HSD2000 Series Servo Drive. Operation Manual V1.2

Chapter VI Function Code Details

2: Reserved

OS Action Detection

Speed limit channel:

0: deceleration stops

0: By the function code P07.11 or P07.12 setting value as the

Servo drive shall as deceleration time stop.

speed limit value torque control. by function code P07.11. or

1: freewheel, report E035.

1: By the analog input terminal the value speed limit value as the

Servo drive will terminate output, motor stops according to

torque control. AI corresponding velocity relationship, set by the

mechanical inertia, and reported OS fault E035.

P11 group AI curve. Users need to define AI terminal

2: Continue to run.

functionality for speed limit value, to AI1, for example, set

OS detection does not work, servo drive continues to run.

function code P11.01 = 4 (or 5), a detailed description of the

setting method, see P11 group.

Overspeed (OS) detection value

Speed limit value

Set value of 100% corresponds to the servo drive's maximum

It is effective in P07.09

(or P07.10) ＝0. Set value of 100%

output frequency (P02.05).

corresponds to the servo drive's maximum output frequency

Note

(P02.05).

Over speed (OS) is effective in detecting non-V / F mode.

P07.13 speed deviation (DEV) when

0～2【2】

P07.19 Pre-excitation time

0～10s【0】

detection selection

P07.14 DEVdetection value

0.0％～50.0％【20.0％】

Pre-excitation magnetic field is used to build asynchronous motor

P07.15 DEVdetection time

0.0～10.0s【10.0s】

before start. Pre-excitation time

(P07.19) refers to the

pre-magnetizing time.

In vector control, the relative speed deviation value

acceleration and deceleration after setting frequency - feedback

frequency | / servo drive's maximum output frequency) × 100%.

P07.20～P07.22

Reserved

If the relative speed of the set value deviation DEV detection time

Reserved function

(P07.15) is greater than the set continuous DEV detection value

(P07.14), the detecting operation is selected according to DEV

P07.23 weakening control

500～1200【1024】

function code P07.13.

coefficient

P07.24 the minimum value for

DEV Detection Action Option

10％～80％【10％】

a given flux

0: deceleration stops

Function code P07.23, P07.24 for a valid PG vector control

servo drive stop shall be implemented as deceleration time 。

mode. Weak magnetic curves are used in areas of weak magnetic

1: Freewheel, repost E034。

field weakening curve correction, the greater the value, the more

servo drive immediately terminate output, motor stops

stable and showed weakening curve.

according to mechanical inertia, and reported DEV deviation is

The minimum flux given value is the minimum flux value at the

too large fault (E034).

time of weakening.

2: Continue to run.

P07.25 Reserved

Reserved

DEV detected no movement, servo drive continues to run.

Reserved function

DEV Detection Value

6.1.9Torque Control Parameter

(P08 group)

Set value of 100% corresponds to the servo drive's maximum

output frequency (P02.05).

P08.00 speed /torque control mode

0、1【0】

0: speed control mode

Note

1: torque control mode

Speed deviation (DEV) detected only in the speed control

mode (P07.00 = 0) under effective.

Torque control frame figure:

External torque

P07.16 overspeed (OS) when Detection

command

A time delay

0, 1, 2【1】

filter

Selection

Common

(P08.03)

d torque

P07.17 overspeed (OS) detection value

0％～130.0％【120.0％】

velocity

current

speed limit +

error

output filtering

KP(1+

)

P07.18 overspeed (OS) detection value

0.0s～2.00s【0.0s】

actual

ASR

P08.10 P0

)

(P07.03： P07.06)

Relative velocity = (| feedback frequency | / maximum output

speed

frequency) × 100%.

actual

< speed limit

speed

If the relative speed of the set detection time OS (P07.18) is

greater than the set continuous OS detection value (P07.17), the

Figure 6-24: Moment control Figure

detection operation is selected in accordance OS function code

P07.16.

Chapter VI Function Code Details

Set terminal X1 ~ X8 will feature 54. You can switch the speed

switch point

【100％】

and torque control.

P08.05 speed torque

0～1000ms【0】

switch delay

P08.01 torque instruction option

0～1【0】

In torque control mode from the machine, the first for speed run,

when outputtorque achieve torque switch point P08.04, after

0: torque given

speed torque switch delay time P08.05, then cut to the torque

The given value shall represent torque percentage.

control mode.

1: torque current given

P08.05 for the torque, rotational speed control mode switches

To quantify the percentage of torque current size, torque current

delay time.

and torque given differ in weakening area.

Note

P08.02 torque given option

0～4【0】

1．For control terminalX1 ~ X8 conduct speed / torque switch,

This feature sets the torque control is given physical channel.

one set function code P10.00 ~ P10.07 to 54, and set the

0: torque instruction is set by analog terminal AI.

current control method is vector control.

AI input voltage / current of the maximum value (10V/20mA)

2．In the PLC, process closed-loop, multi-speed operation,

corresponding to 300% of the rated torque, and torque AI input

such as a special speed control mode, you can not switch to the

correspondence between specific instructions, see the P11 group,

torque control.

AI input corresponding to the positive and negative of the positive

3．When inputstop command, if the torque current control

and negative torque instruction value.

mode, then automatically switch to control the speed, and then

stop.

Users when using this feature, you need to define AI terminal

P08.06 torque limit mode

0～3【3】

function as torque instruction given to AI1, for example, set the

function code P11.01 = 8, the detailed settings see description P11

0: Restriction is invalid, only the flow

group.

According to P20.15 (servo drive automatically limiting level) for

1: torque instruction is determined by terminal PULSE.

limiting, set torque limit channel (P08.07, P08.08 and P08.09).

Terminal PULSE input frequency the maximum value

Out of torque and rotational speed capability relationship

corresponds to 300% of rated torque instruction, correspondence

follows:

between specific pulseinput and torque, refer to the description of

P11 group, terminalPULSE given based on pulse center of choice

(P10.14) input positive and negative torque instruction value.

2: torque instruction is set by communication

PC servo drive built-in shall be implemented by standard RS485

communication port. Set the current torque instruction servo

drive.

Specific programming methods, methods of operation,

communication protocols, etc., see the MODBUS protocol.

3: torque instruction is determined by process closed-loop output

given.

1: Torque limit

Process closed-loop output as a torque instruction given. For

specific process closed-loop description of the setting method, you

According to the set torque limiter value (set by the P08.07 ~

can see P13 group.

P08.11) of torque limit, then the servo drive output current still

P20.15 (servo drive automatically limiting level) limit.

4: Reserved

Note

Motor output torque of direction, and the direction set by the

negative decision torque instruction (P02.20) irrelevant.

P08.03 torque given wave

0～65535ms【0】

filter time

By torque given channel, the external torque instruction through

delayed wave filter filtering. Setting appropriate filter time

(P08.03), the torque instruction can be prevented mutations cause

motor jitter.

P08.04 speed →torque

0.0％～+300％ initial torque

Torque limit value 1, 2 is set by function code P08.07～P08.11.

Chapter VI Function Code Details

2: Detailed instruction Reserved

P08.11 torque limit

0.0％～300.0％ initial torque 【180.0％】

value 2

3: Torque current limit

Torque limit value only P08.08 (or P08.09) = 0 is valid. Set the

According to the set torque current limiter value

(set by the

value of 100% corresponds to the servo drive's rated torque.

P08.07 ~ P08.11) of torque limit, and a torque limit mode is

basically the same, but differ in the field weakening. At this point,

P08.12 mechanical loss

－20.0％～+20.0％【0.0％】

servo drive output current still P20.15 (servo drive automatically

compensation value

limiting level) limit.

Set the mechanical loss compensation value, under speed control

and torque control for torque compensated according to the setting

P08.07 torque limit channel

0～3【1】

option

value.

Channel option of torque limit value.

Usually when a large torque loss caused by the mechanical loss of

motor mechanical losses should be adjusted, generally do not need

0: Limit value is taken from the same channel 1 and 4 quadrants

to set the value.

1: Electric (1 and 3 quadrant) taken from Channel 1, power (2 and

Set value of 100% corresponds to the servo drive's rated torque

4 quadrant) taken from Channel 2

current. Set value of 100% corresponds to the servo drive's rated

2: Upper limit (1, 2 quadrant) taken from channel 1, lower limit

torque current.

(3, 4) taken from Channel 2 upper limit.

3: The same four quadrants, limiting the choice of channel 1 and 2

by the terminal switch. Terminal function shall select 56.

