HSD2000 Series Servo Drive. Operation Manual V1.2

Chapter VI Function Code Details

Tens

Ones

Cont

place

Corresponding function

Indication range

AO1output type option

ent

0： 0：

10V

1： 0：

20mA

motor

2： 2：

10V

3： 4：

20mA

Output torque current

－300～300％rated torque of

AO2output type option

(bipolarity)

motor

0： 0：

10V

1： 0：

20mA

－300～300％rated torque of

2： 2：

10V

Torque bias (bipolarity)

3： 4：

20mA

motor

Negative maximum output

Fig.6-52 Analog Output Type Option

Motor speed (bipolarity)

frequency ～maximum output

十位

Tens place

frequency

Reserved

个位

Ones place

AO1 输出类型选择

AO1 output type option

For extended function 2 of upper computer, output of AO1 and

AO2 is directly controlled by serial port. 4095 corresponds to

AO2 输出类型选择

AO2 output type option

maximum output 10V (20mA), refer to HSD2000 communication

protocol.

The function code is used to select the analog output range of

For example,

AO1 and AO2.

AO1 output 4～20mA corresponds to indicating bus voltage 0～

P11.17 Output function option of

800V.

0～25【0】

AO1 terminal

Setting is as below:

For output characteristics of AO1 and AO2, see 4.2 control circuit

①P11.17＝8, output bus voltage;

wiring and configuration; analog output range is determined by

②P11.16＝03, AO1 output type is 4～20mA;

the function code P11.16.

The linear correspondence relation between AO1 output and

③P11.19＝100％, output gain is 100％

indication range is as shown in table 6-14.

④P11.20＝0, zero-bias correction is 0.

Table 6-14 Indication of Analog Output Terminal

Attention

1． When the corresponding function of AO output is

Cont

Corresponding function

Indication range

ent

unipolarity

(P11.17 ＝ 0 ～ 20), absolute value of the

corresponding indication of minimum output is minimal and

Output frequency

0～maximum output frequency

absolute value of the corresponding indication of maximum

Set frequency

0～maximum output frequency

output is maximal; when the corresponding function is

Set frequency (after

bipolarity (P11.17＝21～24), the corresponding indication of

0～maximum output frequency

acceleration/deceleration)

minimum output is minimal and the corresponding indication

Motor speed

0～maximum speed

of maximum output is maximal.

Output current

0～2×rated current of servo driver

2． When AO output is current, it is suggested that external

Output current

0～2×rated current of motor

equivalent resistance should not exceed 400Ω.

Output torque

0～3×rated torque of motor

Output torque current

0～3×rated torque of motor

P11.18 AO1 output filter

0.0～20.0s【0.1】

0～1.2×rated voltage of servo

P11.19 AO1 output gain

0.0～200.0％【100.0％】

Output voltage

driver

P11.20 AO1 zero-bias correction

－100.0～100.0％【0.0％】

Bus voltage

0～800V

AO1 output filter is used to set the time constant of AO1 analog

AI1

0～maximum analog input

output filter. The longer the filtering time is, the slower the analog

AI2

0～maximum analog input

output response is; on the contrary, the response is quicker

AI3

0～10V

For AO1 and AO2 analog outputs, if users need to change the

Output power

0～2×rated power of motor

indication range or correct the error of gauge outfit, it can be

Extended function 2 of upper

0～4095

realized by adjusting output gain.

computer

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

Torque limit 1

0～300％rated torque of motor

both upper and lower translation values are set in percentage. Take

Torque limit 2

0～300％rated torque of motor

output voltage for example, the relation before and after adjusted

Torque bias

0～300％rated torque of motor

is as below:

Torque instruction

0～300％rated torque of motor

0～100％rated magnetic flux of

AO output value ＝ output gain × the value before adjusted ＋

Magnetic flux instruction

motor

zero-bias correction ×10V

Position deviation

0～2048

Output torque (bipolarity)

－300～300％rated torque of

Chapter VI Function Code Details

The curve of relation between analog output and gain and the

inflection point 1 given on curve 1

curve of relation between analog output and zero-bias correction

P11.32 Minimum given on curve 1

0.0％～P11.28【0.0％】

are respectively as shown in Fig.6-53 and Fig.6-54.

P11.33 Actual value corresponding to

0.0％～300.0％【0.0％】

The values aft：rV：

minimum given on curve 1

adjusted

P11.34 Maximum given on curve 2

P11.34～100.0％【100.0％】

P11.19=200

P11.19=100

P11.35 Actual value corresponding to

0.0％～300.0％【100.0％】

maximum given on curve 2

：

P11.36 Inflection point 2 given on curve

The values

P11.40～P11.36【100.0％】

before

： V：

adjusted

P11.37 Actual value corresponding to

0.0％～300.0％【100.0％】

inflection point 2 given on curve 2

：

P11.38 Inflection point 1 given on curve

P11.34～P11.38【0.0％】

Fig.6-53 Curve of Relation between Analog Output and Gain

P11.39 Actual value corresponding to

调整后的值

The values after adjusted

0.0％～300.0％【0.0％】

inflection point 1 given on curve 2

P11.40 Minimum given on curve 2

0.0％～P03. 11【0.0％】

调整前的值

The values before adjusted

P11.41 Actual value corresponding to

0.0％～300.0％【0.0％】

minimum given on curve 2

The values after adjusted

Analog input AI1～AI3 and pulse input can be given as different

P11.20=50

channels; for function selection of analog input channel, see the

P11.20=0

setting of function codes in the P11 group; for function selection

of pulse input, see the setting of input function of terminal X8. for

：

example, when AI1, AI2, AI3 or pulse frequency (PULSE) input is

The values

selected as frequency given channel, the relation between given

before adjust：d V：

frequency and set frequency is as shown in Fig.6-55 (AI1 is

selected as main frequency given channel).

Channel gain and zero

Selection of

Set

：

Channel filter

bias

frequenc

P11.04

P11.03： P1102

P11.25

Fig.6-54 Curve of Relation between Analog Output and Zero Bias

调整后的值

The values after adjusted

Selection of frequency

Selection of analog

given channel

input channel

调整前的值

The values before adjusted

P02.03

P11.01

Fig.6-55 Relation between Given Channel Input and Set Frequency

Attention

Output gain and zero-bias correction function codes have a

通道滤波

Channel filter

real-time influence on analog output in the modification

process.

通道增益和零偏

Channel gain and zero bias

曲线 1 或 2 选择

Selection of curve 1 or 2

P11.21 AO2 terminal output

0～25【0】

function option

设定频率

Set frequency

P11.22 AO2 output filter

0.0～20.0s【0.1】

频率给定通道选择

Selection of frequency given channel

P11.23 AO2 output gain

0.0～200.0％【100.0％】

P11.24 AO2 zero-bias correction

－100.0～100.0％【0.0％】

模拟输入通道选择

Selection of analog input channel

Function setting of analog output of AO2 terminal and its meaning

are identical with AO1.

The relation between set frequency and given analog signal after

P11.25 Curve option

0000～1111【0000】

filter, gain and zero bias processing is determined by curve 1 or

P11.26 Maximum given on curve 1

P11.26～100.0％【100.0％】

curve 2. Curve 1 is defined by P11.26～P11.33 and curve 2 is

P11.27 Actual value corresponding to

0.0％～300.0％【100.0％】

defined by P11.34～P11.41. Take set frequency for example, both

maximum given on curve 1

P11.28 Inflection point 2 given on curve

can independently realize positive action characteristic and

P11.32～P11.28【100.0％】

reverse action characteristic, as shown in Fig. 6-56.

P11.29 Actual value corresponding to

Fig. 6-56 shows the correspondence relation of inflection point

0.0％～300.0％【100.0％】

inflection point 2 given on curve 1

setting on the curve determined by maximum and minimum given

P11.30 Inflection point 1 given on curve

P11.26～P11.30【0.0％】

points. If an inflection point is set additionally, the flexible

correspondence relation can be realized; for details, see the

P11.31 Actual value corresponding to

0.0％～300.0％【0.0％】

example analysis hereinafter.

