HSD7-E Series AC Servo Drive. User's Manual (Version: V0.1)

Alarm number:

Reason

Confirmation method

The treatment measures

Alarm name

Reconnect the power to the servo unit. It may

A.C80：

be a servo motor or a linear encoder fault

Encoder

clearance

Encoder failure

when an alarm still occurs. Replace the servo

exception

motor or linear encoder.

(Abnormal setting of

Reconnect the power to the servo unit. When

upper limit value of

Servo unit failure

an alarm still occurs, it is possible that the

rotation number)

servo unit has failed. Replace the servo unit

Poor contact or wrong wiring of encoder

Insert the encoder connector again and

Verify the status of the encoder connector.

connector

confirm the encoder wiring.

Encoder cable is broken, short-circuited,

or cable exceeding specified impedance

Confirm the status of the encoder cable.

Use encoder cable of specified specification.

is used

Corrosion caused by temperature,

Improve the use environment and replace

humidity and gas; Short circuit caused by

A.C90：

Confirm the use environment.

cables. Even if this still cannot improve,

water drops and cutting oil; Poor

Encoder

replace the servo drive.

connector contact caused by vibration

communication failure

Correct wiring of encoder periphery

Misoperation due to mutual interference

(separating encoder cable from servo motor

main loop cable, grounding treatment, etc.).

When connecting the servo motor to other

servo drives and turning on the control power

Servo drive failure

supply, if no alarm occurs, replace the servo

drive.

Encoder cables are embedded, cladding

Confirm the status of encoder cables and

Confirm whether there is any problem in the

is damaged, and signal lines are

connectors.

laying of encoder cable.

A.C91：

disturbed

Abnormal acceleration

Verify that the encoder cable is tied

Lay the encoder cable at a position not subject

encoder

together or too close to the high current

Confirm the setting status of encoder cable.

to surge voltage.

communication position

wire

data

The potential of FG changes due to the

influence of motor-side equipment

Confirm the setting status of encoder cable.

Ground the machine and shunt FG.

(welding machine, etc.)

Implement anti-interference countermeasures

The encoder's signal line is disturbed

for encoder wiring.

A.C92：

The encoder is subject to excessive

Reduce mechanical vibration. Install servo

Encoder

Confirm usage.

vibration impact

motor or encoder correctly.

communication timer

Encoder failure

Connect to the servo drive power supply

exception

again. When an alarm still occurs, replace the

Servo drive failure

servo motor or encoder.

A.CA0：

Connect to the servo drive power supply

Encoder

parameter

Encoder failure

again. When an alarm still occurs, replace the

exception

servo motor or encoder.

Incorrect wiring and poor contact of

Confirm whether there is any problem with

encoder

encoder wiring.

Change the cable specification to double

Encoder

cables

have

different

stranded shielded wire or double stranded

specifications and

are subject to

unified shielded wire with core wire of more

interference

than

0.12

mm²

and tinned soft copper

stranded wire.

Encoder cable length is too long and is

The longest connection distance of encoder

disturbed.

cable is 50m.

A.Cb0：

The potential of FG changes due to the

Encoder

Confirm the status of encoder cables and

Ground the machine to prevent shunting to

influence of motor-side equipment

Echo check exception

connectors.

encoder side FG.

(welding machine, etc.)

The encoder is subject to excessive

Reduce mechanical vibration. Install servo

Confirm usage.

vibration impact

motor or linear encoder correctly.

Connect to the servo drive power supply

Encoder failure

again. When an alarm still occurs, replace the

servo motor or encoder.

Connect to the servo drive power supply

Servo drive failure

again. When an alarm still occurs, replace the

servo drive.

Confirm the connection of servo motor main

Confirm whether the motor cable or encoder

U, V, W wiring of servo motor is incorrect

loop cable.

cable has poor contact and other problems.

Lower the position command speed or

Try to reduce the speed of the position

Position command speed too fast

command acceleration, or adjust the

command before running.

electronic gear ratio.

A.d00：

The acceleration of the position command is

Position deviation is too

reduced by the MECHATROLINK command.

large

Position command acceleration is too

Try to reduce the commanded acceleration

Or select the position command filter

(In the servo ON state,

large

before running.

(ACCFIL) through the MECHATROLINK

the position deviation

command to smooth the acceleration of the

exceeds

position

position command.

deviation is too large

Relative to the operating conditions, the

warning value (Pn520))

Verify that the warning value (Pn520) for

warning value

(Pn520) for excessive

Correctly set the value of parameter Pn520

excessive position deviation is appropriate.

position deviation is low

Connect to the servo drive power supply

Servo drive failure

again. When an alarm still occurs, replace the

servo drive

A.d01：

Position deviation in servo OFF exceeds

When the servo ON is correctly set, the

When the servo ON

Pn526

(warning value of excessive

Confirm the position deviation when servo

warning value of position deviation is too large

Warning of excessive

position deviation when servo ON) is set

OFF.

(Pn526).

position deviation

to keep servo ON

When the servo is ON in the position

deviation accumulation state, the speed

A.d02：

limit is executed by the speed limit value

Set the correct position for excessive deviation

When the servo ON

(Pn529) when the servo is ON. The

warning value (Pn520). Or set the speed limit

Position caused by

position command input in this state

value

(Pn529) at servo ON to the correct

speed limit excessive

exceeds the set value of the warning

value.

deviation alarm

value

(Pn520) for excessive position

deviation

Turn the installation direction of the external

The rotation direction of the motor is

Confirm the rotation direction of the motor

encoder in the opposite direction, or set the

A.d10：

opposite to the installation direction of

and the installation direction of the external

rotation direction of "external encoder usage

Excessive

deviation

the external encoder

encoder.

method (Pn002 = n.X )" to the opposite

between motor and

direction.

load positions

Load position of workpiece table and

installation failure of external encoder

Confirm the external encoder joint.

The mechanical bonding is carried out again

joint

Alarm number:

Reason

Confirmation method

The treatment measures

Alarm name

A.d30

Location data is too

Location data exceeds ±1879048192

Confirm the input command pulse counter.

Revise operating specifications.

large

The

transmission

period

The reason for the transmission cycle

A.E02：

MECHATROLINK has changed

variation of the upper device is eliminated.

MECHATROLINK

Connect to the servo drive power supply

Internal synchronization

Servo drive failure

again. When an alarm still occurs, replace the

exception 1

servo drive.

A.E40：

MECHATROLINK

MECHATROLINK transmission cycle

Confirm the transmission cycle setting of

Set

the

transmission

period

Transmission

cycle

setting is out of specification range

MECHATROLINK.

MECHATROLINK to the correct value.

setting failure

Confirm the station address setting of the

The station address is outside the set

Confirm whether the rotary switches (S1,

A.E42：

upper device and set the rotary switches (S1,

range

S2) are within the range of 03 ~ EF.

MECHATROLINK

S2) to the correct values (03-EF).

Station address setting

Confirm the station address setting of the

The same address exists in the

Confirm whether the same address exists

exception

upper device and set the rotary switches (S1,

communication network

in the communication network.

S2) to the correct values (03-EF).

WDT data update of upper device is

Confirm WDT data update of the upper

A.E50*3：

Correctly update WDT data of upper device.

abnormal

device.

MECHATROLINK

Connect to the servo drive power supply

Synchronization

Servo drive failure

again. When an alarm still occurs, replace the

exception

servo drive.

When synchronous communication

starts, the WDT data of the upper device

Confirm WDT data update of the upper

Correctly update WDT data of upper device.

A.E51：

is updated abnormally and synchronous

device.

MECHATROLINK

communication cannot be started

Synchronization failed

Connect to the servo drive power supply

Servo drive failure

again. When an alarm still occurs, replace the

servo drive.

Connect MECHATROLINK communication

MECHATROLINK wiring is incorrect

Confirm the wiring of MECHATROLINK.

cable properly. Connect the termination

resistor correctly.

A.E60*3：

Take measures to prevent mutual interference.

MECHATROLINK

(Adjust the wiring of MECHATROLINK

MECHATROLINK received

data

Abnormal

communication cable or FG. E.g. adding

incorrectly due to mutual interference.

communication

ferrite

cores to the MECHATROLINK

(Receiving error)

communication cable, etc.)

Connect to the servo drive power supply

Servo drive failure

again. When an alarm still occurs, replace the

servo drive.

A.E61：

The

transmission

period

Confirm the transmission cycle setting of

The reason for the transmission cycle

MECHATROLINK

MECHATROLINK has changed

MECHATROLINK.

variation of the upper device is eliminated.

Abnormal transmission

Connect to the servo drive power supply

period (Synchronization

Servo drive failure

again. When an alarm still occurs, replace the

Interval Abnormal)

servo drive.

Connect MECHATROLINK communication

MECHATROLINK wiring is incorrect

Confirm the wiring of MECHATROLINK.

cable properly.

Take measures to prevent mutual interference.