P08.13 torque deviation

－300％～+300.0％【0.0％】

P08.14 torque deviation

P08.08 torque limit

－300％～+300.0％【0.0％】

0～3【0】

channel 1

P08.15 torque deviation

P08.09 torque limit

－300％～+300.0％【0.0％】

0～3【0】

channel 2

To startup torque deviation, choose two control terminal, defined

its function as a torque deviation options to control terminalX6,

Set torque limit physical channel.

0: torque limit value by the digital setting

X7, for example, set P10.05 = 58, P10.06 = 59. By combining X6

and X7terminal can only choose one torque deviation effective,

P08.10, P08.11 as the torque limit value 1 and 2

specific parameters see table 6-2.

1: Torque limit value given by the AI

Torque Deviation Option Table

AI input voltage / current of the maximum value (10V/20mA) can

correspond to 300% of rated torque instruction, correspondence

Torque Deviation Option

OFF

No startup

between specific Input and output volume, see instructions P11

OFF

group.

OFF

Users when using this feature, you need to define A terminal

function as torque limit value, to AI1, for example, set function

Set value of 100% corresponds to the servo drive's rated torque

code P11.01 = 6 (or 7), detailed settings, see instructions P11

current.

group.

2: torque limit value is given by terminal PULSE

Note

Terminal PULSE input frequency of the maximum value (100k)

Torque deviation may be effective in speed or torque control

mode.

may correspond to

300% of rated torque instruction,

correspondence between the amount of specific pulse input and

output instructions, please refer to P11 parameter group.

P08.16 torque deviation

0.0～1.0s【0.0s】

startup delay

Torque limit value pulse input terminal X8 only valid, should be

After the torque deviation effective, if P08.16 is not zero, then

defined as the torque limit function X8terminal pulse, users need

torque deviation is not immediately given the added torque, but

to set function code P10.07 = 61 or 62.

after a certain delay time (P08.16) coupled to a torque current

3: Process closed-loop output

given on.

Process closed-loop output shall be as a torque limit given. Set

the relevant process closed-loop function code may be seen in

Note

section 6.1.14 P13 group function code instructions.

Torque deviation startup delay P08.16 only AI given time to be

effective in torque deviation.

Note

Torque limit value can only be a positive value, if the setting

P08.17 over torque / less torque

value is negative value, automatically limit is 0.

0～8【0】

Detection selection

P08.18 over torque / less torque

0％～300％【0】

P08.10 torque limit

detection value 1

0.0％～300.0％ initial torque 【180.0％】

value 1

P08.19 over torque / torque detection

0～10s【0】

Chapter VI Function Code Details

time of less than 1

By switching terminalY1 or Y2 can be monitored through the

P08.20 over torque / less torque

torque / less torque signal output.

0～8【0】

Detection selection 2

Note

P08.21 over torque / less torque

0％～300％【0】

detection value 2

Over torque / less torque detection are valid in any control

P08.22 over torque / torque detection

mode.

0～10s【0】

time of less than 2

Over Torque Determination

6.1.10 Servo control parameters (P09 group)

If within the detection time (P08.19 or P08.22), continuous greater

torque detection value (P08.18 or P08.21), considered detected

P09.00 Servo control switching

0～3【0】

over torque signal.

option

Insufficient torque judge:

0： non-servo control

If the detection time (P08.19 or P08.22), continuous torque is less

Under non-servo control, position control is not available.

than the detection value

(P08.18 or P08.21), considered

1： speed/ torque←→ servo control

insufficient detected torque signal.

Current status is speed or torque control, and when switching

Over torque / less torque detection mode selection:

terminal (function 81) of servo control is valid, it switches to

0: over torque / less torque detected invalid

servo control.

Not conducted torque / insufficient torque detection

2： servo ←→ speed/torque control

1: The only consistent speed, over torque detection continues to

Current status is servo control, and when switching terminal

run after.

(function 81) of servo control is valid, it switches to speed or

Only detect whether excessive torque during constant speed

torque control.

operation, and checked out the torque servo drive continues to

3：Servo control

run.

Under servo control, position control is available and the position

2: After running over torque detection continues to run after

given source is selected by P09.03. Control mode must be set as

3: The only consistent speed, over torque detection off after only

closed loop vector control so as to select servo control.

detect whether excessive torque output during constant speed

P09.01Servo run mode option

0～2【0】

operation, and checked out the torque servo drive stops output,

0： normal run

motor coasts to stop.

It is basic position control mode and special switching of position

4: After running through the cut output torque detection

run mode is not available.

Detected in the course of the entire operation over torque after,

1： Reserved

servo drive stops output, motor coasts to stop.

2： spindle run

5: Only consistent in speed, the less continue to run after the

torque detection during constant speed operation only detect

The spindle runs first in P09.00 mode, and when the positioning

whether the lack of torque, and the lack of detectable torque, servo

terminal

(function

77) of spindle or return-to-zero terminal

drive continues to run.

(function

84) of origin is valid, the spindle is stopped in the

6: Continue to run after run less torque detection

specified position.

After the detection of insufficient torque on the entire operation

P09.02 Orientation mode of

0～1131H【0010H】

spindle

process, servo drive continues to run

Ones place: positioning zero option

7: After only a consistent speed, the lack of torque detection cut

output

0： Z-pulse positioning

Detected only during constant speed operation is insufficient

When Z-pulse is used as spindle zero, the accuracy of position

torque, and detection of the lack of torque servo drive stops output,

control is high, but the encoder must be installed on the spindle.

motor coasts to stop.

1： photoelectric switch positioning

8: Cut output after running less torque detection

The photoelectric feedback signal of a position on the spindle is

After the detection of insufficient torque on the entire operation

used as spindle zero.

process, servo drive stops output, motor coasts to stop.

Tens place: acceleration/deceleration time option

Over torque / less torque detection value:

0～3： acceleration/deceleration time option

In the V / F control mode, set the value for the corresponding

Select

acceleration/deceleration

～

the

servo drive rated current at 100%; in vector control mode, set the

acceleration/deceleration time of the process that spindle slows

value for the corresponding motor when 100% rated torque.

down to its directional speed.

Chapter VI Function Code Details

Hundreds place: motion option after the spindle is stopped in the

P09.10 Numerator of position

1～65535【1024】

specified position.

instruction ratio

P09.11 Denominator of position

0： hold at the positioning point

1～65535【1024】

instruction ratio

Continue position control and hold at the specified stop point.

1： hold within the positioning range

A pulse instruction is converted into amount of movement of

When the position deviation from the specified stop point is

motor by setting the function codes P09.10 and P09.11, e.g. a

within the range set in P09.12, position control is not available;

pulse represents 10um. It may be controlled without regard to the

when the deviation is beyond the range, a position loop is

speed reducing ratio of machinery and pulse number of encoder.

available.

An example is given below:

Thousands place: calculation mode of position

On the supposition that the encoder is of 2500 lines and absolute

0： direct position loop control

position of travel of motor completing one revolution is 5mm, it

1： position loop ＋ feedfoward control

can be known that 5mm distance corresponds to 10000 (2500×4)

pulses.

P09.03 Position given source

0～4【0】

Now there is a workpiece that needs moving 8mm, so the number

0： X8 terminal pulse given

The number of X8 pulses is given as motor position. Users are

of pulses that need moving is

×10000; supposing that

requested to define X7 terminal function as position pulse

instruction unit is 1um, position pulse is directly set as 8000 and

direction and define X8 terminal function as position pulse input,

and respectively set the function codes: P10.06＝71, P10.07＝72.

electronic gear ratio is set as

×¹⁰⁰⁰⁰

＝² .

8000

1： Reserved

Therefore, set the function codes: P09.10＝2, P09.11＝1.

2： expansion PG given

P09.12 Range of positioning

1～10000【10】

Pulse input on the expansion PG card is set as motor position.

completion

3： setting of position number

In the process of servo running, if position deviation is within the

The position target of motor is set by the function codes P09.05

set range (P09.12), servo positioning is completed. If any switch

and P09.06.

output terminal function is defined as positioning completion

4： Reserved

output, take Y1 as an example, set the function code P10.18＝25,

and simultaneously output a positioning completion indication

P09.04 Pulse instruction input

0~1【0】

mode option

signal.

The function code defines the expansion PG card as the pulse

P09.13 Width of position

1～32767【100】

approach signal

input mode when the position is given.

