1. TECO Servo Drives JSDA Series parameter description
Industrial Product & System Automation Division
Product service department

2. CONTENTS User setting function Operator Panel Wiring diagram
Alarm messages
Parameter description

3. User setting function
Parameters can be set or altered using the integrated keypad or the PC Link software.
Keypad includes a 5 digit display. .

4. TECO Servo PC-Link software

5. Description of Button function
Operator Panel
FIVE 7-SEGMENT LED DISPLAY
CHARGE LED
POWER LED
Symbol of
Push-Button
Appellation
Description of Button function
MODE
MODE/ SET
To select a basic mode, such as the status display mode, utility function mode, parameter setting mode, or monitor mode.
Return back to parameter selection from data-setting screen. ▲
NUMBER INCREASE
1. Selecting the parameter of each item.
2. To increase the setting value.
3. Press ▲ and ▼ at the same time to clear ALARM. ▼
NUMBER DECREASE
←/ENTER
DATA ENTER & DATA SHIFT
1. To confirm data and parameter-item.
2. To shift to the next digit to the left.
3. To enter the set data.

6. Operator panel Diagnostics
After Power up 9 groups of parameter could be selected by the “MODE” key on the keypad.
AL-xx
Cn0xx
Alarm
History
System
Control
dn-xx
Tn1xx
Torque
Diagnostics
Sn2xx
Un-xx
Speed
Status Display
Have you ever heard following words:
Servo
Servo mechanism
Servo control system
These are all same meanings.
Servo is a device that can drive machinery in a desired manner/pattern.
Please watch the below drawing:
That is to say;
Control mechanism that following closely the physical value, such as the target value.
Hn5xx
qn4xx
Pn3xx
Multi-function
Inputs/Outputs
Quick
Setup
Position

7. Parameter description
Definition
Un-xx
User-monitor for Status Display parameter
dn-xx
Diagnostics Parameters
AL-xx
Alarm History Parameters
Cn-xx
Control System Parameters
Tn1xx
Torque Control Parameters
Sn2xx
Speed Control Parameters
Pn3xx
Position Control Parameters
qn4xx
Quick Setup Parameters
Hn5xx
Hyper multi-function parameters
xx :- item number of the parameter groups

8. Control Mode Codes Symbol definition for of Parameters Abbreviation
ALL
All Control Modes Pi
Position Control Mode (Internal Position Command ) Pe
Position Control Mode (External Pulse Command) S
Speed Control Mode T
Torque Control Mode
Symbol definition for of Parameters
Symbol
Explanation ★
Parameter is effective after the servo drive power
is re cycled. ◆
Parameter is effective without pressing “Enter”.