Chapter VI Function Code Details

Set

AI1 曲线选择

AI1 curve option

frequency

fmax

AI2 曲线选择

AI2 curve option

max

AI3 曲线选择

AI3 curve option

PULSE 曲线选择

PULSE curve option

f mi n

mi n

曲线 1

Curve 1

Pmi n

Pmax

Pmi n

Pmax

Ami n

Amax

Ami n

Amax

曲线 2

Curve 2

Positive action

Reverse action

(1)

characteristic

( 2)

characteristic

P： Terminal pulse given

Pm i n： Ami n： Minimum given

Pmax： Amax： Maximu m given

f mi n：C ^{orresponding minimum}

f max： Corresponding maximum

For example, demand analysis:

frequency given

1． Use the pulse signal of terminal input to set the set frequency;

Fig.6-56 Characteristic Curve of Analog Output Frequency

2． Input signal 1kHz～20kHz;

设定频率

Set frequency

3．The corresponding set frequency of 1kHz input signal is 50Hz;

the corresponding set frequency of 8kHz input signal is 10Hz; the

正作用特性

Positive action characteristic

corresponding set frequency of 12kHz input signal is 40Hz; the

反作用特性

Reverse action characteristic

corresponding set frequency of 20kHz input signal is 5Hz.

端子 pulse 给定

Terminal pulse given

According to the above requirements, parameter setting is as

模拟量 AI1～AI3 给定

Analog AI1～AI3 given

below:

最小给定

Minimum given

1）P02.03＝4, use terminal PULSE given as main frequency given

最大给定

Maximum given

channel;

2）P10.07＝45, input pulse signal from terminal X8;

最小给定对应频率

Corresponding minimum frequency given

最大给定对应频率

Corresponding maximum frequency given

3）P11.25＝1000, select curve 2;

4）P10.13＝20.0kHz, set maximum pulse input frequency to be

20kHz;

When analog input A is 100％, it corresponds to 10V or 20mA;

5）P11.34＝20÷20×100％＝100.0％, set the maximum given on

when pulse frequency P is 100％, it corresponds to maximum

curve 2 as 20kHz-relative-to-20kHz (P10.13) percentage;

input pulse frequency defined by P10.13.

6 ） P11.35 ＝ 5.00Hz÷P02.05*100 ％ , set the set frequency

For the channel filtering time constant defined by P11.04 and the

percentage corresponding to maximum given

(20kHz pulse

gain and zero bias defined by P11.03 and P11.02, refer to the

signal);

description of function codes in the P11 group.

7）P11.36＝12÷20×100％＝60.0％, set the inflection point 2

P11.25 is used for selection of analog input and pulse input curves,

given on curve

2 as

12kHz-relative-to-20kHz

(P10.13)

see Fig.6-57.

One

percentage;

Thousands

Tens

place Hundreds

place

plac

8 ）P11.37 ＝40.00Hz÷P02.05*100 ％ , set the set frequency

AI1 curve option

percentage corresponding to inflection point 2 given on curve 2

0： Curve 1

1： Curve 2

(12kHz pulse signal);

9）P11.38＝8÷20×100％＝40.0％, set the inflection point 1 given

AI2 curve option

0： Curve 1

on curve 2 as 8kHz-relative-to-20kHz (P10.13) percentage;

1： Curve 2

10）P11.39＝10.00Hz÷P02.05*100％, set the set frequency

AI3 curve option

percentage corresponding to inflection point 1 given on curve 2

0： Curve 1

1： Curve 2

(8kHz pulse signal);

PULSE curve option

11）P11.40＝1÷20×100％＝5.0％, set the minimum given on

0： Curve 1

1 ： Curve 2

curve 2 as 1kHz-relative-to-20kHz (P10.13) percentage;

12）P11.41＝50.00Hz÷P02.05*100％, set the set frequency

Fig.6-57 Selection of Frequency Given Curve

percentage corresponding to minimum given (1kHz pulse signal).

个位

Ones place

十位

Tens place

百位

Hundreds place

千位

Thousands place

Chapter VI Function Code Details

Output frequency%)

6.1.13 Encoder parameters (P12 group)

P11.41=100%

Local encoder function in the P12 group is used for vector control

P11.37=80

of asynchronous motor with PG.

P12.00 Pulses per revolution of

0～10000【1024】

local PG

P11.39=20

Pulse signal

It is set according to the pulses per revolution

(PPR) of the

P11.35=10

input

40% 60%

100%

selected pulse encoder (PG).

P11.4

P11.3

Attention

Fig.6-58 Pulse Signal Input Example-Parameter Setting 1

When a speed sensor is running, the parameter must be set

correctly, or else motor can not run normally.

输出频率

Output frequency

P12.01 Rotation direction of

0～1【0】

local PG

脉冲信号输入

Pulse signal input

0: A is in advance of B.

1: B is in advance of A.

If demand 3 has no setting of inflection point, the corresponding

When motor rotates forward, A is in advance of B; when motor

set frequency of

1kHz input signal should be

50Hz and the

rotates reversely, B is in advance of A. If the direction represented

corresponding set frequency of 20kHz input signal should be 5Hz.

by the sequence of connection between interface board of servo

For convenience, here inflection point 1 can be set as the same as

driver and PG matches with the direction represented by the

minimum given (P11.38＝P11.40, P11.39＝P11.41) and inflection

sequence of connection between servo driver and motor,

“0”

point 2 can be set as the same as maximum given (P11.36＝

(forward) is selected as setting value, or else “1” (reverse) is

P11.34, P11.37＝P11.35). The parameter curve is as shown in

selected.

Fig.6-59.

The correspondence relation of connection direction can be

adjusted easily by changing the parameter, and reconnection is not

Output frequency (%)

P11.41=100

needed.

P11.39

P12.02 Reserved

1～128【1】

The function code is Reserved.

P12.03 Filtering number of

0～99【30】

P11.35=10%

Pulse signal

encoder signal

P11.37

input

P11.34=100

It is used to set the filtering number of feedback speed.

P11.40=5%

P11.38

Ones place: high-speed filtering number

P11.36

Tens place: low-speed filtering number

Fig.6-59 Pulse Signal Input Example-Parameter Setting 2

At a low speed, if there is a current vibration sound, low-speed

输出频率

Output frequency

filtering number can be increased, or else it shall be decreased, to

脉冲信号输入

Pulse signal input

improve the response characteristic of the system.

P12.04 Disconnection

0～10s【0】

detectiontime of local PG

Attention

It means the detection duration for confirming the disconnection

1．If a user sets inflection point 2 given on curve 2 as the same

fault of coded disc.

as maximum given (P11.36＝P11.34), it internally compels

P12.04＝0 represents PG disconnection non-detection and E025

P11.37＝P11.35, i.e. setting of inflection point 2 is invalid. If

fault can be masked.

inflection point 2 given is the same as inflection point 1 given

P12.05 Disconnection action of

(P11.38＝P11.36), it internally compels P11.39＝P11.37, i.e.

0～1【0】

local PG

setting of inflection point 1 is invalid. If inflection point 1

given is the same as minimum given (P11.40 ＝ P11.38), it

0： free stop (E025)

internally compels P11.41＝P11.39, i.e. setting of minimum

In the PG vector control mode and PG V/F control mode, if PG is

given is invalid. Setting of curve 1 is by analogy.

disconnected, servo driver will give a fault alarm and display

2． The range of actual value corresponding to curves 1 and 2

E025, and servo driver stops output simultaneously and motor

given is 0.0％～300.0％. For torque given, the corresponding

coasts to stop freely.

range is

0.0 ％～ 300.0 ％ ; for frequency given, the

1： Reserved

corresponding range is 0.0％～100.0％ and setting of more

than 100.0％ has the same meaning as 100.0％.

Detailed description of P12.06～P12.23 is Reserved.

Chapter VI Function Code Details

6.1.14 Process closed loop parameters (P13 group)

A pressure transmitter is used as feedback sensor of built-in closed

loop, to compose an analog feedback control system.

The process closed loop control system of HSD2000 servo driver

As shown in Fig.

6-60, given value of pressure is set by

is analog closed loop type. Fig. 6-60 is the connection diagram of

potentiometer and inputted from AI2 port in the form of voltage;

analog process closed loop control system of HSD2000 servo

feedback value of pressure is inputted from AI1 port in the form

driver.

of 4～20mA current; both given value and feedback value can be

Delivery

acquired by analog channel. Start and stop of closed loop

input

Pressure

operation are realized by terminal FWD.

transmitter

FWD

P24

AI1 .

The above system can also be used for speed closed loop control

. COM

+10V .

of TG (tachogenerator).

GND

AI2

-10V

Attention

Fig.6-60 Analog Feedback Control System Diagram of Built-in Process

Given can also be digital given by operating panel and serial

Closed Loop

port given.

交流输入

AC input

The block diagram of working principle of HSD2000 built-in

process closed loop is given in Fig. 6-61; KP: proportional gain;

外送

Delivery

Ki: integral gain.

压力变送器

Pressure transmitter

In Fig.

6-61, the definitions of given value, feedback value,

deviation limit and proportional integral parameters of closed loop

Analog feedback control system:

are the same as ordinary closed loop regulation

meaning,

respectively see P13.01～P13.15 definitions.