In the process of servo running, if position deviation is within the

0： A/B phase pulse

set range (P09.13), the position approaches. If any switch output

It is two-phase orthogonal pulse; when A phase is in advance of B

terminal function is defined as position approach output, take Y1

phase, motor rotates forward.

as an example, set the function code P10.18 ＝ 26, and

1： PLUS+SIGN pulse

simultaneously output a position approach indication signal.

It is pulse + direction input mode; A phase represents pulse train

P09.14 Position out-of-tolerance

and B phase represents direction; when it is high level, motor

0～32767【1000】

detection range

rotates forward and when it is low level, motor rotates backward.

P09.15 Position out-of-tolerance

0～1【0】

P09.05 Position given- high

alarm option

0～150【0】

position

0： valid

P09.06 Position given- low

0～65535【0】

1： invalid

position

In the process of servo running, if position deviation is beyond the

When the position given source is digitally set (P09.03＝3), the

set range (P09.14) and position out-of-tolerance alarm option is

function codes P09.05 and P09.06 are valid.

valid (P09.15＝0), when any switch output terminal function is

P09.07

Reserved

defined as position out-of-tolerance alarm output, take Y1 as an

Reserved function

example, set the function code P10.18＝28, and simultaneously

P09.08 Filtering time constant of

0～3000.0ms【10ms】

output a position out-of-tolerance alarm indication signal.

position instruction

P09.16 Spindle transmission ratio

0～30.000【1.000】

A position instruction needs to be filtered by a one-delay filter.

Filtering time constant of the filter is set by the function code

On many occasions, the spindle of spindle motor needs to be

P09.08

controlled by a transmission mechanism. The transmission ratio of

the transmission mechanism is set by P09.16.

P09.09

Reserved

Reserved function

Chapter VI Function Code Details

P09.17～P09.18

Reserved

Position gain can be manually switched by means of a terminal.

Reserved function

Any one of terminals X1～X8 may be selected and it is defined as

function “80”; take X3 as an example, set P10.02＝80 and enable

P09.19 Directional speed of spindle

0～200.00【5.00】

X3, and after switching time of position gain passes, position gain

When motor spindle is revolving at a high speed, after spindle

will be switched to 1 from 2.

orientation is started, the spindle should be first switched to a

relatively low speed

(P09.19) from the high speed and then

P09.33 Speed feedforward gain

0～120.00％【100.00％】

positioned. The acceleration/deceleration time from current speed

P09.34 Output amplitude limit

0～100.0％maximum frequency

to directional speed is set by P09.02.

of position controller

【0.0％】

Speed

P09.20 Starting position of spindle

Calculated pulse

Position

0～30000【0】

filtering

feedforward

orientation

frequency f

gain

P09.21 Directional deceleration

(P09. 08)

(P09. 33)

0～3000.0【10.0】

Pulse given

time of spindle

Proportional gain KP

P09.22 Spindle position 1

0～30000【0】

Pulse

Speed give

feedback

(P09. 26)

P09.23 Spindle position 2

0～30000【0】

(P09. 34)

P09.24 Spindle position 3

0～30000【0】

P09.25 Spindle position 4

0～30000【0】

Fig. 6-25 Simplified Diagram of Servo Control with Pulse Given

After the spindle is switched to directional speed (P09.19), it runs

脉冲给定

Pulse given

at the speed and waits for orientation starting position (P09.20);

脉冲反馈

Pulse feedback

after arriving at the position, orientation starts and the spindle is

decelerated to the specified stop point according to the

计算脉冲频率 f

Calculated pulse frequency f

deceleration time set by P09.21, to make it just stop in the set

位置滤波

Position filtering

position (one of P09.22～P09.25). P09.21 refers to the time for

decelerating to zero from maximum speed.

速度前馈增益

Speed feedforward gain

The positions 1～4 can be selected by means of terminals; for

比例增益 KP

Proportional gain KP

details, see the description of functions “78” and “79” in the P10

速度给定

Speed given

group.

In the servo control mode, when the position given source is pulse

P09.26 Position loop gain 1

1～8000【50】

given at a certain frequency, position feedforward control is

P09.27 Position loop gain 2

1～8000【200】

required to ensure feedback can quickly track the given pulse.

Proportional gain of position loop regulator is set by P09.26 and

Output amplitude limit of position controller:

P09.27. The greater the gain is, the quicker the position tracking is,

When set value is 100％, it corresponds to maximum output

but too great gain may easily cause oscillation; the smaller the

frequency of servo driver (P02.05).

gain is, the slower the position tracking is. Position gain should be

increased properly while it does not cause oscillation.

P09.35 Servo stop mode

0～1【0】

P09.28 Switching mode of position gain 1

In the process of servo control, a stop mode may be selected by

0～4【0】

and gain 2

P09.35.

P09.29～P09.30

Reserved

0： Emergency stop by torque limit

P09.31 Level of position gain switching

0～10000

The frequency of servo driver immediately reduces to 0 according

deviation

to the instruction and servo driver stops in an emergency.

P09.32 Smoothing time of gain switching

0～100ms

1： Stop by switching to speed control

Servo driver stops according to the set deceleration curve from

0： non-switching

current speed after switched to speed control mode from servo

Position loop gain 1 (P09.26) is valid.

control mode.

1： Reserved

6.1.11 Switch I/O terminal parameters (P10 group)

2： Reserved

3： Position deviation

P10.00 Function option of multi-function

0～88【0】

When position deviation is smaller than the level of position gain

input terminal X1

P10.01 Function option of multi-function

switching deviation

(P09.31), after smoothing time of gain

0～88【0】

input terminal X2

switching (P09.32) passes, position gain will be automatically

P10.02 Function option of multi-function

switched to position loop gain 1 (P09.26) from position loop gain

0～88【0】

input terminal X3

2 (P09.27).

P10.03 Function option of multi-function

0～88【0】

4： external terminal switching

input terminal X4

P10.04 Function option of multi-function

0～88【0】

Chapter VI Function Code Details

input terminal X5

Cont

Content

Corresponding function

P10.05 Function option of multi-function

ent

0～88【0】

input terminal X6

Reserved

Pre-exciting command

P10.06 Function option of multi-function

Reserved

0～88【0】

terminal

input terminal X7

Reserved

P10.07 Function option of multi-function

0～88【0】

Switching terminal of speed

input terminal X8

Reserved

control and torque control

Selection of torque limitation

Reserved

channels 1 and 2

Multi-function input terminals X1～X8 are functionally rich and a

Torque-bias option

function can be selected easily according to the need, i.e. the

Torque-bias option terminal 1

terminal 2

functions of X1 ～ X8 can be defined respectively by setting

Pulse input terminal of

P10.00～P10.07 and set values and functions are as shown in

Torque-bias retention

torque limitation 1 (set

for X8 only)

table 6-3 below.

Pulse input terminal of

Pulse input terminal of torque

Table 6-3 Multi-Function Input Option Functions

torque given (set for X8

limitation 2 (set for X8 only)

only)

Reserved

Cont

Content

Corresponding function

ent

Reserved

Multi-phase frequency

Reserved

Non-function

terminal 1

Position pulse direction

Reserved

Multi-phase frequency

(only X7 is valid)

terminal 2

terminal 3

Position pulse input (only X8

Reset of position

Multi-phase frequency

Acceleration/deceleration

is valid)

deviation counter

terminal 4

time terminal 1

Instruction pulse disable

Reserved

Acceleration/deceleration time

Normally open input of

Reserved

Spindle orientation start

terminal 2

external fault

Position option terminal 1

Position option terminal 2

Normally closed input of

Servo control switching

External reset input

Reserved

external fault

terminal

Control input of external jog

Control input of external

Position reference point

forward-rotation

jog reverse-rotation

Reserved

input terminal (only

Frequency increase

X6,X7 and X8 are valid)

Free stop (FRS) input

instruction (UP)

Origin return-to-zero

Reserved

Frequency decrease

Simple PLC pause

Reserved

instruction (DOWN)

instruction

Switching terminal of motors

Acceleration/deceleration

1 and 2

Three-wire run control

disable instruction

The functions listed in the above table are described as follows:

Normally open contact input

Normally closed contact

1～4： multi-phase frequency option terminals

of external interrupt

input of external interrupt

Stop DC braking input

15-phase speed running curves at most can be defined by selecting

Closed loop disable

instruction

the ON/OFF combination of these function terminals.