9. User Monitor/ Status display parameters Un-XX

10. User Monitor/ Status display parameter
Parameter No.
Displayed
Unit
Description
Un-01
Actual motor speed
rpm
Ex: 120 is displayed. It means current motor speed is 120 rpm.
Un-02
Actual motor torque output %
It is displayed in accordance with ratio motor torque percentage.
Ex: 20 is displayed. It means current motor torque output is 20% of motor rated torque.
Un-03
Regeneration load ratio
Average regeneration power output percentage.
Un-04
Actual load ratio
Average power output percentage.
Un-05
Max load ratio
Max value of actual load rate
Un-06
Speed command
Ex: 120 is displayed. It means current speed command is 120 rpm.
Un-07
Position error value
pulse
The error value of position command and position feedback.
Un-08
Position feed back value
The pulse cumulative value of motor encoder feedback.
Un-09
External voltage command V
Ex: Display: Which means external voltage command is 5.25V.
Un-10
DC Bus Voltage
Ex: Display: 310. Which means main circuit DC Bus voltage is 310V.
Un-11
External speed limit command value
Ex: Display: Which means current external speed limit is 2000 rpm.
Un-12
External CCW Torque limit command value
Ex: Display 100. Which means current external CCW torque limit command is 100 %.
Un-13
External CW Torque limit command value
Ex: Display 100. Which means current external CW toque limit command is 100%.
Un-14
Motor feed back – No. of motor rotated circles (absolute value)
rev
After power on, it displays the number of motor’s rotated circles, in absolute value.
Un-15
Motor feed back – No. of motor rotated pulses in less a circle (absolute value)
After power on, it displays number of motor’s rotated pulses in less a circle, in absolute value.
Un-16
Pulse command –No. of rotate circles (absolute value)
After power on, it displays the number of input pulse command’s rotating circles, in absolute value.
Un-17
Pulse command – No. of rotate pulses in less a circle (absolute value)
After power on, it displays the number of input pulse command’s rotating pulses in less a circle, in absolute value.
Un-18
Torque command
It displays in ratio motor torque percentage.
Ex: Display: 50. Which means current motor torque command is 50% of motor rated torque.
Un-19
Load inertia ratio
x0.1
When Cn002.2=0 (On-line auto-tuning function is disable), it displays current/ default load inertia ratio in Cn025.
When Cn002.2=1 (keep using auto-tuning function), it displays current forecasting load inertia ratio.
To say it more simply, servo mechanism is:
“Servant that performs master’s orders swiftly and faithfully”
This is not a simile since the word ”Servo” originates from “Servant”
The above shows that servomotor performs a core functions of a servo system, transforming an electrical information to an electrical energy and to servo motion as a slave that moves by a master’s orders.

11. Diagnostics Parameters dn-XX

12. Diagnosis Parameter
User can use diagnosis parameter to get all information of current system. The description are as below:
Parameter No.
Name and Function
dn-01
Indicates the current control mode
dn-02
Status of Output terminals
dn-03
Status of Input terminals
dn-04
Firmware version
dn-05
JOG mode operation
dn-06
Reserved
dn-07
External command voltage auto offset
dn-08
Servo motor model code
According to Japanese Industrial Standard (JIS) B 0181, it is defined in such a difficult words:
The mechanism that controls to follow the arbitrarily changing objective value making position, direction, attitude as a control value.”
The above can be said more simply; The control mechanism that follows the physical value such as position.
And in the remarks of the Standard(, it is said that in conventional case “Servo mechanism performs feedback control”.

13. Alarm status display
When a servo drive fault occurs,display will show and Alarm Code such as
Fault Status Display：
For AL 05 for example refer to the Alarm list.AL 05 indicates encoder
feedback signal error. Servo drive also provides a fault record history
as listed below:-
Display No..
Explanation
AL - XX
The Latest Fault Record.
A1 - XX
Previous First Time Fault Record.
A2 - XX
Previous Second Times Fault Record.
A3 - XX
Previous Third Times Fault Record.
A4 - XX
Previous Fourth Times Fault Record.
A5 - XX
Previous Fifth Times Fault Record.
A6 - XX
Previous Sixth Times Fault Record.
A7 - XX
Previous Seventh Times Fault Record.
A8 - XX
Previous Eighth Times Fault Record.
A9 - XX
Previous Ninth Times Fault Record.

14. Control System Parameters Cn0XX

15. Control System Parameter -1
Name & Function
Default
Unit
Setting
Range
Control
Mode
★Cn001
Control Mode 2 X │ 6
ALL
Explanation
Torque Control 1
Speed Control
Position Control (external puls Command) 3
Position / Speed Control Switching 4
Speed / Torque Control Switching 5
Position / Torque Control Switching
Position Control (internal position Command)
★Cn002.0
Contact Accessory Function– Enter Contact "SON"
Enter contactor ”SON” signal to control “Servo On”
Control “Servo ON” without entering Contactor “SON” signal, Servo ON when Power ON.
★Cn002.1
Contact Accessory Function– Eter Contact CCWL & CWL
Using external contactors CCWL & CWL signal to control CCW & CW.
Control CCW & CW Drive Forbid without using contact CCWL & CWL, CCW & CW Drive Forbid Function is disable.
★Cn002.2
Auto- Tone up Adjust Setting Pi Pe S
No using Auto-Tuning Function
Keep using Auto-Tuning Function.

