ES2 Series

AC Servo Drive
User Manual （Lite Version V1.0）
V1.

2019-03-12

Shenzhen YAKO Automation Technology Co., Ltd.

www.yankong.com

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Content

Content ............................................................................................................................................. 1
Chapter 1: Selection of Servo System .............................................................................................. 2
1.1 Drive specifications ............................................................................................................ 2
1.2 Servo motors and drives model description ........................................................................ 3
1.3 Servo driver and servo motor matching .............................................................................. 4
1.4 Matching motor number ..................................................................................................... 5
1.5 Auxiliary cable ................................................................................................................... 5
1.6 Braking resistance specication ............................................................................................ 6
Chapter 2: Product Installation and Dimensions .............................................................................. 7
2.1 Servo drive dimensions....................................................................................................... 7
2.2 Servo drive installation ....................................................................................................... 7
Chapter 3: Servo Drive and Motor Connection ................................................................................ 8
3.1 System structure diagram ................................................................................................... 8
3.2 Main circuit......................................................................................................................... 9
3.2.1 Introduction of each part .......................................................................................... 9
3.3 Encoder interface ................................................................................................................ 9
3.4 Control signal ................................................................................................................... 11
3.4.1 Digital input and output signal ............................................................................... 14
3.4.2 Position command input signal .............................................................................. 17
3.5 Communication signals .................................................................................................... 19
Mini USB communication CN5 ..................................................................................... 19
Chapter 4: Operation and Adjustment ............................................................................................ 20
4.1 Panel operator description ................................................................................................ 20
4.1.1 Interface introduction............................................................................................. 20
4.1.2 Parameter setting and display ................................................................................ 21
4.1.3 Monitorable parameter list ..................................................................................... 22
4.2 Operating mode instructions ............................................................................................. 23
4.2.1 Position mode ........................................................................................................ 23
Chapter 5: Auxiliary Functions ...................................................................................................... 27
5.1 JOG run ............................................................................................................................ 27
5.2 Alarm reset ....................................................................................................................... 28
5.3 Parameter initialization ..................................................................................................... 29
5.4 Digital signal forced input and output function ................................................................ 30
5.5 Offline inertia identification ............................................................................................. 32
Chapter 6: Troubleshooting ............................................................................................................ 35
6.1 Fault diagnosis and treatment ........................................................................................... 35
6.1.1 Non-resettable NO.1 fault ...................................................................................... 36
6.1.2 Resettable NO.1 fault ............................................................................................. 36
6.1.3 Resettable NO.2 fault ............................................................................................. 37
6.2 Reasons for warning and treatment .................................................................................. 37
Chapter 7: Parameter List ............................................................................................................... 39
P00 group: basic control parameters ............................................................................... 40
P01 group: servo motor parameters ................................................................................ 42
P02 group: digital terminal input and output parameters ................................................ 42
P04 group: position control parameters .......................................................................... 46
P05 group: speed control parameters .............................................................................. 47
P06 group: torque control parameters ............................................................................. 48
P07 group: gain parameter .............................................................................................. 50
P09 group: failure and protection ................................................................................... 52
P11 group: auxiliary function parameters ....................................................................... 53
P12 group: keyboard display parameters ........................................................................ 54
P13 group: multi-segment position ................................................................................. 54
P14 group Multi-speed command ................................................................................... 59
P16 group: special function parameters .......................................................................... 65
P18 group: display parameters ........................................................................................ 67
DIDO assignment basic function definition.................................................................... 69
Appendix A: Error Code Table....................................................................................................... 71
Appendix B: Version Change Record ............................................................................................ 73

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Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0

Chapter 1: Selection of Servo System

1.1 Drive specifications

Table 1-1 ES2 series servo drive basic specifications

Drive model ES2-04B ES2-10B ES2-15B ES2-30B
Continuous output current Arms 2.8 5.5 7.6 11.6
Maximum output current Arms 10 17 17 28
Main power single/3 phase, AC200～230V, 50/60HZ
Power supply input 220VAC
Control power Single phase, AC200~230V, 50/60HZ
Working：0℃～50℃
Temperature
Storage：-20℃～85℃
Humidity Below 0～90% RH（No condensation）
Working environment Working altitude Under altitude 1000m
Vibration/strike <1G
IP Grade /
IP20/ Pollution level 2
Pollution level
Basic spec

Control method IGBT PWM space vector control

Encoder 2500-line incremental
Input 8（common）
IO signal
Output 5（common）
IO port
Input 2（Low speed pulse ）
Pulse signal
Output 4（3 frequency output, 1 open collector output）
USB Connect with PC
Communication

Panel operator LED display

Built-in braking resistor for 750W and above
Regeneration function
models
Overcurrent, overload, overvoltage, low voltage,
Protection function over speed, overheat, encoder error,
communication error, position deviation, etc.
Control mode Position control; speed control; torque control;
PULSE/DIR;
Position command format
A, B phase orthogonal pulse;
Position input circuit Differential; open collector
Differential 2Mpps
Function spec

Maximum input frequency

Open collector 2Mpps
Position control mode Smoothing the position command to make the
Smoothing filter
motor run smoother and more stable
Electronic gear Provide 2 sets of electronic gear ratio
Effectively suppress external signal interference
Vibration suppression filter and system resonance frequency to ensure stable
operation of equipment

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1.2 Servo motors and drives model description

Drive model description

ES2 – 04 B F I - XX
① ② ③ ④ ⑤ ⑥

① AC servo series ES2：YAKO ES2 series AC servo drive

04: 400W 10: 1KW
② Power
15: 1.5KW 30: 3KW
③ Voltage level B：220V

④ Product type F: General

⑤ Installation methods I: Flange installation

⑥ Customized model xx: Customized design number

Servo motor type description

ASM D –08–10 30 B - U 1 1 1 - XX
① ② ③ ④ ⑤ ⑥ ⑦⑧⑨⑩

① Series YAKO ES2 series AC servo motor

② Feature D : Small inertia J: Large inertia H: High inertia
③ Flange 04:40mm 06: 60mm 08: 80mm 09:90mm 10:100mm
11: 110mm 13: 130mm
④ Power 04: 400W 10: 1KW 15: 1.5KW 30: 3KW
⑤ Rated speed(rpm) 10: 1000rpm 15: 1500 rpm 20: 2000 rpm 30: 3000 rpm
⑥ Voltage level B：200V
⑦ Encoder type U: 2500-line incremental
⑧ Shaft connection 1: Plain
type 2: Solid, with key
3: Solid, with key and threaded hole
4: Solid, with threaded hole
⑨ Brake, oil seal 1: none 2: oil seal 3: brake 4: oil seal + brake
⑩ Design number 1：Ver. 1
Customized model xx: Customized design number

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1.3 Servo driver and servo motor matching

Table 1-2 Servo drive and motor matching table

Rated Max Drive model Drive
Servo motor model Flange Power
speed Speed ES2-□□B** SIZE
ASMD-06-0630B 60 600W 3000rpm 5000rpm 04B B
ASMJ-06-0230B 60 200W 3000rpm 5000rpm 04B B
ASMJ-06-0430B 60 400W 3000rpm 5000rpm 04B B
ASMJ-08-0830B 80 750W 3000rpm 4500rpm 10B B
ASMJ-08-1025B 80 1KW 2500rpm 3000rpm 10B B
Small and large inertia

ASMJ-09-0830B 90 750W 3000rpm 3900rpm 10B B

ASMJ-09-1025B 90 1KW 2500rpm 3300rpm 10B B
ASMJ-11-1830B 110 1.8KW 3000rpm 3200rpm 15B C
ASMJ-11-1230B 110 1.2KW 3000rpm 3500rpm 15B C
ASMJ-11-1530B 110 1.5KW 3000rpm 3100rpm 15B C
ASMJ-13-1025B 130 1KW 2500rpm 2600rpm 15B C
ASMJ-13-1525B 130 1.5KW 2500rpm 2900rpm 15B C
ASMJ-13-2025B 130 2KW 2500rpm 2700rpm 30B C
ASMJ-13-2625B 130 2.6KW 2500rpm 2700rpm 30B C
ASMH-13-1010B 130 1KW 1000rpm 1300rpm 15B C
inertia
High

ASMH-13-1515B 130 1.5KW 1500rpm 1800rpm 15B C

ASMH-13-2315B 130 2.3KW 1500rpm 1700rpm 30B C

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1.4 Matching motor number

Table 1-3 Motor number quick reference table

Motor Rated Servo motor model Motor number

series voltage ASM□-□□-□□□□□-***** (P01.00)
ASMJ-06-0230B-U*** 6
ASMJ-06-0430B-U*** 7

ASMD-06-0630B-U***-M 13

ASMJ-08-0830B-U*** 8

ASMJ-09-0830B-U*** 12

ASMJ-08-1025B-U*** 101

ASMJ-09-1025B-U*** 115

ASMJ-11-1830B-U*** 108
ASM 220V
ASMJ-11-1230B-U*** 112

ASMJ-11-1530B-U*** 103

ASMJ-13-1025B-U*** 104
ASMJ-13-1525B-U*** 105
ASMJ-13-2025B-U*** 109
ASMJ-13-2625B-U*** 110
ASMH-13-1010B-U*** 106
ASMH-13-1515B-U*** 107
ASMH-13-2315B-U*** 117

1.5 Auxiliary cable

Power cable naming rule:

P1 –ES2 - 03 P08 M
① ② ③ ④ ⑤

① Wire type P1: normal plug P2: Aviation plug

② Drive series ES2 series drives
③ Cable length 03: 3 meter 05: 5 meter 10: 10 meter
④ Power P08:800W P15: 1.5KW P30: 3KW
⑤ Installation methods F: Fixed M: Movable

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ion of Servo System ES2 Series Servo User Manual Lite V1.0

Encoder cable naming rules:

E1 – ES2 - 03 U M

① ② ③ ④ ⑤

① Wire type P1: normal plug P2: Aviation plug

② Drive series ES2 series drives
③ Cable length 03: 3 meter 05: 5 meter 10: 10 meter
④ Encoder spec U: 2500 lines
⑤ Installation methods F: Fixed M: Movable

Auxiliary cable appearance

Table 1-4 Auxiliary cable appearance

1.6 Braking resistance specication

pecication

Table 11-5 Built-in braking resistor specifications

Built-in braking resistor Minimum Capacitor
specifications allowable maximum
Servo drive model
Resistance Capacity resistance braking energy
(Ω) (W) value (Ω) (J)
Single phase
ES2-04BFI - - 45 18
220
Single/3
ES2-10BFI 50 50 30 26
phase 220V
Single/3 ES2-15BFI 25 80 20 47
phase 220V ES2-30BFI 25 80 15 47

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Chapter 2: Product Installation and Dimensions ES2 Series Servo User Manual Lite V1.0

Chapter 2: Product Installation and Dimensions

2.1 Servo drive dimensions

Frame B: ES2-04B, ES2-08B,ES2-10B

Frame C: ,ES2-15B, ES2-30B

Table 2-1 Driver Dimensions
Model L(mm) H(mm) D(mm) L1(mm) H1(mm) D1(mm) Screw hole
Frame C 90 160 183 80 150 75
4-M4
Frame B 58 160 177 48 150 75

2.2 Servo drive installation

Figure 2-1 Servo drive installation

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Chapter 3: Servo Drive and Motor Connection

3.1 System structure diagram

Figure 3-11 System structure diagram

The names, functions and specifications of each part of the drive are as follows.

Table 3--11 Servo drive main circuit terminal name and function
No. Name Description
L1C, L2C
1 AC control circuit power Input control circuit power according to specifications
pecifications
terminal
R, S, T
2 Input main circuit power according to specifications
AC main power terminal
P⊕, D, C The default wiring is P⊕ connected with D. When using an external
3 External regenerative regenerative resistor, disconnect P⊕ and D first,, and connect an
resistor terminal external regenerative resistor between P⊕ and C.
U, V, W, PE
4 Connect servo motor three-phase and ground wire
Motor power cable terminal
5 USB communication port Connect to the PC via Mini USB to monitor, run tests, change

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CN5 parameters, etc.

