Settings: According to the real application, this parameter is set for the
maximum speed and the servo drive will generate smooth
function automatically for encoder output signals.
When the value is set to 0, the function is disabled.
Address: 019AH
P1-77 PFLT3 Position Command Moving Filter 2
019BH
Interface:
Default: 4
Control
PT
Mode:
Unit: ms
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Moving Filter can activate smooth function in the beginning and
the end of step command, but it will delay the command.
7-50
P2-xx Extension Parameters

Address: 0200H
P2-00 KPP Position Loop Gain
0201H
Interface: 6.2.5
Default: 35
Control
PT
Mode:
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Format: Decimal
Settings: When the value of position loop gain is increased, the position
response can be enhanced and the position error can be reduced.
If the value is set too big, it may easily cause vibration and noise.
Address: 0202H
P2-01 PPR Switching Rate of Position Loop Gain
0203H
Interface: 6.2.5
Default: 100
Control
PT
Mode:
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Format: Decimal
Settings: Switch the changing rate of position loop gain according to the
gain-switching condition.
Address: 0204H
P2-02 PFG Position Feed Forward Gain
0205H
Interface: 6.2.5
Default: 50
Control
PT
Mode:
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: If the position command is changed smoothly, increasing the gain
value can reduce the position error.If the position command is not
changed smoothly, decreasing the gain value can tackle the
problem of mechanical vibration.
7-51
Smooth Constant of Position Feed Address: 0206H

P2-03 PFF
Forward Gain 0207H
Interface:
Default: 5
Control
PT
Mode:
Unit: ms
Range: 2 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: If the position command is changed smoothly, decreasing the
value can reduce the position error. If the position command is not
changed smoothly, increasing the value can tackle the problem of
mechanical vibration.
Address: 0208H
P2-04 KVP Speed Loop Gain
0209H
Interface: 6.3.6
Default: 500
Control
ALL
Mode:
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16-bit
Format: Decimal
Settings: Increase the value of speed loop gain can enhance the speed
response. However, if the value is set too big, it would easily
cause resonance and noise.
Address: 020AH
P2-05 SPR Speed Loop Gain Switching Rate
020BH
Interface:
Default: 100
Control
ALL
Mode:
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Format: Decimal
Settings: Switch the changing rate of speed loop gain according to the gain
switching condition.
7-52
Address: 020CH
P2-06 KVI Speed Integral Compensation
020DH
Interface: 6.3.6
Default: 100
Control
ALL
Mode:
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16-bit
Format: Decimal
Settings: Increasing the value of speed integral compensation can enhance
speed response and diminish the deviation of speed control.
However, if the value is set too big, it would easily cause
resonance and noise.
Address: 020EH
P2-07 KVF Speed Feed Forward Gain
020FH
Interface: 6.3.6
Default: 0
Control
ALL
Mode:
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: When the speed control command runs smoothly, increasing the
gain value can reduce the speed command error. If the command
does not run smoothly, decreasing the gain value can reduce the
mechanical vibration during operation.
Address: 0210H
P2-08■ PCTL Special Parameter Write-in
0211H
Interface:
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 65535
Data Size: 16-bit
Format: Decimal
7-53
Settings: Special parameter write-in:

Parameter
Function
code
10 Reset the parameter (Apply to the power
again after reset)
20 P4-10 is writable
22 P4-11~P4-21are writable
406 Enable forced DO mode
400 When forced DO mode is enabled, it can

switch back to the normal DO mode.
Password protective setting:
1. Enter 5-digit number, press the same password again (The top
digit should be 1 at least.).
2. Re-power on the servo drive, the protective funciton will be
activated immediately.
Parameter setting after setting up the password:
When entering the correct password, the parameter can be set.
Clear the password: After entering the correct password, please
enter “0” twice continuously.
Address: 0212H
P2-09 DRT DI Debouncing Time
0213H
Interface:
Default: 2
Control
ALL
Mode:
Unit: 2ms
Range: 0 ~ 20
Data Size: 16-bit
Format: Decimal
Example: 4 = 8 ms
Settings: When the environmental noise is big, increasing the setting value
can enhance the control stability. However, if the value is set too
big, the response time will be influenced.
7-54
Address: 0214H
P2-10 DI1 DI1 Funcitonal Planning
0215H
Default: 101
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x015F
(The last two codes are DI code)
Data Size: 16-bit
Format: Hexadecimal
Settings:
Input function selection

Input contact
Not in use
 Input funciton selection: Please refer to table 7.1
 Input contact: a or b contact
0: Set the input contact as normally closed (b contact)
1: Set the input contact as normally opened (a contact)
(P2-10 ~ P2-17 and P2-36) The setting value of function
programmed
When parameters are modified, please re-start the servo drive
to ensure it can work normally.
Note: Parameter P3-06 is used to set how digital inputs (DI)
accepts commands, through external terminal or the
communication which determined by P4-07.
Address: 0216H
0217H
Default: 104
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x015F
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-10
7-55
Address: 0218H
0219H
Default: 116
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x015F
Data Size: 16-bit
Format: Hexadecimal
Address: 021AH
021BH
Default: 117
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x015F
Data Size: 16-bit
Format: Hexadecimal
Address: 021CH
021DH
Default: 102
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x015F
Data Size: 16-bit
Format: Hexadecimal
7-56
Address: 021EH
021FH
Default: 22
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x015F
Data Size: 16-bit
Format: Hexadecimal
Settings: Refer to P2-10 for explanation.
Address: 0220H
0221H
Default: 23
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x015F
Data Size: 16-bit
Format: Hexadecimal
Address: 0222H
0223H
Default: 21
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x015F
Data Size: 16-bit
Format: Hexadecimal
7-57
Address: 0224H
P2-18 DO1 DO1 Funcitonal Planning
0225H
Default: 101
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x013F
(The last two codes are DO code)
Data Size: 16-bit
Format: Hexadecimal
Settings:
Output function selection

Output contact
Not in use
 Output funciton selection: Please refer to table 7.2.

 Output contact: a or b contact
0: Set Set the output contact as normally closed (b contact)
1: Set the output contact as normally opened (a contact)
(P2-18 ~ P2-22 and P2-37) The setting value of function
programmed
When parameters are modified, please re-start the servo
drive to ensure it can work normally.
Address: 0226H
0227H
Default: 103
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x013F
Data Size: 16-bit
Format: Hexadecimal
7-58
Address: 0228H
0229H
Default: 109
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x013F
Data Size: 16-bit
Format: Hexadecimal
Address: 022AH
022BH
Default: 105
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x013F
Data Size: 16-bit
Format: Hexadecimal
Address: 022CH
022DH
Default: 7
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x013F
Data Size: 16-bit
Format: Hexadecimal
7-59
Address: 022EH
P2-23 NCF1 Resonance Suppression (Notch Filter) (1)
022FH
Interface: 6.2.5
Default: 1000
Control
ALL
Mode:
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Format: Decimal
Settings: The first setting value of resonance frequency. If P2-24 is set to 0,
this function is disabled. P2-43 and P2-44 are the second Notch
filter.
Resonance Suppression (Notch filter) Address: 0230H

P2-24 DPH1
Interface: 6.3.7
Default: 0
Control
ALL
Mode:
Unit: dB
Data Size: 16-bit
Format: Decimal
Settings: The first resonance suppression (notch filter) attenuation rate.
disabled.
Low-pass Filter of Resonance Address: 0232H

P2-25 NLP
Suppression 0233H
Interface: 6.3.7
Default: 0.2 (1kW and below 2 (1kW and below
models) or 0.5 (other models) or 5 (other
models) models)
Control
ALL
Mode:
Unit: 1ms 0.1ms
Range: 0.0 ~ 100.0 0 ~ 1000
Data Size: 16-bit
Example: 1.5 = 1.5 msec 15 = 1.5 msec
Settings: Set the low-pass filter of resonance suppression. When the value
is set to 0, the function of low-pass filter is disabled.
7-60
Address: 0234H
P2-26 DST Anti-Interference Gain
0235H
Interface:
Default: 0
Control
ALL
Mode:
Unit: rad/s
Data Size: 16-bit
Format: Decimal
Settings: Increasing the value of this parameter can increase the damping
of speed loop. It is suggested to set P2-26 equals to the value of
P2-06. If users desire to adjust P2-26, please follow the rules
below.
1. In speed mode, increase the value of this parameter can
reduce speed overshoot.
2. In position mode, decrease the value of this parameter can
reduce position overshoot.
Address: 0236H
P2-27 GCC Gain Switching and Switching Selection
0237H
Interface:
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 18
Data Size: 16-bit
Format: Hexadecimal
Settings:
 Gain Switching Condition Settings:
0: Disable gain switching function.
1: The signal of gain switching (GAINUP) is ON.
2: In position control mode, the position error is bigger than
the value of P2-29.
3: The frequency of position command is bigger than the
value of P2-29.
4: When the speed of servo motor is faster than the value of
P2-29.
5: The signal of gain switching (GAINUP) is OFF.
6: In position control mode, the position error is smaller than
the value of P2-29.
7: When the frequency of position command is smaller than
the value of P2-29.
7-61
8: When the speed of servo motor is slower than the value of

P2-29.
 Gain Switching Control Settings
0: Gain switching
1: Integrator switching, P  PI
Setting
Control mode P Control mode P S Status
Value
P2-00 x 100%
P2-04 x 100% Before switching
P2-04 x 100%
0
P2-00 x P2-01
P2-04 x P2-05 After switching
P2-04 x P2-05
P2-06 x 0%
Before switching
P2-26 x 0%
1
P2-06 x 100%
After switching
P2-26 x 100%
Address: 0238H
P2-28 GUT Gain Switching Time Constant
0239H
Interface:
Default: 10
Control
ALL
Mode:
Unit: 10ms
Data Size: 16-bit
Format: Decimal
Example: 15 = 150 msec
Settings: It is for switching the smooth gain. (0: disable this function)
Address: 023AH
P2-29 GPE Gain Switching
023BH
Interface:
Default: 160000
Control
ALL
Mode:
Unit: pulse, Kpps, r/min
Range: 0 ~ 3840000
Data Size: 32-bit
Format: Decimal
Settings: The setting of gain switching (Pulse error, Kpps, r/min) is
determined by the selection of gain switching (P2-27).
7-62
Address: 023CH
P2-30■ INH Auxiliary Function
023DH
Interface:
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: -8 ~ +8
Data Size: 16-bit
Format: Decimal
Settings: 0: Disable all functions described below
1: Force to Servo On the software
2 ~ 4: (reserved)
5: This setting allows the written parameters not retain after
power off. When the data is no need to save, it can avoid the
parameters continuously writing into EEPROM and shortening
the lifetime of EEPROM.
Setting this parameter is a must when using communication
control.
Note: Please set the value to 0 in normal operation. The value returns to
0 automatically after re-power on.
Speed Loop Frequency Response Setting Address: 023EH

P2-31 AUT1
in Auto and Semi-auto Mode 023FH
Interface: 5.6, 6.3.6
Default: 80
Control
ALL
Mode:
Unit: Hz
Range: 1 ~ 1000
Data Size: 16-bit
Format: Hexadecimal
Settings: 1 ~ 50 Hz: Low stiffness, low response
51 ~ 250 Hz: Medium stiffness, medium response
251 ~ 850 Hz: High stiffness, high response
Note: (1) According to the speed loop setting of P2-31, the servo
drive sets the position loop response automatically.
(2) The function is enabled via parameter P2-32. Please refer
to Chapter 5.6 for corresponding bandwidth size of the
setting value.
7-63
Address: 0240H
P2-32▲ AUT2 Tuning Mode Selection
0241H
Interface: 5.6, 6.3.6
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Format: Hexadecimal
Settings: 0: Manual mode
1: Auto Mode (Continuous adjustment)
2: Semi-Auto Mode (Non-continuous adjustment)
Relevant description of manual mode setting :
When P2-32 is set to 0, parameters related to gain control, such
as P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26, all can
be set by the user.
When switching mode from auto or semi-auto to manual,
parameters about gain will be updated automatically.
Relevant description of auto mode setting:
Continue to estimate the system inertia, save the inertia ratio to
P1-37 every 30 minutes automatically and refer to the stiffness
and bandwidth setting of P2-31.
1. Set the system to manual mode 0 from auto 1 or semi-auto 2,
the system will save the estimated inertia value to P1-37
automatically and set the corresponding parameters.
2. Set the system to auto mode 1 or semi-auto mode 2 from
manual mode 0, please set P1-37 to the appropriate value.
3. Set the system to manual mode 0 from auto mode 1, P2-00,
P2-04 and P2-06 will be modified to the corresponding
parameters of auto mode.
4. Set the system to manual mode 0 from semi-auto mode 2,
P2-00, P2-04, P2-06, P2-25 and P2-26 will be modified to the
corresponding parameters of semi-auto mode.
Relevant description of semi-auto mode setting:
1. When the system inertia is stable, the value of P2-33 will be 1
and the system stops estimating. The inertia value will be
saved to P1-37 automatically. When switching mode to
semi-auto mode (from manual or auto mode), the system
starts to estimate again.
2. When the system inertia is over the range, the value of P2-33
will be 0 and the system starts to estimate and adjust again.
7-64
Address: 0242H
P2-33▲ AUT3 Semi-Auto Inertia Adjustment
0243H
Interface:
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 1
Data Size: 16-bit
Format: Decimal
Settings:
Semi-auto setting
Reserved
Not in use
 Semi-auto Setting:
1: It means the inertia estimation in semi-auto mode is
completed. The inertia value can be accessed via P1-37.
0: 1. When the display is 0, it means the inertia adjustment is
not completed and is adjusting.
2. When the setting is 0, it means the inertia adjustment is
not completed and is adjusting.
Address: 0244H
P2-34 SDEV The Condition of Overspeed Warning
0245H
Operation Related Section: 6.2.5
Interface:
Default: 5000
Control
S
Mode:
Unit: r/min
Range: 1 ~ 6000
Data Size: 16-bit
Format: Decimal
Settings: in Speed mode, this parameter sets the acceptable difference
between the command speed and the feedback speed. When the
difference is greater than this value, AL007 occurs.
7-65
Condition of Excessive Position Control Address: 0246H

P2-35 PDEV
Deviation Warning 0247H
Interface:
Default: 480000
Control
PT
Mode:
Unit: pulse
Range: 1 ~ 16000000
Data Size: 32-bit
Format: Decimal
Settings: in Position mode, this parameter sets the acceptable difference
between the command position and the feedback position. When
the difference is greater than this value, AL009 occurs.
Address: 0248H
P2-36 DI9 Extended EDI9 Functional Planning
0249H
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x015F
(The last two codes are EDI code)
Data Size: 16-bit
Format: Hexadecimal
Settings:
Input function selection

Input contact
Not in use
 Input function selection: Please refer to table 7.1
 Input contact: a or b contact
0: Set the input contact as normally closed (b contact)
1: Set the input contact as normally opened (a contact)
7-66
Address: 024AH
024BH
Default: 7
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x013F
Data Size: 16-bit
Format: Hexadecimal
Address: 024CH
P2-38 Reserved
024DH
Address: 024EH
P2-39 Reserved
024FH
Address: 0250H
P2-40 Reserved
0251H
Address: 0252H
P2-41 Reserved
0253H
Address: 0254H
P2-42 Reserved
0255H
Address: 0256H
0257H
Interface: 6.3.7
Default: 1000
Control
ALL
Mode:
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Format: Decimal
Settings: The second setting value of resonance frequency. If P2-44 is set
to 0, this function is disabled. P2-23 and P2-24 are the first Notch
filter.
7-67

P2-44 DPH2
Interface: 6.3.7
Default: 0
Control
ALL
Mode:
Unit: dB
Range: 0 ~ 32
Data Size: 16-bit
Format: Decimal
Settings: The second resonance suppression (notch filter) attenuation rate.
disabled.
Address: 025AH
025BH
Interface: 6.3.7
Default: 1000
Control
ALL
Mode:
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Format: Decimal
Settings: The third group of mechanism resonance frequency setting value.
If P2-46 is set to 0, this function will be disabled. P2-23 and P2-24
are the first group of resonance suppression (Notch filter).
Resonance Suppression (Notch Filter) Address: 025CH

P2-46 DPH3
Attenuation Rate (3) 025DH
Interface: 6.3.7
Default: 0
Control
ALL
Mode:
Unit: dB
Range: 0 ~ 32
Data Size: 16-bit
Display
Decimal
Format:
Settings: The third group of resonance suppression (Notch filter)
attenuation rate. Set the value to 0 to disable the function of Notch
filter.
7-68
Auto Resonance Suppression Mode Address: 025EH

P2-47 ANCF
Setting 025FH
Interface:
Default: 1
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Format: Decimal
Settings: 0: The value of P2-43, P2-44 and P2-45, P2-46 will retain.
1: The value of P2-43, P2-44 and P2-45, P2-46 will retain after
resonance suppression.
2: Continuous resonance suppression
Description of Auto Mode Setting:
When it is set to 1: Auto resonance, the value returns to 0
automatically and saves the point of resonance suppression
when it is stable. If it is unstable, re-power on or set back to 1 for
re-estimation again.
When it is set to 2: Continuous suppression automatically. When
it is stable, the point of resonance suppression will be saved. If it
is unstable, re-power on for re-estimation.
When switching to mode 0 from mode 2 or 1, the setting of P2-43,
P2-44, P2-45, and P2-46 will be saved automatically.
Address: 0260H
P2-48 ANCL Resonance Suppression Detection Level
0261H
Interface:
Default: 100
Control
ALL
Mode:
Unit: N/A
Range: 1 ~ 300%
Data Size: 16-bit
Format: Decimal
Settings: (The smaller the setting value is, the more sensitive the
resonance will be.)
The setting value of P2-48 ↑, resonance sensitivieness ↓.
The setting value of P2-48 ↓, resonance sensitivieness ↑.
7-69
Address: 0262H
P2-49 SJIT Speed Detection Filter
0263H
Interface: 6.2.5
Default: 0
Control
ALL
Mode:
Unit: sec
Range: 0 ~ 1F
Data Size: 16-bit
Format: Decimal
Settings:
Setting Value Speed Estimation Bandwidth (Hz)
00 2500
01 2250
02 2100
03 2000
04 1800
05 1600
06 1500
07 1400
08 1300
09 1200
0A 1100
0B 1000
0C 950
0D 900
0E 850
0F 800
10 750
11 700
12 650
13 600
14 550
15 500
16 450
17 400
18 350
19 300
1A 250
1B 200
1C 175
1D 150
7-70
Setting Value Speed Estimation Bandwidth (Hz)

1E 125
1F 100
Address: 0264H
P2-50 CCLR Pulse Clear Mode
0265H
Interface:
Default: 00
Control
PT
Mode:
Unit: N/A
Range: 0 ~ 11
Data Size: 16-bit
Format: Hexadecimal
Settings:
Triggering Method
Function Selection
Not used
For digital input setting, please refer to Table 7.1.