KP ×

Closed

Adjustment

(P13.10)

Given value

Deviation

loop

of given

Closed loop regulating

output

of closed

(P13.06：

limit

characteristic

(P13.15)

(P13.16)

loop

P13.08)

∑

^{Ki ×} ε

(P13.11)

Adjustment of

Feedback

feedback value

value of

(P13.07： P13.09)

closed loop

Fig.6-61 Schematic Diagram of Process Closed Loop Control

闭环给定量

Given value of closed loop

给定量调整

Adjustment of given value

偏差极限

Deviation limit

闭环调节特性

Closed loop regulating characteristic

反馈量调整

Adjustment of feedback value

闭环输出

Closed loop output

闭环反馈量

Feedback value of closed loop

Built-in closed loop of HSD2000 has the two characteristics as

follows:

The relation between given value and corresponding expected

feedback value is defined by P13.06～P13.09.

For example, in Fig. 6-62, when given value is analog signal －

10～10V, the corresponding expected controlled value is 0～1MP

and the corresponding pressure sensor signal is 4～20mA; the

relation between given value and expected feedback value is as

shown in Fig. 6-62.

Fig.6-62 Given Value and Expected Feedback Value

期望的反馈量

Expected feedback value

给定量

Given value

Chapter VI Function Code Details

1： closed loop run control is valid.

Determination of given value is based on 10V; determination of

P13.01Given channel option

0, 1, 2, 3【1】

feedback value is based on 20mA

That is to say,

0： digital given

The meaning of adjustment of given value and feedback value in

Based on the value in P13.05

Fig. 6-61 is that given value and feedback value adopt internal

1： AI1 analog given

unified value.

2： AI2 analog given

The closed loop characteristics are selected by P13.16, to satisfy

3： AI3 analog voltage given

different applications.

Analog given input －10～10V (P11.00 digit option 0), 4～20mA

In order to meet the control requirement in the actual control

(P11.00 digit option 1).

system, when given value increases, motor speed needs to be

increased, and such closed loop characteristic is positive action

Attention

characteristic; on the contrary, when given value increases, motor

Input of analog given AI1 and AI2 can be current or voltage

speed needs to be decreased, and such closed loop characteristic is

input by the function code P11.00

(digit option); AI3 as

reverse position characteristic.

differential input can only be voltage input.

As shown in Fig. 6-63, definition of P13.16 is for meeting the

P13.02 Feedback channel option

0～5【1】

requirements of two closed loop characteristics.

0： AI1 analog given

1： AI2 analog given

2：AI1+ AI2

3：AI1－AI2

4：Min{ AI1，AI2}

5：Max{ AI1，AI2}

AI input type option is the same as above.

P13.03 Given channel filtering

0.01～50.00s【0.50s】

P13.04 Feedback channel

0.01～50.00s【0.50s】

filtering

Fig. 6-63 Closed Loop Regulating Characteristic Diagram

External given signals and feedback signals often have a certain

转速

Speed

interference superposition and channels are filtered by setting the

filtering time constant in P13.03 and P13.04; the longer the

正作用

Positive action

filtering time is, the higher the interference resistance, but the

反作用

Reverse action

response becomes slow; the shorter the filtering time is, the

quicker the response is, but the interference resistance becomes

闭环给定

Closed loop given

weak.

P13.05 Digital setting of given

－10.00～10.00V【0.00】

After determination of the system, basic steps of closed loop

value

parameter setting are as below:

The function is used for digital setting of given value by operating

1）Determine the closed loop given and feedback channel

panel or serial port.

(P13.01、P13.02);

P13.06 Minimum given value

0.0％～P13.08【0.0％】

P13.07 Feedback value

2）For analog closed loop, set the relation between closed loop

corresponding to minimum given

0.0～100.0％【0.0％】

given and feedback (P13.06～P13.09);

value

P13.08 Maximum given value

P13.06～100.0％【100.0％】

3）Determine the closed loop regulating characteristic; if the

P13.09 Feedback value

relation between given and required motor speed is reverse, set the

corresponding to maximum given

0.0～100.0％【100.0％】

closed loop characteristic regulation as reverse action (P13.16＝

value

1);

4）Set the integral regulation option and closed loop preset

The relation of given value adjustment in P13.06 and P13.08 in

frequency function (P13.17～P13.19);

Fig. 6-61 is as shown in Fig. 6-64. When analog input is 6V, if

P13.06＝0％ and P13.08＝100%, the converted value after

5）Adjust the closed loop filtering time, sampling period, deviation

adjustment is

60％; if P13.06＝25％ and P13.08＝100%, the

limit and gain coefficient (P13.10～P13.15).

converted value after adjustment is 46.6％.

P13.00 Closed loop run control

0, 1【0】

option

0： closed loop run control is invalid.

Chapter VI Function Code Details

The values after

Output filtering time is the filtering time of closed loop output

adjusted

(frequency or torque). The greater the output filtering time is, the

100%

slower the output response is.

P13.15 Deviation limit

0.0～20％【2.0％】

60%

46.6%

System output value is relative to maximum deviation permitted

by given value of closed loop; as shown in Fig. 6-65, when

25%

50%

feedback value is within the range, closed loop regulator will stop

80%

Analog

100%

regulation. Appropriate setting of the function is helpful to give

(6V)

input value

consideration to both accuracy and stability of system output.

P13.06=0%

P13.08=100%

P13.06=25%

-100%

P13.08=100%

Fig.6-64 Given Value Adjustment Curve Diagram

调整后的量

The values after adjusted

模拟输入量

Analog input value

Attention

1． As shown in Fig. 6-64, scaling analog input of horizontal

axis

0 ％～ 100 ％ is － 10V ～ 10V; analog input

10V

corresponds to 100％ and －10V corresponds to 0％, and 6V

Fig.6-65 Deviation Limit Diagram

corresponds to 80％.

2． If it is analog current input, the range of current input is

P13.16 Closed loop regulating

0, 1【0】

4～20mA, so the range of scaling on the horizontal axis is

characteristic

50％～100％.

0： positive action

3． The values after adjusted can be observed by the function

When given value increases, it is used if requiring increasing

code P01.28.

motor speed.

As shown in Fig. 6-61, the relation curve of feedback value

1： reverse action

adjustment in P13.07 and P13.09 is relative to the adjustment of

When given value increases, it is used if requiring decreasing

given value. The values after adjusted can be observed by the

motor speed.

function code P01.29.

P13.17 Integral regulation

P13.10 Proportional gain KP

0.000～10.000【2.000】

0, 1【0】

option

P13.11 Integral gain Ki

0.000～10.000【0.100】

0： when the frequency reaches the upper and lower limits, stop

P13.12

Reserved

integral regulation;

P13.13 Sampling period T

0.01～50.00s【0.50s】

1： when the frequency reaches the upper and lower limits,

The greater the proportional gain KP is, the quicker the response

continue integral regulation.

is, but if KP is excessively great, it may cause oscillation easily.

For the system that requires quick response, it is suggested that

The deviation can not be eliminated completely only by

continuing integral regulation should be cancelled.

proportional gain KP adjustment. In order to eliminate residual

P13.18 Closed loop preset

deviation, integral gain Ki can be adopted to compose the closed

0.00～1000.0Hz【0.00Hz】

frequency

loop control. The greater the Ki is, the quicker the response to

P13.19 Holding time of closed

varying deviation is, but if Ki is excessively great, it may cause

0.0～3600.0s【0.0s】

loop preset frequency

oscillation easily.

Sampling period T is the sampling period of feedback value and

The function code can make closed loop regulation quickly enter

the closed loop regulator operates once within a sampling period.

into steady stage.

The greater the sampling period is, the slower the response is.

After closed loop run starts, the frequency first increases to the

P13.14 Output filtering time

0.01～10.00【0.05】

closed loop preset frequency P13.18 according to the acceleration

time, then it runs for a period of time P13.19 on the frequency

point, and finally runs according to the closed loop characteristic.

Chapter VI Function Code Details

closed loop given defined by P13.20～P13.34 can also be used as

closed loop given.

Voltage options of multi-phase closed loop given 1～15 can be

switched flexibly by external terminals, see P10.00 ～ P10.07

terminal functions 30～33. it can also be used in conjunction with

simple PLC closed loop section, see the description of function

codes in the P11 group.

The priority level of multi-phase closed loop given control is

higher than the given channel defined in P13.01.

P13.35 Closed loop output

Fig.6-66 Run Diagram of Closed Loop Preset Frequency

0, 1【0】

reversion option

输出频率

Output frequency

0： closed loop output is negative and servo driver runs at zero

预置频率

Preset frequency

frequency.