6 Control port CN1 Connect with host controller for IO signal control
7 Encoder feedback port CN2 Connect for motor encoder feedback

3.2 Main circuit

3.2.1 Introduction of each part

The functions, names and specifications of each part of the main circuit are as follows:

Table 3-2 Servo drive main circuit terminal function specifications

Name Terminal mark Function, specification
Main circuit R、S Single-phase AC220V power input
power input
terminal R、S、T Three-phase AC220V power input
Control circuit
power input L1C、L2C Control loop power, input according to specifications
terminal
By default, short wires are connected between P⊕-D.
External
When the braking force is insufficient, please make an open
regenerative
circuit between P⊕-D.
resistor P⊕、D、C
(remove the short wiring) and connect external braking resistor
connection
between P⊕-C
terminal
External braking resistors should be purchased separately.
Common DC Servo DC bus terminal for common bus connection when
terminal P⊕、一
○ multiple units are connected in parallel
Servo motor
The servo motor connection terminal, connected to the U, V, W
connection U、V、W
of the motor.
terminal
Two grounding terminals are connected to the power grounding
Ground
PE terminal and the motor grounding terminal.
terminal
Be sure to ground the entire system.

3.3 Encoder interface

The encoder line PIN distribution diagram is as follows:

Table 3-3 Encoder line PIN distribution diagram

PIN 2500 line encoder signal Functional description
1 A+
2 A-
3 B+
Encoder signal
4 B-
5 Z+
6 Z-
7 +5V +5V power output
8 GND Power GND output
9 --
Shell PE

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Table 3-4 Servo motor side connectors

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3.4 Control signal

Table 3-5 Control terminal PIN definition

Definition PIN Function
PILS+ 41 Pulse command ( below 2Mpps）：
Position command

PULS- 43 Pulse, CW, A Phase Differential drive input or open collector

SIGN+ 37 Pulse command ( below 2Mpps）：Dir, input
SIGN- 39 CCW, B Phase
PULL
35 COM +, power input port , internal connected with current limiting resistor
HI
GND 29 Differential signal ground
PAO+ 21
PAO- 22
PBO+ 25
Encoder pulse divider output
PBO- 23
PZO+ 13
Encoder output

PZO- 24
PZ-
44 Home pulse collector open output
OUT

GND 29 Home pulse collector open circuit output signal ground ; differential signal ground

+5V 15
Internal 5 V supply with a maximum output current 200 mA
GND 29
PE Shell

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Definition PIN Function

Default function Functional description
DI1 9 P-OT Prohibit forward drive
DI2 10 N-OT Prohibit backward drive
DI3 34 INHIBIT Pulse inhibit
DI4 8 ALM-RST Alarm reset ( Pulse edge valid function)
DI5 33 S-ON Servo enable
Zero fixed (set motor in static when the speed of motor is 0
DI6 32 ZCLAMP
in speed control mode to avoid minor movement)
General purpose input and output signal

DI7 31 GAIN-SEL Gain switching

DI8 30 Home Switch Home switching
Internal 24 power supply , voltage range +20~28V ,
+24V 17
maximum output current 200 mA

COM- 14 Internal 24V ground; open collector pulse input ground;

COM+ 11 Power input, 12 ~ 24V

DO1+ 7 S-RDY+
Servo ready
DO1- 6 S-RDY-
DO2+ 5 COIN+
Position arrival
DO2- 4 COIN-
DO3+ 3 ZERO+
Zero speed
DO3- 2 ZERO-
DO4+ 1 ALM+
Error output
DO4- 26 ALM-
DO5+ 28 BKOFF+
Brake output
DO5- 27 BKOFF-

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Figure 3-2 General view of the control mode

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3.4.1 Digital input and output signal

1) Digital input circuit

Take DI1 as an example, DI1~DI

DI1~DI8

a） When the host computer is relay output

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b） When the host computer is open collector output

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Note: NPN and PNP input mixing is not supported.

2）Digital
Digital output circuit

Use DO1 as an example, DO1~DO5 circuit is the same.

a） When the host computer is a relay input

Note: When the host compute

computer is relay input, be sure to connect the freewheeling diode in the
correct direction, otherwise the DO port may be damaged.
b） When the host computer is optocoupler input

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Note: 1. Be sure to connect a current limiting resistor;

2. The maximum allowable voltage and current of the internal optocoupler circuit of the
servo driver are as follows:
Voltage: DC30V (maximum)
Current: DC50mA (maximum)

3.4.2 Position command input signal

Table 3-66 Correspondence between pulse input frequency and pul

pulse
se width
Pulse mode Maximum frequency（HZ） Minimum pulse width（us） width
Differencial 2M 0.25
Ordinary
Open collector 2M 0.255
Note: The pulse width of the host computer can't be less than the minimum pulse width, otherwise the
driver may receive the pulse err
error.

1） Ordinary pulse command input

a） Differential mode

b） When the collector is open

① Use the internal 24V power supply of the drive

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② Use an external power supply

Option 1: Use the internal resistance of the drive (recommended)

Option 2: Use external resistors and NPN type

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Option 3: Use external resistors and PNP type

.
Resistance R1 select formula：
： = 10mA
R1 recommended values
VCC voltage R1 resistance R1 power
24V 2.4KΩ 0.5W
12V 1.5KΩ 0.5W
5V 200Ω 0.5W

3.5 Communication signals

Mini USB communication CN5

Through CN5, communication between PC and driver can be established, and implement
operations such as drive status monitoring, test operation, and parameter reading and writing.

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Chapter 4: Operation and Adjustment

4.1 Panel operator description

4.1.1 Interface introduction

The servoo driver's operation interface consists 55-digit 7-segment

segment LED digital tube and 5 buttons,
buttons
which is used for the interface display and parameter setting of the servo driver. The interface is as
follows:

Operation and display interface

1) Button name and func
function operation
2)

Note: When an alarm occurs, please eliminate the cause of the alarm before reset.
3) Servo drive status display
The running status of the servo drive is displayed by the display characters of 5 digit LED tubes,
which are shown in the following
ing table:

Table 44-1 Digital tube display status description

Symbol LED display Status description
“ES2” Displays this character when the drive is powered-on
powered for
initialization, indicating the serial number of the drive.

“08bF1” Displays this character when the drive is powered-on

powered for
（example） initialization, indicating the model of the drive.
“nrd” Not ready: after the start or reset is completed, the servo
is not ready, for example, the main circuit is not
powered.
“rdy” Ready: the servo system passed self-test,
test, waiting for host
control device to give a servo enable signal.
“run” Run: servo is in normal running state. At this time, the
servo running status and each variable can be viewed
through the P18 group function code.
“Er.xxx” Error: servo system has an error. The three digits of
“xxx” represent error code. For the error code, please
refer to Chapter 6.

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4) How to browse and modify the parameters of the servo drive

To view the status of the servo paramet
parameters,
ers, you need to press the MODE button to switch to the
P** group of the function code to select the corresponding function code:

Running status display mode Parameter browsing or setting mode

(Level 0 menu)
When switching to the parameter display mode, the parameter group number is displayed first in
three digits of “Pxx.”, also called “level 0 menu”. One of the displayed bits is flashing. At this time,
press the up or down button, the number of the flashing digit will increase or decrease by 1; if
the left button is pressed, the flashing digit will move, which is convenient to set to the desired
group number:

When the desired group number is set, press the SET button to enter the setting status of the
parameter number in the group. “Pxx.x
“Pxx.xx”, also called “level 1 menu”, is displayed at this time,. After
the function code number is confirmed
confirmed,, press the SET button to enter the parameter setting state, also
called “Level 2 menu”. If the parameter can be modified, the lowest bit will flash, the
then press / /
to modify,
odify, as shown below:

When the SET button is pressed after modification, the word “done” will be displayed. If the
modified value is not changed, the word “done” will not be displayed. Press the MODE button to exit
status monitoring mode
de and enter parameter mode for parameter viewing and modification.

4.1.2 Parameter setting and display

1. Modify properties and display features of parameters

Some parameters can only be viewed and cannot be modified. For example, after entering the
Level 2 menu for running parameter, the display parameters does not flash. At this time, the , /
and SET button will not respond.
Some parameters can only be set in the stop state. Before modifying the these parameters, the servo
motor needs to be stopped.
2. Fivee bits parameters set
When setting the parameter is between -9999 to 99999, 5 digit display screen can be displayed or
edited at once.
3. Six and more bits parameters set
When the setting parameter range exceeds the range of [[-9999~99999],
9999~99999], it exceeds the display
d
range of five digital tubes, so six digits and more digital tube characters are required for display.

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In YAKO servo system, the display is performed by a method of displaying 4 digits by 3 pages. At
this time, there is a flashing “—“ segment in the leftmost character of each screen, which is used
to indicate the screen number of the current character.
For example, if the parameter value to be displayed is -10501080.10,
10501080.10, it will be divided into three
pages as [-10]
10] [5010] [80.10] to show in the screen. And
nd change pages by press . As shown
below:

When using the SHIFT button to shift, it will automatically switch to the corresponding display
segment. For example, suppose the current flashing bit is thousand. When using SHIFT, it will
automatically switch
itch to the middle four digit display, and the 10,000 digit (that is, the rightmost digit of
this segment) will flash. Press / at this time, the increase or decrease is 10000. For the
parameters that can be modified, the corresponding modifications can be made by shifting. If it is a
read-only
only parameter, you can only use the long press key to scroll through the page.

4.1.3 Monitorable parameter list

The monitor display is a function for displaying the command value set in the servo driver, the state of
the input/output signal, and the internal state of the servo driver. The monitor display function code
table is as follows.
Note: DI/DO terminal status display method
1. A digital tube displays two DI/DO
DI/DO, the short “|” in high position corresponding to high level
l and
low position “|” corresponding to low level. All indications correspond to the physical DI/DO.
2. The status of DIDO is represented by 8 status bits. Currently, the standard DI is 8 channels and
DO is 5 channels. The figure below shows the status of the DI input terminal.

The meaning of the above figure are as follows: DI1＝0；DI2＝1；DI3＝0；

；DI4＝0；DI5＝0；
DI6＝1；DI7＝0；DI8＝0。

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4.2 Operating mode instructions

4.2.1 Position mode

P04-07 gear ratio numerator 1

P04-09 gear ratio denominator 1
P04-00 command P04-11 gear ratio numerator 2 P04-03Position command
source P04-13 gear ratio denominator 2 smoothing filter
P04-21 command P04-05 Number of command pulses P04-04 Position command
Pulse input form
required for one motor round FIR filter

Command Electronic Position command

input gear ratio filtering
Host computer controller

Position adjustment controller

POS_DIR input
Command direction selection function

INHIBIT input
Pulse input inhibit function
PERR_CLR input
Position deviation clear function
Pulse divider output

Frequency division output function

COIN output
Positioning completed
P04-23Positioning
completion output
P04-24 Positioning width

Position mode is a common working mode of the servo drive. The main steps are as follows:

1. Connect the power supply of the servo main circuit and control circuit correctly, as well as the motor
power line and encoder line. After the power is turned on, the servo panel displays “rdy”, indicating
that the servo power supply is correctly wired and the motor encoder is wired correctly.
2. Perform a servo JOG test run by pressing the button to confirm that the motor can run normally.
3. Refer to the wiring instructions to connect the pulse/direction input and pulse command input in the
CN1 terminal and the necessary DI/DO signals, such as servo enable, positioning completion, etc.
4. Make settings related to the position mode. Set the DI/DO according to actual application. The
function code refers to P02 group. In addition, if necessary, you need to set the functions such as
return-to-origin and frequency division output. For details, see the product manual.
5. Enable the servo and control the servo motor rotation by sending a position command from the host
computer. First, let the motor rotate at a low speed, to confirm whether the rotation direction and the
electronic gear ratio are normal, and then adjust gain setting. Please refer to the debugging procedure in
Section 4.4.

