Chapter 1

Safety operation
1.1Cautions before use

1.2 Cautions for cabling and service

1.3 Notices on operating ambient

1.4 Product installation

1.5 Criteria for part replacement

1 Safety Operation

To avoid personal injury and property damage, please read the following
information before installation.
The following safety rules must be strictly observed at all times.

1.1 Cautions before use

 Please read operating manual!
 Observe safety guidelines strictly.
 Comply with electrical installation standards, e.g. cross sectional area of wires
and earthing.
 Do not touch the electronic components and contactor (Static electricity can
damage electronic components.)
 To avoid personal injury and property damage, only qualified electrical engineers
can operate the servo system.
 Disassembling or servicing of the drive is prohibited.

Icons in operating manual

Safety prompts will map the following danger levels.
Danger levels indicate the risks caused by nonobservance of safety prompts.

Danger Non-compliance will result in serious consequences.

Warning Non-compliance may have dangerous consequences.

Caution Indicate the operation must be performed.

1-1
1 Safety Operation
1.2 Cautions for cabling or servicing
Wiring or repair work
 Disconnect the power source before cabling or servicing.
 In 10 minutes after cut-off of power source, the drive still exists the risk of
high voltage.It should wait for more than 10 minutes until the charge indicator
(CHG) goes off to start wire disconnection or service for the drive and motor,
or it may cause damage of the drive or personal injury;
 Do not perform earthing work when drive and motor are running to avoid
possible risk of electric shocks；

 Before connection and check of the drive, use a multi-meter to measure the
drive's voltage and make sure it is in a safe range.
 Servo drive and servo motor must have reliable earthing.
 The wire diameter of ground lead should be greater than( or equal to) the wire
diameter applied to main loop. If it is not available to adopt dedicated
earthing, an alternative way is to connect its earth connection point to the
common earthing terminal for the machine.

 Connection and service should be done by qualified technicians.

 Correct and reliable wiring should be provided , or it will damage or cause
malfunction of servo drive.

Connection of main power circuit

 Wires of main power circuit（R, S, T）and the signal wire should be laid
separately, they can not pass through the same conduit or bundle together.
 All wiring should be connected in the shortest distance, the shorter the better.
 It is recommended to fix noise filter to avoid malfunction caused by
interference and pay attention to the followings:
 Noise filter should be fixed nearby the servo drive.
 Surge suppressor should be installed in the coils of relay, electromagnetic
contactor and brake.
 Insulating transformer should be applied to the input supply to avoid
malfunction due to interference in case there are intensive interference
sources （such as welding machine, EDM machine etc.）are located nearby.
If the power grid condition is quite poor, in addition to the use of insulating
transformer, an alternating current filter should be added at the input terminal.
 None burnt-out breaker（ NFB）should be installed to enable on-time cutoff
of external power supply in case of drive error.
 All inductive units around same power line such as relay, contactor, solenoid
etc. should take measures to avoid generation of surging(e.g. add R-C absorb
loop or absorber diode at side of DC coil).

1-2
1 Safety Operation
 Lead-in switch should be fixed at the input side of the main loop.
 KT270 - H - 20 allows single-phase or 3-phase AC 220V main input. KT270 -
H - 30、KT270-H-50、KT270-H-75 allows 3-phase AC 220V main input only.
 KT270-H–20 、 KT270-H-30 、 KT270-H-50 are provided with internal
regenerative discharge resistor, so there is no need to connect external ones.

Wiring of motor power line

 No external voltage is allowed to be accessed to the output terminals ( U, V,
W, ) to prevent the servo drive from damage.
 Special attention should be paid to make correct connection at terminal R, S,
T at input side and terminal U, V, W at output side.

 Do not try to connect any electronic or electric element（such as contactor,

absorber, inductor etc.) in series or in parallel to the power lines（i.e. U、V、
W、E）between the drive and the motor.
 Connect outlet terminal U, V, W and the terminal U, V, W of servo motor with
right phase sequence. Unlike the asynchronous motor, you are not allowed
to reverse the motor by changing over 3-phase terminals.

Input / output wiring for control

 Signal line of the control should not input the voltages exceeding their
respective specifications, or the drive will damage.

 Wiring for all control signals should be as short as possible (.

 All signal wires should be laid out in separation of the motor power line to
avoid inductive interference.
 In case of long distance wiring, small signal relay can be employed for
transfer.
 Cable shielding layer should be connected correctly.

Wiring of encoder
 The power lines of the motor encoder should be connected correctly, or the
motor encoder and drive will damage.
 Encoder plugs should not be connected or disconnected when the drive is
powered on.

 To avoid induction interference, the encoder signal lines and power lines to
separate, not parallel layout.
 If there is a difficulty to separate the power line and signal line, the signal line
should be shielded by threading it through metallic conduit.
 Phase sequence on the encoder should be same as that on the motor. In
case of phase sequence error, the motor may run in reversal rotation or with
malfunction.

1-3
1 Safety Operation
1.3 Notices on operating ambient
Environmental extremes nearby the drive
In case of operation at environmental extremes, the servo drive may contact
corrosion gases, moisture, metallic dust, water and processing liquid leading to
malfunction. During setup, protective measures should be taken to guarantee the
working environment for the drive. Product KT270-H-20-V 、 KT270-H-30-V 、
KT270-H-50-V、KT270-H-75-V 或 KT270-H-20-A、KT270-H-30-A、KT270-H-50-A、
KT270-H-75-A are available.

Higher ambient temperature nearby the drive

Ambient temperature has great relationship with the service life of the driver.
The heating generated by the electric devices and the heat dissipation conditions in
the electric control cabinet will impact the ambient temperature nearby the servo
drives. For cabinet design, heat sink cooling for servo drive and arrangement
within the cabinet should be under full consideration to ensure an ambience
temperature within 50°C and relative humidity below 90% for the servo drive.

Heat-generating equipment nearby the servo drive

Working at hot conditions will reduce the service life of the servo drive and bring
malfunctions. Due to that, if the servo drive is working under thermal convection
and thermal-radiating conditions, an ambient temperature below 50°C should be
guaranteed.

Jamming equipment nearby the servo drive

If the servo drive is located nearby jamming equipment, great interference effect
will impact the power line and control line of servo drives leading to malfunction.
Additional noise filter and different kinds of anti-jamming measures may be
employed to ensure proper working of servo drives. It should be noted that the
drain current will increase when noise filter is added. To avoid this situation,
insulating transformer may be applied. Special attention should be paid to the
disturberance applied to the control signal line of the servo drive, reasonable
cabling and shield measure are recommended.
Ionic radiation and non-ionic radiation nearby the drive
If radiation sources(i.e. microwave, ultraviolet radiation laser, x-ray）exist around
the drive, isolation measures should be adopted to the drive to avoid drive
malfunction or accelerated ageing of insulation.

Poor quality of power grid for the drive

Too low or too high mains voltage will lead to malfunction of the drive, it is
recommended to add 3-phase voltage stabilizer to guarantee proper performance
of the drive.

1-4
1 Safety Operation
Drives with fans
If running in the environment with cotton wool and other debris , the users should
clear the debris regularly, so as not to affect the normal operation of the drive.

Shaker apparatus nearby the servo drive

All measures should be taken to protect the servo drive from vibration effect while
the vibration effect should be controlled within 0.5G (4.9m/S2).

1.4 Product installation

Ventilatting Duct Ventilatting Duct

Fig. 1.1 Installation diagram for the drive

Setup of servo drives

 Please use this product in the stated application environment.
 Please install the product in the site that is able to carry the weight of the
product.
 The product should be installed on a non-flammable substance to ensure that
no flammable and easy conductive material surrounding it.

1-5
1 Safety Operation
 Do not let the screws, drilled debris or other conductive substances fall into the
product.
 Do not infiltrate liquid substances such as water, oil etc. into the product.
 Do not install this product on the moving objects to prevent products from
shocks.
 If this product needs to be installed in a special or dangerous environment,
please consult our company.

 Normal install orientation of the servo drive should be in vertical erection.

 Use three M5 screws for installation of drives KT270-H-20 & KT270-H-30；Use
four M5 screws for installation of drives KT270-H-50 & KT270-H-75
 Make sure the vents are always unblocked.
 If the servo drive is installed in electric cabinet, it is recommended to install
radiator fan in the cabinet to guarantee a wind blowing in vertical direction to the
radiator of servo drive for sound heat emission.
 For cabinet mounting, special devices should be applied to keep the servo drive
free of dust, cotton wool or iron chips.
 The spacing distance between the servo drives and other devices may be
referred to Fig. 1.1. Note that the marked size is the min. value. To ensure a
long service life and performance of the servo drives, it is recommended to
reserve sufficient spaces during installation.
 For installed drive the min. level above the floor should be 0.5 M to facilitate
wiring.

Setup of servo motors

 Servo motor should be fixed to the machine firmly.
 Do not knock the shaft of servo motor and encoder enclosure to avoid damage of encoder.
 The motor shaft of servo motor should not be overloaded, or the motor shaft may be damaged.
 Try to connect terminals of the motor in facedown direction, so that it may prevent liquid from
flowing into the motor along the cable.

1.5 Criteria for part replacement

The parts in Table 1.1 may have mechanical wornout and/or aging. Please replace them
periodically to lock the safe.
Table 1.1 Periodic replacement of the parts
Part name Standard period for replacement Method for replacement
Cooling fan 2～3 Y New part
Relays 100K trigger New part
Electrolytic capacitor on PCB 2～3 Y New part

1-6
 Chapter 2
Product Type and Specification

2.1 Product confirmation

2.2 Description on drive and motor types

2.3 Structure and physical dimension of drive

2.4 Specification of drive

2-0
2 Product type and specification
2.1 Product confirmation
Read the following description upon receipt of the product
 Make sure that the servo drive and motor model are identical to that for
ordering.
 After unpacking of the product, make sure the product has no abnormal
phenomena. For instance, breakage or part missing etc.
 Make sure all screws on the motor and drive are tightening.
If you have unusual problems, please contact our company immediately.

2.2 Description on drive and motor types

2.2.1 Description of drive model

KT 270 － H D － 20 Z ZS － V － SEC
① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨
① Name of company Abbreviation of company name（Capital)
270: Main power supply R、S、T should be 220VAC
② Servo drive type
supply voltage
Modification serial
③ H: Serial number for modification （E,F,G,H etc.）
number
None: General purpose drive
A: Enhancements
④ Software type C: Single axis NC controller
D: Control for servo turret
M: Control for gate hoist
20: Maximum output 1.2KW
Specification of 30: Maximum output 2.2KW
⑤
drive 50: Maximum output 3.7KW
75: Maximum output 5.5KW
Functional
⑥ None or Z: standard configuration
classification
None or Z: Standard configuration
L: 8-line photoelectric encoder interface (line-save
type)
D/ZD: With dynamic brake function
⑦ Special hardware
R: a pair of pole resolve r
S/ZS: Special power requirement
RA: Possess the delay function upon power-cut of
control power and a pair of pole resolver

2-1
2 Product type and specification
None: No special treatment
Moisture-proofing
⑧ V: Varnish paint for PCB only
and dust-proofing
A: Seal treatment for drive enclosure
No: General purpose
⑨ Application type
SEC: Apply to SEC brand name
2.2.2 Description on servo motor types

80 SM － 4 M 013 30 X － F E 6 － b XXX
⑴ ⑵ ⑶ ⑷ ⑸ ⑹ ⑺ ⑻ ⑼ ⑽ ⑾ ⑿

⑴ Motor OD Unit: mm
⑵ Servo motor type DM,HM,SM， CM series
4: 4 poles
Number of motor 6: 6 poles
⑶
poles 8: 8 poles
10: 10 poles
⑷ Voltage class M: 300V
Expressed in three di gits ×0 .1，Unit：
⑸ Motor torque
Nm
⑹ Rated motor speed Expressed in 2 digi ts ×100，Unit：rpm
No indicated no upgrading (each
Serial number of
⑺ upgrade will be deno ted as A, B, C,
motor modification
D, ... in sequence )
F: op tical encode r (2 500P/R)
⑻ Feedback element L: line-sa ving op tical encoder
R: a pai r of pole resolve r
B: with brak e
⑼ Brak e
E: withou t b rak e
N/A: IM B5
⑽ Motor ins tallation
6: IM B35
N/A or a: plain shaf t
B: Shaft with enclose d k eywa y ， wi th
standard flat k ey
⑾ Extended shaft C: Shaft with forelock k eywa y ， wi th
standard flat k ey
Y: Nonstanda rd shaft with k eywa y
( cus tomized )
Special
⑿
requirement

2-2
2 Product type and specification
2.3 Physical dimension of drives

R3

KT270-H-20

R3

KT270-H-30

Servo drive type L(mm)

KT270-H-20 70
KT270-H-30 90

2-3
2 Product type and specification

KT270-H-50

KT270-H-75
Servo drive type L(mm)
KT270-HX-50 132
KT270-HX-75 154.5

2-4
2.4 Specification of drive
Servo drive type KT270-HX-20 KT270-HX-30 KT270-HX-50 KT270-HX-75
Power output （KW） 1.2 2.2 3.7 5.5
Current output （A） 6.0 9.0 16.0 25.0
Applied motor type See Chapter 8 for motor specification
Single-phase or three phase Tree phase
Input power supply
AC220V (-15%~+10%) 50~60Hz
o
Temperature Service:0~50 C Storage:-20 ℃ ~65 ℃
Operating Humidity Less than 90%(Without moisture condensation)
ambient Altitude ≤1,000M
Vibration Less than 0.5G(4.9m/S2),10~60Hz(Discontinuous operation)
Speed frequency response 200 Hz or higher
Velocity fluctuation rate <0.03(load 0~100%); <±0.02(power supply -15~+10%)(Value is mapping to rated speed)
Feature
Speed regulation ratio 1：5000
Pulse frequency ≤500kHz（Differential ）200kHz（Single end ）
Control method Adopt digitalized AC sine wave control method and PWM control is realized by optimized PID algorithm
① Position control ②Speed control ③Trial run ④JOG movement（Refer to description on parameter
Control mode
PA4 ）
PP（Programmable single axis NC function ）
、PR（Selection of internal location register ）、PT（External
Instruction source selection
impulse terminal ）
Position
①Command impulse + sign ②Positive run/reverse run pulse ③Diphase orthogonal instructed
control Pt Input mode
impulse
Input electronic gear 1~32767/1~32767
Instruction source selection External simulation speed instruction / 4 built-in speeds
Speed
Acceleration/deceleration
control Parameter setting 1~10000ms/1000r/min
control
2-0
2 Product type and specification
Servo drive type KT270-HX-20 KT270-HX-30 KT270-HX-50 KT270-HX-75
①Servo startup ②Alarm cleanup ③Positive rotation disable ④Reverse rotation disable ⑤Bias counter
Input interface signal "0" reset ⑥Command impulse disable ⑦Speed selection 1 ⑧Speed selection 2 Etc, customized by
parameter setting.
①Servo ready ②Servo alarm ③Achieve positioning ④Reach speed Etc. can be customized by
Output interface signal
parameter setting.
Electronic gear output available to set output impulse multiplying factor, and open collector output mode
Position output signal
for Z phase in addition
Communication function RS485（According to MODBUS RTU protocol) ）
14-line incremental optical encoder 2500P / R with U、V、W position signal (standard)
Motor position feedback interface 8-line line-saving optical encoder (applied to KT270 - XX - XXZL drive）
a pair of pole resolver (applied to KT270-HX-XXZR drive）
Overcurrent, short circuit, overload overvoltage / undervoltage of main power circuit, abnormal brake,
Protection function
abnormal encoder, overspeed, out-ranged position etc.
Rotation rate, current position, position instruction, position deviation, motor torque, motor current, linear
Monitor function speed, position command impulse frequency, rotor absolute position, input/output terminal signal, running
status etc.
Regenerative braking resistor Built-in(60W,40Ω ) Built-in(20Ω /150W) Built-out(22Ω /300W)
Applied load inertia Less than five times of motor inertia ( note2)
Operation 6-digit LED nixie tube, 4 keys
Weight 2kg 4kg 5kg

Note1：Product model "X" represents any letter or number.

Note2：When 400W and 750W motor are adopted, the applied load inertia may be less than 15 times of motor inertia.

2-1
 Chapter 3
Signal and Wiring
3.1 Peripheral device wiring description

3.2 Cable specifications and length

3.3 Signal wiring description

3.4 Input signal description

3.5 Output signal description

3.6 Standard wiring example

3 Signal and Wiring
3.1 Peripheral device wiring description
POWER
(AC 220V)

Circuit breaker

Contactor

Computer Handheld device

Line reactor

Anti-interference
filter
R
S
T
PC
E
U
V
W
E

Motor

3-1
3 Signal and Wiring
3.2 Cable specifications and length

SER1 RS485 communication signal

R SER2
Power input Impulse command signal for position
S
T Input/output signal for control
Power earthing
E CN4 Output signal for position
Motor wiring U Command signal on speed simulation
V
motor earthing W
E
TB1 CN5 Motor feedback input

Table 3.1 Size of line diameter

Line diameter applied
Recomm
（mm2）
Terminal Item ended remarks
KT270-H
length(m)
-20 -30 -50 -75
Power input The diameter of wire can be
Motor wiring - 1.5 2 2.5 4 calculated according to 30 M wiring
earthing distance. Adopt the wire that can
TB1
External regeneration withstand over 600V voltage.
Max. 1 - - - 2.5
discharge resister
Control power - - - Over 0.5
Impulse command signal for
- more than 0.3 4-core twisted shielded line
position
Input/output signal for control Max. 10 more than 0.2 Shielded line
CN4
Output signal for position Max. 5 more than 0.2 Twisted shielded line
Command signal on speed
Max. 5 more than 0.3 2-core twisted shielded line
simulation
CN5 Motor feedback input Max. 30 more than 0.2 Twisted shielded line
SER RS485 communication signal Max. 5 more than 0.2 Twisted shielded line

3-2
3 Signal and Wiring
3.3 Signal wiring description
1. In the form hereinafter, (P mode) indicates position control mode, (S mode)
indicates speed control mode.
2. Positive rotation indicates counter clockwise rotation in view of axial
direction of servo motor.
Reversal rotation indicates clockwise rotation in view of axial direction of
servo motor.
1) Power/motor terminal (TB1)
KT270-H

TB1 Interface
Description
-20/30 -50 75 Input Output
L11 L11 L11、L21 Control power input ●
L21 L21
R R、S、T Three-phase AC supply input ● ○
R R
S S S External regeneration discharge
P、B
T T T resister
P
E
B
U E E U、V、W Wiring of motor power line ○ ●
V
U U
W
V V
E
W W E Power ground or motor ground
E E

Single-phase AC220V power input should be connected to TB1- R, TB1- S. This

method is applied only for KT270 - H - 20 driver.

2) Analog input interface (CN4)

Mode Interface
CN4 Definition Description Type of interface
P S Input Output

3. 3k
Speed 24k
9 VC ○ ● ● ○ VC R
command R
10k R

Signal AGND
DRIVER
18 AGND- common — — — —
port
Notices:
The scope of analog input voltage is ±10V. Its corresponding r.p.m should be defined by parameter
PA43，direction of rotation should be defined by parameter PA44 while zero deviation should be
compensated by parameter PA45.

3-3
3 Signal and Wiring
3) Impulse input signal interface for position (CN4)
Mode Interface
CN4 Definition Description Type of interface
P S Input Output

1 PULS+ External ● ○ ● ○ Servo Driver

220

impulse/
11 PULS- Positive pulse ● ○ ● ○
220

10 SIGN+ ● ○ ● ○

Differential drive mode of

impulse input interface

External 24V/12V/5V
External servo amplifier
VCC Servo Driver
impulse Upper
U power PP PULS+ 220
220

R PG PULS-

19 SIGN - direction/ ● ○ ● ○ p supply R

Reverse pulse p NP
220
SIGN+ 220

R NG SIGN-

e R

SH
r
uSingle-ended drive mode
nof impulse input interface
Notices: it
(1) It is recommended to adopt differential driver mode to transmit impulse data correctly.
(2) In differential driver mode, it should adopt AM26LS31, MC3487 or similar RS422 line driver；
(3) Single-ended drive mode will reduce the action frequency. Define the value of resistance R as per
to the conditions i.e. impulse input circuit, 10- 15mA driver current and max. 25 V of external
power supply. Empirical data: VCC=24V, R=1.3~2k; VCC=12V, R=510~820Ω; VCC=5V,
R=82~120Ω.
(4) When Single-ended drive mode is adopted, external power supply should be provided by the user.
However, attentions should be paid to correct connection of the power polarity, or the servo driver
may be damaged.
(5) Detailed impulse input forms may refer to Chapter IV parameters PA14.

3-4
3 Signal and Wiring
4) Input signal interface for control (CN4)
Mode Interface
CN Defini Meani
Description In Out Type of interface
4 tion ng P S
put put
2 IN0 SON PB46 ● ● ● ○
12 IN1 RES PB47 ● ● ● ○
3 IN2 LSP PB48 ● ● ● ○
4. 7k
13 IN3 LSN PB49 ● ● ● ○ SON,etc.

