Preface

First of all, thank you for purchasing A Series Servo Drive! At the same time, you will
enjoy the comprehensive and sincere service we provide for you!
This manual is a simple user's manual for the A Series Servo Drive, which provides
product safety information, mechanical and electrical installation instructions, and basic
commissioning and maintenance instructions. For first-time users, please read this manual
carefully. If you have doubts about some functions and performance, please consult our
technical support staff for assistance.
All rights reserved. Contents are subject to change without notice.
Open the box to inspect the goods：
When opening the box, please check carefully：
Confirmation Items Description
The box contains the machine you ordered, the A
Whether the product arrives in the same
Series servo drive user manual, and servo drive
model as the one you ordered
accessories.。
Please check the appearance of the whole
machine and whether the product has been
Whether the product is damaged damaged during transportation. If you find any
damage or missing parts, please contact us or
your supplier in time to solve。
Whether the servo motor rotary axis It is normal to be able to turn gently by hand,
runs smoothly except for the servo motor "with brake".

i
【Introduction to safety precautions】
This section explains important matters that must be observed by users, such as product
confirmation, storage, handling, installation, wiring, operation, inspection, and disposal.
Please note when using

 Check the servo system only after 5 minutes of power failure

Do not disassemble the drive until the power is turned off for more than 5 minutes and the
power indicator goes out. Otherwise, electric shock will be caused by residual voltage. It is
recommended that the servo system inspection operation be started only after 5 minutes after
confirming that the CHARGE indicator light is off.。
 Prohibit the plugging and unplugging of connectors on the drive after the power is
turned on
Plugging and unplugging with electricity will easily damage the internal circuit of the driver and
the motor encoder, please plug and unplug the connector after power off.。
 Disable changing the maximum value of the system
Do not change the maximum speed value except for special applications. Failure to do so may
damage the machine or cause injury
 Anti-interference treatment and grounding。
Interference on the signal line is very likely to cause vibration and abnormal operation of
machinery, be sure to strictly comply with the following regulations：
1．Strong power cables and weak power cables are routed separately to minimize the length of
the routing.。
2．The installation of servo motor and servo driver should be grounded at a single point, and the
grounding impedance is below 100Ω。
3 ． The use of power input interference filters between the servo motor and servo driver is
ii
strictly prohibited.。
 Installation of emergency stop device
When installing on the supporting machinery and starting to run, please put the servo motor in
the state that can be stopped in emergency at any time in advance, otherwise it may be injured.
Please install an emergency stop device on the machine side to ensure safety.
 Make sure that the motor cable is properly connected to the corresponding
connection terminal on the drive, as incorrect connections can have irreversible
consequences.
1. The holding brake of the servo motor with holding brake is not a stopping device used to
ensure safety. Failure to set the stopping device may result in injury.
2. Be sure to connect an electromagnetic contactor and a fuseless circuit breaker between the
power supply and the main circuit power of the Servo Drive. Otherwise, in the event of a Servo
Drive malfunction, the high current cannot be cut off.。

【Important reminder before use】

Important Reminder

iii
1. The servo driver enables the setting method immediately after power on.：
 Confirm H2-52 is 1, then power on automatically enable; H2-52 is set to 0, power off
and restart will turn off enable。
2.Servo default operation mode is external pulse operation mode, that is, the default value of
H3A03 is d0101; if you change the running direction of the motor, just change the d0101 to
d0001, specific 3.2 basic settings
3.Wiring method in external pulse mode: See: 2.1.2 Position command input signal for details。
4.Electronic gear ratio setting method: See: 3.3.1 Electronic gear setting for details
5.Before the servo runs with load, the rotational inertia ratio of the load should be determined
first, and the determination of the size of the inertia ratio is detailed in: 4.3 Inertia Identification.
6.After determining the rotational inertia ratio, the rigidity is determined according to the type
of transmission mechanism, specifically：
 Machinery with less rigidity: synchronous belt drive, chain drive, gear reducer and
other machinery
 Machines with medium rigidity: ball screws connected by reducers or long machines
connected by ball screws
 Rigid larger machinery: ball screw direct connection machinery (such as machine
tools and other high-precision processing machinery)
 The default value of rigidity H3A12 is 5, generally less rigid machinery are to be less
than 6, the rest according to the actual self-adjustment, see 4.4 manual gain
adjustment.。

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 Chapter 2 Servo Drive Control Signal Wiring

Chapter 1 Introduction to Servo Systems

1.1 Servo Drive Composition
Name Use
5-digit 7-segment LED digital tube for displaying servo operation status and
Digital tube display
parameter setting

Key Operators

R、S、T
Main circuit power Main circuit power input terminal, R and T terminals connected to 220V
input terminal
B1, B2, B3
Brake resistor Internal or external brake resistor connection terminal
connection terminal
U, V, W
Servo motor connection Connecting servo motor UVW phase
terminal

There are five digital tubes, four buttons and two LEDs, which can set control
Panel Operation
parameters, display servo drive faults, control drive operation, etc.

CN1
Ports for command input signals and other input and output signals
Control terminal
CN2
Terminal for encoder Motor encoder terminal connection
connection

PE ground treatment Connect with power and motor grounding terminal for grounding
terminal

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 Chapter 2 Servo Drive Control Signal Wiring

Chapter 2 Servo Drive Control Signal Wiring

2.1 Input and output signal wiring
2.1.1 CN1 solder pin distribution

13 12 11 10 9 8 7 6 5 4 3 2 1

GND PZO- PBO- PAO- PULS COM SIGN- SIGN PULS- PULS DI5 DI3 DI1

5V+ 24V+ 24V+

25 24 23 22 21 20 19 18 17 16 15 14

AS PZO+ PBO+ PAO+ SIGN DO4 DO3 DO2 DO1 GP DI4 DI2

5V+

2.1.2Position command input signal

The following explains the general command pulse input and command symbol input signals of
the user interface connector。
Signal Name Stitch number Function

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 Chapter 2 Servo Drive Control Signal Wiring

PULS 24V+ CN1-4

Input pulse pattern：
PULS- CN1-5 Low-speed pulse
Direction + Pulse
Location SIGN 24V+ CN1-6 command input method：
A and B phase
commands SIGN- CN1-7 Differential drive input
quadrature pulses
PULS 5V+ CN1-9 Open collector
CW/CCW pulse
SIGN 5V+ CN1-21
1)Input via PULS 24V+ and PULS-, SIGN 24V+ and SIGN- pulse inputs

24V pulse input interface circuit

Pulse command input Pulse direction input

2)Input via PULS 5V+ and PULS-, SIGN 5V+ and SIGN- pulse inputs

5V pulse input interface circuit

Pulse command input Pulse direction input

2.1.3 Digital input and output signals

Signal Name Stitch number Function
DI1 CN1-1 DI1-DI5 are ordinary digital inputs, the input mode
DI2 CN1-14 is switch signal, and their corresponding function
Self-configurable
DI3 CN1-2 codes are H3E07~H3E11, the functions of their
input terminals
DI4 CN1-15 terminals can be realized according to the
for functions
DI5 CN1-3 configuration function codes H3E07~H3E11
GP CN1-16 Input Common
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 Chapter 2 Servo Drive Control Signal Wiring

Signal Name Stitch number Function

DO1 CN1-17 DO1-DO4 are ordinary digital outputs,
DO2 CN1-18 whose corresponding function codes are
Self-configurable DO3 CN1-19 H3E21~H3E24. The output functions of
output terminals their terminals can be realized according to
for functions DO4 CN1-20 the configuration function codes
H3E21~H3E24.。
COM CN1-8 Output Common
1) DI basic functional specification definition
The DI1~DI5 signal terminals are function changeable terminals, and their corresponding function codes are
H3E07~H3E11.
The input contact type is selected to achieve both normally open and normally closed interface methods. For
example, for safety reasons, normally closed switches are used when a detection fault (such as a broken wire)
requires a safe stop. By setting the input contact type, both normally open and normally closed switches can be
detected.

Set value
Name Function Name Description Signal Type
FunIN
Valid-Servo motor enable
FunIN. 0 S-ON Servo Enable Invalid-Servo motor enable Level Trigger
disable
When there is an alarm,
enable this signal to clear the
FunIN. 1 ALM-RST Alarm reset alarm if the alarm is allowed Edge Trigger
to clear. Note that only some
alarms are allowed to be

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 Chapter 2 Servo Drive Control Signal Wiring

cleared.
Limiting the output torque of
the servo driver when the
FunIN. 2 TCCW Forward torque limitation Level Trigger
servo motor is in forward
rotation
Limiting the output torque of
FunIN. 3 TCW Reverse torque limitation the servo driver when the Level Trigger
servo motor is reversed
In digital feed speed mode,
FunIN. 4 SD1 Digital feed speed 1
digital feed speed selection 1
and digital feed speed Level Trigger
FunIN. 5 SD2 Digital feed speed 2 selection 2 work together to
select four internal speeds
Controls servo motor steering
FunIN. 6 SD-DIR Speed direction control Level Trigger
in digital given speed mode.
When the absolute value of
the speed is less than the zero
speed fixed speed value, the
servo motor speed is 0 and the
FunIN. 7 ZCLAMP Zero speed fixing function position is locked. Level Trigger
Valid-enables the zero
position fixing function.
Invalid-Disables the zero
position fixing function.
FunIN. 8 GAIN Gain Switching Gain Switching Level Trigger
Internal position mode
FunIN. 9 STOP Internal position termination Edge Trigger
termination
Position deviation register is
FunIN. 10 ClrPosERR Pulse Clear Edge Trigger
cleared in position mode
Invalid external pulse
FunIN. 11 Inhibit-P Command pulse disable Level Trigger
command in position mode
FunIN. 12 EMG Emergency Stop Servo motor emergency stop Level Trigger
FunIN. 13 P-INH Reverse drive disable Prohibit servo motor reversal Level Trigger
FunIN. 14 N-INH Forward drive disable Prohibit servo motor forward Level Trigger

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 Chapter 2 Servo Drive Control Signal Wiring

rotation
Torque 0 setting in torque
FunIN. 15 T-INH Torque zeroing Level Trigger
mode
Multi-segment position mode Selection of multi-segment
FunIN. 16 SP0 Level Trigger
position selection 1 position mode position
Multi-segment position mode Selection of multi-segment
FunIN. 17 SP1 Level Trigger
position selection 2 position mode position
Multi-segment position mode Selection of multi-segment
FunIN. 18 SP2 Level Trigger
position selection 3 position mode position
Multi-stage position mode
pauses the current position
Multi-segment position mode
FunIN. 19 HOLD command when it is valid, and Edge Trigger
mode pause
retriggers it to continue
execution when it is invalid
Multi-segment position mode Trigger multi-segment
FunIN. 20 CTRG Edge Trigger
trigger position mode
Home/mechanical home Trigger origin/mechanical
FunIN. 21 SHOM Edge Trigger
search mode trigger origin search mode
This signal can be used as an
FunIN. 22 ORGP External reference origin Edge Trigger
external reference origin
The analog speed is 0 after it
FunIN. 23 AS-STOP Analog mode stop Level Trigger
turns ON
Forward and reverse Forward and reverse
FunIN. 24 AS-RF Level Trigger
switching in analog mode switching in analog mode
Torque switching during
FunIN. 25 T-RF Torque Switching forward rotation in torque Level Trigger
mode
Command mode switching via
FunIN. 28 M-SEL Mode Switching Level Trigger
terminals
Switching of operation
FunIN. 29 F-RF Direction Switching Level Trigger
direction in torque mode
Speed switching when the
FunIN. 30 V-RF Speed Switching torque mode is in forward Level Trigger
rotation

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 Chapter 2 Servo Drive Control Signal Wiring

Switching the first and second

FunIN. 31 GEAR_SEL Electronic gear selection Level Trigger
set of electronic gear ratios

2) DI default menu in each mode

DIDefault DI1 DI2 DI3 DI4 DI5

H3A03
00 Internal speed mode FunIN. 0 FunIN.4 FunIN.5 FunIN.6 FunIN.1
01 Pulse position mode FunIN. 0 FunIN.12 FunIN.14 FunIN.13 FunIN.1
02 Internal torque mode FunIN. 0 FunIN.29 FunIN.25 FunIN.30 FunIN.15
03 Internal position mode FunIN. 0 FunIN.20 FunIN.9 FunIN.21 FunIN.22
04 Pulse position mode and internal speed FunIN. 0 FunIN.4 FunIN.5 FunIN.6 FunIN.1
mode switching
05 Pulse position mode and internal torque FunIN. 0 FunIN.28 FunIN.29 FunIN.25 FunIN.30
mode switching
06 Internal position mode and internal FunIN. 0 FunIN.4 FunIN.5 FunIN.20 FunIN.9
speed mode switching
07 Internal position mode and internal FunIN. 0 FunIN.28 FunIN.29 FunIN.25 FunIN.30
torque mode switching
08 Torque mode and internal speed mode FunIN. 0 FunIN.4 FunIN.29 FunIN.25 FunIN.30
09 Analog speed mode FunIN. 0 FunIN.12 FunIN.24 FunIN.7 FunIN.23
10 Analog torque mode FunIN. 0 FunIN.12 FunIN.2 FunIN.3 FunIN.1
11 Analog speed mode and internal speed FunIN. 0 FunIN.4 FunIN.5 FunIN.24 FunIN.23
mode switching
12 Analog torque mode and internal speed FunIN. 0 FunIN.4 FunIN.5 FunIN.6 FunIN.1
mode switching
13 Switching between pulse position mode FunIN. 0 FunIN.24 FunIN.28 FunIN.12 FunIN.1
and analog speed mode
14 Switching between pulse position mode FunIN. 0 FunIN.28 FunIN.2 FunIN.3 FunIN.1
and analog torque mode
15 Internal torque mode and analog speed FunIN. 0 FunIN.28 FunIN.24 FunIN.29 FunIN.23
mode switching
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 Chapter 2 Servo Drive Control Signal Wiring