16. Control System Parameter -2
Moters rotate direction(Motor Load)
Control System Parameter -2
Parameter
Name & Function
Default
Unit
Setting
Range
Control
Mode
Cn003
Mechanical Brakes signal output sequence
msec
-2000 │
2000
ALL
Time Sequence：
P.S.: Input / output contact status 1 means SWITCH; 0 means SWITCH OFF, please refer to to set high electric action potential or low electric action potential.

17. Control System Parameter -3
Name & Function
Default
Unit
Setting
Range
Control
Mode
Chap.
Cn004
Motor rotate direction (seeing from Motor Load side)
When Torque or Speed Command is positive, the rotating direction setting of
Motor Load side is: X │ 3 S T
5-2-4
5-3-7
Explanation
Torque Control
Speed Control
Counter Clock Wise (CCW) 1
Clock Wise (CW) 2
★Cn005
Encoder Signal Ration output
Encoder
pulses
pulse
ALL
5-3-5
It stands for the number of pulse will output when motor rotate a circle.
Ex: Motor-Encoder : One Rotate has 2000pulse output. Set Cn005=1000 if gain 1000pulse Ration-output.

18. Control System Parameter -4
Name & Function
Default
Unit
Setting
Range
Control
Mode
Cn006
Analog Monitor Output Selection 2 X │ 4
ALL
Explanation
Analog monitor output 1
MON1
Analog monitor output2
MON2
Actual Speed
(1.5timesdefault value/±10V)
Torque Command
(3.5times rating value/±10V) 1
Speed Command
(1.5times rating value/±10V)
Rotor position
(0~360∘Mechanical angle/±10V) 3
Number of position error
(±16~16368 pulse/±10V)
U-Phase current
(3.5 times rating value /±10V)
Cn007
Speed achieved determined value
1000
rpm
4500 S T
When forward or reverse rotating speed is over than Cn007 (Speed achieved determined value) setting，output contactor INS is enable.
Cn008
Brakes Mode
(Servo off)、 (EMC)、CCW/CW Brake status in Drive Limit static state.
Dynamic brakes
Mechanical brakes No
Yes

19. Control System Parameter -5
Servo Motor decelerate to stop through ±300% Torque flimit. 2
Servo Motor decelerate to stop through default torque limit (Cn010、Cn011),and usig the dynamic brake (priority to Cn008) 1
Servo Motor decelerate to stop through default torque limit(Cn010、Cn011).
Explanation
Setting
ALL │ X
CW/CCW Drive forbid mode
★Cn009
Control
Mode
Range
Unit
Default
Name & Function
Parameter
Adjusting the range of the frequency, lower the number of Cn014 is, wider the restrained range of frequency is. Pi Pe S
100 7
Quality-Factors of the Resonance restrain Filter
★Cn014
Please enter the resonance frequency of vibration in Cn013, if the noise or vibration must be eliminated.
1000 Hz
Frequency of resonance restrain Filter
★Cn013
According to to choose the resister and set it’s power value at Cn012
10000 W 60
Setting of the power of External Re-generation resister
Cn012
Ex: If 2 times of rated Torque be CW Torque Command limit, then set Cn011=-200.
-300 %
-100
CW Torque Command limit value
Cn011
Ex: If 2 times of rated Torque be CCW Torque Command limit, then set Cn001=200.
300
CCW direction torque Command limit value
Cn010