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4.2.1.1 Position mode wiring

Note:
1. The signal cable and the power cable must be separated, at least 30cm apart;
2. When the signal cable length is not enough, to extend the cable, the shield layer must be reliably
connected to ensure shielding and grounding.
reliable;
3, +5V with GND as a reference, +24V with COM- as a reference. Do not exceed the maximum
allowable current, otherwise the drive can not work properly.
3. The encoder frequency devided output signal is fixed to 1:1.

4.2.1.2 Position control mode related function code setting

Parameter setting in position control mode, including mode selection, command pulse type,
electronic gear ratio, DI/DO, etc.
1) Position command input setting

a) Position command source

Set the function code P04-00=0, the position command is derived from the low speed pulse
command, and other values can be set according to the actual situation.
Related
Function Name Setting range Min Factory Effecti Type mode

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code unit setting ve time

0- By low speed pulse command Setting
Main position 4-By multi-segment position Imme after
P04 00 1 0 motor
P
command source command diately
5- By communication stop

b) Position command direction switching

By setting the DI function FunIN.24, you can use DI to control the direction switching of the
position command to satisfy the situation where the direction needs to be switched.
Code Name Function name Setting range Remark
Position The logical selection of the relevant
Invalid: No switch
FunIN.24 POS_DIR command terminal is recommended to be:
Effective: Switch
direction Edge valid

c) Pulse command type selection

Set function code P04-21, select the type of external pulse command, including "direction + pulse
(positive and negative logic)" and "orthogonal pulse".
Function Min Factory Effecti Related
Name Setting range setting ve time
Type mode
code unit
0-direction + pulse, positive
logic. (Defaults)
1-direction + pulse, negative Setting
logic Re- after
P04 21 Pulse shape 1 0 motor
P
2-A phase + B phase orthogonal power
stop
pulse, positive logic
3-A phase + B phase orthogonal
pulse, negative logic
The principle of the three pulse command type is as follows:
Pulse command type principle
Pulse
P04-21 Polarity command Forward running Backward running
type

PULS
Positive
0
logic SIGN

Positive PULS
2
logic
SIGN

PULS
Negative
1 logic
SIGN

Negative PULS
3 logic
SIGN

d) Pulse inhibit input

The pulse command input is disabled by setting the DI function FunIN.12.
Function
Code Name Setting range Remark
name
Forbid position command, including
Invalid: allow command pulse
internal and external position
input
FunIN.12 INHIBIT Pulse inhibit commands. The logic selection of
Valid: disable command pulse
the corresponding terminal must be:
input
Level active.

2) Electronic gear ratio setting

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Chapter 4: Operation and Adjustment ES2 Series Servo User Manual Lite V1.0

Set the electronic gear ratio according to the actual situation of the machine and the host computer.
Factor
Function Min Related
Name Setting range y Effective time Type mode
code unit setting
P04 07 gear ratio numerator 1 1~1073741824 1 4 Immediately P
gear ratio denominator Set
P04 09 1
1~1073741824 1 1 Immediately when P
P04 11 gear ratio numerator 2 1~1073741824 1 4 Immediately motor is P
gear ratio denominator running
P04 13 1
1~1073741824 1 1 Immediately P
The schematic diagram of the electronic gear ratio is as follows:

a ） When P04-05=0, the motor and the load are connected through the reduction gear.
Assuming that the reduction ratio of the motor shaft to the load machine side is n/m (motor rotate
m round, load shaft rotate n round), the calculation of the electronic gear ratio is as follows :

electronic gear ratio = = ×

( )

This model drive supports up to 2 sets of electronic gear ratios, and the gear ratio selection can be
completed by using the electronic gear ratio switching function FunIN.23.

b) When P04-05≠0:

electronic gear ratio =

Function Min Factory Effecti Related
Name Setting range setting ve time
Type mode
code unit
Number of pulses Setting
Re- after
P04 05 required for one 0P/Rev~1048576P/Rev 1P/Rev 0P/Rev motor
P
power
motor round stop

At this time, the two sets of electronic gear ratio and electronic gear switching function are invalid.

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Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0

Chapter 5: Auxiliary Functions

5.1 JOG run

JOG running flow chart

SET

SET
Change JOG speed
by /

SET
Chnange motor
direction by /

Complete

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Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0

5.2 Alarm reset

Alarm reset flow chart

SET

SET

SET

Complete

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Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0

5.3 Parameter initialization

Parameter initialization flow chart

SET

SET

1—Parameter initialization
2—Clear the fault record

SET

SET

Complete

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Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0

5.4 Digital signal forced input and output function

The servo drive has DI/DO force input and output function. The forced DI input can be used to
test driver DI function, and the forced DO output can be used to check the DO signal connection
between the host computer and the driver. When using digital signals force input and output functions,
the logic of physical DI and virtual DI is given by forced input.

1) DI signal forced input

When this function is turned on, each DI signal level is only controlled by the forced input (P11-11)
setting, not related to external DI signal status.

a) Method of operation

Figure 5-1 Diagram of the DI signal forced input setting procedure

Related function code
Function Min Factory Effective Related
Name Setting range setting time
Type mode
code unit
0-no operation
DIDO forced 1- forced DI enable Set
P11 10 input and output 2-forced DO enable 1 0 Immediately when PST
enable 3- forced DI and DO running
enable
Set
Set DI forced
P11 11 0-0x01FF 1 0x01FF Immediately when PST
input
running
Set
Set DO forced
P11 12 0-0x001F 1 0 Immediately when PST
output
running

Among them, P11-11 is used to forcibly set the DI level, and the panel is displayed in
hexadecimal. After converting to binary, “1” indicates high level and “0” indicates low level.
The DI terminal logic selection is set by the P02 group parameter. P18-21 is used to monitor the
status of the DI terminal. The panel displays the level. The P18-21 read by the background software is a
decimal number.

For example:
The setting method of “DI1 terminal is valid, and DI2~DI8 terminal is invalid” is as follows: (9 DI
terminal logics are “low active”)
Since "1" indicates a high level and "0" indicates a low level, the corresponding binary is
"111111110", which corresponds to the hexadecimal number "1FE", so
Set the "P11-11" parameter value to "1FE" via the panel.
P11-21 monitor DI level status:
If the DI function is not faulty, the display value of P11-11 is always the same as P18-21.
Therefore, the DI1 terminal is low on the panel and the DI2~DI8 terminals are high.

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Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0

The display is as follows:

Figure 5-2 Description of the DI level status of P18-21

b) Exit forced input function
The DI signal forced input function does not save to memory, After re-power, it will restored to
normal DI. Or it can be switched back to normal DI mode by setting P11-10=0.

2) DO signal forced output

When this function is turned on, each DO signal level is only controlled by the forced output (P11-
12) setting, not related to internal DO function status of the drive.

a) a) Method of operation

Figure 5-3 Diagram of DO signal forced output setting procedure

Among them, P11-12 is used to force set whether the DO function is valid. The panel is displayed
in hexadecimal. After converting to binary, “0” means the DO function is invalid, “1” means the DO
function is valid, P18-23 It is used to monitor the DO level status, the level is displayed on the panel,
and P18-23 is a decimal number.
For example: "DO1 terminal is invalid, and DO2~DO5 terminal is valid" is set as follows:
Because "1" indicates the DO function is valid, and "0" indicates that the DO function is invalid, the
corresponding binary is "11110", corresponding to the hexadecimal number "1E", so the parameter
value of "P11-12" can be set through the panel. It is "1E". Set the "P11-12" parameter value to "1E" via
the panel.
P11-23 monitor DO level status:

Figure 5-4 Description of the DO level status of P18-23

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Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0

b) Exit forced output function

The DO signal forced input function does not save to memory, After re-power, it will restored to
normal DO. Or it can be switched back to normal DI mode by setting P11-10=0.

5.5 Offline inertia identification

Mechanical load inertia

Load inertia ratio 
Motor inertia
The load inertia ratio is an important parameter of the servo system. Correct setting of the load
inertia ratio can help to complete the debugging quickly. The load inertia ratio can be set manually or
automatically by the servo drive's inertia identification function.
Using the "Inertia identification function (P11.03)", the motor is rotated by operating the buttons
on the servo driver panel to realize the inertia identification, which is the offline inertia identification
without the intervention of the host computer;

Note:
When using the inertia identification function, in order to accurately calculate the load inertia ratio, the
following conditions must be met:
• The actual motor maximum speed is higher than 200rpm;
• When motor accelerates and decelerates, the acceleration is above 3000 rpm/s;
• The load torque is relatively stable and cannot be changed drastically;
• The actual load inertia ratio does not exceed 120:1;

If the actual load inertia ratio is large and the driver gain is low, the motor will be slow, and the
maximum motor speed requirement and acceleration requirement cannot be reached. At this time,
increase the speed loop gain (P07.01) first, then performe inertia identification again.
If vibration occurs during the identification process, the inertia identification should be stopped
immediately and the gain should be reduced. In addition, the large backlash of the transmission
mechanism may cause the inertia identification to fail. Before performing offline inertia identification,
first confirm the following:
1） The motor's movable distance should meet the following 2 requirements
a） There is a movable distance of more than one round between the mechanical limit switches:
Before performing offline inertia identification, please make sure that the limit switch is installed on
the machine and ensure that the motor has a movable distance more than one round. Prevent overtravel
in the process of inertia identification that may causing accidents!
b ） Meet P08.24 (Number of motor rotation rounds required to complete single inertia
identification) requirements: check the current inertia identification maximum speed (P08.20),
accelerate time to maximum speed during inertia identification (P08.21), and the number of motor
rotation rounds to complete inertia identification (P08.24), ensures that the motor's runnable distance at
this stop position is longer than the P08.24 display value. Otherwise, the P08.20 or P08.21 setting value
should be appropriately reduced until this requirement is met.
2) Estimated load inertia ratio P00.05
If P00.05 is the default value (1.00) and the actual load inertia ratio is greater than 30.00, the
motor may move slow, causing the identification failure. In this case, the following two solution can be
taken:
a) Preset P00.05 to a large initial value: the preset value is recommended to start with 5.00 times,
and gradually increase until the panel display value is updated during the identification process.
b) Increase the drive rigidity level (P00.04) appropriately so that the actual motor speed can reach
the maximum speed of inertia identification (P08.20).

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The general operation flow of offline inertia identification is as follows:

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 Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0

Offline inertia identification is divided into two modes: positive and negative triangle wave mode and
JOG mode. The command of the two modes are different.

Item Positive/negative triangle wave mode (P08.23=0) JOG mode( P08.23=1)

Command form

Max.
P08.20 P08.20
speed
Accel./
Decel. P08.21 P08.21
time
Intervals P08.22 Time interval between two key presses operate
Round
for Check P08.24 Control manually
rotate
Press and hold the UP button: the motor rotates
forward first and then backforward Press UP: motor forward
Operate Press and hold the DOWN button: the motor Press DOWN key: motor backforward
Descript. rotates backforward first and then rotates forward. Release the button: zero speed stop, keep the
Release the button: zero speed stop, keep the position locked
position locked
For Short motor travel application Long motor travel application that can control manually

☆ Related function code:

Function Min. Factory Effective Setting
Name Setting range Function
code unit setting time method
Inertia Setting
recognition Set the maximum speed of after
P08.20 200~1000 1rpm 500 Immediately
maximum offline inertia identification motor
speed stop
Inertia Set the time for the motor
identification to accelerate from 0 rpm to Setting
acceleration the maximum speed of after
P08.21 50~800 1 ms 100 Immediately
and inertia identification motor
deceleration (P08.20) under offline stop
time inertia identification.
Waiting time Set the time interval
after between two speed Setting
completion commands in the forward after
P08.22 100~10000 1ms 800 Immediately
of single and reverse triangle mode motor
inertia for offline inertia stop
identification identification
Inertia 0- positive and Setting
identification negative triangle Set inertia identification after
P08.23 1 0 Immediately
mode wave mode mode motor
selection 1-JOG mode stop
Single
Display positive and
inertia
negative triangle wave
identification
P08.24 - 0.01r mode offline inertia 83 - -
motor
identification motor
rotation
required rotation round
round

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Chapter 6: Troubleshooting ES2 Series Servo User Manual Lite V1.0

Chapter 6: Troubleshooting

Servo drive alarm level is divided into two levels

Alarm level Name Description

The servo drive has a serious alarm and cannot work normally. It needs to be
Level 1 Fault shut down to check.
DO terminal outputs ALM signal.
The servo drive warns that the device will not be damaged for the time being,
Warnin but if it is not handled correctly in time, it may cause a high level fault
Level 2
g output.
DO terminal outputs WARN signal.