16 Internal torque mode and analog torque FunIN. 0 FunIN.28 FunIN.29 FunIN.25 FunIN.30
mode switching
17 Pulse position mode and internal FunIN. 0 FunIN.28 FunIN.20 FunIN.9 FunIN.1
position mode switching
18 Analog torque and analog speed mode FunIN. 0 FunIN.28 FunIN.12 FunIN.24 FunIN.23
switching
19 Internal position mode and analog FunIN. 0 FunIN.28 FunIN.24 FunIN.20 FunIN.9
speed mode switching
20 Internal position mode and external FunIN. 0 FunIN.28 FunIN.20 FunIN.9 FunIN.1
analog torque switching

3) DO basic functional specification definition

DO1~DO4 signal terminals are function changeable terminals, and their corresponding function codes are
H3E21~H3E24。
The terminal function must be re-powered after resetting, otherwise it will cause confusion of functions。

Signal
Set value Name Function Description
Type

FunOUT.0 S-RDY Servo ready When both control power and main circuit Level

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 Chapter 2 Servo Drive Control Signal Wiring

power are connected to the servo driverand there signal

is no abnormality, the signal is output

Valid-servo ready; Invalid-servo not ready
Output this signal after enabling the servo motor
Level
FunOUT .1 SON-O Servo Enable valid-servo enabled.
signal
Invalid-servo not enabled.
Valid - The speed of the servo motor is higher
Motor rotation than the speed threshold value H3b18 Level
FunOUT .2 TGON
detection signal Invalid-Servo motor speed is lower than the signal

speed threshold H3b18

valid - the speed feedback reaches the set value.
Level
FunOUT .3 V- Arr Speed to output Invalid-Speed feedback does not reach the set
signal
value
Position arrival Level
FunOUT .4 P- Arr Positioning completed
output signal

Valid - Servomotor torque is higher than the

Torque limiting torque threshold H3C02 Level
FunOUT .5 T-LT
in Invalid-Servomotor torque is lower than the signal

torque threshold H3C02

Servo alarm Level
FunOUT .6 ALM Valid status when a fault is detected
output signal

Electromagnetic Locking signal output.

Level
FunOUT .7 BRAKE holding brake Valid-closed to release the holding brake.
signal
control Invalid-activate the holding brake.
Overload Level
FunOUT .8 OL-W Warning signs of overload
warning signal

Speed limit in Level

FunOUT .9 S-LT Output this signal when the speed is limited
progress signal

Multi-segment
Outputs this signal when a multi-segment Level
FunOUT .10 STOP position
position is completed or paused signal
completion
Excessive
Level
FunOUT .11 PER-W position Excessive position deviation warning signal
signal
deviation

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 Chapter 2 Servo Drive Control Signal Wiring

warning
Home return to zero status.
Origin find Level
FunOUT .12 HomeAttain Valid - origin back to zero.
output signal
Invalid-Home point not returned to zero
First paragraph internal position execution
First segment
status. Level
FunOUT .16 SP-O1 internal position
Valid - the first paragraph is being executed signal
signal output
Invalid - first paragraph not executed
Second paragraph internal position execution
Second segment
status. Level
FunOUT .17 SP-O2 internal position
Valid - second paragraph is being executed signal
signal output
Invalid - second paragraph not executed
Third paragraph internal position execution
Third segment
status. Level
FunOUT .18 SP-O3 internal position
Valid-The third paragraph is being executed signal
signal output
Invalid-Third paragraph not executed
Fourth paragraph internal position execution
Fourth segment
status. Level
FunOUT .19 SP-O4 internal position
Valid - fourth paragraph is being executed signal
signal output
Invalid - fourth paragraph not implemented
Fifth paragraph internal position execution
Fifth segment
status. Level
FunOUT .20 SP-O5 internal position
Valid - the fifth paragraph is being executed signal
signal output
Invalid - fifth paragraph not implemented
Sixth paragraph internal position execution
Sixth segment
status. Level
FunOUT .21 SP-O6 internal position
Valid - sixth paragraph is being executed signal
signal output
Invalid - sixth paragraph not implemented
Seventh paragraph internal position execution
Seventh segment
status. Level
FunOUT .22 SP-O7 internal position
Valid - the seventh paragraph is being executed signal
signal output
Invalid - seventh paragraph not implemented
Eighth segment Eighth paragraph internal position execution Level
FunOUT .23 SP-O8
internal position status. signal

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 Chapter 2 Servo Drive Control Signal Wiring

signal output Valid - the eighth paragraph is being executed

Invalid - eighth paragraph not implemented

4）Digital Input Circuit

DI1~DI5 five-way input terminal circuit adopts one-way opto-coupler isolation circuit, the
common terminal of opto-coupler is GP, connected to the positive side of power supply. The
original side of the opto-coupler needs to be powered by the user's own DC power supply to
reduce interference to the internal circuit. Common input forms are as follows：
（a）Passive contact
Including contacts of relays, travel switches, common keys, buttons, etc. Common interface
circuits are as follows：
Passive contact interface circuit

（b）Active Contact
Including some photoelectric sensors, Hall sensors, transistor type HLC, etc., the common
active contact interface circuit is as follows：
NPN type connection

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 Chapter 2 Servo Drive Control Signal Wiring

5）Digital Output Circuit

Output signals DO1~DO4 use Darlington output photocouplers with strong driving capability,
which can drive small relays directly or drive larger loads by driving isolated components such
as photocouplers. Use to ensure that the output current limit (maximum current 50mA).
Commonly used interface circuits are shown below：
（a）Relay Output
Relay output interface circuit

 Relays are inductive loads and must be connected in reverse parallel with a
current-continuing diode at both ends of the load。
 If the continuity diode is reversed, the servo driver will be damaged。
（b）Optocoupler isolated output circuit
NPN type connection

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 Chapter 2 Servo Drive Control Signal Wiring

 The power supply and current limiting resistor must be matched to ensure reliable
conduction of the external optocoupler

2.1.4Servo motor holding brake wiring

Commonly used electromagnetic brake circuits are shown below：

Description：(a)The motor built-in electromagnetic brake is only used in the stop state (holding function).
(b) The electromagnetic brake coil has polarity, please pay attention to distinguish when wiring.
(c) The power supply of electromagnetic brake should be prepared by the user, the voltage is
24VDC (±10%), and the current size is selected according to the nameplate of the brake. In addition, the
Please do not use the same power supply for electromagnetic brake and control signal.
1) Gate software setting
When using electromagnetic brake brake, you need to set 1 DO function of the drive to the following output
signal (default DO3 is the brake terminal)：
Code Name Function Name Description Signal Type
Locking signal output.
Electromagnetic holding
FunOUT .7 BRAKE Valid-closed to release the Level signal
brake control
holding brake.

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 Chapter 2 Servo Drive Control Signal Wiring

Invalid-activate the holding

brake.

2) Enable delay time for servo motor alarm

Enable delay time after servo alarm Speed Position Torque

Setting range Set unit Factory value Effective method

H3C42 Effective
0~30000 ms 0
immediately
2.1.5 Z-phase collector signal
1)Z-phase collector signal wiring
The default Z believe the output terminal is CN1-17 (DO1), the wiring method is as follows：
NPN type connection

2)Allow parameter settings to be enabled

Allow CN1-17(DO1) to output Z-phase collector signal Speed Position Torque

Setting range Factory value Effective method

H2-57 Effective
0~1 0
immediately
3）Z-phase pulse output time

Z-phase pulse signal output time Speed Position Torque

H3A38 Setting range

Unit
Factory value
Effective
method
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 Chapter 2 Servo Drive Control Signal Wiring

ms Effective
1~200 1
immediately
2.1.6Encoder crossover output signal
The encoder divider output circuit outputs a differential signal through a differential driver.
Normally, feedback signals are provided when a position control system is formed for a superior
device. On the superior device side, use a differential or optocoupler receiver circuit to receive。
Signal Name Stitch number Function
PAO+ CN1-22
AA and B phase quadrature frequency division
PAO- CN1-10
Universal output signal
PBO+ CN1-23
output
PBO- CN1-11
terminals
PZO+ CN1-24
Z-phase frequency division output signal
PZO- CN1-12
The servo driver divides the encoder input signal by internal frequency divider circuit, and one
type of output is in the form of differential bus. The interface circuit can be divided into two
forms: high-speed opto-coupler reception and differential chip reception. Taking the pulse
frequency division output of encoder A phase as an example, the interface circuit is shown
below.。
Photocoupler interface circuit for 编 Differential chip interface circuit
encoder frequency division output for encoder crossover output

 Recommend using AM26LS31 as receiver chip；

 It is recommended to use matching resistors, 200Ω/1/4W is recommended；

2.1.7Analog input signal

Signal Name Stitch number Function
Analog input signal, resolution 12 bits, input
AS CN1-25
Analog voltage range: -10V-+10V
AGND CN1-13 Analog input signal reference

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 Chapter 2 Servo Drive Control Signal Wiring

Analog input interface circuit

 Voltage input range: -10V to +10V with 12-bit resolution；

 Maximum allowable voltage: ±12V；
 Input impedance about: 50KΩ

2.2Communication wiring and its related configuration

2.2.1Interface Description
The RS485 communication interface is located in CN3/CN4 of the controller. The following
figure shows the terminal arrangement and terminal definition of the connector of CN3/CN4
(viewed from the solder side to the driver side)。

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 Chapter 2 Servo Drive Control Signal Wiring

Communication port terminal arrangement name and function

terminal Function Abbreviations
block
(electrical)
CN3-1 485 differential output B-
CN3-2 485 differential output A+
CN3-3 Hanging in the air Hanging in the air
CN3-4 Hanging in the air Hanging in the air
CN3-5 GND Reference end
CN3-6 + VCC 5V power supply

2.2.2Communication-related function codes and their descriptions

The following parameters need to be set for MODBUS communication with the Servo Drive：
User Setting Factory
Name Set unit Remarks
Parameters range value
Correspondence
H3F00 1~254 — 1
address
Communication
H3F01 0~1 — 0 0：RTU 1：ASCII
Mode
Parity check 0: No parity 1: Odd parity
H3F03 0~2 — 0
setting 2: Even parity
0：2400 1：4800
Communication
H3F04 0~5 bit/s 2 2：9600 3：19200
baud rate
4：38400 5：57600

Note: When using PLC or other intelligent devices for remote control, the parameters in the above
table must be set correctly to ensure that the communication parameters of the devices at
both ends of the communication are the same.。
When communication is carried out, the command data sent by the host computer will be immediately written
to the data memory inside the servo, and this memory should not be written continuously. Communication
read/write permission：
User Parameters Meaning
H3F05 0 Read and write permission: allows communication data to be written to the servo's

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 Chapter 2 Servo Drive Control Signal Wiring

internal data memory

Read and write is not allowed: The communication data command is only
executed and not allowed to write to the data memory inside the servo,
1
generally the communication data will be lost after the servo is
powered down and needs to be written again.
This parameter is required to change the communication read/write permission.