20. Control System Parameter -6
Name & Function
Default
Unit
Setting
Range
Control
Mode
★Cn015.0
PI/P control mode switching should stand on the following estimation. 4 X │ Pi Pe S
Explanation
Estimate if Torque Command over Cn016 1
Estimate if Speed Command over Cn017 2
Estimate if acceleration Command over Cn018 3
Estimate if position mistake over Cn019
Using Enter Contact PCNT to switch it
★Cn015.1
2 section-Gain switching should stand on the following estimation.
If Torque Command over than Cn021
If Speed Command over than Cn022
If acceleration Command over than Cn023
If position error over than Cn024
Using D/I PCNT to switch it
Cn016
Switch-condition in PI/P controlled Mode (Torque Command)
200 %
399
Set the Cn015.0=0 first, when Torque Command is under Cn016, controlled by PI mode; when Torque Command is over Cn016, controlled by P mode only。
Cn017
Switch-condition in PI/P controlled Mode (Speed Command)
rpm
4500
Set the Cn015.0=1 first, when Speed Command is under Cn017, controlled by PI；when Speed Command is over Cn017, controlled by P only。

21. Control System Parameter -7
Name & Function
Default
Unit
Setting
Range
Control
Mode
Cn018
Switch-condition in PI/P controlled mode (accelerate Command )
rps/s │
18750 Pi Pe S
Set the Cn015.0=2 first, when acceleration Command is under Cn018, controlled by PI; when acceleration Command is over Cn018, controlled by P only.
Cn019
Switch-condition in PI/P controlled mode (position error number)
pulse
50000
Set the Cn015.0=3 first, when position error number is under Cn019, controlled by PI；when position error number is over Cn019, controlled only by P.
Cn020
Switch-delay time of 2-section Gain.
x02
msec
10000
When using 2-parts increase mode, the delay that switching from the second part to the first part can be set.
Cn021
Switch-condition of 2-section Gain. (Torque Command)
200 %
399
Set Cn015.1=0 first, when Torque Command is under Cn021, use the first-section Gain control, when Torque Command is over Cn021, switch to the second-section Gain control. If Torque Command is under Cn021 again, it will be switched to the first-section Gain control in accordance with Cn020 delay time.
Cn022
Switch-condition of 2-section Gain. (Speed Command)
rpm
4500
Set the Cn015.1=1 first, when Speed Command is under Cn022 , use the first-section Gain control, when Speed Command is over Cn022, switch to the second-section Gain control. When Speed Command is under Cn022 again, it will be switched to the first-section Gain control in accordance with Cn020 delay time.
Cn023
Switch-condition of 2-section Gain. (Accelerate Command)
Set the Cn015.1=2 first, when acceleration Command is under Cn023, use the first-section Gain control, when acceleration Command is over Cn023, switch to the second-section Gain control. When acceleration Command is under Cn023 again, it will be switched to the first-section Gain control in accordance with Cn020 delay time.

22. Control System Parameter -8
Name & Function
Default
Unit
Setting
Range
Control
Mode
Cn024
Switch-condition of 2-parts increase mode. (Position error amount)
pulse │
50000 Pi Pe S
Set Cn015.1=3 first, when the error amount is under Cn024 switch-condition, use the first part of increase-control; when the position-error amount is over Cn024 switch-condition, switch to the second part of increase-control; when position-error amount is under Cn024 switch-condition, switch to the first part of increase-control in accordance with Cn020 switch-delay time.
Cn025
Load-Inertia rate 70
x0.1
1000

23. Speed Loop Integration-Time Constant
Control System Parameter -9 20
250 A 25
200 9 30
160 8 40
120 7 50 85 6 75 60 5
100 4
150 3
225 2
300 15 1
Speed Loop Integration-Time Constant
Sn212 [x0.2msec]
Speed Loop Gain
Sn211 [Hz]
Position Loop Gain
Pn310 [1/s]
Explanation
Setting
When using the auto-increase adjustment function, Rigidity Range should be set first in accordance with all appliance. The Rigidity Setting ranges in all kinds of appliance follow as below: Pi Pe S │ X
Rigidity Setting
Cn026
Control
Mode
Range
Unit
Default
Name & Function
Parameter
Input Ripple Filtering: Position smoothing constant
Time Constant: Ripple time constant
In Position: Final position tolerance