A.E63：

(Adjust the wiring of MECHATROLINK

MECHATROLINK received

data

MECHATROLINK

communication cable or FG. E.g. adding

incorrectly due to mutual interference

Synchronization frame

ferrite

cores to the MECHATROLINK

not received

communication cable, etc.)

Connect to the servo drive power supply

Servo drive failure

again. When an alarm still occurs, replace the

servo drive.

A.Ed1：

MECHATROLINK command timeout

Confirm the monitor status when executing

Set to not execute SV_ON and SENS_ON

Command execution

error occurred.

the command.

commands during motor operation.

timed out

Confirm whether there is any problem with the

Poor connection of three-phase wires

Confirm the wiring of power supply.

power supply wiring.

Measure the voltage of each phase of the

Correct the imbalance of power supply

Three-phase power supply imbalance

three-phase power supply.

(change phase).

A.F10：

Single-phase AC power input (Pn00B =

Confirm power supply and parameter

Power cord phase loss

n.  1   ) is not set and single-phase

Set correct power input and parameters.

settings.

(When the main circuit

power is input

power supply is ON, the

Connect to the servo drive power supply

low voltage state of one

Servo drive failure

again. When an alarm still occurs, replace the

of R, S and T phases

servo drive.

lasts for more than

Poor connection or poor connection of

Confirm whether there is any problem with the

Confirm wiring.

second)

motor wiring

motor wiring.

Connect to the servo drive power supply

again. When an alarm still occurs, it is

Servo drive failure

possible that the servo unit has failed.

Replace the servo drive.

*1. Detection condition formula

When either of the following two conditional expressions holds, an alarm will be detected.

y Pn533 [min^-1] ×^{Encoderresolution}

≤ Pn20E

6×10⁵

Pn210

y Maximum speed of motor [min^-1] × ^{Encoderresolution}

≤ Pn20E

around 3.66×10¹²

Pn210

*2. Detection condition formula

When either of the following two conditional expressions holds, an alarm will be detected.

y Rated speed of motor [min^-1] ×¹

× Encoderresolution

≤ Pn20E

6×10⁵

Pn210

y Maximum speed of motor [min^-1] × ^{Encoderresolution}

≥ Pn20E

around 3.66×10¹²

Pn210

9.2.3

Alarm reset

When the servo alarm output (ALM) signal occurs, reset it by any of the following methods after eliminating the

alarm cause.

Before resetting the servo alarm, be sure to eliminate the alarm reason.

If the alarm reset is executed without excluding the alarm reason, equipment damage or fire may occur when

the alarm reset is kept running.

Important

y Reset Based on Alarm, Warning Clear (ALM_CLR) command

y Based on the panel operation key, press S key to reset

9.2.4

Display of alarm records

Servo drive has tracing display function, which can trace up to 10 alarm records that have occurred.

9.2.5

Deletion of Alarm records

The function of deleting servo-driven alarm records.

The alarm record will not be deleted even if the alarm reset is performed or the power supply of the servo drive

main circuit is cut off, so the following operations must be performed.

The following operations can be performed

Operating tool

Distribution

Panel operator

Fn006

iWatch+ debugging

[Alarm Display]---[Historical

software

Alarm]---[Clear]

9.3 When warning is displayed

When the servo drive is warned, the LED of the panel display unit displays the Alarm number. The warning will

be displayed before an exception occurs.

The following is a list of warnings and their causes and treatment measures.

9.3.1

Warning list

The Alarm names and contents are listed below in the order of the Alarm numbers.

Alarm

Alarm name

Alarm content

Reset

number

The accumulated position deviation exceeds the proportion set by

A.900

Position deviation is too large

Need

(^Pn520×Pn51E).

100

The accumulated position deviation during servo ON exceeds the

Excessive position deviation

A.901

Need

when servo ON

proportion set by (^Pn526×Pn528).

100

Warning display immediately before overload

(A.710/720) alarm is

A.910

Overload

Need

reached. If the operation continues, an alarm may occur.

Abnormal vibration in motor operation is detected. Same as the detection

A.911

Vibration

value of A.520, the vibration detection switch (Pn310) is used to set the

Need

alarm or warning.

Warning display immediately before reaching regeneration overload

A.920

Regeneration overload

Need

(A.320) alarm. If the operation continues, an alarm may occur.

Warning display immediately before DB overload

(A .731) alarm is

A.921

DB overload

Need

reached. If the operation continues, an alarm may occur.

Battery failure of absolute

A.930

Is a warning display of low battery voltage of absolute encoder.

Need

encoder

Data Setting Warning

The parameter number of data setting warning 1 (parameter number)

Automatic

A.94A

(Parameter Number)

command is incorrect.

reset *

Data setting warning 2 (out of

Automatic

A.94B

Out-of-range values are set in the command data.

data range)

reset *

Data setting warning

Automatic

A.94C

A calculation error was detected.

(calculation error)

reset *

Data Setting Warning

Automatic

A.94D

Data size mismatch detected.

(Parameter Size)

reset *

A.94E

Data Setting Warning

Latch mode exception detected.

need

Alarm

Alarm name

Alarm content

Reset

number

(Latch Exception)

Command Warning 1 (Out of

Automatic

A.95A

When the command condition is not sufficient, the command is executed.

Command Conditions)

reset *

Command Warning

Automatic

A.95B

An unsupported command was instructed.

(Command Not Supported)

reset *

Command Warning

Interference of commands

(mainly refers to interference of latch

Automatic

A.95D

(Interference of Command)

commands).

reset *

Command Warning

Automatic

A.95E

(Subcommands

Not

Interference between sub-command and main command.

reset *

Available)

Command Warning

(No

Automatic

A.95F

An undefined command was instructed.

Command Defined)

reset *

MECHATROLINK

A.960

MECHATROLINK Communication failure during communication.

need

communication alarm

Warning display immediately before the undervoltage (A.410) alarm is

A.971

Under voltage

need

reached. If the operation continues, an alarm may occur.

Command Warning 7 (Layer

Automatic

A.97A

Ccommand that cannot be executed is specified in the current layer.

Exception)

reset *

Data Clamping Out of Data

To set the minimum and maximum values of the command data outside

Automatic

A.97b

Range

the range fixed.

reset *

A.9A0

Overtravel

Overtravel detected in servo ON.

need

* When using MECHATROLINK-III standard servo profile command, it will automatically reset when receiving normal command.

When using the MECHATROLINK-II compatible configuration file command, reset the warning according to the alarm and warning

clear command (ALM_CLR).

(Note) 1. If it is not set to "output alarm code and warning code (Pn001 = n.1)", no warning code will be output.

2. Whether the warning detection is set by Pn008 = n.X (warning detection selection).

However, the warnings shown in the following table are divided into two types: not affected by the Pn008 = n.  X  

setting; Pn008 = n.X requires other parameters to be set.

Warning

Warning Check Select Parameters to Set

A.911

Pn310=n.X (vibration detection selection)

A.923

(has no effect on the setting of Pn008= n.X)

A.930

Pn008=n.X (alarm/warning selection for battery undervoltage)

Pn423=n.   X  (speed pulsation compensation information inconsistency warning detection

A.942

selection)

A.94A～A.960

Pn800=n.X (warning check mask)

A.97A～A.97b

Pn008= n.X (function selection under voltage)

A.971

(has no effect on the setting of Pn008= n. X)

Pn00D= n.X (speed ratio warning detection selection)

A.9A0

(has no effect on the setting of Pn008= n.X)

A.9b0

Pn00F= n.X (preventive maintenance warning selection)

9.3.2

Reasons for Warning and Countermeasures

The following table lists the cause of the alarm and the treatment measures. If the fault cannot be cleared after

processing according to the following table, please contact our company.

Alarm number:

Reason

Confirmation method

The treatment measures

Alarm name

Confirm the connection of

U, V, W wiring of servo motor is

Confirm whether the motor cable or encoder

servo motor main loop

incorrect

cable has poor contact and other problems.

cable.

Verify that the servo drive

The servo gain is improved through automatic

The gain of servo drive is low

gain is too low.

adjustment (no-bit command) function, etc.

Try

reduce

the

Lower the position command acceleration. Or,

Position command acceleration is

A.900：

commanded acceleration

select the position command filter to smooth

too large

Position deviation is

before running.

the acceleration of the position command.

too large

Confirm that the position

Relative to the operating conditions,

deviation is too large for

the alarm

(Pn520) for excessive

Correctly set the value of parameter Pn520

warning value

(Pn520) is

position deviation is low

appropriate.

Connect to the servo drive power supply

Servo drive failure

again. When an alarm still occurs, replace the

servo drive.

A.901：

The accumulated position deviation

When the servo ON is correctly set, the

Excessive position

during servo ON exceeds the

warning value of position deviation is too large

deviation

when

(Pn528).

servo ON

proportion set by (^Pn526×Pn528)

100

Motor wiring, encoder wiring or poor

Confirm whether there is any problem with

Confirm wiring.

connection

motor wiring and encoder wiring.