CLE ● ○ ● ○ Switch
4 IN4 PB50 Transistors
SC1 ○ ● ● ○ 5mA

INH PA53=0 ● ○ ● ○
PB
14 IN5 DEG PA53=1 ● ○ ● ○ +24V COM0
51 DRIVER
SC2 ○ ● ● ○ OR
SON,etc.4. 7k
TL+ PA55=0 ● ● ● ○
Switch
ST1 PA55=1 PB ○ ● ● ○
21 IN6 Transistors
ISC PA55=2 52 ○ ● ● ○ 5mA

CMC PA55=3 ● ● ● ○
+24V COM0
TL- PA55=0 ● ● ● ○ DRIVER
PB
22 IN7 ST2 PA55=1 ○ ● ● ○
53
RDC PA55=2 ● ● ● ○
COM Input common
20 COM0 — — — —
0 terminal

5) Output signal interface for control (CN4)

Mode Interface
CN Definit Mea
Description Inp Out Type of interface
4 ion ning P S
ut put
5 OUT0 RD PB56 ● ● ○ ●
15 OUT1 ALM PB57 ● ● ○ ●
INP ● ○ ○ ●
24 OUT2 PB58
SA ○ ● ○ ●
CDO PA56=0 ● ● ○ ● OUTO.etc.
DRIVER
TDO PA56=1 ● ● ○ ●
ZSP PA56=2 ● ● ○ ●
6 OUT3 PB59 COM1
OUT
PA56=3 ● ● ○ ●
_Z
MBR PA56=4 ● ● ○ ●
COM Output common —
23 COM1 — — ——
1 terminal —

3-5
3 Signal and Wiring
Notices:
(1) The user should provide external power supply DC+24V with current ≥ 200mA. When the power
source is connected to the digital output interface, if the polarity of the power source is connected in
reverse, it will damage the servo driver.
(2) The output adopts open collector format. Each output point can withstand max. 50mA current and
max. 25V voltage. Therefore, the load of digital output signal should meet with the restricted
requirement. If it exceeds the requirement or the output is connected to the power source directly,
the servo driver may be damaged.
(3) If the load is of inductive load from relays, both ends of the load should connect a free-wheeling diode
in parallel. In case of reversed connection of free-wheeling diode, the servo driver may be damaged.

6) Encoder signal output interface (CN4)

Defin Mode Interface
CN4 Description Type of interface
ition P S Input Output
A-phase
7 OA+ ● ● ○ ●
pulse
(differential
16 OA- ● ● ○ ●
line driver)
DRIV E R
B-phase High Speed
8 OB+ ● ● ○ ● OA+
( OB+, OZ+) Optocoupler
pulse
(differential
17 OB- ● ● ○ ●
line driver) OA-
( OB- , OZ - )
Z-phase SH
25 OZ+ ● ● ○ ●
pulse
(differential
26 OZ- ● ● ○ ●
line driver)
Metal
SH Shield — — —— ——
shell

3-6
3 Signal and Wiring
7) Motor encoder feedback interface : Photoelectric encoder 2500 P/R(at driver) (CN5)
Mode Interface
CN5 Definition Description Type of interface
P S Input Output
1 PHA Phase A impulse
● ● ● ○
6 PHAR of encoder
2 PHB Phase B impulse
● ● ● ○
7 PHBR of encoder
3 PHZ Phase Z impulse
● ● ● ○
8 PHZR of encoder
4 PHU Phase U signal
for position ● ● ● ○ X+ DRIVER
9 PHUR
detection
5 PHVPhase V signal for
● ● ● ○ X-
10 PHVR position detection
11 PHW Phase W signal X = A ,B ,Z,U,V,W
for position ● ● ● ○
12 PHWR
detection
13 +5V Power source — — ○ ●
Digital signal
14 DGND — — ○ ●
earthing
Metal
SH Shield — — — ——
shell

8) Motor encoder feedback interface : Line-saving photoelectric encoder (at driver) (CN5)(only
applicable to KT270-HX-XXZL)
Mode Interface
Definit
CN5 description Inp Out Type of interface
ion P S
ut put
1 PHA Phase A pulse
● ● ● ○
6 PHAR of encoder
2 PHB Phase B pulse
● ● ● ○
7 PHBR of encoder
3 PHZ Phase Z pulse
● ● ● ○
8 PHZR of encoder X+ DRIVER
13 +5V Power source — — ○ ●
Digital signal
14 DGND — — ○ ●
earthing
X-
Metal
SH Shield — — — —
shell X=A,B,Z

3-7
3 Signal and Wiring
9) Motor position feedback interface: Resolver (at driver) (CN5) (only applicable to KT270-HX-XXZR)
Mode Interface
CN5Definition Description Type of interface
P S Input Output
9 SIN+ Resolver feedback SIN ● ● ● ○ V CC
S IN+/CO S + 1 0 k
4 SIN- signal ● ● ● ○ 10k
S IN- /CO S-
8 COS+ Resolver feedback ● ● ● ○ 10k
3 COS- COS signal ● ● ● ○ A G ND

10 REF+ ● ● ○ ● R1

Resolver excitation R2
signal
5 REF- ● ● ○ ● R EF+
R EF - VREF

10) RS485 communication signal (SER)

Mode Interface
SERDefinition Description
P S Input Output
7 DATA+ ● ● ● ●
RS485 signals
8 DATA- ● ● ● ●
4 DGND Digital signal earthing — — — —

The above-mentioned 5 signals i.e. E, COM0 COM1, AGND can not be

interconnected, or it will impact the anti-interference feature in the system.

3-8
3 Signal and Wiring
3.4 Input signal description
Mode Related
number Definition Description remarks
P S parameters
0 STAND Standard input ● ●
1 SON Servo-on ● ● PA20
2 RES Reset (effective for some alarms) ● ●
3 LSP Forward rotation stroke end ● ● PA20
4 LSN Reverse rotation stroke end ● ● PA20
5 CLE Counter reset for position deviation ● ○
6 INH Input disable of impulse instruction ● ○
7 TL+ Torque limitation at forward rotation ● ● PA36
8 TL- Torque limitation at reverse rotation ● ● PA37
PA24~PA27
9 SC1 Internal speed selection 1 ○ ●
、PA42
PA24~PA27
10 SC2 Internal speed selection 2 ○ ●
、PA42
PA12、
11 DEG1 Electron gear function selection 1 ● ○
PA13、PA54
Under
12 DEG2 Electron gear function selection 2 ● ○
development
13 ST1 Forward rotation start ● ● PA55
14 ST2 Reverse rotation start ● ● PA55
Inside and outside speed selector
15 ISC ○ ● PA55
switch
16 RDC Change of rotation direction ● ● PA55
Changeover switch for control
17 CMC ● ● PA55
mode
Note：Signal code is defined in Chapter III PB parameter list.

0：STAND Standard input port

Function: without definition of special features.

1：SON Servo-on
Function: Open the servo motor into the power state (there is a current into the motor).
After SON effective, please wait at least 100ms before the input pulse command.
Do not use the SON signal switching to control motor starts and or stops.

2：RES Reset
Function: Clear alarm signal.
Some of the alarm signal can not be removed with this.

3-9
3 Signal and Wiring
3：LSP Forward rotation stroke end
Function: The stroke switch can be connected to this signal and is used to determine whether
the moving object is out of range, LSP and LSN are respectively at both ends of the
range.
When LSP signal is invalid, the motor has no torque or speed in the direction
(determined by the PA20).
When LSP and LSN are invalid and PA20 = 0, warning 7 appears.

4：LSN Reverse rotation stroke end

Function: Refer to LSP

5：CLE Counter reset for position deviation

Function: When CLE is effective, clear the position deviation counter.

6：INH Input disable of impulse instruction

Function: When INH is effective, forbid the impulse instruction input.

7：TL+ Torque limitation at forward rotation

Function: When the TL + is effective, Torque limitation at forward rotation of the motor is
determined by PA36.

8：TL- Torque limitation at reverse rotation

Function: When the TL – is effective, Torque limitation at forward rotation of the motor is
determined by PA37.

9：SC1 Internal speed selection 1

Function: When PA42 = 0 or the external input signal ISC is effective, the motor speed is
determined by setting the internal parameters.
There are 4 internal parameters determined by SC1, SC2.
SC1 SC2 Speed command Parameter No.
0 0 Internal speed 1 PA24
0 1 Internal speed 2 PA25
1 0 Internal speed 3 PA26
1 1 Internal speed 4 PA27
Note: “0” is invalid; “1” is valid.

10：SC2 Internal speed selection 2

Function: Refer to SC1

11：DEG1 Electronic gear function selection 1

Function: When DEG1 is not effective, position command pulse ratio(electronic gear) is
PA12/PA13.
When DEG1 is effective, position command pulse ratio(electronic gear) is
PA54/PA13.

3 - 10
3 Signal and Wiring
Before or after switching of DEG1 signal do not send instructions within at least 10ms
time.

12：DEG2 electronic gear function selection 2

Function: Software is under development.

13：ST1 Forward start

Function: Used to select the motor start and the direction of the motor.
ST2 ST1 The startup direction of the motor
0 0 Stop（Servo lock）
0 1 Forward start
1 0 Reverse start
1 1 Stop（Servo lock）
Note: “0” is invalid; “1” is valid.

14：ST2 Reverse start

Function: Refer to ST1

15：ISC Internal speed selector switch

Function: When ISC is effective, speed command switches to internal speed command from
external analog input, it is determined by parameter PA24 ~ PA27(refer to Table
SC1).
This function is the same as the function of PA42.
When this function is selected, parameter PA42 is invalid.
ISC Speed selection
0 External speed command
1 Internal speed command
Note: “0” is invalid; “1” is valid.

16：RDC Change of rotation direction

Function: When the RDC is effective, you can change the rotation direction of the motor.
RDC Change of rotation direction
0 No change
1 Change
Note: e0o is invalid; a1i is valid.

17：CMC Control mode switching

Function: When CMC is effective, you can change the control mode of the driver.
CMC Control mode switching
0 Position control mode
1 Speed control mode
Note: “0” is invalid; “1” is valid.

3 - 11
3 Signal and Wiring
3.5 Output signal description
Signal Mode
Definition Description Related parameters remarks
code P S
0 STAND Standard output port ● ●
1 ALM Servo alarm ● ●
2 RD Servo ready ● ●
3 INP Position arrived ● ○ PA16
4 SA Speed reached ○ ● PA28
Measuring output of motor PA39、PA56
5 CDO ● ●
current
6 TDO Limiting torque ● ● PA34~PA37、PA56
7 ZSP Zero speed arrived ○ ● PA29、PA56
Motor encoder， Z-phase PA56
8 OUT_Z ● ●
pulse output
Motor mechanical brake ， PA50、PA56
9 MBR ● ●
control output
Note: The signal code is defined in Chapter III PB parameter list.

0：STAND Standard output port

Function: No special function definition. Function is defined by the internal position control
procedures,

1：ALM Servo alarm

Function: Regardless the main circuit undervoltage alarm (Err-03), alarming for
abnormalities found by the drive during running or self-test .
When in normal state, the output transistor turns on (PA57 = 0).
See "Power On sequence diagram" and "alarm timing diagram".

2：RD Ready
Function: Normal operation of the drive, no abnormality detected .
When in normal state, the output transistor turns on (PA57 = 0).
See "Power On sequence diagram" and "alarm sequence diagram".

3：INP Position arrived

Function: Real-time detection of drive’s position deviation, when the position deviation pulse
is less than the preset value of parameter PA16(completed positioning range) , INP
output is effective. while the output transistor turns on (PA57 = 0).

4：SA Speed arrived

Function: Real-time detection of drive’s motor speed, when exceeding the setting value of
parameter PA28 (arrival speed), SA output is effective.
When it is effective, the output transistor turns on (PA57 = 0).

3 - 12
3 Signal and Wiring
5：CDO Output of detected motor current
Function: Real-time detection of drive’s motor current, when exceeding the setting value of
parameter PA39 (threshold for motor current detection ) , CDO is effective.
When it is effective, the output transistor turns on (PA57 = 0).

6：TDO Limiting torque

Function: If the motor torque is limited by parameter PA34, PA35 or PA36, PA37 (valid TL +,
TL-), TDO is valid.
When it is effective, the output transistor turns on (PA57 = 0).

7：ZSP Zero speed arrived

Function: Real-time detection of drive’s motor speed, when it is less than the setting value of
parameter PA29 (zero speed) , ZSP output is valid.
When it is effective, the output transistor turns on (PA57 = 0).

8：OUT_Z Motor encoder Z-phase pulse output

Function: Open collector output of motor encoder Z-phase pulse , the output pulse width is
1ms.

9：MBR control output of motor’s mechanical brake

Function: Driver receives the drive enable signal (SON), and in 2ms after power-on of the
motor valid MBR signal outputs .
When driver has an alarm or drive enable signal (SON) is off, take the minimum
value of PA50 parameter (delay time of MBR) and the minimum time to slow down
the motor speed to 30 rev / min with a delayed output of the signal -MBR is invalid .
When it is effective, the output transistor turns on (PA57 = 0).
In order to ensure the motor mechanical brake has been fully opened, the driver
should be delayed by 50ms to receive instructions after power-on of the motor .

3 - 13
3 Signal and Wiring
3.6 Standard wiring example
3.6.1 Case of position control wiring

KT270-H-20/30 servo drive Servo motor

Power wiring see Fig 7.1
Motor
R U U
See 9.3.3
3-phase AC 220V S V V
or single phase T W W
AC 220V E/ /E E
(see to 3.3-1)

PHA PHA
PHAR PHAR
PHB PHB
PHBR PHBR
+24V PHZ PHZ
PHZR See 9.3.1、2 PHZR
Input common port COM0 20 PHU PHU
Servo on SON 2 CN5 PHUR PHUR Encoder
Reset, clear the alarm RES 12 PHV PHV
Forward travel end LSP 3 PHVR PHVR
Reverse travel end LSN 13 CN4 PHW PHW
Position deviation counter
CLE 4 PHWR PHWR
cleared
INH 14 +5V +5V
Pulse command input prohibited
Forward torque limit TL+ 21 DGND DGND
Reverse torque limit TL- 22 SH SH

Servo ready RD 5
Servo alarm ALM 15
Position to reach
Output common port
INP 24 CN4
COM1 23
Shielded
SH SH

External pulse input PULS+ PP 1

External pulse input PULS- PG 11 6 OUT_Z Encoder Z-phase pulse (open collector)
External pulse input SIGN+ CN4 23 COM1 Output common port
NP 10 CN4 Shielded
External pulse input SIGN- NG 19 SH SH
Shielded
SH SH

Note: “SH" in the figure indicates the metal shell for cable plug. The shielded line of the cable
should be connected to the shell.
For connection, untie the mesh shielding to neat condition. Take partial shielding as twisted terminal
and cut off the rest. After that fit the thimble over the twisted terminal while one stub should be
exposed for soldering to the metal shell of the plug. Pay attention to avoiding over-soldering for
proper closing of the plug guard.

3 - 14
3 Signal and Wiring
KT270-H-50/75 servo drive Servo motor
Power wiring see Fig 7.1
Motor
R U U
3-phase AC 220V see 9.3.3
S V V
(see 3.3-1) T W W
E/ /E E
L11
L21
PHA PHA
B PHAR PHAR
KT270-H-50
no need for an
P PHB PHB
external regenerative
resistor
PHBR PHBR
+24V PHZ PHZ
PHZR see 9.3.1、2 PHZR
Input common port COM0 20 PHU PHU
Servo open SON 2 CN5 PHUR PHUR Encoder
Reset, clear the alarm RES 12 PHV PHV
Forward travel end LSP 3 PHVR PHVR
Reverse travel end LSN 13 CN4 PHW PHW
Position deviation counter
CLE 4 PHWR PHWR
cleared
INH 14 +5V +5V
Pulse command input
prohibited TL+ 21 DGND DGND
Forward torque limit TL- 22 SH SH
Reverse torque limit
Servo ready RD 5
Servo alarm ALM 15
Position to reach
Output common port
INP 24 CN4
COM1 23
Shielded
SH SH

External pulse input PULS+ PP 1

External pulse input PULS- PG 11 6 OUT_Z Encoder Z-phase pulse (open collector)
External pulse input SIGN+ CN4 23 COM1 Output common port
NP 10 CN4 Shielded
External pulse input SIGN- NG 19 SH SH
Shielded
SH SH

Please refer to the note in page 3-13 for explanation on "SH" in the figure.

3 - 15
3 Signal and Wiring
3.6.2 Case of speed control wiring

KT270-H-20/30 servo drive

Servo motor
Power wiring see Fig 7.1
Motor
R U U
See 9.3.3
3-phase AC 220V S V V
or single phase T W W
AC 220V E/ /E E
(see 3.3-1）

PHA PHA
PHAR PHAR
PHB PHB
PHBR PHBR
+24V PHZ PHZ
Input common port
PHZR See 9.3.1、2 PHZR
COM0 20
Servo on (see Note 1)
PHU PHU
SON 2 CN5
Reset, clear the alarm PHUR PHUR Encoder
RES 12
Forward travel end PHV PHV
LSP 3
Reverse travel end PHVR PHVR
LSN 13 CN4
Speed ?selection 1 PHW PHW
SC1 4
Speed ?selection 2 PHWR PHWR
SC2 14
Forward torque limit +5V +5V
TL+ 21
Reverse torque limit DGND DGND
TL- 22
SH SH

Servo ready RD 5
Servo alarm
ALM 15
Speed ?to reach CN4
SA 24 7 LA
Output common port A-phase pulse (differential line
COM1 23 16 LAR
Shielded drive)
SH SH 8 LB
CN4 B-phase pulse (differential line
17 LBR drive)
25 LZ Z-phase pulse (differential line
26 LZR drive)

6 OUT_Z Encoder Z-phase pulse (open collector)

23 COM1 Output common
CN4 9 VC Analog speed reference
18 GND Signal common
SH SH Shielded

Please refer to the note in page 3-13 for explanation on "SH" in the figure.

3 - 16
3 Signal and Wiring
KT270-H-50 /75 servo drive
Servo motor
Power wiring see Fig 7.1
Motor
R U U
see 9.3.3
3-phase AC 220V S V V
(see 3.3-1） T W W
E/ /E E
L11
L21
PHA PHA
B PHAR PHAR
KT270-H-50
No need for external PHB PHB
regenerative resistor P
PHBR PHBR
+24V PHZ PHZ
Input common port
PHZR see 9.3.1、2 PHZR
COM0 20
Servo on (see Note 1)
PHU PHU
SON 2 CN5
Reset, clear the alarm PHUR PHUR Encoder
RES 12
Forward travel end PHV PHV
LSP 3
Reverse travel end PHVR PHVR
LSN 13 CN4
Speed ?selection 1 PHW PHW
SC1 4
Speed ?selection 2 PHWR PHWR
SC2 14
Forward torque limit +5V +5V
TL+ 21
Reverse torque limit DGND DGND
TL- 22
SH SH

Servo ready RD 5
Servo alarm
ALM 15
Speed ?to reach CN4
SA 24 7 LA
Output common port A-phase pulse (differential line drive)
COM1 23 16 LAR
Shielded
SH SH 8 LB
CN4 B-phase pulse (differential line drive)
17 LBR
25 LZ Z-phase pulse (differential line drive)
26 LZR

6 OUT_Z Encoder Z-phase pulse (open collector)

23 COM1 Output common port
CN4 9 VC Analog speed reference
18 GND Signal common port
SH SH Shielded

Please refer to the note in page 3-13 for explanation on "SH" in the figure.

3 - 17
Chapter 4
Parameter

4.1 PA parameter list

4.2 PA parameter description

4.3 PB parameter list

4.4 PB parameter description

4 Parameter
4.1 PA Parameter list
Description of control mode：
P－position control mode
S－speed control mode

Table 4.1 PA user parameter

Control
Parameter Factory Read- Effective
Number Name Unit Mode
scope setting only immediately
P S
PA00 Password 0~9999 315 ─ ● ● ○ ●
PA 01 Matching parameter 0~59 0* ─ ● ● ● ○
PA 02 Software version * * ─ ● ● ● ○
PA 03 Initial display status 0~21 0 ─ ● ● ○ ●
PA 04 Control mode selection 0~6 0 ─ ● ● ○ ●
PA 05 Proportional gain of speed 5~2000 150* Hz ● ● ○ ●
PA 06 Integrating time constant of speed 1~1000 10* mS ● ● ○ ●
Time constant for
PA 07 0~10000 0* mS ○ ● ○ ●
acceleration/deceleration
Low-pass filter for speed
PA 08 20~500 100* % ● ● ○ ●
measurement
PA 09 Proportional gain on positioning 1~1000 40* 1/S ● ○ ○ ●
PA 10 Feed-forward gain on positioning 0~100 0 % ● ○ ○ ●
Cut-off frequency of low-pass filter
PA 11 1~1200 300* Hz ● ○ ○ ●
for position feed-forward
Numerator of multiplying factor for
PA 12 1~32767 1 ─ ● ○ ○ ●
positioning command impulse
Denominator of multiplying factor
PA 13 1~32767 1 ─ ● ○ ○ ●
for positioning command impulse
Input mode for positioning
PA 14 0~2 0 ─ ● ○ ○ ●
command impulse
Negative orientation of positioning
PA 15 0~1 0 ─ ● ○ ○ ●
command impulse
Impu
PA 16 Scope of achieved positioning 0~30000 20 ● ○ ○ ●
lse
×100
Detection range of out-ranged
PA 17 0~30000 200 Impuls ● ○ ○ ●
positioning
e
Invalid error of out-ranged
PA 18 0~1 0 ─ ● ○ ○ ●
positioning

4-1
4 Parameter
Control
Parameter Factory Read- Effective
Number Name Unit Mode
scope setting only immediately
P S
Position command smoothing
PA 19 0~31 0 Level ● ○ ○ ●
filter
PA 20 Setting of input at travel end 0~3 3 ● ● ○ ●
PA 21 JOG speed -3000~3000 120 r/min ○ ● ○ ●
Negative orientation of input
PA 22 0~255 0 ─ ● ● ○ ○
signal level
PA 23 Max. speed limit 0~4000 2400* r/min ● ● ○ ●
PA 24 Internal speed 1 -3000~3000 0 r/min ○ ● ○ ●
PA 25 Internal speed 2 -3000~3000 100 r/min ○ ● ○ ●
PA 26 Internal speed 3 -3000~3000 300 r/min ○ ● ○ ●
PA 27 Internal speed 4 -3000~3000 -100 r/min ○ ● ○ ●
PA 28 Achieved speed 20~3000 500 r/min ○ ● ○ ●
PA 29 Zero speed 5~200 50 r/min ● ● ○ ●
Conversion numerator of linear
PA 30 1~32767 10 ─ ● ● ○ ●
speed
Conversion denominator of
PA 31 1~32767 1 ─ ● ● ○ ●
linear speed
PA 32 Decimal location of linear speed 0~5 3 ─ ● ● ○ ●
Bus-bar over-voltage threshold
PA 33 0~10000 100 ─ ● ● ○ ●
under non-braking condition
Internal torque limit for positive
PA 34 0~300 250* % ● ● ○ ●
run
Internal torque limit for reversal
PA 35 -300~0 -250* % ● ● ○ ●
run
External torque limit for positive
PA 36 0~300 100 % ● ● ○ ●
run
External torque limit for reversal
PA 37 -300~0 -100 % ● ● ○ ●
run
Torque limit for trial run and JOG
PA 38 0~300 100 % ○ ● ○ ●
mode
Measuring threshold of motor
PA 39 3~240 100 % ● ● ○ ●
current
Numerator of multiplying factor
PA 40 1~16383 1 ─ ● ● ○ ○
of output electron gear
Denominator of multiplying
PA 41 1~16383 1 ─ ● ● ○ ○
factor of output electron gear
Selection of internal/external
PA 42 0~1 1 ─ ○ ● ○ ●
speed instruction
(r/min) /
PA 43 Input gain of speed command 10~3000 200* ○ ● ○ ●
V