24. Control System Parameter -10
Name & Function
Default
Unit
Setting
Range
Control
Mode
Cn027
Analog monitor out put 1 off- set adjustment 4
x40 mV
-250 │
250
ALL
When the Analog monitor out put 1was bias, it could be adjusted.
Cn028
Analog monitor out put 2 off-set adjustment
★Cn029
Parameter reset X 1
Explanation
Un-functional
All Parameters return to default (not Cn-030)
★Cn030
Servo Series selection
When the value of what dn-08 displayed is different with Servo-pack and Servo-motor, please contact with our local distributor to set this parameter.
Cn031
Cooling fan control (Application only to JSDA-50 & JSDA-75) 3
Auto-running through temperature sensor.
Running when Servo ON 2
Running when Power ON
Stop Running

25. Torque control Parameters Tn1XX

26. Torque Control Parameter -1
Name & Function
Default
Unit
Setting
Range
Control
Mode
★Tn101
Acceleration/ deceleration mode in Torque Command X │ 1 T
Explanation
No using function of torque command - linear acceleration.
Using function of torque command - linear acceleration.
★Tn102
Torque Command – Linear Acceleration/ deceleration -constant
msec
50000
The constant of torque-command-linear acceleration/ deceleration means the time in which from ‘0’ to “rated torque”.
Tn103
Analog Torque Command – Ratio adjust
300
%/10V
Adjustment of the ratio of voltage command vs. Torque command.
Tn104
Offset adjustment in Analog Torque Command mV
-10000
10000
When the analog input of torque command was bias, it is used to adjust the offset value.
DO name description
RDY: SVO ready
ALM: SVO alarm
ZS: zero speed
BI: Brake enable
INS: in speed
INP: in position
HOME: in home position
LM: Torque limit
PC: P control
ST: Sport limit
BB: Base Block

27. Torque Control Parameter -2
Name & Function
Default
Unit
Setting
Range
Control
Mode
Tn105
Internal Speed Limit ‘1’
100
rpm │
3000 T
In “Torque Control”, the input-contacts “SPD1 & SPD2” can be used to switch 3 parts of internal speed limit. When internal speed limit is “1”, the status of input contact “SPD1 & SPD2” follow as below:
P.S: Contact status”1”stands for ON, “0” is OFF. Refer to to set high or low action potential.
Tn106
Internal Speed Limit “2”
200
In “Torque Control”, the input-contacts SPD1 & SPD2can be used to 3 parts of internal speed limit. When internal speed limit is “2”, the status of input-contact SPD1 & SPD2 follow as below:
Tn107
Internal Speed Limit “3”
300
In “Torque Control”, the input-contacts SPD1 & SPD2can be used to 3 parts of internal speed limit. When internal speed limit is “3”, the status of input-contact SPD1 & SPD2 follow as below:
Input Contactor SPD2
Input-Contact SPD1 1
Input Contactor SPD2
Input Contact SPD1 1
Analog Monitoring output 1: Motor real speed. 1.5 times rated speed = ± 10V
Analog Monitoring output 2: 5 kinds of status is programmable by parameter. 0-Torque Command/ 1-Speed Command/ 2-Rotor Position/ 3-Error Pulse/ 4-U phase Current
Input Contactor SPD2
Input Contact SPD1 1

28. Speed Control Parameters Sn2XX

29. Speed Control Parameter -1
Name & Function
Default
Unit
Setting
Range
Control
Mode
Sn201
Internal Speed Command “1”
100
rpm
-3000 │
3000 S
In “Speed Control”, the input-contacts SPD1 & SPD2 can be used to switch 3 parts of internal speed command. When the Internal Speed Command is “1”, the status of Input Contact SPD1 & SPD2 follow as below:
P.S: Contact status”1”stands for ON, “0” is OFF. Refer to to set high or low action potential.
Sn202
Internal Speed Command “2”
200
In “Speed Control”, the input-contacts SPD1 & SPD2 can be used to switch 3 parts of internal speed command. When the Internal Speed Command is “2”, the status of Input Contact SPD1 & SPD2 follow as below:
Sn203
Internal Speed Command “3”
300
In “Speed Control”, the input-contacts SPD1 & SPD2 can be used to switch 3 parts of internal speed command. When the Internal Speed Command is “3”, the status of Input Contact SPD1 & SPD2 follow as below:
Sn204
Motion of Zero-Speed judgment X 1
Explanation
Sn215 not effective
Zero speed range according to Sn215
Input Contact SPD2
Input Contact SPD1 1
Input Contact SPD2
Input Contact SPD1 1
Input Contact SPD2
Input Contact SPD1 1