Confirm the overload

The operation of the motor exceeds

Discuss load conditions and operating

characteristics

and

A.910：

the

overload

protection

conditions again.

operation commands of

Overload

characteristic

Or reconsider the motor capacity.

the motor.

(Warning

before

The motor is not driven due to

Confirm the operation

becoming overload

mechanical factors, resulting in

command and motor

Improve mechanical factors.

alarm

(A.710

excessive load during operation

speed.

A.720))

Verify that the overload

Verify that the overload warning

Verify that the overload warning value (Pn52B)

warning value (Pn52B) is

value (Pn52B) is appropriate

is appropriate.

appropriate.

Servo drive failure

Replace the servo drive.

Confirm the abnormal

sound of the motor and the

Abnormal vibration in motor

Reduce motor speed. Or reduce servo gain

speed

and

torque

operation is detected

through custom adjustment, etc.

waveforms

during

operation.

A.911：

The value of the moment of inertia

Vibration

Confirm the moment of

Correctly set the moment of inertia ratio

ratio

(Pn103) is larger than the

inertia ratio or mass ratio.

(Pn103).

actual value or varies greatly

Verify that the vibration

Vibration detection value (Pn312 or

Set the vibration detection value

(Pn312 or

detection value (Pn312 or

Pn384) is inappropriate

Pn384) appropriately.

Pn384) is appropriate.

Power supply voltage exceeds

Measure the

supply

Set the power supply voltage within the

specification range

voltage.

specification

A.920：

External regenerative resistance

Regeneration

Change the regenerative resistance value,

value, servo drive capacity or

overload

Reconfirm

operating

regenerative resistance capacity or servo drive

regenerative resistance capacity is

(Warning

before

conditions and capacity.

capacity. Adjust the operating conditions

insufficient, or in a continuous

becoming

again.

regenerative state

regeneration

Continuously bears negative load

overload (A.320))

Confirm the load applied to

Discuss the system including servo,

and is in continuous regeneration

the running servo motor.

mechanical and operating conditions again.

state

The motor is being driven by

Confirm operation status.

Do not drive the motor by external force.

external force

A.921：

Confirm

the

usage

Try the following measures.

DB overload

The rotating or operating energy

frequency of DB by DB

Reduce the command speed of servo motor.

(Warning before DB

when DB stops exceeds the

resistance

power

Reduce the moment of inertia or mass.

Overload (A.731))

capacity of DB resistor

consumption.

Reduce the number of DB stops.

Servo drive failure

Replace the servo drive.

The battery is not well connected

Confirm

battery

Connect the battery correctly.

A.930：

and not connected

connection.

Battery failure of

The battery voltage is lower than

Measure the

battery

Replace the battery.

absolute encoder

the preset value (2.7 V)

voltage.

Servo drive failure

Replace the servo drive.

The communication cable of

Confirm the connection

Connect MECHATROLINK communication

MECHATROLINK is incorrectly

status.

cable properly.

A.960：

wired

MECHATROLINK

Take the following anti-interference measures.

MECHATROLINK received data

Communication

Confirm

the

setting

• Adjust the wiring of communication cable and

incorrectly

due

mutual

warning

environment.

FG to avoid interference.

interference

• Install ferrite cores on communication cables.

Servo drive failure

Replace the servo drive.

AC power supply voltage driven by

Measure the

supply

Adjust the power supply voltage to the normal

servo is too low

voltage.

range

Power supply voltage drops during

Measure the

supply

Increase power supply capacity

operation

voltage.

A.971：

Instantaneous

power

failure

Measure the

supply

If the instantaneous stop holding time (Pn509)

Under voltage

occurred

voltage.

is changed, it is set to a smaller value.

Replace the servo drive and connect the

Servo drive fuse blown

reactor before using the servo drive.

Servo drive failure

Replace the servo drive.

A.97A：

An unexecuted command was

The command will be sent after the sending

Command Warning

received in the current layer

condition is met.

A.97b：

Out-of-range values are set in the

Set the value within the set range in the

Out of Data Range

command data

command data.

If the over-travel signal cannot be confirmed

through input signal monitoring, the over-travel

A.9A0：

The status

the

may be detected instantaneously. Carry out

Overtravel

over-travel

signal

Overtravel detected in servo ON

the following projects.

(Check

out

confirmed through input

• Do not execute commands from the upper

over-travel status）

signal monitoring.

device to the over-travel field.

• Confirm the wiring of over-travel signal.

9.4 Monitoring of communication data when alarms and warnings occur

The command data when an alarm or warning (e.g. data setting warning (A.94) or command warning (A.95))

occurs can be monitored through the following parameters. The following is the data when an alarm or

warning occurs under normal conditions.

CMD data in case of alarm or warning: Pn890～Pn8A6

RSP data in case of alarm or warning: Pn8A8～Pn8BE

Location where command data is saved in case of alarm or

Command

warning

byte order

CMD

RSP

Pn890 = n. XX

Pn8A8 = n. XX

Pn890 = n. XX

Pn8A8 = n. XX

Pn890 = n. XX

Pn8A8 = n. XX

Pn890 = n. XX

Pn8A8 = n. XX

4～7

Pn892

Pn8AA

8～11

Pn894

Pn8AC

12～15

Pn896

Pn8AE

16～19

Pn898

Pn8B0

20～23

Pn89A

Pn8B2

24～27

Pn89C

Pn8B4

28～31

Pn89E

Pn8B6

32～35

Pn8A0

Pn8B8

36～39

Pn8A2

Pn8BA

40～43

Pn8A4

Pn8BC

44～47

Pn8A6

Pn8BE

(Note) 1. Data are arranged in small byte storage order and expressed in hexadecimal.

9.5 The fault causes and treatment measures can be judged from the actions and

states of servo motors.

The fault causes and treatment methods that can be judged from the actions and states of servo motors are as

follows.

Please cut off the power supply of the servo system when checking and handling the items in the thick wire

frame in the table below.

Fault contents

Reason

Confirmation method

The treatment measures

The control power is not

Measure the voltage between

Connect the wires correctly to turn the

switched on

terminals of control power supply.

control power ON.

Measure the voltage between the

The main circuit power is not

Connect the wires correctly to turn the

power input terminals of the main

connected

power supply ON of the main circuit.

circuit.

The terminals of the input and

Confirm the connection status of

output signal connector (CN1)

Connect the input and output signal

the input and output signal

have wiring errors and

connector (CN1) terminals correctly.

connector (CN1) terminals.

omissions

Wiring of servo motor main

loop cable and encoder cable

Confirm the connection status.

Correct wiring.

falls off

Try no-load operation to confirm

Lighten the load or replace it with a servo

The servo motor is overloaded.

the load status.

motor with larger capacity.

The type of encoder used is

Confirm the type of encoder used

different from the setting of

According to the type of encoder used

and the setting of Pn002

Pn002 = n.  X   (encoder

Pn002 = n.X.

n.X.

use method)

Don't start the

Incorrect distribution of input

Confirm the distribution of input

Input signals

(Pn50A, Pn50B, Pn511,

servo motor

signals

(Pn50A,

Pn50B,

signals

(Pn50A, Pn50B, Pn511,

Pn516) are correctly allocated.

Pn511, Pn516)

Pn516).

servo

ON(SV-ON)

Confirm the command of the

Input servo ON (SV_ON) command from

command

upper device.

the upper device.

The commands are transmitted to the

There is no ON(SENS_ON)

Confirm the command of the

servo drive according to the correct

command

upper device.

sequence.

The forward rotation side drive

input

(P-OT)

signal

prohibited, and the reverse

Confirm the P-OT signal or the

Set the P-OT signal or N-OT signal to ON.

rotation side drive input is

N-OT signal.

prohibited

(N-OT)

signal

remains OFF

• Set FSTP signal to ON.

• When the forced stop function is not

The forced stop input (FSTP)

Confirm FSTP signal.

used, Please disable the function via

signal remains OFF

Pn516 = n.    X (forced stop of input

(FSTP) signal distribution).

Servo drive failure

Replace the servo drive.

The servo motor

Servo motor connection error

Confirm wiring.

Correct wiring.

runs

instantaneously

Incorrect wiring of encoder or

Confirm wiring.

Correct wiring.

after

stop

serial conversion unit

motionless

Fault contents

Reason

Confirmation method

The treatment measures

The connector connection of

The action of servo

Poor cable connection of servo

power line (U, V, W phase) and

Looseness of fastening terminals or

motor is not stable

motor

encoder or serial conversion unit

connectors and correct wiring.

may be unstable. Confirm wiring.

Servo

motor

Check whether the directions

running

Servo drive failure

Replace the servo drive

match.

without command

Pn00 = n.X (stop method

Confirm the set value of Pn001 =

when servo OFF and Gr.1

Properly set Pn001 = n.X.

n.X.

alarm occurs) is improperly set

Confirm the moment of inertia,

Dynamic

brake

speed and frequency of use of DB.