6.1 Fault diagnosis and treatment

Faults can be divided into:

●Non-resettable NO.1 failure;

● Resettable NO.1 fault;
● Resettable NO.2 fault.

Among them, resettable indicates that after fault handled, we can clear the servo fault status by set P11-
01 to 1 or configure DI function FunIN.2: ALM-RST alarm resets.

Non-resettable means that after the fault is handled, drive needs to be re-powered
.
The NO.1 and NO.2 faults have different stop modes. The NO.1 fault is free to stop and keeps running
freely. The NO.2 fault stop mode is set by P00-12.
NO.1, NO.2 reset method for resetable fault: first turn off the servo enable signal (S-ON is set to OFF),
then set P11-01=1 or use DI function 2.
When the servo drive fails, the fault "Er.xxx" appears on LED display.

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Chapter 6: Troubleshooting ES2 Series Servo User Manual Lite V1.0

6.1.1 Non-resettable NO.1 fault

Whether
Fault Stop method
the fault
number Fault name Cause of fault when fault
can be
Er_ occurs
reset
System parameter Abnormal data of servo internal
1 No.1 No
exception parameters
Product model
2 Invalid motor or drive model No.1 No
selection failure
Motor data Motor ROM data check error or no
3 No.1 No
verification failure data
1. parameter storage device failure
2. parameters read and write too
Fault in parameter
4 frequently No.1 No
storage
3. control power supply instability
4. drive failure
1. system parameter abnormal
6 Program exception No.1 No
2. drive internal failure
Control power Control circuit power supply
7 No.1 No
supply undervoltage undervoltage
1. drive or motor parameters are
incorrect;
Short circuit to 2. UVW phase-to-phase short
8 ground failure circuit; NO.1 No
detected 3. motor burned out;
4. motor is shorted to ground;
5. drive failure;
1 The drive or motor parameters are
incorrect;
2 UVW phase-to-phase short
9 Overcurrent fault circuit; NO.1 No
3 the motor burned out;
4 The motor is shorted to ground;
5 drive failure;
Encoder
11 Encoder disconnection No.1 No
disconnection
Encoder AB signal
12 Encoder AB signal is abnormal No.1 No
abnormal
Encoder check
13 Encoder zero point check exception No.1 No
exception
Motor initial angle Motor initial angle detection is
14 No.1 No
detection abnormal abnormal
1 Motor UVW phase sequence
setting error
15 Motor out of control 2 UVW wiring error No.1 No
3 Initial position or encoder
parameter setting error
Current sampling
16 Current sampling fault No.1 No
fault

6.1.2 Resettable NO.1 fault

Whether
Fault Stop method
the fault
number Fault name Cause of fault when fault
can be
Er_ occurs
reset
The main circuit DC voltage
20 Overvoltage No.1 Yes
abnormally high
21 Undervoltage Main circuit DC voltage low No.1 Yes

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Chapter 6: Troubleshooting ES2 Series Servo User Manual Lite V1.0

Whether
Fault Stop method
the fault
number Fault name Cause of fault when fault
can be
Er_ occurs
reset
1. Speed command exceeds the
maximum speed value
2. UVW phase sequence error
22 Overspeed No.1 Yes
3. Speed response too high,
severely exceed adjustment range
4. Drive failure
DI terminal
Different DI are assigned with same
27 parameter setting No.1 Yes
function repeatedly;
fault
DO terminal
Different DO are assigned with
28 parameter setting No.1 Yes
same output
fault
Reference position
30 Reference position failure No.1 Yes
failure

6.1.3 Resettable NO.2 fault

Whether
Fault Stop method
the fault
number Fault name Cause of fault when fault
can be
Er_ occurs
reset
In the servo ON state, the position
Position deviation
43 deviation exceeds the position No.2 Yes
is too large
deviation value (P09.09)
When lack power input phase, the
protection selects parameter P09-
00=0 (enable fault, disable warning)
or P09-00=1 (enable fault and
Main circuit input
44 warning): No.2 Yes
phase lack
1. Three-phase input line is poorly
connected
2. Three-phase drive operates under
single-phase power
The load operation exceeds the
inverse time curve of the drive;
46 Drive overload The UVW output may be lack of No.2 Yes
phase or phase sequence connected
incorrectly;
The load operation exceeds the
inverse time curve of the motor;
47 Motor overload The UVW output may be lack of N0.2 Yes
phase or phase sequence connected
incorrectly;
Electronic gear Electronic gear ratio exceeds
49 No.2 Yes
setting error specification range [0.001, 4000]
Heat sink (fan) Servo unit heat sink (fan) exceeds
50 No.2 Yes
overheating the set fault value

6.2 Reasons for warning and treatment

Fault
Warning name Cause of fault
number Er_
Warning when 80% of the drive overload limit value is
81 Drive overload warning
reached

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Chapter 6: Troubleshooting ES2 Series Servo User Manual Lite V1.0

Fault
Warning name Cause of fault
number Er_
The warning before the motor is about to fail, the warning
82 Motor overload warning
value is determined by P09_05
Changed parameters need
83 to be re-powered to take Changed parameters that need to be re-powered
effect
Forward overtravel
86 Positive overtravel switch Pot terminal is valid
warning
Negative overtravel
87 Negative overtravel switch Not terminal is valid
warning
External regenerative
90 External regenerative resistor power is too small
resistor overload
The external regenerative resistor is less than the minimum
External regenerative
91 requirement by the driver;
resistor is too small
Or parameter setting error
94 DI emergency brake External emergency brake E_STOP terminal trigger
1. Home switch failure
96 Homing timeout 2. Time limit to find home is too short
3. The high speed for searching home signal is too small
1 When the home return mode parameter P16-09=6 or P16-
09=8 or P16-09=14, the mechanical home offset parameter
Mechanical home point P16-14 is set to a value greater than 0.
97
offset error 2 When the home return mode parameter P16-09=7 or P16-
09=9 or P16-09=15, the mechanical home offset parameter
P16-14 is set to less than 0.
When the power input lack phase protection selects
parameter P09-00=1 (enable fault and warning), the driver
Main circuit input lack
98 with rated power of 0.8kW, 1.0kW, 1.5kW, 3.0kW will
phase
report a warning when the main circuit input voltage is
single-phase. .

Note: The reset method of warning: set P11-01=1 or use DI function 2.

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 Appendix ES2 Series Servo User Manual Lite V1.0

Chapter 7: Parameter List

Parameter group number Parameter group function

P00 Basic control parameters
P01 Servo motor parameters
P02 Digital input and output parameters
P04 Position control parameters
P05 Speed control parameters
P06 Torque control parameters
P07 Gain parameters
P09 Fault and protection parameters
P11 Auxiliary function parameters
P12 Keyboard display parameters
P13 Multi-segment position function parameters
P14 Multi-speed function parameters
P16 Special function parameters
P17 Drive parameters
P18 Display parameters

Note: The above parameters are not completely listed. For more parameters, please refer to the detailed
manual.

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 Appendix ES2 Series Servo User Manual Lite V1.0

P00 group: basic control parameters

Function Default Effectiv

Name Setting range Min. unit Type Mode
code setting e time
0-position mode
1-speed mode
2-torque mode
3-speed / torque mixing
mode Effectiv Settin
Control mode 4-position / speed mixing e g after
P00 00 1 0 PST
selection mode immedia motor
5-position / torque mixing tely stop
mode
6-reserved
7-pulse/speed mixing
mode
0-CCW direction is the
forward direction Settin
Direction of (counterclockwise) Re- g after
P00 01 1 0 PST
rotation 1-CW direction is the power motor
forward direction stop
(clockwise)
0-CCW direction is
forward direction
(the corresponding
Pulse output motor rotation direction Settin
positive when the pulse output Re- g after
P00 02 1 0 PST
direction OA leads the OB) power motor
definition 1- CW direction is stop
forward direction
(reverse mode, OA lag
OB)
Effectiv Settin
0-invalid
Self-adjusting e g after
P00 03 1-standard mode 1 0 PST
mode immedia motor
2-positioning mode
tely stop
Effectiv Set
Rigidity level e when
P00 04 0~31 1 11 PST
setting immedia runnin
tely g
Effectiv Set
e when
P00 05 Inertia ratio 0~3000 0.01 1.00 PST
immedia runnin
tely g
Effectiv Settin
Maximum
6000rp e g after
P00 07 speed of the 0~10000rpm 1rpm PST
m immedia motor
system
tely stop
Effectiv Settin
System
0~500 (times to the rated e g after
P00 08 maximum 0.01 3.00 PST
torque of motor) immedia motor
torque
tely stop
0-Free running stop, keep Effectiv Settin
Servo OFF stop free e g after
P00 10 1 0 PST
mode 1-zero speed stop, keep immedia motor
free tely stop
Reser
Reserved ved
P00 11 0～65535 1 0 N/A PST
parameter param
eter
0-Free running stop, keep Effectiv Settin
Fault No.2 stop free e g after
P00 12 1 0 PST
mode selection 1-zero speed stop, keep immedia motor
free tely stop

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Default Effectiv

Name Setting range Min. unit Type Mode
code setting e time
0-free running stop
1- Decelerate the motor
with the set torque of
the emergency stop
torque as the maximum
value, and then enter Effectiv Settin
Stop mode e g after
P00 13
when overtravel
the servo lock state. 1 1
immedia motor
PST
2- Decelerate the motor tely stop
with the set torque of
the emergency stop
torque as the maximum
value, and then enter
free running state.
Effectiv Set
Brake output
e when
P00 14 ON to command 0ms～10000ms 1ms 200ms PST
immedia runnin
receiving delay
tely g
Static state, the
delay between Effectiv Set
the brake output e when
P00 15 10ms～10000ms 1ms 200ms PST
OFF and power immedia runnin
cut-off of the tely g
motor
Rotating state,
Effectiv Set
the speed
e when
P00 16 threshold when 0rpm～1000rpm 1rpm 50rpm PST
immedia runnin
the brake output
tely g
is OFF
Rotation state,
Effectiv Set
delay between
e when
P00 17 servo enable 0ms～10000ms 1ms 500ms PST
immedia runnin
OFF and brake
tely g
output OFF
0-Use built-in power
consumption resistor
1-Use external power-
consuming resistors
Energy and cool naturally Effectiv Settin
consumption 2-Use external power- e g after
P00 18 1 0 PST
resistance consuming resistors immedia motor
setting and force air-cooled tely stop
3- No energy
consumption resistor,
relying on capacitance
absorption
Effectiv Settin
Model
External resistor e g after
P00 19 1W～65535W 1W paramet PST
power capacity immedia motor
er
tely stop
Effectiv Settin
Model
External User can set it up e g after
P00 20 1ohm paramet PST
resistance value 1 ohm to 1000 ohm immedia motor
er
tely stop
External Effectiv Settin
Model
resistance User can set it up e g after
P00 21 1ms paramet PST
heating time 1ms~7000ms immedia motor
er
constant tely stop
Energy Effectiv Set
Model
consumption e when
P00 22 0V~1000V 1 paramet PST
braking start immedia runnin
er
voltage tely g