1： closed loop output is negative and servo driver runs reversely,

预置频率保持时间

Holding time of preset frequency

but if anti-reversion option disables reverse running, servo driver

时间

Time

runs at zero frequency, see the description of P05.12 function code.

Attention

If the closed loop preset frequency function is not needed,

preset frequency and holding time should be set as 0.

P13.20 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 1

P13.21 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 2

P13.22 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 3

P13.23 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 4

P13.24 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 5

P13.25 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 6

P13.26 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 7

P13.27 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 8

P13.28 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 9

P13.29 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 10

P13.30 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 11

P13.31 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 12

P13.32 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 13

P13.33 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 14

P13.34 Multi-phase closed

－10.00～10.00V【0.00V】

loop given 15

Among the closed loop given channels except the three kinds of

channels defined by P13.01, the voltage value of multi-phase

Chapter VI Function Code Details

P13.36 Closed loop feedback loss

0, 1, 2【0】

1.5kW～15kW

15.0

2.0

8.0

action option

18.5kW～45kW

10.0

2.0

4.0

0： closed loop feedback loss detection is not available;

55kW～75kW

6.0

2.0

3.0

1： closed loop feedback loss detection is available; when

detected, continue running and display the alarm A021;

Above 90kW

3.0

2.0

2： closed loop feedback loss detection is available; when

detected, stop freely and display the fault E021;

When displaying an alarm to continue running, running frequency

Attention

is described as P20.04 function code.

1． Carrier frequency will affect the running noise of motor

P13.37 Detection value of closed

and it is usually set at 3～5kHz. In the place requiring silent

0.0～100.0％【50.0％】

loop feedback loss

running, carrier frequency is usually set at 6～8kHz.

P13.38 Detection time of closed

0.0～20.0s【1.0s】

2． When running at above factory set carrier frequencies,

loop feedback loss

servo driver should be derated by 5％ for use with an increase

Detection value of closed loop feedback loss is

100 ％ as

of 1kHz.

reference value; within the detection time, if closed loop feedback

3． In the vector control mode, P14.00 minimum

carrier

value is lower than detection value, servo driver will operate

frequency is 3kHz.

according to setting of P13.36 function code. The time sequence

P14.01 PWM mode

000～111【001】

diagram of closed loop feedback loss detection is as shown in Fig.

optimization

One

6-67.

HundredsTens

place

plac

PWM overmodulation

enable

0： Invalid

1： Valid

Automatic adjustment option of

PWMNon-ier frequency

automatic

0：

Aadjustment

1：

adjustment

PWM adjustment mode

wo-phase/three-phase switching

Three-phase

1：

modulation

Fig.6-68 PWM Mode Optimization Option

Fig.6-67 Time Sequence Diagram of Closed Loop Feedback Loss

Detection

百位

Hundreds place

闭环反馈值

Closed loop feedback value

十位

Tens place

检出值

Detection value

个位

Ones place

丢失不检出

Loss non-detection

PWM 过调制使能

PWM overmodulation enable

丢失检出

Loss detection

无效

Invalid

时间

Time

有效

Valid

PWM 载波频率自动

Automatic adjustment option of PWM carrier

调整选择

frequency

6.1.15 Extended function code parameters (P14 group)

不自动调整

Non- automatic adjustment

P14.00 Carrier frequency

2.0～15.0kHz【8kHz】

自动调整

Automatic adjustment

PWM 调整方式

PWM adjustment mode

Table 6-15 Carrier Frequency of PWM Wave Outputted by Servo

Driver

两相/三相切换

Two-phase/three-phase switching

三相调制

Three-phase modulation

Maximum

Minimum

Carrier frequency

Factory

carrier

setting

frequency

Model

(kHz)

Ones place: overmodulation enable

(kHz)

Chapter VI Function Code Details

The function decides whether to enable V/F control

Tens place Ones place

overmodulation function. Vector control overmodulation is

0:Set frequency storage in

enabled all the time.

case of power down

1:Set frequency non-storage

0： invalid

in case of power down

V/F control overmodulation function is disabled.

0 :Frequency holding in case of

stop

Frequency recovery P02.04 in

1： valid

case of stop

V/F control overmodulation function is enabled.

Fig.6-69 LED Setting of Digital Frequency Control

Tens pace: automatic adjustment option of carrier frequency

0： non-operating

个位

Ones place

1： operating

十位

Tens place

When automatic adjustment option of carrier frequency is

设定频率掉电存储

Set frequency storage in case of power down

“operating”, servo driver can automatically adjust the carrier

设定频率掉电不存

Set frequency non-storage in case of power down

frequency according to internal temperature. Here actual

储

maximum run frequency of servo driver is restricted by the carrier

frequency set by function code (P14.00).

停机频率保持

Frequency holding in case of stop

Hundreds place: modulation mode

停机频率恢复

Frequency recovery P02.04 in case of stop

0： two-phase/three-phase switching

P02.04

1： three-phase modulation

P14.02 cooling fan control

0～1【1】

Ones place:

0： set frequency storage in case of power down

0： automatic run

When servo driver is power-down or under-voltage, P02.04 is

Servo driver automatically starts internal temperature detection

refreshed automatically according to the set value of current actual

program when it is running, to determine running and stop of fan

frequency.

according to the module temperature. Before servo driver stops, if

the fan is running, the fan will continue running 3min when servo

1： set frequency non-storage in case of power down

driver stops, and then internal temperature detection program is

When servo driver is power-down or under-voltage, P02.04

started.

remains unchanged.

1： power-on fan is always running

Tens place:

After servo driver is electrified, the fan is always running.

0： set frequency holding in case of stop

P14.03 ACR-P

1～5000【1000】

When servo driver stops, set value of frequency is final modified

P14.04 ACR-I

0.5～100.0ms【8.0ms】

value.

P14.03 and P14.04 are PI regulator parameters of electric current

1： set frequency recovery P02.04 in case of stop

loop. Increasing electric current loop KP or reducing I can

When servo driver stops, set value of frequency is automatically

accelerate dynamic response of system torque; reducing KP or

restored to P02.04.

increasing I can strengthen the stability of the system.

P14.07 Auxiliary set frequency

00～11【00】

control

Attention

For most purposes, it is needless to adjust PI parameters of

electric current loop, so it is suggested that users should not

P14.07： digital auxiliary frequency control is valid only when

change this group of parameters at will.

P02.08＝1～3, as shown in Fig. 6-70.

P14.05 Reserved

0～65535【0】

Tens placeOnes place

P14.06 Main set frequency

00～11【00】

0:Auxiliary frequency storage in

control

case of power down

1:Auxiliary frequency non-

storage in case of power down

It is valid only in case of P02.00＝0, 1, 2.

0:Auxiliary frequency holding

after stop

1:Auxiliary frequency clearing

after stop

Fig.6-70 Setting of Digital Auxiliary Frequency Control

Chapter VI Function Code Details

Ones place

Tens place

Auxiliary frequency storage in case of power down

Auxiliary frequency non-storage in case of power

down

Auxiliary frequency holding after stop

Auxiliary frequency clearing after stop

Ones place: power-down storage option

Fig.6-72 S-Curve Acceleration/Deceleration

0： auxiliary frequency storage in case of power down

频率

Frequency

Auxiliary frequency will be stored in the P02.10 in case of power

时间

Time

down

1： auxiliary frequency non-storage in case of power down

When acceleration starts and speed arrives and when deceleration

Auxiliary frequency will not be stored in case of power down.

starts and speed arrives, make the set value of speed in S-curve

Tens pace: frequency processing after stop

state. This way can make acceleration/ deceleration act smoothly

0： auxiliary frequency holding after stop

and have little impact. S-curve acceleration/ deceleration mode is

Auxiliary frequency remains unchanged after stop.

suitable for start and stop of load handling and transfer, e.g.

1： auxiliary frequency clearing after stop

elevators and conveyor belts, etc.

P14.09 Acceleration/ deceleration

Auxiliary frequency is cleared after stop

0～2【1】

time unit option

P14.08 Acceleration/deceleration mode option

0～1【0】

0：0.1s

0： linear acceleration/deceleration

1：s

Output frequency increases or decreases by degrees according to a

2：min

constant gradient, as shown in Fig.6-71.

The function is used to determine all acceleration/ deceleration

time units except jog run.

P14.10 Acceleration time 2

0.0～3600.0s (min)【6.0s】

P14.11 Deceleration time 2

0.0～3600.0s (min)【6.0s】

P14.12 Acceleration time 3

0.0～3600.0s (min)【6.0s】

P14.13 Deceleration time 3

0.0～3600.0s (min)【6.0s】

P14.14 Acceleration time 4

0.0～3600.0s (min)【6.0s】

P14.15 Deceleration time 4

0.0～3600.0s (min)【6.0s】

Acceleration time refers to the required time (t₁in Fig.6-71) of

servo driver accelerating to maximum output frequency (P02.05)

from zero frequency. Deceleration time refers to the required time

Fig.6-71 Linear Acceleration/ Deceleration

(t₂ in Fig.6-71) of servo driver decelerating to zero frequency from

频率

Frequency

maximum output frequency (P02.05.)