Replace the servo drive. In addition, in

(DB) does not

It may be that the moment of

DB resistor disconnection

order to prevent disconnection, measures

operate

inertia, speed, frequency of use of

can be taken to reduce the load state.

DB is too large or DB resistance is

broken.

DB loop component failure. Replace the

DB drive circuit failure

servo drive.

Reduce the load below the allowable

When

using

the

rotational inertia ratio or allowable mass

adjustment-free

function

Confirm the waveform of motor

ratio, or increase the load value set without

(factory setting), the servo

speed.

adjustment value to reduce the rigidity

motor vibrates greatly

value.

Confirm the installation status of

Poor mechanical installation

Re-tighten the mounting screws.

servo motor

Confirm whether the coupling is

Poor mechanical installation

Align the core of the coupling.

eccentric.

Confirm the sound and vibration

Internal bearing failure

Replace the servo motor.

near the bearing.

Confirm whether the moving parts

The vibration source is

on the machine side have foreign

Please contact the machine manufacturer.

cooperating with the machine

bodies entering or damaged or

deformed.

Confirm whether the cables for

input and output signals meet the

Due to the wrong specifications

specifications.

The

cable

of the cables used for input and

specification: double stranded

Use cables that meet specifications.

output

signals,

mutual

shielded wire or double stranded

interference occurred

unified shielded wire with core

wire of more than 0.12 mm² and

tinned soft copper stranded wire.

Due to the long cable used for

Confirm the length of cable for

Make the length of cable for input and

input and output signals,

input and output signals.

output signals within 3 m.

mutual interference occurs

Confirm whether the cables for

input and output signals meet the

Abnormal sound

specifications.

The

cable

from servo motor

Due to the wrong specification

specification: double stranded

of cable for encoder, mutual

Use cables that meet specifications.

shielded wire or double stranded

interference occurs

unified shielded wire with core

wire of more than 0.12 mm² and

tinned soft copper stranded wire.

Because the encoder cable is

Confirm the cable length for

too long, mutual interference

Set the length of encoder cable within 50m.

encoder.

occurs

Confirm whether the encoder

Due to encoder cable damage,

Replace encoder cable and change cable

cable is clamped and the cladding

mutual interference occurs

laying environment.

is damaged.

Verify that the encoder cable is

Change the laying environment of encoder

Excessive mutual interference

tied together or too close to the

cables so as not to be affected by surge

on encoder cable

high current wire.

voltage of high-current wires.

The potential of FG changes

Confirm the grounding status of

Properly ground the servo motor side

due to the influence of servo

servo motor side equipment

equipment to prevent shunt to encoder side

motor side equipment (welding

(forget

grounding, incomplete

FG.

machine, etc.)

grounding).

Pulse calculation error of servo

Confirm whether there is mutual

Properly ground the servo motor side

drive caused by mutual

interference between encoder and

equipment to prevent shunt to encoder side

interference

signal line

FG.

Confirm whether mechanical

vibration occurs. Confirm the

Encoder is affected by

Reduce mechanical vibration. Improve the

installation state of servo motor

excessive vibration and shock

installation state of servo motor.

(precision of installation surface,

fixed state, eccentric core).

Encoder failure

Replace the servo motor

Serial conversion unit failure

Replace the serial conversion unit.

Improper matching of servo

Confirm whether gain adjustment

Perform automatic adjustment

(no upper

gain

has been implemented.

command).

Confirm the setting value of speed

The speed loop gain (Pn100) is

Set the correct speed loop gain (Pn100)

loop gain

(PN100). Factory

set too high.

setting.

setting: Kv = 40.0 Hz

When the

Confirm the set value of position

frequency is about

The set value of the position

Set the correct setting value of position

ring gain (Pn102). Factory setting:

200～400Hz, the

loop gain (Pn102) is too high

loop gain (Pn102).

Kp = 40.0/s

motor

The speed loop integration

Confirm the set value of integral

vibrates

Set the correct speed loop integration time

time parameter (Pn101) is not

time parameter (Pn101) of speed

parameter (Pn101) setting value.

set correctly

loop. Factory setting: Ti = 20.0 ms

The setting value of rotational

Confirm the set value of the

Set the correct moment of inertia or mass

inertia ratio or mass ratio

moment of inertia ratio or mass

ratio (Pn103).

(Pn103) is incorrect

ratio (Pn103)

Fault contents

Reason

Confirmation method

The treatment measures

Improper matching of servo

Confirm whether gain adjustment

Perform automatic adjustment

(no upper

gain

has been implemented.

command).

Confirm the setting value of speed

The speed loop gain (Pn100) is

Set the correct speed loop gain (Pn100)

loop gain

(PN100). Factory

set too high

setting.

setting: Kv = 40.0 Hz

Confirm the set value of position

The set value of the position

Set the correct setting value of position

loop gain (Pn102). Factory setting:

loop gain (Pn102) is too high

loop gain (Pn102).

Kp = 40.0/s

Excessive speed

The speed loop integration

Confirm the set value of integral

overshoot at start

Set the correct speed loop integration time

time parameter (Pn101) is not

time parameter (Pn101) of speed

and stop

parameter (Pn101) setting value.

set correctly

loop. Factory setting: Ti = 20.0 ms

The setting value of rotational

Confirm the set value of the

Set the correct moment of inertia or mass

inertia ratio or mass ratio

moment of inertia ratio or mass

ratio (Pn103).

(Pn103) is incorrect

ratio (Pn103).

Confirm

torque

command

Torque command saturation

Use the mode switch function.

waveform.

Thrust limit

(Pn483, Pn484)

Thrust Limit: Factory Setting

Set the correct thrust limit (Pn483, Pn484)

remains factory set

Pn483 = 30%，Pn484 = 30%

value.

Confirm whether the cable for

encoder meets the specification.

The cable specification: double

Mutual interference occurred

stranded shielded wire or double

due to incorrect specifications

Use cables that meet specifications.

stranded unified shielded wire with

of cables used for encoders.

core wire of more than 0.12mm²

and tinned soft copper stranded

wire.

Because the encoder cable is

Confirm the cable length for

too long, mutual interference

Set the length of encoder cable within 50m.

encoder.

occurs

Confirm whether the encoder

Due to encoder cable damage,

Replace encoder cable and change cable

cable is clamped and the cladding

mutual interference occurs

laying environment.

is damaged.

Verify that the encoder cable is

Change the laying environment of encoder

Excessive mutual interference

tied together or too close to the

cables so as not to be affected by surge

Error in absolute

on encoder cable

high current wire.

voltage of high-current wires.

value

encoder

The potential of FG changes

Confirm the grounding status of

position deviation

Properly ground the servo motor side

due to the influence of servo

servo motor side equipment

(deviation between

equipment to prevent shunt to encoder side

motor-side equipment (welding

(forget

grounding, incomplete

the position when

FG.

machine, etc.)

grounding).

the power supply is

Confirm whether there is mutual

OFF and the

Error in calculation of servo

Anti-interference measures shall be taken

interference between encoder or

position when the

drive pulse due to mutual

for the connection of encoder or serial

serial conversion unit and signal

power supply is

interference

conversion unit.

line.

ON again recorded

Confirm whether mechanical

by the

upper

vibration occurs. Confirm the

Reduce mechanical vibration. And the

device)

Encoder is affected by

installation state of servo motor

installation state of the servo motor or the

excessive vibration impact.

(precision of installation surface,

encoder is improved.

fixed state, eccentric core).

Encoder failure

Replace the servo motor or encoder.

Servo drive failure

Replace the servo drive.

Confirm the error detection part of

Make the error detection part of the upper

the upper device.

device work normally.

The upper device is used to

confirm whether the parity data

Parity check of rotation number of coil data

Error in reading rotation

has been checked. Prepare the

or absolute value encoder position data is

number data or absolute value

data or absolute value of the

performed.

encoder position data of upper

number of Coil

device

Confirm whether there is mutual

Anti-interference measures shall be taken

interference on the cable between

to check the parity of rotation number of

the servo drive and the upper

coil data or absolute value encoder position

device.

data again.

Confirm the voltage of the external

Set the voltage of the external power

power supply (+24 V) for the input

supply (+24V) for the input signal to the

signal.

correct value.

Confirm the operating state of the

Make the over-travel limit switch operate

The

drive

input

over-travel limit switch.

normally.

(P-OT/N-OT)signal of forward /

Confirm the wiring of the

reverse side is input

Correct wiring of over-travel limit switch.

overtravel limit switch.

Confirm the set value of

over-travel input signal distribution

Set parameters correctly.

(Pn50A or Pn50B).

Confirm whether the voltage of the

Eliminate voltage fluctuation of external

external power supply (+24 V) for

power supply (+24 V) for input signal.

the input signal fluctuates.