2.3Encoder Wiring
2.3.1 Non-Wire Saving Incremental Encoders
The terminal arrangement of the non-wire-saving incremental encoder connector connected to CN2 is shown
in the figure below。

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 Chapter 2 Servo Drive Control Signal Wiring

Encoder connector terminal name and function

Terminal Terminal Signal Name Function
number abbreviation
CN2-1 A+ Encoder A+ phase Connection of servo motor encoder A+
input phase
CN2-2 A- Encoder A-phase Connection of servo motor encoder
input A-phase
CN2-3 B+ Encoder B+ phase Connection of servo motor encoder
input B+phase
CN2-4 B- Encoder B-phase Connection of servo motor encoder
input B-phase
CN2-5 Z+ Encoder Z+ phase Connection of servo motor encoder
input Z+phase
CN2-6 Z- Encoder Z-phase Connection of servo motor encoder
input Z-phase
CN2-7 U+ Encoder U+ phase Connection of servo motor encoder
input U+phase
CN2-8 U- Encoder U-phase Connection of servo motor encoder
input U-phase
CN2-9 V+ Encoder V+ phase Connection of servo motor encoder
input V+phase
CN2-10 V- Encoder V-phase Connection of servo motor encoder
input V-phase
CN2-11 W+ Encoder W+phase Connection of servo motor encoder
input W+phase
CN2-12 W- Encoder W-phase Connection of servo motor encoder
input W-phase
CN2-13 VCC +5V power output +5V power supply
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CN2-14 GND Power output ground Power output ground

CN2-15 —— —— Hanging in the air
HOUSING —— Shielding (plug housing)

2.3.2 Wire-saving incremental encoders

The wire-saving incremental encoder connector terminals connected to CN2 are arranged as shown in the
figure below。

Encoder connector terminal name and function

terminal Terminal Signal Name Function
block abbreviation
(electrical)
CN2-1 A+ Encoder A+ phase Connection of servo motor encoder A+
input phase
CN2-2 A- Encoder A-phase Connection of servo motor encoder
input A-phase
CN2-3 B+ Encoder B+ phase Connection of servo motor encoder
input B+phase
CN2-4 B- Connection of servo motor encoder
Encoder B-phase input
B-phase
CN2-5 Z+ Connection of servo motor encoder
Encoder Z+ phase input
Z+phase
CN2-6 Z- Encoder Z-phase Connection of servo motor encoder
input Z-phase

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 Chapter 2 Servo Drive Control Signal Wiring

CN2-7 —— —— Hanging in the air

CN2-8 —— —— Hanging in the air
CN2-9 —— —— Hanging in the air
CN2-10 —— —— Hanging in the air
CN2-11 —— —— Hanging in the air
CN2-12 —— —— Hanging in the air
CN2-13 VCC +5V power output +5V power supply
CN2-14 GND Power output ground Power output ground
CN2-15 —— —— Hanging in the air
HOUSING —— Shielding (plug housing)

Chapter 3 Operation mode and debugging methods

According to the command mode and operation characteristics of the servo drive, it can be
divided into three operation modes, namely, position control operation mode, speed control
operation mode, and torque control operation mode.
The position control mode generally determines the displacement of movement by the number
of pulses, and the pulse frequency of external input determines the magnitude of rotation speed.
Since the position mode allows strict control of speed and position, it is generally used in
positioning devices.
The speed mode is to control the rotation speed by digital quantity giving and communication
giving, which should be mainly used in some constant speed applications.
Torque control mode is to change the set torque by changing the corresponding address value
through communication. It is mainly used in winding and unwinding devices with strict
requirements on material force.
3.1Description of the operation panel
The operation panel of the servo driver and the names of each part are shown below：

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Identifiers Name Meaning

Indicator
SON Servo drive enable indication (illuminated when enabled)
light (green)
Indicator
ALM Servo drive fault indication (illuminated on failure)。
light (red)

DIGITAL A five-digit digital display can be used to show user parameters, set
Digital tube
TUBE values, etc.
M 1 Used to switch the function area.
Mode
(MODE) 2Displays each fault code in turn in case of fault.
1 Tap this key to increase the set value.
2Long press this key for 0.5 seconds to increase the setting value
▲
Rise continuously and slowly.
（UP）
3Press and hold this key for more than 1 second to enter fast add mode.
4It can be used as a positive rotation start key during JOG operation
1 Tap this key to reduce the set value.
2 Press and hold this key for 0.5 seconds to continuously reduce the set
▼ value slowly.
Decline
（DOWN） 3Press and hold this key for more than 1 second to enter fast decreasing
mode.
4It can be used as a reversing start key when JOG is running.
1 Press and hold this key for 0.5 seconds to enter the parameter setting.
2When the digital tube has flashing bit, tap this key to move the selected
bit to the left by one bit.
▲
Shift / OK 3 Press and hold this key for 0.5 seconds to confirm and set the current
（SET）
value to the current user parameter.
4 In case of fault, press and hold this key for about 2 seconds to reset the
fault.
3.2Basic Settings

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 Chapter 2 Servo Drive Control Signal Wiring

3.2.1Servo ON setting

Selection of servo enable method

Setting range Set unit Factory value Effective method
0: External
H2-52 terminal enable
N/A 0 Re-powering
1: Internal forced
enable
The mode of servo enable can be set by this parameter in the following way：
1）H2-52=0: Enabled by external terminal, which requires an external input terminal with S-ON
function.
2）H2-52=1: Internal forced enable, 1 enable, 0 de-enable
Note: If you need to enable the servo immediately after power on, you need to set
H2-52=1, please pay attention to safety before power on to enable.
If you need to go to enable, you need to set H2-52=0, and the parameter will take effect
after power off and restart.
3.2.2Control mode selection

Control mode and forward/reverse direction setting

H3A03 Setting range Set unit Factory value Effective method

Two functions N/A d0101 Re-powering

H3A03.X factory value is 01, the maximum can be set to 20, the following is the corresponding control mode
X Corresponding control mode
00 Internal speed mode
01 Pulse position mode
02 Internal torque mode
03 Internal position mode
04 Pulse position mode and internal speed mode switching
05 Pulse position mode and internal torque mode switching
06 Internal position mode and internal speed mode switching

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 Chapter 2 Servo Drive Control Signal Wiring

07 Internal position mode and internal torque mode switching

08 Torque mode and internal speed mode
09 Analog speed mode
10 Analog torque mode
11 Analog speed mode and internal speed mode switching
12 Analog torque mode and internal speed mode switching
13 Switching between pulse position mode and analog speed mode
14 Switching between pulse position mode and analog torque mode
15 Internal torque mode and analog speed mode switching
16 Internal torque mode and analog torque mode switching
17 Pulse position mode and internal position mode switching
18 Analog torque and analog speed mode switching
19 Internal position mode and analog speed mode switching
20 Internal position mode and external analog torque switching

3.2.3Rotation direction selection

The factory setting of counterclockwise rotation (from the side of the servo motor shaft) is the forward direction,
and the value of H3A03.Y is 01. When the forward direction of the servo motor needs to be set to clockwise,
just set the value of H3A03.Y to 00.。
Note: The following figure shows the definition of the X and Y parameters：

H3A03.Y=1, counterclockwise H3A03.Y=0, clockwise rotation for

rotation for positive rotation positive rotation

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 Chapter 2 Servo Drive Control Signal Wiring

3.3Position control mode

The position control mode is used in precision positioning applications, such as industrial
machinery, where a directional command pulse input can be used to manipulate the rotation
angle of the motor via an external pulse wave.。
3.3.1Pulse position mode
Parameters setting in pulse position mode, including mode selection, command pulse form,
electronic gear ratio, etc

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 Chapter 2 Servo Drive Control Signal Wiring

1）Position command input settings

(a)Location command source
User Parameters Location command source
H3A03 d □□01 External Pulse
(b)Pulse command logic form setting
Pulse command Forward rotation Reverse command
User Parameters
form command

H □□□0 Symbol + Pulse

Forward pulse + Internal optocoupler does not conduct

HULS
H □□□1 reverse pulse
SIGN

H3d00 (CW/CCW)
90 ° phase
difference 2 phase
H □□□2
pulse (phase A,
phase B)
(c)Position command direction switching
User Parameters Meaning
H □0□□ PULS counter logic - positive motor direction
H3d00
H □1□□ PULS positive logic - motor reverse direction
2）Pulse input pin filtering
The hardware input terminal of low-speed pulse or high-speed pulse needs to set a certain pin
filtering time to filter the input pulse command to prevent the interference signal from entering
the servo driver causing motor misoperation。
User Parameters Meaning
H□□0□ Pulse input filtering frequency of 4MHz
H□□1□ Pulse input filtering frequency of 2MHz
H□□2□ Pulse input filtering frequency of 1MHz
H3d00
H□□3□ Pulse input filtering frequency of 500KHz
H□□4□ Pulse input filtering frequency of 200KHz
H□□5□ Pulse input filtering frequency of 150KHz
3）Electronic gear ratio setting
(a)The concept of electronic gear ratio
In the position control mode, the input position command (command unit) is set for load
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 Chapter 2 Servo Drive Control Signal Wiring

displacement, while the motor position command (encoder unit) is set for motor displacement.
To establish the proportional relationship between the motor position command and the input
position command, the electronic gear ratio function is introduced. By reducing (electronic gear
ratio <1) or expanding (electronic gear ratio >1) the electronic gear ratio function can set the
actual displacement of the motor rotation or movement when the input position command is 1
command unit, and it can also increase the frequency of the position command when the upper
computer output pulse frequency or function code setting range is limited to reach the required
motor speed。
(b）Electronic gear ratio function code
First electron gear molecule
Setting range Set unit Factory value Effective
H3d40 method
0~65535 G 0 Effective
immediately
First electronic gear denominator
Setting range Set unit Factory value Effective
H3d41 method
1~65535 G 10000 Effective
immediately
H3d42 Second electron gear molecule
Setting range Set unit Factory value Effective
method
0~2147483647 G 0 Effective
immediately
H3d44 Second electronic gear denominator
Setting range Set unit Factory value Effective
method
1~2147483647 G 10000 Effective
immediately
When H3d40 (or H3d42) = 0：
H3d41 (or H3d44) represents the number of pulses needed to rotate the motor shaft once, if you
need 5000 pulses to rotate the motor shaft once, just change H3d41 (or H3d44) to 5000。
When H3d40 (or H3d42) ≠ 0：
The motor and the load are connected by reduction gear. Assuming that the reduction ratio between the motor

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 Chapter 2 Servo Drive Control Signal Wiring

shaft and the mechanical side of the load is m/n (when the motor rotates m turns and the load shaft rotates n
turns), and that the numerator of the electronic gear and the denominator of the electronic gear are represented
by B and A respectively, the setting value of the electronic gear ratio can be derived from the following
formula：
B/A=H3d40/H3d41=(number of encoder lines/movement of 1 rotation of load axis)×(m/n)
The actual meaning of the electronic gear representation is as follows：

*If the set range is exceeded, please divide the numerator and denominator into integers
within the set range.
The best range for setting the electronic gear ratio: 0.01 ≤ electronic gear ratio (B/A)
≤ 100
If the above range is exceeded, the servo driver control accuracy will be reduced.
Example: Calculation of electronic gear when using a certain type of ball screw with a
pitch of 6 mm

Steps Content Example calculation

1 Confirmation of machine specifications Reduction ratio of 1:1; pitch of 6 mm
2 Confirm encoder pulse count 2500 line encoder
3 Decision instruction unit 1 Command unit is 1μm
4 Calculate the amount of movement for 1 6000μm/1μm=6000
rotation of the load axis
5 Calculating electronic gears B/A=(10000/6000)×1/1
6 Set user parameters H3d40=5
H3d41=3
(c）Electronic gear ratio switching

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 Chapter 2 Servo Drive Control Signal Wiring

Electronic gear ratio switching

Setting range Set unit Factory value Effective
method
0~2 G 0 Effective
H3d39
immediately
0: The first set of electronic gear ratios
1: Second set of electronic gear ratios
2: DI terminal (FunIN.31) switches the two sets of electronic gear ratios
Note: If the difference between the two sets of electronic gear ratios is large, it will cause large fluctuations in
motor speed when the electronic gear ratio is switched! In this case, the position can be smoothly switched by
using position command filtering (H3d06), but too much filtering will make the motor response slow.。
4）Position command smoothing filter setting
Smoothing filtering is the filtering of position commands (encoder units) after electronic gear
division or multiplication
Smoothing filtering should be considered in the following cases：
 The position command output from the upper computer is not processed for
acceleration and deceleration；
 High pulse command frequency；
 When the electronic gear ratio is 10 times or more；
Note: This function has no effect on the amount of displacement (total number of position
commands)。
Position loop smoothing filter time constant
Setting range Set unit Factory value Effective
H3d06 method
1 Effective
1~10000 ms
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

The position loop smoothing filtering time constant can be set appropriately to run the motor
more smoothly, and this setting has no effect on the number of command pulses.
The pulse input filter frequency is mainly used to suppress high frequency signals that interfere
with the pulse command input. Setting this value too low will cause pulses above this frequency
to be filtered out。
5）Position command ramp function setting
Position mode acceleration and deceleration time
Setting range Set unit Factory value Effective
H3d47 method
0~10000 ms 0 Effective
immediately
H3d47 can set the acceleration and deceleration time to smooth the position mode pulse;
increasing the acceleration and deceleration time can make the motor acceleration and
deceleration smoother, but will increase the response time; conversely, decreasing the
acceleration and deceleration time will make the motor acceleration and deceleration more
rapidly and reduce its smoothness.
Actual acceleration time = H3d47 x target speed/rated speed；
Actual deceleration time = H3d47 x target speed/rated speed。
6）Pulse position mode related DI input
Code Name Function Description Signal Type
Name
FunIN.10 ClrPosERR Pulse Position deviation register is Edge Trigger
Clearance cleared in position mode
FunIN.11 Inhibit-P Command Invalid external pulse Level Trigger
pulse disable command in position mode
FunIN.31 GEAR_SEL Electronic gear Electronic gear selection via Level Trigger
selection terminals
7）Pulse position mode related DO output
Set the position arrival pulse range: This parameter provides the basis for the drive to judge
whether the positioning is completed in the external pulse mode. When the remaining number
of pulses in the position deviation register is less than or equal to the position arrival pulse range,
the drive considers the positioning to be completed. The setting of this user parameter does not
affect the final positioning accuracy.。
（a）Output Signal