时间

Time

Total four kinds of acceleration/ deceleration time are defined for

HSD2000 servo drivers and acceleration/ deceleration time 1～4

in the running process of servo driver can be selected by different

1： S-curve acceleration/deceleration

combination of control terminals, see the definition of

Output frequency increases or decreases by degrees according to

acceleration/deceleration time terminal function in the P10.00～

an S-curve, as shown in Fig.6-72.

P10.07. They can also be defined as the acceleration/deceleration

time when running frequency in each phase switches in the simple

PLC run mode, see the description of P15 parameter group.

Attention

1． Second and minute can be selected as the unit of

acceleration/ deceleration time 1～4 by P14.09 and factory

default unit is second.

Chapter VI Function Code Details

2． Factory set value of acceleration/deceleration time of 1.5～

P14.21

22kW servo drivers is

6.0s; factory set value of

acceleration/deceleration time of 30～45kW servo drivers is

As shown in Fig. 6-74, at the time of acceleration, it first runs by

20.0s; factory set value of acceleration/deceleration time of

other servo drivers is 30.0s.

acceleration time 1, as shown in curve ①, and acceleration time

P1420

P

. When output frequency increases to the



P14.16 Time in the S-curve

10.0％～50.0％【20.0％】

acceleration start section

switching point P14.20, acceleration time will switch to P14.10

P14.17 Time in the S-curve

10.0％～80.0％【20.0％】

from P02.14, as shown in curve

②, and acceleration time

acceleration end section

(fP

142)

P

P14.18 Time in the S-curve



. At the time of deceleration, it first

10.0％～50.0％【20.0％】

deceleration start section

runs by deceleration time

2, as shown in curve

③ , and

P14.19 Time in the S-curve

10.0％～80.0％【20.0％】

deceleration end section

(fP

1.4P1.4)P



When output frequency

decreases to a frequency (P14.20－P14.21) lower than P14.20,

P14.16

～ P14.19 are valid only when S-curve

deceleration time 2 will switch to deceleration time 1, as shown in

acceleration/deceleration mode

(P04.00 ＝ 1) is selected, and

P1.4 P1.4)P

P14.16+P14.1790 ％ , P14.18+P14.1990 ％ , as shown in

curve ④, and



Fig.6-73 below.

P14.22 Binding of run command channels

Frequency

000～666【000】

and frequency given channels

P14.17

P14.18

The function defines the binding combination of three kinds of

run command channels and six kinds of frequency given channels,

P14.19

P14.16

Time

to realize synchronous switching easily.

Hundreds

Tens placenes place

Frequency

place

Frequency channel option in the operating panel

control mode

0 ： No binding

1 ： Digital setting 1 (adjusted by ： and ： on the operating panel

2 ： Digital setting 2 (adjusted by terminal UP/DN)

3 ：

Digital setting 2 (given by serial port)

4 ： AI a nalog given

P14.2

Switching hysteresis loop

5 ： ^{Terminal pulse}

given

frequency P14.21 of

acceleration/deceleration time

6 ： Extend

ed card given

1 and 2

Frequency channel option in the terminal control mode

0： 6 ： S ame as above

Time

t₁

t₂

t₃

t₄

Frequency channel option in the serial port control mode

0：

6 ：

Same as above

Fig.6-73 Acceleration/Deceleration Start and End Time

Fig.6-75 Binding of Run Command Channels and

频率

Frequency

Frequency Given Channels

时间

Time

个位

Ones place

十位

Tens place

P14.20 Switching frequency of

0.00～1000.0Hz【0.00】

acceleration/deceleration time 1 and 2

百位

Hundreds place

P14.21 Switching hysteresis loop

操作面板控制方式下

Frequency channel option in the

frequency of acceleration/deceleration

0.00～655.35Hz【1.00】

operating panel control mode

time 1 and 2

频率通道选择

无捆绑

No binding

Fig.6-74 Switching Diagram of Acceleration/Deceleration Time 1 and 2

数字设定 1（操作面板

Digital setting 1 (adjusted by ▲ and ▼

频率

Frequency

on the operating panel)

▲、▼调节）

时间

Time

数字设定 2（端子

Digital setting 2 (adjusted by terminal

UP/DN 调节）

UP/DN)

加减速时间 1 和

Switching hysteresis loop frequency P14.21

of acceleration/deceleration time 1 and 2

2 切换滞环频率

Chapter VI Function Code Details

数字设定 3（串行口给

Digital setting 2 (given by serial port)

端子控制方式

Terminal control mode

定）

AI 模拟设定方式

AI analog setting mode

AI 模拟给定

AI analog given

本地

Local

端子脉冲给定

Terminal pulse given

操作面板控制方式

Operating panel control mode

扩展卡给定

Expansion card given

数字设定方式 1

Digital setting mode 1

端子控制方式下频率

Frequency channel option in the

多功能输入端子 Xi

Multi-function input terminal Xi

通道选择

terminal control mode

上电

Power on

串行口控制方式下频

Frequency channel option in the serial

port control mode

率通道选择

In order to realize the above control, the following setting is

同上

Same as above

required.

The meaning of the above frequency given channels is the same as

P02.02＝1, set as terminal control mode; it is remote control after

frequency setting mode P02.03, see the description of function

power on;

codes in the P02 group.

P10.00＝28, P10.01＝29, set multi-function input terminals X1

Different run command channels can be bound to the same

and X2 as run command channel option;

frequency given channel.

P10.08＝1, set as two-wire control mode 2; when FWD is valid, it

Online synchronous switching after binding can be realized by the

runs forward; when REV is valid, it runs reversely;

following modes:

P00.06＝0020, set LOCAL key to be valid;

Mode 1: modify the function code “run command channel option

P14.22＝041, set terminal control mode is bound to AI analog

P02.02”;

given and operating panel control mode is bound to digital setting

Mode 2: use LOCAL and DATA/ENTER keys;

Mode 3: use the combination of run command channel option

Three-

terminals (terminal function should be defined and X1～X8 are

phase

set as 28 and 29).

HSD2000

power

For example,

supply

In order to facilitate remote and local control, requirements are as

P24

+10 V

follows:

PLC

4.7k

①Switching of run command channel: switch by terminal in

FWD

-10V

remote control mode and switch by LOCAL key in local control

REV .

mode.

C X2 .

②Local control adopts operating panel; press RUN key to run and

press STOP key to stop; set frequency is adjusted by ▼ and ▲.

Fig.6-77 Connection Diagram of Remote and Local Control Hardware

③Remote control adopts external terminal; close FWD key to run

三相交流电源

Three-phase AC power supply

forward and close REV key to run reversely; set frequency is

adjusted by AI analog given.

④After power on, terminal control mode is available.

Attention

Factory setting is 000: no synchronous switching of frequency

Remote

Local

given channel

Terminal

Multi-function input

Operating panel

control mode

terminal Xi

control mode

P14.23 Jump frequency 1

0.00～1000.0Hz【0.00Hz】

P14.24 Range of jump

AI analog

P ANEL/REM OT E

Digital setting

0.00～30.00Hz【0.00Hz】

ENTER/DA TA

frequency 1

setting mode

mode 1

P14.25 Jump frequency 2

0.00～1000.0Hz【0.00Hz】

P14.26 Range of jump

0.00～30.00Hz【0.00Hz】

Power on

frequency 2

P14.27 Jump frequency 3

0.00～1000.0Hz【0.00Hz】

P14.28 Range of jump

0.00～30.00Hz【0.00Hz】

frequency 3

P14.23 ～ P14.28 are set for the purpose of making output

Fig.6-76 Remote and Local Control Requirement

frequency of servo driver avoid the resonance frequency points of

远程

Remote

mechanical load.

Chapter VI Function Code Details

Set frequency of servo driver can jump nearby some frequency

points according to the mode in Fig.6-78 and at most three jump

In the Fig.6-79, a₁ ～ a₁₅ and d₁ ～ d₁₅ are acceleration and

ranges can be defined.

deceleration time in each phase; P1～P1₅ and T₁～T₁₅are set

frequency and running time in each phase. The above parameters

will be defined respectively in the following function codes.

PLC phase and cycle completion can be indicated by two-way

open collector output terminals Y1 and Y2 or relay outputting

500ms pulse indication signals, see the function 11 “PLC phase

run completion indication” and function

“PLC

cycle

completion indication” in the P10.18～P10.21.