Main set frequency

PLC disable

Table 6-4 Selection of Multi-Speed Run

source option 1

Main set frequency source

Main set frequency

option 2

source option 3

Main set frequency switching

Command switching to

to AI

terminal

Command source option

Command source option 1

Multi-phase closed loop given

Multi-phase closed loop

terminal 1

given terminal 2

Multi-phase closed loop given

Multi-phase closed loop

terminal 3

given terminal 4

Traverse frequency state

Traverse frequency input

reset

External stop instruction

Servo driver run disable

Forward rotation disable

Reverse rotation disable

Reset of auxiliary set

Clearing of PLC stop

frequency

memory

Reserved

Pulse input of main set

Reserved

frequency (set for X8

only)

Pulse input of auxiliary set

PG tach input

(set for

frequency (set for X8 only)

X8 only)

Chapter VI Function Code Details

Frequency setting

输出频率

Output frequency

Normal running

OFF

frequency

普通运行频率

Normal run frequency

Multi-phase

OFF

运行命令

Run command

frequency 1

Multi-phase

1 速

1^st speed

OFF

frequency 2

15 速

15^th speed

Multi-phase

OFF

frequency 3

时间

Time

Multi-phase

OFF

frequency 4

Multi-phase

OFF

5～6： acceleration/deceleration time terminal option

frequency 5

Multi-phase

Table 6-5 Expression of Acceleration/Deceleration Time Option

OFF

frequency 6

Multi-phase

Terminal 2

Terminal 1

Acceleration/deceleration time option

OFF

frequency 7

Acceleration time 1/ deceleration

Multi-phase

OFF

time 1

frequency 8

Acceleration time 2/ deceleration

Multi-phase

OFF

time 2

frequency 9

Acceleration time 3/ deceleration

Multi-phase

OFF

time 3

frequency 10

Multi-phase

Acceleration time 4/ deceleration

OFF

frequency 11

time 4

Multi-phase

OFF

Selection of acceleration/deceleration time 1～4 can be realized

frequency 12

by the ON/OFF combination of acceleration/deceleration time

Multi-phase

OFF

terminals 1 and 2.

frequency 13

Multi-phase

7～8： normally open/normally closed input of external device

OFF

frequency 14

fault

Multi-phase

frequency 15

A fault signal of an external device can be inputted by the terminal,

convenient for servo driver to monitor faults of external devices.

These frequencies will be used in the multi-speed run and simple

After servo driver receives a fault signal of an external device, it

PLC run. Take multi-speed run as an example to give a description

displays “E015”, namely fault alarm of the external device. The

as below:

fault signal can be inputted in a normally open or normally closed

Control terminals X1, X2, X3 and X4 are respectively defined as

way.

below: P10.00＝1, P10.01＝2, P10.02＝3, and P10.03＝4, and

then terminals X1～X4 are used to realize multi-speed run, as

shown in Fig.6-26 below:

HSD2000

COM

Fig.6-27 Normally Open/Normally Closed Input Diagram of External

Device Fault

9： external reset input

When servo driver gives a fault alarm, the fault can be reset by the

terminal. The function of the terminal is identical with the

function of RESET key on the operating panel.

10～11： control input of external jog run: JOG forward /JOG

reverse

Fig.6-26 Multi-Speed Run Diagram

Chapter VI Function Code Details

It is used for jog run control in the control terminal mode. Jog run

successively: setting run > jog run > closed loop run > PLC run >

frequency, jog interval time and jog acceleration/deceleration time

multi-speed run > normal run.

are defined in the P02.16～P02.19.

It can be switched between closed loop run mode and low-level

12： free stop input

run mode only in the closed loop run mode (P13.00＝1).

The function is the same as the meaning of free running stop

When switched to the low-level run mode, start/stop control,

defined in the P05.05, but here is realized by a control terminal, to

direction and acceleration/deceleration time should comply with

facilitate remote control.

setting of the corresponding run mode.

13～14： frequency increase instruction (UP)/decrease instruction

22： PLC disable

(DOWN)

It is used for flexible switching between PLC run mode and

Progressive increase or progressive decrease of frequency is

low-level run mode.

realized by a control terminal, to perform remote control instead

It can be switched between PLC run mode and low-level run

of operating panel. It is valid when normal run P02.03＝1, or

mode only in the PLC run mode (P15.00 Ones place ≠0).

P02.08＝2 as auxiliary frequency. Increase/decrease rate is set in

When switched to the low-level run mode, start/stop control,

the P10.09 and P10.10.

direction and acceleration/deceleration time should comply with

setting of the corresponding run mode.

15： simple PLC pause instruction:

23～25： main set frequency source option 1～3

It is used for pause control of running PLC process. When the

terminal is valid, it runs at zero frequency and PLC run is not

Switching of frequency given channels in table 6-6 can be realized

timed; when the terminal is invalid, automatic speed tracking

by the ON/OFF combination of frequency given channel option

starts and PLC run continues. For the use method, refer to the

terminals 1, 2 and 3. The relation between terminal switching and

functional description of P15.00～P15.30.

setting of function code P02.03 is after-valid.

16： acceleration/deceleration disable instruction

Table 6-6 Expression of Frequency Given Channel Selection

It is used to keep motor away from any external signal influence

Option

(except stop command), to maintain running at current speed.

terminal 3 of

terminal 2 of

terminal 1 of

Selection of frequency

17： three-wire run control

frequency

given channel

Refer to the functional description of P10.08 run modes 2 and 3

OFF

P02.03 setting

(three-wire run modes 1 and 2).

Operating panel ▲ ▼

18～19： normally open/normally closed contact input of external

OFF

given

interrupt

Terminal UP/DOWN

OFF

In the running process, when servo driver receives an external

given

interrupt signal, it locks out output and runs at zero frequency.

Serial port

OFF

Once the external interrupt signal is cleared, automatic speed

communication given

tracking of servo driver starts and servo driver resumes running.

OFF

AI analog given

OFF

Terminal PULSE given

External interrupt input has two modes: normally open contact

OFF

Extended card given

and normally closed contact. As shown in Fig.

6-27, Xi is

Frequency setting

normally open contact input and Xj is normally closed contact

holding

input.

Attention

26： AI main set frequency switching to AI

The difference from functions 7～8 is that external interrupt

When the function terminal is valid, main set frequency channel is

will not cause alarm output of servo driver, and after interrupt

forced to switch to AI given and which AI needs to be set in the AI

signal is cleared, servo driver resumes running.

function in the P11 group. When the function terminal is invalid,

the frequency given channel will be restored to the original state.

20： stop DC braking input instruction

27： command switching to terminal

DC braking is applied to the motor in the stop process by a control

When the function terminal is valid, run command channel is

terminal, to realize its emergency stop and accurate positioning.

forced to switch to terminal run command channel. When the

Braking start frequency, braking waiting time and braking current

function terminal is invalid, run command channel will be

are defined in the P05.06～P05.08; braking time may be the

restored to the original state.

greater value between the time defined in the P05.09 and the

28～29： Command source option 1～2

effective duration of the control terminal.

Table 6-7 Selection of Run Command Channels

21： closed loop fault

It is used for flexible switching between closed loop run mode and

low-level run mode. Run mode of HSD2000 by priority level is

Chapter VI Function Code Details

Option terminal 1

When traverse frequency start mode is manually put into service,

Option terminal 2 of

of command

Run command channel

the terminal is valid and traverse frequency function is valid, see

command source

source

the description of traverse frequency function parameter in the

Run command channel

OFF

P16 group.

holding

35： traverse frequency state reset

Operating panel run command

OFF

channel

When selecting the traverse frequency function no matter whether

Terminal run command

it is automatic or manual mode, once the terminal is closed,

OFF

channel

traverse frequency state information memorized inside servo

Serial port run command

driver will be cleared. After the terminal is disconnected, traverse

channel

frequency restarts. See the function description in the P16 group.

36： external stop instruction

Selection of run command channels can be realized by the

The command is valid to all run command channels. When the

ON/OFF combination of command source option terminals 1 and

function terminal is valid, servo driver will stop according to the

mode set in P05.05.

30～33： multi-phase closed loop terminals 1～4

37： servo driver run disable

Table

6-8 Selection Expression of Multi-Phase Closed Loop

When the terminal is valid, running servo driver will stop freely

Given

and its start-up is disabled in the standby mode. It is mainly used

on the occasion when security interaction is required.

Multi-pha

38： forward rotation disable

se closed

Selection of multi-phase

loop

closed loop given

If the terminal is enabled in the process of forward rotation, servo

terminal 4

terminal 3

terminal 2

terminal 1

driver will stop freely. First enable the terminal and then run

Closed loop given

forward, and it will be in zero-frequency running state. Reverse

OFF

depends on P13.01

rotation is not affected by this.

