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CONTENT
1 Product Information .............................................................................................................. 6
1.1 Verifying Product .......................................................................................................... 6
1.2 Model Numbering Scheme and Nameplate ................................................................... 6
1.3 Model Number List ....................................................................................................... 7
1.4 Servo Drive Control Mode ............................................................................................ 7
2 Installation .............................................................................................................................. 8
2.1 Caution .......................................................................................................................... 8
2.2 Storage ambient conditions ........................................................................................... 8
2.3 Installation ambient conditions ...................................................................................... 8
2.4 Servo Drive Installation Direction and Space ................................................................ 8
2.5 Servo Motor Installation Direction and Space ............................................................... 9
2.6 Circuit breakers and fuse recommendations ................................................................ 10
2.7 Brake resistance selection ............................................................................................ 10
2.8 EMI Filters .................................................................................................................. 12
3 Display & Operation ............................................................................................................ 13
3.1 Display and key operation Exterior ............................................................................. 13
3.2 Display and operation mode ........................................................................................ 13
3.3 Parameter setting Description ...................................................................................... 13
3.4 Status Display .............................................................................................................. 14
3.5 Monitor display ........................................................................................................... 14
3.6 Fault and alarm display ............................................................................................... 14
4 Wiring ................................................................................................................................... 15
4.1 Peripheral connection .................................................................................................. 15
4.2 Main circuit wiring ...................................................................................................... 15
4.3 CN5 encoder signal terminal ....................................................................................... 18
4.4 CN4 Control signal terminal ....................................................................................... 20
4.5 CN2, CN3 communication terminal wiring ................................................................. 31
4.6 CN1 analog output terminal ........................................................................................ 31
4.7 Holding brake .............................................................................................................. 32
4.8 Standard wiring diagram for control circuit................................................................. 34
4.9 Control circuit wiring precaution ................................................................................ 36
4.10 Servo drive main circuit block diagram ..................................................................... 36
5 Running and debugging ....................................................................................................... 38
5.1 Drive power on ............................................................................................................ 38
5.2 Trial running ................................................................................................................ 38
5.3 Servo enable method ................................................................................................... 38
5.4 Speed control mode ..................................................................................................... 39
5.5 Torque control mode debugging steps ......................................................................... 40
5.6 Gain parameter adjustment strategy ............................................................................ 40
6 Function Parameters ............................................................................................................ 42
6.1 Function parameters define ......................................................................................... 42
6.2 Function parameter list ................................................................................................ 42
7 Function parameter details .................................................................................................. 54
7.1 P0 group - Monitoring parameters ............................................................................... 54
7.2 P1-xx Basic control parameters ................................................................................... 58
7.3 P2-xx Internal multi segment position (Pr) control parameter ..................................... 74
7.4 P3-xx Internal multi-speed control parameters ............................................................ 76
7.5 P4-xxTorque control parameter ................................................................................... 76
7.6 P5-xx Gain tuning parameters ..................................................................................... 77
7.7 P6-xx Input and output(DI/DO)parameter ................................................................... 82
7.8 P7-xx Communication parameters .............................................................................. 87
7.9 P8-xx Auxiliary check even-parity function parameters .............................................. 88
7.9 Pb-xx the origin of regression function parameters ..................................................... 91
8 Communications protocol .................................................................................................... 96
8.1 Application Scope ....................................................................................................... 96
8.2 Physical interface ........................................................................................................ 96
8.3 Protocol format ............................................................................................................ 96
8.4 Command interpretation .............................................................................................. 96
8.5 Protocol Format Description ....................................................................................... 97
8.6 Example....................................................................................................................... 98
9 Fault alarm and Treatment ................................................................................................. 99
9.1Fault Diagnosis and Treatment ..................................................................................... 99
9.2 Alarm Diagnose and Treatment Measures ................................................................. 102
10 Specification ...................................................................................................................... 104
10.1 Technical specification ............................................................................................ 104
10.2 Dimensions .............................................................................................................. 105
10.3 Motor specification .................................................................................................. 106
10.4 SER series servo motor dimension .......................................................................... 108
10.5 SER series servo motor overload characteristics ..................................................... 110
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