30. Speed Control Parameter -2
Name & Function
Default
Unit
Setting
Range
Control
Mode
Sn205
Acceleration/ deceleration mode of Speed Command X │ 3 S
Explanation
Not Function 1
Soft Ac/deceleration 2
Linear Ac/deceleration
S curve to Ac/deceleration
Sn206
Soft ac/deceleration-time Constant for Speed Command
msec
10000
Set Sn205=1to turn on soft ac/deceleration function in Speed Command.
The time-constant stands for the time in which the speed arise from 0 to 63.2% Full-speed.
Sn207
Linear ac/deceleration Constant in Speed Command
50000
Set Sn205=2 to turn on Linear ac/deceleration function of Speed Command.
The ac/deceleration constant stands for the time in which the speed arise from 0 to the rated speed.

31. Speed Control Parameter -3
Name & Function
Default
Unit
Setting
Range
Control
Mode
Sn208
Ac/deceleration Constant in S-curve Speed Command 1
msec │
50000 S
Set Sn205=3 to turn on S-curve ac/deceleration function.
Set Sn208 to get softer slope then Sn207, and through Sn209 and Sn210 to switch these 2 rising slope.
Attention:Sn207 must under Sn208, then the smooth effect appear.
Sn209
S-curve varying Speed 1
1000
rpm
3000
Please refer to Sn208
Sn210
S-curve varying Speed 2
2000
Sn211
Speed loop gain 1 40 Hz 10
450 Pi Pe
Speed loop gain effect directly the frequency response bandwidth of Speed-control loop. If there is no vibration or noise, more Speed-loop-gain value it has, the faster speed response is. If Cn025 correctly set, the speed-loop-bandwidth should be equal to speed-loop-gain.
Sn212
Speed-loop-integration Time-constant 1
100
x0.2 ms
500
Speed-Control Loop with integration-elements can eliminate the speed error and show the slight variations. Decreasing Speed –loop time can increase system rigitidy. The formula below provides the speed-loop-integration time-constant.

32. Speed Control Parameter -4
Name & Function
Default
Unit
Setting
Range
Control
Mode
Sn213
Speed loop gain 2 40 Hz 10 │
450 Pi Pe S
Please refer to Sn211
Sn214
Speed-loop-integration Time-constant 2
100
x0.2
msec 1
500
Please refer to Sn212
Sn215
Zero-Speed judgment Value 50
rpm
4500
When speed is lower what Sn215 sets, the output contactor ZS will be enable.
Sn216
Analog Speed Command Ratio
3000
/10V
Which is used to adjust ration of voltage command vs. speed command.
Sn217
Analog Speed Command Off-set adjustment mV
-10000
10000
When the analog speed command was bias, it is used to adjust the offset value.
Sn218
Analog Speed Command Limit
3050
User can set Sn218 to limit analog speed command