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 Chapter 2 Servo Drive Control Signal Wiring

Code Name Function Name Description Signal Type

FunOUT.4 Positioning Level signal
Location Arrival P- Arr
completed

（b）User parameter setting

Position arrival pulse count range
Setting range Set unit Factory value Effective
H3d07 method
1~32000 G 100 Effective
immediately
The position loop tracking error excessive alarm is a fault of the Servo Drive. If the value of the
position deviation register in external pulse mode is greater than H3d09 multiplied by the
position loop tracking error alarm multiplier unit, the alarm signal of excessive deviation will be
output。
Meaning
Position loop tracking error alarm condition multiplier unit is 1
H□0□□
H3d08 pulse
Position loop tracking error alarm condition multiplier unit is
H□1□□
100 pulses
Number of position error alarm pulses
Setting range Set unit Factory value Effective
H3d09 method
See H3d08 500 Effective
1~32000
values immediately
3.4Internal position mode
3.4.1Function Introduction
Internal position mode means that the servo drive stores 8 segments of position commands internally, and
the displacement, maximum running speed, acceleration and deceleration time of each segment can be set
separately. The waiting time and articulation mode between each segment can also be selected according to
actual needs。

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 Chapter 2 Servo Drive Control Signal Wiring

3.4.2Parameter Setting
Parameter setting in internal position mode, including mode selection, control mode selection,
articulation mode, etc.。

1）Location command source

User Parameters Location command source

H3A03 d □□03 Multi-segment position setting

2）Position and speed command correspondence table
The source of multi-stage position mode commands is eight sets of command staging (H3d50~H3d64), with
input terminals SP0~SP2 to switch the corresponding position commands. At the same time, each group of
position commands is paired with a speed staging device to set the corresponding speed. See the following table
for details：

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 Chapter 2 Servo Drive Control Signal Wiring

positional Movement speed

SP2 SP1 SP0 Position command parameters
statement parameters
Position 1 given
1 0 0 0 H3d50 H3d30
position
Position 2 given
2 0 0 1 H3d52 H3d31
position
Position 3 given
3 0 1 0 H3d54 H3d32
position
Position 4 given
4 0 1 1 H3d56 H3d33
position
Position 5 given
5 1 0 0 H3d58 H3d34
position
Position 6 given
6 1 0 1 H3d60 H3d35
position
Position 7 given
7 1 1 0 H3d62 H3d36
position
Position 8 given
8 1 1 1 H3d64 H3d37
position
Note: By default 000 represents the status of SP2, SP1, SP0, 0 represents terminal disconnection, 1 represents
terminal path.。

3）Internal position mode related DI input

Code Name Function Name Description Signal Type
Internal position mode
FunIN.9 STOP Internal position termination Edge Trigger
termination
Multi-segment position mode Selection of multi-segment
FunIN.16 SP0 Level Trigger
position selection 1 position mode position
Multi-segment position mode Selection of multi-segment
FunIN.17 SP1 Level Trigger
position selection 2 position mode position
Multi-segment position mode Selection of multi-segment
FunIN.18 SP2 Level Trigger
position selection 3 position mode position
Multi-stage position mode
Multi-segment position mode
FunIN.19 HOLD pauses the current position Edge Trigger
mode pause
command when it is valid,

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 Chapter 2 Servo Drive Control Signal Wiring

and retriggers it to continue

execution when it is invalid
Multi-segment position mode Trigger multi-segment
FunIN.20 CTRG Edge Trigger
trigger position mode

4）Internal position mode related DO output

Code Name Function Name Description Signal Type
Outputs this signal when a
Multi-segment position
FunOUT.10 STOP multi-segment position is Level signal
completion
completed or paused
First paragraph internal
position execution status.
First segment internal position Valid - the first paragraph is
FunOUT.16 SP-O1 Level signal
signal output being executed
Invalid - first paragraph not
executed
Second paragraph internal
position execution status.
Second segment internal Valid - second paragraph is
FunOUT.17 SP-O2 Level signal
position signal output being executed
Invalid - second paragraph
not executed
Third paragraph internal
position execution status.
hird segment internal position Valid-The third paragraph is
FunOUT.18 SP-O3 Level signal
signal output being executed
Invalid-Third paragraph not
executed
Fourth paragraph internal
position execution status.
Fourth segment internal Valid - fourth paragraph is
FunOUT.19 SP-O4 Level signal
position signal output being executed
Invalid - fourth paragraph
not implemented

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 Chapter 2 Servo Drive Control Signal Wiring

Fifth paragraph internal

position execution status.
Fifth segment internal position Valid - the fifth paragraph is
FunOUT.20 SP-O5 Level signal
signal output being executed
Invalid - fifth paragraph not
implemented
Sixth paragraph internal
position execution status.
Sixth segment internal Valid - sixth paragraph is
FunOUT.21 SP-O6 Level signal
position signal output being executed
Invalid - sixth paragraph not
implemented
Seventh paragraph internal
position execution status.
Seventh segment internal Valid - the seventh paragraph
FunOUT.22 SP-O7 Level signal
position signal output is being executed
Invalid - seventh paragraph
not implemented
Eighth paragraph internal
position execution status.
Eighth segment internal Valid - the eighth paragraph
FunOUT.23 SP-O8 Level signal
position signal output is being executed
Invalid - eighth paragraph
not implemented

5）Multi-segment position operation mode

User Parameters Meaning
Relative mode: each trigger at the current position according to the original
0 command to increase or decrease the original command pulse for forward and
H3d28 reverse speed
Absolute mode: each trigger according to the absolute value of the current
1
given speed forward or reverse to the absolute position of the given pulse
The absolute and relative types are widely used, and the user can easily complete the cyclic operation simply by
using the above table. For example, when a 10-pulse command is given first, and then a 20-pulse command is

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 Chapter 2 Servo Drive Control Signal Wiring

given, the absolute and relative position paths are shown below：

6）Multi-segment position mode trigger

Multi-segment position mode trigger
Setting range Set unit Factory value Effective method
0: No trigger 1: Trigger Effective
H3d29 G 0
immediately
H3d29 is set to 1 to trigger the multi-segment position mode, the parameter automatically
returns to 0 after triggering

7）Number of open segments and articulation method

Multi-segment position setting Multi-segment position setting

Setting range Set unit Factory value Effective method

Two functions G D0200 Effective
immediately

H3d48

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 Chapter 2 Servo Drive Control Signal Wiring

When H3d48.X=00, the operation will be triggered by selecting the corresponding position command according
to the combination of DI multi-segment position selection terminals. Be sure to select the position command
first before triggering operation。
If H3d48.X=01, it will be executed from the first segment in order according to the number of segments set to
open. If H2-07=0, the time interval between each group of positions is determined by H3d66~H3d73, and the
number of cycles is determined by H3d49. If the time interval is 0, the operation switches to the next group at
the highest speed, and if H3d49=0 at that time, the cycle continues. If H2-07=1, each group can be triggered to
run sequentially between positions by input terminal (FunIN.20).

8）Multi-stage position cycling method

Multi-stage position cycling method
Setting range Set unit Factory value Effective method
0~1 Effective
G 0
immediately
H2-07
When H2-07 is set to 0, triggering between each group of positions operates according to the
time interval
When H2-07 is set to 1, triggering between each group of positions is based on the signal from
the external input terminal (FunIN.20)

9）Number of multi-segment position cycles

Number of cycles in multi-segment position mode
Setting range Set unit Factory value Effective method
H3d49 0~30000 Effective
G 0
immediately
When H3d49 is set to 0, the loop is infinite
Note: When H2-07 is set to 1, be sure to set H3d49 to 0。

10）Multi-stage position acceleration and deceleration time

Position 1 acceleration time
Setting range Set unit Factory value Effective method
H3d10
0~32000 ms 100 Effective
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

Position 1 deceleration time

Setting range Set unit Factory value Effective method
H3d11
0~32000 ms 100 Effective
immediately
Position 2 acceleration time
Setting range Set unit Factory value Effective method
H3d12
0~32000 ms 100 Effective
immediately
Position 2 deceleration time
Setting range Set unit Factory value Effective method
H3d13
0~32000 ms 100 Effective
immediately
Position 3 acceleration time
Setting range Set unit Factory value Effective method
H3d14
0~32000 ms 100 Effective
immediately
Position 3 deceleration time
Setting range Set unit Factory value Effective method
H3d15
0~32000 ms 100 Effective
immediately
Position 4 acceleration time
Setting range Set unit Factory value Effective method
H3d16
0~32000 ms 100 Effective
immediately
Position 4 deceleration time
Setting range Set unit Factory value Effective method
H3d17
0~32000 ms 100 Effective
immediately
Position 5 acceleration time
Setting range Set unit Factory value Effective method
H3d18
0~32000 ms 100 Effective
immediately
H3d19 Position 5 deceleration time

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 Chapter 2 Servo Drive Control Signal Wiring

Setting range Set unit Factory value Effective method

0~32000 ms 100 Effective
immediately
Position 6 acceleration time
Setting range Set unit Factory value Effective method
H3d20
0~32000 ms 100 Effective
immediately
Position 6 deceleration time
Setting range Set unit Factory value Effective method
H3d21
0~32000 ms 100 Effective
immediately
Position 7 acceleration time
Setting range Set unit Factory value Effective method
H3d22
0~32000 ms 100 Effective
immediately
Position 7 deceleration time
Setting range Set unit Factory value Effective method
H3d23
0~32000 ms 100 Effective
immediately
Position 8 acceleration time
Setting range Set unit Factory value Effective method
H3d24
0~32000 ms 100 Effective
immediately
Position 8 deceleration time
Setting range Set unit Factory value Effective method
H3d25
0~32000 ms 100 Effective
immediately

11）Multi-stage position giving speed

Position 000 given speed
H3d30 Setting range Set unit Factory value Effective method
0~4500 G 100 Effective
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 Chapter 2 Servo Drive Control Signal Wiring

immediately
Position 001 given speed
Setting range Set unit Factory value Effective method
H3d31
0~4500 Effective
G 100
immediately
Position 010 given speed
Setting range Set unit Factory value Effective method
H3d32
0~4500 Effective
G 100
immediately
Position 011 given speed
Setting range Set unit Factory value Effective method
H3d33
0~4500 Effective
G 100
immediately
Position 100 given speed
Setting range Set unit Factory value Effective method
H3d34
0~4500 Effective
G 100
immediately
Position 101 given speed
Setting range Set unit Factory value Effective method
H3d35
0~4500 Effective
G 100
immediately
Position 110 given speed
Setting range Set unit Factory value Effective method
H3d36
0~4500 Effective
G 100
immediately
Position 111 given speed
Setting range Set unit Factory value Effective method
H3d37
0~4500 Effective
G 100
immediately

12）Multi-segment position giving distance

Position 000 given position
H3d50 Setting range Set unit Factory value Effective method
-2147483647~+2147483647 G 0 Effective
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 Chapter 2 Servo Drive Control Signal Wiring

immediately
Position 001 given position
Setting range Set unit Factory value Effective method
H3d52
-2147483647~+2147483647 Effective
G 0
immediately
Position 010 given position
Setting range Set unit Factory value Effective method
H3d54
-2147483647~+2147483647 Effective
G 0
immediately
Position 011 given position
Setting range Set unit Factory value Effective method
H3d56
-2147483647~+2147483647 Effective
G 0
immediately
Position 100 given position
Setting range Set unit Factory value Effective method
H3d58
-2147483647~+2147483647 Effective
G 0
immediately
Position 101 given position
Setting range Set unit Factory value Effective method
H3d60
-2147483647~+2147483647 Effective
G 0
immediately
Position 110 given position
Setting range Set unit Factory value Effective method
H3d62
-2147483647~+2147483647 Effective
G 0
immediately
Position 111 given position
Setting range Set unit Factory value Effective method
H3d64
-2147483647~+2147483647 Effective
G 0
immediately
Interval after the end of the first paragraph
Setting range Set unit Factory value Effective method
H3d66
-32000~+32000 ms 0 Effective
immediately
H3d67 Interval after the end of the 2nd paragraph
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 Chapter 2 Servo Drive Control Signal Wiring

Setting range Set unit Factory value Effective method

-32000~+32000 ms 0 Effective
immediately
Interval after the end of the 3rd paragraph
Setting range Set unit Factory value Effective method
H3d68
-32000~+32000 ms 0 Effective
immediately
Interval after the end of the 4th paragraph
Setting range Set unit Factory value Effective method
H3d69
-32000~+32000 ms 0 Effective
immediately
Interval after the end of the 5th paragraph
Setting range Set unit Factory value Effective method
H3d70
-32000~+32000 ms 0 Effective
immediately
Interval after the end of the 6th paragraph
Setting range Set unit Factory value Effective method
H3d71
-32000~+32000 ms 0 Effective
immediately
Interval after the end of paragraph 7
Setting range Set unit Factory value Effective method
H3d72
-32000~+32000 ms 0 Effective
immediately
Interval after the end of the 8th paragraph
Setting range Set unit Factory value Effective method
H3d73
-32000~+32000 ms 0 Effective
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