When set digital input (DI) as CCLR, the function of pulse clear is
effective.
 Triggering Method Settings:
0: CCLR is triggered by rising-edge
1: CCLR is triggered by level
 Function Selection Settings:
0: When this DI is on, the accumulative position error will be
cleared to 0.
1: When this DI is on, the feedback PUU will be cleared to 0.
Address: 0266H
P2-51 Reserved
0267H
Address: 0268H
P2-52 Reserved
0269H
7-71
Address: 026AH
P2-53 KPI Position Integral Compensation
026BH
Interface: 6.3.6
Default: 0
Control
ALL
Mode:
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16-bit
Format: Decimal
Settings: When increasing the value of position control integral, reducing
the position steady-state error, it may easily cause position
overshoot and noise if the value is set too big.
Address: 026CH
P2-54 Reserved
026DH
Address: 026EH
P2-55 Reserved
026FH
Address: 0270H
P2-56 Reserved
0271H
Address: 0272H
P2-57 Reserved
0273H
Address: 0274H
P2-58 Reserved
0275H
Address: 0276H
P2-59 Reserved
0277H
Address: 0278H
P2-60 GR4 Gear Ratio (Numerator) (N2)
0279H
Interface:
Default: 16
Control
PT
Mode:
Unit: pulse
Range: 1 ~ (226-1)
Data Size: 32-bit
Display
Decimal
Format:
Settings: The numerator of electronic gear ratio can be selected via
DI.GNUM0 and DI.GNUM1 (Please refer to table 7.1). If
DI.GNUM0 and DI.GNUM1 are not set, P1-44 will automatically
be the numerator of electronic gear ratio. Please switch GNUM0
and GNUM1 in stop status to avoid the mechanical vibration.
7-72
Address: 027AH
027BH
Interface:
Default: 16
Control
PT
Mode:
Unit: pulse
Range: 1 ~ (226-1)
Data Size: 32-bit
Format: Decimal
Settings: Please refer to the description of P2-60.
Address: 027CH
027DH
Interface:
Default: 16
Control
PT
Mode:
Unit: pulse
Range: 1 ~ (226-1)
Data Size: 32-bit
Format: Decimal
Settings: Please refer to the description of P2-60.
Address: 027EH
P2-63 Reserved
027FH
Address: 0280H
P2-64 Reserved
0281H
Address: 0282H
P2-65 GBIT Special-bit Register
0283H
Interface:
Default: 0x000B
Control
PT, S
Mode:
Unit: N/A
Range: 0 ~ 0xFFFF
Data Size: N/A
Format: N/A
Settings:
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
7-73
 Bit2, Bit4, Bit5, Bit7, Bit14, and Bit15: Reserved. Please set to
0.
 Bit0: regenerative brake method
Use method 2 to release the capacitor voltage faster which
reduces the load voltage of the capacitor.
Bit0
Bit0 = 0: method 1
Bit0 = 1: method 2
 Bit1: switch for AL086
Bit0
Bit0 = 0: disable
Bit0 = 1: enable
 Bit3: switch for the new regenerative brake method
When the voltage of the power supply is too high, the new
regenerative brake method protects the servo drive from
damage and detects the voltage of the power.
Bit3
Bit0 = 0: disable
Bit0 = 1: enable
 Bit6: In PT mode, the switch of pulse error protection function
(pulse frequency is over high)
Bit6
Bit6 = 0: Normally use the function of pulse error protection
Bit6 = 1: Disable the function of pulse error protection
 Bit8: U, V, W wiring error protection
Bit8
Bit8 = 1: Enable U, V, W wiring error protection
 Bit9: U, V, W wiring cut-off detection
Bit9
Bit9 = 1: Enable U, W, W wiring cut-off detection
7-74
 Bit 10: DI.ZCLAMP function selection

Bit10
When the following conditions are all established, the
function of ZCLAMP is enabled.
Condition 1: speed mode
Condition 2: DI. ZCLAMP is On.
Condition 3: Motor speed is slower than the value of P1-38.
Bit10 = 0: The command source is analog, ZCLAMP
function will use the analog speed command
without acceleration / deceleration processing to
judge if this function should be enabled. The
motor will be locked at the position where
ZCALMP conditions are established.
Bit10 = 0: The command source is register. ZCLAMP

function will use the register speed command with
acceleration / deceleration processing to judge if
this function is enabled. The motor will be locked
at the position where ZCALMP conditions are
established.
7-75
Bit10 = 1: The command source is analog speed command.

ZCLAMP function will use the analog speed
command without acceleration / deceleration
processing to judge if this function is enabled.
When ZCALMP conditions are established, the
motor speed decelerates to 0 through S-curve.
If not, the motor follow the analog speed
command through S-curve.
Bit10 = 1: The command source is register. ZCLAMP

function will use the register with acceleration /
deceleration processing to judge if this function is
enabled. When ZCLAMP conditions are
established, the motor speed will be set to 0.
 Bit11: Pulse inhibit funciton
Bit11
Bit11 = 0: Disable NL / PL pulse input inhibit function. In PT

mode, the external position pulse command will be
input into the servo drive in any condition.
Bit11 = 1: Enable NL / PL pulse input inhibit function. In PT
mode, if NL exists, the external NL pulse will be
inhibited to input to the servo. PL pulse input will be
accepted. In PT mode, if PL exists, the external PL
7-76
pulse will be inhibited to input to the servo. NL

pulse will be accepted.
Please note: In PT mode, if NL and PL both exist, both of
them will be inhibited to input to the servo.
 Bit12: Lack phase detection
Bit12
Bit12 = 0: Enable lack phase (AL022) detection
Bit12 = 1: Disable lack phase (AL022) detection
 Bit13: Encoder output error detection function
Bit13
Bit13 = 0: Enable encoder output error (AL018) detection
function
Bit13 = 1: Disable encoder output error (AL018) detection
function
7-77
Address: 0284H
P2-66 GBIT2 Special-bit Register 2
0285H
Interface:
Default: 0
Control
PT, S
Mode:
Unit: N/A
Range: 0 ~ 0xFFFF
Data Size: 16-bit
Format: Hexadecimal
Settings: Special-bit Register 2:
- - - - - - - -
 Bit0: Speed limit accel / decel function
The torque command source is determined by TCM0 and TCM1.
When the digital input, TQP or TQN is used, the torque
command is activated by TQP or TQN. When TQP is ON, the
torque will be output directly as the same as the command
souce. For example, when TQP is ON, if the torque command
source is analog voltage 5V and P1-41 is set to 100, it means
that the torque command is 50% rated torque until the speed is
limited. However, with the same circumstances, whenTQN is
ON, the torque command is -50% rated torque until the speed is
limited.
Speed limit function can be enabled always by P1-02. When
P1-02 is set to 0x10, the speed limit function can be enabled all
the time and the users do not need to use DI.SPDLM to switch
the function.
The speed limit command is determined by SPD0 and SPD1.
The acceleration and deceleration time is determined by P1-34,
P1-35 and P1-36.
TQP TQN
(DI Code: (DI Code: Torque Output
0x48) 0x49)
ON ON Zero torque output
ON OFF Output the torque of the command
source directly
(do not reverse the command, and
output the torque directly)
OFF ON Reverse the torque of the
command source
(reverse the command first, and
then output the torque)
OFF OFF Zero torque output
7-78
The timing charts of speed limit profile (with accel / decel

function) and torque command (TQP/TQN):
Motormax Speed
Vref
×P1-40
10
Speed Limit
Profile Current Speed P1-09
Current Speed
0 RPM
P1-09
Vref
×P1-40
10
Torque 0 torque 0 torque 0 torque
Command P1-12 P1-14 P1-13 Tref Tref P1-13 P1-14 P1-12
TQP
(DI: 0x48)
TQN
(DI: 0x49)
TCM0
TCM1
SPDLM
SPD0
 Bit1: Reserved
 Bit2: Cancel latch function of low-voltage error
0: Latch function of low-voltage error: the error will not be
cleared automatically.
1: Cancel latch function of low-voltage error: the error will be
cleared automatically.
 Bit7: Cancel the display of motor temperature warning
0: Display motor temperature wanring
1: Cancel the display of motor temperature warning
 Bit3 ~ Bit6: Reserved
 Bit9:
0: When AL.003 occurs, switch on DO.WARN. (DO function
0x11)
1: When AL.003 occurs, switch on (DO function 0x07)
 Bit12: set AL022 (RST power error) as ALRM or WARN
0: when AL022 occurs, the servo status is ALRM (DO: 0x07)
1: when AL022 occurs, the servo status is WARN (DO: 0x11)
 Bit15: Selection of dncoder pulse output
0: 0x0000. The setting value of P1-46 represents the
single-phase pulse number when motor runs a cycle.
If P1-46 is set to 2,500 pulse, then the host controller will
receive 10, 000 pulse (the quadruple of the single-phase pulse
number) when motor runs a cycle.
7-79
Para. setting: P1-46=4, 2-66=0x0000

Motor runs a cycle
OA
OB
1: 0x8000. The setting value of P1-46 is the pulse number of

quadrupler frequency per cycle.
If the pulse number that host controller needs to receive is 187
pulse per cycle, then set P1-46 to 187 pulse, the host controller
will receive 187 pulse per cycle.
Para. setting: P1-46=4,P2-66=0x8000
Motor runs a cycle
OA
OB
Address: 0286H
P2-67 JSL Stable Inertia Estimating Time
0287H
Interface:
Default: 1.5 15
Control
ALL
Mode:
Unit: 1 times 0.1 times
Range: 0 ~ 20.0 0 ~ 200
Data Size: 16-bit
Example: 1.5 = 1.5 times 15 = 1.5 times
Settings: In semi-auto mode, if the value of inertia estimation is smaller
than P2-67 and the status remains for a while, the system will
regard the inertia estimation as completed.
7-80
P3-xx Communication Parameters

Address: 0300H
P3-00● ADR Address Setting
0301H
Interface: 8.2
Default: 0x7F
Control
ALL
Mode:
Unit: N/A
Range: 0x01 ~ 0x7F
Data Size: 16-bit
Format: Hexadecimal
Settings: The communication address setting is divided into Y, X
(hexadecimal):
Display 0 0 Y X
Range - - 0~7 0~F
When using RS-232 / RS-485 to communicate, one servo drive
can only set one address. The duplicate address setting will cause
abnormal communication.
This address represents the absolute address of the servo drive in
communication network. It is also applicable to RS-232 / 485 and
CAN bus.
When the communication address setting of MODBUS is set to
0xFF, the servo drive will automatically reply and receive data
regardless of the address. However, P3-00 cannot be set to 0xFF.
Address: 0302H
P3-01 BRT Transmission Speed
0303H
Interface: 8.2
Default: 0x0033
Control
ALL
Mode:
Unit: bps
Range: 0x0000 ~ 0x0055
Data Size: 16-bit
Format: Hexadecimal
Settings: The setting of transmission speed is divided into Z, Y, X
(hexadecimal):
0 Z Y X
COM Port - - RS-485 RS-232
Range 0 0 0~5 0~5
7-81
Settings:
0: 4800
1: 9600
2: 19200
3: 38400
4: 57600
5: 115200
Address: 0304H
P3-02 PTL Communication Protocol
0305H
Interface: 8.2
Default: 0x0066
Control
ALL
Mode:
Unit: N/A
Range: 0x0000 ~ 0x0088
Data Size: 16-bit
Format: Hexadecimal
Settings: The definition of the setting value is as the followings:
0 Z Y X
Range 0 0 0~8 0~8
0: 7, N, 2 (MODBUS, ASCII)
1: 7, E, 1 (MODBUS, ASCII)
2: 7, O,1 (MODBUS, ASCII)
5: 8, O, 1 (MODBUS, ASCII)
6: 8, N, 2 (MODBUS, RTU)
7: 8, E, 1 (MODBUS, RTU)
8: 8, O, 1 (MODBUS, RTU)
7-82
Address: 0306H
P3-03 FLT Communication Error Disposal
0307H
Interface: 8.2
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 1
Data Size: 16-bit
Format: Hexadecimal
Settings: The definition of the setting value is as the following:
0: Warning and keeps running
1: Warning and stops deceleration (The deceleration time is set to
parameter P1-32)
Address: 0308H
P3-04 CWD Communication Time Out
0309H
Interface: 8.2
Default: 0
Control
ALL
Mode:
Unit: sec
Range: 0 ~ 20
Data Size: 16-bit
Format: Decimal
Settings: If the setting value is not 0, enable communication timeout
immediately. If it is set to 0, disable the function.
Address: 030AH
P3-05 CMM Communication Mechanism
030BH
Interface: 8.2
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0x00 ~ 0x01
Data Size: 16-bit
Format: Hexadecimal
Settings: RS-232 via MOBUS communication or communicate with
ASDA-Soft
 RS-232 Communication format
0: RS-232/RS485 via Modbus communication
1: RS-232 upon ASDA-Soft software
7-83
Address: 030CH
P3-06■ SDI Control Switch of Digital Input (DI) 030DH
Interface: 8.2
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0x0000 ~ 0x1FFF
Data Size: 16-bit
Format: Hexadecimal
Settings: The source of DI controls the switch.
Each bit of this parameter decides one input source of DI signal:
Bit0 ~ Bit8 correspond to DI1 ~ DI9.
The setting of bit is as the followings:
0: The input status is controlled by the external hardware.
1: The input status is controlled by P4-07.
For the functional planning of digital input, please refer to:
DI1 ~ DI9: P2-10 ~ P2-17 and P2-36
Address: 030EH
P3-07 CDT Communication Response Delay Time
030FH
Interface: 8.2
Default: 0
Control
ALL
Mode:
Unit: 1 ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Delay the time of communication response from servo drive to
controller
Address: 0310H
P3-08■ MNS Monitor Mode
0311H
Interface: 8.2
Default: 0000
Control
ALL
Mode:
Unit: N/A
Range: refer to the description of Settings
Data Size: 16-bit
Format: Hexadecimal
7-84
Settings: The setting of monitor mode is divided as H. (hexadecimal):

Word - - Low High
Function - - Monitor mode
Range 0 0 0 0~3
The status of this axis or multi-axis can be monitored by
communication. The definition of setting value is as follows:
 The definition of H setting value:
3: High-speed monitor. The sampling frequency is 16K and
can only monitor 2CH
2: High-speed monitor. The sampling frequency is 8K and can
monitor 4CH.
1: Reserved
0: Disable the monitor function
Address: 0312H
P3-09 Reserved
0313H
Address: 0314H
P3-10 Reserved
0315H
Address: 0316H
P3-11 Reserved
0317H
7-85
P4-xx Diagnosis Parameters

Address: 0400H
P4-00★ ASH1 Fault Record (N)
0401H
Interface: 4.4.1
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
Settings: The last abnormal status record
Low word: LXXXX: display ALM number
High word: hYYYY: Reserved
Address: 0402H
P4-01★ ASH2 Fault Record (N-1)
0403H
Interface: 4.4.1
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
Settings: The last second abnormal status record
High word: hYYYY: display the error code corresponds to
CANopen
7-86
Address: 0404H
0405H
Interface: 4.4.1
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
CANopen
Address: 0406H
0407H
Interface: 4.4.1
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
CANopen
Address: 0408H
0409H
Interface: 4.4.1
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
7-87

CANopen
Address: 040AH
P4-05 JOG JOG Operation
040BH
Interface: 4.4.2
Default: 20
Control
ALL
Mode:
Unit: r/min
Range: 0 ~ 5000
Data Size: 16-bit
Format: Decimal
Settings: Three control methods are as follows:
1. Operation Test
After the JOG speed is set by P4-05 via panel, the panel will
display the symbol of JOG. Pressing the UP Key can control
JOG operation in positive direction, pressing the DOWN Key
can control negative direction. Stop pressing to stop the JOG
operation. If there is any error in this setting, then the motor
cannot operate. The maximum JOG speed is the maximum
speed of the servo motor.
2. DI control
If the DI is set to JOGU and JOGD (refer to table 7.1), then the
JOG operation in positive or negative direction can be
controlled via this DI.
3. Communication Control
1 ~ 5000: JOG speed
4998: JOG operation in positive direction
4999: JOG operation in negative direction
0: Stop operation
Note: When writing via communication, if the frequency is high, please
set P2-30 to 5.
7-88
P4-06 Digital Output Register (Readable and Address: 040CH

FOT
▲■ Writable) 040DH
Interface: 4.4.3
Default: 0
Control
ALL
Mode:
Unit: -
Range: 0 ~ 0x3F
Data Size: 16-bit
Format: Hexadecimal
Settings: Contact control of the force output
0: Non-force output (When the communication sets to 0,
it can cancel the force output function.)
Address: 040EH
P4-07■ ITST Input Status
040FH
Operation Software (cannot Related Section:
Interface: read and write Communication 4.4.4, 8.2
throught the panel)
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 01FF
Data Size: 16-bit
Format: Hexadecimal
Settings: The DI input signal can come from external terminal (DI1 ~ DI9) or
software SDI1 ~ 9 (Bit 0 ~ 8 of corresponding parameter P4-07)
and is determined by P3-06. The corresponding bit of P3-06 is 1,
which means the source is software SDI (P4-07). If the
corresponding bit is 0, then the source is hardware DI. See the
following graph:
External P3-06
DI1~9
DI after combination
Internal
SDI1~9
(P4-07)
Read parameters: shows the DI status after combination