Multi-phase closed loop

OFF

39： reverse rotation disable

given 1

Multi-phase closed loop

Contrary to function 38, see the description of function 38.

OFF

given 2

40： reset of auxiliary set frequency

Multi-phase closed loop

OFF

It is valid only to the digital auxiliary frequency (P02.08＝1, 2, 3).

given 3

When the function terminal is valid, given value of auxiliary

Multi-phase closed loop

OFF

given 4

frequency is reset and set frequency completely depends on main

Multi-phase closed loop

given value.

OFF

given 5

41： clearing of PLC stop memory

Multi-phase closed loop

OFF

In the stop state in PLC run mode, when the function terminal is

given 6

valid, PLC run phase, run time, run frequency and other

Multi-phase closed loop

OFF

information of PLC stop memory will be cleared, see the function

given 7

Multi-phase closed loop

description in the P15 group.

OFF

given 8

42～44： Reserved

Multi-phase closed loop

OFF

45： pulse input of main set frequency (set for X8 only)

given 9

It is valid only to input terminal X8, as a mode of main frequency

Multi-phase closed loop

OFF

given 10

setting together with P02.03＝4. The relation between input signal

Multi-phase closed loop

pulse frequency and set frequency can be adjusted by curve

OFF

given 11

setting in the P11 group.

Multi-phase closed loop

OFF

46： pulse input of auxiliary set frequency (set for X8 only)

given 12

Multi-phase closed loop

It is valid only to input terminal X8, as a mode of auxiliary

OFF

given 13

frequency setting together with P02.08＝5. The relation between

Multi-phase closed loop

input signal pulse frequency and set frequency can be adjusted by

OFF

given 14

curve setting in the P03 group.

Multi-phase closed loop

47： PG tach input (set for X8 only)

given 15

It is valid only to input terminal X8 and the accuracy of speed

Selection of multi-phase closed loop given can be realized by the

control is 0.1%. The input port in combination with pulse encoder

ON/OFF combination of multi-phase closed loop terminals 1～4.

(PG) can realize feedback control of single-phase pulse speed.

34： traverse frequency input

48～50： Reserved

Chapter VI Function Code Details

51： pre-exciting command terminal

functions 61～63 should undergo curve adjustment in the P11

When the terminal is valid, motor pre-excitation will be started

group.

until the terminal becomes invalid.

64： Reserved

52～53： Reserved

65～70： Reserved

54： Switching of speed control and torque control

71： position pulse direction (set for X7 only)

In the vector control mode, the terminal can realize switching of

The function is valid only to terminal X7. The direction of

speed control and torque control modes. If P10.16 is set as

position pulse input depends on ON/OFF level of the terminal.

positive logic, after the terminal is closed, if output torque

72： position pulse input (set for X8 only)

(observable by P01.10) of servo driver is continuously more than

The function is valid only to terminal X8. When the terminal

switching torque point P08.04 within the set speed torque

pulse given in P09.03 is selected, the position instruction given

switching delay (P08.05), control mode will automatically switch

can be determined by inputting the pulse of the terminal.

to torque control mode; after the terminal is disconnected, it is

73： reset of position deviation counter

speed control mode. The relation between terminal switching and

setting of function code P08.00 is after-valid.

When the terminal is valid, the error count value of position given

and position feedback will be cleared.

55： Reserved

74： Instruction pulse disable

56： selection of torque limitation channels 1 and 2

When P09.03＝0, 2, if instruction pulse disable terminal is valid

Selection of torque limitation channels can be realized by the

pulse input is disabled and position given remains unchanged;

terminal.

when the terminal is invalid, the pulse is inputted normally as

57： Reserved

position given.

58～59： torque-bias option terminals 1～2

75～76： Reserved

Three torque bias values can be selected by the state combination

77： spindle orientation start

of the two terminals. Torque bias values can be set by P08.13～

When spindle directional run is selected in the P09.01 and the

P08.15. Combination mode is as shown in table 6-9 below.

terminal is valid, spindle directional run starts.

Table 6-9 Torque-Bias Selection

78～79： position option terminals 1～2

Spindle directional position of P09.22～P09.25 can be selected by

Torque-bias option

Torque bias value

terminal 2

terminal 1

the combination of the two terminals.

OFF

No torque bias

Select two control terminals from X1～X8 and respectively define

its function as position option 1 and 2. Take control terminals X6

OFF

Torque bias value1

and X7 as an example, set P10.05＝78 and P10.06＝79. By the

OFF

Torque bias value 2

combination of terminals X6 and X7, it is valid to select a set

Torque bias value 3

position.

60： AI torque-bias retention

Specific combination is as follows:

When the terminal is valid, AI input at this moment is converted

Table 6-10 Selection of Spindle Position

into corresponding torque bias value. It is requested to set the

corresponding function as torque bias in the analog input function

Position option

selection in the P11 group; the torque bias value does not vary

Spindle position

terminal 2

terminal 1

with AI input voltage.

OFF

Spindle position 1

Attention

OFF

Spindle position 2

After given AI is changed, if AI torque bias needs to vary with

OFF

Spindle position 3

it, the terminal should be enabled again.

Spindle position 4

61： pulse input terminal of torque limitation 1

80： Reserved

The function is set only for terminal X8. Torque limit

1 is

81： servo control switching terminal

determined by external input pulse frequency. When external

When current control mode is speed/torque control (P09.00＝1),

input pulse frequency reaches maximum input frequency P10.13,

the switching terminal can be enabled to switch it to servo control

the corresponding torque limit 1 is 300%.

mode.

62： pulse input terminal of torque limitation 2

When current control mode is servo control (P09.00＝2), the

The function is set only for terminal X8, similar to function 61.

switching terminal can be enabled to switch it to speed/torque

63： pulse input terminal of torque given

control mode.

The function is set only for terminal X8. Given value of torque is

See the description of function codes in the P09 group.

determined by external input pulse frequency. Pulse input of

Chapter VI Function Code Details

82： Reserved

正转

Forward

83： position reference point input terminal

When ones place of P09.02 is equal to 1 and position reference

2： three-wire run mode 1

point input terminal is valid, photoelectric switch signal is

P24

inputted through the position reference point.

SB2

PLC HSD2000

84： origin return-to-zero

FWD

SB1

In the spindle orientation control mode, when origin return-to-zero

terminal is valid, spindle position is 0, or else one of spindle

SB3

REV

positions 1～4 (P09.22～P09.25) should be selected.

COM

85～87： Reserved

Fig. 6-30 Three-Wire Run Mode 1

88： switching terminal of motors 1 and 2

In which,

When the terminal is valid, switching control of the two motors

SB1： stop button

can be realized.

SB2： forward button

Attention

SB3： reverse button

Only the following function numbers are displayed in the

shortcut menu.

Xi stands for multi-function input terminals X1～X8 and here the

0, 7, 8, 9, 10, 11, 12, 13, 14, 17, 18, 19, 20, 26, 27, 35, 37, 45, 46,

corresponding terminal function should be defined as 17# function

47, 48。

“three-wire run control”.

P10.08 FWD/REV run mode setting

0～3【0】

3： three-wire run mode 2

The parameter defines four different modes of controlling running

P24

HSD2000

of servo driver by an external terminal.

SB2

PLC

Run direction option

FWD

0： 1 two-wire run mode 1

SB1

Reverse

Forward

REV

Run

P24

HSD

COM

instruction

2000

Stop

PLC

Revers

K₁

Fig. 6-31 Three-Wire Run Mode 2

FWD

Forward

K₂

REV

运行方向选择

Run direction option

Stop

COM

反转

Reverse

Fig. 6-28 Two-Wire Run Mode 1

正转

Forward

运行指令

Run instruction

停止

Stop

In which,

反转

Reverse

SB1： stop button

正转

Forward

SB2： run button

Xi stands for multi-function input terminals X1～X8 and here the

corresponding terminal function should be defined as 17# function

1： two-wire run mode 2

“three-wire run control”.

Run instruction

P10.09 Terminal UP rate

0.01～99.99Hz/s【1.00Hz/s】

HSD

P24

P10.10 Terminal DOWN rate

0.01～99.99Hz/s【1.00Hz/s】

Stop

2000

PLC

The function code defines the change rate of set frequency

Stop

FWD

modified by the terminal UP/DOWN

Forwar

REV

P10.11 X8 pulses per

1～9999【1024】

Revers

COM

revolution

When the terminal X8 selects 47# function “PG tach input”, actual

Fig. 6-29 Two-Wire Run Mode 2

speed of PG can be measured by setting the value of P10.11 to be

consistent with pulses per revolution of local PG.