3.5Origin search mode

3.5.1Function Introduction
Electrical home return is a function to locate and stop at the home pulse (Z-phase) position of the encoder.
When using the home return function, you can use the input contact ORGP (external detector input terminal) or
Z pulse as the home reference point, and you can use forward search or use reverse search.。
3.5.2User parameter setting
1) Origin search method
Selection of origin search
Factory
Setting range Set unit Effective method
value
H3b25 0:No origin search
1:Auto home search at power on
G 0 Effective immediately
2:I/O port trigger to find home
position
2) Origin command source and regression method

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 Chapter 2 Servo Drive Control Signal Wiring

Parameter Name Meaning

H3b19=H□□□0 Reversing to find the origin
H3b19=H□□□1 Positive rotation to find the origin
Search by using the left and right position limits as the origin reference
H3b19=H□□0□
points
Use input terminal ORGP (FunIN. 22) as the origin reference point for
H3b19=H□□1□
searching
H3b19=H□□2□ The nearest Z-phase pulse is used as the origin reference point for searching
H3b19=H□0□□ Deceleration and stop after reaching the home reference point
Find the Z signal with the second speed in the opposite direction after
H3b19=H□1□□
reaching the home reference point
Find the Z signal in the same direction with the second speed after reaching
H3b19=H□2□□
the origin reference point
After reaching the input terminal ORGP (FunIN. 22), search for the rising
H3b19=H□3□□ edge of the input terminal ORGP (FunIN. 22) in the opposite direction with
the second speed as the home point.
H3b19=H0□□□ Slow down and stop after finding the Z signal
H3b19=H1□□□ Find the Z signal and turn back to the Z signal
Note: H3b19.C and H3b19.D can only be set to 0 when using the left and right limit as home position
function。

3) Origin search auxiliary parameters

Origin/mechanical origin retrieval first speed

Setting range Set unit Factory value Effective method
H3b20
0~2000 r/min 50 Effective
immediately
Origin/Mechanical search second speed
Setting range Set unit Factory value Effective method
H3b21
0~1000 r/min 20 Effective
immediately
Home/mechanical home retrieval acceleration/deceleration time
H3b22 Setting range Set unit Factory valu Effective method
0~1000 ms 0 Effective
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 Chapter 2 Servo Drive Control Signal Wiring

immediately
Number of origin search offset pulses

Setting range Set unit actory valu Effective method

H3b23
G 0 Effective
-32000~+32000
immediately
Origin find signal duration
Setting range Set unit actory valu Effective method
H3b28
ms 1 Effective
0~30000
immediately
Origin search timeout
Setting range Set unit actory valu Effective method
H3b29
ms 10000 Effective
100~65535
immediately

4) Home mode related DI input

Code Name Function Name Description Signal Type
FunIN. 13 P-INH Reverse drive disable Prohibit servo motor reversal Level Trigger
Prohibit servo motor forward Level Trigger
FunIN. 14 N-INH Forward drive disable
rotation
Home/mechanical home search Trigger origin/mechanical
FunIN. 21 SHOM Edge Trigger
mode trigger origin search mode
This signal can be used as an
FunIN. 22 ORGP External reference origin Edge Trigger
external reference origin

5) Home mode related DO output

Code Name Function Name Description Signal Type
Home return to zero status. Level signal
Valid - origin back to zero.
FunOUT .12 HomeAttain Origin find output
Invalid-Home point not
returned to zero

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 Chapter 2 Servo Drive Control Signal Wiring

3.6 Internal speed mode

3.6.1Function Introduction
The speed mode is mostly used in the precision CNC machining industry, where the user can set
a fixed multi-segment speed and select the trigger operation through the DI terminal.。

3.6.2User parameter setting

1) Speed command source
User Speed command source
Parameters

H3A03 d □□00 Numbers given

Digital setting means that the set speed value is stored and used as speed command by function
code H3b13 or H3b14 or H3b15.。
2）Digitally given speed values

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 Chapter 2 Servo Drive Control Signal Wiring

Speed command keypad setpoint 1

Setting range Set unit Factory value Effective
H3b13 method
0~±3200 r/min 100 Effective
immediately
Speed command keypad setpoint 2
Setting range Set unit Factory value Effective
H3b14 method
0~±3200 r/min 200 Effective
immediately
Speed command keypad setpoint 3
Setting range Set unit Factory value Effective
H3b15 method
0~±3200 r/min 300 Effective
immediately
Note：
 When the values of H3b13, H3b14, and H3b15 exceed the value of the maximum servo
motor speed H3A06, the actual value is limited to the maximum speed of the servo motor
used (the value of H3A06)。
d)Digital Feed Selection Table
Input Signal Motor rotation
Running speed
SD-DIR SD1 SD2 direction
OFF OFF 0：Zero Speed
OFF ON H3b13：Set value 1 speed
OFF Positive rotation
ON OFF H3b14：Set value2 speed
ON ON H3b15：Set value 3 speed
OFF OFF 0：Zero Speed
OFF ON H3b13：Set value 1 speed
ON Reversal
ON OFF H3b14：Set value 2 speed
ON ON H3b15：Set value 3 speed
 Note: The default state of the terminal action representative function is effective that is in the ON state,
and vice versa is invalid that is in the OFF state。

3) Speed mode related DI input

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 Chapter 2 Servo Drive Control Signal Wiring

Code Name Function Name Description Signal Type

In digital feed speed mode, Level Trigger
FunIN. 4 SD1 Digital feed speed 1
digital feed speed selection 1
and digital feed speed Level Trigger
FunIN. 5 SD2 Digital feed speed 2 selection 2 work together to
select four internal speeds
Controls servo motor
FunIN. 6 SD-DIR Speed direction control steering in digital given Level Trigger
speed mode.
When the absolute value of
the speed is less than or
equal to the H3b26 set value,
the servo motor speed is 0
FunIN. 7 ZCLAMP Zero speed fixing function and the position is locked. Level Trigger
Valid-enables the zero
position fixing function.
Invalid-Disable the zero
position fixing function

4) Speed mode related DO output

Code Name Function Name Description Signal Type
Valid - The speed of the servo motor is Level signal
higher than the speed threshold value
Motor rotation
FunOUT .2 TGON H3b18
detection signal
Invalid-Servo motor speed is lower
than the speed threshold H3b18
Valid-Speed feedback reaches setpoint Level signal
H3b17
FunOUT .3 V- Arr Speed to output
Invalid-Speed feedback does not reach
the set value H3b17

(a)TGONLimit signal output

Limiting action can indicate that the servo motor is rotating at a speed that exceeds the limit
value。

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 Chapter 2 Servo Drive Control Signal Wiring

Limit values
Setting range Set unit Factory value Effective
H3b18 method
0~3000 r/min 30 Effective
immediately
(b）Speed arrival signal output
The speed arrival function outputs this signal when the absolute value of the difference between
the speed of the servo motor and the commanded speed is lower than the value of the target
speed range (H3b17), and is valid for both forward and reverse rotation, independent of the
motor steering. This signal is mainly used when interlocking with the upper unit。
Target speed range
Setting range Set unit Factory value Effective method
H3b17
0~3000 r/min 30 Effective
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

Note: The solid line indicates the given speed, and the dashed line ranges the output speed
arrival signal。

5) Acceleration and deceleration time setting in speed mode

It means that the speed command with large variation is converted into a smoother speed
command with constant acceleration and deceleration, that is, by setting the acceleration and
deceleration time to control the acceleration and deceleration. In the speed control mode, if the
speed command given changes too much, it will cause the motor to jump or vibrate violently. If
the acceleration and deceleration time of the soft start is increased, it can realize the smooth
start of the motor and avoid the above situation, which will cause damage to the mechanical
parts.。
(a）User parameter setting
Acceleration time
Setting range Set unit Factory value Effective
H3b09 method
1~30000 ms 200 Effective
immediately
Deceleration time
Setting range Set unit Factory value Effective
H3b10 method
1~30000 ms 200 Effective
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

(b）Note on acceleration/deceleration times

Acceleration/deceleration time is the time to increase from zero speed to rated speed or to
decrease from rated speed to zero speed. This is shown in the figure below.。

T1 and T2 in the figure correspond to the actual acceleration and deceleration times in ms. The
calculation method is as follows：
Actual acceleration time T1=H3b09×target speed/rated speed；
Actual deceleration time T2=H3b10×target speed/rated speed。
3.6.3 SCurve smoothing function
In the acceleration and deceleration process, since the acceleration and deceleration changes
such as starting and stopping can cause shocks, it is necessary to add S-curve type acceleration
and deceleration commands to the speed command, i.e., to make the servo motor run more
smoothly by adding a section of arc to the acceleration and deceleration ramp.。
1）User parameter setting
S-curve acceleration and deceleration time
Setting range Set unit Factory value Effective method
H3b11
1~12000 ms 100 Effective
immediately
S-curve start sign
Setting range Set unit Factory value Effective method
H3b12
0: No activation Effective
G 0
1：Start immediately
2）A note on the smoothing function of the S-curve
The S-curve function is shown below, where T1 and T2 correspond to the actual
acceleration and deceleration times, respectively (see soft start function)

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 Chapter 2 Servo Drive Control Signal Wiring

3.6.4 Zero speed fixing function

In the speed control mode, if ZCLAMP is valid and the amplitude of the speed command is less
than or equal to the speed value set by H3b26, the servo motor enters the control of the zero
speed fixed state, and if oscillation occurs at this time, the position loop gain can be adjusted.
When the amplitude of the speed command is greater than the speed value set by H3b26, the
servo motor exits the control of zero speed fixed state.。
1）Input Signal
Signal Name Meaning
When the absolute value of speed command is less than or equal to the H3b26 setting, the
ZCLAMP
servo motor is put into servo lock state.
2）User parameter setting
Zero speed clamping function
Setting range Set unit Factory value Effective method
0: The terminal function
H3b27
is invalid Effective
G 0
1：The terminal function immediately
is valid
Zero speed fixed speed limit value
Setting range Set unit Factory value Effective method
H3b26
0~3000 r/min 5 Effective
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

3.7Analog speed mode

3.7.1User-related parameters
1）Speed command source
User Parameters Speed command source

H3A03 d □□09 Analog

(a) The relationship between analog and speed settings

Maximum speed corresponding to analog speed command voltage
Setting range Set unit Factory value Effective method
H3E00
1~10000 r/min — Effective
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

The speed corresponding to the analog speed

command voltage is the proportional relationship
between voltage and speed determined by setting the
speed corresponding to the 10V analog input.
The meaning of the speed representation
corresponding to the analog speed command voltage
is shown in the figure on the right.：

Note: The factory value of H3E00 is related to the servo motor, the default factory value of the
system is the rated speed of the matching motor。
(b) Zero drift compensation for analog channel AI command
AI command zero drift compensation
Setting range Set unit Factory value Effective method
H3E02
0~±5000 1mv 0 Effective
immediately
The AI command zero drift compensation is to
eliminate the zero drift of the analog command.
The setting method is as follows.
1) Short the AS to GND.
2) Run in analog mode and adjust the value of this
parameter so that H1-23 (analog speed command
display) is 0.
The meaning of zero drift compensation
representation of analog speed command is shown in
the figure on the right：
AI auto-zeroing
Setting range Set unit Factory value Effective method
H3E06
0~1 G 0 Effective
immediately
Effective immediately When using the AI auto-zero function, be sure to make the external analog input
command 0V at this time, otherwise an error will occur. If the zero drift is too large at this time, the drive will
show the Err21 alarm.