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Default Effectiv

Name Setting range Min. unit Type Mode
code setting e time
Effectiv Set
Pulse increment e when
P00 37 0～200 1 10 PS
threshold immedia runnin
tely g
Continuous Effectiv Set
pulseless e when
P00 38 1～200 1 3 PS
reception cycle immedia runnin
number tely g

P01 group: servo motor parameters

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Settin
Effective
Motor model coding g after
P01 00 1-9999 immediate PST
number motor
ly
stop

P02 group: digital terminal input and output parameters

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0~0xFFFF
Bit0- corresponds to
FunIN.1; Set
FunINL signal
Bit1- corresponds to when
P02 00 unassigned state 1 0 Re-power PST
FunIN.2; runnin
(HEX)
...... g
Bit15-corresponds to
FunIN.16
Input function code:
0, 1-40
Set
0: no definition
DI1 terminal Effective when
P02 01 1 to 40: FunIN.1 to 1 13 PST
function selection immediately runnin
40 (refer to the DIDO
g
basic function coding
table)
Input function code:
0, 1-40
Set
0: no definition
DI2 terminal Effective when
P02 02 1 to 40: FunIN.1 to 1 14 PST
function selection immediately runnin
40 (refer to the DIDO
g
basic function coding
table)
Input function code:
0, 1-40
Set
0: no definition
DI3 terminal Effective when
P02 03 1 to 40: FunIN.1 to 1 12 PST
function selection immediately runnin
40 (refer to the DIDO
g
basic function coding
table)
Input function code:
0, 1-40
Set
0: no definition
DI4 terminal Effective when
P02 04 1 to 40: FunIN.1 to 1 2 PST
function selection immediately runnin
40 (refer to the DIDO
g
basic function coding
table)

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Input function code:
0, 1-40
Set
0: no definition
DI5 terminal Effective when
P02 05 1 to 40: FunIN.1 to 1 1 PST
function selection immediately runnin
40 (refer to the DIDO
g
basic function coding
table)
Input function code:
0, 1-40
Set
0: no definition
DI6 terminal Effective when
P02 06 1 to 40: FunIN.1 to 1 11 PST
function selection immediately runnin
40 (refer to the DIDO
g
basic function coding
table)
Input function code:
0, 1-40
Set
0: no definition
DI7 terminal Effective when
P02 07 1 to 40: FunIN.1 to 1 3 PST
function selection immediately runnin
40 (refer to the DIDO
g
basic function coding
table)
Input function code:
0, 1-40
Set
0: no definition
DI8 terminal Effective when
P02 08 1 to 40: FunIN.1 to 1 32 PST
function selection immediately runnin
40 (refer to the DIDO
g
basic function coding
table)
0~0xFFFF
Bit0- corresponds to
FunIN.17; Set
FunINH signal
Bit1- corresponds to when
P02 10 unassigned state 1 0 Re-power PST
FunIN.18; runnin
(HEX)
...... g
Bit15-corresponds to
FunIN.32
Input polarity: 0-4
0-low level effective
1-high level
Set
effective
DI1 terminal logic Effective when
P02 11 2-rising edge is valid 1 0 PST
selection immediately runnin
3-falling edge is
g
valid
4- rising and falling
edges are valid
Input polarity: 0-4
0-low level effective
1-high level
Set
effective
DI2 terminal logic Effective when
P02 12 2-rising edge is valid 1 0 PST
selection immediately runnin
3-falling edge is
g
valid
4- rising and falling
edges are valid
Input polarity: 0-4
0-low level effective
1-high level
Set
effective
DI3 terminal logic Effective when
P02 13 2-rising edge is valid 1 0 PST
selection immediately runnin
3-falling edge is
g
valid
4- rising and falling
edges are valid

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Input polarity: 0-4
0-low level effective
1-high level
Set
effective
DI4 terminal logic Effective when
P02 14 2-rising edge is valid 1 0 PST
selection immediately runnin
3-falling edge is
g
valid
4- rising and falling
edges are valid
Input polarity: 0-4
0-low level effective
1-high level
Set
effective
DI5 terminal logic Effective when
P02 15 2-rising edge is valid 1 0 PST
selection immediately runnin
3-falling edge is
g
valid
4- rising and falling
edges are valid
Input polarity: 0-4
0-low level effective
1-high level
Set
effective
DI6 terminal logic Effective when
P02 16 2-rising edge is valid 1 0 PST
selection immediately runnin
3-falling edge is
g
valid
4- rising and falling
edges are valid
Input polarity: 0-4
0-low level effective
1-high level
Set
effective
DI7 terminal logic Effective when
P02 17 2-rising edge is valid 1 0 PST
selection immediately runnin
3-falling edge is
g
valid
4- rising and falling
edges are valid
Input polarity: 0-4
0-low level effective
1-high level
Set
effective
DI8 terminal logic Effective when
P02 18 2-rising edge is valid 1 0 PST
selection immediately runnin
3-falling edge is
g
valid
4- rising and falling
edges are valid
Output code: 1 ~ 20
0: no definition
Settin
1~20:
DO1 terminal Effective g after
P02 21 FunOUT.1~20 refer 1 1 PST
function selection immediately motor
to DIDO function
stop
selection code
definition
Output code: 1 ~ 20
0: no definition
Settin
1~20:
DO2 terminal Effective g after
P02 22 FunOUT.1~20 refer 1 7 PST
function selection immediately motor
to DIDO function
stop
selection code
definition
Output code: 1 ~ 20
0: no definition
Settin
1~20:
DO3 terminal Effective g after
P02 23 FunOUT.1~20 refer 1 5 PST
function selection immediately motor
to DIDO function
stop
selection code
definition

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Output code: 1 ~ 20
0: no definition
Settin
1~20:
DO4 terminal Effective g after
P02 24 FunOUT.1~20 refer 1 2 PST
function selection immediately motor
to DIDO function
stop
selection code
definition
Output code: 1 ~ 20
0: no definition
Settin
1~20:
DO5 terminal Effective g after
P02 25 FunOUT.1~20 refer 1 11 PST
function selection immediately motor
to DIDO function
stop
selection code
definition
Output polarity
inversion setting: 0-
1
0-conduct when Settin
DO1 terminal logic Effective g after
P02 31
level selection
active (normally 1 0
immediately motor
PST
open) stop
1- not conduct
when active
(normally closed)
Output polarity
inversion setting: 0-1
0-conduct when Settin
DO2 terminal logic active (normally Effective g after
P02 32 1 0 PST
level selection open) immediately motor
1- not conduct when stop
active (normally
closed)
Output polarity
inversion setting: 0-1
0-conduct when Settin
DO3 terminal logic active (normally Effective g after
P02 33 1 0 PST
level selection open) immediately motor
1- not conduct when stop
active (normally
closed)
Output polarity
inversion setting: 0-1
0-conduct when Settin
DO4 terminal logic active (normally Effective g after
P02 34 1 0 PST
level selection open) immediately motor
1- not conduct when stop
active (normally
closed)
Output polarity
inversion setting: 0-1
0-conduct when Settin
DO5 terminal logic active (normally Effective g after
P02 35 1 0 PST
level selection open) immediately motor
1- not conduct when stop
active (normally
closed)

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 Appendix ES2 Series Servo User Manual Lite V1.0

P04 group: position control parameters

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-low speed pulse
command
2-step amount given Settin
Effective
Main position 4-multi-segment g after
P04 00 1 0 immediate P
command A source position command motor
ly
given stop
5-given through
communication
Reser
ved
P04 01 Reserved parameter 1 0 N/A P
param
eter
Settin
-9999 command units Effective
g after
P04 02 Step amount ~ 9999 command 1Unit 50Unit immediate P
motor
units ly
stop
Settin
Effective
Position command g after
P04 03 0.0ms～6553.5ms 0.1ms 0.0ms immediate P
smoothing filter motor
ly
stop
Settin
Effective
Position command g after
P04 04 0.0ms～128.0ms 0.1ms 0.0ms immediate P
FIR filter motor
ly
stop
Number of Settin
16 Unit/Turn ～
instruction unit g after
P04 05 1073741824 1Unit 0Unit Re-power P
required for one Unit/Turn
motor
round (32-bit) stop
Set
Effective
Electronic gear 1 when
P04 07 1～1073741824 1 4 immediate P
numerator (32 bit) runnin
ly
g
Set
Effective
Electronic gear 1 when
P04 09 1～1073741824 1 1 immediate P
denominator (32 bit) runnin
ly
g
Set
Effective
Electronic gear 2 when
P04 11 1～1073741824 1 4 immediate P
numerator (32 bit) runnin
ly
g
Set
Effective
Electronic gear 2 when
P04 13 1～1073741824 1 1 immediate P
denominator (32 bit) runnin
ly
g
0-pulse + direction,
positive logic.
(Defaults)
1-direction + pulse,
negative logic Settin
2-A phase + B g after
P04 21 Pulse shape 1 0 Re-power P
phase orthogonal motor
pulse, positive logic stop
3-A phase + B
phase orthogonal
pulse, negative
logic

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 Appendix ES2 Series Servo User Manual Lite V1.0

0- Clear position
deviation pulse
when fault occurs
or servo OFF
1- Clear the Settin
Effective
Position deviation g after
P04 22
clear function
position deviation 1 0 immediate
motor
P
pulse only when a ly
stop
fault occurs
2- Cleared by DI
input function
(PERR-CLR)
0-Output when the
absolute position
deviation value is
smaller than
positioning
completion range
1- Output when the
absolute position
deviation value is
smaller than
positioning Settin
Effective
Positioning complete g after
P04 23
(COIN) output
completion range 1 0 immediate
motor
P
and the filtered ly
stop
position command
is 0
2- Output when the
absolute position
deviation value is
smaller than
positioning
completion range
and position
command is 0
Settin
Effective
Positioning g after
P04 24 1P～65535P 1P 7P immediate P
completion range motor
ly
stop
Settin
Effective
Positioning close g after
P04 25 1P～65535P 1P 65535P immediate P
range motor
ly
stop

P05 group: speed control parameters

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-digit
value(P0503) Settin
Main speed command 3-multi-speed Effective g after
P05 00 1 0 S
A source command immediately motor
4-communication stop
command given
0-digit
value(P0503) Settin
Auxiliary speed 3-multi-speed Effective g after
P05 01 1 3 S
command B source command immediately motor
4-communication stop
command given

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 Appendix ES2 Series Servo User Manual Lite V1.0

0-main speed
command A source Settin
Speed command 1-auxiliary speed Effective g after
P05 02 1 0 S
selection command B source immediately motor
2-A+B stop
3-A/B switching
Set
Speed command -9000rpm ～ Effective when
P05 03 1rpm 200rpm S
keyboard setting 9000rpm immediately runnin
g
Set
Effective when
P05 04 Jog speed setting 0rpm～9000rpm 1rpm 200rpm S
immediately runnin
g
Reser
Speed command Effective ved
P05 05 0ms-10000ms 1ms 0ms S
acceleration time immediately param
eter
Reser
Speed command Effective ved
P05 06 0ms-10000ms 1ms 0ms S
deceleration time immediately param
eter
Set
9000rp Effective when
P05 08 Forward speed limit 0rpm-9000rpm 1rpm S
m immediately runnin
g
Set
9000rp Effective when
P05 09 Backward speed limit 0rpm-9000rpm 1rpm S
m immediately runnin
g
Set
Fixed speed for 0V Effective when
P05 15 0rpm～6000rpm 1rpm 10rpm S
input setting immediately runnin
g
Set
Speed threshold of
Effective when
P05 16 motor running signal 0rpm～1000rpm 1rpm 20rpm PS
immediately runnin
output
g
Set
Speed uniform signal Effective when
P05 17 0rpm～100rpm 1rpm 10rpm PS
width immediately runnin
g
Set
Speed reaches the 1000rp Effective when
P05 18 0rpm～6000rpm 1rpm PST
specified value m immediately runnin
g
Reser
Speed reaches the Effective ved
P05 19 0rpm～100rpm 1rpm 10rpm PST
specified value width immediately param
eter
Set
Zero speed judgment when
P05 20 0rpm～6000rpm 1rpm 10rpm N/A PST
threshold runnin
g