运行指令

Run instruction

P10.12 Terminal filtering time

0～500ms【10ms】

停止

Stop

The function code sets filtering time of input terminal detection.

When input terminal state changes, if it remains unchanged after

反转

Reverse

the set filtering time has passed, the change of terminal state is

Chapter VI Function Code Details

valid, or else it still keeps previous state, to effectively reduce

Correspondin

misoperations arising from interference.

g value

P10.13 Maximum input pulse

0.1～100.0kHz【10kHz】

frequency

The function code sets maximum input pulse frequency when the

terminal X8 is used for pulse input.

P10. 13

P10.14 Pulse given center point

0～2【0】

option

Fig. 6-34 Center Point Mode 2

对应量

Corresponding value

The function code defines three different midpoint modes when

脉冲频率

Pulse frequency

the terminal X8 is used for pulse input.

0： centerless midpoint, as shown in the figure below:

Correspondi

ng value

P10.15 Pulse given filtering time

0.00～10.00s【0.05s】

The function code defines filtering time of input pulse. The longer

the filtering time is, the lower the change rate of given pulse

frequency is.

P10.16 Valid state setting of input

000～3FFH【000H】

P10. 13

terminal

Pulse frequency f

One

Fig. 6-32 Centerless Midpoint Mode

Tens

Hundreds

plac

place

plac

BIT0: Positive and negative logic definition of X1

对应量

Corresponding value

BIT1: Positive and negative logic definition of X2

BIT2: Positive and negative logic definition of X3

脉冲频率

Pulse frequency

BIT3: Positive and negative logic definition of X4

BIT4: Positive and negative logic definition of X5

Values corresponding to pulse input frequencies are all positive.

BIT5: Positive and negative logic definition of X6

BIT6: Positive and negative logic definition of X7

1： center point mode 1

BIT7: Positive and negative logic definition of X8

Corresponding

BIT0: Positive and negative logic definition of FWD

value

BIT1: Positive and negative logic definition of REV

Pulse frequency f

Fig. 6-35 Positive and Negative Logic Setting of Terminals

P10. 13

个位

Ones place

十位

Tens place

百位

Hundreds place

Fig. 6-33 Center Point Mode 1

X1 的正反逻辑定

Positive and negative logic definition

对应量

Corresponding value

义

脉冲频率

Pulse frequency

X2 的正反逻辑定

Positive and negative logic definition

义

Pulse input has a center point and the center point is half of

X3 的正反逻辑定

Positive and negative logic definition

maximum pulse input frequency P10.13. When input pulse

义

frequency is less than midpoint frequency, corresponding values

are positive.

X4 的正反逻辑定

Positive and negative logic definition

2： center point mode 2

义

Pulse input has a center point and the center point is half of

X5 的正反逻辑定

Positive and negative logic definition

maximum pulse input frequency P10.13. When input pulse

义

frequency is greater than midpoint frequency, corresponding

X6 的正反逻辑定

Positive and negative logic definition

values are positive.

义

X7 的正反逻辑定

Positive and negative logic definition

义

Chapter VI Function Code Details

X8 的正反逻辑定

Positive and negative logic definition of

P10.17 State setting of virtual input

000～3FFH【000H】

terminal

义

The function code is used to set valid state of virtual input

FWD 的正反逻辑

Positive and negative logic definition of

terminals of upper computer. For the detailed setting method, see

FWD

定义

P10.16 description.

REV 的正反逻辑定

Positive and negative logic definition of

P10.18 Output terminal Y1 of open

0～35【0】

REV

collector

义

P10.19 Output terminal Y2 of open

0～35【1】

collector

The function code defines positive and negative logics of input

P10.20 Output function option of relay BR

0～35【15】

terminals.

P10.21 Output function option of relay T

0～35【16】

Positive logic: it is valid when an Xi terminal and its

corresponding common port are connected and invalid when

Output characteristics of Two-way open collector output terminals

disconnected;

Y1 and Y2 and relay output terminals are described in Chapter 4.

Negative logic: it is invalid when an Xi terminal and its

Table 6-12 gives the options of the above four function parameters

corresponding common port are connected and valid when

and it is allowed to repeatedly select the same output terminal

disconnected;

function.

When BIT place is 0, it is positive logic and BIT place is 1, it is

Table 6-12 Function Selection of Output Terminals

negative logic.

For example,

Conte

Cont

Corresponding function

ent

If X1～X8 are required to be positive logic and FWD and REV

Servo driver running

Frequency arrival signal

are negative logic, setting is as below:

signal (RUN)

(FAR)

Logic state of X4 ～ X1 is

0000 and the corresponding

Frequency detection signal

Speed non-zero signal

hexadecimal system is 0, and LED displays 0 in the ones place;

(FDT1)

logic state of X8～X5 is 0000 and the corresponding hexadecimal

Frequency detection

Overload detection signal

signal (FDT2)

(OL)

system is 0, and LED displays 0 in the tens place; logic state of

Undervoltage lockout

REV and FWD is 11 and the corresponding hexadecimal system is

External fault shutdown (EXT)

(LU)

3, and LED displays 3 in the hundreds place; here function code

Upper frequency limit

P10.16 should be set as 300 and determination method of set

Lower frequency limit (FLL)

(FHL)

value is as shown in table 6-11 below:

Servo driver running at

Completion indication of

Table

6-11 Correspondence Relation between Binary System

zero speed

simple PLC phase run

Completion indication of

Upper and lower limits of

Setting and LED Place Display Value

PLC cycle

traverse frequency

Binary system setting

Hexadecimal system

Servo driver ready for running

BIT3

BIT2

BIT1

BIT0

(LED place display value)

Encoder direction output

(RDY)

On-off signal of upper

Servo driver fault

computer

Reserved

Torque under limitation

Magnetic flux detection

Reserved

signal

Over-torque/under-torque

Analog torque bias valid

output 1

Over-torque/under-torque

Positioning completed

output 2

Positioning approach

Reserved

Position out-of-tolerance

Reserved

alarm

Reserved

Forward/reverse running

Indication of motors 1 and 2

indication of servo driver

The functions listed in table 6-12 are described as follows:

LED place refers to the thousands place, hundreds place, tens

0： servo driver running signal (RUN)

place and ones place displayed by LED on the operating panel.

When servo driver is in running state, an indication signal will be

Attention

outputted.

Factory settings of all terminals are positive logic.

Chapter VI Function Code Details

1： frequency arrival signal (FAR)

Refer to the function description of P10.26.

2： speed non-zero signal

When servo driver is in running state and the speed is greater than

P05.15

“stop speed”, an indication signal will be outputted.

Detection mode of speed non-zero is set by P05.16 “detection

mode of stop speed”.

Attention

Zero-speed detection is valid in all control modes.

Fig. 6-36 Amplitude Limit of Traverse Frequency

3： frequency detection signal (FDT1)

上限频率

Upper frequency limit

Refer to the function description of P10.28～P10.29.

摆频中心频率

Center frequency

4： frequency detection signal (FDT2)

下限频率

Lower frequency limit

Refer to the function description of P10.30～P10.31.

摆频超出上下

Traverse frequency is beyond the upper and

5： overload detection signal (OL)

lower thresholds

When output current of servo driver exceeds P20.10 overload

限阀值

pre-alarm detection level and time is greater than P20.11 overload

pre-alarm detection time, an indication signal will be outputted. It

14： output of encoder frequency division direction

is often used for overload pre-alarm.

It is indicate the direction signal of frequency division output of

6： undervoltage lockout (LU)

current encoder.

When DC bus voltage is lower than undervoltage limit level, an

indication signal will be outputted and LED will display “P.oFF”.

15： servo driver ready for running (RDY)

7： External fault shutdown (EXT)

When the signal output is valid, it shows servo driver is fault-free,

When servo driver gives an external fault trip alarm (E015), an

bus voltage is normal, run disable terminal of servo driver is

indication signal will be outputted.

invalid, and servo driver can receive a start command.

8： Upper frequency limit (FHL)

16： servo driver fault

When set frequency is greater than or equal to the upper frequency

When servo driver breaks down, an indication signal will be

limit and running frequency reaches the upper frequency limit, an

outputted.

indication signal will be outputted.