The misoperation of the drive

Confirm whether the action state

So that the action state of the overtravel

Overtravel

(OT)

input

(P-OT/N-OT) signal on

of the overtravel limit switch is

limit switch is stable.

occurred.

the forward/reverse side is

unstable.

prohibited

Confirm the wiring of the

overtravel limit switch

(cable

Correct wiring of over-travel limit switch.

damage, screw fastening status,

etc.).

Error in the signal of the drive

If other signals are assigned to PN50A =

Confirm P-OT signal allocation

input

(P-OT/N-OT)

that

n.X, the P-OT signal is reassigned to

Pn50A= n.X.

prohibits

forward/reverse

this parameter.

rotation for parameters (Pn50A

other signals are assigned to

Confirm N-OT signal distribution

= n.X    , Pn50B

Pn50B=n. X, then the N-OT signal is

Pn50B=n.X.

n.X)

reassigned to this parameter.

Confirm the stop method when

Select a servo motor stop method other

Servo motor stop method

servo is OFF (Pn001 = n.X,

than free running stop.

selection error

or pn 001 = n.).

Confirm the stop method for

Select a servo motor stop method other

Fault contents

Reason

Confirmation method

The treatment measures

torque control (Pn001 = n.X,

than free running stop.

or Pn001 = n.X).

The position of the limit switch

Set the limit switch at the appropriate

and the length of the toggle

Incorrect

stop

position.

joint are improper

position due to

The position of the overtravel

over travel (OT)

Set the overtravel limit switch at the

limit switch is shorter than the

appropriate position.

inertia operation amount

Confirm whether the cable for

encoder meets the specification

The cable specification: double

Mutual interference occurred

stranded shielded wire or double

due to incorrect specifications

Use cables that meet specifications.

stranded unified shielded wire with

of cables used for encoders

core wire of more than 0.12mm²

and tinned soft copper stranded

wire.

Because the encoder cable is

Confirm the cable length for

too long, mutual interference

Set the length of encoder cable within 50m.

encoder.

occurs

Confirm whether the encoder

Due to encoder cable damage,

Replace encoder cable and change cable

cable is clamped and the cladding

mutual interference occurs

laying environment.

is damaged.

Verify that the encoder cable is

Change the laying environment of encoder

Excessive mutual interference

tied together or too close to the

cables so as not to be affected by surge

on encoder cable

high current wire.

voltage of high-current wires.

The potential of FG changes

Confirm the grounding status of

Properly ground the servo motor side

due to the influence of servo

servo motor side equipment

equipment to prevent shunt to encoder side

motor-side equipment (welding

(forget

grounding, incomplete

FG.

machine, etc.)

grounding).

Confirm whether there is mutual

Error in calculation of servo

Anti-interference measures shall be taken

interference between encoder or

drive pulse due to mutual

for the connection of encoder or serial

serial conversion unit and signal

interference

conversion unit.

Position deviation

line.

occurs (No alarm)

Confirm whether mechanical

vibration occurs. Confirm the

installation state of servo motor

Reduce mechanical vibration. And the

Encoder is affected by

(precision of installation surface,

installation state of the servo motor or the

excessive vibration impact

fixed state, eccentric core).

linear encoder is improved.

Confirm the installation state of

linear encoder (installation surface

precision, fixing method).

Verify that the coupling between

Coupling failure of machine

Correctly fix the coupling of the machine

the machine and the servo motor

and servo motor

and servo motor.

is misaligned.

Confirm whether the cables for

input and output signals meet the

Due to the wrong specifications

specifications.

The

cable

of the cables used for input and

specification: double stranded

Use cables that meet specifications.

output

signals,

mutual

shielded wire or double stranded

interference occurred

unified shielded wire with core

wire of more than 0.12mm² and

tinned soft copper stranded wire.

Due to the long cable used for

Confirm the length of cable for

Make the length of cable for input and

input and output signals,

input and output signals.

output signals within 3m.

mutual interference occurs.

Encoder

failure

(pulse

Replace the servo motor or encoder.

unchanged)

Servo drive failure

Replace the servo drive.

Ambient temperature is too

Measure the ambient temperature

Set the ambient temperature below 40°C.

high

of the servo motor.

Visual inspection confirms motor

Remove dirt, dust and oil stains on the

Servo

motor

Dirty surface of servo motor

surface smudges.

motor surface.

overheating

If overload occurs, reduce the load or

Confirm the load status through

The servo motor is overloaded.

replace it with servo drive and servo motor

the monitor.

with larger capacity.

Chapter 10 List of parameter

10.1 List of servo parameters

10.1.1 Method for distinguishing the list

When the factory setting values of Axis A

Indicates when the parameter changes and the change

Indicates the number of

and Axis b of the biaxial driver are

takes effect.

bytes occupied by the

inconsistent, the upper layer represents

yPower restart: It means that the parameters will not

Indicates

the

parameter

the factory parameters of Axis A, the

take effect until the servo control power is turned off

number of

the

y2 means 2 bytes

lower layer represents the factory

and the power is turned on again.

parameter

y4 means 4 bytes

parameters of Axis b.

Available

Categor

Pn No.

Size

Name

Setting range

Setting Unit Factory setting

Model

time

Function selection Basic

0010 (axis A)

Power

0000～10B1

Setup

P/B

switch 0

0000 (axis b)

restart

“X”

Represents two categories of parameters:

Represents a corresponding

ySetting, which means setting class parameters

configurable parameter bit

yAdjustment, which means adjusting class

parameters

n.X

Rotation direction selection

Model

The CCW direction is the forward rotation direction.

The CW direction is the forward rotation direction. (Reverse mode)

The function name of the

Indicates that this parameter is only valid for the corresponding

corresponding parameter bit the

model;

following list is optional features

yP corresponds to models HSD7-A00, HSD7-D00

HSD7-A01, HSD7-D01

yB corresponds to models HSD7-A10, HSD7-D10

HSD7-A20, HSD7-D20

HSD7-A30, HSD7-D30

yBy default, all model parameters are valid.

n.X

Control mode selection

Remarks

Speed control (analog command)

Position control (pulse sequence command)

Rotational moment control (analog command)

Internal set speed control (contact command)

Internal set speed control (contact command) speed control (analog

Pn000

command

Internal set speed control (contact command) position control (pulse

sequence command)

Internal set speed control (contact command) torque control (analog

command

Position control (pulse sequence command) speed control (analog

command)

Position control (pulse sequence command) torque control (analog

command)

Torque control (analog command) speed control (analog command)

Speed control (analog command) speed control with zero position

fixing function

Position control (pulse sequence command) position control with

command pulse disable function

n.X

Appointment parameters (do not change it)

Reserved parameters cannot be modified,

otherwise the servo system may not operate

normally.

n.X

Startup selection when encoder is not connected

Remarks

It is started as the corresponding servo drive of the rotary servo motor

when the encoder is not connected.

It is started as the corresponding servo drive of the linear servo motor

when the encoder is not connected.

10.1.2 List of servo parameters

The parameter list is as follows.

(Note) The following parameters are factory settings and should not be changed.

• Appointment Parameters

• Parameters not recorded in this manual

Setting

Available

Categor

Rema

Pn No.

Size

Name

Setting range

Factory setting

Unit

time

rks

Function

selection Basic

Power

0000～10B1

0000

Setup

switch 0

restart

n.X

Rotation direction selection

Remarks

The CCW direction is the forward rotation direction.

The CW direction is the forward rotation direction. (Reverse mode)

n.X

Control mode selection

Model

Speed control (analog command)

Position control (pulse sequence command)

Rotational moment control (analog command)

Internal set speed control (contact command)

Internal set speed control (contact command)  speed control (analog

command

Internal set speed control

(contact command) 

position control

(pulse sequence command)

Internal set speed control

(contact command)



torque control

(analog command

Pn000

Position control (pulse sequence command)  speed control (analog

command)

Position control (pulse sequence command)  torque control (analog

command)

Torque control (analog command)  speed control (analog command)

Speed control (analog command)  speed control with zero position

fixing function

Position control (pulse sequence command)  position control with

command pulse disable function

n.X

Appointment parameters (do not change it)

n.X

Startup selection when encoder is not connected

Remarks

It is started as the corresponding servo drive of the rotary servo motor

when the encoder is not connected.

It is started as the corresponding servo drive of the linear servo motor

when the encoder is not connected.

Function

selection

Power

0000～1142

0000

Setup

application switch 1

restart

n.X

Servo OFF and Stop Method in Gr.1 Alarm

Remarks

Stop the motor by DB (dynamic brake).

Stop the motor through DB, and then cancel DB.

Do not use DB, set the motor to run freely.

n.X

Stop Method when it is overtravel (OT)

Remarks

DB stop or free running stop (stop method is the same as Pn001=

n.X).

The set torque of Pn406 is used as the maximum torque to decelerate

and stop the motor, and then the servo lock state is entered.

The set torque of Pn406 is taken as the maximum torque to decelerate

Pn001

and stop the motor, and then enter the free running state.

According to the deceleration time of Pn30A, the motor decelerates

and stops, and then enters the servo locking state.