Write parameters: writes the software SDI status
For example:
The value of reading P4-07 is 0x0011, which means DI1 and DI5
is ON after combination.
7-89
The value of writing P4-07 is 0x0011, which means software SDI1

and SDI5 is ON.
Please refer to P2-10 ~ P2-17 and P2-36 for the function program
of digital input pin DI (DI1 ~ DI9).
Input Status of the Drive Keypad Address: 0410H

P4-08★ PKEY
(Read-only) 0411H
Interface:
Default: N/A
Control
ALL
Mode:
Unit: N/A
Range: Read only
Data Size: 16-bit
Format: Hexadecimal
Settings: The aim is to check if the five Keys, MODE, UP, DOWN, SHIFT,
and SET can work normally. This parameter is also used to check
if the Keys are all functional when producing servo drives.
Address: 0412H
P4-09★ MOT Output Status (Read-only)
0413H
Interface: 4.4.5
Default: N/A
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 0x3F
Data Size: 16-bit
Format: Hexadecimal
Settings: There is no difference when reading DO output signal via panel or
the communication.
7-90
Address: 0414H
P4-10■ CEN Adjustment Function
0415H
Interface:
Default: 0
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 6
Data Size: 16-bit
Format: Decimal
Settings: 0: Reserved
1: Execute the adjustment of analog speed input offset
2: Execute the adjustment of analog torque input offset
3: Execute the adjustment of current detector (V phase) hardware
offset
4: Execute the adjustment of current detector (W phase) hardware
offset
5: Execute the adjustment of 1 ~ 4 hardward offset
6: Execute the adjustment of IGBT ADC
Note: The adjustment function needs to be enabled by the setting of
parameter P2-08. When adjusting, the external wiring which
connects to analog speed or torque needs to be removed
completely and must be in Servo Off status.
Address: 0416H
P4-11 SOF1 Analog Speed Input Offset Adjustment 1
0417H
Interface:
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Settings: Manually adjust the hardware offset. The adjustment function
needs to be enabled by the setting of parameter P2-08. It is not
suggested that you adjust the auxiliary adjustment. This
parameter cannot be reset.
7-91
Address: 0418H
P4-12 SOF2 Analog Speed Input Offset Adjustment 2
0419H
Interface:
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Address: 041AH
P4-13 TOF1 Analog Torque Input Offset Adjustment 1
041BH
Interface:
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Address: 041CH
P4-14 TOF2 Analog Torque Drift Adjustment 2
041DH
Interface:
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
7-92
Current Detector (V1 phase) Offset Address: 041EH

P4-15 COF1
Adjustment 041FH
Interface:
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Current Detector (V2 phase) Offset Address: 0420H

P4-16 COF2
Adjustment 0421H
Interface:
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
7-93
Current Detector (W1 phase) Offset Address: 0422H

P4-17 COF3
Adjustment 0423H
Interface:
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Current Detector (W2 phase) Offset Address: 0424H

P4-18 COF4
Adjustment 0425H
Interface:
Control
ALL
Mode:
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
IGBT NTC Adjustment Detection Level Address: 0426H

P4-19 TIGB
(cannot reset) 0427H

Interface:
Control
ALL
Mode:
Unit: N/A
Range: 1 ~ 3
Data Size: 16-bit
Format: Decimal
Settings: Please cool down the drive to 25 Celsius degree when adjusting.
7-94
Offset Adjustment of Analog Monitor Address: 0428H

P4-20 DOF1
Output (MON1) 0429H
Interface: 6.4.4
Control
ALL
Mode:
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Format: Decimal
Offset Adjustment of Analog Monitor Address: 042AH

P4-21 DOF2
Output (MON2) 042BH
Interface: 6.4.4
Default: 0
Control
ALL
Mode:
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Format: Decimal
Address: 042CH
P4-22 SAO Analog Speed Input Offset
042DH
Interface:
Default: 0
Control
S
Mode:
Unit: mV
Range: -5000 ~ 5000
Data Size: 16-bit
Format: Decimal
Settings: Users manually adjust the offset
7-95
Address: 042EH
P4-23 TAO Analog Torque Input Offset
042FH
Interface:
Default: 0
Control
T
Mode:
Unit: mV
Range: -5000 ~ 5000
Data Size: 16-bit
Format: Decimal
Settings: Users manually adjust the offset
Address: 0430H
P4-24 LVL Level of Undervoltage Error
0431H
Interface:
Default: 160
Control
ALL
Mode:
Unit: V (rms)
Range: 140 ~ 190
Data Size: 16-bit
Format: Decimal
Settings: When the voltage of DC BUS is lower than P4-24* 2 , the under
voltage alarm occurs.
7-96
Table 7.1 Function Description of Digital Input (DI)
Setting value: 0x01

Trigger Control
DI Name Function Description of Digital Input (DI)
Method Mode
When this DI is On, servo is activated (Servo On) Level

SON All
Triggered
Setting value: 0x02

Trigger Control
Method Mode
After the alarm has been cleared, when the DI is ON Rising-edge
ARST All
the drive will show that the alarm has been cleared. Triggered
Setting value: 0x03

Trigger Control
Method Mode
In speed and position mode, when the DI is ON
Level
GAINUP (P2-27 should be set to 1), the gain switched to the PT, S
Triggered
one multiplies the switching rate.
Setting value: 0x04

Trigger Contro
Method l Mode
Rising-edge
Clear the pulse counter and the setting of parameter Triggered,
CCLR PT
P2-50. Level
Triggered
7-97
Setting value: 0x05

Trigger Contro
Method l Mode
When the speed is slower than the setting of zero
speed (P1-38), if the DI is ON, the motor stops running.
Speed
Command
Setting value of
P1-38 (Zero speed)
Level
ZCLAMP S
ZCLAMP Triggered
input signal
OFF ON
Motor Speed
Setting value of
P1-38 (Zero speed)
Time
Setting value: 0x06

Trigger Control
Method Mode
In PT and speed mode, when the DI is ON, the input Level
CMDINV S, T
command will be in reverse direction. Triggered
Setting value: 0x07

Trigger Control
Method Mode
Reserved
Setting value: 0x09

Trigger Control
Method Mode
In speed and position mode, when the DI is ON, the
motor torque will be limited, and the limited torque Level
TRQLM PT, S
command will be internal register or analog voltage Triggered
command.
Setting value: 0x10

Trigger Control
Method Mode
In torque mode, when the DI is ON, the motor speed
Level
SPDLM will be limited, the limited speed command will be T
Triggered
internal register or analog voltage command.
7-98
Setting value: 0x14, 0x15

Contr
Trigger
DI Name Function Description of Digital Input (DI) ol
Method
Mode
Internal speed command selection (1 ~ 4)

DI signal
Command
of CN1 Command Source Content Range
No.
SPD1 SPD0
Voltage
External
between
S analog +/-10V
SPD0 V-REF and Level
Mode
command
S1 OFF OFF GND S, Sz
SPD1 Speed
Triggered
Sz None command 0
is 0
S2 OFF ON P1-09
-6000 ~
S3 ON OFF Register P1-10
+6000
parameter
S4 ON ON P1-11 r/min

DI Trigger Control
Function Description of Digital Input (DI)
Name Method Mode
Internal torque command selection (1 ~ 4)
DI signal
Command
of CN1 Command Source Content Range
No.
TCM1 TCM0
Voltage
Analog between
T +/-10V
TCM0 command V-REF
Mode
Level
T1 OFF OFF and GND T, Tz
TCM1 Torque
Triggered
Tz None command 0
is 0
T2 OFF ON P1-12
-470 ~
T3 ON OFF Register parameter P1-13
+470%
T4 ON ON P1-14
Setting value: 0x18

Trigger Control
Method Mode
In position and speed mode, if the DI is OFF, it is in
Level Dual
S-P speed mode. And it is in position mode when the DI is
Triggered mode
ON.
7-99
Setting value: 0x19

Trigger Control
Method Mode
In speed and torque mode, if the DI is OFF, it is in
Level Dual
S-T speed mode. And it is in torque mode when the DI is
Triggered mode
ON.
Setting value: 0x20

Trigger Control
Method Mode
In position and torque mode, if the DI is OFF, it is in
Level Dual
T-P torque mode; if the DI is ON, then it is in position
Triggered mode
mode.
Setting value: 0x21

Trigger Control
Method Mode
Level
EMGS When this DI is ON, the motor stops urgently. All
Triggered
Setting value: 0x22

Trigger Control
Method Mode
Level
NL(CWL) Reverse inhibit limit (contact b) All
Triggered
Setting value: 0x23

Trigger Control
Method Mode
Level
PL(CCWL) Forward inhibit limit (contact b) All
Triggered
Setting value: 0x25

Trigger Control
Method Mode
Level
TLLM Torque limit - Reverse operation PT, S
Triggered
7-100
Setting value: 0x26

Trigger Control
Method Mode
Level
TRLM Torque limit - Forward operation PT, S
Triggered
Setting value: 0x37

Trigger Control
Method Mode
When this DI is ON, the motor will JOG in forward Level
JOGU All
direction. Triggered
Setting value: 0x38

Trigger Control
Method Mode
When this DI is on, the motor will JOG in reverse Level
JOGD All
direction. Triggered

DI Trigger Control
Function Description of Digital Input (DI)
Name Method Mode
Gear Ratio Selection 0 (Numerator)

Gear Ratio Selection 1 (Numerator)
GNUM0 Level
PT
GNUM1 Triggered
Setting value: 0x45

Trigger Control
Method Mode
In position mode, when this DI is ON, the external Level
INHP PT
pulse input command is not working. Triggered
7-101
Setting value: 0x48

Trigger Control
Method Mode
Torque command source. Please refer to the settings Level
TQP T
of P2-66 Bit0. Triggered
Setting value: 0x49

Trigger Control
Method Mode
Torque command source. Please refer to the settings Level
TQN T
of P2-66 Bit0. Triggered
Note:
(1) 11 ~ 17: Single control mode, 18 ~ 20: Dual control mode
(2) When P2-10 to P2-17 and P2-36 are set to 0, DI has no function.
7-102
Table 7.2 Function Description of Digital Output (DO)
Setting value: 0x01

DO Trigger Control
Function Description of Digital Output (DO)
Name Method Mode
When the controlled and main circuit power is applied Level
SRDY All
to the drive, this DO is ON if no alarm occurs. Triggered
Setting value: 0x02

DO Trigger Control
Name Method Mode
When the servo is ON, this DO is ON if no alarm Level
SON All
occurs. Triggered
Setting value: 0x03

DO Trigger Control
Name Method Mode
When the motor speed is slower than the setting Level
ZSPD All
speed of zero speed (P1-38), this DO is ON. Triggered
Setting value: 0x04

DO Trigger Control
Name Method Mode
When the motor speed is faster than the target speed Level
TSPD All
(P1-39), this DO is ON. Triggered
Setting value: 0x05

DO Trigger Control
Name Method Mode
In position mode, when the deviation pulse number is
Level
TPOS smaller than the position range (the setting value of PT
Triggered
P1-54), this DO is ON.
Setting value: 0x06

DO Trigger Control
Name Method Mode
All,
Level
TQL When it is in torque limit, this DO is ON. except
Triggered
T, Tz
7-103
Setting value: 0x07

DO Trigger Control
Name Method Mode
When the alarm occurs, this DO is ON.
Level
ALRM (Except forward / reverse limit, communication error, All
Triggered
undervoltage)
Setting value: 0x08

DO Trigger Control
Name Method Mode
When the signal of brake control is output, adjust the
setting of parameter P1-42 and P1-43.
Level
BRKR All
Triggered
Setting value: 0x10

DO Trigger Control
Name Method Mode
When reaching the overload setting, this DO is ON.
tOL= Overload allowable time of the servo x Setting
value of P1-56, when the overload accumulative
time exceeds tOL, it will output pre-overload warning
(OLW). However, if the overload accumulative time
exceeds the overload allowable time of the servo, it
will output pre-overload error (ALRM).
For example:
The setting value of pre-overload warning is 60%
Level
OLW (P1-56=60). All
Triggered
When the output average load of the servo drive is
200%, if the output time exceeds 8 seconds, the servo
drive will show the overload alarm (AL.006).
tOL= The output average load of the servo exceeds
200% for 8 seconds x parameter setting value =
8sec x 60% = 4.8sec
Result: When the output average load of the servo
drive exceeds 200% for 4.8 seconds, this DO is ON. If it
exceeds for 8 seconds, then, DO.ALRM is ON.
7-104
Setting value: 0x11

DO Trigger Control
Name Method Mode
Warning output (Forward / reverse limit, communication Level
WARN All
error, undervoltage) Triggered
Setting value: 0x19

DO Trigger Control
Name Method Mode
Speed completed output: In speed mode, when the
deviation between the speed feedback and the Level
SP_OK S, Sz
command is smaller than the setting value of P1-47, Triggered
then this DO is ON.
Note: when P2-18 to P2-22 and P2-37 are set to 0, DI has no function.
7-105
Table 7.3 Monitoring Variables Descriptions

Description of monitoring variables:
Item Description
Monitoring Each monitoring variable has a code, and you can use P0-02 to set the
code code and monitor the variable.
Each monitoring variable is stored in the 32-bit format (long integer) of the
Format
servo drive.
Basic variables / expansion variables:
1. Basic variables: variables (P0-02 = 0 ~ 26) within the cycle; in
monitoring mode, you can display the variables by using the UP /
Category
DOWN keys on the panel.
2. Expansion variables: variables other than basic variables. (P0-02 =
-112, 27 ~ 111)
Panel display / mapping:
Monitoring
1. Panel display: monitor with the panel
method
2. Mapping: monitor variables or parameters by mapping parameters
1. Use the MODE key to switch to the monitor mode and press the UP /
DOWN keys to select the variable to monitor.
2. Input the variable code to monitor into P0-02 and start monitoring.
Panel
Press the SHIFT key on the panel to switch between high and low digit
display
display;
Press the SET key on the panel to switch between decimal and
hexadecimal display.
1. Parameters that support monitoring variable mapping: for P0-09 ~
P0-13, please refer to Section 7.3 Parameter Description.
2. You can read monitoring variables through communication using
mapping parameters.
3. The value of the mapping parameter (P0-09 ~ P0-13) is the content of
Mapping
the basic variables (17h, 18h, 19h, 1Ah). To monitor P0-09, set P0-17
to the value to read (please refer to P0-02). You can read the data
specified by P0-17 through communication or the monitor panel (set
P0-02 to 23). When the panel displays “VAR-1”, it indicates the content
value of P0-09.
The property code of each monitoring variable is described in the following table:
Property Description
B BASE: basic variables, you can select the variables with the UP / DOWN keys on the pan
Decimal place displayed on panel. D1 indicates 1 decimal place, D2 indicates
D1 D2
2 decimal places.
Only decimal display is available on the panel, and you cannot switch to
Dec
hexadecimal display by pressing the SET key.
Only hexadecimal display is available on the panel, and you cannot switch to
Hex
decimal display by pressing the SET key.
7-106
Monitoring variables are described in the following table by the code sequence:
Variable name /
Code Description
property
Feedback position Current feedback position of the motor encoder.
000 (00h)
(PUU) B Unit: Pulse of User Unit (PUU).
Current coordinate of the Position command.
Unit: Pulse of User Unit (PUU).
Position command PT mode: number of pulse commands received by the
001 (01h)
(PUU) B servo drive.
PR mode: absolute coordinates of the Position
command.
Position deviation Deviation between the Position command and the
002 (02h)
(PUU) B feedback position. Unit: Pulse of User Unit (PUU).
Feedback position Current feedback position of the motor encoder.
003 (03h)
(pulse) B Unit: Encoder unit (pulse).
Current coordinate of the Position command.
Position command
004 (04h) Unit: Encoder unit (pulse).
(pulse) B
This is the command after passing E-Gear.
Position deviation Deviation between the Position command and the
005 (05h)
(pulse) B feedback position. Unit: Encoder unit (pulse).
Frequency of the pulse command received by the
Pulse command
006 (06h) servo drive. Unit: Kpps.
frequency B
Applicable to PT / PR mode.
Current motor speed. Unit: 0.1 rpm.
Speed feedback
007 (07h) The low-pass filter has been applied to this value to
B D1 Dec
make it more stable.
Speed command
Speed command from the analog channel.
008 (08h) (analog)
Unit: 0.01 Volt.
B D2 Dec
Speed command Integrated Speed command. Unit: 1 rpm.
009 (09h)
(integrated) B Source includes analog, register, or position loop.
Torque command
Torque command from the analog channel.
010 (0Ah) (analog)
Unit: 0.01 Volt.
B D2 Dec
Integrated Torque command. Unit: percentage (%).
Torque command
011 (0Bh)
(integrated) B
Source includes analog, register, or speed loop.
012 Average load rate from the servo drive.
Average load rate B
(0Ch) Unit: percentage (%).
013 Maximum load rate from the servo drive.
Peak load rate B
(0Dh) Unit: percentage (%).
014 (0Eh) DC Bus voltage B Rectified capacitor voltage. Unit: Volt.
Load inertia ratio Ratio of the load inertia to the motor inertia.
015 (0Fh)
B D1 Dec Unit: 0.1 times.
IGBT temperature
016 (10h) Temperature of IGBT. Unit: °C.
B
7-107
Variable name /
Code Description
property
Resonance frequency of the system consists of two
groups of frequencies: F1 and F2
When monitoring from the panel, press the SHF key to
switch between F1 and F2:
Resonance
F2 displays zero decimal places, F1 displays 1 decimal
017 (11h) frequency
place.
B Dec
When reading by communication (mapping
parameter):
Low word returns frequency F2.
High word returns frequency F1.
Offset value between motor position and Z phase,
Z phase offset range: -5000 to +5000.
018 (12h)
B Dec Where it overlaps with Z phase, the value is 0;
the greater the value, the greater the offset.
Mapping parameter
019 (13h) Returns the value of P0-25 which is mapped by P0-35.
content #1 B
Mapping parameter
content #2 B
Mapping parameter
content #3 B
Mapping parameter
content #4 B
Mapping monitoring
variable #1 B
Mapping monitoring
variable #2 B
Mapping monitoring
variable #3 B
Mapping monitoring
026 (1Ah) Returns the value of P0-12 which is mapped by P0-20.
variable #4 B
Integrated DI status of the servo drive.
DI status Each bit corresponds to one DI channel.
039 (27h)
(Integrated) Hex Source includes Hardware channel / P4-07,
which is determined by P3-06.
DO status
Actual status from the DO hardware.
040 (28h) (Hardware)
Each bit corresponds to one DO channel.
Hex
Returns P0-46. Please refer to the description of this
041 (29h) Status of the drive
parameter.
Pulse command
049 (31h) Pulse counts from the pulse command (CN1).
CNT
Speed command
Integrated Speed command. Unit: 0.1 rpm.
050 (32h) (integrated)
Source includes analog, register, or position loop.
D1 Dec
Speed feedback
051 (33h) (immediate) Current motor speed. Unit: 0.1 rpm.
D1 Dec
7-108
Variable name /
Code Description
property
Torque command
Integrated Torque command. Unit: 0.1%.
053 (35h) (integrated)
Source includes analog, register, or speed loop.
D1 Dec
Torque feedback
054 (36h) Current actual motor torque. Unit: 0.1%.
D1 Dec
Current feedback
055 (37h) Current actual motor current. Unit: 0.01 ampere (Amp).
D2 Dec
DC Bus voltage
056 (38h) Rectified capacitor voltage. Unit: 0.1 Volt.
D1 Dec
Includes 2 versions: DSP and CPLD
When monitoring from the panel, press the SHF key to
switch between DSP and CPLD:
Servo drive DSP displays zero decimal places, CPLD displays 1
096 (60h) firmware version decimal place.
Dec When reading by communication (mapping
parameter):
Low word returns the DSP version number.
High word returns the CPLD version number.
Error code of the Error code from the servo drive: control loop of the
111 (6Fh)
servo drive servo only, not including the motion controller.
When this value continues to increase, it indicates that
Encoder there is communication interference. In an
-112 communication interference-free environment, this value should not
error rate increase. (Communication monitoring is not supported;
only monitoring with the panel is supported.)
The average power consumption (unit: %) of the
Regenerative
regenerative resistor when the energy of the servo
resistor overload
-114 drive capacitor is released to the regenerative resistor.
(AL086) protection
When the value of the regeneration counter reaches
counter
100%, AL086 occurs.
Regenerative The power consumption (unit: %) of the regenerative
-115 resistor power resistor at the time when the energy of the servo drive
consumption capacitor is released to the regenerative resistor.
7-109
7-110
Chapter 8 Communications
8.1 RS-485 / RS-232 Communication Hardware Interface
This servo drive supports the serial communication of RS-485 and RS-232.
Communication function enables the servo drive to access and change parameters inside
the system. However, RS-485 and RS-232 cannot be used at the same time. Parameter
P3-05 can use RS-485 and RS-232 as the communication protocol. Followings are the
wiring description.
RS-232
 Configuration
CN3 D-Sub
1394 9 Pin
Connector Connector
4 (Rx) 3 (Tx)
2 (Tx) 2 (Rx)
1 (GND) 5 (GND)
Note: (1) A 15-meter communication cable is suitable in a quiet environment. If the