4-2
4 Parameter
Control
Parameter Factory Read- Effective
Number Name Unit Mode
scope setting only immediately
P S
Negative direction of speed
PA 44 0~1 0 ─ ○ ● ○ ●
command
Zero bias compensation for
PA 45 -5000~5000 0 ─ ○ ● ○ ●
speed instruction
Low-pass filter for simulation
PA 46 1~20000 1000 Hz ○ ● ○ ●
speed command input
Simulation instruction gain for
PA 47 external torque (only available 1~25 1 (%)/V ● ● ○ ●
for KT290)
Simulation instruction bias for
PA 48 external torque (only available -100~100 0 ─ ● ● ○ ●
for KT290)
Analog of minimum external
PA 49 0~100 0 r/min ○ ● ○ ●
input speed
Delay time of mechanical
PA 50 0~200 0 mS ● ● ○ ●
brake MBR action
Communication address of
PA 51 0~31 1 ─ ● ● ○ ●
drive
PA 52 Communication speed 0~5 1 ─ ● ● ○ ●
Multi-function software
PA 53 0~16383 0 ─ ● ● ○ ●
selection function
Numerator of multiplying factor
PA 54 for 2nd position command 1~32767 1 ─ ● ○ ○ ●
impulse
Selection of multifunction input
PA 55 0~9 0 ─ ● ● ○ ●
interface
Selection of multifunction
PA 56 0~4 0 ─ ● ● ○ ●
output interface
Alternated level of output
PA 57 0~255 0 ─ ● ● ○ ●
signal
De-wobble time constant at
PA 58 1~1000 3 0.1mS ● ● ○ ●
input terminal
PA 59 Motor parameter list ─ ─ ─ ○ ○ ● ○
PA60 Internal use ─ ─ ─ ○ ○ ○ ○
PA61 Internal use ─ ─ ─ ○ ○ ○ ○
PA62 Internal use ─ ─ ─ ○ ○ ○ ○
PA63 Internal use ─ ─ ─ ○ ○ ○ ○
PA64 Internal use ─ ─ ─ ○ ○ ○ ○
PA65 Speed integral separation point 0~3000 200 r/min ● ● ○ ●

4-3
4 Parameter
Control
Parameter Factory Read- Effective
Number Name Unit Mode
scope setting only immediately
P S
Changing rate of speed
PA66 1～1000％ 100 % ● ● ○ ●
reduction time
Turning point of position
PA67 deviation 0~3000 20 Pulse ● ○ ○ ●
0
Turning point of position
PA68 deviation 0~3000 2500 Pulse ● ○ ○ ●
1
Changing rate of
proportional position gain at
PA69 1～10000 100 % ● ○ ○ ●
the turning point of the position
deviation 0
Changing rate of
proportional position gain at
PA70 5~500 100 % ● ○ ○ ●
the turning point of the position
deviation 1
NOTE：
 The factory setting parameter values marked with "﹡" in Table 4.1 should be different，
when using different type of motors.
 Please refer to following list for detailed description on relative parameters.
 Positive rotation indicates counter-clockwise rotation in view of axial direction of servo
motor.
Reversal rotation indicates clockwise rotation in view of axial direction of servo motor.

After modification of parameter PA40 and PA41, EE-SET operation should be

executed and it will be valid after power-on again.

4-4
4 Parameter
4.2 PA parameter description
PA00 Password(0~9999)
Function: ① Designed to prevent parameter from modification by accident. In general situation,
whenever there is a need to set parameter, set required password for the parameter prior
to parameter setting. Upon completion of debugging, set the parameter to 0 to ensure no
more parameter modification by accident.
② Password is authorized into different levels. The password for user's parameter setting is
315. The password to modify PA1 or PA59 is 385.

PA 01 Matching parameter(0~59)
Function: Used to specify the motor model selected by the PA59 in the motor table and the driver
matching parameters.
① Please set PA0 to 385 to modify the parameters.
② For drivers and motors with different power level but in same series.
③ Detailed meaning of the parameter is shown in Chapter 8 Electrical Specification.
It will be valid after power-on again.

Be sure to ensure that this parameter is set correctly, otherwise it will cause malfunction
of the drive system and probably lead to serious consequences.

When the unit restarts after power-off due to EEPROM alarm (Err-20), the parameter should be
checked for any change. If it is changed, the servo driver should be replaced. In case of no
change, the parameter could be modified after restore the default parameter.

PA 02 Software version
Note: DSP Software version, it can be viewed, but no modification is allowed.

PA 03 Initial display status(0~21)

Function: Select display status at the display when driver is energized.

Number Display Number Display

0 Display motor speed 15 Display state of input terminal
Display current position ( 5
1 16 Display state of output terminal
low-level bits )
Display current position ( 5 Display input signal from
2 17
high-level bits ) encoder
Display position instruction
3 (accumulated command impulse, 18 Display running status
5 low-level bits)
Display position instruction
4 (accumulated command impulse, 19 Display error code
5 high-level bits)

4-5
4 Parameter
Number Display Number Display
Display position deviation ( 5
5 20 Reserved
low-level bits )
Display position deviation ( 5
6 21 Reserved
high-level bits )
7 Display motor torque
8 Display motor current
9 Display linear speed
10 Display control mode
Display pulse frequency of
11
position instruction
12 Display speed instruction
13 Display torque instruction
Display absolute rotor location in
14
one turn

PA 04 Control mode selection(0~6)

Function: This parameter is used for setup of drive’s control mode.
Control mode
Number Description
selection
Positioning Driver drives the motor to rotate to the angle defined by the
0
control mode positioning command.
Driver drives motor to revolve in accordance with the requirements
of speed command.
Speed command has two input modes (determined by ISC input
function or parameter PA42):
① Input directly via VC.
② Select internal speed via control input terminal (SC1, SC2).
Select different internal speed，combination of SC1 and SC2 is
shown in following table:
ISC or Speed
Speed control SC1 SC2 Parameter
1 PA42 command
mode
Internal
Open Open PA24
speed 1
Internal
Close Open PA25
speed 2
0
Internal
Open Close PA26
speed 3
Internal
Close Close PA27
speed 4
1 Unrelated Unrelated Decided by VC, AGND
Trial run Input speed command can be regulated by ↑ and ↓ , and it is
2
control mode applied to test the driver and motor.

4-6
4 Parameter
Control mode
Number Description
selection
In JOG mode, pressing and holding ↑ key will enable the motor
running at JOG speed (parameter PA21). Release the key to stop
JOG run
the motor and keep it at zero speed. Press and hold ↓ key to
3 control mode
enable the motor running in reversal direction at JOG speed
(i.e. jogging)
(parameter PA21). Release the key to stop the motor and keep it
at zero speed.
4 Reserved
5 Reserved
Torque
6 Torque control
control mode

PA 05 Proportional gain of speed(5~2000 Hz)

Function: ① Set proportional gain of the adjuster at speed loop.
② The larger value is set, the greater gain and higher rigidity is available. Parameter value
should be set as per to actual servo driver system and loading condition. In general, larger
load inertia requires greater set value.
③ Set it to higher value provided no oscillatory occurs.
04
PA 06 Integrating time constant of speed(1~1000 mS)
Function: ① Set integrating time constant of the adjuster at speed loop.
② The smaller setting value, the greater integrating rate and higher rigidity. Parameter value
should be set as per to actual type of servo driver system and loading condition. In general,
larger load inertia requires greater set value.
③ Set it to lower value provided no oscillatory occurs.

PA 07 Time constant for acceleration/deceleration(0~10000 mS)

Function: ① The set value indicates the time for motor acceleration from 0-1000 r/min or for motor
deceleration from 1000-0 r/min.
② Acceleration and deceleration should be in linear type.
③ When speed control mode is adopted (parameter PA4=1) with position ring at upper unit,
the recommended value is 0.
④ In the position control mode (PA4 = 0), this parameter does not work.

PA 08 Low-pass filter for speed measurement(20~500 %)

Function: ① The set speed checks performance of low-pass filter.
② The smaller value is set, the lower cut-off frequency is available and the smaller noise is
generated by the motor. In case of large load inertia, the set value can be reduced
accordingly. If the set value is too small, it will slow down the response with possible
oscillation.
③ The larger value is set, the high cut-off frequency is available and the quicker response is
given by speed feedback. If fair speed response is required, the set value can be increased
accordingly.

4-7
4 Parameter
PA 09 Proportional gain on positioning(1~1000 1/S)
Function: ① Set proportional gain of the adjuster at positioning loop.
② The larger value is set , the greater gain and higher rigidity，and smaller position lag under
the command impulse with same frequency. Too big value may lead to oscillation or
overshot.
③ Parameter value should be set as per to actual type of servo driver system and loading
condition.

·PA 10 Feed-forward gain on positioning(0~100 %)

Function: ① Set feed-forward gain of positioning loop.
② When the set value is 100%, it indicates the positioning lag is always 0 under the command
impulse with any frequency.
③ The greater feed-forward gain of positioning loop is set, the higher speed response in
control system will be performed. However, it will lead to instable positioning loop in the
system with possible oscillation.
④ The feed-forward gain of positioning loop is usually set to 0 unless extreme response
character is required.

PA 11 Cut-off frequency of low-pass filter for position feed-forward(1~1200 Hz)

Function: ① Set cut-off frequency for low-pass filter of position feed-forward.
② The function of the filter is used to increase the stability of compound positioning.

PA 12 Numerator of multiplying factor for positioning command impulse(1~32767)

Function: ① Set multiplying factor for position command pulse (electron gear).
② In positioning control mode, it is convenient to match different impulse sources to realize
ideal control resolution (i.e. angle / impulse) via setting of parameter PA12 and PA13.
③ Formula： P  G  N  C  4
P: Pulse number of input command
Electron gear ratio:
G= Numerator of multiplying factor / denominator of multiplying factor
G:
1
Recommended scope of electron gear ratio:  G  50
50
N: Turns of running motor
C: Line number per turn of photoelectric encoder, where in this system C=2500.
〖Example〗When input command pulse is 6000 with one turn of servo motor,
N  C  4 1 2500  4 5
G  
P 6000 3
Parameter PA12 is set to 5 and parameter PA13 is set to 3.
When the multi-function input DEG1 (electronic gear switch) is effective, you can select the
second electronic gear function. Position command pulse rate of molecular parameters is
determined by PA54.

PA 13 Denominator of multiplying factor for positioning command impulse(1~32767)

Function: See parameter PA12.

4-8
4 Parameter
PA 14 Input mode for positioning command impulse(0~2)
Function: Set the input mode for position command impulse (Refer to Table 4.2). One of 3 input modes
can be selected via the parameter：
0： Pulse + sign
1： Positive run/reverse run pulse
2： Two-phase orthogonal impulse input
Table 4.2 Form of impulse input
Pulse Train Forward Rotation Reverse Rotation Max pulse
Parameter (NO.14) frequency
Driver
Form Command Command (KHZ) Mode
Pulse train PULSE_F 0 500 Differential
Signed pulse
Sole
Sign PLUSE_R train 200
end
Forward rotation
pulse train
PULSE_F 500 Differential
1
Forward /Reverse
Reverse rotation rotation pulse train Sole
pulse train PLUSE_R 200
end
A-phase 2
PULSE_F 125 Differential
pulse train A/B phase pulse
B-phase train
pulse train PLUSE_R Sole
100
end

th tck
90%
PULSE_F
10%

ts tl ts
trh trl
90%
PLUSE_R
10%

Forward trh Reverse Forward

trl
rotation rotation rotation

Fig. 4.1 Sequence chart for impulse + sign input interface

tck
th
90%
PLUSE_F tl
10%

trh trl ts
90%
PLUSE_R
10%

trh trl
Reverse rotation Forward rotation

Fig. 4.2 Sequence chart for positive/reverse impulse input interface

4-9
4 Parameter
tqh tqck

90%
PULSE_F tql
10%
tqs
tqrh tqrl tqs
90%
PLUSE_R
10%

tqrl tqrh

Reverse rotation Forward rotation

Fig. 4.3 Sequence chart for input interface with two-phase orthogonal instruction impulse
Table 4.3 Time sequence and parameter of impulse input
Parameter Differential driver input Sole-end driver input
tck >2μS >5μS
th >1μS >2.5μS
tl >1μS >2.5μS
trh <0.2μS <0.3μS
trl <0.2μS <0.3μS
ts >1μS >2.5μS
tqck >8μS >10μS
tqh >4μS >5μS
tql >4μS >5μS
tqrh <0.2μS <0.3μS
tqrl <0.2μS <0.3μS
tqs >1μS >2.5μS

PA 15 Negative orientation of positioning command impulse(0~1)

Function: 0: Normal
1: Reverse orientation of position command impulse

PA 16 Scope of achieved positioning(0~30000)

Function: ① In positioning mode, set the scope for the arrived position signal.
② This parameter will provide the reference for driver's estimation if positioning is completed
in positioning mode. When the residual impulse number in the position deviation counter is
equal or less than the set value of the parameter, the driver will deem that positioning is
completed and send out location arrived signal INP.

PA 17 Detection range of out-ranged positioning(0~30000)

Function: ① Set detection range for out-ranged positioning.
② In positioning mode, when the count value in position deviation counter exceeds the set
value of the parameter, the servo driver will send out alarm for out-ranged positioning
(Err-4).

4 - 10
4 Parameter
PA 18 Invalid error of out-ranged positioning(0~1)
Function: 0: Valid detection for out-ranged positioning
1: Invalid detection of out-ranged positioning, stop to detect error for out-ranged
positioning

PA 19 Position command smoothing filter(0~31 levels)

Function: ① Smoothing of the command pulse with exponential acceleration and deceleration, the value
indicates the level.
② Filter input pulse is not lost, but the instruction will delay.
③ The filter used in the following cases can lead to sudden change of motor speed and the
machine will wear easily:
 Host controller without acceleration and deceleration function
 Higher sub-octave in electronic gear (> 10)
 Rough input commands with jump running of the motor
④ When 0 is set, the filter does not work.

PA 20 Invalid input at travel end(0~3)

Function:

Number Meaning Description

Allow positive run when LSP switch is closed and

disable positive run when LSP switch is open
(held torque in positive run is 0 )；Same for LSN.
Valid LSP, LSN for positive
0: If both LSP and LSN are open, abnormal alarm
run/reverse run at travel end.
(Err-7) will be generated to disable driver.
It is applied to limit control of horizontal moving
object.
Both positive run and reverse run are enabled in
despite of the status of LSP and LSN switches. At
Invalid LSP, LSN for positive
1: the same time if both LSP and LSN are open,
run/reverse run at travel end.
abnormal alarm (Err-7) will not be gen
erated to disable driver.
Invalid LSP and LSN for Note: Valid SON enforcement is applied to motor
positive run and reverse run debugging only. In normal service, it is
2:
at travel end while SON is recommended to control SON status by the input
forced to be enabled. port.
Enable positive run when LSP switch is closed
and disable positive run when LSP switch is open
(Holding speed in positive run is 0 , but the torque
Valid LSP, LSN for positive is not 0)； Same rule for LSN. If both LSP and
3:
run/reverse run at travel end. LSN are open, abnormal alarm (Err-7) will not be
generated to disable driver.
It is applied to limit control of vertical moving
object.

4 - 11
4 Parameter
PA 21 JOG speed(-3000~3000 r/min)
Function: Set running speed in JOG mode.

PA 22 Negative orientation of input signal level(0~255)

Function: Used to change the input signal level, each input is corresponding to one bit of an eight-bit
binary number, set the value in decimal number, the initial value is 0.
Interface definition Binary Decimal
IN0 00000001 1
IN1 00000010 2
IN2 00000100 4
IN3 00001000 8
IN4 00010000 16
IN5 00100000 32
IN6 01000000 64
IN7 10000000 128
〖Example〗To change the signal level of IN0 and IN3 at the same time , simply add the
corresponding decimal number (1 +8 = 9) and write the value in the parameter.
As the parameter is set it will be valid after EE-SET operation and power-on again.

PA 23 Max. speed limit(0~4000 r/min)

Function: ① Set max. speed limit for servo motor.
② It has no relation to running direction. If the set value exceeds rated r.p.m. the actual max.
speed limit should be the rated speed.

PA 24 Internal speed 1(-3000~3000 r/min)

Function: Set internal speed 1 (Refer to description on parameter PA4)

PA 25 Internal speed 2(-3000~3000 r/min)

Function: Set internal speed 2 (Refer to description on parameter PA4)

PA 26 Internal speed 3(-3000~3000 r/min)

Function: Set internal speed 3 (Refer to description on parameter PA4)

PA 27 Internal speed 4(-3000~3000 r/min)

Function: Set internal speed 4 (Refer to description on parameter PA4)

PA 28 Achieved speed(20~3000 r/min)

Function: ① Set achieved speed.
② In none positioning mode, if the motor speed exceeds this set value, SA signal will be sent
out.
Note: Comparator has delay character.
③ Unrelated to running direction.

4 - 12
4 Parameter
PA 29 Zero speed(5~200 r/min)
Function: ① Set zero speed range.
In normal operation of the motor， the servo driver will measure the motor speed in real
time and compare it with the set value in parameter PA29. If it exceeds the set value,
output port (CN4-6) is conducted (when parameter PA57=0)；If it is under the set value,
output port (CN4-6) is disabled.
② To avoid too frequent action at output port in case of disturbance at the motor speed, a
lag function via software is provided with a defined lag interval as +2.
③ Effective when parameter PA56=2.

PA 30 Conversion numerator of linear speed(1~32767)

Function: ① Design to display linear running speed of the system.
Linearspeed＝motorspeed (r / min)
② Conversion numerator for linear speed

Conversion denominato r of linear speed
The location of the decimal point for the linear speed is decided by parameter PA32. 0
means no decimal point, 1 means the decimal point is at ten's place, 2 means the decimal
point is set at hundred place and the like.
〖Sample〗If the servo motor driver has a 10 mm lead screw with a register ratio of 1:1, the
set conversion numerator for linear speed is 10 while the set conversion denominator of
linear speed is 1. The decimal location of linear speed should be 3. The linear speed may be
shown on the display with a unit of m/ min. When motor speed is 500 r.p.m. the displayed
linear speed is 5,000 m / min.

PA 31 Conversion denominator of linear speed(1~32767)

Function: See parameter PA30.

PA 32 Decimal location of linear speed(0~5)

Function: See parameter PA30.

PA 33 Bus-bar over-voltage threshold under non-braking condition(0~10000)

Function: ① Set maximum continuous regenerative braking time at none deceleration state.
② When continuous regenerative braking time in the servo driver exceeds the set value,
Err-35 alarm will be sent out (brake line works also at none deceleration state ).
Factory setting, no more modification.

PA 34 Internal torque limit for positive run (0~300 %)

Function: ① Set internal torque limit for positive run of servo motor.
② The setting value should be the percentage of nominal torque, e.g. if it requires 2 times
of nominal torque, set the value as 200.
③ This value is valid at any time.
If the set value exceeds the max. overload capacity allowed by the system, the actual
torque limit will be the max. allowable overload capacity.

4 - 13
4 Parameter
PA 35 Internal torque limit for reversal run (-300~0 %)
Function: ① Set internal torque limit for reverse run of servo motor.
② The setting value should be the percentage of nominal torque，e.g. if it requires 2 times
nominal torque, set the value as -200.
③ This value is valid at any time.
If the set value exceeds the max. overload capacity allowed by the system, the actual
torque limit will be the max. Allowable overload capacity.

PA 36 External torque limit for positive run (0~300 %)

Function: ① Set external torque limit for positive run of servo motor.
② The setting value should be the percentage of nominal torque，e.g. if it requires 1 times
of nominal torque, set the value as 100.
③ This limit is valid upon input terminal (TL+) for torque limit at positive run is closed.
④ When the limit is valid, the actual torque limit should be the minimum value among three
absolute values in the system i.e. max. overload capacity, internal torque limit for positive
run and external torque limit for positive run.

PA 37 External torque limit for reversal run (-300~0 %)

Function: ① Set external torque limit for reversal run of servo motor.
② The setting value should be the percentage of nominal torque，e.g. if it requires 1 times
of nominal torque, set the value as -100.
③ This limit is valid upon input terminal (TL-) for torque limit at reversal run is closed.
④ When the limit is valid the actual torque limit should be the minimum value among three
absolute values in the system, i.e. max. overload capacity, internal torque limit for
reverse run and external torque limit for reverse run

PA 38 Torque limit for trial run and JOG mode(0~300 %)

Function: ① Set torque limitation in trial run and JOG modes.
② Unrelated to direction of rotation，bidirectional is valid.
③ The setting value should be the percentage of nominal torque，e.g. if it requires 1 times
of nominal torque, set the value as 100.
④ Internal and external torque limitations still keep valid.

PA 39 Measuring threshold of motor current (3~240 %)

Function: ① During normal operation of the motor, the servo driver will check the real time current of
the motor (equivalent value) by dynamic measurement and make comparison with the
set value of parameter PA39. If it exceeds the set value in parameter PA39, output port
of CDO function will be enabled (when parameter PA57=0) . If it is under the set value of
parameter PA39, the port is disabled (when parameter PA57=0).
② To avoid too frequent action at output port in case of current turbulence in the motor, a
lag function via software is provided with a defined lag interval as +2.
③ Effective when parameter PA56=0.

