5
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