transmission speed is over 38400bps, the length of the communication cable
should be shorter than 3 meters so as to ensure the accuracy of transmission.
(2) Numbers shown in the above diagram represent the pin number of each
connector.
8-1
Chapter 8 Communications ASDA-B2
RS-485
 Configuration
CN3 D-Sub
1394 9-Pin
Connector Connector
485(+)
5 485 (+)
Servo 1 6 485(-)
485 (-)
5
Servo 2 6
Note: (1) A 100-meter communication cable is suitable in a quiet environment. If the

transmission speed is over 38400bps, the length of communication cable
should not be longer than 15 meters so as to ensure the accuracy of
transmission.
(2) Numbers shown in the above diagram represent the pin number of each
connector.
(3) Please use the power supply unit whose direct current is over 12 volt.
(4) Using RS-485 can connect up to 32 servo drives at the same time. REPEATER
can be used to connect more servo drives. 254 is the maximum.
(5) Please refer to Chapter 3.5 for CN3 Pin Definition.
8-2
ASDA-B2 Chapter 8 Communications
8.2 RS-485 / RS-232 Communication Parameter Settings
The following four parameters, P3-00 (Address Setting), P3-01 (Transmission Speed),
P3-02 (Communication Protocol), and P3-05 (Communication Mechanism), are essential
and must be set for the communication of the servo drive. The rest, such as P3-03
(Communication Error Disposal), P3-04 (Communication Timeout), P3-06 (Control Switch
of Digital Input), P3-07 (Communication Response Delay Time), and P3-08 (Monitor Mode)
is optional. Please refer to Chapter 7 of this user manual.
The following table shows the contents of parameter P3-00. The corresponding
communication address is 0300H ~ 0301H as shown in the right column.
Address: 0300H
P3-00● ADR Address Setting
0301H
Interface: Section 8.2
Default: 0x7F
Control
ALL
Mode:
Unit: N/A
Range: 0x01 ~ 0x7F
Data Size: 16-bit
Format: Hexadecimal
Settings: The communication address setting is divided into Y, X
(hexadecimal):
Display 0 0 Y X
Range - - 0~7 0~F
When using RS-232 / RS-485 to communicate, one servo drive
can only set one address. The duplicate address setting will
cause abnormal communication.
This address represents the absolute address of the servo drive
in communication network. It is also applicable to RS-232 / 485
and CAN bus.
When the communication address setting of MODBUS is set to
0xFF, the servo drive will automatically reply and receive data
regardless of the address. However, P3-00 cannot be set to
0xFF.
8-3
Address: 0302H
P3-01 BRT Transmission Speed
0303H
Default: 0x0033
Control
ALL
Mode:
Unit: bps
Range: 0x0000 ~ 0x0055
Data Size: 16-bit
Format: Hexadecimal
(hexadecimal):
0 Z Y X
Range 0 0 0~5 0~5
Settings:
0: 4800
1: 9600
2: 19200
3: 38400
4: 57600
5: 115200
Address: 0304H
P3-02 PTL Communication Protocol
0305H
Default: 0x0066
Control
ALL
Mode:
Unit: N/A
Range: 0x0000 ~ 0x0088
Data Size: 16-bit
Format: Hexadecimal
8-4

(hexadecimal):
0 Z Y X
Range 0 0 0~8 0~8
The settings are defined as follows:

2: 7, O,1 (MODBUS, ASCII)
5: 8, O, 1 (MODBUS, ASCII)
6: 8, N, 2 (MODBUS, RTU)
7: 8, E, 1 (MODBUS, RTU)
8: 8, O, 1 (MODBUS, RTU)
Address: 030AH
P3-05 CMM Communication Mechanism
030BH
Default: 1
Control
ALL
Mode:
Unit: N/A
Range: 0x00 ~ 0x01
Data Size: 16-bit
Format: Hexadecimal
Settings: RS-232 Communication interface selection
0: RS-232 via Modbus communication
1: RS-232 upon ASDA-Soft software
8-5
8.3 MODBUS Communication Protocol
There are two modes of MODBUS networks communication, ASCII (American Standard
Code for Information Interchange) mode and RTU (Remote Terminal Unit) mode. Users
could set the needed communication protocol via parameter P3-02. Apart from these two
communication modes, this servo drive also supports function of 03H to access more than
one data, 06H to write one character and 10H to write multiple characters. Please refer to
the following descriptions.
Note: the servo drive does not support the broadcast mode.
 Code Description:
ASCII Mode:
The so-called ASCII mode is using American Standard Code for Information Interchange
(ASCII) to transmit the data. Between two stations (Master and Slave) to transmit data 64H,
the master will send ‘6’ which represented by 36H of ASCII code and ‘4’ represented by
34H of ASCII code.
The following table shows the available hexadecimal characters and their corresponding
ASCII code of digit 0 to 9 and characters A to F is as follows:
Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCII code 30H 31H 32H 33H 34H 35H 36H 37H
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCII code 38H 39H 41H 42H 43H 44H 45H 46H
RTU Mode:
Every 8-bit of data is constituted by two 4-bits hexadecimal characters. If data 64H is
transmitted between two stations, it will be transmitted directly, which is more efficient than
ASCII mode.
8-6
 Character Structure
Characters will be encoded into the following framing and transmitted in serial.
The checking method of different bit is as the following.
10-bit character frame (For 7-bits character)

7N2
Start Stop Stop
bit 0 1 2 3 4 5 6
bit bit
7-data bits
10-bits character frame
7E1
Start Even Stop
bit 0 1 2 3 4 5 6 parity bit
7-data bits
7O1
Start Odd Stop
bit 0 1 2 3 4 5 6 parity bit
7-data bits
11-bit character frame (For 8-bits character)

8N2
Start Stop Stop
bit 0 1 2 3 4 5 6 7 bit bit
8-data bits
8E1
Start Even Stop
bit 0 1 2 3 4 5 6 7
parity bit
8-data bits
8O1
Start Odd Stop
bit 0 1 2 3 4 5 6 7
parity bit
8-data bits
8-7
 Communication Data Structure:
The data frame of two different communication modes is defined as follows:

ASCII Mode:
Start Start character’: ’ (3AH)

Slave address Communication address: 1-byte consists of 2 ASCII codes
Function Function code: 1-byte consists of 2 ASCII codes
DATA(n-1)
……. Data content: n word = n x 2-byte consists of n x 4 ASCII codes, n10
DATA(0)
LRC Error checking: 1-byte consists of 2 ASCII codes
End 1 End code 1: (0DH)(CR)
End 0 End code 0: (0AH)(LF)
The start character of communication in ASCII mode is colon ‘：’ (ASCII is 3AH), ADR is
the ASCII code of two characters. The end code is CR (Carriage Return) and LF (Line
Feed). And the communication address, function code, data content, error checking LRC
(Longitudinal Redundancy Check), etc. are between the start character and end code.
RTU Mode:
Start A silent interval of more than 10 ms

Slave address Communication address: 1-byte
Function Function code: 1-byte
DATA(n-1)
……. Data content: n word = n x 2-byte, n  10
DATA(0)
CRC Error checking: 1-byte
End 1 A silent interval of more than 10ms
The start of communication in RTU (Remote Terminal Unit) mode is a silent interval. The
end of it is another silent interval. The communication address, function code, data content,
error checking CRC (Cyclical Redundancy Check), etc. are between the start and the end.
8-8
Example 1: function code 03H, access multiple words:

The Master issues the command to the 1st Slave and reads the continuous 2 words
starting from the start address 0200H. In response message from the Slave, the content of
starting address 0200H is 00B1H and the content of the 2nd data address 0201H is 1F40H.
The maximum allowable data in one single access is 10. The calculation of LRC and CRC
will be described in next chapter.
ASCII Mode:
Command message (Master): Response message (Slave):
Start ‘:’ Start ‘:’
‘0’ ‘0’
Slave address Slave address
‘1’ ‘1’
‘0’ ‘0’
Function Function
‘3’ ‘3’
‘0’ Number of data ‘0’
Starting data ‘2’ (In Byte) ‘4'
address ‘0’ ‘0’
‘0’ Contents of ‘0’
starting data
‘0’ address 0200H ‘B’
‘0’ ‘1’
Number of data
‘0’ ‘1’
‘2’ Contents of ‘F’
second data
‘F’ address 0201H ‘4’
LRC Check
‘8’ ‘0’
End 1 (0DH)(CR) ‘E’
LRC Check
End 0 (0AH)(LF) ‘8’
End 1 (0DH)(CR)
End 0 (0AH)(LF)
8-9
RTU Mode:
Slave address 01H Slave address 01H
Function 03H Function 03H
Starting data 02H (High) Number of data
04H
address 00H (Low) (In Byte)
00H Contents of 00H (High)
Number of data
starting data
(In Word) 02H B1H (Low)
address 0200H
CRC Check Low C5H (Low) Contents of 1FH (High)
CRC Check second data
B3H (High) address 0201H 40H (Low)
High
CRC Check Low A3H (Lower bytes)
CRC Check
D4H (Upper bytes)
High
Note: Before and after the transmission in RTU mode, 10 ms of silent interval is needed.
8-10
Example 2: function code 06H, write single word:

The Master issues command to the 1st Slave and writes data 0064H to address 0200H.
The Slave sends the response message to the Master after the writing is completed.
The calculation of LRC and CRC will be described in next chapter.
ASCII Mode:
‘0’ ‘0’
Slave address Slave address
‘1’ ‘1’
‘0’ ‘0’
Function Function
‘6’ ‘6’
‘0’ ‘0’
Starting data ‘2’ Starting data ‘2'
address ‘0’ address ‘0’
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
Content of data Content of data
‘6’ ‘6’
‘4’ ‘4’
‘9’ ‘9’
LRC Check LRC Check
‘3’ ‘3’
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)
RTU Mode:
Slave Address 01H Slave Address 01H

Starting data 02H (High) Starting data 02H (High)
address 00H (Low) address 00H (Low)
00H (High) 00H (High)
Content of data Content of data
64H (Low) 64H (Low)
CRC Check Low 89H (Low) CRC Check Low 89H (Low)
CRC Check CRC Check
99H (High) 99H (High)
High High
Note: Before and after the transmission in RTU mode, 10 ms of silent interval is needed.
8-11
Example 3: function code 10H, write multiple words:

The Master issues command to the 1st Slave and writes 0BB8H and 0000H to the starting
address 0112H. That is to say, 0112H is written into 0BB8H and 0113H is written into
0000H. The maximum allowable data in one single access is 10. The Slave sends the
response message to the Master after the writing is completed. The calculation of LRC
and CRC will be described in next chapter.
ASCII Mode:
‘0’ ‘0’
Slave Address Slave Address
‘1’ ‘1’
‘1’ ‘1’
Function Function
‘0’ ‘0’
‘0’ ‘0’
Starting data ‘1’ Starting data ‘1'
address ‘1’ address ‘1’
‘2’ ‘2’
‘0’ ‘0’
Number of data ‘0’ ‘0’
Content of data
(In Word) ‘0’ ‘0’
‘2’ ‘2’
Number of data ‘0’ ‘D’
LRC Check
(In Byte) ‘4’ ‘A’
‘0’ End 1 (0DH)(CR)
Content of 1st ‘B’ End 0 (0AH)(LF)
data ‘B’
‘8’
‘0’
Content of 2nd ‘0’
data ‘0’
‘0’
‘1’
LRC Check
‘3’
End 1 (0DH)(CR)
End 0 (0AH)(LF)
8-12
RTU Mode:
Slave Address 01H Slave Address 01H
Starting data 01H (High) Starting data 01H (High)
address 12H (Low) address 12H (Low)
Number of data 00H (High) Content of data 00H (High)
(In Word) 02H (Low) (In Word) 02H (Low)
CRC Check Low E0H (Low)
Number of data
04H CRC Check
(In Byte) 31H (High)
High
Content of 1st 0BH (High)
data B8H (Low)
Content of 2nd 00H (High)
data 00H (Low)
CRC Check Low FCH (Low)
CRC Check
EBH (High)
High
Note: Before and after the transmission in RTU mode, 10ms of silent interval is needed.
8-13
 LRC and CRC transmission Error Checking:

The error checking in ASCII communication mode is LRC (Longitudinal Redundancy
Check); CRC (Cyclical Redundancy Check) is for RTU communication mode.
The algorithm of both is as the following.
LRC (ASCII mode):

STX ‘:’
‘7’
ADR
‘F’
‘0’
CMD
‘3’
‘0’
‘5’
Starting data address
‘C’
‘4’
‘0’
‘0’
Number of data
‘0’
‘1’
‘B’
LRC Check
‘4’
End 1 (0DH)(CR)
End 0 (0AH)(LF)
The LRC algorithm is: add all byte, round down the carry and take 2’s complement.
For example, 7FH + 03H + 05H + C4H + 00H + 01H = 14CH, round down carry 1 and
take 4CH.
2’s complement of 4CH is B4H.
CRC (RTU Mode):

The description of CRC is as the followings:
Step 1: Load a 16-bits register of FFFFH, which is called “CRC” register.
Step 2: (The low byte of CRC register) XOR (The first byte of command), and save
the result in CRC register.
Step 3: Right move one bit. Check the least significant bit (LSB) of CRC register.
If the bit is 1, then (CRC register) XOR (A001H).
Step 4: Return to Step 3 until Step 3 has been executed for 8 times. Go to Step 5.
Step 5: Repeat the procedure from Step 2 to Step 4 until all byte is processing.
Get the result of CRC value.
8-14
Description: After calculating CRC value, fill in the low word of CRC first in command
message, and then fill in the high word of CRC. For example, if the result of CRC algorithm
is 3794H, fill in 94H in low word and then 37H in high word.
Command Message
ADR 01H
CMD 03H
Starting data 01H (High)
address 01H (Low)
Number of data 00H (High)
(In Word) 02H (Low)
CRC Check Low 94H (Low)
CRC Check High 37H (High)
8-15
Example of CRC program:

Produce CRC in C language. This function needs two parameters:
unsigned char* data;
unsigned char length
The function returns the CRC value as a type of unsigned integer.
unsigned int crc_chk(unsigned char* data, unsigned char length) {
int j;
unsigned int reg_crc=0xFFFF;
while( length-- ) {
reg_crc^= *data++;
for (j=0; j<8; j++ ) {
if( reg_crc & 0x01 ) { /*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
} else {
reg_crc = (reg_crc>>1);
}
}
}
return reg_crc;
}
PC communication program example:
#include<stdio.h>
#include<dos.h>
#include<conio.h>
#include<process.h>
#define PORT 0x03F8 /* the address of COM 1 */
#define THR 0x0000
#define RDR 0x0000
#define BRDL 0x0000
#define IER 0x0001
#define BRDH 0x0001
#define LCR 0x0003
#define MCR 0x0004
#define LSR 0x0005
#define MSR 0x0006
unsigned char rdat[60];
/* read 2 data from address 0200H of ASD with address 1 */
unsigned char tdat[60]={‘:’,’0’,’1’,’0’,’3’,’0’,’2’,’0’,’0’,’0’,’0’,’0’,’2’,’F’,’8’,’\r’,’\n’};
8-16
void main() {
int I;
outportb(PORT+MCR,0x08); /* interrupt enable */
outportb(PORT+IER,0x01); /* interrupt as data in */
outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) );
/* the BRDL/BRDH can be access as LCR.b7 == 1 */
outportb(PORT+BRDL,12);
outportb(PORT+BRDH,0x00);
outportb(PORT+LCR,0x06); /* set protocol
<7,E,1> = 1AH, <7,O,1> = 0AH
<8,N,2> = 07H <8,E,1> = 1BH
<8,O,1> = 0BH
*/
for( I = 0; I<=16; I++ ) {

while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */
outportb(PORT+THR,tdat[I]); /* send data to THR */
}
I = 0;
while( !kbhit() ) {
if( inportb(PORT+LSR)&0x01 ) { /* b0==1, read data ready */
rdat[I++] = inportb(PORT+RDR); /* read data from RDR */
}
}
}
8-17
8.4 Write-in and Read-out Communication Parameters
Please refer to Chapter 7, Parameters for all parameter details. And the descriptions of
parameters which can be wrote or read through communication are as follows.
Parameters are divided into 5 groups, Group 0: Monitor Parameters, Group 1: Basic
Parameters, Group 2: Extension Parameters, Group 3: Communication Parameters and
Group 4: Diagnosis Parameters.
Write parameters via communication:

Parameters which can be written through communication include:
Group 0, except (P0-00 ~ P0-01), (P0-08 ~ P0-13) and (P0-46)
Group 1 (P1-00 ~ P1-76)
Group 2 (P2-00 ~ P2-67)
Group 3 (P3-00 ~ P3-11)
Group 4, except (P4-00 ~ P4-04) and (P4-08 ~ P4-09)
Please note that:

(P3-01) When change to a new communication speed, the next data will be written in a
new transmission speed after setting the new value.
(P3-02) When change to the new communication protocol, the next data will be written
with the new communication protocol after setting the new value.
(P4-05) JOG controls parameters of the servo. Please refer to Chapter 8, Parameters for
the description.
(P4-06) Force to control output contact. This parameter is for DO (Digital Output) testing.
Users can write 1, 2, 4, 8 and 16 to test DO1, DO2, DO3, DO4 and DO5
respectively. Please write 0 after the test so as to inform the servo drive that the
test has been completed.
(P4-10) Adjustment function selection. Write 20 (= 14H in hexadecimal format) in
parameter P2-08 first to enable the adjustment so as to change the value of
P4-10.
(P4-11 ~ P4-21) This parameter is Offset Adjustment. Do not change the setting unless it
is necessary. If it is necessary, please write 22 (= 16H, in hexadecimal
format) in parameter P2-08 first to enable the function so as to change
the value of (P4-11 ~ P4-21)
Read parameters through communication:

Parameters can be read through communication include:
Group 0 (P0-00 ~ P0-46) Group 3 (P3-00 ~ P3-11)
Group 1 (P1-00 ~ P1-76) Group 4 (P4-00 ~ P4-23)
Group 2 (P2-00 ~ P2-67)
8-18
Chapter 9 Troubleshooting
9.1 Alarm of Servo Drive
Corresponding Servo
Display Alarm Name Alarm Description
DO Status
The current of the main circuit is 1.5
Servo
AL001 Over current times more than the instantaneous ALM
Off
current of the motor.
The voltage of the main circuit is Servo
AL002 Over voltage higher than the standard voltage.
ALM
Off
The voltage of the main circuit is Servo
AL003 Under voltage lower than the standard voltage.
WARN
Off
Motor Combination The drive corresponds to the wrong Servo
AL004 Error motor.
ALM
Off
Servo
AL005 Regeneration Error Regeneration control is in error. ALM
Off
Servo
AL006 Overload The motor and the drive is overload. ALM
Off
The difference between the
command speed and the feedback Servo
AL007 Over speed speed exceeds the allowable range
ALM
Off
set by P2-34.
The input frequency of the pulse
Servo
AL008 Abnormal
Command
Pulse
command is over the allowable value ALM
Off
of the hardware interface.
Excessive
The deviation of position command Servo
AL009 Deviation of exceeds the allowable setting value.
ALM
Off
Position Command
Voltage error
Servo
AL010 during An error occurs during regeneration. ALM
Off
regeneration
The encoder produces abnormal Servo
AL011 Encoder Error pulse.
ALM
Off
When executing electrical
Servo
AL012 Adjustment Error adjustment, the adjusted value ALM
Off
exceeds the allowable value.
Servo
AL013 Emergency Stop Press the emergency stop button. WARN
Off
9-1
Chapter 9 Troubleshooting ASDA-B2
Corresponding Servo
DO Status
Servo
AL014 Reverse Limit Error Activate the reverse limit switch. WARN
On
Servo
AL015 Forward Limit Error Activate the forward limit switch. WARN
On
Servo
AL016 IGBT Overheat The temperature of IGBT is over high ALM
Off
Servo
AL017 Abnormal
EEPROM
It is in error when DSP accesses
EEPROM.
ALM
Off
Servo
AL018 Abnormal
output
signal The encoder output exceeds the
rated output frequency.
ALM
Off
Serial
RS-232 / 485 communication is in Servo
AL019 Communication error
ALM
Off
Error
Serial
RS-232 / 485 communication time Servo
AL020 Communication out
WARN
On
Time Out
Servo
AL022 Main Circuit Power Only one single phase is inputted in
Lack Phase the main circuit power.
WARN
Off
Servo
AL023 Early Warning for
Overload
Early Warning for Overload WARN
On
Servo
AL024 Encoder initial The magnetic field of the encoder
magnetic field error U, V, W signal is in error.
ALM
Off
Servo
AL025 The Internal of the The internal memory of the encoder
Encoder is in Error and the internal counter are in error.
ALM
Off
The error of the internal data has
Unreliable internal Servo
AL026 data of the encoder been detected for three times ALM
Off
continuously.
The Internal of the The internal reset of the encoder is Servo
AL027 Encoder is in Error in error ALM
Off
The Internal of the The encoder, U, V, W signals are Servo
Off
The Internal of the Internal address of the encoder is Servo
Off
Encoder not Servo
AL02D responding No response from the encoder. ALM
Off
The motor crashes the equipment,
Servo
AL030 Motor Crash Error reaches the torque of P1-57 and ALM
Off
exceeds the time set by P1-58.
9-2
ASDA-B2 Chapter 9 Troubleshooting
Corresponding Servo
DO Status
Incorrect wiring of Incorrect wiring of the motor power
Servo
AL031 the motor power line U, V, W, GND or the connection ALM
Off
line U, V, W, GND between both is breakdown.
Encoder
temperature Encoder temperature exceeds the Servo
AL035 exceeds the protective range
ALM
Off
protective range
The encoder output errors or the
Excessive encoder Servo
AL048 output error output pulse exceeds hardware ALM
Off
tolerance.
Encoder Encoder temperature exceeds the
Servo
AL067 temperature warning level. (But it is still within the ALM
Off
warning protective range.)
When the output current from servo
drive exceeds the setting level,
Servo drive outputs ALE083 will be triggered to protect Servo
AL083 excessive current IGBT. This could avoid IGBT to be ALM
Off
burned out because of the excessive
current.
Servo
AL085 Regeneration error Regeneration control is in error. ALM
Off
Excessive energy in the capacitor of
Servo
AL086 Regenerative
resistor overload
the servo drive is released to the
regenerative resistor causing
ALM
Off
overload of the resistor.
EEPROM has not been reset after
upgrading the firmware. The fault
Servo
AL099 DSP Firmware
Upgrade
can be cleared when firstly set P2-08 WARN
On
to 30. Then set P2-08 to 28. And
re-power on the drive.
Do not
AL555 System Failure DSP processing error N/A
Switch
Do not
AL880 System Failure DSP processing error N/A
Switch
9-3
9.2 Causes and Corrective Actions
Alarm Display
AL001: Over current
Causes Checking Method Corrective Actions
Check if the wiring between the motor Eliminate short-circuit and
The drive output is
and the drive is correct and see if the avoid metal conductor being
short-circuit
wire is short-circuited. exposed.
Rewiring by following the
The motor wiring is Check if the wiring steps are correct
wiring description from the
in error. when connecting the motor to the drive.
user manual.
The temperature of the heat sink is Send the drive back to the
IGBT is abnormal
abnormal distributors or contact Delta
AL002: Over voltage

The input voltage of
Use the voltmeter to see if the input
the main circuit is Apply to the correct power
voltage of the main circuit is within the
higher than the supply or serial voltage
rated allowable voltage value. (please
rated allowable regulator.
refer to Chapter 10.1)
voltage.
Wrong power input
Use the voltmeter to see if the power Apply to the correct power
(incorrect power
system matches the specification. supply or serial adaptor.
system)
Use the voltmeter to see if the input
The hardware of
voltage of the main circuit is within the Send the drive back to the
the servo drive is
rated allowable voltage value but still distributors or contact Delta.
damaged.
shows the error.
AL003: Under voltage

The input voltage of
the main circuit is Check if the input voltage wiring of the
Re-confirm the voltage wiring.
lower than the rated main circuit is normal.
allowable voltage.
No power supply Use the voltmeter to see if the voltage
Check the power switch
for the main circuit. of the main circuit is normal.
Wrong power input
Use the voltmeter to see if the power Apply to the correct power
(incorrect power
system matches the specification. supply or serial adaptor.
system)
9-4
AL004: Motor combination error

The encoder is
The encoder is abnormal. Change the motor
damaged.
The encoder is
Check the encoder connector. Install the motor again.
loose.
Motor Combination
Connect to the right motor. Change the motor
Error
AL005: Regeneration error

Calculate the value of the
Choose wrong
regenerative resistor again
regenerative
and correctly set the value of
resistor or does not Check the connection of regenerative
P1-52 and P1-53. If issue
connect to external resistor.
persists, please send the
regenerative
drive back to the distributors
resistor
or contact Delta.
Parameter P1-53 is
not set to zero
Set parameter P1-53 of
when the Check if parameter P1-53 of
regenerative resistor to zero
regenerative regenerative resister is set to zero.
when it is not applying.
resistor is not in
use.
Wrong parameter Check the setting value of parameter Correctly reset the value of
setting P1-52 and P1-53. P1-52 and P1-53.
AL006: Overload
Over the rated
Set parameter P0-02 to 12 and see if
loading of the drive Increase the motor capacity
the average torque [%] is over 100% all
and continuously or reduce the load.
the time.
excessive using
1. Check if there is any mechanical 1. Adjust the gain value of
The setting of the
vibration. the control circuit.
control system
2. Check if the acceleration / 2. Slow down the
parameter is
deceleration constant are set acceleration /
inappropriate.
too fast. deceleration setting time.
Wrong wiring of the
Check the wiring of U, V, W and the
motor and the Correct wiring
encoder.
encoder.
The encoder of the
Send the drive back to the distributors or contact Delta.
motor is defective.
9-5
AL007: Overspeed
Less steep command used
Unreasonable Use the scope to check if the signal of
or filter applying to smooth
command analog voltage is abnormal.
command.
Check if the setting of parameter P2-34 Correctly set parameter
Inappropriate is too small (allowable difference P2-34 (allowable difference
parameter setting between command speed and feedback between command speed
speed). and feedback speed).
1. Check if DI:TRQLM (torque limit) is
1. Disable torque limit DI.
enabled.
2. Check if the torque limit default of
Torque limit 2. Disable the default
P1-02 is enabled.
setting.
3. Check if there is any torque limit
3. P1-12 ~ P1-14 = 100%
setting for P1-12 ~ P1-14.
AL008: Abnormal pulse command

The pulse
command Use the scope to check if the input
Correctly set the input pulse
frequency is higher frequency is over the rated input
frequency.
than the rated input frequency.
frequency.
AL009: Excessive deviation of Position Command

Increase the setting value of
Check the setting value of parameter
Parameter P2-35 is P2-35 (The warning condition
P2-35 (The warning condition of
set too small of excessive position
excessive position deviation).
deviation).
The setting of the
Check if the setting value is Correctly adjust the gain
gain value is too
appropriate. value.
small.
The torque limit is Correctly adjust the torque
Check the torque limit value.
too low. limit value.
Reduce the external load or
Excessive external
Check the external load. evaluate the motor capacity
load
again.
9-6
AL010: Voltage error during regeneration

The regenerative
voltage remains at
400V for a period of
time during
regeneration. This
may be caused by Correctly set the values of
Check the connection for the
using an incorrect P1-52 and P1-53. If the issue
regenerative resistor and re-calculate
regenerative persists, send your servo
the value for the regenerative resistor.
resistor or not drive back to Delta.
connecting an
external
regenerative
resistor to the servo
drive.
P1-53
(Regenerative
resistor capacity) is
Set P1-53 to 0 if not using a Correctly set the values of
not set to 0 when
regenerative resistor. P1-52 and P1-53.
the regenerative
resistor is not
connected.
AL011: Encoder error

Wrong wiring of the Check if the wiring follows the
Correct wiring
encoder suggested wiring of the user manual.
Check the drive connector of CN2
The encoder is loose Install the encoder again
and encoder
Check if the connection between
Bad connection of the
CN2 of the drive and the encoder of Reconnect the wiring
encoder
the servo motor is loose
The encoder is
Check if the motor is damaged Change the motor
damaged
AL012: Adjustment error

The analog input Measure if the voltage of the analog
Correctly ground the analog
contact is incorrectly
input contact is the same as the
input contact
set back to zero ground voltage
If issue persists, send the
The detection device
Reset the power supply drive back to the distributors
is damaged
or contact Delta.
9-7
AL013: Emergency stop

Press the emergency Check if the emergency stop button
Activate emergency stop
stop button is enabled.
AL014: Reverse limit error

Reverse limit switch is
Check if the limit switch is enabled. Enable the reverse limit switch.
activated.
The servo system is Check the control parameter and Re-adjust the parameter or
unstable. inertia ratio. evaluate the motor capacity.
AL015: Forward limit error

Forward limit switch is
Check if the limit switch is enabled. Enable the forward limit switch.
activated.
The servo system is Check the control parameter and Re-adjust the parameter or
unstable. inertia ratio. evaluate the motor capacity.
AL016: IGBT Overheat

Over the rated
loading of the drive Check if it is overloading or the Increase the motor capacity or
and continuously motor current is too high. reduce the load.
excessive using
The drive output is
Check the drive output wiring. Correct wiring
short-circuit
AL017: Abnormal EEPROM

Press the SHIFT Key on the panel The fault occurs when applying
and it shows EXGAB. to the power. It means one of
the parameters is over the
X = 1, 2, 3
reasonable range. Please re-
It is in error when G = group code of the parameter
power on after adjusting.
DSP accesses AB = hexadecimal of the parameter
The fault occurs in normal
EEPROM. If it shows E320A, it means it is operation. It means it is in error
parameter P2-10; If it shows when writing the parameter.
E3610, it means it is parameter P6- The alarm can be cleared by
16. Please check the parameter. DI.ARST.
The fault occurs in parameter
Abnormal hidden Press the SHIFT Key on the panel reset. The setting of the drive is
parameter and it shows E100X. wrong. Please set the correct
type of the drive.
9-8

The fault occurs when it is
servo-on. Usually it is because
the data in ROM is damaged or
Data in ROM is Press the SHIFT Key on the panel
there is no data in ROM.
damaged. and it shows E0001.
Please send the drive back to
the distributors or contact
Delta.
AL018: Abnormal signal output

The encoder is in Check the fault records (P4-00 ~
Conduct the corrective
error and cause the P4-05). See if the alarm exists with
actions of AL.011, AL.024,
abnormal signal the encoder error (AL011, AL024,
AL.025, AL.026.
output AL025, AL026).
Check if the following conditions Correctly set parameter
The output pulse produce: P1-76 and P1-46:
exceeds the hardware P1-76 < Motor Speed or P1-76 > Motor Speed or
allowable range. Motor Speed Motor Speed
 P1  46  4  19.8  10
6
 P1  46  4  19.8  10 6
60 60
AL019: Serial communication error

Improper setting of
Check the setting value of Correctly set the parameter
the communication
communication parameter. value.
parameter
Incorrect
Correctly set the
communication Check the communication address.
communication address.
address
Incorrect
Check the accessing value. Correctly set the value.
communication value
AL020: Serial communication time out

Improper setting of
the time-out Check the parameter setting. Correctly set the value.
parameter
The drive hasn’t
received the
Check if the communication cable is
communication Correct wiring.
loose or broken.
command for a long
time.
9-9
AL022: Main circuit power lack phase

Make sure it applies to the
Check if RST power cable is loose or
power. If issue persists,
The main circuit does not connect to the power. This
please send the drive back to
power is abnormal alarm occurs when no power
the distributors or contact
connects to single phase servo drive.
Delta.
AL023: Early warning for overload

1. Refer to the corrective
actions of AL006.
1. Check if it is used in overload 2. Please increase the
Early warning for condition. setting value of parameter
overload 2. Check if the value of parameter P1-56. Or set the value
P1-56 is set to small. over 100 and deactivate
the overload warning
function.
AL024: Encoder initial magnetic field error