4 - 14
4 Parameter
PA 40 Numerator of multiplying factor of output electron gear(1~16383)
Function: ① Set multiplying factor for feedback impulse from encoder (electron gear).
② By setting of parameter PA40 & PA41, the pulse number of encoder's signal output can
be defined.
③ Parameter PA40 must be ≤parameter PA41, or alarm will appear.
When parameter PA40 and PA41 is modified, it will be valid after EE-SET operation
and power-on again.

PA 41 Denominator of multiplying factor of output electron gear(1~16383)

Function: See parameter PA40

PA 42 Selection of internal/external speed instruction(0~1)

Function: See parameter PA4
(when selecting ISC input function, this parameter is invalid, see parameter PA55.)

PA 43 Input gain of speed command (10~3000)

Function: Set the proportional relation between input voltage of speed instruction and actual speed of
the motor.

PA 44 Negative direction of speed command(0~1)

Function: 16-bit binary number
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

PA44 Description Value Function

Polarity selection of external 0 Unchanged
Bit 0
analog speed command 1 Negate
Direction selection of the 0 Unchanged
Bit 1
encoder upon reset to zero 1 Negate
If the position loop is in the upper computer, and PA44.0 value changes, position feedback
polarity needs to be changed.

PA 45 Zero bias compensation for speed instruction(-5000~5000)

Function: When input speed command is zero, the analogue bias of speed command can be
eliminated and realize zero motor speed by altering this parameter.

PA 46 Low-pass filter for simulation speed command input(1~20000)

PA 47 Simulation instruction gain for external torque (only available for KT290)(1~25 %)/v)

PA 48 Simulation instruction bias for external torque (only available for KT290)(-100~100)

4 - 15
4 Parameter
PA 49 Analog of the external minimum input speed(0~100)
Function: ① It works only in speed mode when inputting the external analog speed command .
② In the course of normal operation of the motor, servo driver real-time detects the external
analog speed command, and compared with the value set by PA49. If it is less than the
set value, the speed command changes to zero automatically; if it is more than the set
value, the speed command is the set value by analog speed command.

PA 50 Delay time of mechanical brake MBR action(0~200 mS)

Function: When the drive has an alarm or the enable signal (SON) is off, Smaller value of PA50 and
time needed for motor speed down to 30 r/min, as the delayed time to output valid brake
( MBR) signals.
Motor brake (MBR) function is opened by PA56 = 4.

PA 51 Communication address(0~31)
Function: Used to set the address for communication between a host driver and multiple drivers.
0: Broadcast mode
1~31: Communication address

PA 52 Communication speed(0~6)
Function: 0: No communication function
1: Baud Rate 9600
2: Baud Rate 19200
3: Baud Rate 38400
4: Baud Rate 57600
5: Baud Rate 115200

PA 53 Multi-function software selection function(0~16383)

Function: 16-bit binary number
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

PA53 Value Function

0 IN5 select INH function
Bit 0
1 IN5select DEG function
When enable rising edge is effective, the command pulse, the current
0 position and the position deviation immediately are cleared without
Bit 1 delay.
When enable rising edge is effective, the command pulse, the current
1
position and the position deviation are not cleared.
When enable signal is cancelled, it has nothing to do with the setting
0
of parameter 29.
Bit 2
When enable signal is cancelled, it should be effective only if the
1
value is less than the setting of parameter 29.

4 - 16
4 Parameter
PA53 Value Function
When enable signal opens, DB dynamic brake (Relay) opens. When
enable signal closes or has an alarm, it delays to close. (rotate speed
0
Bit 3 must be less than zero speed of PA29 setting) (only KT270-FX-XXZD
series has corresponding function in hardware)
1 DB dynamic brake (Relay) opens upon power-on and will not close.
When enable signal is cancelled, pulse input instruction is not
0
prohibited.
Bit 4
When enable signal is cancelled, pulse input instruction is prohibited
1
immediately, without delay.
0
Bit 5 Reserved. The default is 0.
1
When the motor is not excited, the command pulse, the current
0
position and the position deviation are not cleared.
Bit 6
When the motor is not excited, the command pulse, the current
1
position and the position deviation are cleared.
Bit 7 X
Bit 8 X
Bit 9 X
Bit10 X
Internal use
Bit 11 X
Bit 12 X
Bit 13 X
Bit 14 X
Bit 15 0 Reserved. The default is 0.
〖Example〗If you want to make following two functions valid simultaneously,
a. Input terminal IN5 (CN4-14) should select DEG function (bit 0)
b. To cancel enable signal , it should be valid only when it is less than the set value of
parameter 29 (bit 2),
In this case, the binary value is
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1
Conversion to decimal is 5, write value 5 to this parameter.

PA 54 Numerator of multiplying factor for 2nd position command impulse(1~32767)

Function: ① Set numerator of sub-octave (electronic gear) for 2nd position command impulse
② See parameter PA12

4 - 17
4 Parameter
PA 55 Selection of multifunction input interface(0~9)
Function: Multifunction selection parameter for input terminal IN6 (CN4-21), IN7 (CN4－22).
PA55 IN6 IN7 Function declaration
0 TL+ TL- Torque limit function at positive run and reverse run
1 ST1 ST2 Forward and reverse start-up
2 ISC RDC Selection function for internal speed command and RDC
function
3 CMC Switching function for control mode
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Reserved
9 Reserved

After parameter is set, it needs to perform EE-SET operations, and will be

valid upon power-on again.

PA 56 Selection of multifunction output interface(0~4)

Function: Multifunction selection parameter for output terminal OUT3 (CN4-6).
PA56 OUT3 Function declaration
0 CDO Output of motor current measurement
1 TDO Output during torque limitation
2 ZSP Zero speed arrival output
3 CZ Z pulse output of collector
4 MBR Action of electric mechanical brake

PA 57 Alternated level of output signal(0~255)

Function: Design to alter output signal level, each output will map certain digit of a four binary number,
the set value adopts decimal number，initial value is 0.

Mapping interface Binary number Decimal number

OUT0 0001 1
OUT1 0010 2
OUT2 0100 4
OUT3 1000 8

〖Example〗If it is required to alter signal level for CN4-11 and CN4-14 at the same time, just
sum the corresponding decimal numbers (1+8=9), and write the value in the parameter.

PA 58 De-wobble time constant at input terminal (1~1000)

Function: Delay time for input interface signal

4 - 18
4 Parameter
PA 59 Motor parameter list
Function: it needs to set the corresponding range of parameters against different motors in the driver.
The driver has built in some canned parameters that match the common-used motor
parameters in parameter tables for different motors. Each motor parameter table stores
60 sets of motor parameters. Currently there are total 5 parameters tables, i.e. 2700, 2701,
2702, 2703 and 2906.
① Please set PA0 to 385 to modify the parameter.
② specified motor should be selected by joint decision of PA01 and PA59.
③ Detailed meaning of the parameter is shown in chapter 8 Motor Specification.
It will be valid after power-on again,after set the parameter.
Be sure to set this parameter correctly, otherwise it will cause improper work of the
drive system leading serious consequences.

PA 65 Speed integration separation point(0~3000 r/min)

Function: ① Set the integral separation point of speed loop PI regulator .
② The speed overshoot could be reduced by PI regulator with integral separation.
③ When the speed error exceeds the set value, the speed regulator will change from PI
regulator to P regulator.

PA 66 Change rate of deceleration time 1～1000％）

Function: The parameter is usually set to 100％.
Deceleration time＝No.7× parameter 66/100

PA 67 the turning point of position deviation 0（0~3000）

Function: ① In order to improve the position control characteristics while taking into
account the positioning, processing, high-speed mobile, you can use the variable
position loop gain, i.e. in case of position deviation, different gains could be used.
② Parameter PA67≤parameter PA68 must be satisfied.

Position deviation scope Position proportional gain

No.69
Position deviation≤PA67 No.9 
100
PA67＜Position
PA9
deviation≤PA68
No.70
Position deviation＞PA68 No.9 
100
Speed command output

K2=PA9 K3=PA9ⅹPA70/100
K1、K2、K3 are position
K1=PA9ⅹPA69/100
proportional gain of each part.

PA67 PA68 Position deviation

4 - 19
4 Parameter
PA68 the turning point 1 of position deviation（0~3000）
Function: See parameter PA67.

PA 69 Change rate of position proportional gain at the turning point of position deviation 0
（0~10000%）
Function: ① See parameter PA67.
： ② Usually 100%.

PA 70 Change rate of position proportional gain at the turning point of position deviation 1
（5~500%）
Function: ① See parameter PA67.
② Usually 100%.

4 - 20
4 Parameter
4.3 PB Parameter List
表 4.1.2 PB Parameter for users
Control
Factory Read- Effective
Number Name Scope Unit mode
setting only immediately
P S
PB00 Parameter password 0~9999 315 ─ ● ● ○ ●
Setting of input source of control
PB01 0~4 0 ─ ● ○ ○ ●
command
Selection of programming
PB02 0~1 0 ─ ● ○ ○ ●
coordinates of position instruction
Numerator of position unit
PB03 conversion factor / mechanical teeth 1~32767 1 ─ ● ○ ○ ●
of turret
Denominator of position unit
PB04 conversion factor / turret teeth at 1~32767 1 ─ ● ○ ○ ●
motor side
PB05 EEPROM parameter version 0~9999 * * ● ● ○ ○
PB06 Internal position command speed 1 0～3000 0 r/min ● ○ ○ ●
PB07 Internal position command speed 2 0～3000 0 r/min ● ○ ○ ●
PB08 Internal position command speed 3 0～3000 0 r/min ● ○ ○ ●
PB09 Internal position command speed 4 0～3000 0 r/min ● ○ ○ ●
Internal position command PO1 high -9999～
PB10 0 ×1 ● ○ ○ ●
position 9999
Internal position command PO1 low -9999～
PB11 0 ×10000 ● ○ ○ ●
position 9999
Internal position command PO2 high -9999～
PB12 0 ×1 ● ○ ○ ●
position 9999
Internal position command PO2 low -9999～
PB13 0 ×10000 ● ○ ○ ●
position 9999
Internal position command PO3 high -9999～
PB14 0 ×1 ● ○ ○ ●
position 9999
Internal position command PO3 low -9999～
PB15 0 ×10000 ● ○ ○ ●
position 9999
Internal position command PO4 high -9999～
PB16 0 ×1 ● ○ ○ ●
position 9999
Internal position command PO4 low -9999～
PB17 0 ×10000 ● ○ ○ ●
position 9999
Internal position command PO5 high -9999～
PB18 0 ×1 ● ○ ○ ●
position 9999
Internal position command PO5 low -9999～
PB19 0 ×10000 ● ○ ○ ●
position 9999

4 - 21
4 Parameter
Control
Factory Read- Effective
Number Name Scope Unit mode
setting only immediately
P S
Internal position command PO6 -9999～
PB20 0 ×1 ● ○ ○ ●
high position 9999
Internal position command PO6 -9999～
PB21 0 ×10000 ● ○ ○ ●
low position 9999
Internal position command PO7 -9999～
PB22 0 ×1 ● ○ ○ ●
high position 9999
Internal position command PO7 -9999～
PB23 0 ×10000 ● ○ ○ ●
low position 9999
Internal position command PO8 -9999～
PB24 0 ×1 ● ○ ○ ●
high position 9999
Internal position command PO8 -9999～
PB25 0 ×10000 ● ○ ○ ●
low position 9999
Soft-limit value in positive direction,
PB26 0～9999 9999 ×10000 ● ○ ○ ●
high position
Soft-limit value in positive direction,
PB27 0～9999 9999 ×1 ● ○ ○ ●
low position
Soft-limit value in negative
PB28 -9999～0 -9999 ×10000 ● ○ ○ ●
direction, high position
Soft-limit value in negative
PB29 -9999～0 -9999 ×1 ● ○ ○ ●
direction, low position
PB30 Reserved ─ ─ ─ ○ ○ ○ ○
PB31 Reserved ─ ─ ─ ○ ○ ○ ○
×1
PB32 Backlash 0～9999 0 ● ○ ○ ●
pulse
Exchange of motor encoder
PB33 0~1 0 ─ ● ○ ○ ○
feedback signal SASB
Back to the origin (reference point),
PB34 0~1 0 ─ ● ○ ○ ●
start mode
Back to the origin (reference point),
PB35 0~1 0 ─ ● ○ ○ ●
operation mode
Back to the origin (reference point),
speed (high speed: the speed just -2000～
PB36 500 r/min ● ○ ○ ●
before touching the proximity 2000
switch)
Back to the origin (reference point)
PB37 speed (low speed: the speed after -200～200 100 r/min ● ○ ○ ●
touching the proximity switch)
The origin (reference point) offset -9999～ ×10000
PB38 0 ● ○ ○ ●
position (high position) 9999 pulse

4 - 22
4 Parameter
Control
Factory Read- Effective
Number Name Scope Unit mode
setting only immediately
P S
The origin (reference point) offset -9999～ ×1
PB39 0 ● ○ ○ ●
position (low position) 9999 pulse
The origin (reference point)
-9999～ ×10000
PB40 location setting value (high 0 ● ○ ○ ●
9999 pulse
position)
The origin (reference point) -9999～ ×1
PB41 0 ● ○ ○ ●
location setting value (low position) 9999 pulse
PB42 Startup mode 0~3 0 ─ ● ○ ○ ●
PB43 Stop Mode 0~2 0 ─ ● ○ ○ ●
PB44 Reserved ─ ─ ─
Customized input and output
functions and valid input mode are
PB45 0~3 0 ─ ● ● ○ ●
decided by PB parameters for their
validity.
PB46 IN0 signal definition 0～34 1 ─ ● ● ○ ●
PB47 IN1 signal definition 0～34 2 ─ ● ● ○ ●
PB48 IN2 signal definition 0～34 3 ─ ● ● ○ ●
PB49 IN3 signal definition 0～34 4 ─ ● ● ○ ●
PB50 IN4 signal definition 0～34 5 ─ ● ● ○ ●
PB51 IN5 signal definition 0～34 6 ─ ● ● ○ ●
PB52 IN6 signal definition 0～34 7 ─ ● ● ○ ●
PB53 IN7 signal definition 0～34 8 ─ ● ● ○ ●
PB54 Internal use ─ ─ ─ ○ ○ ○ ○
PB55 Internal use ─ ─ ─
PB56 OUT0 signal definition 0~11 2 ─ ● ● ○ ●
PB57 OUT1 signal definition 0~11 1 ─ ● ● ○ ●
PB58 OUT2 signal definition 0~11 3 ─ ● ● ○ ●
PB59 OUT3 signal definition 0~11 5 ─ ● ● ○ ●
PB60 Internal use ─ ─ ─ ○ ○ ○ ○
PB61 Internal use ─ ─ ─ ○ ○ ○ ○
PB62 Internal use ─ ─ ─ ○ ○ ○ ○
PB63 Internal use ─ ─ ─ ○ ○ ○ ○
PB64 Internal use ─ ─ ─ ○ ○ ○ ○
PB65 Internal use ─ ─ ─ ○ ○ ○ ○
PB66 Internal use ─ ─ ─ ○ ○ ○ ○
PB67 Internal use ─ ─ ─ ○ ○ ○ ○
PB68 Internal use ─ ─ ─ ○ ○ ○ ○
PB69 Internal use ─ ─ ─ ○ ○ ○ ○
PB70 Reserved ─ ─ ─ ○ ○ ○ ○

4 - 23
4 Parameter
Control
Factory Read- Effective
Number Name Scope Unit mode
setting only immediately
P S
PB71 Reserved ─ ─ ─ ○ ○ ○ ○
PB72 Reserved ─ ─ ─ ○ ○ ○ ○
PB73 Reserved ─ ─ ─ ○ ○ ○ ○
PB74 Internal position command speed 5 0~3000 0 r/min ○ ● ○ ●
PB75 Internal position command speed 6 0~3000 0 r/min ○ ● ○ ●
PB76 Internal position command speed 7 0~3000 0 r/min ○ ● ○ ●
PB77 Internal position command speed 8 0~3000 0 r/min ○ ● ○ ●
Internal position command PO9 -9999～ ×10000
PB78 0 ● ● ○ ●
high position 9999 pulse
Internal position command PO9 -9999～ ×1
PB79 0 ● ● ○ ●
low position 9999 pulse
Internal position command PO10 -9999～ ×10000
PB80 0 ● ● ○ ●
high position 9999 pulse
Internal position command PO10 -9999～ ×1
PB81 0 ● ● ○ ●
low position 9999 pulse
Internal position command PO11 -9999～ ×10000
PB82 0 ● ● ○ ●
high position 9999 pulse
Internal position command PO11 -9999～ ×1
PB83 0 ● ● ○ ●
low position 9999 pulse
Internal position command PO12 -9999～ ×10000
PB84 0 ● ● ○ ●
high position 9999 pulse
Internal position command PO12 -9999～ ×1
PB85 0 ● ● ○ ●
low position 9999 pulse
Internal position command PO13 -9999～ ×10000
PB86 0 ● ● ○ ●
high position 9999 pulse
Internal position command PO13 -9999～ ×1
PB87 0 ● ● ○ ●
low position 9999 pulse
Internal position command PO14 -9999～ ×10000
PB88 0 ● ● ○ ●
high position 9999 pulse
Internal position command PO14 -9999～ ×1
PB89 0 ● ● ○ ●
low position 9999 pulse
Internal position command PO15 -9999～ ×10000
PB90 0 ● ● ○ ●
high position 9999 pulse
Internal position command PO15 -9999～ ×1
PB91 0 ● ● ○ ●
low position 9999 pulse
Internal position command PO16 -9999～ ×10000
PB92 0 ● ● ○ ●
high position 9999 pulse
Internal position command PO16 -9999～ ×1
PB93 0 ● ● ○ ●
low position 9999 pulse

4 - 24
4 Parameter
Control
Factory Read- Effective
Number Name Scope Unit mode
setting only immediately
P S
PB94 Internal use ─ ─ ─ ○ ○ ○ ○
PB95 Internal use ─ ─ ─ ○ ○ ○ ○
PB96 Internal use ─ ─ ─ ○ ○ ○ ○
PB97 Internal use ─ ─ ─ ○ ○ ○ ○
PB98 Internal use ─ ─ ─ ○ ○ ○ ○
PB99 Internal use ─ ─ ─ ○ ○ ○ ○
PB100 Reserved ─ ─ ─ ○ ○ ○ ○
PB101 Reserved ─ ─ ─ ○ ○ ○ ○
PB102 Internal use ─ ─ ─ ○ ○ ○ ○
PB103 Internal use ─ ─ ─ ○ ○ ○ ○
PB104 Internal use ─ ─ ─ ○ ○ ○ ○
PB105 Internal use ─ ─ ─ ○ ○ ○ ○
PB106 Internal use ─ ─ ─ ○ ○ ○ ○
PB107 Internal use ─ ─ ─ ○ ○ ○ ○
PB108 Internal use ─ ─ ─ ○ ○ ○ ○
PB109 Internal use ─ ─ ─ ○ ○ ○ ○
PB110 Internal use ─ ─ ─ ○ ○ ○ ○
PB111 Internal use ─ ─ ─ ○ ○ ○ ○
PB112 Internal use ─ ─ ─ ○ ○ ○ ○
PB113 Internal use ─ ─ ─ ○ ○ ○ ○
PB114 Internal use ─ ─ ─ ○ ○ ○ ○
PB115 Reserved ─ ─ ─ ○ ○ ○ ○
PB116 Reserved ─ ─ ─ ○ ○ ○ ○
PB117 Reserved ─ ─ ─ ○ ○ ○ ○
PB118 Output port Z pulse width 1~200 1 ms ● ● ○ ●
PB119 Reserved ─ ─ ─ ○ ○ ○ ○
PB120 Reserved ─ ─ ─ ○ ○ ○ ○
PB121 Reserved ─ ─ ─ ○ ○ ○ ○
PB122 Reserved ─ ─ ─ ○ ○ ○ ○
PB123 Reserved ─ ─ ─ ○ ○ ○ ○
PB124 PP command unit selection 0~5 0 ─ ● ● ○ ●

4 - 25
4 Parameter
4.4 PB Parameter Description
PB00 Parameter code

PB01 Setting of control command input source （0~4）

Function: 0: Pt mode (external pulse)
1: Pr mode (internal registers)
2:Pp mode (programming mode)

PB02 Selection of position command programming coordinate (absolute / relative) (0~1)

Function: 0: absolute coordinate
1: relative coordinate

PB03 Numerator of position unit conversion factor / mechanical teeth of turret (1 ~ 32767)
Function: ① PB101=0: standard application
② PB101=1: servo turret application

PB 04 denominator of position unit conversion factor / teeth at turret motor side (1 ~ 32767)
Function: See parameter PB03

PB05 EEPROM parameter version

Function: See EEPROM parameter version from 《Description on KT270 software version》

PB06 Internal position command speed 1 (0~3000 r/min)

Input function
PB1 Internal position frequency Number
PSC1 PSC2 PSC3
Open Open Open Internal position frequency 1 PB06
Close Open Open Internal position frequency 2 PB07
Open Close Open Internal position frequency 3 PB08
Close Close Open Internal position frequency 4 PB09
1
Open Open Close Internal position frequency 5 PB74
Close Open Close Internal position frequency 6 PB75
Open Close Close Internal position frequency 7 PB76
Close Close Close Internal position frequency 8 PB77

PB07 Internal position command speed 2 (0~3000 r/min)

See PB06 parameter description

PB08 Internal position command speed 3 (0~3000 r/min)

See PB06 parameter description

PB09 Internal position command speed 4 (0~3000 r/min)