33. Position Control Parameters Pn3XX

34. Position Control Parameter -1
Name & Function
Default
Unit
Setting
Range
Control
Mode
★Pn301.0
Position PulseCommand Type X │ 3 Pe
Explanation
(Pulse)+(Sign) 1
(CCW)/(CW) Pulse 2
AB-Phase pulse x 2
AB-Phase pulse x 4
★Pn301.1
Position-Pulse Command Logic
Positive Logic
Negative Logic
Pn302
Electronic Gear Ratio Numerator 1
50000 Pi
Use input contacts GN1 & GN2 to switch 4 groups of Electronic Gear Ratio Numerator. When using the Numerator 1, the statue of the input-contacts GN1 & GN2 are:
P.S.:Input-contact-statue 1 stands for Switch ON, 0 stands for SwitchOFF. If setting high potential action or low potential action, please refer to to set.
Pn303
Electronic Gear Ratio Numerator 2
Use input contacts GN1 & GN2 to switch 4 groups of Electronic Gear Ratio Numerator. When using the Numerator 2, the statue of the input-contacts GN1 & GN2 are:
Input-contact GN2
Input-contact GN1
Input-contact GN2
Input-contact GN1 1

35. Position Control Parameter -2
When the Position error value is lower then Pn307’s pulse number(Position Fixed Judgement Value), output-contact INP carry into effect. Pi Pe │
50000
pulse 10
In Position band Value
Pn307
Set Pn306(Electronic Gear Ratio Denominator) to match input-contacts GN1 and GN2’s electronic gear ratio numerator. And the final electroni gear ratio must match the condition below, otherwise, it can not normally operate 1 X
Electronic Gear Ratio Denominator
★Pn306
Use input contacts GN1 & GN2 to switch 4 groups of Electronic Gear Ratio Numerator. When using the Numerator 4, the statue of the input-contacts GN1 & GN2 are:
P.S.:Input-contact-statue 1 stands for Switch ON, 0 stands for SwitchOFF. If setting high potential action or low potential action, please refer to to set.
Electronic Gear Ratio Numerator 4
Pn305
Use input contacts GN1 & GN2 to switch 4 groups of Electronic Gear Ratio Numerator. When using the Numerator 3, the statue of the input-contacts GN1 & GN2 are:
Electronic Gear Ratio Numerator 3
Pn304
Control
Mode
Setting
Range
Unit
Default
Name & Function
Parameter
Input-contact GN1
Input-contact GN2

36. Position Control Parameter -3
When the Position error value is higher then Pn309’s pulse number (Negative maximum position error judgment value), this device give us AL-11(Position error value alert) Pi Pe │
50000
pulse
Negative Maximum Position Error Judgment Value
Pn309
When the Position error value is higher then Pn308’s pulse number (Positive maximum position error judgment value), this device give us AL-11(Position error value alert)
Positive-maximum Position Error Judgment Value
Pn308
Control
Mode
Setting
Range
Unit
Default
Name & Function
Parameter
10000
msec 10
Position Command : one Time smooth ac/decelerational Time-Constant
★Pn313
It can reduce the follow up error of position control and speed up the reaction. If the feed forward gain is too over, it might cause speed overshooting and re-ON/OFF of output contact INP(Position Complete signal).
100 %
Position Loop Feed Forward Gain
Pn312
Please refer to Pn310 1
450
1/s 40
Position Loop Gain 2
Pn311
Under the situation that there are no vibration or noise of machinery system. Increasing the position loop gain value can speed up reaction and shorten the time of fixing position. Generally, the position loop bandwidth can not higher then speed loop bandwidth. Here is the suggested formula below:
Position Loop Gain 1
Pn310
It cause the position pulse command of original constant frequency smooth.
Position Command-one time smooth ac/decelerational Time-Constant stands for the Time-Constant stands for the time in which position pulse command frequency starts from 0 to 63.2%.

37. Position Control Parameter -4
(CCW) 1
(CW)
Explanation
Setting Pi Pe │ X
Position Command direction definition (Load Side)
★Pn314
Internal Position Command Mode
★Pn316 To
Pn-317
When CLR works, it cencels position command to interrupt Motor’s Rotate and clean pulse error amount. 2
When CLR works, it cencels the position command to interrupt Motor’s Rotate, reset machinery origin and clean pulse error amount.
When CLR act, it eliminates the Pulse-error-amount.
Pulse Error amount Eliminate Mode
Pn315
Setting the 16 P to P internal Position Command │ 1 Pi