P15.00 PLC run mode option

0000～1123H【0000】

ThousanHundred

Tens

Ones

s place

place

Fig.6-78 Jump Frequency and Range Diagram

PLC run mode option

0： Non-operating

1：Stop after single cycle

Set frequency after adjustment

2： Keep final value after single

调节后的设定频率

cycle

3：Continuous cycle

Restart mode after PLC run

跳跃频率

Jump frequency

interruption

0 ：Rerun from the first phase

1Continue running from the phase at the

跳跃范围

Jump range

interruption moment

Continue running from the phase

2：

and frequency at the interruption

moment

设定频率

Set frequency

PLC state parameter storage option

in case of power down

0 ： Not stored

1：^{Store the phase and frequency at the}

After the jump frequency parameter is set, even if set frequency of

power-down moment of

Phase time unit option

servo driver is in the mechanical resonance frequency zone of

0： Second

1： Minute

drive system, output frequency of servo driver will also be

Fig.6-80 Selection of Simple PLC Run Mode

adjusted out of mechanical resonance zone, to avoid running on

个位

Ones place

the resonance frequency.

十位

Tens place

P14.29 Reserved

P14.30 Reserved

50～150【100】

百位

Hundreds place

千位

Thousands place

6.1.16 Simple PLC parameters (P15 group)

PLC 运行方式选

PLC run mode option

Simple PLC function is a multi-speed generator. Servo driver can

择

automatically change running frequency and direction according

to running time, to meet the process requirement. The function is

不动作

Non-operating

completed by PLC (programmable controller) before now and it

单循环后停机

Stop after single cycle

can be realized by the servo driver itself now, as shown in

Fig.6-79.

单循环后保持最

Keep final value after single cycle

终值

^a14

连续循环

Continuous cycle

^f2 a ³

^f4

f1 ^a

^a 13

PLC 中断运行再

Restart mode after PLC run interruption

^a1

PLCrun

^d13

^a 5 ^f5

起动方式

从第一段开始重

Rerun from the first phase

^T1 T2 T3 T4 T5 T ⁶ ~

新运行

从中断时刻的阶

Continue running from the phase at

the

PLC phase

completion

indication

段继续运行

interruption moment

PLC cycle completion indication

从中断时刻阶

Continue running from the phase and

Fig.6-79 Simple PLC Run Diagram

frequency at the interruption moment

段、频率继续运

PLC 运行

PLC run

行

PLC 阶段完成指示

PLC phase completion indication

掉电时 PLC 状态

PLC state parameter storage option in case

PLC 循环完成指示

PLC cycle completion indication

of power down

参数储存选择

Chapter VI Function Code Details

不储存

Not stored

3 (continuous cycle)：as shown in Fig.6-83, servo driver will

automatically proceed to the next cycle after completing a cycle,

储存掉电时刻的

Store the phase and frequency at the

till a stop command is given.

power-down moment of

阶段、频率

^f15

^f5

阶段时间单位选

Phase time unit option

^f2

^f14

择

^f1

秒

Second

^f3

分

Minute

The first

The second cycle

cycle

Ones place: PLC run mode option

command

0： non-operating

Fig.6-83 PLC Continuous Cycle Mode

PLC run mode is invalid.

1： stop after single cycle

第一次循环

The first cycle

As shown in Fig.6-81, servo driver will automatically stop after

第二次循环

The second cycle

completing a cycle and it can start only after a run command is

given again.

RUN 命令

RUN command

^a14

Tens place: restart mode option after PLC run interruption

^f2 a ³

^f4

d15

f1 ^a

0： rerun from the first phase

PLC run

^a1

^a 13

^d13

If servo driver stops (arising from stop command, fault or power

^a 5 ^f5

down) when running, it will rerun from the first phase after restart.

1： continue running at the phase frequency at the stop (or fault)

T12

T15

^T1 T2 T3 T4 T5 T ⁶ ~

moment

RUN

If servo driver stops (arising from stop command or fault) when

comman

running, it will automatically record the already-running time in

current phase and automatically enter the phase after restart, and

Fig.6-81 Stop Mode after PLC Single Cycle

moreover, continue running of remaining time at the frequency

PLC 运行

PLC run

defined in the phase, as shown in the figure below:

RUN 命令

RUN command

Interrupt signal Interrupt

Output

signal Interrupt signal

frequency Hz

2： Keep final value after single cycle

As shown in Fig.6-82, servo driver will automatically keep the

running frequency and direction in the final phase after

completing a cycle.

Phase 1

1Already-running

Remaining time in

Time t

time in the phase 2 the phase 2

^f3

^a14

a 2:： Acceleration time in the phase 2

^f2 a ³

^f4

:Acceleration time in the phase 1

：Frequency in the phase 2

:Acceleration time in the phase 3

f2：Frequency in the phase 2

f1 ^a

^a 13

PLC run

^a1

: Frequency in the phase 1

^d13

^a 5 ^f5

f3：Frequency in the phase 3

T12

T15

Fig.6-84 PLC Start Mode 1

^T1 T2 T3 T4 T5 T ⁶ ~

输出频率

Output frequency

RUN

comman

中断信号

Interrupt signal

阶段 1

Phase 1

Fig.6-82 Keeping Mode of PLC Single Cycle

阶段 2 已运行时间

Already-running time in the phase 2

PLC 运行

PLC run

阶段 2 剩余时间

Remaining time in the phase 2

RUN 命令

RUN command

时间

Time

阶段 1 加速时间

Acceleration time in the phase 1

Chapter VI Function Code Details

阶段 2 加速时间

Acceleration time in the phase 2

0： not stored

阶段 3 加速时间

Acceleration time in the phase 3

Not memorize PLC running state in case of power down; rerun

阶段 2 减速时间

Deceleration time in the phase 2

from the first phase after restart upon power on.

1： store the phase and frequency at the power-down moment

阶段 1 频率

Frequency in the phase 1

Memorize PLC running state in case of power down, including the

阶段 2 频率

Frequency in the phase 2

phase, running frequency and already-running time at the

阶段 3 频率

Frequency in the phase 3

power-down moment. After power on, it runs according to the

restart mode after PLC run interruption defined in the tens place.

2： continue running at the running frequency at the stop (or fault)

Thousands place: phase time unit option

moment

0：s

If servo driver stops (arising from stop command or fault) when

Running time in each phase is in seconds.

running, it not only will automatically record the already-running

1：min

time in current phase but also will record the running frequency at

Running time in each phase is in minutes.

the stop moment; after restart, servo driver will first return to the

The unit is valid only to the definition of PLC run phase time T₁～

running frequency at the stop moment and then continue running

T₁₅. Selection of acceleration and deceleration time unit during

in remaining phases, as shown in Fig. 6-85.

PLC run is determined by P14.09.

Attention

The difference between mode 1 and mode 2 is that mode 2

memorizes a running frequency at the stop moment more than

1． When PLC running time in a phase is set as zero, the

mode 1 and servo driver continues running at the frequency

phase is invalid.

after restart.

2． The pause, fault and memory state clearing of PLC

process can be realized by terminals, see the definition of

terminal function in the P10 group.

P15.01 Setting in the phase 1

000～323H【000】

P15.02 Running time in the

0～6500s (min)【20.0s】

phase 1

P15.03 Setting in the phase 2

000～323H【000】

P15.04 Running time in the

0～6500s (min)【20.0s】

phase 2

P15.05 Setting in the phase 3

000～323H【000】

P15.06 Running time in the

0～6500s (min)【20.0s】

phase 3

P15.07 Setting in the phase 4

000～323H【000】

P15.08 Running time in the

0～6500s (min)【20.0s】

Fig.6-85 PLC Start Mode 2

phase 4

P15.09 Setting in the phase 5

000～323H【000】

输出频率

Output frequency

P15.10 Running time in the

中断信号

Interrupt signal

0～6500s (min)【20.0s】

phase 5

阶段 1

Phase 1

P15.11 Setting in the phase 6

000～323H【000】

P15.12 Running time in the

阶段 2 已运行时间

Already-running time in the phase 2

0～6500s (min)【20.0s】

phase 6

阶段 2 剩余时间

Remaining time in the phase 2

P15.13 Setting in the phase 7

000～323H【000】

时间

Time

P15.14 Running time in the

0～6500s (min)【20.0s】

phase 7

阶段 1 加速时间

Acceleration time in the phase 1

P15.15 Setting in the phase 8

000～323H【000】

阶段 2 加速时间

Acceleration time in the phase 2

P15.16 Running time in the

0～6500s (min)【20.0s】

phase 8

阶段 3 加速时间

Acceleration time in the phase 3

P15.17 Setting in the phase 9

000～323H【000】

阶段 2 减速时间

Deceleration time in the phase 2

P15.18 Running time in the

0～6500s (min)【20.0s】

阶段 1 频率

Frequency in the phase 1

phase 9

P15.19 Setting in the phase 10

000～323H【000】

阶段 2 频率

Frequency in the phase 2

P15.20 Running time in the

0～6500s (min)【20.0s】

阶段 3 频率

Frequency in the phase 3

phase 10

P15.21 Setting in the phase 11

000～323H【000】

P15.22 Running time in the

0～6500s (min)【20.0s】

Hundreds place: PLC state parameter storage option in case of

phase 11

power down

Chapter VI Function Code Details

P15.23 Setting in the phase 12

000～323H【000】

Setting of LED ones place in the PLC phase i:

P15.24 Running time in the

0： select multi-phase frequency i

0～6500s (min)【20.0s】

phase 12

For example, when i is equal to 3, the frequency of phase 3 is

P15.25 Setting in the phase 13

000～323H【000】

multi-phase frequency 3; for definition of multi-phase frequency,

P15.26 Running time in the

0～6500s (min)【20.0s】

phase 13

see the P16.00～P16.14.