See PB06 parameter description

4 - 26
4 Parameter
PB10 Internal position commandPO1 high position（-9999~9999）
Function: ① When internal position command is “9999” both in high position and low position , it
means the infinity in the positive direction(without end);
② When both of them are “-9999” , it means the infinity in the negative direction.
Input function Parameter Number
PB1 Internal position command
POS1 POS2 POS3 POS4 high position low position
Open Open Open Open Internal position command 1 PB10 PB11
Close Open Open Open Internal position command 2 PB12 PB13
Open Close Open Open Internal position command 3 PB14 PB15
Close Close Open Open Internal position command 4 PB16 PB17
Open Open Close Open Internal position command 5 PB18 PB19
Close Open Close Open Internal position command 6 PB20 PB21
Open Close Close Open Internal position command 7 PB22 PB23
Close Close Close Open Internal position command 8 PB24 PB25
1
Open Open Open Close Internal position command 9 PB78 PB79
Close Open Open Close Internal position command 10 PB80 PB81
Open Close Open Close Internal position command 11 PB82 PB83
Close Close Open Close Internal position command 12 PB84 PB85
Open Open Close Close Internal position command 13 PB86 PB87
Close Open Close Close Internal position command 14 PB88 PB89
Open Close Close Close Internal position command 15 PB90 PB91
Close Close Close Close Internal position command 16 PB92 PB93

PB11 Internal position command PO1 low position（-9999~9999）

Function: See parameter PB10

PB12 Internal position command PO2 high position（-9999~9999）

Function: See parameter PB10

PB13 Internal position command PO2 low position（-9999~9999）

Function: See parameter PB10

PB14 Internal position command PO3 high position（-9999~9999）

Function: See parameter PB10

PB15 Internal position command PO3 low position（-9999~9999）

Function: See parameter PB10

PB16 Internal position command PO4 high position（-9999~9999）

Function: See parameter PB10

PB17 Internal position command PO4 low position（-9999~9999）

Function: See parameter PB10

4 - 27
4 Parameter
PB18 Internal position command PO5 high position（-9999~9999）
Function: See parameter PB10

PB19 Internal position command PO5 low position（-9999~9999）

Function: See parameter PB10

PB20 Internal position command PO6 high position（-9999~9999）

Function: See parameter PB10

PB21 Internal position command PO6 low position（-9999~9999）

Function: See parameter PB10

PB22 Internal position command PO7 high position（-9999~9999）

Function: See parameter PB10

PB23 Internal position command PO7 low position（-9999~9999）

Function: See parameter PB10

PB24 Internal position command PO8 high position（-9999~9999）

Function: See parameter PB10

PB25 Internal position command PO8 low position（-9999~9999）

Function: See parameter PB10

PB26 Positive direction software limit values high position（0~9999）

PB27 Positive direction software limit values low position (0~9999)

PB28 Negative direction software limit values high position (-9999~0)

PB29 Negative direction software limit values low position (-9999~0)

PB32 Backlash（0~9999）

PB33 Exchange of motor encoder feedback signal SASB （0~1）

Function: ①0: Constant
②1: Negated

PB34 Back to the origin (reference point) start mode（0~1）

Function: ①0: Do not return to the reference point automatically when SON is valid for the first
time
②1: Return to the reference point automatically when SON is valid for the first time

4 - 28
4 Parameter
PB35 Operation mode of back to the origin (reference point) （0~1）
Function: ①0: Looking for Z pulse
②1: Located at the origin of the detector without looking for Z pulse

PB36 Back to the origin (reference point) speed (high speed: speed before touching
proximity switches)（-2000~2000）
Function: Determine the direction and speed for back to the origin

PB37 Back to the origin (reference point) speed (low speed: speed after touching
proximity switches)（-200~200）
Function: Determine the direction and speed when looking for Z pulse

PB38 The origin (reference point)offset position（high position）（-9999~9999）

PB39 （-9999~9999）
The origin (reference point)offset position（low position）

PB40 （-9999~9999）
The origin (reference point)position setting value（high position）

PB41 The origin (reference point)position setting value（low position）（-9999~9999）

PB42 Start mode（0~3）

Function: BIT1=0: SON=1 is valid; =1: Nothing to do with SON signal

PB43 Stop mode(selection of operation stop signal STOP function )（0~2）

Function: 0: Stop immediately (Pp and Pr mode)

PB45 Selection of customized input and output functions and valid input mode are
determined by PB parameters(0~3)
Function: ①Bit0=0: IN0~IN3 mandatory functions are “SON”, “RES”, “LSP” and “LSN” functions.
IN4~IN7 functions are determined by PA4, PA53 and PA5. Other physical input interface.
②Bit0=1: IN0~IN7 functions are determined by PB46~PB53.
③Bit1=0：out0~out2 mandatory functions are “RD”, “ALM” and “INP or SA（determined
by PA4）” functions. out3 function is determined by PA56.
④Bit1=1：out0~out3 functions are determined by PB56~PB59.
⑤Bit2=0：in0~in7 signal input effective mode function is determined by PA22.
⑥Bit2=1：in0~in9、in10~in15 signal input effective mode function is determined by
PB60~69 and PB94~99.
Note: IN8~IN9 definitions are determined by PB54, PB55. IN10~IN15 definitions are determined by
PB94~PB99. out4~out10 definitions are determined by PB102~PB108.

4 - 29
4 Parameter
PB46 IN0 signal definition（0~34）
Function: See input interface selection table (IN4~IN7 functions are determined by PB50~PB53
only when PB45bit0=1）
Interface selection table:
Work mode Valid signal
Number Abbreviation Definition
Pt Pr Pp S 1 0 ↑ ↓
0 STAND Standard input pot * √ √ √ √
1 SON Servo on * * * √ √
2 RES Reset, clear alarm * * √ √
3 LSP Forward travel end * * * √ √
4 LSN Reverse travel end * * * √ √
5 CLE Position deviation counter cleared * * √ √
6 INH Pulse command input prohibited * √ √
7 TL+ Forward torque limit * * * √ √
8 TL- Reverse torque limit * * * √ √
9 SC1 Internal speed selection 1 * √ √
10 SC2 Internal speed selection 2 * √ √
11 DEG1 Electronic gear function selection 1 * * √ √
12 DEG2 Electronic gear function selection 2 * * √ √
13 ST1 Positive start * * * √ √
14 ST2 Reverse start * * * √ √
15 ISC Internal and external speed selection switch * √ √
16 RDC Change rotation direction * * * √ √
17 CMC Control mode switch * * * √ √
18 POS1 Internal position command selection 1 * √ √
19 POS2 Internal position command selection 2 * √ √
20 POS3 Internal position command selection 3 * √ √
21 POS4 Internal position command selection 4 * √ √
22 PSC1 Internal position command speed selection 1 * √ √
23 PSC2 Internal position command speed selection 2 * √ √
24 PSC3 Internal position command speed selection 3 * √ √
25 START Operation start * √ √ √ √
26 DOORG Start origin operation * √ √ √ √
27 ORGIN Origin sensor input * √ √ √ √
28 STOP Operation stop signal * * √ √ √ √

PB47 IN1 signal definition（0~34）

Function: See input interface selection table(see parameter PB46)

PB48 IN2 signal definition（0~34）

Function: See input interface selection table(see parameter PB46)

4 - 30
4 Parameter
PB49 IN3 signal definition（0~34）
Function: See input interface selection table(see parameter PB46)

PB50 IN4 signal definition（0~34）

Function: See input interface selection table(see parameter PB46)

PB51 IN5 signal definition（0~34）

Function: See input interface selection table(see parameter PB46)

PB52 IN6 signal definition（0~34）

Function: See input interface selection table(see parameter PB46)

PB53 IN7 signal definition（0~34）

Function: See input interface selection table(see parameter PB46)

PB56 OUT0 signal definition（0~11）

Function: See output interface selection table (as below)

Work mode
Number Abbreviation Definition
Pt Pr Pp S
0 STAND Standard output port *
1 ALM Servo alarm * * * *
2 RD Servo ready * * * *
3 INP Position arrival * * *
4 SA Speed arrival * *
5 CDO Motor current detection output * * * *
6 TDO Torque limit * * * *
7 ZSP Zero speed arrival * * * *
8 OUT_Z Motor encoder Z pulse delays 1ms to output * * * *
9 MBR Motor mechanical brake control output * * * *

PB57 OUT1 signal definition（0~11）

Function: See output interface selection table (see parameter PB56)

PB58 OUT1 signal definition（0~11）

Function: See output interface selection table (see parameter PB56)

PB59 OUT1 signal definition（0~11）

Function: See output interface selection table (see parameter PB56)

PB74 Internal position command speed 5（0~3000 r/min）

Function: See No. PB06 parameter description

4 - 31
4 Parameter
PB75 Internal position command speed 6（0~3000 r/min）

PB76 Internal position command speed 7（0~3000 r/min）

PB77 Internal position command speed 8（0~3000 r/min）

PB78 Internal position command PO9 high position（-9999~9999）

Function: See No. PB10 parameter description

PB79 Internal position command PO9 low position（-9999~9999）

PB80 Internal position command PO10 high position（-9999~9999）

PB81 Internal position command PO10 low position（-9999~9999）

PB82 Internal position command PO11 high position（-9999~9999）

PB83 Internal position command PO11 low position（-9999~9999）

PB84 Internal position command PO12 high position（-9999~9999）

PB85 Internal position command PO12 low position（-9999~9999）

PB86 Internal position command PO13 high position（-9999~9999）

PB87 Internal position command PO13 low position（-9999~9999）

PB88 Internal position commandPO14 high position（-9999~9999）

PB89 Internal position command PO14 low position（-9999~9999）

PB90 Internal position command PO15 high position（-9999~9999）

PB91 Internal position command PO15 low position（-9999~9999）

PB92 Internal position command PO16 high position（-9999~9999）

PB93 Internal position command PO16 low position（-9999~9999）

PB118 Width of output port Z pulse (0~200 ms)

Function: Used for setting the width, of output port Z pulse and is valid upon opening the specified
output port Z pulse function.

4 - 32
4 Parameter
PB124 PP command unit selection（0~3）
Function: ① Selection of SPD command unit : BIT1BIT0：00-r/min；01-0.1*r/min
② Selection of POS_H command unit: BIT3BIT2: 00- correspond to the number of
motor turns (i.e. 4 * PA89 (encoder line number))
01-10000 pulses.

4 - 33
 Chapter 5
Alarm and Remedy

5.1 Alarm List

5.2 Alarm remedy

5.3 Analyses on frequent failures

5 Alarm and Remedy
5.1 Alarm List

RES validity means the RES signal can clear the alarm when current alarm conditions are not
satisfied.
 1 RES valid.
 0 RES invalid.
Table 5.1 Alarm List
Alarm RES
Alarm Item Description
code effective
-- Normal 1
1 Over-speed Speed of servo motor exceeds set value 1
2 Over-voltage of main circuit Over-voltage of main circuit power supply 1
3 Under-voltage of main circuit Under-voltage of main circuit power supply 1
Counter value for position deviation exceeds set
4 Out-ranged positioning 1
value
Saturated malfunction of speed
6 Speed controller is saturated for a long time 1
amplifier
Input of travel ends for positive run and reverse
7 Abnormal drive disable 1
run are open
Counter overflow for position Absolute counter value for position deviation
8 1
deviation exceeds 230
ABZ signal malfunction of
9 ABZ signal error in the encoder 1
photoelectric encoder
11 IPM Module malfunction Malfunction of IPM Intelligent module 0
12 Over-current Over-current of motor 0
Servo drive and motor are overloaded (instant
13 Overload 0
overheat)
14 Braking malfunction Malfunction of braking circuit 1
15 Miscount of encoder Abnormal counting of encoder 0
Electro-heat value of motor exceeds set value
16 Thermal overload of motor 0
(checked by I2t)
17 Speed response malfunction Vital speed alarm in long-term 0
UVW signal malfunction of
18 UVW signal error in encoder 1
photoelectric encoder
19 Thermal reset System has a thermal reset 0
20 EEPROM alarm EEPROM alarm 0
21 FPGA chip alarm FPGA chip alarm 0
22 PLD chip alarm PLD chip alarm 0
23 A/D chip alarm A/D chip alarm or current sensor alarm 0
24 RAM chip alarm RAM chip alarm 0
Zero offset of external speed Zero offset of external speed analog is out of
25 0
analog exceeds the tolerance the rang

5-1
5 Alarm and Remedy
Alarm RES
Alarm Item Description
code effective
Setting alarm of electron gear Numerator of multiplying factor is greater than
26 0
output denominator
27 Default phase alarm Open-phase of 3-phase input supply 0
Parameter setting conducts an
28 Overflow error of parameter setting 0
overflow in calculation
29 Error on broken lines of resolver Broken lines of resolver 0
30 Missing of Z impulse of encoder Z impulse error of encoder 0
UVW signal error in encoder or encoder
31 UVW signal error of encoder 0
mismatching
Code violation of encoder UVW Full high level or low level is present in UVW
32 0
signal signal
An error on too high input signal
Input signal voltage of resolver's conversion
33 voltage of resolver's conversion 0
chip is too high
chip
An error on tracking input signal of Abnormal tracking of input signal of resolver's
34 0
resolver's conversion chip conversion chip
Brake line is working during none
35 Over voltage of major loop power supply 0
falling-rate period
36 Faulty operation Illegal operation is executed 1
Wrong magnification setting of
37 Wrong parameter setting 1
input position command
38 Overflow alarm of smoothing filter Wrong parameter setting 1
39 Communication alarm Communication alarm 1
PC pointer used by PP program exceeds the
Overflow of NC program pointer
40 program scope, the stack pointer for PP 1
and stack
program exceeds the scope,
Abnormal reading of numerical values which
41 RDC Chip malfunction 1
exceeds the normal range
When reading PP parameters from EEPROM
(PP procedures, PJ parameters, interrupt
Misreading of PP parameters from
42 entrance address table, interrupt priority 1
EEPROM
tables) , an alarm occurs due to inconsistent
accumulated sum
43* Internal use 1
44* Internal use 0
The error when calling When calling motor’s default parameters to
corresponding motor’s default modify PA1 or PA59, calculated accumulative
45 1
parameters to modify PA1 or value is discrepant with received accumulative
PA59 value.

5-2
5 Alarm and Remedy
Alarm RES
Alarm Item Description
code effective
This version does not support PP instruction
Version of drive software is too
46 function required by the user and needs to be 0
low
upgraded.
If the external analog reference input is higher
External analog input is too large
47 than the alarm threshold during AU-ADJ 1
as AU-ADJ operation is performed
operation, an alarm occurs.
Only effective to UVW line-saving encoder: 3
First reading from line-saving
48 consecutive readings from encoder UVW are 0
encoder UVW is wrong
not the same upon power-on
Read and compare the EEPROM version
An alarm on too low software number in the initialization phase to guarantee
49 0
version of EEPROM exact realization of DSP software function in
relation of EEPROM data
Cumulative sum error of calculated parameters
60 Parameter reading error during initialization and the implementation of 0
EE-rd operation
An alarm to indicate that the external EMG input
64 EMG alarm 1
interface is valid
RS485 communication checksum
70 3 consecutive errors of CRC checksum 1
error
RS485 communication data frame
71 A data frame has more than 50 bytes 1
length is out of range

5-3
5 Alarm and Remedy
5.2 Alarm remedy
1 Over-speed
Running status: Cause Remedy
The control power Malfunction of control circuit board Replace servo drive
is turned on Encoder malfunction Replace servo motor
Too high pulse frequency of input
Set input command impulse correctly
command
Too low time constant for acceleration
Enlarge acceleration and deceleration time
and deceleration, leading to too high
constant
speed overshooting
During motor Too high input of electron gear ratio Set correctly
running
Poor encoder cable Correct the cabling
Reset respective gain
Overshot is created due to instable
If the gain fails to be set to proper value, reduce
servo system
the rate of loaded rotary inertia
Encoder malfunction Replace servo motor

Wrong wiring of U、V、W leads of motor

Correct the wiring
Upon start-up of Wrong wiring of encoder leads.
motor Reduce load inertia
Too much load inertia
Replaced drive and motor with higher power
Alarm on zero reference of encoder Replace servo motor

2 Over-voltage of main circuit

Running status: Cause Remedy
The control power
Malfunction of circuit board Replace servo drive
is turned on
Upon switching Over supply voltage
Check power supply
on primary source Abnormal waveform of supply voltage
Regenerative discharge resistance is
Afresh wiring
disconnected
Brake transistor is damaged
Internal regenerative discharge Replace servo drive
resistance is damaged
During motor
Reduce t on-off frequency
running
Increase time constant for acceleration and
deceleration
Insufficient capacity of braking loop
Reduce the value for torque limitation
Cut load inertia
Replaced drive and motor with higher power

5-4
5 Alarm and Remedy
3 Under-voltage of main circuit
Running status : Cause Remedy
The control power Three-phase AC input voltage is too low Test if R, S, T input is below AC220V-25%
is turned on Malfunction of servo drive Replace servo drive
During motor Insufficient power supply capacity
Check power supply
running Instant power down

4 Out-ranged positioning
Running status : Cause Remedy
The control power
Malfunction of circuit board Replace servo drive
is turned on
Motor fails to run
when primary Wrong wiring of U、V、W leads of motor
source and Correct the wiring.
control line are Wrong wiring of encoder cable
switched on and
command
Encoder fault Replace servo motor
impulse is input.
Too small range for detection of Increase the range for detection of out-ranged
out-ranged positioning positioning.
Too small proportional gain for
Increase gain
During motor positioning
running Too high command impulse frequency Reduce frequency
Check the value for torque limitation
Insufficient torque Cut load capacity
Replace drive and motor with higher power

6 Saturated malfunction of speed amplifier

Running status: Cause Remedy
Motor has mechanical jam Inspect mechanical part under load
During motor
Cut load
running Overloaded
Replace drive and motor with higher power

7 Abnormal drive disable

Running status: Cause Remedy
The control power Input terminal of travel ends for positive Inspect the power source for wiring and input
is turned on run and reverse run are open. terminal

5-5
5 Alarm and Remedy
8 Counter overflow for position deviation
Running status: Cause Remedy
Motor fails to run
when primary Motor has mechanical jam Inspect mechanical part under load
source and
control line are
Check command impulse
switched on and
Abnormal input command impulse Check if the motor runs against command
command
impulse
impulse is input.

9 Photoelectric encoder ABZ signal malfunction

Running status: Cause Remedy
Motor encoder to the drive cable has partial
Breaks of PHA、PHB、PHZ、PHAR、 disconnection or connection is not reliable (can
PHBR、PHCR encoder wires be judged by observing the encoder input signal
(dp_Cod).
The encoder cable is not plugged in Plug the cable
Encoder wiring error Check wiring or replace cables
Cut cable length or adopt parallel supply with
The control power Over-length of encoder cable
multi-core cable
is turned on
Please use shielded twisted pair cables and
check whether shielded wires connect the
External interference signal connector shell. Don’t make it parallel with strong
electricity or line it in the same conduit with
strong electricity
Damaged encoder Replace servo motor
Drive interface circuit damaged Replace servo drive

5-6
5 Alarm and Remedy
11 IPM Module malfunction
Running status: Cause Remedy
First check whether it is clogged and clear the
The control power Fan doesn't turn or is damaged debris.
is turned on Replace servo drive cooling fan
Malfunction of circuit board Replace servo drive
Confirm whether PA1 and PA59 parameters are
Drive and motor parameters mismatch
correct
Short-circuit among motor power lines
Check wiring
U, V and W
Verify firm connection by screw between the
motor power line and the drive.
Poor connection of motor power line U, Reliable soldering of electrical power lines and
V, W motor.
The motor power cord and motor outlet muse be
reliable connection.
Check the drive and motor for reliable earthing
During motor Poor earthing and check if the line diameter of ground line is too
running small
Check the line filter case whether the contactor,
relays, electromagnetic valves have taken
measures by adding some inductive parts to
prevent the impact of voltage (e.g., r-c absorbing
Affected by interference circuit, absorbing diode at dc coil side).
Check whether the control signal wiring is as
short as possible, and try to separate wiring from
power lines to avoid inductive interference.
Far from the interference.
Destruction of motor insulation Replace servo motor
Drive is damaged Replace servo drive

12 Over-current
Running status: Cause Remedy
The control power
Malfunction of circuit board Replace the drive
is turned on
Short circuit between U, V, W in the drive Check wiring
During motor
Imperfect earthing Correct the earthing
running
Motor insulation damage. Replace the drive

5-7
5 Alarm and Remedy
13 Overload
Running status: Cause Remedy
The control power
Malfunction of circuit board Replace servo drive
is turned on
One phase breakage among U, V, W
Check wiring
Encoder wiring Alarm
Holding brake is not opened Check holding brake
Adjust gain
Increase time constant for acceleration and
During motor Unstable motor with oscillation
deceleration
running Cut load inertia
Check load
Cut on-off frequency
Running at an over-ranged torque
Reduce the value for torque limitation
Replace drive and motor with higher power

14 Braking malfunction
Running status: Cause: Remedy
The control power
Malfunction of circuit board Replace servo drive
is turned on
Disconnection of regeneration
Rewiring
discharge resistance
Over-voltage of main circuit power
Check main power supply
supply
During motor Cut on-off frequency
running Increase time constant for acceleration and
deceleration
Insufficient capacity of braking loop
Reduce the value for torque limitation
Cut load inertia
Replaced drive and motor with higher power
Brake transistor is damaged
Upon switching
Internal regeneration discharge Replace servo drive
on SON signal
resistance is damaged

5-8
5 Alarm and Remedy
15 Miscount of encoder
Running status: Cause Remedy
Encoder wiring error Check wiring
Imperfect earthing Correct the earthing
Number of encoder lines is wrong
Make sure parameters PA1 and PA59 are
Encoders and motor pole pairs don't
correct
match
During motor
Please use shielded twisted pair cables and
running
check whether shielded wire touches connector
False Z signal presented in encoder
shell. Don’t make it parallel with strong
(several Z impulses in one turn)
electricity or line it in the same conduit with
strong electricity.
Damaged encoder Replace servo motor

16 Thermal overload of motor

Running status: Cause Remedy
The control power
Malfunction of circuit board Replace servo drive
is turned on
Check load
Long-term running at an over-ranged Reduce on-off frequency
During motor
torque Reduce the value for torque limitation
running
Replace drive and motor with higher power
Poor mechanical transmission Inspect mechanical part

17 Speed response malfunction

Running status: Cause Remedy
The control power
Chip or circuit board malfunction Replace servo drive
is turned on
Overloaded, locked rotor Check load condition
During motor
Loose connection between encoder and
running Replace motor
motor shaft

5-9
5 Alarm and Remedy
18 UVW signal malfunction of photoelectric encoder
Running status: Cause Remedy
Encoder wiring alarm Check wiring
Damaged encoder Replace servo motor
Poor encoder cable Replace cable
Low power supply voltage for encoder due Cut cable length
The control power to over-length of encoder cable Use parallel operation supply power with
is turned on multi-core cable
Damaged drive interface Replace servo drive
Wrong setting of motor parameter
Use parameters for non line-saving motor Properly set motor parameters
to run the motor with line-saving encoder

19 Thermal reset
Running status: Cause Remedy
Instable power supply for input control Check control power supply
The control power
Add line filter
is turned on Affected by interference
Far from interference source

20 EEPROM Chip Alarm

Running status: Cause Remedy
Reset power
Reset the drive type (parameter PA1), and
The control power Reading error of Memory parameters
then restore the default parameters.
is turned on
Need to reset the user parameters
Drive damaged Replace servo drive

21 FPGA Chip Alarm

Running status: Cause Remedy
The control power
Damaged chip or circuit board Replace servo drive
is turned on

22 PLD Chip Alarm

Running status: Cause Remedy
The control power
Damaged chip or circuit board Replace servo drive
is turned on

23 A/D Chip Alarm

Running status: Cause Remedy
Damaged chip or circuit board
The control power
Damaged current sensor Replace servo drive
is turned on
Improper power supply

5 - 10
5 Alarm and Remedy
24 RAM Chip Alarm
Running status: Cause Remedy
The control power Damaged chip or circuit board
Replace servo drive
is turned on Damaged PLD chip

25 Zero deviation of external speed analog is out of range.

Running status： Cause Remedy
Check the input analog if it exceeds the range of
Reset of Zero deviation of external speed analog (-58mv-+23 mv) during zero setting of the analog
analogue is out of range. Check the system for correct earthing.
Replace servo drive.