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 Chapter 2 Servo Drive Control Signal Wiring

When using auto-zero, make sure the external input command is 0V, then set H3E06 to 1, wait for about 5
seconds, and the zero drift will be compensated automatically.。
【NOTE】 Modulate the potentiometer voltage to 0V before use, then execute the analog auto-zero function; if
when the voltage is switched, if the speed difference is large, please use this function
【Recommendation】 Please use this function before using analog quantity
AI zero drift alarm range
Setting range Set unit Factory value Effective method
H3E26
1~10000 mv 2000 Effective
immediately
(c) Setting of upper and lower speed limits for analog speed command
The setting of the upper and lower limits of the analog speed command speed means that the
upper and lower limits can be set for the external input analog quantity in the analog speed
mode. The user can set a pair of voltages within -10V~+10V as the upper and lower limit
voltages of the analog input through parameters H3E33 and H3E31. After the analog input is
determined, you can also set the control speed corresponding to the analog upper and lower
limit voltages respectively in the analog speed mode through parameters H3E32 and H3E30.。
The upper and lower analog limit setting values are
related to the voltage control accuracy of the analog
quantity, the wider the upper and lower limit range,
the higher the voltage accuracy. When setting the
upper and lower limits, it is recommended that please
do not set the upper and lower limit value range too
small when using, so as not to affect the analog
adjustment effect. The specific relationship is shown
in the figure on the right.：
Control parameters in RPM mode：
Speed analog lower limit voltage corresponds to speed
Setting range Set unit Factory value Effective method
H3E30
-1000~1000 0.1% -1000 Effective
immediately
Speed analog lower limit voltage
Setting range Set unit Factory value Effective method
H3E31
-1000~1000 0.01V -1000 Effective
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

Speed analog upper voltage corresponds to speed

Setting range Set unit Factory value Effective method
H3E32
-1000~1000 0.1% 1000 Effective
immediately
Speed analog upper voltage
Setting range Set unit Factory value Effective method
H3E33
-1000~1000 0.01V 1000 Effective
immediately
Description: Motor speed calculation formula in analog speed command mode：
The speed corresponding to the lower voltage limit = parameter value of H3E00 × parameter
value of H3E30
The upper limit voltage corresponds to the speed = parameter value of H3E00 × parameter
value of H3E32
(d) Analog command filtering
Analog speed command filtering time constants 速度

Setting range Set unit Factory value Effective method

H3E04
1~30000 0.01ms 200 Effective
immediately
Add first-order filtering to the analog speed command to make the speed command smoother,
but too large a setting can reduce the response speed。
(e) Analog signal terminal
Input signal setting
Signal Name Fixed function terminals Meaning
AS CN1-25
Analog speed command input
GND CN1-13
Input voltage range -10V~10V
(f) Analog speed mode related DI input
Code Name Function Name Description Signal Type
The analog speed is 0 after it
FunIN.23 AS-STOP Analog mode stop Level Trigger
turns ON
Forward and reverse Forward and reverse
FunIN.24 AS-RF Level Trigger
switching in analog mode switching in analog mode

(g) Analog speed mode related DO output

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Code Name Function Name Description Signal Type

Valid - The speed of the Level signal
servo motor is higher than
the speed threshold value
FunOUT .2 TGON Motor rotation detection signal H3b18
Invalid-Servo motor speed is
lower than the speed
threshold H3b18
Valid-Speed feedback Level signal
reaches setpoint H3b17
FunOUT .3 V- Arr Speed to output
Invalid-Speed feedback does
not reach the set value H3b17

3.8 Internal Torque Mode

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3.8.1 User parameter setting

User Parameters Torque command source

H3A03 d □□02 Numbers given

 Digital setting, i.e. keypad setting. Refers to the percentage of torque value stored by function code
H3C04 and the rated torque as torque command
Torque command keypad setpoint
Setting range Set unit Factory value Effective method
H3C04
10 Effective
-800~800 1% rated torque
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

3.8.2 Command ramp function setting

In torque mode, it converts a step torque command into a ramp motion with constant acceleration。
1）User parameter setting
Torque boost time
Setting range Set unit Factory value Effective
H3C12 method
0~30000 0.1ms 0 Effective
immediately
Torque drop time
Setting range Set unit Factory value Effective
H3C13 method
0~30000 0.1ms 0 Effective
immediately
2）A note on lift/drop times
Torque rise/fall time refers to the time it takes for the torque to rise from zero torque to rated
torque or to fall from rated torque to zero torque. As shown in the figure。

T1 and T2 in the figure correspond to the actual torque boost drop time in ms. The calculation
method is as follows：
Actual lifting time T1=H3C12×target torque/rated torque；
Actual descent time T2=H3C13×target torque/rated torque。
3.8.3 Speed limitation in torque mode
In the torque control mode, the speed of the servo motor is limited to protect the machinery. In
torque control mode, the servo motor is only controlled by the output torque command, not the
speed, so if the set torque command is too large, higher than the load torque on the mechanical
side, the motor will keep accelerating, and overspeed may occur.。
1、Internal speed limit；

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2、Co-limitation of the maximum speed limit value and the actual maximum speed of the motor；
1）Speed limit setting
Speed limit source settings 转矩

Setting range Set unit Factory value Effective method

H3C10
0~3 G 0 Effective
immediately
User Parameters Meaning
H3C10=0 Speed limit using speed limit internal given value (H3C11)
H3C10=1 Speed limit adopts analog limit, taking the absolute value of analog, effective for both
forward and reverse rotation
H3C10=2 The speed limit is the smaller of the maximum speed limit value H3A06 and the actual
maximum speed of the motor
H3C10=3 See section 3.7.5 for details
2）Related parameters
Speed limit internally given
Setting range Set unit Factory value Effective method
H3C11
r/min 100 Effective
0~3200
immediately
3.8.4 Torque command limit setting
To better protect the machinery, the output torque of the servo drive can be limited。
Internal maximum torque limit
Internally given maximum torque limit value
Setting range Set unit Factory value Effective method
H3C02
0~800 1% rated torque 200 Effective
immediately
3.8.5 Switching of torque and speed in internal torque mode
When in the process of drilling or tapping, when entering the object in the positive direction, considering the
frequent problems of customers, two torque and speed are set, when there is no contact with the object, you can
use a faster speed, and when in contact with the object, you can use a slower speed and choose the appropriate
torque; when you exit after completing the tapping or drilling action, the speed and torque can also be
independent values。
1)User parameter setting
Turn on internal torque and speed switching
H3C10
Setting range Set unit Set value Effective method
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 Chapter 2 Servo Drive Control Signal Wiring

0~3 G 3 Effective
immediately
H3C10 set to 3, this function is turned on to achieve the optimization function of drilling or tapping。
2)Related function code settings
(a) DI input terminal F-RF (FunIN.29) is invalid
When the DI input terminal F-RF (FunIN.29) is invalid, the corresponding torque value is H3C04 and the speed
limit value is H3C11.。
(b)DI input terminal F-RF (FunIN.29) is valid
When DI input terminal F-RF (FunIN.29) is active, two sets of speed can be switched by DI input terminal
V-RF (FunIN.30), and two sets of torque can be switched by DI input terminal T-RF (FunIN.25).
Speed selection in internal torque mode 1
Setting range Set unit Factory value Effective method
H3A33
0~3200 r/min 100 Effective
immediately
Speed selection in internal torque mode2
Setting range Set unit Factory value Effective method
H3A35
0~3200 r/min 100 Effective
immediately
Torque selection in internal torque mode1
Setting range Set unit Factory value Effective method
H3A34
0~800 1% rated torque 10 Effective
immediately
Torque selection in internal torque mode2
Setting range Set unit Factory value Effective method
H3A36
0~800 1% rated torque 10 Effective
immediately
(c)Torque and speed limit selection table
Input Signal Motor rotation
Torque value Speed limit value
F-RF V-RF T-RF direction
OFF Reversal H3C04 H3C11
OFF OFF H3A34 H3A33
OFF ON H3A36 H3A33
ON Positive rotation
ON OFF H3A34 H3A35
ON ON H3A36 H3A35
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 Chapter 2 Servo Drive Control Signal Wiring

3)Internal torque mode related DI input

Code Name Function Name Description Signal Type
Torque zeroing in torque
FunIN. 15 T-INH Torque zeroing Level Trigger
mode
Torque switching during
FunIN.25 T-RF Torque Switching forward rotation in torque Level Trigger
mode
Switching of operation
FunIN.29 F-RF Direction Switching Level Trigger
direction in torque mode
Speed switching when the
FunIN.30 V-RF Speed Switching torque mode is in forward Level Trigger
rotation
4)Internal torque mode related DO output
Code Name Function Name Description Signal Type
Valid - The speed of the servo motor is
higher than the speed threshold value
Motor rotation
FunOUT .2 TGON H3b18 Level signal
detection signal
Invalid-Servo motor speed is lower
than the speed threshold H3b18
Valid - Servomotor torque is higher
than the torque threshold H3C02
FunOUT .5 T-LT Torque limiting in Level signal
Invalid-Servomotor torque is lower
than the torque threshold H3C02

3.9Analog torque mode

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3.9.1User parameter setting

User Parameters Instruction source

H3A03 d □□10 Analog

1）The relationship between analog and torque settings

Analog torque command voltage corresponds to maximum torque
Setting range Set unit Factory value Effective
H3E01 method
1~800 1% rated torque 100 Effective
immediately

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 Chapter 2 Servo Drive Control Signal Wiring

The analog torque command voltage corresponding to Torque N·m

the maximum torque means that the proportional

Rated torque
relationship between input voltage and torque is
determined by setting the torque corresponding to the
10V analog input. The factory value is 10V 10V ：V
Voltage
-
corresponding to the rated torque. 0 10V

The meaning of the analog torque command voltage

corresponding to the maximum torque representation Rated torque
is shown in the figure on the right.

2）AI channel zero drift compensation

AI command zero drift compensation
Setting range Set unit Factory value Effective method
H3E02
0~±5000 1mv 0 Effective
immediately
AS command zero drift compensation is to
eliminate the zero drift of analog commands。
The setup method is as follows：
1）Short AS to GND.。
2）Running in analog mode, adjust the value of
this parameter so that H1-23 (analog speed
command display) is 0.
The significance of the zero-drift compensation
representation of the analog speed command is
shown on the right.：
AI auto-zeroing speed
Setting range Set unit Factory value Effective method
H3E06
0~1 G 0 Effective
immediately
When using the AI auto-zero function, make sure that the external analog input command is 0V at this time,
otherwise an error will occur, and if the zero drift is too large at this time, the drive will show the Err21 alarm。
When using auto-zero, you need to confirm that the external input command is 0V, then set H3E06 to 1, wait for
about 5 seconds, and the zero drift will be automatically compensated.。
【note】Modulate the potentiometer voltage to 0V before use, then execute the analog auto-zero function; if

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 Chapter 2 Servo Drive Control Signal Wiring

when the voltage is switched, if the speed difference is large, please use this function
【Recommendation】 Please use this function before using analog quantity

3）Analog torque command filtering

Analog torque command filtering time constant
Setting range Set unit Factory value Effective method
H3E05
0.01ms 200 Effective
1~30000
immediately
Add first-order filtering to the analog torque command to make the torque command smoother,
but too large a setting will reduce the response speed。
4）Setting of upper and lower limits of analog torque command
The setting of the upper and lower limits of analog torque is similar to the analog speed mode,
only the setting parameters are different, please refer to the setting method of the upper and
lower limits of analog speed mode to complete。

Torque analog lower limit voltage corresponding to torque

Setting range Set unit Factory value Effective method
H3E34
-1000~1000 0.1% -1000 Effective
immediately
Torque analog lower limit voltage
Setting range Set unit Factory value Effective method
H3E35
-1000~1000 0.01V -1000 Effective
immediately
Torque analog upper limit voltage corresponds to torque
Setting range Set unit Factory value Effective method
H3E36
-1000~1000 0.1% 1000 Effective
immediately
Torque analog upper limit voltage
Setting range Set unit Factory value Effective method
H3E37
-1000~1000 0.01V 1000 Effective
immediately
Note: The formula for calculating motor torque in analog torque command mode：
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 Chapter 2 Servo Drive Control Signal Wiring

Lower voltage torque = parameter value of H3E01 × parameter value of H3E34

The upper limit voltage corresponding torque = parameter value of H3E01 × parameter value
of H3E36
5) Analog signal terminal

Fixed Meaning
Signal Name Abbreviations distribution
terminal
Analog torque AS CN1-25
command input
Analog torque command input
Analog power CN1-13
GND
ground
Input voltage range: -10V~+10V

3.9.2Command ramp function setting

In torque mode, it converts a step torque command into a ramp motion with constant acceleration。
1）User parameter setting
Torque boost time
Setting range Set unit Factory value Effective
H3C12 method
0~30000 0.1ms 0 Effective
immediately
Torque drop time
Setting range Set unit Factory value Effective
H3C13 method
0~30000 0.1ms 0 Effective
immediately
2）A note on lift/drop times
Torque rise/fall time refers to the time it takes for the torque to rise from zero torque to rated
torque or to fall from rated torque to zero torque. As shown in the figure。

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 Chapter 2 Servo Drive Control Signal Wiring

T1 and T2 in the figure correspond to the actual torque boost drop time in ms. The calculation
method is as follows：
Actual lifting time T1=H3C12×target torque/rated torque；
Actual descent time T2=H3C13×target torque/rated torque。

3.9.3Speed limitation in analog torque mode

In the torque control mode, the speed of the servo motor is limited to protect the machinery. In
torque control mode, the servo motor is only controlled by the output torque command, not the
speed, so if the set torque command is too large, higher than the load torque on the mechanical
side, the motor will keep accelerating, and overspeed may occur.。
1、Internal speed limit；
2、 Co-limitation of the maximum speed limit value and the actual maximum speed of the motor；
1）Speed limit setting
Speed limit source settings Torque

Setting range Set unit Factory value Effective method

H3C10
0~2 G 0 Effective
immediately
User Parameters Meaning
H3C10=0 Speed limit using speed limit internal given value (H3C11)
H3C10=1 Speed limit adopts analog limit, taking the absolute value of analog, effective for both
forward and reverse rotation
H3C10=2 The speed limit is the smaller of the maximum speed limit value H3A06 and the actual
maximum speed of the motor
H3C10=3 See section 3.7.5 for details
2）Related parameters
H3C11 Speed limit internally given

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 Chapter 2 Servo Drive Control Signal Wiring