1. Check if the servo motor is
The initial magnetic properly grounded.
field of the encoder is 2. Check if the encoder cable
If issue persists, please send
in error separates from the power supply
the drive back to the
(Signal, U, V, W of or the high-current circuit to avoid
distributors or contact Delta.
the encoder magnetic the interference.
field is in error.) 3. Check if the shielding cables are
used in the wiring of the encoder.
AL025: The internal of the encoder is in error

1. Please connect the UVW
connector (color green) to
the heat sink of the servo
1. Check if the servo is properly drive.
grounded. 2. Please check if the
The internal of the
2. Check if the encoder cable encoder cable separates
encoder is in error.
separates from the power supply from the power supply or
(The internal memory the high-current circuit.
or the high-current circuit to avoid
and the internal
the interference. 3. Please use shielding
counter are in error)
3. Check if the shielding cables are mesh.
used in the wiring of the encoder. 4. If issue persists, please
send the drive back to the
distributors or contact
Delta.
9-10
AL026: Unreliable internal data of the encoder

1. Check if the servo is properly
grounded.
drive.
The encoder is in 2. Check if the encoder cable
2. Please check if the encoder
error. separates from the power
cable separates from the
(Errors occur in the supply or the high-current circuit
power supply or the high-
internal data for three to avoid the interference.
current circuit.
times continuously) 3. Check if the shielding cables
3. Please use shielding mesh.
are used in the wiring of the
4. If issue persists, please
encoder.

grounded.
drive.
2. Check if the encoder cable
The internal reset of separates from the power
cable separates from the
the encoder is in supply or the high-current circuit
power supply or the high-
error. to avoid the interference.
current circuit.
3. Check if the shielding cables
encoder.

grounded.
drive.
2. Check if the encoder cable
separates from the power
The encoder U, V, W cable separates from the
supply or the high-current circuit
signals are in error. power supply or the high-
to avoid the interference.
current circuit.
3. Check if the shielding cables
encoder.
9-11

1. Connect the ground of the
UVW connector (green
end) to the heat sink of
the servo drive.
grounded.
2. Check if the encoder
2. Check if the encoder cable is
The internal address cable is separated from
separated from the power supply
of the encoder is in the power supply or the
or the high-current circuit to avoid
error. high-current circuit.
the interference.
3. Use shielded cables.
3. Check if the shielded cables are
4. If the issue persists, send
used for the encoder.
Delta.
AL02D: Encoder not responding

1. Connect the ground of the
UVW connector (green
end) to the heat sink of
the servo drive.
grounded.
2. Check if the encoder
2. Check if the encoder cable is
cable is separated from
Encoder not separated from the power supply
the power supply or the
responding or the high-current circuit to avoid
high-current circuit.
the interference.
3. Use shielded cables.
3. Check if the shielded cables are
4. If the issue persists, send
used for the encoder cable.
Delta.
AL030: Motor crash error

1. If it is enabled by mistake,
please set P1-57 to zero.
2. According to the actual
1. Check if P1-57 is enabled. torque setting, if the value
Motor Crash Error 2. Check if P1-57 is set too small is set too small, the alarm
and the time of P1-58 is set too will be triggered by
short. mistake. However, if the
value is set too big, it will
lose the function of
protection.
9-12
AL031: Incorrect wiring of the motor power line U, V, W

The wiring of U, V, W
Follow the user manual to
of the motor is Check if U, V, W of the motor is
correctly wire U, V, and W
incorrect connected incorrect connected or the
and make sure it is
or the connection is connection is breakdown.
grounded.
breakdown.
AL035: Encoder temperature exceeds the protective range

Check if the environment
Encoder temperature Try to reduce operating
temperature is excessive or the
is over 120°C. temperature.
motor temperature is over 105°C.
AL048: Excessive encoder output error

Exam error recording (P4-00 ~
Encoder error causes Please refer to the corrective
P4-05) to check if encoder error also
abnormal encoder actions of AL011, AL024,
occurs. (AL011, AL024, AL025,
output. AL025, and AL026.
AL026)
Check if following conditions occur: Correctly set P1-76 and

The output pulse P1-46:
P1-76 < Motor speed or
exceeds hardware P1-76 > Motor speed and
Motor speed
tolerance.  P1  46  4  19.8  106 Motor speed
60  P1  46  4  19.8  106
60
AL067: Encoder temperature warning

Check if the operating temperature is
Encoder temperature Try to reduce operating
excessive or the motor temperature
is over 100°C. temperature.
is over 85°C.
9-13
AL083: Servo Drive Outputs Excessive Current

Check the configuration of motor
Replace by new UVW cable
power cable and connector cable.
UVW cable is short- and avoid the metal
See if the metal wire is exposed or
circuited conductor being exposed so
AWG is worn and causes short
as to eliminate short-circuit.
circuit of UVW cable.
1. If applying non-standard power
cable recommended by Delta,
please check if the wiring
sequence of UVW cable is Please refer to the
correct. description of wiring in
Wrong motor wiring
2. Check if there is any problem of Chapter 3 and conduct the
lack phase when connecting wiring again.
UVW from servo to motor
(unconnected or wrong
connection)
Please refer to Chapter 3 and
Analog signal (GND) conduct the wiring again.
Check if the GND of analog signal is
from servo drive is GND of analog signal cannot
misconnected to other signal.
interfered be grounded with other
signals.
AL085: Regeneration error

Calculate the value of the
Choose wrong regenerative resistor again
regenerative resistor or and correctly set the value of
Check the connection of
does not connect to P1-52 and P1-53. If issue
external regenerative persists, please send the
resistor drive back to the distributors
or contact Delta.
Parameter P1-53 is not
Set parameter P1-53 of
set to zero when the Check if parameter P1-53 of
regenerative resistor to zero
regenerative resistor is regenerative resister is set to zero.
when it is not applying.
not in use.
Wrong parameter Check the setting value of Correctly reset the value of
setting parameter P1-52 and P1-53. P1-52 and P1-53.
AL086: Regeneration resistor overload

Incorrect selection of
the regenerative
Check the connection for the
resistor or no Correctly set the values of
regenerative resistor and the
connection to an P1-52 and P1-53.
settings of P1-52 and P1-53.
external regenerative
resistor.
9-14

If the regenerative energy
exceeds the setting of P1-53,
Incorrect parameter Reassess whether the regenerative
replace the regenerative
settings for P1-52 and energy exceeds the setting of P1-
resistor with a regenerative
P1-53. 53.
resistor that has a higher
capacity.
If the voltage value does not
Other energy (such as match the displayed DC Bus
interference) is input to voltage value when you enter
the servo drive or the Measure the voltage between P3 the monitoring code 14 to
input voltage is higher and terminals. P0-02, the servo drive may
than the allowable be malfunctioning. Send your
rated voltage. servo drive back to the
distributor or contact Delta.
If you took the preceding actions If there is interference,
and the issue persists, use a scope remove the interference
Interference with a differential probe to measure source, and use the right
whether the input voltage has high- voltage source or connect
frequency signal interference. the regulator in series.
AL099: DSP firmware upgrade

Firstly set P2-08 to 30.
Then set P2-08 to 28, the
Upgrade DSP firmware Check if the firmware is upgraded.
alarm will be cleared when
re-power on.
AL555: System failure

If AL555 occurs, do not do
any anything and send the
DSP processing error N/A
or contact Delta.
AL880: System failure

If AL880 occurs, do not do
any anything and send the
DSP processing error N/A
or contact Delta.
9-15
9.3 Corrective Actions after the Alarm Occurs
AL001 Over current Turn DI.ARST on to clear the alarm

AL002 Over voltage Turn DI.ARST on to clear the alarm
Cycle power on the servo drive to
clear the alarm.
AL003 Under voltage For the alarm to clear automatically
after the voltage returns to normal,
please set with P2-66 Bit2.
The magnetic field of the motor is The alarm can be cleared after re-
AL004 abnormal
power on.
AL005 Regeneration error Turn DI.ARST on to clear the alarm
AL006 Overload Turn DI.ARST on to clear the alarm
AL007 Excessive speed deviation Turn DI.ARST on to clear the alarm
AL008 Abnormal pulse command Turn DI.ARST on to clear the alarm
Excessive deviation of position
AL009 control Turn DI.ARST on to clear the alarm
AL010 Voltage error during regeneration Turn DI.ARST on to clear the alarm
The alarm can be cleared after
AL011 Encoder error re-power on.
The alarm can be cleared when
AL012 Adjustment error removing CN1 wiring and execute
auto adjustment.
The alarm can be cleared
AL013 Emergency stop automatically after turning DI.EMGS
off.
Turn DI.ARST on or Servo Off to
clear the alarm. The alarm also can
AL014 Reverse limit error
be cleared when the motor operates
backwards.
Turn DI.ARST on or Servo Off to
clear the alarm. The alarm also can
AL015 Forward limit error
be cleared when the motor operates
backwards.
The temperature of IGBT is abnormal
AL016 error Turn DI.ARST on to clear the alarm
If the alarm occurs, then parameter

reset is a must. And re-servo on
AL017 Abnormal EEPROM again. If it happens during the
operation, please turn DI.ARST on
to clear the alarm.
9-16
AL018 Abnormal signal Turn DI.ARST on to clear the alarm

AL019 Serial communication error Turn DI.ARST on to clear the alarm
AL020 Serial communication time out Turn DI.ARST on to clear the alarm
AL022 Main circuit power leak phase Turn DI.ARST on to clear the alarm
AL023 Early warning for overload Turn DI.ARST on to clear the alarm
AL024 Encoder initial magnetic field error
re-power on.
AL025 The internal of the encoder is in error re-power on.
AL026 The encoder is in error re-power on.
AL02D Encoder not responding re-power on.
AL030 Motor crash error Turn DI.ARST on to clear the alarm
AL031 Incorrect wiring of the motor power
line U, V, W, GND re-power on.
AL035 Encoder temperature exceeds the
protective range re-power on.
AL048 Excessive encoder output error Turn DI.ARST on to clear the alarm
The alarm will be cleared when the
AL067 Encoder temperature warning temperature back to normal.
AL083 Servo drive outputs excessive current Turn DI.ARST on to clear the alarm
AL085 Regeneration error Turn DI.ARST on to clear the alarm
AL086 Regenerative resistor overload Turn DI.ARST on to clear the alarm
Firstly set P2-08 to 30. Then set it to
AL099 DSP firmware upgrade 28. And the alarm will be cleared
after re-power on.
AL555 DSP processing error N/A
AL880 DSP processing error N/A
9-17
9-18
Chapter 10 Specifications
10.1 Specifications of Servo Drives (ASDA-B2 Series)
100W 200W 400W 750W 1kW 1.5kW 2kW 3kW

ASDA-B2 Series
01 02 04 07 10 15 20 30
Three-phase
Three-phase: 170 ~ 255 VAC, 50 / 60 Hz ±5%
Phase / Voltage 170 ~ 255 VAC
Single-phase: 200 ~ 255 VAC, 50 / 60Hz ±5%
50 / 60 Hz ±5%
Power
Input Current (3PH) 0.7 1.11 1.86 3.66 4.68 5.9 8.76 9.83
Unit: Arms
Input Current (1PH) 0.9 1.92 3.22 6.78 8.88 10.3 - -
Unit: Arms
Continuous Output Current 0.9 1.55 2.6 5.1 7.3 8.3 13.4 19.4
Unit: Arms
Cooling Method Natural cooling Fan cooling
Encoder Resolution /
17-bit (160000 p/rev)
Feedback Resolution
Main Circuit Control SVPWM Control
Control Mode Manual / Auto
Regenerative Resistor None Built-in
Line driver: 500 K (low-speed) / 4 Mpps (high-speed)
Max. Input Pulse Frequency
Open collector: 200 Kpps
Position Control Mode
Pulse Type Pulse + Symbol, A phase + B phase, CCW pulse + CW pulse

Command Source External pulse
Smoothing Strategy Low-pass filter
E-gear ratio: N/M time(s). The limit is: (1/50 < N/M < 25600)
E-gear Ratio
N：1 ~ (226-1) / M：1 ~(231-1）
Torque Limit Parameter settings
Feed Forward Compensation Parameter settings
Voltage Range 0 ~ ±10 VDC
Speed Control Mode
Analog
Input
Command 10 K
Resistance
Input
Time Constant 2.2 μs
Speed Control Range*1 1:5000
Command Source External analog command / Register
Smoothing Strategy Low-pass and S-curve filter
10-1
Chapter 10 Specifications ASDA-B2
100W 200W 400W 750W 1kW 1.5kW 2kW 3kW

ASDA-B2 Series
01 02 04 07 10 15 20 30
Torque Limit Via parameter setting of analog input
Speed Control Mode
Bandwidth Maximum 550 Hz
0.01% or less at 0 to 100% load fluctuation
Speed Accuracy*2 0.01% or less at ±10% power fluctuation
0.01% or less at 0 ~ 50°C ambient temperature fluctuation

Voltage Range 0 ~ ±10 VDC
Torque Control Mode
Analog
Input
Command 10K
Resistance
Input
Time Constant 2.2 μs
Command Source External analog command / Register
Smoothing Strategy Low-pass filter
Speed Limit Via parameter setting or analog input
Monitor signal can be set by parameters
Analog Monitor Output
(Output voltage range: ±8V)
Servo on, Fault reset, Gain switch, Pulse clear, Zero clamp,
Command input reverse control, Torque limit, Speed limit, Speed
command selection, Speed / position mode switching, Speed /
Input torque mode switching, Torque / position mode switching,
Emergency stop, Positive/negative limit, Forward/reverse operation
Digital Input / torque limit, Forward / reverse JOG input, E-gear N selection, Pulse
Output input prohibition
A, B, Z Line Driver output
Output Servo on, Servo ready, Zero speed, Target speed reached, Target
position reached, Torque limiting, Servo alarm, Brake control, Early
warning for overload, Servo warning
Over current, Overvoltage, Under voltage, Overheat, Overload,
Excessive speed deviation, Excessive position deviation, Encoder
Protective Funciton
error, Regenerative error, Communication error, Register error,
Short-circuit protection of terminal U, V, W and CN1, CN2, CN3
Communication Interface RS-232 / RS-485
Indoors (avoid the direct sunlight), no corrosive fog (avoid fume,
Installation Site
flammable gas and dust)
Altitude Altitude 1000 m or lower above sea level
Environment
Atmospheric pressure 86 kPa ~ 106 kPa

0°C ~ 55°C
Operating Temperature (If operating temperature is above 45°C, forced cooling will be
required)
Storage Temperature -20°C ~ 65°C
Humidity 0 ~ 90% RH (non-condensing)
10-2
ASDA-B2 Chapter 10 Specifications
100W 200W 400W 750W 1kW 1.5kW 2kW 3kW

ASDA-B2 Series
01 02 04 07 10 15 20 30
2
9.80665 m/s (1 G) less than 20 Hz,
Vibration 2
5.88 m/ s (0.6 G) 20 to 50 Hz
Environment
IP Rating IP20
Power System TN system*4
IEC/EN 61800-5-1, UL508C
Approvals
Note:
*1. When it is in rated load, the speed ratio is: the minimum speed (smooth operation) / rated
speed.
*2. When the command is the rated speed, the velocity correction ratio is: (rotational speed with
no load – rotational speed with full load) / rated speed.
*3. Refer to Section 10.4 for overload features.
*4. TN system: The neutral point of the power system connects to the ground directly.
The exposed metal components connect to the ground via the protective earth conductor.
10-3
10.2 Specifications of Servo Motors (ECMA Series)
Low Inertia Servo Motors

C△04 C△06 C△08 C△09 C△10 C△13
ECMA
01 02 04□S 04 07 07 10 10 20 30
Rated power (kW) 0.1 0.2 0.4 0.4 0.75 0.75 1.0 1.0 2.0 3.0
Rated torque (N-m) *1 0.32 0.64 1.27 1.27 2.39 2.38 3.18 3.18 6.37 9.55
Max. torque (N-m) 0.96 1.92 3.82 3.82 7.16 7.14 8.78 9.54 19.11 28.65
Rated speed (r/min) 3000
Max. speed (r/min) 5000 3000 5000 4500
Rated current (A) 0.90 1.55 2.60 2.60 5.10 3.66 4.25 7.30 12.05 17.2
Max. instantaneous
2.70 4.65 7.80 7.74 15.3 11 12.37 21.9 36.15 47.5
current (A)
Max. power pwer second
27.7 22.4 57.6 24.0 50.4 29.6 38.6 38.1 90.6 71.8
(kW/s)
Rotor inertia
0.037 0.177 0.277 0.68 1.13 1.93 2.62 2.65 4.45 12.7
(× 10-4kg.m2)
Mechanical constant (ms) 0.75 0.80 0.53 0.74 0.63 1.72 1.20 0.74 0.61 1.11
Torque constant-KT
0.36 0.41 0.49 0.49 0.47 0.65 0.75 0.44 0.53 0.557
(N-m/A)
Voltage constant-KE
13.6 16.0 17.4 18.5 17.2 24.2 27.5 16.8 19.2 20.98
(mV/(r/min))
Armature resistance
9.30 2.79 1.55 0.93 0.42 1.34 0.897 0.20 0.13 0.0976
(Ohm)
Armature inductance
24.0 12.07 6.71 7.39 3.53 7.55 5.7 1.81 1.50 1.21
(mH)
Electric constant (ms) 2.58 4.30 4.30 7.96 8.36 5.66 6.35 9.30 11.4 12.4
Insulation class Class A (UL), Class B (CE)
Insulation resistance >100 M, DC 500V
Insulation strength 1.8k Vac, 1 sec
Weight - without brake
0.5 1.2 1.6 2.1 3.0 2.9 3.8 4.3 6.2 7.8
(kg)
Weight - with brake (kg) 0.8 1.5 2.0 2.9 3.8 3.69 5.5 4.7 7.2 9.2
Radial max. loading (N) 78.4 196 196 245 245 245 245 490 490 490
Axial max. loading (N) 39.2 68 68 98 98 98 98 98 98 98
Max. power per second
25.6 21.3 53.8 22.1 48.4 29.3 37.9 30.4 82.0 65.1
(kW/s) (with brake)
Rotor inertia
0.04 0.19 0.30 0.73 1.18 1.95 2.67 3.33 4.95 14.0
(× 10 kg.m2) (with brake)
-4
Mechanical constant (ms)