26 Wrong setting of electron gear output

Running status: Cause Remedy
The control power Numerator of multiplying factor is
Reset numerator and denominator parameters
is turned on greater than denominator

27 Lack-phase alarm
Running status: Cause Remedy
The control power Poor power supply wiring Correct the wiring
is turned on Lack-phase of input 3-phase supply Check power

28 Parameter setting conducts an overflow in calculation

Running status: Cause Remedy
The control power
Overflow of parameter setting Correct setting of parameter 。
is turned on

29 Error on broken lines of resolver

Running status: Cause Remedy
Wiring error of resolver
Correct wiring（ priority check： actuating signal
Poor connecting cable between
REF+（CN5-10）,REF-(CN5-5)）。
resolver and drive.
The control power Over-length of connecting cable of the
Cable length for connection should be within 30
is turned on resolver resulting in low power
M.
supply voltage in resolver
Damaged conversion chip of drive's
Replace servo drive.
resolver

5 - 11
5 Alarm and Remedy
30 Missing of encoder Z impulse
Running status: Cause Remedy
Poor cable
Poor cable shielding Correct the wiring
During motor
Poor connection of shielding earth
running
Absence of Z impulse, encoder is
Replace servo drive
damaged

31 Encoder UVW signal Alarm

Running status: Cause Remedy
Poor cable
Poor cable shielding Correct the wiring
The control power
Poor connection of shielding earth
is turned on
Encoder UVW signal damaged
Replace servo drive
Damaged Z signal in encoder

32 Code violation of UVW signals in encoder

Running status: Cause Remedy
Poor cable
The control
Poor cable shielding Correct the wiring
power is turned
Poor connection of shielding earth
on
Damaged UVW signals in encoder Replace servo drive

33 Alarm on too high input signal voltage of resolver's conversion chip

Running status: Cause Remedy
Wiring error or no wiring of the resolver
The control
Poor connecting cable between resolver and Correct the wiring 。
power is turned
drive.
on
Damaged conversion chip of drive's resolver Replace servo drive.

34 An error on tracking input signal of resolver's conversion chip

Running status: Cause Remedy
Wiring error of resolver Correct wiring （ priority check ： Signal
The control
Poor connecting cable between resolver and Sin+(CN5-9),Sin-(CN5-4) ；
power is turned
drive. Cos+(CN5-8),Cos-(CN5-3)）。
on
Damaged conversion chip of drive's resolver Replace servo drive.

5 - 12
5 Alarm and Remedy
35 Brake line is working during none falling-rate period
Running status: Cause Remedy
Measure R, S, T input voltage and check if
they are normal
Upon switching
Appropriately increase PA33 parameter
on main source Over voltage of power supply
value
or during motor
( Note: If the parameter value is overset ,
running
it may damage the drive )
Damaged servo drive Replace servo drive

36 Faulty operation
Running status: Cause: Remedy
During abnormal Execute EE-DEF operation when drive is
Reset it manually or by power-off
operation enabled in SON.

37 Input position instructions multiplying factor set wrong

Running status: Cause Remedy
During motor High value of PA12/PA13 Reduce PA12 / PA13 values.
running Too high frequency of input command Reduce the frequency of input command

38 Smoothing filter overflow alarm

Running status: Cause Remedy
High value of PA12/PA13 Reduce PA12 / PA13 values.
During motor
Too high frequency of input command Reduce the frequency of input command
running
High value of PA19 Reduce the value of PA19

39 Communication Alarm
Running status: Cause Remedy
Imperfect earthing Correct the earthing
Wrong wiring of communication lines Replace communication lines.
Set the communications address of the drive
Upon switching
Incorrect setting of communication (PA51) and the communication speed
on control
parameters (stack number , communication (PA52) correctly according to communication
source
speed) address and communication speed of upper
computer
Damaged drive hardware Replace servo drive

40 NC program pointer and stack overflow

Running status Cause Remedy
The control NC program interrupt nested calls are more Reduce NC interrupt nested calls within
power is turned than three levels. three levels.
on NC program too large Reduce the instructions of the NC program

5 - 13
5 Alarm and Remedy
41 RDC chip Alarm
Running status Cause Remedy
The D-value of two adjacent interrupt data
that are read from the resolver can not
exceed 27（1 pair poles）.Corresponding
The control Check the motor resolver if it is damaged
motor is impossible to reach the highest
power is turned Revolve signal is reliably connected.
speed of 8000 rpm.
on Replace servo drive
n max  2 rdc  PA108
PULSE ERROE 
60  f sample

42 PP parameters read Alarm in EEPROM

Running status Cause Remedy
The control
power is turned EEPROM version is too old. Upgrade EEPROM program
on

43 Internal use

44 Internal use

45 Modify PA1 or PA59 calls corresponding motor default parameters was wrong
Running status: Cause Remedy
When modifying PA1 or PA59 and calling
The control
motor default parameters, calculated Reset PA1 or PA59
power is turned
accumulative sum is not same as the Replace servo drive
on
received accumulative sum

46 Drive software version is too low

Running status: Cause Remedy
This version does not support PP
Upon switching
instruction function. Be required by the Upgrade drive program
on control source
user. Please upgrade it.

47 External analog input is too large as AU-ADJ operation is performed

Running status: Cause Remedy
If the external analog reference input is Check external analogue input if it is
Execute AU-ADJ
higher than the alarming threshold during abnormal. The absolute value of analogue
operation
AU-ADJ operation, an alarm occurs. input can not exceed 375mv.

5 - 14
5 Alarm and Remedy
48 First reading performed by line-saving encoder UVW is wrong
Running status: Cause Remedy
Only effective to UVW
The control line-saving encoder: 3
Check the wiring of motor encoder if it is correct；
power is turned consecutive readings from
Check the connection of motor encoder if it is reliable.
on encoder UVW are not the same
upon power-on

49 An alarm on too low software version of EEPROM

Running status: Cause Remedy
EEPROM (PB5) version
The control number does not match the
power is turned software version number (PA2) Upgrade drive program.
on when reading during the
initialization phase.

60 Parameter reading error

Running status: Cause Remedy
Cumulative sum error of Power on again
calculated parameters during Reinstall drive type (parameter PA1) and restore default
The control
initialization and the parameter thereafter.
power is turned
implementation of EE-rd Need to reinstall customized parameters excluding
on
operation default parameters.
Damaged servo drive Replace servo drive.
64 EMG alarm
Running status: Cause Remedy
The control It has EMG signal input for Check for any input of interfering signals.
power is turned emergency stop. Check for satisfied condition for input of EMG signal.
on Damaged servo drive Replace servo drive.

70 RS485 communication checksum error

Running status: Cause Remedy
Correct the earthing
Check for correct wiring.
3 consecutive errors of CRC
Upon switching Correct setting of parameter （ PA51 ） for drive's
checksum
on control source communication stack number and parameter（PA52）for
communication speed rate.
Damaged servo drive Replace servo drive.

5 - 15
5 Alarm and Remedy
71 RS485 communication data frame length is out of range
Running status: Cause Remedy
Correct the earthing
Check for correct wiring.
A data frame has more than 50
Upon switching Correct setting of parameter （ PA51 ） for drive's
bytes
on control source communication stack number and parameter（PA52）for
communication speed rate.
Damaged servo drive Replace servo drive.

5 - 16
5 Alarm and Remedy
5.3 Analyses on frequent failures
1) Insufficient output torque of the motor
Number Cause Remedy
Drive parameters don't
1 Check parameters PA1 and PA59.
match the motor
Check parameters PA34 and PA35（Judged by checking
(DP_Trq)）
2 Torque limit Check whether external TL + and TL - have input
（ Judged by checking the I/O monitoring interface
(DP_In)）
In this case the default parameter should be 100% while
3 JOG or trial run mode
you can modify PA38 or change parameter PA4
In the course of processing the variation of torque value can be observed in real time
by monitoring the display interface (DP_trq) for practical torque in order to make a
Notes direct estimation on the loading condition. If the load is too large, it is required to check
the loading conditions. If the loading condition is fine, use more powerful drive to
replace it.

2) Motor fails to run without any alarm

Number Cause Remedy
Check if external input SON signal is valid(By checking
1 drive is not enabled if the ‘Run’ light of the operation panel is on or by
checking the I/O monitoring interface (dp_In)）
Drive and motor power lines
2 do not have reliable Check motor power line
connection
Fail to rotate in one Check if external input LSP or LSN signal is valid(By
3
direction checking the I/O monitoring interface (dp_In)）
PA20=3 while LSP and LSN Make external input LSP and LSN be valid, or modify
4
are invalid PA20 , so it is not equal to 3
Wrong setting of pulse input
5 Set parameter PA4=0
mode parameter
Wrong setting of pulse input
6 Set parameter PA14 correctly
mode parameter
Reset position deviation Make external input CLE signal be invalid. It may be
7 counters to zero judged by checking of monitoring interface (dp_In) at
I/O ports.）
Make external input INH signal be invalid（It may be
Position impulse instructions
8 judged by checking of monitoring interface (dp_In) at
input banned
I/O ports.）

5 - 17
5 Alarm and Remedy
Number Cause Remedy
Check if the interface connector is in poor contact.（It
No input of position impulse
9 can be estimated by observing the display interface for
command
speed instruction (dp_CPO)）
Wrong setting of parameters
10 for input mode of external Set PA4=1
analog speed
Make external input ISC signal invalid or set parameter
11 Choose internal speed mode
PA42=0
Check if the interface connector is in poor contact（It
No input of analog speed
12 can be judged by observing the display interface for
command
speed instruction (dp_CS)）

3) Fail to increase motor speed or motor is in creeping run.

Number Cause Remedy
Drive parameter don’t
1 Estimated by checking of parameter PA1 and PA59
match the motor
Judged by checking of max. Speed limitation (parameter
PA23),the parameter value should be greater than
2 Max. speed limitation required motor speed. The set value could not exceed
the rated maximum speed indicated on motor
nameplate.
Make sure that UVW connection between drive and
Wrong setting of motor motor is correct （it can not be remedied by simple
3
power line sequence alternation of phase sequence to realize reversal run of
the motor）
If the motor speed fails to reach its expectation when the
external analogue instruction for speed reaches 10V and
the drive is in speed control mode (parameter PA4=1),
Speed analogue gain is too
4 The motor speed can be increased by changing the
low
command input gain for speed variation (parameter
PA43), however it is prohibited to raise the analog
voltage to the value greater than +10V.

5 - 18
 Chapter 6
Display and
Keyboard Operation

6.1 Keyboard operation

6.2 Monitoring mode

6.3 Parameter setting

6.4 Parameter management

6.5 Trial run

6.6 JOG run

6.7 AU operation

6.8 Other commands

6 Display and Keyboard Operation
6.1 Keyboard operation
Display panel of KT270-H series is composed of 6 LED digitrons and 4 keys ↑、↓、←、 .
They are employed for display of various states and parameters setting.
The display panel adopts slider design that needs to move up the transparent cover by sliding
upward at both sides simultaneously, as shown in Figure 6.1.

Fig. 6.1 Operating diagram for slider of KT270-H series

It is operated in multiple layers. ←、 keys are used for backward and forward of layers. 
key is used to enter and confirm while ← key is used to exit and cancel. ↑、↓ keys can be used
to increase or decrease code numbers or values. By pressing and holding ↑、↓keys it can repeat
the current operation. The longer the key is hold, the higher of repetition rate is got.
Notes
If 6 digitrons or the digitron at right-hand for decimal point are blinking it indicates there
is an alarm.
The first layer is used for mode selection with altogether 9 modes to be selected by ↑ or ↓
keys. Press  key to access the 2nd layer while pressing of ← key can exit the 2nd layer and
return to the 1st layer.

dP- Monitoring mode

PA- Parameter setting

EE- Parameter management

 The
↑ ↓ Sr- Trial run Second
← Layer
Jr- JOG mode
Automatic compensation
AU- for zero bias of speed
command
Zero setting of
C0- encoder

oL- Running in open-loop

The First Layer

Fig. 6.2 Diagram for operation mode selection

6-1
6 Display and Keyboard Operation
6.2 Monitoring mode
Select “dP -” in the 1st layer and press  key to enter monitoring mode.
24 display statuses are available for user to select with ↑ , ↓ keys. Pressing  key can
enter specific display status.

Monitoring mode Select mode Name

Motor speed (r/min)
Current position, 5 digits lower (pulse)
Current position, 5 digits higher ( X 100000 pulse)
Position command, 5 digits lower (pulse)
Position command, 5 digits higher ( X 100000 pulse)
Position offset, 5 digits lower (pulse)
Position offset, 5 digits higher ( X 100000 pulse)
Motor torque ( % )
Motor current ( A )
Linear speed ( m/min )
Current control mode
Position command pulse frequency ( kHz )
Speed command ( r/min )
Torque command ( % )
Absolute position of the rotor in one turn ( pulse )
Input plug state
Output plug state
Input signal of encoder
Run mode
Error NO.
Command torque ( % )
A phase current ( A )
C phase current ( C )
Reserved

6-2
6 Display and Keyboard Operation
Mode Display Setting examples
Enter specific display status
Exit to mode selection
dP-SPd Motor speed 1000r/min

dP-PoS Current position 1245806 pulse

dP-PoS.

dP-CPo Position command 1245810 pulse

dP-CPo.
Note: The input pulse means the impulse processed by input electron
gear.
Impulse unit is the impulse unit within the system. In this system each turn
will have 10000 impulses. Impulse can be expressed by 5 digits at high
level + 5 digits at low level, the calculation procedure is:
Impulse = 5-digit value in high level*10000 + 5-digit value in low level
dP-EPo Position offset 4 pulse
dP-EPo.

dP-trq Motor torque 70%

dP-I Motor current 2.3A

Note: Calculation procedure for motor current I is:
2 2
I  ( I U  I V2  I W2 )
3
It expresses the amplitude value of the phase current. At high frequency,
virtual value of phase current can be calculated by multiplying the value
with 0.707.
dP-LSP Linear speed 5.000m/min
Note: If the displayed number reaches 6 digits (e.g. display of -12345), no
more prompt character will be displayed.
dP-Cnt Current control mode is position control
Note:
0 Position control
1 Speed control
2 Trial run
3 JOG mode

dP-Frq Position command pulse frequency 12.6kHz

Note: The impulse frequency for positioning command indicates
the actual input pulse frequency before processing by electron
gear. Minimum unit of 0.1 KHz
Positive number means positive direction, negative number means
reversal direction.

6-3
6 Display and Keyboard Operation
Mode Display Setting examples
Enter specific display status
Exit to the mode selection
dP-CS Speed command -35r/min

dP-Ct Torque command -20%

dP-APo Absolute position of rotor 3265

Note: The absolute rotor position in one turn expresses the stator’s
relative position in one turn. It takes one turn as a complete alternation at a
range of 0- 9999.
dP-In Input plug
Note: Display of input terminal is shown as following figure (illuminated
stroke means close, extinguished stroke means open)
INH(Input disable of impulse instruction)
SC2(Speed selection 2)
CLE(Clear)
TL+(Torque limitation SC1(Speed selection 1)
at forward rotation)
LSN(Reverse rotation stroke end)
TL-(Torque limitation
LSP(Forward rotation stroke end)
at reverse rotation)
RES(Reset)
SON(Servo-on)

dP-oUt Output plug

Note: Display of output terminal is shown as following figure (illuminated
stroke means close，extinguished means open)
INP(In position)
SA(Speed reached)
Reserved
ALM(Servo alarm)
RD(Ready)

dP-Cod Signal of encoder

Note: Display of encoder signal is shown as following figure (illuminated
stroke means close，extinguished means open)
Phase V of encoder

Phase W of encoder
Phase U of encoder Phase Z of encoder
Phase B of encoder
Phase A of encoder

6-4
6 Display and Keyboard Operation
Mode Display Setting examples
Enter specific display status
Exit to mode selection
dP-rn Run mode: running
Note:
rn-oFF No charging in main circuit, no operation of servo system.
rn- CH Main circuit is charged while servo system does not function
(servo on signal is not closed or system is at fault alarm).
rn- on Main circuit is charged while servo system is functioning.

dP-Err Error NO. 9

Note: Display of alarm code “Err - -” means in normal function with no
alarm.
dP-tL Command torque 60%

dP-IA A phase current 2A

dP-IC C phase current 1.5A

dP-rES

6.3 Parameter setting

Select “PA -” in the 1st layer and press  key to enter parameter setting mode. Select
parameter number with ↑, ↓ keys, press  key to display the parameter value and modify the
parameter value with ↑ , ↓ keys. Press ↑ or ↓ key once to increase or decrease the
parameter value by 1, press and hold ↑or ↓ key to increase or decrease the value continuously.
When the parameter is under modification, the LED digitron for decimal point at the right side is lit.
Press  key to confirm and valid the modified value while the LED digitron for decimal point at the
right side goes off. The modified value will reflect in the control at once (except parameter PA40,
PA41). By pressing of ↑ or ↓ key the parameter could be modified again. Upon completion of
modification, press ← key to return to parameter selection state. In case of dissatisfaction of value
under modification, do not press  key for confirmation, but in stead , press ← key to cancel the
modification by restoring the original parameter value and return to parameter selection state.

6-5
6 Display and Keyboard Operation

PA- 0 Parameter 0

PA- 1 Parameter 1
 ↑
↓ ↑ : : 1000. 
: : ↓
←

PA- 58 Parameter 58

PA- 59 Parameter 59

Fig. 6.3 Diagram of parameter setting operation

1. Parameter PA0 should be set to 315 to enable modification of other

parameters. ( for modification of parameter PA1 and PA59, set PA0 to
385).
2. Parameter setting will be effective immediately (See table 4.1). Wrong
setting may result in accident due to device malfunction.

6.4 Parameter management

The main purpose of parameter management is to handle the operation between memory and
EEPROM. Select “EE -” in the 1st layer and press  key to enter parameter management mode.
The next step is to select operation mode out of 5 modes with ↑, ↓ keys. For instance of
“parameter write-in”, select “EE - Set”, press and hold  key for over 3 seconds until “StArt” is
shown on display that indicates the parameter is writing in the EEPROM. After 1-2 seconds “FInISH”
is displayed for successful write-in operation or “Error” is displayed for failed write-in operation.
Press ← key again to return to selection state for operation mode.

EE-SEt Parameter write

Press and keep Operation

EE- rd Parameter read FInISH succeed
three seconds
 StArt
↓ ↑ EE- bA Parameter backup Operation
Error defeat
EE- rS Resume backup
←

EE-dEF Resume default

Fig. 6.4 Diagram of parameter management

6-6
6 Display and Keyboard Operation
System on ： EEPROM parameter section memory

EE-SEt Parameter write ： memory EEPROM parameter section

EE- rd Parameter read : EEPROM parameter section memory

EE- bA Parameter backup ： memory EEPROM backup section

EE- rS Resume backup ： EEPROM backup section memory

EE-dEF Resume default ： parameter default memory， EEPROM parameter section

Fig. 6.5 Meaning of parameter management

Parameter
Select mode Name
management
parameter write-in
It means to write the parameter in memory to the
parameter section in EEPROM.
Note: When the parameter is modified by the user, the value is
only changed in the memory. After power-on next time, the
original value will be restored. For permanent modification
of parameter value, it requires a write-in operation of the
parameter value from memory to the parameter section in
EEPROM, so that the modified parameter will be valid for
use in next power-on.
Parameter read-out
It means to read the value in parameter section of
EEPROM to the memory.
Note: This read-out operation will execute once upon power-on
to keep the same parameter value both in memory and
parameter section of EEPROM. When the user has
modified the parameter value, the value in memory will be
changed. If the user dissatisfy the modified value or the
value is modified in confusion, parameter read-out
operation can be executed to download the value in
parameter section of EEPROM to the memory to recover
the value same as that upon power-on.
Parameter backup
It means to write the parameter in memory to the backup
section in EEPROM.