38. Position Control Parameter -5│ 2 X
After finding Origin Reference Point, the Settings of Move Method of searching machinery orign
Pn365.1 Pi Pe 5
After Zero Point Return operates, the Setting of ZeroPoint Direction Searching and Zero Reference.
Pn365.0
Control
Mode
Setting
Range
Unit
Default
Name & Function
Parameter
500
rpm 50
Machine Zero Point Return – 2nd stage – Low Speed
Pn367
2000
100
Machine Zero Point Return – 1st stage – High Speed
Pn366 1
The Setting of Stop after Finding Machinery Orgin
Pn365.3
Origin Return Mode Setting
Pn365.2
-32767
32767
pulse
Zero Point Return OFF-Set Pulse Number
Pn369
-30000
30000
rev
Machine Zero Point Return Off-Set Rotate Number
Pn368

39. Quick setup Parameters DI/ DO

40. Quick Setup Parameters
Name & Function
Default
Unit
Setting
Range
Control
Mode
◆qn401
Speed Loop Gain 1 40 Hz 10 │
450 Pi Pe S
◆qn402
Speed Loop Integration Time Constant 1
100
x0.2 ms 1
500
◆qn403
Speed Loop Gain 2 40 Hz 10 │
450 Pi Pe S
◆qn404
Speed Loop Integration Time Constant 2
100
x0.2 ms 1
500
◆qn405
Position Loop Gain 1
1/s
◆qn406
Position Loop Gain 2
◆qn407
Position Loop Feed Forward Gain %

41. Hyper multi-function for DI/ DO

42. Hyper multi-function for D-I-1
Parameter
Name & Function
Default
Unit
Setting
Range
Control
Mode
★Hn501.0
★Hn501.1
DI-1 01 X │ 26
ALL
Seting
Explanation
Signal
Functions
SON
Servo ON 02
ALRS
Alarm Elimenated 03
PCNT
PI/P switch 04
CCWL
CCW drive limit 05
CWL
CW drive limit 06
TLMT
External Torque limit 07
CLR
Pulse Error value Elimenated 08
LOK
Servo Lock 09
EMC
Emergency Stop 10
SPD1
Internal Speed Command 1 11
SPD2
Internal Speed Command 2 12
MDC
Control Mode Switch 13
INH
Position Command Limit 14
SPDINV
Speed Inverse Command 15
G-SEL
Gain Selection 16
GN1
Electronic Gear Numerator 1 17
GN2
Electronic Gear Numerator 2 18
PTRG
Internal Position Command ON 19
PHOLD
Internal Position Command Stop 20
SHOME
HOME 21
ORG
External reference Home 22
POS1
Internal Position Command 1 23
POS2
Internal Position Command 2 24
POS3
Internal Position Command 3 25
POS4
Internal Position Command 4
TRQINV
Torque Inverse Command

43. Hyper multi-function for D-I-2
Parameter
Name & Function
Default
Unit
Setting
Range
Control
Mode
★Hn501.2
DI-1voltage level X │ 1
Explanation
When DI-1 is low voltage level (close loop with IG24), it woks.
When DI-1 is high voltage level (open loop with IG24), it works.
★Hn502 To
★Hn513
DI-2~DI-13 X
ALL

44. Hyper multi-function for D-O
Parameter
Name & Function
Default
Unit
Setting
Range
Control
Mode
★Hn514.0
★Hn514.1
DO-1 01 X │ 07
ALL
Explanation
Signal
Functions
RDY
Servo Ready 02
ALM
Alarm 03 ZS
Zero Speed 04 BI
Brake 05
INS
Speed achieve 06
INP
Location Fixed Completed
HOME
Home
★Hn514.2 1
When it operates, the contact is low electric potential. (Close loop with IG24)。
When it operates, the contact is high electric potential. (Open loop withIG24)。
★Hn515 To
Hn517
DO-2~DO-4
002
Please refer to Hn514

45. Thank you ! !