0.81 0.85 0.57 0.78 0.65 1.74 1.22 0.93 0.66 1.22
(with brake)
Brake operating voltage 24VDC ± 10%
10-4
C△04 C△06 C△08 C△09 C△10 C△13

ECMA
01 02 04□S 04 07 07 10 10 20 30
Brake power consumption
7.3 6.5 6.5 8.2 8.2 8.2 8.2 18.7 18.7 19.0
(at 20°C) [W]
Brake holding torque
0.3 1.3 1.3 2.5 2.5 2.5 2.5 8.0 8.0 10.0
[Nt-m (min)] *2
Brake release time
20 20 20 40 40 40 40 20 20 50
[ms (Max)]
Brake pull-in time
35 70 70 70 70 70 70 100 100 110
[ms (Max)]
Vibration grade (um) 15
Operating temperature 0 ~ 40°C
Storage temperature -10 ~ +80°C
Operating humidity 20% to 90% RH (non-condensing)
Storage humidity 20% to 90% RH (non-condensing)
Vibration capacity 2.5 G
IP65 (when waterproof connectors are used, or when an oil seal is used
IP rating
to be fitted to the rotating shaft (an oil seal model is used))
Approvals
Note:
*1. The rated torque is the continuous permissible torque between 0 ~ 40°C operating
temperature which is suitable for the following heat sink dimension.
ECMA-__04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-__10: 300 mm x 300 mm x 12 mm
ECMA-__13: 400 mm x 400 mm x 20 mm
ECMA-__18: 550 mm x 550 mm x 30 mm
Material: Aluminum – F40, F60, F80, F100, F130, F180
*2. The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to
decelerate or as the dynamic brake.
10-5
Medium / High Inertia Servo Motors

E△13 E△18 G△13
ECMA
05 10 15 20 20 30 35 03 06 09
Rated power (kW) 0.5 1.0 1.5 2.0 2.0 3.0 3.8 0.3 0.6 0.9
Rated torque (N-m) *1 2.39 4.77 7.16 9.55 9.55 14.32 16.71 2.86 5.73 8.59
Max. torque (N-m) 7.16 14.32 21.48 28.65 28.65 42.97 50.13 8.59 17.19 21.48
Rated speed (r/min) 2000 1000
Max. speed (r/min) 3000 2000
Rated current (A) 2.9 5.6 8.3 11.01 11.22 16.1 19.2 2.5 4.8 7.5
Max. instantaneous
8.7 16.8 24.81 33.0 33.66 48.3 57.6 7.44 14.49 22.5
current (A)
7.0 27.1 45.9 62.5 26.3 37.3 50.8 10.0 39.0 66.0
(kW/s)
Rotor inertia
8.17 8.41 11.18 14.59 34.68 54.95 54.95 8.17 8.41 11.18
(× 10-4kg.m2)
Mechanical constant
1.91 1.51 1.10 0.96 1.62 1.06 1.08 1.84 1.40 1.06
(ms)
Torque constant-KT
0.83 0.85 0.87 0.87 0.85 0.89 0.87 1.15 1.19 1.15
(N-m/A)
Voltage constant-KE
30.9 31.9 31.8 31.8 31.4 32.0 32 42.5 43.8 41.6
(mV/(r/min))
Armature resistance
0.57 0.47 0.26 0.174 0.119 0.052 0.052 1.06 0.82 0.43
(Ohm)
Armature inductance
7.39 5.99 4.01 2.76 2.84 1.38 1.38 14.29 11.12 6.97
(mH)
Electric constant (ms) 12.96 12.88 15.31 15.86 23.87 26.39 26.39 13.55 13.50 16.06
Insulation strength 1.8k Vac,1 sec
Weight - without
6.8 7.0 7.5 7.8 13.5 18.5 18.5 6.8 7.0 7.5
brake(kg)
Weight - with brake (kg) 8.2 8.4 8.9 9.2 17.5 22.5 22.5 8.2 8.4 8.9
Radial max. loading (N) 490 490 490 490 1176 1470 490 490 490 490
Axial max. loading (N) 98 98 98 98 490 490 98 98 98 98
6.4 24.9 43.1 59.7 24.1 35.9 48.9 9.2 35.9 62.1
(kW/s) (with brake)
Rotor inertia
8.94 9.14 11.90 15.88 37.86 57.06 57.06 8.94 9.14 11.9
(× 10 kg.m2) (with brake)
-4
Mechanical constant
2.07 1.64 1.19 1.05 1.77 1.10 1.12 2.0 1.51 1.13
(ms) (with brake)
Brake power
consumption 19.0 19.0 19.0 19.0 20.4 20.4 20.4 19.0 19.0 19.0
(at 20°C) [W]
10.0 10.0 10.0 10.0 25.0 25.0 10.0 10.0 10.0 10.0
[Nt-m (min)] *2
10-6
E△13 E△18 G△13

ECMA
05 10 15 20 20 30 35 03 06 09
Brake release time
50 50 50 50 30 30 30 50 50 50
[ms (Max)]
Brake pull-in time
110 110 110 110 120 120 120 110 110 110
[ms (Max)]
Vibration grade (μm) 15
IP65 (when waterproof connectors are used, or when an oil seal is used
IP rating
to be fitted to the rotating shaft (an oil seal model is used))
Approvals
Note:
*1. The rated torque is the continuous permissible torque between 0 ~ 40°C operating temperature
which is suitable for the following heat sink dimension.
ECMA-__04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-__10: 300 mm x 300 mm x 12 mm
ECMA-__13: 400 mm x 400 mm x 20 mm
ECMA-__18: 550 mm x 550 mm x 30 mm
10-7
Medium-high / High Inertia Servo Motors

F△13 F△18
ECMA Series
08 30 18 30
Rated power (kW) 0.85 1.3 1.8 3.0
Rated torque (N-m) *1 5.41 8.34 11.48 19.10
Max. torque (N-m) 13.8 23.3 28.7 57.29
Rated speed (r/min) 1500
Max. speed (r/min) 3000
Rated current (A) 7.1 12.6 13 19.4
Max. instantaneous current (A) 19.4 38.6 36 58.2
Max. power per second (kW/s) 21.52 34.78 52.93 66.4
Rotor inertia (× 10-4kg.m2) 13.6 20 24.9 54.95
Mechanical constant (ms) 2.43 1.62 1.7 1.28
Torque constant-KT (N-m/A) 0.76 0.66 0.88 0.98
Voltage constant-KE
29.2 24.2 32.2 35.0
(mV/(r/min))
Armature resistance (Ohm) 0.38 0.124 0.185 0.077
Armature inductance (mH) 4.77 1.7 2.6 1.27
Electric constant (ms) 12.55 13.71 14.05 16.5
Weight - without brake (kg) 8.6 9.4 10.5 18.5
Weight - with brake (kg) 10.0 -- -- 22.5
Radial max. loading (N) 490 490 490 1470
Axial max. loading (N) 98 98 98 490
Max. power per second (kW/s)
19.78 32.66 50.3 63.9
(with brake)
Rotor inertia
14.8 21.3 26.2 57.06
(× 10-4kg.m2) (with brake)
Mechanical constant (ms)
2.65 1.73 1.79 1.33
(with brake)
Brake power consumption
19.0 19.0 19.0 20.4
(at 20°C) [W]
10.0 10.0 10.0 25.0
[Nt-m (min)] *2
10-8
F△13 F△18
ECMA
08 13 18 08
Brake release time [ms (Max)] 50 50 50 30
Brake pull-in time [ms (Max)] 110 110 110 120
IP65 (when waterproof connectors are used, or when an oil seal is
IP rating
used to be fitted to the rotating shaft (an oil seal model is used))
Approvals*3
Note:
ECMA-__04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-__10: 300 mm x 300 mm x 12 mm
ECMA-__13: 400 mm x 400 mm x 20 mm
ECMA-__18: 550 mm x 550 mm x 30 mm
*3. The application of UL safety compliance for ECMA-F11308, ECMA-F11313, ECMA-F11318
is under processing.
*4. If desire to reach the max. torque limit of motor 250%, it is suggested to use the servo drive
with higher watt.
10-9
High Inertia Series

C△06 C△08
ECMA
04□H 07□H
Rated power (kW) 0.4 0.75
Rated torque (N-m)*1 1.27 2.39
Max. torque (N-m) 3.82 7.16
Rated speed (r/min) 3000 3000
Max. speed (r/min) 5000 5000
Rated current (A) 2.6 5.1
Max. instantaneous current (A) 7.8 15.3
Max. power per second (kW/s) 21.7 19.63
Rotor inertia (× 10-4kg.m2) 0.743 2.91
Mechanical constant (ms) 1.42 1.6
Torque constant – KT(N-m/A) 0.49 0.47
Voltage constant – KE (mV/(r/min)) 17.4 17.2
Armature resistance (Ohm) 1.55 0.42
Armature inductance (mH) 6.71 3.53
Electric constant (ms) 4.3 8.36
Insulation resistance ＞100 M, DC 500V

Weight – without brake (kg) 1.8 3.4
Weight – with brake (kg) 2.2 3.9
Radial max. loading (N) 196 245
Axial max. loading (N) 68 98
Max. power per second (kW/s)
21.48 19.3
(with brake)
Rotor inertia (× 10-4kg.m2) (with brake) 0.751 2.96
Mechanical constant (ms) (with brake) 1.43 1.62
Brake power consumption (at 20°C) [W] 6.5 8.2
Brake holding torque [Nt-m (min)] *2 1.3 2.5
Brake release time [ms (Max)] 20 40
Brake pull-in time [ms (Max)] 70 70
10-10
C△06 C△08
ECMA
04□H 07□H
Operating temperature (°C) 0°C ~ 40°C
Storage temperature (°C) -10°C ~ 80°C
Operating humidity 20 ~ 90%RH (non-condensing)
Storage humidity 20 ~ 90%RH (non-condensing)
Vibration capacity 2.5G
IP65 (use the waterproof connector and shaft seal
IP Rating
installation (or oil seal)
Approvals
Note:
ECMA-__04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-__10: 300 mm x 300 mm x 12 mm
ECMA-__13: 400 mm x 400 mm x 20 mm
ECMA-__18: 550 mm x 550 mm x 30 mm
*3. If desire to reach the max. torque limit of motor 250%, it is suggested to use the servo drive
with higher watt.
10-11
10.3 Torque Features (T-N Curves)
Torque
(N-m)
Torque (N-m) Torque(N-m) 3.82

(300%)
0.96 1.92 Acceleration /
(300%) (300%) Deceleration
Acceleration/ area
Acceleration/ Deceleration
Deceleration area
1.27
area (100%)
0.64 0.763 Continuous
0.32
(100%) (100%) (60%) area
Continuous Speed
0.19 Continuous 0.38
area area 3000 5000 (r/min)
(60%) (60%)
Speed (r/min) Speed(r/min)
3000 5000 3000 5000 ECMA-C10604□S, ECMA-C10604□H
ECMA-C10401□S ECMA-C10602□S ECMA-C10804□7
Torque
(N-m) Torque (N-m) Torque (N-m)
7.16 8.78
7.14
(300%) (276%)
(298%) 6.00
Acceleration / Acceleration
Acceleration (251%)
Deceleration /Deceleration /Deceleration
area area area
2.39 2.38 3.18
(100%) (100%) (100%)
1.43 Continuous Continuous Continuous
(60%) area area area
Speed
Speed (r/min) Speed (r/min)
3000 5000 (r/min)
2000 3000 2000 3000
ECMA-C10807□S, ECMA-C10807□H ECMA-C10907□S ECMA-C10910□S
Torque (N-m)
Torque (N-m) Torque (N-m)
9.54 28.65
19.11
(300%) (300%)
(300%)
Acceleration
Acceleration/
Acceleration
/Deceleration /Deceleration Deceleration
area area area
3.18 6.37 9.55
(100%) (100%) (100%)
Continuous Continuous 6.40 Continuous
1.91 3.82
area area (67%) area
(60%) (60%)
Speed (r/min) Speed (r/min) Speed (r/min)
3000 5000 3000 5000 3000 4500
ECMA-C11010□S ECMA-C11020□S ECMA-C11330□4

Torque (N-m)
14.32 21.5
7.16 (300%) (300%)
(300%)
Acceleration Acceleration
Acceleration /Deceleration /Deceleration
/Deceleration area area
area
4.77 7.16
2.39
(100%) (100%)
(100%) Continuous Continuous
1.6 Continuous 3.2 4.8
area area
(67%) area (67%) (67%)
2000 3000 2000 3000 2000 3000
ECMA-E11305□S ECMA-E11310□S ECMA-E11315□S
Torque (N-m)
Torque (N-m)
28.66 Torque (N-m)
28.66
(300%)
(300%) 42.97
Acceleration (300%)
Acceleration
/Deceleration
/Deceleration Acceleration
area
area /Deceleration
9.55 area
9.55
(100%) (100%) 14.32
6.4 Continuous Continuous (100%)
area 6.4 Continuous
(67%) area 9.59
(67%) (67%)
area
2000 3000 2000 3000 2000 3000
ECMA-E11320□S ECMA-E11820□S ECMA-E11830□S
10-12
Torque (N-m)
Torque (N-m)
Torque (N-m)
50.13
(300%)
13.80 23.3
Acceleration/ (280%)
(255%)
Deceleration Acceleration /
Acceleration /
area Deceleration Deceleration
16.71 area area
7(130%)
(100%) 8.34
Continuous 5.41(100%) (100%)
11.20 Continuous Continuous
(67%) area 2.70 area 4.17
(50%) area
Speed (r/min) (50%) Speed (r/min) Speed (r/min)
2000 3000 1500 2300 3000 1500 3000
ECMA-E11835□S ECMA-F11308□S ECMA-F11313□S
Torque (N-m)
8.59
57.29
28.7
(300%)
(300%)
(250%) Acceleration
Acceleration
Acceleration / /Deceleration
/Deceleration
Deceleration area area
11.48 area 19.10 2.86

(100%) (100%) (100%)
Continuous Continuous 1.43 Continuous
5.74 9.55 area
area area (50%)
(50%) (50%)
1500 2200 3000 1500 3000 1000 2000
ECMA-F11318□S ECMA-F11830□S ECMA-G11303□S
Torque (N-m)
Torque (N-m)
17.19
(300%)
21.48
Acceleration (250%)
/Deceleration
Acceleration
area /Deceleration
5.73 area
8.59
(100%) (100%)
2.87 Continuous Continuous
area 4.29
(50%) area
(50%)
Speed (r/min) Speed (r/min)
1000 2000 1000 2000
ECMA-G11306□S ECMA-G11309□S
10-13
10.4 Overload Features
Definition of overload protection

The overload protection is to prevent the motor in overheat status.
Cause of overload
(1) When the motor operates over the rated torque, the operation time is too long.
(2) The inertia ratio is set too big and frequently accelerate / decelerate.
(3) Connection error between the power cable and encoder wiring.
(4) Servo gain setting error and cause resonance of the motor.
(5) The motor with brake operates without releasing the brake.
The graph of load and operating time
Low Inertia Series (ECMA C, CM Series)
10-14
Medium and Medium-High Inertia Series (ECMA E, F Series)
High Inertia Series (ECMA G, GM Series)
10-15
10.5 Dimensions of Servo Drives

Screw tightening torque for terminal block
100 W~1.5 kW: 6~8 (kgf-cm)
2 kW~3 kW: 14~16 (kgf-cm)
C 70(2.76) B
Ø 5(0.19)
E A
GROUNDING
D
Screw tightening torque

for CN1 and CN2
2.5~3.0 (kgf-cm)
SCREW: M4×0.7
Screw
tightening
Power A B C D E Weight
torque for
terminal block
100 W -
162 (6.38) 155.9 (6.13) 60.2 (2.37) 49 (1.92) 152 (5.98) 1074 g 6 to 8 kgf-cm
400 W
750 W 162 (6.38) 163.4 (6.43) 79.5 (3.12) 49 (1.92) 152 (5.98) 1543 g 6 to 8 kgf-cm
1 kW -
162 (6.38) 189.4 (7.45) 85.1 (3.35) 74 (2.91) 152 (5.98) 1722 g 6 to 8 kgf-cm
1.5 kW
2 kW - 14 to 16
225 (8.85) 198.2 (7.8) 113.5 (4.47) 102 (4.01) 213 (8.38) 2667 g
3 kW kgf-cm
Note: (1) Dimensions are in millimeters (inches); Weights are in kilograms (kg)
and (pounds (lbs)).
(2) Dimensions and weights of the servo drive may be revised without
prior notice.
10-16
10.6 Dimensions of Servo Motors
Motor Frame Size: 86 mm and below Models (Units: mm)

300±50
300±50 LG LR
LE
TP
LS
LW
Ø LBh7
Ø Sh6
□LC
RH
KEY DETAILS SHAFT END DETAILS
LL
Model C△0401□S C△0602□S C△0604□S C△0604□H

LC 40 60 60 60
LZ 4.5 5.5 5.5 5.5
LA 46 70 70 70
S 8(00.009 ) 14(00.011) 14(00.011) 14(00.011)
LB 30(00.021) 50(00.025 ) 50(00.025 ) 50(00.025 )
LL (without brake) 100.6 105.5 130.7 145.8
LL (with brake) 136.6 141.6 166.8 176.37
LS 20 27 27 27
LR 25 30 30 30
LE 2.5 3 3 3
LG 5 7.5 7.5 7.5
LW 16 20 20 20
RH 6.2 11 11 11
WK 3 5 5 5
W 3 5 5 5
T 3 5 5 5
M3 M4 M4 M4
TP
Depth 8 Depth 15 Depth 15 Depth 15
Note:
(1) Dimensions are in millimeters.
(2) Dimensions and weights of the servo motor may be revised without
prior notice.
(3) The boxes () in the model names represent shaft end / brake or the number of oil
seal.
(4) Please refer to Chapter 1 for the boxes (△ ) in the model names
(which represents encoder type).
10-17
Motor Frame Size: 86 mm and below Models (Units: mm)