Setting range Set unit Factory value Effective method

1r/min 100 Effective
0~3200
immediately
3.9.4Torque command limit setting
In order to better protect the machinery, the output torque of the servo drive can be limited.
Torque limiting is divided into three cases：
a）Limited by internal maximum torque；
b）Limited by internal registers for terminal control；
c）Limited by analog volume；
Of the three limits, the two limits are conditional limits, except for the internal maximum torque
limit, which is valid on a constant basis. When the limiting condition is met, the actual torque
limit is the smaller of the valid limit values。
In any case, the limit value set by the user parameter will be valid and there is no difference
between forward and reverse rotation, when the value set exceeds the maximum torque of the
servo motor used, the torque limit value is the actual maximum torque output of the servo
motor。
1）Internal maximum torque limit
Internally given maximum torque limit value
Setting range Set unit Factory value Effective method
H3C02
0~800 1% rated torque 200 Effective
immediately
Note: If the value is set too small, it will result in insufficient servo motor output torque。
2）Mode-dependent DI input
When using terminal-controlled torque limiting, the torque limiting function of the terminal
must be turned on。
Code Name Function Name Description Signal Type
FunIN. 13 P-INH Reverse drive disable Prohibit servo motor reversal Level Trigger
Prohibit servo motor forward
FunIN. 14 N-INH Forward drive disable Level Trigger
rotation

To use forward torque limiting, the function of a functionally configurable input terminal must
be set to forward torque limiting (TCCW), and to use reverse torque limiting, the function of a
functionally configurable input terminal must be set to reverse torque limiting (TCW).。
H3C08 Maximum torque limit in forward rotation

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 Chapter 2 Servo Drive Control Signal Wiring

Setting range Set unit Factory value Effective method

0~800 1% rated torque 100 Effective
immediately
Reversing maximum torque limit
Setting range Set unit Factory value Effective method
H3C09
0~800 1% rated torque 100 Effective
immediately
When TCCW is active, it will limit the maximum torque at forward rotation to not exceed the
H3C08 setting。
When TCW is active, it will limit the maximum torque in reverse rotation to not exceed the
H3C09 setting.。
Note: If the value of H3C08 and H3C09 is set too small, it will lead to insufficient servo motor
output torque.。

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 Chapter 2 Servo Drive Control Signal Wiring

3.10Hybrid control mode

3.10.1 Hybrid mode list
功能码 设置参数 模式设定 切换模式的 DI 功能设定
H3A03 d □□00 Speed Mode
H3A03 d □□01 Pulse position mode
H3A03 d □□02 Torque mode
H3A03 d □□03 Internal position mode
H3A03 d □□04 Pulse position mode and speed mode FunIN.4 和 FunIN.5
switching
H3A03 d □□05 Pulse position mode and torque mode FunIN.28
switching
H3A03 d □□06 Internal position mode and speed mode FunIN.4 和 FunIN.5
switching
H3A03 d □□07 Internal position mode and torque mode FunIN.28
switching
H3A03 d □□08 Torque mode and speed mode FunIN.4 和 FunIN.5
H3A03 d □□09 Analog speed mode
H3A03 d □□10 Analog torque mode
H3A03 d □□11 Analog speed mode and internal speed mode FunIN.4 和 FunIN.5
switching
H3A03 d □□12 Analog torque mode and internal speed mode FunIN.4 和 FunIN.5
switching
H3A03 d □□13 Switching between pulse position mode and FunIN.28
analog speed mode
H3A03 d □□14 Switching between pulse position mode and FunIN.28
analog torque mode
H3A03 d □□15 Internal torque mode and analog speed mode FunIN.28
switching

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 Chapter 2 Servo Drive Control Signal Wiring

H3A03 d □□16 Internal torque mode and analog torque mode FunIN.28
switching
H3A03 d □□17 Pulse position mode and internal position FunIN.28
mode switching
H3A03 d □□18 Analog torque mode and analog speed mode FunIN.28
switching
H3A03 d □□19 Internal position mode and analog speed FunIN.28
mode switching
H3A03 d □□20 Internal position mode and external analog FunIN.28
torque switching

3.10.2Default settings for terminals in different modes

DIDefault DI1 DI2 DI3 DI4 DI5

H3A03
00 Internal speed mode FunIN. 0 FunIN.4 FunIN.5 FunIN.6 FunIN.1
01 Pulse position mode FunIN. 0 FunIN.12 FunIN.14 FunIN.13 FunIN.1
02 Internal torque mode FunIN. 0 FunIN.29 FunIN.25 FunIN.30 FunIN.15
03 Internal position mode FunIN. 0 FunIN.20 FunIN.9 FunIN.21 FunIN.22
04 Pulse position mode and internal speed FunIN. 0 FunIN.4 FunIN.5 FunIN.6 FunIN.1
mode switching
05 Pulse position mode and internal torque FunIN. 0 FunIN.28 FunIN.29 FunIN.25 FunIN.30
mode switching
06 Internal position mode and internal FunIN. 0 FunIN.4 FunIN.5 FunIN.20 FunIN.9
speed mode switching

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 Chapter 2 Servo Drive Control Signal Wiring

07 Internal position mode and internal FunIN. 0 FunIN.28 FunIN.29 FunIN.25 FunIN.30
torque mode switching
08 Torque mode and internal speed mode FunIN. 0 FunIN.4 FunIN.29 FunIN.25 FunIN.30
09 Analog speed mode FunIN. 0 FunIN.12 FunIN.24 FunIN.7 FunIN.23
10 Analog torque mode FunIN. 0 FunIN.12 FunIN.2 FunIN.3 FunIN.1
11 Analog speed mode and internal speed FunIN. 0 FunIN.4 FunIN.5 FunIN.24 FunIN.23
mode switching
12 Analog torque mode and internal speed FunIN. 0 FunIN.4 FunIN.5 FunIN.6 FunIN.1
mode switching
13 Switching between pulse position mode FunIN. 0 FunIN.24 FunIN.28 FunIN.12 FunIN.1
and analog speed mode
14 Switching between pulse position mode FunIN. 0 FunIN.28 FunIN.2 FunIN.3 FunIN.1
and analog torque mode
15 Internal torque mode and analog speed FunIN. 0 FunIN.28 FunIN.24 FunIN.29 FunIN.23
mode switching
16 Internal torque mode and analog torque FunIN. 0 FunIN.28 FunIN.29 FunIN.25 FunIN.30
mode switching
17 Pulse position mode and internal FunIN. 0 FunIN.28 FunIN.20 FunIN.9 FunIN.1
position mode switching
18 Analog torque and analog speed mode FunIN. 0 FunIN.28 FunIN.12 FunIN.24 FunIN.23
switching
19 Internal position mode and analog FunIN. 0 FunIN.28 FunIN.24 FunIN.20 FunIN.9
speed mode switching
20 Internal position mode and external FunIN. 0 FunIN.28 FunIN.20 FunIN.9 FunIN.1
analog torque switching

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 第 4 章 调整

Chapter 4 Adjustments
4.1Overview
The servo drive needs to drive the motor as quickly and accurately as possible to track commands from the host
computer or internal settings. To achieve this requirement, the servo gain must be properly adjusted。
4.2Inertia recognition
After the motor is connected to the machinery and equipment or the motor is installed into the load table, the
servo needs to "learn" the current equipment's rotational inertia before the official production trial run, so that
the user can adjust the relevant parameters and make the servo system run under the appropriate rotational
inertia.。

The load inertia ratio is an important parameter of the servo system, and the correct setting of the load inertia
ratio helps to complete the commissioning quickly. The load inertia ratio can be set manually or automatically
recognized by the inertia recognition function of the servo drive.。
The rotational inertia recognition adopts offline inertia recognition design, the servo can run through the motor
dragging the load according to the set forward and reverse rotation curve, so as to calculate the rotational inertia
ratio of the load and determine the rotational inertia of the load。
Before running offline inertia recognition, first confirm the following：
1) The motor's moveable travel should meet 2 requirements
(a) More than 1 turn of forward and reverse movement between mechanical limit switches：
Before carrying out offline inertia identification, make sure that the limit switch has been installed on the
machinery, and also ensure that the motor has more than 1 turn of forward and reverse movement stroke to
prevent overtravel during inertia identification and cause accidents.；
(b) Meet the requirements of H3A15 (range of motion for offline rotational inertia identification)：
Check that the runnable travel at the current motor stop position is greater than the setting value of H3A15,
otherwise it can be increased appropriately.
2) Predicted load inertia ratio H3A13 value
(a)Preset H3A13 to a larger initial value；
The preset value is recommended to be 250 as the initial value, and gradually increase until the panel display
value will be updated during the recognition process。
(b)Appropriate increase in drive stiffness level：
Appropriately increase the rigidity level (H3A12) to make the drive more rigid and able to meet the
requirements of inertia identification。
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 第 4 章 调整

The general operating procedure for off-line inertia identification is as follows：

Related function codes：

1）Range of motion for off-line rotational inertia recognition (number of pulses)
Signal Name Parameters Setting range Factory Functional significance
value
Range of motion
Approximate value, a recognition action
for off-line
H3A15 200~30000 10000 is completed within the set number of
rotational inertia
pulses
recognition
2）Inertia recognition mode selection

Inertia recognition mode selection

Setting range Set unit Factory value Effective method
0 ： No rotational inertia
recognition function is
enabled
H3A08 1: offline forward and reverse
Effective
G 0 immediately
mode identification,
Power failure loss
applicable to equipment
with limited range of
motion

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 第 4 章 调整

2: offline single direction

identification, applicable to
equipment that cannot be
reversed
Description：
(a) H3A08=0: No rotational inertia recognition function is enabled.
(b) H3A08=1: offline forward and reverse rotation identification, applicable to equipment with limited range of
motion.
(c) H3A08=2: The motor rotates in one direction during offline recognition, applicable to equipment that cannot
be reversed.。

3）Off-line rotational inertia recognition action gap time

Off-line rotational inertia recognition action gap time
H3A09 Setting range Set unit Factory value Effective method
1~2000 ms 100 Effective immediately
4）Motor acceleration and deceleration times for off-line rotational inertia identification
Motor acceleration and deceleration times for off-line rotational inertia identification
H3A14 Setting range Set unit Factory value Effective method
200~5000 ms 1000 Effective immediately
5）Rotational inertia ratio
Rotational inertia ratio

H3A13 Setting range Set unit Factory value Effective method

1~30000 0.01 250 Effective immediately
Note: The rotational inertia identification only determines the inertia ratio, but does not match the
velocity and position parameters, so be sure to select the rigidity after the rotational inertia identification
is completed.。

4.3Automatic gain adjustment

Automatic gain adjustment means that through the rigid selection function (H3A12), the servo drive will
automatically generate a set of matching gain parameters to meet the needs of speed and stability。

Before using the automatic gain adjustment function, be sure to obtain the correct load inertia ratio！

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 第 4 章 调整

Related parameters：
Rigid selection
Setting range Set unit Factory value Effective method
H3A12 Effective
1~30 G 5
immediately
Rigidity selection can be set by H3A12 parameter, setting range: 1~30, the larger the value, the stronger the
selected rigidity. after H3A12 is set, the system will automatically generate the first gain group parameters. The
first gain group includes: the first position loop gain H3d01, the first speed loop proportional gain H3b01, the
first speed loop integration time H3b02, the first speed filter time constant H3b06, the first torque filter time
constant H3C14, the first current loop bandwidth H3C00。
The method of setting the rigidity level：
1) Confirm that the inertia identification and inertia ratio is reasonable, according to the inertia ratio and the
drive connection is roughly estimated to select the appropriate rigidity level H3A12 (the greater the
mechanical load the lower the rigidity level allowed by the servo)。
After determining the rotational inertia ratio, the rigidity is determined according to the type of

transmission mechanism, specifically：

(a) Less rigid machinery: synchronous belt drive, chain drive, gear reducer and other machinery

(b) Machines with medium rigidity: Ball screws connected by reducers or long size machines directly connected

by ball screws

(c) rigid larger machinery: ball screw direct connection machinery (such as machine tools and other

high-precision processing machinery)

(d) the default value of rigidity H3A12 is 5, generally less rigid machinery are to be less than 6, the other

according to the actual self-adjustment

(2) H2-21 enters into pointing test run to see whether the operation is smooth, there is no noise, etc.. If there is
noise, you can reduce the rigidity level H3A12, otherwise you can try to increase the rigidity level and then test
run until meet the system requirements

When the rigidity level is changed, the speed and position loop gains are also changed. Fine adjustment of
the first gain group parameter is still possible after the rigidity level is set (the adjustment will not affect the
rigidity level H3A12)。
4.4Manual gain adjustment
When the automatic gain adjustment does not achieve the desired effect, the gain can be manually fine-tuned.