P15.27 Setting in the phase 14

000～323H【000】

1： the frequency is determined by main set frequency source

P15.28 Running time in the

0～6500s (min)【20.0s】

function code P02.03.

phase 14

P15.29 Setting in the phase 15

000～323H【000】

2： I multi-phase closed loop given

P15.30 Running time in the

For example, when i is equal to 2, the frequency of phase 2 is

0～6500s (min)【20.0s】

phase 15

multi-phase closed loop given 2; for definition of multi-phase

P15.01, P15.03, P15.05, P15.07, P15.09, P15.11, P15.13, P15.15,

closed loop given, see the P13.20～P13.34.

P15.17, P15.19, P15.21, P15.23, P15.25, P15.27 and P15.29 are

3：determined by closed loop given channel function code P13.01

used

set

running

frequency,

direction

and

PLC can realize closed loop running in a phase; closed loop given

acceleration/deceleration time in each PLC phase, selected by

channel can be multi-phase closed loop given i or determined by

places. As shown in Fig. 6-86.

P13.01 function code; feedback channel is determined by P13.0.

Hundre

Tens

Ones

When given channel is determined by P13.01 function code, the

s place

place

closed loop given channel can be switched to multi-phase closed

Frequency setting

loop given value by the option terminal of multi-phase closed loop

0：Multi-phase frequency i

given. See the terminal functions 30, 31 and 32 of function codes

Determined by P02.03 function code

P10.00～P10.07 and detailed description of P13.20～P13.34.

2：

Multi-phase closed loop given

D：etermined by P13.01 function code

Attention

When PLC phase running direction is determined by run

Running direction option

command, running direction of motor can be changed in a

0 ：Fo rward

real-time way by external direction command. For example,

1：Reverse

2 Determined by run command

realize forward running by FWD－COM and realize reverse

running by REV－COM. Running direction is determined by

Acceleration/deceleration time

run command; if the direction can not be determined, it

option

0：

Acceleration/deceleration time 1

follows the running direction in the previous phase.

1：

Acceleration/deceleration time 2

2：

Acceleration/deceleration time

6.1.17 Multi-speed parameters (P16 group)

3：

Acceleration/deceleration time 4

Fig.6-86 Setting in the PLC Phase i (i＝1～15)

P16.00 Multi-phase

Lower frequency limit ～Upper frequency

个位

Ones place

frequency 1

limit

【5.00Hz】

十位

Tens place

P16.01 Multi-phase

Lower frequency limit ～Upper frequency

百位

Hundreds place

frequency 2

limit

【10.00Hz】

频率设置

Frequency setting

P16.02 Multi-phase

Lower frequency limit ～Upper frequency

frequency 3

limit

【20.00Hz】

多段频率 i

Multi-phase frequency i

P16.03 Multi-phase

Lower frequency limit ～Upper frequency

由 P02.03 功能码决定

Determined by P02.03 function code

frequency 4

limit

【30.00Hz】

多段闭环给定 i

Multi-phase closed loop given i

P16.04 Multi-phase

Lower frequency limit ～Upper frequency

由 P13.01 功能码决定

Determined by P13.01 function code

frequency 5

limit

【40.00Hz】

运转方向选择

Running direction option

P16.05 Multi-phase

Lower frequency limit ～Upper frequency

frequency 6

limit

【45.00Hz】

正转

Forward

P16.06 Multi-phase

Lower frequency limit ～Upper frequency

反转

Reverse

frequency 7

limit

【50.00Hz】

由运行命令确定

Determined by run command

P16.07 Multi-phase

Lower frequency limit ～Upper frequency

加减速时间选择

Acceleration/deceleration time option

frequency 8

limit

【5.00Hz】

加减速时间 1

Acceleration/deceleration time 1

P16.08 Multi-phase

Lower frequency limit ～Upper frequency

frequency 9

limit

【10.00Hz】

加减速时间 2

Acceleration/deceleration time 2

P16.09 Multi-phase

Lower frequency limit ～Upper frequency

加减速时间 3

Acceleration/deceleration time 3

frequency 10

limit

【20.00Hz】

加减速时间 4

Acceleration/deceleration time 4

P16.10 Multi-phase

Lower frequency limit ～Upper frequency

frequency 11

Chapter VI Function Code Details

limit

【30.00Hz】

frequency 15

limit

【50.00Hz】

P16.11 Multi-phase

Lower frequency limit ～Upper frequency

frequency 12

limit

【40.00Hz】

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

P16.12 Multi-phase

Lower frequency limit ～Upper frequency

simple PLC run mode, see the detailed description of multi-speed

frequency 13

limit

【45.00Hz】

run terminal functions “1”, “2”, “3” and “4” in 6.1.11 switching

P16.13 Multi-phase

Lower frequency limit ～Upper frequency

input terminal P10.00～P10.07 and P15-group function codes in

frequency 14

limit

【50.00Hz】

P16.14 Multi-phase

Lower frequency limit ～Upper frequency

6.1.16 simple PLC.

个位

Ones place

6.1.18 LED display parameters (P17 group)

十位

Tens place

P17.00 LED run display parameter

输出电压

Output voltage

000～3F7H【007H】

option 1

模拟闭环反馈

Analog closed loop feedback

Hundred

Tens

Ones

s place

place

模拟闭环设定

Analog closed loop setting

BIT0 ：

Output

： Hz：

frequency

端子状态

Terminal state

BIT1

： Set frequency (Hz flicker)

BIT2

：Output currentA：

Displayed terminal state includes multi-function terminals X1～

B：T0 ： Running spee

：

RPM ：

BIT1 ： Set

speed (RPM flicker)

X8 and FWD and REV terminals; LED digital tube specified

BIT2 ：Running linear speed(M/S)

BIT3

：

Set linear speed (m/s

value is used to indicate the state of each function terminal. For

flicker)

example, when X1, X2 and FWD terminals are closed and other

BIT0 ：Output power

terminals are disconnected, displayed terminal state value is 103H.

Fig.6-87 Setting of LED Run Display Parameter Option 1

For terminal sequence, see the description of P10.16.

个位

Ones place

Attention

十位

Tens place

When running speed and line speed are displayed, they can be

modified in a real-time way by

▼ and ▲ keys (it is

百位

Hundreds place

unnecessary to switch to frequency state).

输出频率

Output frequency

When both P17.00 and P17.01 are 0, default display is output

frequency.

设定频率（Hz 闪烁）

Set frequency (Hz flicker)

In the display state of run parameter, display parameters can

输出电流

Output current

be switched successively by shift key

运行转速

Running speed

Hundred

Tens

Ones

设定转速（RPM 闪烁）

Set speed (RPM flicker)

s place

place

运行线速度

Running line speed

BIT0 Set frequenc： Hz ：

BIT1:Running spe

： RPM：

设定线速度（m/s 闪烁）

Set line speed (m/s flicker)

BIT2 :Set spee： RPM：

BIT3 :Bus voltage： V ：

输出功率

Output power

BIT0

Running linear speed(R/S)

BIT1 Set linear speed(m/s)

BIT2A nalog closed loop feedback

BIT3 Analog closed loop setting

P17.00 and P17.01 define the state parameter displayed by LED

when servo driver is in running state.

BIT0 ： AI1 ： V ：

When BIT place is 0, the parameter is not displayed.

BIT1 ： AI2 ： V ：

BIT2 ： AI3 ： V ：

When BIT place is 1, the parameter is displayed.