P06 group: torque control parameters

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-digit given (P06- Settin
Effective
Main torque 05) g after
P06 00 1 0 immediate T
command A source 3-given through motor
ly
communication stop

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-digit given (P06- Settin
Effective
Auxiliary torque 05) g after
P06 01 1 1 immediate T
command B source 3-given through motor
ly
communication stop
0-Main torque
command A
source Settin
Effective
Torque command 1- Auxiliary g after
P06 02 1 0 immediate T
selection torque command ly
motor
B source source stop
2-A+B source
3-A/B switching
Set
-300.0% to 300.0% Effective
Torque command when
P06 05 (based on rated 0.1% 0.0% immediate T
keyboard setting runnin
motor torque) ly
g
Set
0.0%~500.0% Effective
Forward internal when
P06 08 (based on rated 0.1% 300.0% immediate PST
torque limit runnin
motor torque) ly
g
Set
0.0%~500.0% Effective
Backward internal when
P06 09 (based on rated 0.1% 300.0% immediate PST
torque limit runnin
motor torque) ly
g
Set
0.0%~500.0% Effective
Forward side external when
P06 10 (based on rated 0.1% 300.0% immediate PST
torque limit runnin
motor torque) ly
g
Set
0.0%~500.0% Effective
Backward side when
P06 11 (based on rated 0.1% 300.0% immediate PST
external torque limit runnin
motor torque) ly
g
Set
0.0%~300.0% Effective
Emergency stop when
P06 12 (based on rated 0.1% 100.0% immediate PST
torque runnin
motor torque) ly
g
Set
Effective
Positive speed limit when
P06 15 0rpm-9000rpm 1 3000 immediate T
during torque control runnin
ly
g
Set
Effective
Negetive speed limit when
P06 16 0rpm-9000rpm 1 3000 immediate T
during torque control runnin
ly
g
0.0% to 500.0% Set
Torque arrival Effective
(100% corresponds when
P06 17 command reference 0.1% 0.0% immediate PST
to the rated torque runnin
value ly
of the motor) g
0.0% to 500.0% Set
Torque arrival Effective
(100% corresponds when
P06 18 effective offset 0.1% 20.0% immediate PST
to the rated torque runnin
threshold ly
of the motor) g
0.0% to 500.0% Set
Torque arrival Effective
(100% corresponds when
P06 19 ineffective offset 0.1% 10.0% immediate PST
to the rated torque runnin
threshold ly
of the motor) g

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 Appendix ES2 Series Servo User Manual Lite V1.0

P07 group: gain parameter

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Set
Effective
when
P07 00 Position loop gain 1 1～2000.0 0.1HZ 320 immediate P
runnin
ly
g
Set
Effective
when
P07 01 Speed loop gain 1 1～2000 0.1HZ 180 immediate PS
runnin
ly
g
Set
Effective
Speed loop integral 0.01m when
P07 02 15～51200 3100 immediate PS
time 1 s runnin
ly
g
Set
Effective
Speed detection 0.01m when
P07 03 0～200 60 immediate PST
filter 1 s runnin
ly
g
Set
Effective
Torque command 0.01m when
P07 04 126~65535 126 immediate PST
filtering 1 s runnin
ly
g
Set
Effective
when
P07 05 Position loop gain 2 1～2000.0 0.1HZ 380 immediate P
runnin
ly
g
Set
Effective
when
P07 06 Speed loop gain 2 1～2000 0.1HZ 180 immediate PS
runnin
ly
g
Set
Effective
Speed loop integral 0.01m when
P07 07 15～51200 51200 immediate PS
time 2 s runnin
ly
g
Set
Effective
Speed detection 0.01m when
P07 08 0～200 0 immediate PST
filter 2 s runnin
ly
g
Set
Effective
Torque command 0.01m when
P07 09 126~65535 126 immediate PST
filtering 2 s runnin
ly
g
0-speed loop
regulator P (1) / PI
(0) switch, gain is Set
DI function GAIN- Effective
when
P07 10 SWITCH switching fixed to first group 1 0 immediate
runnin
PS
action selection 1-first gain (0), ly
g
second gain (1)
switching

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-first gain fixed
1-second gain fixed
2-using DI input
(GAIN-SWITCH)
3-torque command
greater
4-speed command
change greater
5-speed command
greater
6-position deviation
greater (P)
7-receive position
command (P) Set
Effective
Gain switching when
P07 11
mode
8-positioning is not 1 0 immediate
runnin
PS
completed (P) ly
g
9-actual speed is
greater (P)
10-receive position
command and
actual speed (P)
11-speed loop
controller with
PDFF control (PS)
12-reserved
13-speed loop
controller with
improved PI control
(PS)
Set
Effective
Gain switching when
P07 12 0~1000.0ms 0.1ms 5.0ms immediate PS
delay runnin
ly
g
0~20000 (unit: Set
Effective
Gain switching according to the gain when
P07 13 1 50 immediate PS
level switching mode runnin
ly
description) g
0~20000 (unit: Set
Effective
Hysteresis time of according to the gain when
P07 14 1 33 immediate PS
gain switching switching mode runnin
ly
description) g
Set
Effective
Position gain when
P07 15 0~1000.0ms 0.1ms 3.3ms immediate PS
switching time runnin
ly
g
Set
Effective
Speed regulator when
P07 16 0~100.0% 0.1% 100.0% immediate PS
PDFF coefficient runnin
ly
g
Set
Effective
Improved speed PI when
P07 17 2~7 1 5 immediate PS
control level runnin
ly
g
Set
Anti-integration Effective
when
P07 18 saturation 0~1.000 0.001 0.820 immediate PS
runnin
coefficient ly
g

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-no speed
feedforward
1-internal speed
feedforward Settin
Effective
Speed feedforward 2-use AI1 as speed g after
P07 19 1 1 immediate P
control selection feedforward input ly
motor
3-use AI2 as speed stop
feedforward input
4-given through
communication
Set
Effective
Speed feedforward when
P07 20 0.0%～100.0% 0.1% 0.0% immediate P
gain runnin
ly
g
Set
Effective
Speed feedforward 0.01m when
P07 21 0.00ms～64.00ms 0.50ms immediate P
filter time parameter s runnin
ly
g
0-no torque
feedforward
1-internal torque
feedforward Settin
Effective
Torque feedforward 2-use AI1 as speed g after
P07 22 1 1 immediate PS
selection feedforward input motor
ly
3-use AI2 as speed stop
feedforward input
4-given through
communication
Set
Effective
Torque feedforward when
P07 23 0.0%～100.0% 0.1% 0.0% immediate PS
gain runnin
ly
g
Set
Effective
Torque feedforward 0.01m when
P07 24 0.00ms～64.00ms 0.50ms immediate PS
filter time parameter s runnin
ly
g
Settin
Speed offset Effective
g after
P07 25 superimposed 0P～100P 1P 7P immediate P
motor
threshold ly
stop
Set
Effective
when
P07 26 Speed offset 0.0%～100.0% 0.1% 0.0% immediate P
runnin
ly
g
Set
Effective
Voltage when
P07 27 0.000~1.000 0.001 0.000 immediate PST
feedforward gain runnin
ly
g
Set
Effective
when
P07 28 Id set 0~65535 0.001 0.000 immediate PST
runnin
ly
g

P09 group: failure and protection

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-Enable fault, disable
warning Set
Power input lack Effective
1-Enable faults and when
P09 00 phase protection 1 2 immediate PST
option warnings ly
runnin
2- Prohibited faults and g
warnings

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Set
Power output lack Effective
0-Enable protection when
P09 01 phase protection 1 0 immediate PST
selection 1-Prohibited protection ly
runnin
g
Set
Effective
when
P09 03 Reserved - - - immediate PST
runnin
ly
g
Set
Effective
Motor out of control 0- protection open when
P09 04 1 0 immediate PST
protection 1- protection off runnin
ly
g
Set
Effective
Overload warning when
P09 05 1%～100% 1% 100% immediate PST
value runnin
ly
g
Set
Effective
Motor overload when
P09 06 10%～300% 1% 100% immediate PST
protection factor runnin
ly
g
Set
50% to 100% (100% Effective
Undervoltage when
P09 07 corresponds to the default 1% 100% immediate PST
protection point runnin
undervoltage point) ly
g
Set
50%~120% (100% Effective
Overspeed fault when
P09 08 corresponds to maximum 1% 120% immediate PST
point runnin
motor speed) ly
g
Set
Position deviation Effective
1P~1073741824P when
P09 09 excessive threshold 1P 32767P immediate PST
(encoder unit) runnin
(32 bit) ly
g
Settin
Command pulse g after
P09 12 0-255 20ns 360ns Re-power P
input pin filter time motor
stop
Settin
Quadrature encoder g after
P09 13 0-255 20ns 720ns Re-power PST
filter time motor
stop

P11 group: auxiliary function parameters

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Settin
Effective
Keyboard JOG trial 0-no operation g after
P11 00 1 0 immediate PST
run 1-start JOG motor
ly
stop
Settin
Effective
0-no operation g after
P11 01 Fault reset 1 0 immediate PST
1-fault reset motor
ly
stop
Reser
Effective
0-no operation ved
P11 02 Software reset 1 0 immediate PST
1-software reset param
ly
eter
Settin
Effective
Inertia recognition 0-no operation g after
P11 03 1 0 immediate PST
function 1-Start inertia recognition motor
ly
stop
Effective Reser
Initial angle 0-no operation
P11 04 1 0 immediate ved PST
recognition 1-start angle initialization
ly param

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 Appendix ES2 Series Servo User Manual Lite V1.0

eter
0-no operation
1-Restore factory Settin
Effective
System initialization setting (except P1 and g after
P11 09 1 0 immediate PST
function P17 parameters) ly
motor
2- Clear the fault stop
record
0-no operation Set
Effective
DIDO forced input 1- forced DI enable when
P11 10 1 0 immediate PST
and output enable 2-forced DO enable runnin
ly
3-forced DIDO enabled g
Set
Effective
when
P11 11 Set DI forced input 0-0x01FF 1 0x01FF immediate PST
runnin
ly
g
Set
Effective
Set DO forced when
P11 12 0-0x001F 1 0 immediate PST
output runnin
ly
g

P12 group: keyboard display parameters

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-LED immediately Set
Effective
LED warning outputs warning message when
P12 00 1 0 immediate PST
display selection 1-LED does not output runnin
ly
warning message g
Set
Effective
Default display when
P12 01 1 1 immediate PST
settings runnin
ly
g
Set
Effective
Speed display filter 0.1 when
P12 03 0~1000.0ms 5.0ms immediate PST
time ms runnin
ly
g
Displa
Software version y
P12 12 VV.B.DD 1 0 N/A
number param
eter
Displa
y
P12 14 Product series code PP.XXX 1 0 N/A
param
eter

P13 group: multi-segment position

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0- stop after the end of
single operation (P1301
for segment number
selection)
1-cycle operation (P1301 Settin
Multi-segment Effective
for segment number g after
P13 00 position operation 1 1 immediate P
selection) motor
mode ly
2-DI switching operation stop
(selected by DI)
3-sequential operation
(P1301 for segment
number selection)
Settin
Effective
Specify starting g after
P13 01 1～16 1 1 immediate P
segment motor
ly
stop