17： on-off signal of upper computer

9： Lower frequency limit (FLL)

Output signals of Y1 and Y2 or BR and T are directly controlled

When set frequency is less than or equal to the lower frequency

by serial ports. Output is also affected by P10.17.

limit and running frequency reaches the lower frequency limit, an

18： Reserved

indication signal will be outputted.

10： Servo driver running at zero speed

19： torque under limitation

When servo driver is in zero-speed running state, an indication

When a torque instruction is restricted by torque limit 1 or 2, an

signal will be outputted. Specifically speaking, in V/F mode,

indication signal will be outputted.

when output frequency is 0, an indication signal will be outputted;

20： magnetic flux detection signal

in non-V/F mode, when feedback frequency is less than P10.37

When magnetic flux detection value exceeds P10.37, an indication

corresponding frequency, an indication signal will be outputted.

signal will be outputted.

11： completion indication of simple PLC phase run

21： Reserved

After simple PLC run in current phase is completed, an indication

signal (single pulse signal, width: 500ms) will be outputted.

22： analog torque bias valid

12： completion indication of PLC cycle

When input terminal function is set as 60 “torque-bias retention”

After simple PLC completes a run cycle, an indication signal

and it is valid, an indication signal will be outputted.

(single pulse signal, width: 500ms) will be outputted.

23： over-torque/under-torque output 1

13： upper and lower limits of traverse frequency

According to setting of P08.17 ～ P08.19, the corresponding

After the traverse frequency function is selected, if the fluctuation

indication signal will be outputted.

range of traverse frequency calculated based on center frequency

24： over-torque/under-torque output2

exceeds the upper frequency limit P02.06 or is below the lower

frequency limit P02.07, an indication signal will be outputted, as

According to setting of P08.20 ～ P08.22, the corresponding

shown in Fig.6-36.

indication signal will be outputted.

25： positioning completed

Chapter VI Function Code Details

In running state, when position control is selected and position

negative logic

(invalid when connected and valid when

deviation is less than or equal to P09.12, the corresponding

disconnected).

indication signal will be outputted.

P10.23 Output delay of relay BR

0.1～10.0s【0.1s】

26： positioning approach

P10.24 Output delay of relay T

0.1～10.0s【0.1s】

In running state, when position control is selected and position

The function code defines the time delay from change of relay

deviation is less than or equal to P09.13, the corresponding

state to variation of relay output.

indication signal will be outputted.

P10.25 Frequency arrival (FAR)

0.00～1000.0Hz【2.50Hz】

27： Reserved

detection width

The parameter is the supplementary definition of 1# function in

28： position out-of-tolerance alarm

table 6-12. As shown in Fig.6-38, when output frequency of servo

In running state, when position control is selected and position

driver is within positive and negative detection width of set

deviation is greater than or equal to P09.14 “detection range of

frequency, a pulse signal will be outputted.

position out-of-tolerance” and P09.15 position out-of-tolerance

alarm option 0 is valid, the corresponding indication signal will be

outputted.

29～33： Reserved

34：forward/reverse running indication of servo driver

The corresponding indication signal will be outputted according to

actual running direction of current servo driver.

35： indication of motors 1 and 2

The corresponding indication signal will be outputted according to

current selected motor.

Attention

Fig. 6-38 FAR Signal Output Diagram

Only the following function numbers are displayed in the

shortcut menu.

0, 1, 4, 5, 6, 7, 8, 9, 15, 16.

P10.26 FDT1 detection

0～1【0】

P10.22 Valid state setting of output

mode

0～FH【0H】

terminal

P10.27 FDT1 level

0.00～1000.0Hz【50.00Hz】

P10.28 FDT1 lag

0.00～1000.0Hz【1.00Hz】

Onces place

P10.29 FDT2 detection

0～1【1】

BIT 0：^{Positive and negative logic}

mode

definition of Y1

P10.30 FDT2 level

0.00～1000.0Hz【25.00Hz】

BIT1：

Positive and negative logic

P10.31 FDT2 lag

0.00～1000.0Hz【1.00Hz】

definition of Y2

BIT2： Positive and negative

P10.27～P10.29 are the supplementary definition of 3# function

logic definition of BR

in table 6-12; P10.30～P10.32 are the supplementary definition of

BIT3：^{Positive and negative}

4# function in table 6-12; the usage of both is the same. Take

logic definition of T

P10.27～P10.29 as an example to give a description below:

Fig. 6-37 Valid State Setting of Output Terminal

Firstly set P10.27 “FDT1 detection mode” to determine the source

个位

Ones place

of set frequency.

Y1 的正反逻辑定

Positive and negative logic definition of Y1

： speed setting value

(frequency instruction after

义

acceleration/deceleration)

Y2 的正反逻辑定

Positive and negative logic definition of Y2

1： speed detection value

义

When output frequency exceeds the set frequency (FDT1 level),

an indication signal will be outputted until output frequency drops

BR 的正反逻辑定

Positive and negative logic definition of

down to a certain frequency lower than FDT1 level (FDT1 level-

义

FDT1 lag). As shown in Fig.6-39.

T 的正反逻辑定义

Positive and negative logic definition of T

The function code defines positive and negative logic of output

terminal.

When BIT place is 0, it is positive logic (valid when connected

and invalid when disconnected); when BIT place

1 is, it is

Chapter VI Function Code Details

For extended function 1 of upper computer, DO output is directly

controlled by serial port. 65535 corresponds to maximum output

frequency of DO, refer to HSD2000 communication protocol.

Attention

Only the following function numbers are displayed in the

shortcut menu.

0, 1, 2, 3, 4, 5, 6, 7, 8.

P10.33 Maximum output pulse

0.1～100kHz【10.0】

frequency

The function code defines maximum output frequency of DO

pulse.

P10.34 Pulse output center point

Fig. 6-39 Frequency Detection Diagram

0～2【0】

option

输出频率

Output frequency

The function code defines three different center point modes of

DO terminal pulse output.

FDT1 电平

FDT1 level

FDT1 滞后

FDT1 lag

Corresponding

value

时间

Time

P10.32 DO terminal output

0～19【0】

P10.33

Pulse

Output of DO pulse frequency:

0～ maximum output pulse

frequency f

Fig. 6-40 Centerless Midpoint Mode

frequency (defined by P10.33).

The linear correspondence relation between DO output and

Values corresponding to pulse output frequencies are all positive.

indication range is as shown in table 6-13.

1： center point mode 1, as shown in the figure below:

Table 6-13 Indication of Output Terminal

Correspondin

g value

Conte

Corresponding function

Indication range

Pulse

frequency f

Non-function

P10. 33

Output frequency

0～maximum output frequency

Set frequency

0～maximum output frequency

0～2×rated current of servo

Output current Iei

Fig. 6-41 Center Point Mode 1

driver

Output current Iem

0～3×rated current of motor

Output torque

0～3×rated motor torque

对应量

Corresponding value

Output torque current

0～3×torque current

脉冲频率

Pulse frequency

Motor speed

0～ maximum speed

1.5× rated voltage of servo

0～

Output voltage

Pulse output has a center point and the center point is half of

driver

maximum pulse output frequency P10.13. When output pulse

Adjusted AI1 voltage

－10V～10V/4～20mA

frequency is less than midpoint frequency, corresponding values

Adjusted AI2 voltage

－10V～10V/4～20mA

are positive.

Adjusted AI3 voltage

－10V～10V

2： center point mode 2

Output power

0～3×rated power

Torque limit 1

0～3×rated motor torque

Pulse output has a center point and the center point is half of

Torque limit 2

0～3×rated motor torque

maximum pulse output frequency P10.13. When output pulse

Torque bias

0～3×rated motor torque

frequency is greater than midpoint frequency, corresponding

values are positive.

Torque given

0～3×rated motor torque

Extended function 1 of

0～65535

upper computer

Frequency division

output of encoder

Reserved

Chapter VI Function Code Details

When the function is selected, it is used in conjunction with

Correspondin

g value

P02.03 function code. When serving as voltage input, the polarity

of analog input affects running direction of servo driver: when

analog input is positive, servo driver rotates forward; on the

contrary, servo driver rotates reversely. Maximum value

P10. 33

(10V/20mA) of analog input corresponds to maximum output

Pulse frequency f

frequency of servo driver.

2： auxiliary set frequency given

Fig. 6-42 Center Point Mode 2

When the function is selected, it is used in conjunction with

对应量

Corresponding value

P02.08 function code. When serving as voltage input, the polarity

脉冲频率

Pulse frequency

of analog input affects the polarity of auxiliary frequency: when

analog input is positive, auxiliary frequency is positive; on the

contrary, auxiliary frequency is negative. Maximum value

P10.35 Filtering time of pulse

0.00～10.00s【0.05s】

(10V/20mA) of analog input corresponds to maximum output

output

frequency of servo driver.