Fig.6-89 Setting of LED Stop Display Parameter Option

For example, LED ones place-BIT0 is the display switch code of

“output frequency”; when BIT0 is equal to 0, the parameter is not

P17.02 LED stop display

000～FFFH【009H】

displayed; when BIT0 is equal to 1, the parameter is displayed.

parameter option

Ones place

P17.01 LED run display parameter

00～FFH【00H】

option 2

个位

Tens place Ones place

十位

Tens place

百位

Hundreds place

BIT0:Output volta

： V：

BIT1 ： AI1 ： V ：

BIT2 ： AI2 ： V ：

设定频率

Set frequency

BIT3 ： AI3 ： V ：

运行转速

Running speed

:Analog closed loop feedback

BIT

:Analog closed loop setting

设定转速

Set speed

BIT2:Terminal state

母线电压

Bus voltage

Fig.6-88 Setting of LED Run Display Parameter Option 2

运行线速度

Running line speed

Chapter VI Function Code Details

Set line speed

Hundred

设定线速度

Tens place

Ones place

s place

模拟闭环反馈

Analog closed loop feedback

Baud rate option：

0： 4800bps

模拟闭环设定

Analog closed loop setting

1： 9600bps

2： 19200bps

3： 38400bps

4： 112500bps

5： 125000bps

The parameter defines the state parameter displayed by LED when

Data forma：

servo driver is in stop state.

0： 1-8-2-N ^Forma： RTU

1： 1-8-1-E

FormatRTU

2： 1-8-1-O

Format

： RTU

When BIT place is 0, the parameter is not displayed.

3： 1-7-2-N

Format：ASCII

4： 1-7-1-E

Format：ASCII

When BIT place is 1, the parameter is displayed.

5： 1-7-1-O

Format：ASCII

For example, BIT0 is the display switch code of “set frequency”;

Connection mode:

when BIT0 is equal to 0, the parameter is not displayed; when

0 ：Direct cable connection(RS485)

1： MODEM Connection

BIT0 is equal to 1, the parameter is displayed.

RS232/RS485 conversion is required

Attention

Fig.6-90 Setting of Communication Configuration

When running speed and line speed are displayed, they can be

个位

Ones place

modified directly by ▼ and ▲ keys (it is unnecessary to

十位

Tens place

switch to frequency state).

When P17.02 setting values are all 0, default display is set

百位

Hundreds place

frequency.

波特率选择

Baud rate option

In the display state of stop parameter, display parameters can

be switched successively by shift key

数据格式

Data format

格式

Format

P17.03 Speed display

0.1％～999.9％【100.0％】

接线方式

Connection mode

coefficient

直接电缆连接

Direct cable connection

The function code is used to correct the display error of speed

scale and it has no influence on actual speed.

MODEM 连接

MODEM Connection

P17.04 Line speed coefficient

0.1～999.9％【1.0％】

需要 RS232/RS485 转换

RS232/RS485 conversion is required

The function code is used to correct the display error of line speed

scale and it has no influence on actual speed.

The function code is set by LED place mode and it is used for

P17.05 Closed loop analog

0.1～999.9％【100.0％】

parameter selection of serial communication port.

display coefficient

Setting of hundreds place has no influence on processing of

communication process, but when the function code is set as

The function code is used to correct the display error between

MODEM mode, MODEM will be initialized by means of RS485

actual physical quantity (pressure , flow rate, etc.) and given or

port on the control panel whenever servo driver is power-on, so

feedback quantity (voltage and current) under closed loop control

that MODEM can automatically answer after receiving the ringing

signal of telephone line thrice, to realize the remote control line

and it has no influence on closed loop regulation.

composed of dialup lines; for connection mode, see 4.2 control

circuit wiring and configuration.

6.1.19 Communication parameters (P18 group)

Attention

P18.00 Protocol option

0～1【0】

HSD2000 control panel only provides RS485 interface. If

Communication protocol option

communication interface of external device is RS232

(e.g.

0： Modbus protocol;

external communication interface is RS232 modem), an

RS232/RS485 conversion device is needed.

1： Reserved

P18.02 Local address

0～247【5】

P18.01 Communication

In the serial port communication, the function code is used to

000～155H【001】

configuration

identify the address of local servo driver.

Attention: 0 is broadcast address. When set as broadcast address,

it can only receive and execute the broadcast command of upper

computer and can not respond to the upper computer.

P18.03 Communication time-out

0～1000.0s【0.0s】

detection time

Chapter VI Function Code Details

When the serial port communication signal disappears, if the

P20.00 defines the protection operating option when

duration thereof exceeds the setting value of the function code, it

communication, contactor and EEPROM are abnormal and in the

can be concluded that servo driver has a communication fault.

case of 24V short circuit.

When setting value is 0, servo driver does not detect the serial port

Thousand

Hundreds

Tens

Ones

s place

place

communication signal, i.e. the function is invalid.

Operating option when communication is

P18.04 Local response delay

0～1000ms【5ms】

abnormal

0：^{Protection operates and stop freely}

(E017)

1：

Give an alarm and continue running (A017)

Local response delay refers to the delay time needed from the

ive an alarm and report A017 to stop by stop

mode; report E017 after stop (only in the

serial port of servo driver receiving and interpretively executing a

Give an alarm and report A017 to stop by

serial port control mode)

3： stop mode; report E017 after stop (in all

control modes)

command from the upper computer to returning a response frame

Operating option when the contactor is

to the upper computer; the function code is used to set the delay

OperaProtection operates and stopr is

0：

freely(E018)

Give an alarm and continue

time. For RTU mode, actual response delay is not less than the

1：

running(A018)

transmission time of 3.5 characters.

Operating option when EEPROM is abnormal

0Protection operates and stop freely(E016)

ive an alarm and continue running(A016)

P18.05～P18.09

Reserved

Operating option in the case of 24V short

circuit

Reserved function

Protection operates and stop freely(E016)

1：

Give an alarm and continue running(A029)

P18.10～P18.19

00.00～99.99【99.99】

Fig.6-91 Setting of Protection Operating Option 1

Address mapping of input parameter

个位

Ones place

It is used to map the parameter to be inputted. Integral part

corresponds to the group number of the parameter and decimal

十位

Tens place

part corresponds to the index in the group (serial number of the

百位

Hundreds place

parameter in the group).

千位

Thousands place

For example, set P18.10＝02.01, and it shows the function code

通讯异常动作选择

Operating option when communication is

P02.01 is mapped to input parameter 1.

abnormal

P18.20～P18.29

00.00～99.99【99.99】

保护动作并自由停车

Protection operates and stop freely

Address mapping of output parameter

告警且继续运行

Give an alarm and continue running

It is used to map the parameter to be outputted. Integral part

告警报 A017 按停机方式

Give an alarm and report A017 to stop by

corresponds to the group number of the parameter and decimal

停机，停机后报 E017（仅

stop mode; report E017 after stop (only in

part corresponds to the index in the group (serial number of the

the serial port control mode)

parameter in the group).

串行口控制方式下）

For example, set P18.20＝01.01, and it shows the function code

告警报 A017 按停机方式

Give an alarm and report A017 to stop by

P01.01 is mapped to output parameter 1.

stop mode; report E017 after stop (in all

停机，停机后报 E017（所

control modes)

Attention

有控制方式下）

When rewriting P18.20 ～ P18.29 via communication, a

接触器异常动作选择

Operating option when the contactor is

hexadecimal number can be written in directly to facilitate

abnormal

operation; for example, write 0x2034 in the P18.21, and the

EEPROM 异常动作选择

Operating option when EEPROM is

function code P20.34 is mapped to output parameter 2.

abnormal

24V 短路动作选择

Operating option in the case of 24V short

6.1.20 Bus communication parameters (P19 group)

circuit

Temporarily Reserved.

保护动作并自由停车

Protection operates and stop freely

6.1.21 Protection parameter and fault record (P20

告警且继续运行

Give an alarm and continue running

group)

P20.00 Protection operating

0000～1113【0000】

Attention

option 1

P20.01 Protection operating

If the operating option in the case of 24V short circuit is “1”,

00～23【00】

option 2

once a 24V short circuit fault arises and the fault does not

disappear, servo driver will give an alarm and run for 15min,

and then automatically report E029.

When servo driver is in some abnormal states, its fault and stop

P20.01 defines the protection operating option when an input

can be masked by setting protection operating option (P20.00 and

/output phase fails and when an external analog frequency/torque

P20.01), to keep running. Here operating panel will display a fault

instruction is missing

alarm A0×× (×× represents alarm code; for details, see Chapter

VII Measures relative Fault Alarm, Handling of Abnormality);

the frequency of continuing running in alarm state is described in

the setting of function code P20.04.

HSD2000 Series Servo Drive. Operation Manual V1.2 - page 5