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Settin
Effective
Specify end g after
P13 02 1～16 1 1 immediate P
segment motor
ly
stop
Valid in the other three
modes except DI mode
Settin
0: continue to run the Effective
Interrupted position g after
P13 03 segment that has not 1 0 immediate P
handle setting motor
finished ly
stop
1: restart from the first
segment
Settin
Effective
0-ms g after
P13 04 Waiting time unit 1 0 immediate P
1-s motor
ly
stop
0-incremental position Settin
Effective
Position control control g after
P13 05 1 0 immediate P
method 1-absolute position motor
ly
control stop
Segment 1: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 08 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit)
bits) g
Set
Segment 1: Effective
1rp when
P13 10 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 1: Set
Effective
1ms when
P13 11 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 1: Set
Effective
1ms 1000ms( when
P13 12 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 2: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 13 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 2: Effective
1rp when
P13 15 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 2: Set
Effective
1ms when
P13 16 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 2: Set
Effective
1ms 1000ms( when
P13 17 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 3: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 18 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 3: Effective
1rp when
P13 20 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 3: Set
Effective
1ms when
P13 21 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Segment 3: Set
Effective
1ms 1000ms( when
P13 22 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 4: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 23 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 4: Effective
1rp when
P13 25 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 4: Set
Effective
1ms when
P13 26 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 4: Set
Effective
1ms 1000ms( when
P13 27 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 5: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 28 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 5: Effective
1rp when
P13 30 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 5: Set
Effective
1ms when
P13 31 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 5: Set
Effective
1ms 1000ms( when
P13 32 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 6: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 33 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 6: Effective
1rp when
P13 35 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 6: Set
Effective
1ms when
P13 36 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 6: Set
Effective
1ms 1000ms( when
P13 37 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 7: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 38 1073741824(command immediate P
displacement (32 unit)
it nit
ly
runnin
bits) g
Set
Segment 7: Effective
1rp when
P13 40 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 7: Set
Effective
1ms when
P13 41 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g

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Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Segment 7: Set
Effective
1ms 1000ms( when
P13 42 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 8: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 43 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 8: Effective
1rp when
P13 45 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 8: Set
Effective
1ms when
P13 46 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 8: Set
Effective
1ms 1000ms( when
P13 47 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 9: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 48 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 9: Effective
1rp when
P13 50 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 9: Set
Effective
1ms when
P13 51 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 9: Set
Effective
1ms 1000ms( when
P13 52 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 10: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 53 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 10: Effective
1rp when
P13 55 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 10: Set
Effective
1ms when
P13 56 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 10: Set
Effective
1ms 1000ms( when
P13 57 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 11: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 58 1073741824(command immediate P
displacement (32 unit)
it nit
ly
runnin
bits) g
Set
Segment 11: Effective
1rp when
P13 60 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 11: Set
Effective
1ms when
P13 61 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g

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Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Segment 11: Set
Effective
1ms 1000ms( when
P13 62 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 12: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 63 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 12: Effective
1rp when
P13 65 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 12: Set
Effective
1ms when
P13 66 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 12: Set
Effective
1ms 1000ms( when
P13 67 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 13: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 68 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 13: Effective
1rp when
P13 70 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 13: Set
Effective
1ms when
P13 71 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 13: Set
Effective
1ms 1000ms( when
P13 72 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 14: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 73 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 14: Effective
1rp when
P13 75 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 14: Set
Effective
1ms when
P13 76 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 14: Set
Effective
1ms 1000ms( when
P13 77 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 15: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 78 1073741824(command immediate P
displacement (32 unit)
it nit
ly
runnin
bits) g
Set
Segment 15: Effective
1rp when
P13 80 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 15: Set
Effective
1ms when
P13 81 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g

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Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Segment 15: Set
Effective
1ms 1000ms( when
P13 82 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g
Segment 16: Set
-1073741824 ～ Effective
movement 1Un 10000U when
P13 83 1073741824(command immediate P
displacement (32 it nit
ly
runnin
unit) g
bits)
Set
Segment 16: Effective
1rp when
P13 85 maximum running 0rpm～9000rpm 200rpm immediate P
m runnin
speed ly
g
Segment 16: Set
Effective
1ms when
P13 86 acceleration/decel 0~65535
(1s)
10ms(s) immediate
runnin
P
eration time ly
g
Segment 16: Set
Effective
1ms 1000ms( when
P13 87 waiting time after 0～10000
(s) s)
immediate
runnin
P
completion ly
g

P14 group Multi-speed command

Function Setting Default Effective

Name Min. unit Type Mode
code range setting time
0- stop
after the
end of
single
operation
(P1401 for
segment
number
selection) Setting
Multi-speed command 1-cycle Effective after
P14 00 1 1 S
operation mode operation immediately motor
(P1401 for stop
segment
number
selection)
2-DI
switching
operation
(selected
by DI)
Setting
Speed command end Effective after
P14 01 1～16 1 16 S
segment selection immediately motor
stop
Setting
Running time unit 0-s Effective after
P14 02 1 0 S
selection 1-min immediately motor
stop
Setting
Acceleration/deceleration 0ms- Effective after
P14 03 1ms 10ms S
time 1 65535ms immediately motor
stop
Setting
Acceleration/deceleration 0ms- Effective after
P14 04 1ms 10ms S
time 2 65535ms immediately motor
stop

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Function Setting Default Effective

Name Min. unit Type Mode
code range setting time
Setting
Acceleration/deceleration 0ms- Effective after
P14 05 1ms 10ms S
time 3 65535ms immediately motor
stop
Setting
Acceleration/deceleration 0ms- Effective after
P14 06 1ms 10ms S
time 4 65535ms immediately motor
stop
Setting
-9000 ～ Effective after
P14 07 Speed segment 1 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 08 0～6553.5 0.1s(min) 5.0s(min) S
segment 1 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 09
of speed segment 1
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 10 Speed segment 2 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 11 0～6553.5 0.1s(min) 5.0s(min) S
segment 2 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 12
of speed segment 2
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 13 Speed segment 3 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 14 0～6553.5 0.1s(min) 5.0s(min) S
segment 3 immediately motor
stop

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Function Setting Default Effective

Name Min. unit Type Mode
code range setting time
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 15
of speed segment 3
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 16 Speed segment 4 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 17 0～6553.5 0.1s(min) 5.0s(min) S
segment 4 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 18
of speed segment 4
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 19 Speed segment 5 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 20 0～6553.5 0.1s(min) 5.0s(min) S
segment 5 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 21
of speed segment 5
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 22 Speed segment 6 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 23 0～6553.5 0.1s(min) 5.0s(min) S
segment 6 immediately motor
stop

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Function Setting Default Effective

Name Min. unit Type Mode
code range setting time
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 24
of speed segment 6
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 25 Speed segment 7 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 26 0～6553.5 0.1s(min) 5.0s(min) S
segment 7 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 27
of speed segment 7
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 28 Speed segment 8 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 29 0～6553.5 0.1s(min) 5.0s(min) S
segment 8 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 30
of speed segment 8
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 31 Speed segment 9 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 32 0～6553.5 0.1s(min) 5.0s(min) S
segment 9 immediately motor
stop

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Function Setting Default Effective

Name Min. unit Type Mode
code range setting time
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 33
of speed segment 9
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 34 Speed segment 10 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 35 0～6553.5 0.1s(min) 5.0s(min) S
segment 10 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 36
of speed segment 10
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 37 Speed segment 11 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 38 0～6553.5 0.1s(min) 5.0s(min) S
segment 11 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 39
of speed segment 11
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 40 Speed segment 12 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 41 0～6553.5 0.1s(min) 5.0s(min) S
segment 12 immediately motor
stop

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Function Setting Default Effective

Name Min. unit Type Mode
code range setting time
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 42
of speed segment 12
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 43 Speed segment 13 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 44 0～6553.5 0.1s(min) 5.0s(min) S
segment 13 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 45
of speed segment 13
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 46 Speed segment 14 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 47 0～6553.5 0.1s(min) 5.0s(min) S
segment 14 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 48
of speed segment 14
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 49 Speed segment 15 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 50 0～6553.5 0.1s(min) 5.0s(min) S
segment 15 immediately motor
stop

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Function Setting Default Effective

Name Min. unit Type Mode
code range setting time
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 51
of speed segment 15
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4
Setting
-9000 ～ Effective after
P14 52 Speed segment 16 1rpm 0rpm S
+9000rpm immediately motor
stop
Setting
Running time of speed Effective after
P14 53 0～6553.5 0.1s(min) 5.0s(min) S
segment 16 immediately motor
stop
0-zero
acc./dec.
time
1- acc./dec.
time 1 Setting
Speed up and down time Effective after
P14 54
of speed segment 16
2- acc./dec. 1 0
immediately motor
S
time 2 stop
3- acc./dec.
time 3
4- acc./dec.
time 4

P16 group: special function parameters

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-turn off homing
function;
1-Enable homing function
by DI input HomingStart
signal; Settin
Effective
Homing enable 2- Start homing g after
P16 08 1 0 immediate P
control immediately after power- ly
motor
on; stop
3- Immediately start
homing;
4- Taking the current
position as home;

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Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
0-forward homing,
deceleration and home
points are home switch;
1- backward homing,
deceleration and home
points are home switch;
2- forward homing,
deceleration and home
points are motor Z signal;
3- backward homing,
deceleration and home
points are motor Z signal;
4- forward homing,
deceleration point is origin
switch, home is motor Z
signal;
5- backward homing,
deceleration point is origin
switch, home is motor Z
signal;
6- forward homing,
deceleration and home
points are forward
overtravel switch;
7- backward homing,
deceleration and home
Settin
points are backward Effective
g after
P16 09 Homing mode overtravel switch; 1 0 immediate P
motor
8- forward homing, ly
stop
deceleration point is
forward overtravel switch,
home is motor Z signal;
9- backward homing,
deceleration point is
backward overtravel
switch, home is motor Z
signal;
10- forward homing, no
deceleration point, home is
home switch;
11- backward homing, no
deceleration point, home is
home switch;
12- forward homing, no
deceleration point, home is
motor Z signal;
13- backward homing, no
deceleration point, home is
motor Z signal;
14- forward homing, no
deceleration point, home is
forward overtravel switch;
15- backward homing, no
deceleration point, home is
backward overtravel switch;
Settin
High-speed for Effective
1 g after
P16 10 searching home 10 rpm -3000 rpm 100 rpm immediate P
rpm motor
switch signal ly
stop

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Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Settin
Low-speed for Effective
1 g after
P16 11 searching home 10 rpm -1000 rpm 10 rpm immediate P
rpm motor
switch signal ly
stop
Settin
Limit the accel. Effective
g after
P16 12 / decel. time for 0-65535ms 1ms 1000ms immediate P
motor
searching home ly
stop
Settin
Effective
Limit time for 10000m g after
P16 13 0-65535ms 1ms immediate P
finding home s motor
ly
stop
Settin
Mechanical Effective
-1073741824 ~ 1Un g after
P16 14 home offset (32 0 Unit immediate P
1073741824(command unit) it motor
bits) ly
stop

P18 group: display parameters

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
rdy、run、Err.00~99 Displa
y
P18 00 Servo status （ error ） ,AL.00~10( 1 - N/A PST
param
warning） eter
Displa
Motor speed y
P18 01 -9000rpm~9000rpm 1rpm - N/A PST
feedback (32 bit) param
eter
Displa
y
P18 03 Speed command -9000rpm~9000rpm 1rpm - N/A PST
param
eter
Displa
Internal torque
y
P18 04 command (based on -500.0%~500.0% 0.1% - N/A PST
param
rated torque)
eter
Displa
y
P18 05 Phase current RMS 0.00A~655.35A 0.01A - N/A PST
param
eter
Displa
y
P18 06 Bus voltage value 0V~1000V 0.1V - N/A PST
param
eter
Displa
-1073741824 ~
Absolute position y
P18 07 1073741824(comman 1Unit - N/A PST
counter (32 bit) param
d unit)
eter
Displa
0.1 y
P18 09 Electrical angle 0.0~360.0 degree - N/A PST
degree param
eter
Displa
Mechanical angle
0.1 y
P18 10 (based encoder zero 0.0~360.0 degree - N/A PST
degree param
point)
eter
Reser
ved
P18 11 Reserved parameter 1 - N/A PST
param
eter