6-7
6 Display and Keyboard Operation
Note: Full EEPROM is divided into two sections i.e. parameter
section and backup section for storage of two sets of
parameters. When the system is powered on, the
parameter section in EEPROM is used for parameter
write-in and parameter read-out while the backup section
in EEPROM is used for parameter backup and restoration.
During the course of parameter setting, if the user satisfies
a set of parameters with an attempt to continue the
modification, he can execute a backup operation first to
save the parameter in memory to the backup section in
EEPROM and then, continue the operation for parameter
modification. If the user dissatisfies the modification, he
can restore the backup to read out the parameter saved in
the backup section of EEPROM to the memory for further
modification or to terminate the modification. In addition,
when the user has set up the parameter, he can execute
the operation both for write-in and back-up to maintain
same data both in parameter section and backup section
in EEPROM. This will help to avoid the risk by accident
parameter modification. Backup restore operation can be
applied to read the data from backup section in EEPROM
to the memory and write the data in memory to parameter
section in EEPROM by write-in operation.
Parameter restoration
It means to read the value in backup section of EEPROM
to the memory.
Note: Note that this operation is not a write-in operation. In next
power-on it needs to repeat data read-out operation from
parameter section in EEPROM to the memory. One more
write-in operation of parameter value is required if the user
intends to use the parameter in backup section of
EEPROM permanently.
Reset to default value
It means to restore all default parameter values (factory
setting) into the memory and write the default value to the
parameter section in EEPROM in order to use the default
setting in future power-on.
Note: If the system fails to work properly due to confused
parameter setting by the user, this operation can restore
all parameters that are same as that in ex-works state.
Owing to that various motor have different default
parameter values, whenever restoration of default
parameter is applied, please justify the driver type
(parameter PA1).

6-8
6 Display and Keyboard Operation

1. If the modified parameter fails to execute write-in operation, the parameter will not be
saved after power down and the modification will be invalid.
2、Execute EE operation and cut the power upon “FInISH” is displayed on the screen.

6.5 Trial run（parameter PA4=2）

Select “Sr -” in the 1st layer and press  key to enter trial run mode. Prompt sign for speed
trial run is “S” with r/min as unit of value. The system should be in speed control mode. Speed
command is provided by keystrokes. ↑ , ↓ key are applied to change speed command. If
parameter PA20=2 or external input signal SON is enabled, the motor will run at given speed.
↑
S 800 ↓

Fig. 6.6 Diagram of speed trial-run operation

6.6 JOG mode（parameter PA4=3）

Select “Jr -” in the 1st layer and press  key to enter JOG mode for jogging. Prompt sign for
JOG mode is “J” with r / min as unit of value. The system should be in speed control mode while the
speed command is provided by keystrokes. In JOG mode, press and hold ↑ key to run the motor
at JOG speed provided parameter PA20=2 or external input signal SON is enabled. The motor will
stop and keep running at 0 speed when the key is released. Press and hold ↓ key to let the motor
run in reversal direction at JOG speed. The motor will stop and keep running at 0 speed when the
key is released. JOG speed is set by parameter PA21.
↑
J 120 ↓

Fig 6.7 Diagram of JOG operation

6.7 AU operation（automatic compensation for zero bias of speed command)

Due to the inherent shortcoming in analogous circuit, when the input analog voltage is at zero,
the output voltage will not be at zero with zero bias in general cases, so that this should be
corrected via software. Parameter PA45 is designed for this zero bias compensation.
In favor of setting parameter PA45 for zero bias compensation, an automatic setting function is
provided in the system. The procedures are shown as follows:
①Select and enter AU menu from main menu.
②Upon display of A0－ADJ press ENTER key for 3 seconds until FINISH is displayed that
means automatic zero setting is completed.
③After automatic zero setting is completed use EE－SET to save all parameters.

6-9
6 Display and Keyboard Operation
6.8 Miscellaneous
● Zero setting of encoder (factory use)
● Running in open-loop (factory use)

6 - 10
 Chapter 7
Power-on and Running

7.1 Earthing

7.2 Work sequence

7.3 Notices

7.4 Trial run

7.5 Adjustment

7.6 Associated knowledge

7 Power-on and Running
 Drive and motor should have reliable earthing, and terminal E in connecting terminal
TB1 of KT270-H series should be connected firmly to the ground terminal of the
equipment.
 It is recommended to provide the power supply via isolation transformer and power filter
to ensure its safety and enhance its interference-free feature.
 Turn on the power after all wirings are checked and confirmed.
 An emergent shunt-down circuit should be set in the system to ensure immediate
power-cut upon accidents.
 Turn on the power again after at least 10 seconds if the drive power is turned off.
 In case of malfunction alarm of the drive, troubles should be confirmed and remedied
while SON signal is disconnected before restart.
 After power-off of the drive and motor, do not attempt to disassemble them in
minimum 10 minutes to avoid the possible electric shock.
 High temperature rise may exist at drive and motor after running for a while. Caution
should be taken to avoid heat injury.

7.1 Earthing
Servo drive and motor should have reliable earthing. To avoid electric shock, the protective
ground terminal on servo drive and the protective grounding at the cabinet should be connected all
the time. Owing to that the servo drive adopts PWM technology to supply the servo motor with
power via power transistor, the servo drive and the connecting wire may be impacted by the
switching noise. In order to meet with EMC standard, the diameter of grounding line should be as
large as possible while the earth resistance should be as small as possible.

7.2 Work sequence

7.2.1Power-on sequence
1) The electromagnetic contactor is used to supply the power to power input terminals R, S, T in
the main circuit. Power supply L11, L21 for KT270-H-50、KT270-H-75 control circuit should be
energized at the same time or before the connection of main circuit power supply R, S, T . If
only power control circuit is switched on, the servo ready signal (RD) is invalid (output
transistor is disconnected).
2) With 1.5 seconds of delay after power-on of main circuit, ready signal (RD) is enabled and
servo on signal (SON) is ready to be received. The motor is excited in operating state when
valid SON signal is detected by the drive. The motor will not be excited and remains at free
state if invalid SON signal or an alarm is detected.
3) The motor will be excited after 1.5 seconds if both servo on signal (SON) and power supply are
switched on together.
4) Frequent on/off switching of power supply may damage the circuits for soft startup and
dynamic braking. After power-off it should be power on after 10 seconds in minimum.
5) If the drive and motor show malfunction due to overheating, the fault should be removed and
wait 30 minutes for cooling down before power-on again.

7-1
7 Power-on and Running

KT270-H-20/30

L11
L21

Fig. 7.1 Diagram of power wiring

7-2
7 Power-on and Running
7.2.2 Sequence chart

Control circuit power

<1s
Servo alarm output
（ALM)

Main circuit power

<1.5s
Servo ready signal
（RD)
10ms内响应
Servo on signal
（SON)

Dynamic brake Release

（DB) Action *1
5ms

Motor incentive power

2ms
Motor brake Release
（MBR) Action *2
50ms

Position speed command Invalid Valid

*1："Enabling" may be shut off and dynamic brake functions when rotation speed is less than PA29.
*2：Take the smaller values between PA50 parameter（delay time for action of mechanical brake (MBR）
and the time to reduce the motor speed to 30 rpm.
Fig. 7.2 Sequence chart for power-on of KT270 - H

Control circuit
power supply
Servo alarm output
(ALM)
Main circuit output
Servo ready signal
＞1.5s
(RD)

Alarm cleared ﹥50ms

（RES）
Servo on signal
(SON)

Dynamic brake
(DB) Action
﹡1
Release

Motor incentive power

Motor brake 2ms

﹡2
(MBR) Action Release
50ms
Position speed command
Valid Invalid

*1："Enabling" may be shut off and dynamic brake functions when rotation rate is less than PA29.
*2：Take the smaller values between PA50 parameter（delay time for action of mechanical brake MBR）
and the time to reduce the motor speed to 30 rpm.
Fig. 7.3 Sequence chart for alarm of KT270 - H

7-3
7 Power-on and Running
7.3 Notices
Notes: Frequency of start-up and shut-down is restricted by both factors i.e. the servo drive and the
motor. Both conditions should be satisfied.
1) Allowable On/Off frequency of servo drive
In case of high On/Off frequency, make sure if it is within the allowable frequency
range. The allowable frequency range is varied according to different types of motors,
capacities, load inertias and motor speeds. First of all the time constant (parameter PA7)
for acceleration and deceleration should be set to avoid too high regenerated energy.
Under the condition in which the load inertia is m times of motor inertia, the allowed On/Off
frequency for the servo motor will be as follows:
Multiplying factor of load inertia Allowable On/Off frequency
>100 C.P.M., 60mS acceleration/deceleration
m≤3
time or even less
60 ~ 100 C.P.M., 60mS to 150mS
m≤5
acceleration/deceleration time
<60 C.P.M., over 150mS
m>5
acceleration/deceleration time
If these setting can not meet with the requirement, an alternative solution is to reduce
internal torque limitation (parameter PA34, PA35). motor speed (parameter PA23).
2) The allowable On/Off frequency of the servo motor varies due to other factors such as
loading condition, runtime etc.

Notes: In general the multiplying factor of load inertia should be within 5. In applications under large
load inertia, overvoltage in main circuit and abnormal braking may occur frequently at deceleration.
Following measures can be adopted to deal with such cases:
1) Reduce internal torque limitation (parameter PA34, PA35).
2) Cut maximum motor speed (parameter PA23).
3) Increase the time for acceleration and deceleration (parameter PA7).
4) Replace drive and motor with more powerful ones.
5) Fix external regeneration discharge resister.

Notes: Servo drive has an internal power supply for encoder. In order to guarantee proper
performance of encoder, the output voltage should be maintained at 5V5v+5%. In case of long
cable is used, drop of voltage may occur. In this instance, it is recommended to use multi-core cable
for encoder's power supply to minimize voltage drop in the cable conductor.

7.4 Trial run

7.4.1 Preoperative check
Upon completion of setup and wiring, following items should be checked prior to start-up:
 Check if the wiring is correct? Any loose connection exists especially at terminal L11,L21, R, S,
T and U, V, W.
 Check if input voltage is right.

7-4
7 Power-on and Running
 Check if there is any short circuit.
 Check if there is any short circuit or the earthing in the connected motor cables.
 Check for proper connection of encoder cable.
 Check for right polarity connection and adequate sizes at input terminals of power supply.

7.4.2 Trial run by power-on

Cautions before power-on:
 No load, applied to motor shaft for idling motor.
 Due to impact applied to the motor during acceleration and deceleration, the motor should be
fixed.
Procedures of trial run by power-on:
1) Connect pin CN4 and make sure servo ON ( SON) is disconnected, travel end for reversal run
( LSN) is closed and travel end for positive run ( LSP) is closed.
2) Switch on power supply for control circuit (no power supply applied to main circuit for the
moment), the display on the drive is illuminated. If alarm occurs, check the wiring.
3) Select the control mode (parameter PA4) to trial run mode (set to 2).
4) Power on the supply for main circuit.
5) If it is confirmed there is no alarm and abnormal circumstance, servo ON (SON) should be
closed to excite the motor at a zero speed state.
6) Access the operating status in trial run mode by keystroke operation. Prompt sign for trial run is
“Sr” in unit r/min. The system should be in speed control mode while the speed command is
provided by keystrokes. Use ↑,↓keys to change the speed command and the motor will run
at given speed.

7.5 Adjustment
7.5.1 Basic gain adjustment
 Speed control
1) Under the condition of no oscillating ,speed proportional gain (parameter PA5) should be
set to a larger value. In general case larger load inertia requires higher set value of
[speed proportional gain.
2) Speed integrating time constant (parameter PA6) should be set to a smaller value
according to given conditions. When speed integrating time constant is set to a small
value, response speed will be enhanced however oscillation is liable to be generated. So
that the value should be set as small as possible provided no oscillating will be generated.
[If set value of speed integrating time constant] is too high, the speed will have great
variations under load fluctuation. In general case larger load inertia requires higher set
value of [speed integrating time constant].
 Position control
1) Set appropriate values for speed proportional gain and speed integrating time constant
following the procedures mentioned above.
2) The value for [position feedforward gain] (parameter PA10) is set to 0%.
3) Position proportional gain (parameter PA9) should be set to a larger value within a stable

7-5
7 Power-on and Running
range. Too high set value of [position proportional gain will facilitate a tracking feature for
the positioning command with less lag error, however when stop the positioning is ceased
oscillation may occur. Smaller set value of position proportional gain will make the system
at a stable state, but the position tracking feature will become poorer with large lag error.
To have a higher position proportional gain], the set value of time constant for
acceleration/deceleration] (parameter PA7) may be increased but attention should
be paid to avoid over modulation.
Set values of position proportional gain can be referred to following table:
Rigidity [Proportional gain for positioning]
Low 10~20/S
Medium 30~50/S
High 50~70/S

4) If it is required to have particular high tracking feature, the set value for position
feedforward gain can be increased, but too high value will lead to over modulation.
When a higher [position feedforward gain is set with unstable system, the set value
of time constant for acceleration/deceleration may be increased to avoid over
modulation.

7.5.2 Diagram for basic parameter setting

Fig. 7.4 Diagram for basic parameter setting

7.6 Associated knowledge

7-6
7 Power-on and Running
7.6.1 Setting of position resolution and electron gear
Positioning resolution ( one impulse stroke △l) is decided by travel per turn of servo motor △
S and feedback impulse per turn of encoder Pt and can be expressed by the following equation:
S
l 
Pt
where
△l：One impulse stroke ( mm),
△S：Travel per turn of servo motor ( mm / turn),
Pt：Number of feedback pulses per turn of encoder (impulse / turn).
Since the system contains a quadruple circuit, so Pt  4  C ，C is the line number per turn of the
encoder. In the system, C = 2500 lines/turn, so , Pt = 10000 impulses/turn.
The command impulse should multiply the electron gear ratio G to translate into positioning
impulse. Hence, one command impulse travel △l * can be expressed as:
S
l *  G
Pt
Numerator of command impulse frequency division
Where, G=
denominator of command impulse frequency division

7.6.2 Lag impulse during position control

When the servo motor is controlled by impulse train, the D-value between command impulse
and feedback impulse is called as lag impulse. This value will be accumulated in position deviation
counter and has following relations with command impulse frequency, electron gear ratio and
proportional gain for positioning:

f * G

Kp
Where
ε：Lag impulse (impulse),
f *：Command impulse frequency ( Hz),
Kp：Position proportional gain (1 / S),
G：Electron gear ratio

Notes: The above-mentioned relation will be valid if position feedforward gain is 0%. If position
feedforward gain is >0%，the lag impulse will be less than the calculated value with above equation.

7-7
 Chapter 8
Motor Specification

8.1 DM series servo motors specifications

8.2 HM series servo motors specifications

8.3 SM series servo motors specifications

8.4 CM series servo motors specifications

8.5 Appearance and size of the servo motors

8 Motor Specification
8.1 DM series servo motors specifications
Static Rated Rated
Power Rotor inertia Weight
60、80DM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
60DM-8M00830-F□ 0.25 0.8 3000 1.25 0.078 2.3
60DM-8M01630-F□ 0.48 1.6 3000 2.5 0.086 2.5
80DM-8M03230-F□ 0.96 3.2 3000 3.5 0.131 5

Static Rated Rated

Power Rotor inertia Weight
96DM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
96DM-6M01620-F□ 0.32 1.6 2000 1.5 0.187 3.7
96DM-6M02530-F□ 0.75 2.5 3000 4.2 0.267 4.3
96DM-8M02530-F□ 0.75 2.5 3000 3.4 0.267 4.3
96DM-6M03220-F□ 0.64 3.2 2000 3 0.347 5
96DM-6M03230-F□ 0.96 3.2 3000 4.5 0.347 5

Static Rated Rated

Power Rotor inertia Weight
110DM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
110DM-6M02030-F□ 0.6 2 3000 3.5 0.173 4.5
110DM-6M03030-F□ 0.9 3 3000 4.5 0.3 5.5
110DM-6M04020-F□ 0.8 4 2000 4 0.427 6.5
110DM-6M04030-F□ 1.2 4 3000 5 0.427 6.5
110DM-6M05020-F□ 1 5 2000 5 0.555 7.5
110DM-6M05030-F□ 1.5 5 3000 6 0.555 7.5
110DM-6M06020-F□ 1.2 6 2000 6 0.683 8.5

Static Rated Rated

Power Rotor inertia Weight
126DM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
126DM-6M03020-F□ 0.6 3 2000 2.5 0.44 8.5
126DM-6M04520-F□ 0.9 4.5 2000 3.7 0.67 9.5
126DM-6M06020-F□ 1.2 6 2000 5.5 0.87 10.6
126DM-6M06030-F□ 1.8 6 3000 8.3 0.87 10.6
126DM-6M07515-F□ 1.125 7.5 1500 5.8 1.29 12.8
126DM-6M07520-F□ 1.5 7.5 2000 6.2 1.29 12.8
126DM-6M07530-F□ 2.25 7.5 3000 9.3 1.29 12.8
126DM-6M11020-F□ 2.2 11 2000 9 1.7 14.5
126DM-6M11030-F□ 3.3 11 3000 13.5 1.7 14.5

8-1
8 Motor Specification
Static Rated Rated
Power Rotor inertia Weight
130DM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
130DM-6M03020-F□ 0.6 3 2000 2.5 0.44 8.5
130DM-6M06020-F□ 1.2 6 2000 5.5 0.87 10.6
130DM-6M06030-F□ 1.8 6 3000 8.3 0.87 10.6
130DM-6M07515-F□ 1.125 7.5 1500 5.8 1.29 12.8
130DM-6M07520-F□ 1.5 7.5 2000 6.2 1.29 12.8
130DM-6M07530-F□ 2.25 7.5 3000 9.3 1.29 12.8
130DM-6M11020-F□ 2.2 11 2000 9 1.7 14.5
130DM-6M11030-F□ 3.3 11 3000 13.5 1.7 14.5

Static Rated Rated

Power Rotor inertia Weight
155DM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
155DM-6M16006-F□ 0.96 16 600 4.8 2.67 16.5
155DM-6M16020-F□ 3.2 16 2000 16 2.67 16.5
155DM-6M16030-F□ 4.8 16 3000 24 2.67 16.5
155DM-6M21003-F□ 0.6 21 300 3.7 3.57 19.5
155DM-6M21012-F□ 2.52 21 1200 12.2 3.57 19.5
155DM-6M21020-F□ 4.2 21 2000 20 3.57 19.5
155DM-6M27012-F□ 3.24 27 1200 16.2 4.46 22.5
155DM-6M27020-F□ 5.4 27 2000 26.5 4.46 22.5
155DM-6M33012-F□ 3.96 33 1200 19.8 5.35 25.5

□: They can be B, E. B: With brake E: Without brake

8-2
8 Motor Specification
Table 8.1 DM series servo motor adaptive drive（* is recommended specification）
Adaptive drive Motor
parameter Matching
Overload
DM series motor KT270-H table parameter
factor
(PA59) (PA1)
-20 -30 -50 -75 2700 2702
60DM-8M00830-F□ ● ○ ○ ○ ○ ● 25 2.5
60DM-8M01630-F□ ● ○ ○ ○ ○ ● 26 2.5
80DM-8M03230-F□ ● ○ ○ ○ ○ ● 23 2.5
96DM-6M01620-F□ ● ○ ○ ○ ● ○ 1* 2.5
96DM-6M02530-F□ ● ○ ○ ○ ○ ● 27 2.3
96DM-8M02530-F□ ● ○ ○ ○ ○ ● 29 2.5
96DM-6M03220-F□ ● ○ ○ ○ ● ○ 2 2.5
96DM-6M03230-F□ ● ○ ○ ○ ● ○ 24 2.2
110DM-6M02030-F□ ● ○ ○ ○ ● ○ 52 2.5
110DM-6M03030-F□ ● ○ ○ ○ ● ○ 53 2.2
110DM-6M04020-F□ ● ○ ○ ○ ● ○ 54 2.4
110DM-6M04030-F□ ○ ● ○ ○ ● ○ 55 2.5
● ○ ○ ○ ● ○ 56 1.9
110DM-6M05020-F□
○ ● ○ ○ ● ○ 57 2.5
110DM-6M05030-F□ ○ ● ○ ○ ● ○ 58 2.4
110DM-6M06020-F□ ○ ● ○ ○ ● ○ 59 2.4
126DM-6M03020-F□ ● ○ ○ ○ ● ○ 3* 2.5
126DM-6M04520-F□ ● ○ ○ ○ ● ○ 26 2.5
● ○ ○ ○ ● ○ 4* 1.8
126DM-6M06020-F□
○ ● ○ ○ ● ○ 5 2.5
○ ● ○ ○ ● ○ 6* 1.7
126DM-6M06030-F□
○ ○ ● ○ ● ○ 7 2.5
126DM-6M07515-F□ ○ ● ○ ○ ● ○ 28 2.5
126DM-6M07520-F□ ○ ● ○ ○ ● ○ 8* 2.3
○ ● ○ ○ ● ○ 9* 1.5
126DM-6M07530-F□
○ ○ ● ○ ● ○ 10 2.5
○ ● ○ ○ ● ○ 11* 1.6
126DM-6M11020-F□
○ ○ ● ○ ● ○ 12 2.5
○ ○ ● ○ ● ○ 13* 1.8
126DM-6M11030-F□
○ ○ ○ ● ● ○ 14 2.3
130DM-6M03020-F□ ● ○ ○ ○ ● ○ 3 2.5
● ○ ○ ○ ● ○ 4 1.8
130DM-6M06020-F□
○ ● ○ ○ ● ○ 5 2.5
○ ● ○ ○ ● ○ 6 1.7
130DM-6M06030-F□
○ ○ ● ○ ● ○ 7 2.5