According to the deceleration time of Pn30A, the motor will decelerate

and stop, and then enter the free running state.

n.X

Selection of AC/DC input for main loop power supply

Remarks

AC power is input from L1, L2, L3 and L3 terminals as the main loop

power (no universal converter is used).

Between B1/⊕, ⊖ the input DC power supply is as the main loop

power supply (using an external converter or a universal converter).

n.X

Appointment parameters (do not change it)

Setting

Available

Categor

Pn No.

Size

Name

Setting range

Factory setting

Model

Unit

time

0000

Function

selection

Power

0000～4213

Setup

application switch 2

restart

0011

n.X

Speed/position control selection (T-REF assignment)

Model

No T-REF allocation.

Use T-REF as the external torque limit input.

(Torque Limit Enabled in Bus Mode)

（B）

T-REF is used as torque feedforward input.

When /P-CL and /N-CL are "valid", T-REF is used as external

torque limiting input.

n.X

Torque control selection (V-REF allocation)

Model

No V-REF allocation.

Use V-REF as the external speed limit input.

(In bus mode, speed limit under torque control is enabled)

（B）

Pn002

n.X

Method of use of encoder

Remarks

Use the encoder according to its specifications.

The encoder is used as an incremental encoder.

The absolute value encoder is used as a single coil absolute value

encoder.

n.X

Use method of external encoder

Remarks

No external encoder is used.

It is used as "the motor rotates in CCW direction and the external

encoder moves forward".

Appointment Parameters (Do Not Set)

It is used as "the motor rotates in CCW direction and the external

encoder moves in reverse".

Appointment Parameters (Do Not Set)

Function

selection

Power

0000～7121

4000

Setup

application switch 8

restart

n.X

Alarm/Warning Selection for Battery Undervoltage

Remarks

Set the battery undervoltage as an alarm (A.830).

Set the battery undervoltage as a warning (A.930).

n.X

Function Selection in Undervoltage

Remarks

Under voltage warning is not detected.

The undervoltage warning is detected, and the torque limit is

Pn008

executed by the upper device.

The undervoltage warning is detected, and torque limitation is

performed through Pn424 and Pn425

n.X

Warning Check Out Selection

Remarks

Check out warnings.

No warnings are detected (except A.971).

n.X

Appointment parameters (do not change it)

Function

selection

Power

Adjustm

0000～0121

0010

application switch 9

restart

ent

n.X

Appointment parameters (do not change it)

Remarks

n.X

Current control mode selection

Remarks

Select current control mode 0

Select current control mode 1

Pn009

Select current control mode 2

n.X

Selection of Speed Detection Methods

Remarks

Select Speed Check Out 1.

Select Speed Check Out 2.

n.X

Appointment parameters (do not change it)

Remarks

Setting

Factory

Available

Categor

Rema

Pn No.

Size

Name

Setting range

Unit

setting

time

rks

Function

selection

Power

0000～0044

0001

Setup

application switch A

restart

n.X

Stop Method in Case of Gr.2 Alarm

Remarks

DB stop or free running stop (stop method is the same as Pn001

n.X).

The set torque of Pn406 is used as the maximum torque to

decelerate and stop the motor.

The state after stopping depends on the setting of Pn001 =

n.X.

The set torque of Pn406 is used as the maximum torque to

decelerate and stop the motor.

And then enter a free running state.

According to the deceleration time of Pn30A, the motor is

decelerated and stopped.

The state after stopping depends on the setting of Pn001 =

n.X.

According to the deceleration time of Pn30A, the motor will

decelerate and stop, and then enter the free running state.

Pn00A

n.X

Stop method when forced to stop

Remarks

DB stop or free running stop (stop method is the same as Pn001

n.X).

The set torque of Pn406 is used as the maximum torque to

decelerate and stop the motor.

The state after stopping depends on the setting of Pn001 =

n.X.

The set torque of Pn406 is used as the maximum torque to

decelerate and stop the motor.

And then enter a free running state.

According to the deceleration time of Pn30A, the motor is

decelerated and stopped.

The state after stopping depends on the setting of Pn001 =

n.X.

According to the deceleration time of Pn30A, the motor will

decelerate and stop, and then enter the free running state.

n.X

Appointment parameters (do not change it)

n.X

Appointment parameters (do not change it)

Function

selection

Power

0000～1121

0000

Setup

application switch B

restart

n.X

Operator parameter display selection

Remarks

Only set parameters are displayed

Display all of the parameters

n.X

Stop Method in Case of Gr.2 Alarm

Remarks

Zero speed stop

DB stop or free running stop (stop method is the same as Pn001

Pn00B

n.X).

Set the stop method by Pn00A = n.X.

n.X

Power Input Selection for Servo Drive with Three-phase Input Specifications

Remarks

Use three-phase power input.

Three-phase input specifications are used for single-phase power

input.

n.X

Appointment parameters (do not change it)

Function

selection

Power

0000～1001

0000

Setup

application switch D

restart

n. X

Appointment parameters (do not change it)

n. X

Appointment parameters (do not change it)

Pn00D

n.X

Appointment parameters (do not change it)

n.X

Overtravel Warning Check-out Selection

No over-travel warning is detected.

Check out over-travel warning.

Axis Address:

Power

Pn010

1～ 127

Setup

（Modbus/CANopen/USB）

restart

Factory

Available

Categor

Pn No.

Size

Name

Setting range

Setting Unit

Model

setting

time

Modbus/CANopen

Power

Communication parameter

0100

Setup

restart

selection switch

n.X

Modbus communication baud rate selection

Remarks

9600 bps

19200 bps

38400 bps

57600 bps

115200 bps

n.X

Modbus communication protocol selection

Remarks

8, N, 1(Modbus RTU mode)

8, E, 1(Modbus RTU mode)

Pn011

8, O, 1(Modbus RTU mode)

n.X

CANopen communication baud rate selection

Remarks

50K bps

100K bps

125K bps

250K bps

500K bps

1M bps

n.X

CANopen communication enable switch

Remarks

Close CANopen communication

Enable CANopen communication

Address

Power

Pn013

0000〜00FE

0001

Setup

MECHATROLINK-II station

restart

MECHATROLINK-II

Power

Communication

0011

Setup

restart

specification setting

n.X

Communication speed setting

Remarks

4M bps

1M bps

Pn014

n.X

Transfer byte settings

Remarks

17 bytes

32 bytes

n.X

Appointment parameters (do not change it)

n.X

Appointment parameters (do not change it)

Address

Power

Pn013

MECHATROLINK-III

0000〜00FE

0021

Setup

restart

station

MECHATROLINK-III

Power

Communication

0010

Setup

restart

specification setting

n.X

Appointment parameters (do not change it)

Remarks

n. X

Transfer byte settings

Remarks

Pn014

17 bytes

32 bytes

n.X

Appointment parameters (do not change it)

n.X

Appointment parameters (do not change it)

Power

Pn013

EtherCAT station address

0000〜FFFF

0001

Setup

restart

EtherCAT station address

Power

0000

Setup

selection mode

restart

n.□□□X

Communication speed setting

Remarks

Set the parameter Pn013 as the station address of EtherCAT.

Pn014

Take the value of SII area (0004h) as the station address of

EtherCAT

n.X X X□

Appointment parameters (do not change it)

Setting

Available

Catego

Rema

Pn No.

Size

Name

Setting range

Factory setting

Unit

time

rks

Effective

Adjust

Pn100

Velocity loop gain

10～20000

0.1 Hz

400

immediately

ment

Velocity loop integration

Effective

Adjust

Pn101

15～51200

0.01 ms

2000

time parameter

immediately

ment

Effective

Adjust

Pn102

Position loop gain

10～20000

0.1/s

400

immediately

ment

Effective

Adjust

Pn103

Moment of inertia ratio

0～20000

100

immediately

ment

Effective

Adjust

Pn104

Gain of second speed loop

10～20000

0.1 Hz

400

immediately

ment

The second speed loop

Effective

Adjust

Pn105

15～51200

0.01 ms

2000

integration time parameter

immediately

ment

Effective

Adjust

Pn106

2nd position loop gain

10～20000

0.1/s

400

immediately

ment

Effective

Adjust

Pn109

Feedforward

0～100

immediately

ment

Feedforward filtering time

Effective

Adjust

Pn10A

0～6400

0.01 ms

parameter

immediately

ment

Gain class application

0000～5334

0000

Setup

switch

n.X

Mode switch selection

Available

Remarks

time

On condition of internal torque command (value setting:

Pn10C).

On condition of speed command (value setting: Pn10D).

On condition of speed command (value setting: Pn181).

Under the condition of acceleration (value setting:

Effective

Pn10E).

immediately

Under the condition of acceleration (value setting:

Pn182).

Pn10B

On condition of position deviation (value setting: Pn10F).