The function code defines the filtering time of output pulse. The

3： torque bias

longer the filtering time is, the lower the change rate of output

When the function is selected, AI torque bias retention function

pulse frequency is.

should be selected for switch input terminal. When serving as

P10.36 Magnetic flux

10.0％～100.0％【100.0％】

voltage input,

－10～10V corresponds to －100％～100％

detection value

rated motor torque; when serving as current input,

4～20mA

It is used in conjunction with

20# function of switch output

terminal.

corresponds to 0～100％rated motor torque.

P10.37 Zero-speed threshold

0.0％～100.0％【1.0％】

When analog input serves as torque bias, an application example

is given as below:

The function code is relative to maximum output frequency

P02.05 and it is used in conjunction with 10# function of switch

AI1 analog input 4～20mA corresponds to 0～100％ rated motor

output terminal.

torque of indication analog given torque bias

P10.38 Reserved

Setting is as below:

Reserved function

1）P11.01＝3, input torque bias;

2）P11.00＝01, AI1 input type is 4～20mA;

6.1.12 Analog I/O terminal parameters (P11 group)

3）P11.03＝1.0, input gain is 1;

P11.00 Analog input type option

00～11【00】

4）P11.02＝0, zero-bias correction is 0.

Tens

Ones place

5）Select the function 60 of switch input terminal Xi and make

place

the terminal Xi have a switch-off～ switch-on jump (only

AI1input type option

0： -10：

10V

this way can make analog input torque bias valid, or else

1： 4：

20mA

analog input given torque bias always remains to be

previous analog given value).

AI2input type option

0： -10：

10V

Attention

1： 4：

20mA

AI torque bias is just a part of torque bias and final torque

bias also includes setting of P08.12～P08.15.

Fig. 6-43 Analog Input Type Option

十位

Tens place

4： speed limit 1

个位

Ones place

When the function is selected, it is used in conjunction with

AI1 输入类型选择

AI1 input type option

P07.09 function code setting. When serving as voltage input, 0～

±10V corresponds to maximum output frequency of 0～100％

AI2 输入类型选择

AI2 input type option

servo driver; when serving as current input, 20mA corresponds to

maximum output frequency of 0～100％ servo driver

The function code is used to select analog input type and range of

5： speed limit 2

AI1 and AI2.

When the function is selected, it is used in conjunction with

P11.01 AI1 terminal input function

0～13【00】

P07.09 function code setting. The meaning of analog input is the

option

same as speed limit 1.

0： non-function

6： torque limit 1

1： main set frequency given

Chapter VI Function Code Details

When the function is selected, it is used in conjunction with

Input

P08.08 function code setting. The meaning of analog input is the

voltage

same as torque bias.

Vma

7： torque limit 2

When the function is selected, it is used in conjunction with

P08.09 function code setting. The meaning of analog input is the

AImin

AImax

Analog

same as torque bias.

input

8： torque instruction (given)

Fig.6-45 Output Voltage Curve

When the function is selected, it is used in conjunction with

P08.02 function code setting. The meaning of analog input is the

输入电压 V_O

Input voltage V_O

same as torque bias.

模拟输入

Analog input

9～11： Reserved

In the above figure, horizontal coordinate represents analog input

12： V/F output voltage bias

signal after adjusted and vertical coordinate represents output

When analog input is voltage signal and analog input terminal

voltage of servo driver. When input analog voltage is less than

function is output voltage bias, the corresponding output voltage

zero, output voltage is also zero.

bias is as shown in Fig. 6-44.

P11.02 AI1 zero-bias correction

－100.0～100.0％【0.0％】

P11.03 AI1 input gain

－10.00～10.00【1.00】

P11.04 AI1 input filter

0.01～10.00s【0.05】

Maximum output of AI zero bias is 100％ (10V or 20mA) and

both upper and lower translation values are set in percentage.

Take voltage input for example, the relation between zero bias and

gain before and after adjusted is as below:

AI input value ＝ input gain × given analog value ＋ zero-bias

correction ×10V

P11.04 defines channel filtering time constant and input signal is

Fig.6-44 Output Voltage Bias

filtered; the longer the filtering time is, the higher the interference

resistance is, but the response becomes slow; the shorter the

偏置电压

Bias voltage

filtering time is, the quicker the response is, but the interference

模拟电压

Analog voltage

resistance becomes weak.

The curve of relation between analog input and gain and the curve

of relation between analog input and zero-bias correction are

Supposing output voltage that set frequency corresponds to in V/F

respectively as shown in Fig.6-46 and Fig.6-47.

curve is V/F, the relation between input analog signal and bias

voltage is as below:

Built-in value of AI input (V)

-10V～0V/4mA analog input V_AI corresponds to bias voltage

P11.03=2.0

-V/F;

P11.03=1.0

10V/20mA analog input V_AI corresponds to bias voltage V/F

：

Output voltage of servo driver: V_O＝V/F+V_b

Given value of

external

analog(V)

Attention

P11.03=-2.0

Output voltage bias function is valid only in V/F mode.

： 10

13： output voltage

Fig.6-46 Curve of Relation between Analog Input and Gain

When the function is valid in V/F mode, output voltage V_O of

AI 输入机内值

Built-in value of AI input

servo driver and its output frequency are completely of mutual

independence. Output voltage of servo driver is not restricted by

外部模拟给定值

Given value of external analog

V/F characteristic curve in the P06 group and it depends on analog

input signal, as shown in Fig.6-45.

Chapter VI Function Code Details

Built-in value of AI inp：t V：

Built-in value of AI input (V)

P11.02=50.0

P11.02=0

：

Given value of

：

external analo： V：

Given value of

external analog(V)

P11 . 02=50 . 0：

P11.02=-

50.0%

：

Fig.6-50 Above Zero Bias Is Equal To Zero Bias Correction Mode

Fig.6-47 Curve of Relation between Analog Input and Zero Bias

AI 输入机内值

Built-in value of AI input

AI 输入机内值

Built-in value of AI input

外部模拟给定值

Given value of external analog

外部模拟给定值

Given value of external analog

Built-in value of AI inp

： V：

P11.05 AI1 zero-bias correction

0～3【0】

mode

0： zero bias-centered

：

1： below zero bias is equal to zero bias

Given value of

： V：

external analog

2： above zero bias is equal to zero bias

P11 . 02=：

50 .0：

3： zero bias-centered absolute value

：

The meanings of the four values are respectively shown as Fig.

Fig.6-51 Zero Bias-Centered Absolute Value Correction Mode

6-48, Fig. 6-49, Fig.6-50 and Fig.6-51.

AI 输入机内值

Built-in value of AI input

Built-in value of AI input (V)

外部模拟给定值

Given value of external analog

：

Given value of

Attention

external

analog(V)

P11 . 02=：

50 .0：

Input gain and zero-bias correction function codes have a

real-time influence on analog input in the modification

：

process.

Fig.6-48 Zero Bias-Centered Correction Mode

P11.06 AI2 terminal input

AI 输入机内值

Built-in value of AI input

0～11【00】

function option

外部模拟给定值

Given value of external analog

P11.07 AI2 zero-bias

－100.0～100.0％【0.0％】

correction

P11.08 AI2 input gain

－10.00～10.00【1.00】

Built-in value of AI input (V)

P11.09 AI2 input filter

0.01～10.00s【0.05】

P11.10 AI2 zero-bias

0～3【0】

correction mode

P11.11 AI3 terminal input

：

0～11【00】

Given value of

function option

external

analog(V)

P11.12 AI3 zero-bias

P11 . 02=：

50 .0：

－100.0～100.0％【0.0％】

correction

：

P11.13 AI3 input gain

－10.00～10.00【1.00】

Fig.6-49 Below Zero Bias Is Equal To Zero Bias Correction Mode

P11.14 AI3 input filter

0.01～10.00s【0.05】

P11.15 AI3 zero-bias

AI 输入机内值

Built-in value of AI input

0～3【0】

correction mode

外部模拟给定值

Given value of external analog

Function setting of analog input of AI2 terminal and its meaning

are identical with AI1. Function setting and meaning of AI3

terminal as differential voltage input are identical with AI1 as

voltage input.

P11.16 Analog output type option

00～33【00】

HSD2000 Series Servo Drive. Operation Manual V1.2 - page 4