300±50
300±50 LG LR
LE
TP
LS
LW
Ø LBh7
Ø Sh6
□LC
RH
KEY DETAILS SHAFT END DETAILS
LL
Model C△0804□7 C△0804□S C△0807□H C△0907□S C△0910□S

LC 80 80 80 86 86
LZ 6.6 6.6 6.6 6.6 6.6
LA 90 90 90 100 100
S 14(00.011) 19(00.013 ) 19(00.013 ) 16(00.011) 16(00.011)
LB 70(00.030 ) 70(00.030 ) 70(00.030 ) 80(00.030 ) 80(00.030 )
LL (without brake) 112.3 138.3 151.1 130.2 153.2
LL (with brake) 152.8 178 189 161.3 184.3
LS 27 32 32 30 30
LR 30 35 35 35 35
LE 3 3 3 3 3
LG 8 8 8 8 8
LW 20 25 25 20 20
RH 11 15.5 15.5 13 13
WK 5 6 6 5 5
W 5 6 6 5 5
T 5 6 6 5 5
M4 M6 M6 M5 M5
TP
Depth 15 Depth 20 Depth 20 Depth 15 Depth 15
Note: (1) Dimensions are in millimeters.

prior notice.
seal.
10-18
Motor Frame Size: 100 mm ~ 130 mm Models (Units: mm)
Model C△1010□S C△1020□S C△1330□4 E△1305□S E△1310□S E△1315□S E△1320□S

LC 100 100 130 130 130 130 130
LZ 9 9 9 9 9 9 9
LA 115 115 145 145 145 145 145
22(00.013) 22(00.013) 22(00.013) 22(00.013) 22(00.013)
0
S 24(0.013) 22(00.013)
95(00.035) 95(00.035) 110(00.035) 110(00.035) 110(00.035)

0
LB 110(0.035) 110(00.035)
LL
(without 153.3 199 187.5 147.5 147.5 167.5 187.5
brake)
LL
192.5 226 216.0 183.5 183.5 202 216
(with brake)
LS 37 37 47 47 47 47 47
LR 45 45 55 55 55 55 55
LE 5 5 6 6 6 6 6
LG 12 12 11.5 11.5 11.5 11.5 11.5
LW 32 32 36 36 36 36 36
RH 18 18 20 18 18 18 18
WK 8 8 8 8 8 8 8
W 8 8 8 8 8 8 8
T 7 7 7 7 7 7 7
M6 M6 M6 M6 M6 M6 M6
TP
Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20

prior notice.
seal.
10-19
Motor Frame Size: 100 mm ~ 130 mm Models (Units: mm)
Model F△1308□S F△1313□S F△1318□S G△1303□S G△1306□S G△1309□S

LC 130 130 130 130 130 130
LZ 9 9 9 9 9 9
LA 145 145 145 145 145 145
S 22(00.013) 22(00.013) 22(00.013) 22(00.013) 22(00.013) 22(00.013)
LB 110(00.035) 110(00.035) 110(00.035) 110(00.035) 110(00.035) 110(00.035)
LL
152.5 187.5 202 147.5 147.5 163.5
(without brake)
LL
181 216 230.7 183.5 183.5 198
(with brake)
LS 47 47 47 47 47 47
LR 55 55 55 55 55 55
LE 6 6 6 6 6 6
LG 11.5 11.5 11.5 11.5 11.5 11.5
LW 36 36 36 36 36 36
RH 18 18 18 18 18 18
WK 8 8 8 8 8 8
W 8 8 8 8 8 8
T 7 7 7 7 7 7
M6 M6 M6 M6 M6 M6
TP
Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20

prior notice.
seal.
10-20
Motor Frame Size: 180 mm Models (Units: mm)
Model E△1820□S E△1830□S E△1835□ S F△1830□S

LC 180 180 180 180
LZ 13.5 13.5 13.5 13.5
LA 200 200 200 200
S 35(00.016 ) 35(00.016 ) 35(00.016) 35(00.016 )
LB 114.3(00.035 ) 114.3(00.035 ) 114.3(00.035) 114.3(00.035 )
LL (without brake) 169 202.1 202.1 202.1
LL (with brake) 203.1 235.3 235.3 235.3
LS 73 73 73 73
LR 79 79 79 79
LE 4 4 4 4
LG 20 20 20 20
LW 63 63 63 63
RH 30 30 30 30
WK 10 10 10 10
W 10 10 10 10
T 8 8 8 8
M12 M12 M12 M12
TP
Depth 25 Depth 25 Depth 25 Depth 25

prior notice.
(3) The boxes () in the model names are for optional configurations.
(Please refer to section 1.2 for model explanation.)
(4) Please refer to Chapter 1 for the boxes (△) in the model names
10-21
10-22
Appendix A Accessories
 Power Connectors
Delta Part Number: ASDBCAPW0000 (for 220V servo drives)
Delta Part Number:ASDBCAPW0100 (for 220V servo drives with brake contact)
Delta Part Number: ASD-CAPW1000
Delta Part Number: ASD-CAPW2000
A-1
Appendix A Accessories ASDA-B2
 Power Cables
Delta Part Number: ASDBCAPW0203 / 0205
L
Title Part No.
mm inch
1 ASDBCAPW0203 3000  50 118  2
2 ASDBCAPW0205 5000  50 197  2
L
Title Part No.
mm inch
1 ASDBCAPW0303 3000  50 118  2
2 ASDBCAPW0305 5000  50 197  2
A-2
ASDA-B2 Appendix A Accessories

YF3.5-3SG
3106A-20-18S
L
L
Title Part No. Straight
mm inch
1 ASDBCAPW1203 3106A-20-18S 3000  50 118  2
2 ASDBCAPW1205 3106A-20-18S 5000  50 197  2
YF3.5-3SG
3106A-20-18S
L
L
mm inch
1 ASDBCAPW1303 3106A-20-18S 3000  50 118  2
2 ASDBCAPW1305 3106A-20-18S 5000  50 197  2
Delta Part Number: ASD-CAPW2203 / 2205
L
mm inch
1 ASD-CAPW2203 3106A-24-11S 3000  50 118  2
2 ASD-CAPW2205 3106A-24-11S 5000  50 197  2
A-3
Delta Part Number: ASD-CAPW2303 / 2305
L
mm inch
1 ASD-CAPW2303 3106A-24-11S 3000  50 118  2
2 ASD-CAPW2305 3106A-24-11S 5000  50 197  2
 Encoder Connectors
Delta Part Number: ASDBCAEN0000
Delta Part Number: ASDBCAEN1000
A-4
 Encoder Cables
Delta Part Number: ASDBCAEN0003 / 0005
L
Title Part No.
mm inch
1 ASDBCAEN0003 3000  50 118 2
2 ASDBCAEN0005 5000  50 197  2
Delta Part Number: ASDBCAEN1003 / 1005
L
mm inch
1 ASDBCAEN1003 3106A-20-29S 3000  50 118  2
2 ASDBCAEN1005 3106A-20-29S 5000  50 197  2
A-5
 I/O Signal Connector (CN1)

Delta Part Number: ASDBCNDS0044
Delta Part Number: ASD-CNDS0015
D-SUB 15 PIN PLUG
 Communication Cable between Servo Drive and Computer

Delta Part Number: ASD-CNUS0A08
80.1
22.5
21.2
1.8
Unit: mm
Title Part No.: ASD-CNUS0A08

3000  100 mm
Cable L
118 4 inch
RJ connector RJ-45
Connector
USB connector A-type (USB V2.0)
A-6
 Voltage Output Cable (Analog Signal)

Delta Part Number: --
Delta Serial Number: 3864471800
1
2
3
20±5
 RS-485 Connector
Delta Part Number: ASD-CNIE0B06
 Terminal Block Module

Delta Part Number: ASD-MDDS4444
87.23±0.5
145.50±1.0 51.0 REF
A-7
 Servo Drive, Servo Motor and Accessories Combinations
100W Servo Drive and 100W Low Inertia Servo Motor

Servo Drive ASD-B2-0121-B
Low inertia Servo Motor ECMA-C△0401S
Motor Power Cable (Without Brake) ASDBCAPW020X
Power Connector (Without Brake) ASDBCAPW0000
Motor Power Cable (With Brake) ASDBCAPW030X
Power Connector (With Brake) ASDBCAPW0100
Encoder Cable ASDBCAEN000X
Encoder Connector ASDBCAEN0000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)

Low inertia Servo Motor ECMA-C△0602S

ECMA-C△0604□S
Low inertia Servo Motor ECMA-C△0804□7
ECMA-CM0604PS
A-8
400W Servo Drive and 400W High Inertia Servo Motor

Low inertia Servo Motor ECMA-C△0604H
Power Cable (With Brake) ASDBCAPW030X
400W Servo Drive and 500W Medium Inertia Servo Motor

Medium inertia Servo Motor ECMA-E△1305□S
Power Connector ASD-CAPW1000
Increment Encoder Cable ASDBCAEN100X

High inertia Servo Motor ECMA-G△1303□S
A-9

ECMA-G△1306S
High inertia Servo Motor
ECMA-GM1306PS

ECMA-C△0807□S
Low inertia Servo Motor ECMA-C△0907□S
ECMA-CM0807PS

Low inertia Servo Motor ECMA-C△0807H
Power Connector ASDBCAEN000X
Encoder Cable ASDBCAEN0000
Encoder Connector ASDBCAPW020X
A-10
1kW Servo Drive and 850W Low Inertia Servo Motor

Low inertia Servo Motor ECMA-F△1308S
1kW Servo Drive and 1kW Low Inertia Servo Motor


Increment Encoder Cable ASDBCAEN000X
A-11
1kW Servo Drive and 1kW Medium Inertia Servo Motor

Medium inertia Servo Motor ECMA-C△1310□S
1kW Servo Drive and 900W High Inertia Servo Motor

ECMA-G△1309□S
High Inertia Servo Motor
ECMA-GM1309PS
1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor

Medium Inertia Servo Motor ECMA-E△1315□S
A-12

Low Inertia Servo Motor ECMA-C△1020□S


Motor Power Cable (Without Brake) ASD-CAPW220X
Motor Power Cable (With Brake) ASD-CAPW230X
A-13
2kW Servo Drive and 1.3kW Medium High Inertia Servo Motor
Medium High Inertia Servo Motor ECMA-F11313S
2kW Servo Drive and 1.8kW Medium High Inertia Servo Motor
Medium High Inertia Servo Motor ECMA-F11318S

Low Inertia Servo Motor ECMA-C△13304
A-14

3kW Servo Drive and 3.5kW Medium Inertia Servo Motor

Medium Inertia Servo Motor ECMA-E△1835S
3kW Servo Drive and 3kW Medium / High Inertia Servo Motor
Medium High Inertia Servo Motor ECMA-F△1830□S
A-15
Other Accessories (for ASDA-B2 series all models)

Description Delta Part Number
Communication Cable between Servo
ASD-CARS0003
Drive and Computer
Regenerative Resistor 400W 40Ω BR400W040
Regenerative Resistor 1kW 20Ω BR1K0W020
Note: (1) () at the ends of the servo drive model names are for optional configurations. For
the actual model name, please refer to the ordering information of the actual
purchased product.
(2) The boxes (△) in the model names are for encoder resolution types.
Please refer to Chapter 1 for further information.
(3) () in the servo motor model names represents brake or keyway / oil seal.
A-16
Appendix B Maintenance and
Inspection
Basic Inspection
Item Content
Periodically check if the screws of the servo drive, the connection
between the motor shaft and the mechanical system as well as the
connection of terminal block and mechanical system are securely
tightened.
The gap of the control chamber and the installation of the cooling
fan should be free from oil, water or metallic particles. Also, the
General servo drive shall be free from the cutting powder of the power drill.
inspection
If the control chamber is installed in the site which contains harmful
gas or full of dust, please be ensured the servo drive is free from the
harmful gas and dust.
When making encoder cable or wire rods, please be ensured the
wiring is correct. Otherwise, the motor may have sudden unintended
acceleration or be burned.
To avoid the electric shock, the ground terminal of the servo drive
should firmly connect to the ground terminal of the control chamber.
If the wiring is needed, wait at least 10 minutes after disconnecting
the drive from the main supply power, or discharge electricity by
discharge device.
The splicing parts of the wiring terminal should be isolated.
Make sure the wiring is correct so as to avoid the damage or any
Inspection before abnormity.
operation
Check if the electric conductivity objects including sheet metal
(has not applied (such as screws) or inflammable objects are not inside the servo
to the power yet) drive.
Check if the control switch OFF.
Do not place the servo drive or external regenerative resistor on
inflammable objects.
To prevent the electromagnetic brake from losing efficacy, please
check if the stop function and circuit break function can work
normally.
B-1
Appendix B Maintenance and Inspection ASDA-B2
Item Content
Inspection before If the peripheral devices are interfered with the electronic
operation instruments, please reduce electromagnetic interference with
devices.
(has not applied
to the power yet) Please make sure the external voltage level of the servo drive is
correct.
The encoder cable should avoid excessive stress. When the motor
is running, please be ensured the cable is not frayed or over
extended.
Inspection before Please contact with Delta if there is any vibration of the servo motor
or unusual noise during the operation.
running the servo
drive Make sure the setting of the parameters is correct. Different
machinery has different characteristic. Adjust the parameter
(has already
according to the characteristic of each machinery.
applied to the
power) Please reset the parameter when the servo drive is in the status of
SERVO OFF, or it may cause malfunction.
When the relay is operating, make sure it can work properly.
Check if the power indicator and LED display work normally.
Maintenance
 Please use and store the product in a proper site.
 Periodically clean the surface of the servo drive and servo motor so as to avoid the
dust and dirt.
 Do not disassemble any mechanical part when in maintenance.
 Periodically clean the ventilation ports of the servo drive and do not use the product in
a high-temperature site for a long time so as to avoid the malfunction.
Lifespan of Machinery Parts

 Smoothing Capacitor
The smoothing capacitor deteriorates if it is affected by the ripple current, and its
lifespan is determined by the surrounding temperature and operating conditions. If it is
used in an air-conditioned site, its lifespan can be up to 10 years.
 Relay
The contacts will wear due to switching the power on and off, which will lead to poor
contact. The lifespan of the relay varies according to the power supply capacity. Thus,
the accumulative times of switching the power supply on and off is about 100,000 times.
 Cooling Fan
In continuous operation, the lifespan of the cooling fan is 2 to 3 years. However,
if there is any unusual noise or vibration during inspection, please replace the fan.
B-2

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Send Quote Requests to [email protected] Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.

France: Delta Electronics (France) S.A.

Delta Standard AC Servo Drive for

This manual addresses personnel with the following qualifications:

ASDA-B2 is applicable on industrial application and is suggested to be installed in the

The symbol of danger, warning and stop represent:

It indicates the potential hazards. It is possible to cause severe injury or fatal

It indicates the potential hazards. It is possible to cause minor injury or lead to

It indicates the absolute prohibited activity. It is possible to damage the product or

 During the operation, it is prohibited to touch any rotating motor parts.

Maintenance and Inspection

Main Circuit Wiring

Terminal Wiring of the Main Circuit

Chapter 1 Installation and Model Explanation ··············································1-1

1.1 Inspection ·······················································································1-1

1.2 Product Model ··················································································1-2

1.2.1 Nameplate Information ·································································1-2

1.2.2 Model Explanation ······································································1-3

1.3 Servo Drive and Corresponding Servo Motor ··········································1-5

1.4 Servo Drive Features ·········································································1-7

1.5 Control Modes of Servo Drive ······························································1-8

Chapter 2 Installation ···············································································2-1

2.1 Precautions ·····················································································2-1

2.2 Ambient Conditions of Storage ····························································2-1

2.3 Ambient Conditions of Installation ·························································2-2

2.4 Installation Direction and Space ···························································2-3

2.5 Safety precautions for using motors ······················································2-5

2.5.1 Troubleshooting for the Motor Operation and Status ·························2-7

2.5.2 Servo Motor Mounting Directions and Precautions ····························2-8

2.5.3 Precautions for Using Oil Seal Servo Motors ···································2-9

2.5.4 Precautions for Using Couplings ···················································2-10

2.5.6 Measures to Suppress Temperature Increase of the Servo Motor ········2-12

Send Quote Requests to [email protected]

Table of Contents ASDA-B2

2.6 Specification of Circuit Breaker and Fuse ···············································2-12

2.7 EMI Filter Selection ···········································································2-13

2.8 Selection of Regenerative Resistor ·······················································2-15

Chapter 3 Wiring ······················································································3-1

3.1 Connections ····················································································3-1

3.1.1 Connecting to Peripheral Devices ·················································3-1

3.1.2 Servo Drive Connectors and Terminals ··········································3-2

3.1.3 Wiring Method ··········································································3-4

3.1.4 Specification of Motor Power Cable ···············································3-6

3.1.5 Specification of Encoder Cable Connector ······································3-8

3.1.6 Selection of Wiring Rod ······························································3-12

3.2 Basic Wiring ····················································································3-14

3.2.1 200 W (included) and Models below (without built-in regenerative

resistor and cooling fan) ·······································································3-14

3.2.3 1 kW ~ 3 kW Models (with built-in regenerative resistor and

3.3 I / O Signal (CN1) Connection ·····························································3-17

3.3.1 I/O Signal (CN1) Connector Terminal Layout ···································3-17

3.3.2 Signals Explanation of Connector CN1···········································3-19

3.3.3 Wiring Diagrams (CN1) ·······························································3-27

3.3.4 DI and DO Signal Specified by Users·············································3-34

Send Quote Requests to [email protected]

ASDA-B2 Table of Contents

3.4 CN2 Connector ···············································································3-35

3.5 Wiring of CN3 Connector ····································································3-37