No mode switch function

n.X

Available

Control Method of Speed Ring

Remarks

time

PI Control

Power

I-P control

restart

2～3

Appointment Parameters (Do Not Set)

n.X

Appointment parameters (do not change it)

n.X

Appointment parameters (do not change it)

Mode switch

Effective

Adjust

Pn10C

0～800

200

(Torque command)

immediately

ment

Mode switch

Effective

Adjust

Pn10D

0～10000

1 min^-1

(Speed command)

immediately

ment

Mode switch

Effective

Adjust

Pn10E

0～30000

1min^-1/S

(Acceleration)

immediately

ment

Mode switch

1 Command

Effective

Adjust

Pn10F

0～10000

(Location deviation)

unit

immediately

ment

Position integration time

Effective

Adjust

Pn11F

0～50000

0.1 ms

parameter

immediately

ment

Effective

Adjust

Pn121

Friction compensation gain

10～1000

100

immediately

ment

Second friction

Effective

Adjust

Pn122

10～1000

100

compensation gain

immediately

ment

Friction compensation

Effective

Adjust

Pn123

0～100

coefficient

immediately

ment

Friction compensation

Effective

Adjust

Pn124

-10000～10000

0.1 Hz

frequency correction

immediately

ment

Friction compensation gain

Effective

Adjust

Pn125

1～1000

100

correction

immediately

ment

Effective

Adjust

Pn131

Gain switching time1

0～65535

1 ms

immediately

ment

Effective

Adjust

Pn132

Gain switching time2

0～65535

1 ms

immediately

ment

Effective

Adjust

Pn135

Gain switching latency 1

0～65535

1 ms

immediately

ment

Effective

Adjust

Pn136

Gain switching latency 2

0～65535

1 ms

immediately

ment

Factory

Available

Catego

Rema

Pn No.

Size

Name

Setting range

Setting Unit

setting

time

rks

Automatic Gain Switching

Effective

Adjust

0000～0052

0000

Class Switch 1

immediately

ment

n.X

Gain switching selector switch

Manual gain switching

The gain is manually switched by the G_SEL of the servo command output signal

(SVCMD_IO).

Appointment Parameters (Do Not Set)

Automatic switching mode 1

When the switching condition A is satisfied, it is automatically switched from the first

gain to the second gain.

When the switching condition A fails, it is automatically switched from the second gain

to the first gain.

Pn139

n. X

Switching conditiona

Location Complete Output (/COIN) Signal ON

Location Complete Output (/COIN) Signal OFF

Position nearby output (/NEAR) signal ON

Position nearby output (/NEAR) signal OFF

Position command filter output =0 and position command input OFF

Position command input ON

n.□X

Appointment parameters (do not change it)

n.X

Appointment parameters (do not change it)

Effective

Adjust

Pn13D

Current gain value

100～2000

2000

immediately

ment

Model Tracking Control

Effective

Adjust

0000～1121

0100

Class Switch

immediately

ment

n. X

Model tracking control selection

Remarks

Model tracking control is not used.

Use model tracking control.

n. X

Vibration suppression selection

Remarks

Vibration suppression is not performed.

Add vibration suppression function to specific frequency.

Add vibration suppression function to 2 different frequencies.

Pn140

n. X

Appointment parameters (do not change it)

Remarks

The vibration suppression function is not automatically adjusted in the

process of performing automatic adjustment (without upper command),

automatic adjustment (with upper command) and custom adjustment.

The vibration suppression function is automatically adjusted in the

process of performing automatic adjustment (without upper command),

automatic adjustment (with upper command) and custom adjustment.

n.X

Speed Feed Forward (VFF)/ Torque Feed Forward Selection

Remarks

Model tracking control and speed/torque feedforward are not used at the

same time.

Model tracking control and speed/torque feedforward are used

simultaneously.

Effective

Adjust

Pn141

Model tracking control gain

10～20000

0.1/s

500

immediately

ment

Model tracking control gain

Effective

Adjust

Pn142

500～2000

0.1%

1000

correction

immediately

ment

Model tracking control bias

Effective

Adjust

Pn143

0～10000

0.1%

1000

( forward rotation direction)

immediately

ment

Model tracking control bias

Effective

Adjust

Pn144

0～10000

0.1%

1000

(Reverse rotation direction)

immediately

ment

Vibration suppression

Effective

Adjust

Pn145

10～2500

0.1 Hz

500

frequency A

immediately

ment

Vibration suppression

Effective

Adjust

Pn146

10～2500

0.1 Hz

700

frequency B

immediately

ment

Feedforward

Effective

Adjust

Pn147

compensation of model

0～10000

0.1%

1000

immediately

ment

tracking control speed

Model

tracking control

Effective

Adjust

Pn148

10～20000

0.1/s

500

gain

immediately

ment

Model

tracking control

Effective

Adjust

Pn149

500～2000

0.1%

1000

gain correction

immediately

ment

Vibration suppression

Effective

Adjust

Pn14A

10～2000

0.1 Hz

800

frequency

immediately

ment

Vibration suppression

Effective

Adjust

Pn14B

10～1000

100

correction

immediately

ment

Factory

Available

Categor

Rema

Pn No.

Size

Name

Setting range

Setting Unit

setting

time

rks

Power

Adjustm

Control switch

0000～0021

0021

restart

ent

n. X

Rotation direction selection

Remarks

Select Model tracking control 1 mould.

Select Model tracking control 2 mould.

Pn14F

n. X

Adjustment free type selection

Remarks

Select Adjustment-Free Type 1.

Select Adjustment-Free Type 2.

n.X Appointment parameters (do not change it)

n.X Appointment parameters (do not change it)

Effective

Anti-vibration

control

Adjustm

0000～0011

0010

immediatel

switch

ent

n. X

Selection of type A vibration suppression control

Remarks

Type A vibration suppression control is not used.

Using type A vibration suppression control

n. X

Adjustment selection of type A vibration suppression control

Remarks

Type A vibration suppression control is not automatically adjusted in the

Pn160

process of executing automatic adjustment (without upper command),

automatic adjustment

(with upper command) and user-defined

adjustment.

Type A vibration suppression control is automatically adjusted in the

process of automatic adjustment (without upper command), automatic

adjustment (with upper command), and self-defined adjustment.

n.X Appointment parameters (do not change it)

n.X Appointment parameters (do not change it)

Type

vibration

Effective

Adjust

Pn161

10～20000

0.1 Hz

1000

suppression frequency

immediately

ment

Correction of Type A

Effective

Adjust

Pn162

Vibration

Suppression

1～1000

100

immediately

ment

Gain

Type

vibration

Effective

Adjust

Pn163

0～300

suppression damping gain

immediately

ment

Type A suppression

Effective

Adjust

Pn164

Correction of Filter Time

-1000～1000

0.01 ms

immediately

ment

Parameter 1

Type A suppression

Effective

Adjust

Pn165

Correction of Filter Time

-1000～1000

0.01 ms

immediately

ment

Parameter 2

Type

vibration

Effective

Adjust

Pn166

suppression damping gain

0～1000

immediately

ment

Adjustment-free switch

0000～2711

1400

Setup

n.X

Adjustment free selection

Available

time

Make the adjustment-free function invalid.

Power

Make the adjustment-free function effective.

restart

n.X

Available

Appointment parameters (do not change it)

time

It is used for speed control

Power

It is used for speed control and the upper device is used for position

Pn170

restart

control.

n.X

Available

Adjustment-free tuning value

time

Effective

0～7

Set tuning value without adjustment.

immediately

n.X

No adjustment of load value

Available

time

Set load value without adjustment.

Effective

0～2

immediately

Factory

Available

Categor

Pn No.

Size

Name

Setting range

Setting Unit

Model

setting

time

Position control command

Power

0000～2236

0000

Setup

form selector switch

restart

n.X

Command pulse pattern

Sign+Pulse, Positive Logic

CW+CCW Pulse Sequence, Positive Logic

90° phase difference two-phase pulse (phase A+phase B) 1 times, positive logic

90° phase difference two-phase pulse (phase A+phase B) 2 times, positive logic

90° phase difference two-phase pulse (phase A+phase B) 4 times, positive logic

Sign+Pulse Sequence, Negative Logic

CW+CCW Pulse Sequence, Negative Logic

n.X

Clear signal pattern

Clear position deviation when signal H level.

Clear the position deviation when the signal is enhanced.

Pn200

Clear position deviation when signal l level.

Clear the position deviation when the signal decays.

n.X

Clear action

Clear the position deviation when the base is blocked (servo OFF and alarm

occurs).

The position deviation is not cleared (only cleared by the position deviation clear

input (CLR) signal).

Clear position deviation when alarm occurs.

n.X

No adjustment of load value

Command for using a linear drive signal is input to the filter 1. （～ 1Mpps）

Command input filter for open collector signal is used. （～ 200kpps）

An instruction for using a linear drive signal is input to the filter 2. （1 ～ 4Mpps

）

Position

control function

Power

0000～2210

0010

Setup

switch

restart

n.X

Appointment parameters (do not change it)

n.X

Position control selection

No V-REF allocation

V-REF is used as the speed feed forward input.