8-3
8 Motor Specification
Adaptive drive Motor
parameter Matching
Overload
DM series motor KT270-H table parameter
factor
(PA59) (PA1)
-20 -30 -50 -75 2700 2702
130DM-6M07515-F□ ○ ● ○ ○ ● ○ 28 2.5
130DM-6M07520-F□ ○ ● ○ ○ ● ○ 8 2.3
○ ● ○ ○ ● ○ 9 1.5
130DM-6M07530-F□
○ ○ ● ○ ● ○ 10 2.5
○ ● ○ ○ ● ○ 11 1.6
130DM-6M11020-F□
○ ○ ● ○ ● ○ 12 2.5
○ ○ ● ○ ● ○ 13 1.8
130DM-6M11030-F□
○ ○ ○ ● ● ○ 14 2.3
155DM-6M16006-F□ ● ○ ○ ○ ● ○ 18 2
○ ○ ● ○ ● ○ 15* 1.5
155DM-6M16020-F□
○ ○ ○ ● ● ○ 16 1.9
155DM-6M16030-F□ ○ ○ ○ ● ● ○ 17* 1.3
155DM-6M21003-F□ ● ○ ○ ○ ● ○ 22 2.5
○ ○ ● ○ ● ○ 19 2
155DM-6M21012-F□
○ ○ ○ ● ● ○ 20* 2.5
155DM-6M21020-F□ ○ ○ ○ ● ● ○ 21* 1.5
155DM-6M27012-F□ ○ ○ ○ ● ● ○ 23* 1.9
155DM-6M27020-F□ ○ ○ ○ ● ● ○ 25* 1.2
155DM-6M33012-F□ ○ ○ ○ ● ● ○ 27* 1.6

8-4
8 Motor Specification
8.2 HM series servo motors specifications
Static Rated Rated
Power Rotor inertia Weight
110HM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
110HM-8M02030-F□ 0.6 2 3000 4 0.33 4.2
110HM-8M04030-F□ 1.2 4 3000 5 0.65 5.2
110HM-8M05030-F□ 1.5 5 3000 6 0.82 5.8
110HM-8M06020-F□ 1.2 6 2000 6 1 6.4
110HM-8M06030-F□ 1.6 6 3000 8 1 6.4

Static Rated Rated

Power Rotor inertia Weight
130HM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
130HM-8M04025-F□ 1 4 2500 4 0.85 7.4
130HM-8M05025-F□ 1.3 5 2500 5 1.06 7.9
130HM-8M06025-F□ 1.5 6 2500 6 1.26 8.6
130HM-8M07720-F□ 1.6 7.7 2000 6 1.58 9.5
130HM-8M07730-F□ 2.4 7.7 3000 9 1.58 9.5
130HM-8M10015-F□ 1.5 10 1500 6 2.14 11.1
130HM-8M10025-F□ 2.6 10 2500 10 2.14 11.1
130HM-8M15015-F□ 2.3 15 1500 9.5 3.24 14.3

Static Rated Rated

Power Rotor inertia Weight
150HM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
150HM-8M15025-F□ 3.75 15 2500 16.5 5.2 15.2
150HM-8M27020-F□ 5.5 27 2000 20.5 9.4 23.7

□: They can be B, E. B: with brake E: without brake

Table 8.2 HM series servo motor adaptive drive（* is recommended specification）

Adaptive drive Motor parameter
Matching
table Overload
HM series motor KT270-H parameter
(PA59) factor
(PA1)
-20 -30 -50 -75 2700 2702
● ○ ○ ○ ● ○ 30* 2.4
110HM-8M02030-F□
○ ● ○ ○ ● ○ 34 3
● ○ ○ ○ ● ○ 31* 1.9
110HM-8M04030-F□
○ ● ○ ○ ● ○ 35 2.5
● ○ ○ ○ ● ○ 32* 1.6
110HM-8M05030-F□
○ ● ○ ○ ● ○ 36 2.4

8-5
8 Motor Specification
Adaptive drive Motor parameter
Matching
table Overload
HM series motor KT270-H parameter
(PA59) factor
(PA1)
-20 -30 -50 -75 2700 2702
● ○ ○ ○ ● ○ 33* 1.6
110HM-8M06020-F□
○ ● ○ ○ ● ○ 37 2.4
110HM-8M06030-F□ ○ ● ○ ○ ● ○ 38* 1.8
● ○ ○ ○ ● ○ 39* 2.4
130HM-8M04025-F□
○ ● ○ ○ ● ○ 44 3
● ○ ○ ○ ● ○ 40* 1.9
130HM-8M05025-F□
○ ● ○ ○ ● ○ 45 2.5
● ○ ○ ○ ● ○ 41* 1.6
130HM-8M06025-F□
○ ● ○ ○ ● ○ 46 2.4
● ○ ○ ○ ● ○ 42* 1.6
130HM-8M07720-F□
○ ● ○ ○ ● ○ 47 2.4
130HM-8M07730-F□ ○ ● ○ ○ ● ○ 48* 1.6
● ○ ○ ○ ● ○ 43* 1.6
130HM-8M10015-F□
○ ● ○ ○ ● ○ 49 2.4
130HM-8M10025-F□ ○ ● ○ ○ ● ○ 50* 1.4
130HM-8M15015-F□ ○ ● ○ ○ ● ○ 51* 1.5
150HM-8M15025-F□ ○ ○ ● ○ ○ ● 10 1.5
150HM-8M27020-F□ ○ ○ ○ ● ○ ● 12 1.8

8-6
8 Motor Specification
8.3 SM series servo motors specifications
Static Rated Rated
Power Rotor inertia Weight
80、90SM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
80SM-4M01330-F□ 0.4 1.3 3000 2.3 0.072 3
80SM-4M02530-F□ 0.75 2.5 3000 3.3 0.098 3.6
90SM-8M02430-F□ 0.75 2.4 3000 4 0.26 3.25

Static Rated Rated

Power Rotor inertia Weight
110SM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
110SM-4M02020-F□ 0.4 2 2000 2 0.246 4.3
110SM-4M04020-F□ 0.8 4 2000 3.3 0.42 5.6
110SM-4M04030-F□ 1.2 4 3000 5 0.42 5.85
110SM-4M06020-F□ 1.2 6 2000 5 0.718 7.25

Static Rated Rated

Power Rotor inertia Weight
130SM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
130SM-4M05020-F□ 1 5 2000 4.2 0.74 7.35
130SM-4M06020-F□ 1.2 6 2000 5.8 0.85 7.25
130SM-4M07520-F□ 1.5 7.5 2000 5.8 1.31 8.9
130SM-4M10010-F□ 1 10 1000 4.5 0.99 14
130SM-4M10015-F□ 1.5 10 1500 6.8 1.74 14.3
130SM-4M10020-F□ 2 10 2000 8.6 1.358 15
130SM-8M15010-F□ 1.5 15 1000 6.5 3.5 17.6
130SM-4M15015-F□ 2.25 15 1500 8.6 2.37 17.6
130SM-8M15017-F□ 2.3 15 1700 11 3.5 20
130SM-4M21020-F□ 4.2 21 2000 19 2.18 19.5

Static Rated Rated

Power Rotor inertia Weight
180SM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
180SM-8M12715-F□ 1.905 12.7 1500 13 3.76 17
180SM-8M15020-F□ 3 15 2000 14.3 4.745 20
180SM-6M15030-F□ 4.5 15 3000 20 5.7 17.6
180SM-8M19115-F□ 2.865 19.1 1500 12 5.87 20.3
180SM-8M19115-F□ 2.865 19.1 1500 21 6.9 20.3
180SM-8M19120-F□ 3.82 19.1 2000 16 7.22 20.5
180SM-8M19120-F□ 3.82 19.1 2000 16 6.988 20.5
180SM-8M23820-F□ 4.76 23.8 2000 21 10.2 23.3
180SM-6M28620-F□ 5.72 28.6 2000 24.5 9.5 25.7
180SM-6M35020-F□ 7 35 2000 27 8.837 28

8-7
8 Motor Specification

□: They can be B, E. B: with brake E: without brake

Table 8.3 SM series servo motor adaptive drive（* is recommended specification）

Adaptive drive Motor
parameter Matching
Overload
SM series Motor KT270-H table parameter
factor
(PA59) (PA1)
-20 -30 -50 -75 2701
80SM-4M01330-F□ ● ○ ○ ○ ● 41 2.5
80SM-4M02530-F□ ● ○ ○ ○ ● 42 2.5
90SM-8M02430-F□ ● ○ ○ ○ ● 43 2.4
110SM-4M02020-F□ ● ○ ○ ○ ● 1 2.5
110SM-4M04020-F□ ● ○ ○ ○ ● 2 2.5
110SM-4M04030-F□ ● ○ ○ ○ ● 23 1.9
● ○ ○ ○ ● 3 1.9
110SM-4M06020-F□
○ ● ○ ○ ● 4 2.5
130SM-4M05020-F□ ● ○ ○ ○ ● 15 2.3
130SM-4M06020-F□ ● ○ ○ ○ ● 52 1.7
● ○ ○ ○ ● 6 1.7
130SM-4M07520-F□
○ ● ○ ○ ● 7 2.5
130SM-4M10010-F□ ● ○ ○ ○ ● 28 2.2
○ ● ○ ○ ● 8 2.1
130SM-4M10015-F□
○ ○ ● ○ ● 9 2.5
130SM-4M10020-F□ ○ ● ○ ○ ● 24 1.7
130SM-8M15010-F□ ○ ● ○ ○ ● 54 2.2
○ ● ○ ○ ● 10 1.7
130SM-4M15015-F□
○ ○ ● ○ ● 11 2.5
130SM-8M15017-F□ ○ ○ ● ○ ● 51 2.2
130SM-4M21020-F□ ○ ○ ● ○ ● 12 1.3
180SM-8M12715-F□ ○ ○ ● ○ ● 18 1.9
180SM-8M15020-F□ ○ ○ ○ ● ● 46 2.5
180SM-6M15030-F□ ○ ○ ○ ● ● 16 1.9
180SM-8M19115-F□ ○ ○ ● ○ ● 19 1.8
180SM-8M19115-F□ ○ ○ ○ ● ● 53 1.8
180SM-8M19120-F□ ○ ○ ● ○ ● 17 1.5
180SM-8M19120-F□ ○ ○ ○ ● ● 27 2.4
180SM-8M23820-F□ ○ ○ ○ ● ● 20 1.7
180SM-6M28620-F□ ○ ○ ○ ● ● 26 1.5
180SM-6M35020-F□ ○ ○ ○ ● ● 47 1.4

8-8
8 Motor Specification
8.4 CM series servo motors specifications
Static Rated Rated
Power Rotor inertia Weight
60、80CM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
60CM-8M00730-FE 0.2 0.64 3000 1.9 0.042 0.85
60CM-8M00730-FB 0.2 0.64 3000 1.9 0.045 1.6
60CM-8M01330-FE 0.4 1.27 3000 2.6 0.067 1.25
60CM-8M01330-FB 0.4 1.27 3000 2.6 0.07 2.0
80CM-8M02430-FE 0.75 2.39 3000 4 0.151 2.45
80CM-8M02430-FB 0.75 2.39 3000 4 0.161 3.5

Static Rated Rated

Power Rotor inertia Weight
130CM Motor torque speed current
（KW） （kgm2×10-3） （KG）
（Nm） （rpm） （A）
130CM-10M05020-FE 1 4.77 2000 4.46 0.39 4.9
130CM-10M07220-FE 1.5 7.16 2000 6.98 0.46 6.4
130CM-10M10020-FE 2 9.55 2000 8.31 0.67 6.5
130CM-10M15020-FE 3 14.3 2000 11.3 1.05 12

□: They can be B, E. B: with brake E: without brake

Table 8.4 CM series servo motor adaptive drive

Adaptive drive Motor
parameter Matching
Overload
CM series Motor KT270-H table parameter
factor
(PA59) (PA1)
-20 -30 -50 -75 2701
60CM-8M01330-FE ● ○ ○ ○ ● 45 2.5
80CM-8M02430-FE ● ○ ○ ○ ● 46 2.4
130CM-10M05020-FE ● ○ ○ ○ ● 40 2.2
130CM-10M07220-FE ○ ● ○ ○ ● 43 2.1
130CM-10M10020-FE ○ ● ○ ○ ● 44 1.7
NOTE: when PB5≥1240，the curing parameter of motor could be used.

8-9
8 Motor Specification
8.5 Appearance and size of the servo motor
8.5.1 DM Series appearance and size of servo motor

Figure of 60DM, 80DM appearance and size

Motor model L1 L2 L3 L4 L5 L6 L（L’） H S D D1 D2 D3 □S

60DM-8M008 4 3 28 25 20 2 102（141） 18 5 Φ 50 Φ 14 Φ 70 Φ 5.7 60
60DM-8M016 4 3 28 25 20 2 122（161） 18 5 Φ 50 Φ 14 Φ 70 Φ 5.7 60
80DM-8M032 8 3 32 29 － － 136（179） 18 － Φ 70 Φ 19 Φ 90 Φ6 80
Note: The value of L column in brackets is the length with brake.

8 - 10
8 Motor Specification
Figure of 96DM, 110DM, 126DM, 130DM, 155DM appearance and size

Motor model L1 L2 L3 L4 L（L’） H1 H2 D D1 D2 D3 □S

96DM-6M016 10 3 40 28 169.5（176） 35 15 Φ 80 Φ 19 Φ 100 Φ7 96
96DM-6M025 10 3 40 28 185.5（192） 35 15 Φ 80 Φ 19 Φ 100 Φ7 96
96DM-6M032 10 3 40 28 201.5（208） 35 15 Φ 80 Φ 19 Φ 100 Φ7 96
110DM-6M020 12 3 40 18 154（166） 35 15 Φ 95 Φ 19 Φ 130 Φ9 110
110DM-6M030 12 3 40 18 169（181） 35 15 Φ 95 Φ 19 Φ 130 Φ9 110
110DM-6M040 12 3 40 18 184（196） 35 15 Φ 95 Φ 19 Φ 130 Φ9 110
110DM-6M050 12 3 40 18 199（201） 35 15 Φ 95 Φ 19 Φ 130 Φ9 110
110DM-6M060 12 3 40 18 214（226） 35 15 Φ 95 Φ 19 Φ 130 Φ9 110
126DM-6M030 10 3.5 50 31 167.5（182.5） 40 15 Φ 110 Φ 24 Φ 130 Φ9 126
126DM-6M045 10 3.5 50 31 180（195） 40 15 Φ 110 Φ 24 Φ 130 Φ9 126
126DM-6M060 10 3.5 50 31 192.5（207.5） 40 15 Φ 110 Φ 24 Φ 130 Φ9 126
126DM-6M075 10 3.5 50 31 217.5（232.5） 40 15 Φ 110 Φ 24 Φ 130 Φ9 126
126DM-6M110 10 3.5 50 31 242.5（257.5） 40 15 Φ 110 Φ 24 Φ 130 Φ9 126
130DM-6M030 10 3.5 50 31 167.5（182.5） 40 15 Φ 110 Φ 22 Φ 145 Φ9 126
130DM-6M060 10 3.5 50 31 192.5（207.5） 40 15 Φ 110 Φ 22 Φ 145 Φ9 126
130DM-6M075 10 3.5 50 31 217.5（232.5） 40 15 Φ 110 Φ 22 Φ 145 Φ9 126
130DM-6M110 10 3.5 50 31 242.5（257.5） 40 15 Φ 110 Φ 22 Φ 145 Φ9 126
155DM-6M160 13 3.5 58 33 251.5（251.5） 50 15 Φ 130 Φ 32 Φ 165 Φ 11 155
155DM-6M210 13 3.5 58 33 276.5（276.5） 50 15 Φ 130 Φ 32 Φ 165 Φ 11 155
Note: The value of the L column in brackets is the length with brake.

8 - 11
8 Motor Specification
8.5.2 HM Series appearance and size of servo motor

Figure of 110HM, 130HM appearance and size

Motor model L1 L2 L3 L4 L D D1 D2 D3 D4 D5 S
110HM-8M020 158（205） 6 48 76 106 Φ 95 Φ 19 Φ 20 Φ 130 Φ9 Φ 79 110
110HM-8M040 184（231） 6 48 102 132 Φ 95 Φ 19 Φ 20 Φ 130 Φ9 Φ 79 110
110HM-8M050 200（247） 6 48 118 148 Φ 95 Φ 19 Φ 20 Φ 130 Φ9 Φ 79 110
110HM-8M060 217（263） 6 48 134 164 Φ 95 Φ 19 Φ 20 Φ 130 Φ9 Φ 79 110
130HM-8M040 162(209) 7 50 80 110 Φ 110 Φ 22 Φ 25 Φ 145 Φ9 Φ 85 130
130HM-8M050 171(218) 7 50 89 119 Φ 110 Φ 22 Φ 25 Φ 145 Φ9 Φ 85 130
130HM-8M060 180(227) 7 50 98 128 Φ 110 Φ 22 Φ 25 Φ 145 Φ9 Φ 85 130
130HM-8M077 194(241) 7 50 112 142 Φ 110 Φ 22 Φ 25 Φ 145 Φ9 Φ 85 130
130HM-8M100 218(265) 7 50 136 166 Φ 110 Φ 22 Φ 25 Φ 145 Φ9 Φ 85 130
130HM-8M150 267(313) 7 50 184 214 Φ 110 Φ 22 Φ 25 Φ 145 Φ9 Φ 85 130
150HM-8M150 279 6 72 247 228 Φ 130 Φ 28 Φ 35 Φ 154 Φ 11 Φ 103 150
150HM-8M270 355 6 72 323 204 Φ 130 Φ 28 Φ 35 Φ 154 Φ 11 Φ 103 150
Note: The value of the L1 column in brackets is the length with power-off brake.

8 - 12
8 Motor Specification
8.5.3 SM Series appearance and size of servo motor

Figure of 80SM appearance and size

Motor model L
80SM-4M01330-F□ 183.5
80SM-4M02530-F□ 203.5

Figure of 90SM appearance and size

Motor model L
90SM-8M02430-F□ 139(199)

8 - 13
8 Motor Specification
Figure of 110SM, 130SM appearance and size

Motor model L1 L D D1 D2 D3 □S
110SM-4M02020- F□ 40 156(216) Φ 95 Φ 19 Φ 130 Φ9 □110
110SM-4M04020- F□ 40 182(216) Φ 95 Φ 19 Φ 130 Φ9 □110
110SM-4M04030- F□ 40 182(242) Φ 95 Φ 19 Φ 130 Φ9 □110
110SM-4M06020- F□ 40 212(272) Φ 95 Φ 19 Φ 130 Φ9 □110
130SM-4M05020- F□ 57 169(229) Φ 110 Φ 22 Φ 145 Φ9 □130
130SM-4M06020- F□ 57 180(260) Φ 110 Φ 22 Φ 145 Φ9 □130
130SM-4M07520- F□ 57 189(249) Φ 110 Φ 22 Φ 145 Φ9 □130
130SM-4M10010- F□ 57 218(278) Φ 110 Φ 22 Φ 145 Φ9 □130
130SM-4M10015- F□ 57 218(278) Φ 110 Φ 22 Φ 145 Φ9 □130
130SM-4M10020- F□ 57 218(278) Φ 110 Φ 22 Φ 145 Φ9 □130
130SM-4M15010- F□ 57 276(336) Φ 110 Φ 22 Φ 145 Φ9 □130
130SM-4M15015- F□ 57 276(336) Φ 110 Φ 22 Φ 145 Φ9 □130
130SM-8M15017- F□ 57 270(330) Φ 110 Φ 22 Φ 145 Φ9 □130
130SM-4M21020- F□ 57 313(393) Φ 110 Φ 22 Φ 145 Φ9 □130
180SM-8M12715- F□ 82 227(296) Φ 114 Φ 42 Φ 200 Φ 11 □180
180SM-6M15030- F□ 82 227(336) Φ 114 Φ 42 Φ 200 Φ 11 □180
180SM-8M19115- F□ 82 259(338) Φ 114 Φ 42 Φ 200 Φ 11 □180
180SM-8M19120- F□ 82 259(306) Φ 114 Φ 42 Φ 200 Φ 11 □180
180SM-8M23820- F□ 82 281(356) Φ 114 Φ 42 Φ 200 Φ 11 □180
180SM-8M28620- F□ 82 289(394) Φ 114 Φ 42 Φ 200 Φ 11 □180
180SM-8M35020- F□ 82 319 Φ 114 Φ 42 Φ 200 Φ 11 □180
Note: The value of the L column in brackets is the length with power-off brake.

8 - 14
8 Motor Specification
8.5.4 CM Series appearance and size of servo motor

Figure of 60CM, 80CM appearance and size

Model L LL LA LC LE LG LR LZ S LB T U W LK Y

60CM-8M00730-FE 144 114 70 60 3 6.5 30 4.5 11 50 4 2.5 4 20 M4X8L

60CM-8M00730-FB 190.5 160.5 70 60 3 6.5 30 4.5 11 50 4 2.5 4 20 M4X8L
60CM-8M01330-FE 164 134 70 60 3 6.5 30 4.5 14 50 5 3 5 25 M5X10L
60CM-8M01330-FB 210.5 180.5 70 60 3 6.5 30 4.5 14 50 5 3 5 25 M5X10L
80CM-8M02430-FE 177.5 142.5 90 80 3 8 35 6 19 70 6 3.5 6 25 M5X10L
80CM-8M02430-FB 216.5 181.5 90 80 3 8 35 6 19 70 6 3.5 6 25 M5X10L

8 - 15
8 Motor Specification
Figure of 130CM appearance and size
Brake connector

Model L LL LA LC LE LG LR LZ S LB T U W LK Y

130CM-10M05020-FE 195.5 140.5 145 130 6 12 55 9 22 110 7 4 8 45 M8X15L

130CM-10M05020-FB 232 177 145 130 6 12 55 9 22 110 7 4 8 45 M8X15L
130CM-10M07220-FE 213 158 145 130 6 12 55 9 22 110 7 4 8 45 M8X15L
130CM-10M07220-FB 249.5 194.5 145 130 6 12 55 9 22 110 7 4 8 45 M8X15L
130CM-10M10020-FE 237.5 182.5 145 130 6 12 55 9 22 110 7 4 8 45 M8X15L
130CM-10M10020-FB 274 219 145 130 6 12 55 9 22 110 7 4 8 45 M8X15L
130CM-10M15020-FE 293.5 228.5 145 130 6 12 65 9 24 110 7 4 8 45 M8X15L
130CM-10M15020-FB 330 265 145 130 6 12 65 9 24 110 7 4 8 45 M8X15L

8 - 16