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 Appendix ES2 Series Servo User Manual Lite V1.0

Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Corresponding Displa
speed information y
P18 12 -9000rpm~9000rpm 1rpm - N/A PST
of input position param
command eter
-1073741824 ~ Displa
Position deviation 1073741824(Encoder y
P18 13 1P - N/A PST
counter (32 bit) minimum resolution param
unit) eter
Displa
Input command -1073741824 ~
y
P18 15 pulse counter (32 1073741824(comman 1Unit - N/A PST
param
bit) d unit)
eter
-1073741824 ~ Displa
Feedback pulse 1073741824(Encoder y
P18 17 1P - N/A PST
counter (32 bit) minimum resolution param
unit) eter
Displa
Position deviation -1073741824 ~
y
P18 19 counter command 1073741824(comman 1Unit - N/A PST
param
unit (32 bit) d unit)
eter
Displa
Digital input signal y
P18 21 - - - N/A PST
monitoring param
eter
Displa
Digital output signal y
P18 23 - - - N/A PST
monitoring param
eter
Displa
Total power-on time y
P18 25 0.0-429496729.6s 0.1s - N/A PST
(32-bit) param
eter
Displa
Module temperature y
P18 31 - 1°C - N/A PST
value param
eter
0-current fault
1- the first fault
before current fault Set
Effective
Display of fault 2- the second fault when
P18 40 1 0 immediate PST
record before current fault ly
runnin
...... g
9- the 9th fault
before current fault
Displa
y
P18 41 error code - - - N/A PST
param
eter
Displa
Selected fault y
P18 42 - 0.1s - N/A PST
timestamp (32 bit) param
eter
Displa
In-time speed at y
P18 44 - 1rpm - N/A PST
selected fault param
eter
Displa
In-time current U at y
P18 45 - 0.01A - N/A PST
selected fault param
eter
Displa
In-time current V at y
P18 46 0.01A N/A PST
selected fault param
eter

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Function Min. Default Effective

Name Setting range Type Mode
code unit setting time
Displa
Bus voltage at y
P18 47 - 0.1V - N/A PST
selected fault param
eter
Displa
Input terminal status y
P18 48 - - - N/A PST
at selected fault param
eter
Displa
Output terminal
y
P18 49 status at selected - - - N/A PST
param
fault
eter

DIDO assignment basic function definition

Input signal function description

Code Name Function Name Description Status

Invalid - Servo motor enable disabled

FunIN.1 S_ON Servo enable Assign
Active - Servo motor power-on enable
According to the type of alarm, the
servo can continue to work after some
Alarm reset signal
alarms are reset. This function is edge
FunIN.2 ALM_RST (edge valid Assign
function) effective. When the terminal is set to
level effective, it is still only valid
when edge change is detected.
When P07.10=0:
Invalid - speed control loop is PI
control
Proportional
Valid -speed control loop is P control
FunIN.3 GAIN_SWITCH motion switching / Assign
gain switching
When P07.10=1:
Invalid - use the first set of gains
Valid - use the second set of gains
Main and auxiliary
Invalid - the current run command is A
FunIN.4 CMD_SWITCH running command Assign
Valid - the current run command is B
switching
Recommend to set rising or falling edge
Pulse deviation effective
FunIN.5 PERR_CLR Assign
clear Invalid - no action
Valid - clear pulse deviation
Multi-segment
FunIN.6 CMD1 running command 16 segment command selection Assign
switching CMD1
Multi-segment
FunIN.7 CMD2 running command 16 segment command selection Assign
switching CMD2
Multi-segment
FunIN.8 CMD3 running command 16 segment command selection Assign
switching CMD3
Multi-segment
FunIN.9 CMD4 running command 16 segment command selection Assign
switching CMD4
Switch between speed, position and torque
Mode switching
FunIN.10 MODE_SWITCH according to the selected control mode (3, Assign
M1-SEL
4, 5)

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Input signal function description

Code Name Function Name Description Status

Zero postion fixed
Valid -enable zero postion fixed function,
FunIN.11 ZERO_CLAMP function enable Assign
Invalid-disable zero postion fixed function
signal
Valid - disable command pulse input
FunIN.12 INHIBIT Pulse inhibit Assign
Invalid - allow command pulse input
When the mechanical movement
exceeds the movable range limit
switch, the overtravel protection
Forward function is activated.
FunIN.13 P_OT Assign
overtravel Active-forward overtravel, forward
run disabled
Invalid - normal range, forward run
enabled
When the mechanical movement exceeds
the movable range limit switch, the
overtravel protection function is activated.
Backward
FunIN.14 N_OT Active-backward overtravel, backward Assign
overtravel
run disabled
Invalid - normal range, backward run
enabled
FunIN.15 Reserved Assign

FunIN.16 Reserved Assign

Valid - input according to given

FunIN.17 P_JOG Forward JOG command Assign
Invalid - stop input run command
Valid - input reversely according to given
FunIN.18 N_JOG Backward JOG command Assign
Invalid - stop input run command
Electronic gear Invalid - electronic gear ratio 1
FunIN.23 GEAR_SWITCH Assign
selection Valid - electronic gear ratio 2
Position command
FunIN.24 POS_DIR Invalid - no reversal; effective - reversal Assign
reversal
Speed command
FunIN.25 SPD_DIR Invalid - no reversal; effective - reversal Assign
reversal
Torque command
FunIN.26 TOG_DIR Invalid - no reversal; effective - reversal Assign
reversal
Edge effective:
Internal multi-
Invalid - ignore internal multi-segment
FunIN.29 PSEC_EN segment position Assign
command;
enable signal
Valid - start internal multi-segment
External
confirmation
Edge valid
signal of
FunIN.30 XINT_FINISH Invalid - no response; valid - trigger Assign
interrupt fixed interrupt
length
completion
Level effective
Disable interrupt
FunIN.31 XINT_DISABLE Invalid - no response; valid - trigger Assign
fixed length
interrupt
Home switch
FunIN.32 HOME_SWITCH Mechanical home switch Assign
signal
Homing enable
FunIN.33 HOME_START Homing start Assign
signal
FunIN.34 ESTOP Emergency stop Assign
Position loop
FunIN.35 POS_RUN constant speed Assign
running

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Input signal function description

Code Name Function Name Description Status

Reset interrupt
FunIN.36 XINT_RST Forced to exit the fixed length state Assign
fixed length
Pause interrupt
FunIN.37 RUN_SUSPEND
fixed length
Pause interrupt fixed length operation Assign
Multi-segment
FunIN.38 TCMD1 3 segmen torque command selection Assign
torque command 1
Multi-segment
FunIN.39 TCMD2 3 segmen torque command selection Assign
torque command 2
FunIN.40 Reserved Assign

FunIN.41 Reserved Assign

Appendix A: Error Code Table

Stop
Error method Fault
number Error Name Cause of Error when reseta
Er_ error ble
occurs
System parameter The data of the servo internal parameters is
1 No.1 No
exception abnormal.
Product model selection
2 Invalid motor model or drive model No.1 No
failure
Motor data verification
3 Motor ROM data check error or no data No.1 No
failure
1 parameter storage device failure
2 parameters read and write too frequently
4 Fault in parameter storage No.1 No
3 control power supply instability
4 drive failure
1 system parameter abnormal
6 Program exception No.1 No
2 drive internal failure
Control circuit
7 Control circuit undervoltage No.1 No
undervoltage

1 drive or motor parameters are incorrect;

2 UVW phase-to-phase short circuit;
Short circuit to ground
8 3 the motor burned out; NO.1 No
detection failure
4 motor is shorted to ground;
5 drive failure;

1 drive or motor parameters are incorrect;

2 UVW phase-to-phase short circuit;
9 Overcurrent fault A 3 motor burned out; NO.1 No
4 motor is shorted to ground;
5 drive failure;

1 servo motor wiring is wrong;

10 Overcurrent fault B 2 software detects the overcurrent of the No.1 No
power transistor;

11 Encoder disconnection Encoder disconnection No.1 No

Encoder AB signal is
12 Encoder AB signal is abnormal No.1 No
abnormal

13 Encoder check exception Encoder zero point check exception No.1 No

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 Appendix ES2 Series Servo User Manual Lite V1.0

Stop
Error method Fault
number Error Name Cause of Error when reseta
Er_ error ble
occurs
Motor initial angle
14 Motor initial angle detection abnormal No.1 No
detection abnormal
1 motor UVW phase sequence setting error
2 UVW wiring error
15 Motor out of control No.1 No
3 Initial position or encoder parameter setting
error
16 Current sampling fault Current sampling fault No.1 No
20 Overvoltage Main circuit DC voltage is abnormally high No.1 Yes
21 Undervoltage Main circuit DC voltage low fault No.1 Yes
1 speed command exceeds the maximum
speed set value
22 Overspeed 2 UVW phase sequence error No.1 Yes
3 speed response severely exceeded limit
4 drive failure
DI terminal parameter Different DI are assigned the same function
27 No.1 Yes
setting fault repeatedly;

DO terminal parameter Different DO are assigned the same function

28 No.1 Yes
setting fault repeatedly;

30 Reference position failure Reference position failure No.1 Yes

In servo ON state, the position deviation

Position deviation is too
43 exceeds the position deviation fault value No.2 Yes
large
(P09.09)
When the power input lack phase protection
selects parameter P09-00=0 (enable fault,
disable warning) or P09-00=1 (enable fault
Main circuit input lack
44 and warning): No.2 Yes
phase
1 three-phase input line is wrongly connected
2 three-phase drive operates under single-
phase power
The load operation exceeds the inverse time
curve of the drive;
46 Drive overload No.2 Yes
The UVW output may lack phase or phase
sequence connected incorrectly;
The load operation exceeds the inverse time
curve of the motor;
47 Motor overload N0.2 Yes
The UVW output may lack phase or phase
sequence connected incorrectly;
Electronic gear setting Electronic gear ratio exceeds standard range
49 No.2 Yes
error [0.001, 4000]
Servo unit heat sink/fan exceeds the set fault
50 Heat sink/fan overheating No.2 Yes
value

Warning
code Warning name Warning reason
EE_
81 Drive overload warning Failure when 80% of the drive overload fault value is reached
The warning before the motor is about to fail, the warning value is
82 Motor overload warning
determined by P09_05
Changed parameters need
83 to be re-powered to take Changed parameters that need to be re-powered
effect
Forward overtravel
86 Forward overtravel switch Pot terminal is valid
warning

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Backward overtravel
87 Backward overtravel switch Not terminal is valid
warning
External regenerative
90 External regenerative resistor power is too small
resistor overload
The external regenerative resistance is less than the minimum
External regenerative
91 required by the driver;
resistor is too small
Or parameter setting error
94 DI emergency brake External emergency brake E_STOP terminal trigger
1 home switch failure
96 Homing timeout 2 time limit to find the origin is too short
3 the high speed of searching home switch signal is too small
1 When the home return mode parameter P16-09=6 or P16-09=8 or
P16-09=14, the mechanical home offset parameter P16-14 is set to
Mechanical home offset a value greater than 0.
97
error 2 When the home return mode parameter P16-09=7 or P16-09=9 or
P16-09=15, the mechanical home offset parameter P16-14 is set to
less than 0.
When the power input lack phase protection selects parameter P09-
Main circuit input lack 00=1 (enable fault and warning), the driver with rated power of
98
phase 0.8kW, 1.0kW, 1.5kW, 3.0kW will report a warning when the main
circuit input voltage is single-phase.

Appendix B: Version Change Record

Date Version after hanged Changed content

2019-03-12 V1.0 Initial release

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