Pn207

n.X

Appointment parameters (do not change it)

n.X

Output Time for Positioning Complete Output（/COIN） Signal

When the absolute value of the position deviation is less than the positioning

completion amplitude (Pn522), it is output.

When the absolute value of the position deviation is less than the positioning

completion amplitude (Pn522) and the filtered command of the position command is

0, it is output.

The absolute value of the position deviation is smaller than the positioning completion

amplitude (Pn522) and is output when the position command input is 0.

Electronic

gear

ratio

Power

Pn20E

1～1073741824

Setup

(molecule)

restart

Electronic

gear

ratio

Power

Pn210

1～1073741824

Setup

(denominator)

restart

Encoder frequency division

Power

Pn212

16～1073741824

1 pitch /Rev

2500

Setup

pulse count

restart

Position

command

Effective

acceleration

and

Pn216

0～65535

0.1ms

after the

Setup

deceleration

time

motor stops

parameters

Effective

Moving average time of

Pn217

0～10000

0.1ms

after the

Setup

position command

motor stops

Effective

Command pulse input

Pn218

1～100

1 times

immediatel

Setup

multiplying power

Position control extension

Power

0000～0001

0000

Setup

function switch

restart

n.X

Backlash compensation direction

Pn230

Backlash-free compensation is carried out by commands in the positive direction.

Backlash-free compensation is carried out by command in the opposite direction.

n.X X X Appointment parameters (do not change it)

0.1

Effective

Pn231

Backlash compensation

-500000～500000

Command

Setup

immediately

unit

Backlash

compensation

Effective

Pn233

0～65535

0.01 ms

Setup

time parameter

immediately

0.01 V/

Effective

Pn300

Speed command input gain

150～3000

600

Setup

Rated speed

immediately

Effective

Pn301

Internal set speed 1

0～10000

1 min^-1

100

Setup

immediately

Factory

Available

Catego

Rema

Pn No.

Size

Name

Setting range

Setting Unit

setting

time

rks

Effective

Pn302

Internal set speed 2

0～10000

1 min^-1

200

Setup

immediately

Effective

Pn303

Internal set speed 3

0～10000

1 min^-1

300

Setup

immediately

Effective

Pn304

Jog (JOG) speed

0～10000

1 min^-1

500

Setup

immediately

Effective

Pn305

Soft start acceleration time

0～10000

1 ms

Setup

immediately

Effective

Pn306

Soft start deceleration time

0～10000

1 ms

Setup

immediately

Speed Command filtering

Effective

Pn307

0～65535

0.01ms

Setup

time parameter

immediately

Time Parameters of Speed

Effective

Pn308

0～65535

0.01 ms

Setup

Feedback Filter

immediately

Deceleration Time for

Effective

Pn30A

Servo OFF and Forced

0～10000

1 ms

Setup

immediately

Stop

Speed feedforward moving

Effective

Pn30C

0～5100

0.1 ms

Setup

average time

immediately

Effective

Vibration detection switch

0000～0002

0000

Setup

immediately

n.X

Rotation direction selection

No vibration is detected.

Warning issued after vibration detection (A.911).

Alarm is issued after vibration is detected (A.520).

Pn310

n.X

Appointment parameters (do not change it)

n.X

Appointment parameters (do not change it)

n.X

Appointment parameters (do not change it)

Vibration

detection

Effective

Adjust

Pn311

50～500

100

sensitivity

immediately

ment

Effective

Adjust

Pn312

Vibration detection value

0～5000

1 min^-1

immediately

ment

Power

Pn316

Maximum speed of motor

0～65535

1 min^-1

10000

Setup

restart

Estimated Starting Value of

Effective

Pn324

0～20000

300

Setup

Moment of Inertia

immediately

Torque command input

0.1 V/ Rated

Effective

Pn400

10～100

Setup

gain

torque

immediately

Section

First Torque

Effective

Adjust

Pn401

Command

Filter

Time

0～65535

0.01 ms

100

immediately

ment

Parameters

Forward rotation torque

Effective

Pn402

0～800

1%^*1

800

Setup

limit

immediately

Effective

Pn403

Reversal torque limit

0～800

1%^*1

800

Setup

immediately

External torque limit on

Effective

Pn404

0～800

1%^*1

100

Setup

forward rotation side

immediately

Reverse side external

Effective

Pn405

0～800

1%^*1

100

Setup

torque limit

immediately

Effective

Pn406

Emergency stop torque

0～800

1%^*1

800

Setup

immediately

Speed limit during torque

Effective

Pn407

0～10000

1 min^-1

10000

Setup

control

immediately

Torque type function switch

0000～1111

0000

Setup

n.X

Available

Selection of Notch Filter 1

time

Section 1 notch filter is invalid.

Effective

Use the notch filter of section 1.

immediately

n.X

Available

Selection of speed limit

time

The speed limit value uses "motor maximum speed", the smaller of

Pn407 settings.

Power

Pn408

The speed limit value uses "speed detected by overspeed alarm", the

restart

smaller of the Pn407 set values.

n.X

Available

Selection of Notch Filter 2

time

Section 2 notch filter is invalid.

Effective

Use the notch filter of section 2.

immediately

n.X

Frictional compensation Function selection

Available

time

The friction compensation function is not used.

Effective

Use friction compensation function.

immediately

Factory

Available

Catego

Rema

Pn No.

Size

Name

Setting range

Setting Unit

setting

time

rks

Frequency of

1st notch

Effective

Adjust

Pn409

50～5000

1 Hz

5000

filter

immediately

ment

Q value of the 1st notch

Effective

Adjust

Pn40A

50～1000

0.01

filter

immediately

ment

Effective

Adjust

Pn40B

The 1st notch filter depth.

0～1000

0.001

immediately

ment

Frequency of

2nd notch

Effective

Adjust

Pn40C

50～5000

1 Hz

5000

filter

immediately

ment

Q value of the 1st notch

Effective

Adjust

Pn40D

50～1000

0.01

filter

immediately

ment

Effective

Adjust

Pn40E

The 2nd notch filter depth.

0～1000

0.001

immediately

ment

Section

2nd Torque

Effective

Adjust

Pn40F

Command

Filter

Time

100～5000

1 Hz

5000

immediately

ment

Parameters

Section 2 Q Value of 2nd

Effective

Adjust

Pn410

50～100

0.01

Torque Command Filter

immediately

ment

Section

2nd Torque

Effective

Adjust

Pn412

Command

Filter

Time

0～65535

0.01 ms

100

immediately

ment

Parameters

T-REF

filtering

time

Effective

Pn415

0～65535

0.01 ms

Setup

parameter

immediately

Torque type function switch

Effective

0000～1111

0000

Setup

immediately

n.X

Selection of Notch Filter 3

Section 3 notch filter is invalid.

Use the notch filter of section 3.

n.X

Selection of Notch Filter 4

Pn416

Section 4 notch filter is invalid.

Use the notch filter of section 4.

n.X

Appointment parameters (do not change it)

Section 5 notch filter is invalid.

Use the notch filter of section 5.

n.X

Appointment parameters (do not change it)

Frequency of

3rd notch

Effective

Adjust

Pn417

50～5000

1 Hz

5000

filter

immediately

ment

Q value of the 3rd notch

Effective

Adjust

Pn418

50～1000

0.01

filter

immediately

ment

Effective

Adjust

Pn419

The 3rd notch filter depth.

0～1000

0.001

immediately

ment

Frequency of

4th notch

Effective

Adjust

Pn41A

50～5000

1 Hz

5000

filter

immediately

ment

Q value of the 4th notch

Effective

Adjust

Pn41B

50～1000

0.01

filter

immediately

ment

Effective

Adjust

Pn41C

The 4th notch filter depth.

0～1000

0.001

immediately

ment

Pn41D

Frequency of

5th notch

Effective

Adjust

50～5000

1 Hz

5000

filter

immediately

ment

Pn41E

Q value of the 5th notch

Effective

Adjust

50～1000

0.01

filter

immediately

ment

Effective

Adjust

Pn41F

The 5th notch filter depth.

0～1000

0.001

immediately

ment

Speed

pulsation

0000～1111

0000

Setup

compensation switch

n.X

Selection of velocity pulse compensation function

Available

time

The speed pulsation compensation function is not used.

Effective

Use the speed pulsation compensation function.

immediately

n.X

Detection selection for inconsistent warning of velocity fluctuation compensation

Available

information

time

Pn423

A.942 was detected.

Power

A.942 was not detected.

restart

n.X

Available

Selection of effective conditions for velocity fluctuation compensation

time

Speed command

Power

Revolving speed of motor

restart

n.X

Appointment parameters (do not change it)

Torque limitation when

Effective

Pn424

0～100

1%^*1

Setup

main loop voltage drops

immediately

HSD7-E Series AC Servo Drive. User's Manual (Version: V0.1) - page 5