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 第 4 章 调整

Optimize the effect through more detailed adjustment.。

Gain adjustment parameters table
Parameters Name Parameters Name
First speed loop proportional Gain 2 switching to gain 1 delay
H3b01 H3b35
gain time
First velocity loop integration
H3b02 H3C00 Current loop first bandwidth
time
Second speed loop proportional Current loop second
H3b03 H3C01
gain bandwidth
Second velocity loop First torque filtering time
H3b04 H3C14
integration time constant
First velocity loop filter time Second torque filtering time
H3b06 H3C15
constant constant
Second velocity loop filter
H3b07 H3d01 First position loop gain
time constant
H3b30 Gain switching method H3d02 Second position loop gain
H3b31 Gain switching speed H3d03 Position loop feedforward gain
Position loop filter time
H3b32 Gain switching pulse H3d06
constant
Position loop gain switching Position mode acceleration and
H3b33 H3d47
time deceleration time
H3b34 Speed loop gain switching time

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 Chapter 5 Modbus Communication

Chapter 5 Modbus Communication

5.1 Introduction to Modbus communication
The drive has RS-232 and RS-485 communication interfaces, and users can choose either interface to
communicate with the drive. The communication mode adopts Modbus transmission protocol and can use any
of ASCII and RTU mode. The corresponding communication parameters must be set before communication,
and the function codes corresponding to the communication parameters are H3F00~H3F05.。
5.2 Modbus code meaning
5.2.1 Overall description

1) Transfer Mode
（a） ASCII transfer mode.。
It takes 2 ASCII characters for every 1 Byte of information sent. For example, if you send 31H (hexadecimal),
which is represented as '31H' in ASCII and contains the characters '3', '1', you need to send it with '33', '31'
two ASCII characters。
Commonly used characters, ASCII code correspondence table is as follows：
Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCIICode 30H 31H 32H 33H 34H 35H 36H 37H
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCIICode 38H 39H 41H 42H 43H 44H 45H 46H
（b） RTU mode。
The characters sent are expressed as hexadecimal numbers. For example, if you send 31H, you will send
31H directly into the packet。
2) Command type and format
1 The two types of commands for common functional domain function codes are as follows：

Command Name Description

Type
Read multiple Read the contents of one or more addresses
03H
addresses
Write a single Write a word to the address
06H
address
Write multiple Read N words to write to consecutive addresses, N is at most 8
10H
addresses
3) Packet format：

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 Chapter 5 Modbus Communication

（a）ASCII mode

Start Address Functional Data Fields LRC End marks

sign field Area checksum
LRC LRC line
： Drive Function Data Data … Data Carriage
High Low feed
(0X3A) Address Code Length 1 … N return(0X0D)
Bytes Bytes (0X0A)

（b） RTU mode

Address field Functional Data Fields CRC Checksum
Area
Function
Drive Address N data CRC low byte CRC High Byte
Code
5.3 Communication Examples
5.3.1 RTU mode
1） Change the acceleration time H3b09 of drive 01 to 5ms。
Host Request：
Starting address of
Write data content CRC
the data
Address CMD
High Low Low
High Byte Low Byte High Byte
Byte Byte Byte
01 06 00 6D 00 05 D8 14
Drive 1 copying H3b09 5(Unit ms) CRC Checksum
instruction
Slave responds normally：
Starting address of
Write data content CRC
the data
Address CMD
High Low Low
High Byte Low Byte High Byte
Byte Byte Byte
01 06 00 6D 00 05 D8 14
Drive 1 copying H3b09 5(Unit ms) CRC Checksum
instruction

2） The drive 01 will be put H3d50 write 100000, with 0X10 continuous write command。
Host Request：
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 Chapter 5 Modbus Communication

Starting Number of Number

address of write of data Write data Write data CRC
Address CMD the data registers bytes content content
High Low High Low High Low High Low Low High
Byte Byte Byte Byte Byte Byte Byte Byte Byte Byte
01 10 01 5E 00 02 04 86 A0 00 01 Test
software
auto-fill
Drive 1 copying H3d50 2 4 Write data 100000 CRC
instruction Checksum
Slave responds normally：
Starting address of the Number of write
CRC
data registers
Address CMD
High Low Byte
High Byte Low Byte Low Byte High Byte
Byte
01 10 01 5E 00 02 21 E6
Drive 1 copying H3d50 2 CRC Checksum
instruction
3）RTU mode, read the acceleration time H3b09 of drive 01.。
Host Request：
Starting address of
Number of read addresses CRC
the data
Address CMD
High Low Low
High Byte Low Byte High Byte
Byte Byte Byte
01 03 00 6D 00 01 15 D7
Drive 1 Read H3b09 Read an address CRC Checksum
command

Slave responds normally：

Number of Read an address CRC
Address CMD
bytes High Byte Low Byte Low Byte High Byte
01 03 02 00 C8 B9 D2
Drive 1 Read 2 bytes 200(Unit ms) CRC Checksum
command
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 Chapter 5 Modbus Communication

5.3.2 ASCII mode

1） In ASCII mode, change the acceleration time H3b09 of drive 01 to 5ms。
Host Request：
Start Starting address of LRC END1 END2
Data Content
the data
Address CMD
High Low High Low
Byte Byte Byte Byte
3A 3 31 30 36 3 3 3 4 3 3 3 3 38 37 0D 0A
0 0 0 6 4 0 0 0 5
Starting Drive 1 copying H3b09 5(UNIT ms) LRC Carriag Chang
positio instructio checksu e return e line
n n m

Slave responds normally：

Start Starting address of LRC END1 END2
Data Content
the data
Address CMD
High Low High Low
Byte Byte Byte Byte
3A 3 31 30 36 3 3 3 4 3 3 3 3 38 37 0D 0A
0 0 0 6 4 0 0 0 5
Starting Drive 1 copying H3b09 5(UNIT ms) LRC Carriag Chang
positio instructio checksu e return e line
n n m

2）ASCII mode, read the acceleration time of drive 01 H3b09。

Host Request：
Start Starting address of Number of LRC END1 END2
Address CMD
the data addresses to be

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 Chapter 5 Modbus Communication

read
High Low High Low
Byte Byte Byte Byte
3A 30 31 30 33 30 30 36 44 30 30 30 31 38 45 0D 0A
Starting Drive 1 Read H3b09 Read an address LRC Carriage Change
position command checksum return line
Slave responds normally：
Start Content read from LRC END1 END2
Number of address
Address CMD
bytes Low
High Byte
Byte
3A 30 31 30 33 30 32 30 30 43 38 33 32 0D 0A
Starting Drive 1 Read 2 bytes 200(UNIT ms) LRC Carriage Change
position command checksum return line
5.4 Check digit calculation
5.4.1 LRC Calibration
LRC checksum: checksum except for the colon at the beginning and the carriage return at the end。
The LRC checksum method is to accumulate the 8bit bytes in the message consecutively, without taking
into account the rounding, it simply adds up each data to be transmitted (except the start and stop bits) by byte
by byte and then invert it and add 1。
Start Starting address of Number of LRC END1 END2
the data addresses to be read
Address CMD
High Low High Low
Byte Byte Byte Byte
3A 30 31 30 33 30 30 36 44 30 30 30 31 38 45 0D 0A
‘；’ ‘0 ‘1 ‘0’ ‘3’ ‘0 ‘0 ‘6 ‘D ‘0 ‘0 ‘0 ‘0 ‘8’ ‘E’ Closing note
’ ’ ’ ’ ’ ’ ’ ’ ’ ’
Startin Drive 1 Read H3b09 Read an address LRC Carriag Chang
g comman checksu e return e line
positio d m
n
01H+03H+00H+6DH+00H+00H=71H,because the complement of 71H is 8EH,so the LRC is '8' and 'E'.。
5.4.2 CRC Checksum
CRC check (Cyclic Redundancy Check) is a data transmission error checking method. The CRC code is

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 Chapter 5 Modbus Communication

two bytes and contains a 16-bit binary value. It is calculated by the transmitting device and added to the packet.
The receiving device recalculates the CRC of the received message and compares it with the value in the
received CRC field, and if the two values are different, there is an error。
5.4.3 CRC-16 check digit calculation method
The calculations are generally：
（1）、Presets one 16-bit register to hexadecimal FFFF (i.e., all 1s), calling this register a CRC register；
（2）、The first 8 bits of binary data (the first byte of the communication information frame) are dissociated with
the lower 8 bits of the 16-bit CRC register, and the result is placed in the CRC register, leaving the upper
8 bits unchanged.；
（3）、Shift the content of the CRC register one bit to the right (toward the low bit) to fill the highest bit with a
0, and check the shifted out bit after the right shift；
（4）、If the outgoing bit is 0: repeat step 3 (shift one bit to the right again); if the outgoing bit is 1, CRC register
and polynomial A001 (1010 0000 0000 0001) are heterodyned；
（5）、Repeat steps 3 and 4 until the right shift is 8 times, so that the entire 8-bit data is processed；
（6）、Repeat steps 2 to 5 for the next byte of the communication information frame；
（ 7 ） 、 Exchange the high and low bytes of the 16-bit CRC register obtained after all bytes of this
communication information frame have been calculated according to the above steps.；
（8）、The final obtained CRC register content is: CRC code。
（9）、When placing the CRC value with the message, the bottom byte must be exchanged. The low byte is sent
first, followed by the high byte。
//--------------CRC cyclic redundancy check------------------------------
unsigned int CCRC16(uint8_t *ADRS, uint8_t SUM)
{
uint16 CRCData;
uint8 i;
uint8 j;
CRCData = 0xFFFF;
for (i = 0; i < SUM; i++)
{
CRCData ^= *ADRS;
for (j = 0; j < 8; j++)
{
if ((CRCData & 1) == 1)
{
CRCData >>= 1;
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 Chapter 5 Modbus Communication

CRCData ^= 0xA001;
}
else
{
CRCData >>= 1;
}
}
ADRS++;
}
return(CRCData);
}
5.5 Communication-related parameters
The following parameters need to be set for MODBUS communication with the Servo Drive：
User Factory
Name Setting range Set unit Note
Parameters value
Correspondence
H3F00 1~254 — 1
address
Communication
H3F01 0~1 — 0 0：RTU 1：ASCII
Mode
Parity check 0: No parity 1: Odd parity
H3F03 0~2 — 0
setting 2: Even parity
0： 2400 1： 4800
Communication
H3F04 0~5 bit/s 2 2： 9600 3：19200
baud rate
4：38400 5：57600

When communicating, the command data sent by the host computer will be immediately written to the servo's
internal data memory, which is not suitable for continuous writing and needs to be set in order to extend the
memory life.。
Read and write permission: allows communication data to be written to the servo's
0
internal data memory
Read and write is not allowed: the communication data instruction is only executed
H3F05
and not allowed to write to the data memory inside the servo, generally the
1
communication data will be lost after the servo is powered down and needs to be
written again.。

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 Chapter 5 Modbus Communication

5.6 Servo parameters and status information communication address

correspondence table
1)Main function parameter address
Function Code Data address Data address Operation Meaning
decimal hexadecimal Permissions
Reading
H3A00~H3A99 0 ~~ 99 0000H ~~0063H
and writing
Reading
H3b00~H3b99 100~~199 0064H~~00C7H
and writing
Reading
H3C00~H3C99 200~~299 00C8H~~012BH Main
and writing
parameter
Reading
H3d00~H3d99 300~~399 012CH~~018FH setting
and writing
Reading
H3E00~H3E99 400~~499 0190H~~01F3H
and writing
Reading
H3F00~H3F99 500~~599 01F4H~~0257H
and writing
Auxiliary
Reading
H2-00~H2-99 800~~899 0320H~~0383H parameter
and writing
setting

2)Special Function Code Address

Meaning Data address decimal Data address hexadecimal Operation

Permissions
Internal speed mode speed 237 EDH Read/Write
selection 1

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 Chapter 5 Modbus Communication

Internal speed mode speed 238 EEH Read/Write

selection 2
Trigger to find the origin 239 EFH Read/Write
Running pause in internal 240 F0H Read/Write
position mode
Operation aborted in internal 241 F1H Read/Write
position mode
Triggered operation in 329 149H Read/Write
internal position mode
Servo drive output current 900 384H Read
Servo driver bus voltage 902 386H Read
Servo motor speed 904 388H Read
Relative position single-turn 38AH Read
906
pulse high 16 bits
Relative position single-turn 38BH Read
907
pulse low 16 bits
Relative position multi-turn 38CH Read
908
circle high 16 bits
Relative position multi-turn 38DH Read
909
lap number lower 16 bits
Low 16 bits for a given 38EH Read
910
number of instruction pulses
High 16 bits for a given 38FH Read
911
number of instruction pulses
Command pulse deviation 390H Read
912
count low 16 bits
Command pulse deviation 391H Read
913
counting high 16 bits
Low 16 bits for the given 392H Read
914
speed
High 16 bits for a given 393H Read
915
speed
Low 16 bits for a given 394H Read
916
torque
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 Chapter 5 Modbus Communication

High 16 bits for a given 395H Read

917
torque
Servo drive output torque 918 396H Read
The lower 5 bits indicate the 923 39BH Read
status of DI5~DI1
The lower 4 bits indicate the 925 39DH Read
status of DO4~DO1
Low servo drive alarm 940 3ACH Read
output
High servo drive alarm 941 3ADH Read
output

5.7 Test Software Tutorial

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 Chapter 5 Modbus Communication

Step 1: Select the serial port you are using and put a check mark in front of the serial port

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 Chapter 5 Modbus Communication

Step 2: Serial port parameters are set

第三步：通讯测试

01 03 00 6D 00 01 is the data sent

01 03 02 00 C8 B9 D2 is the returned data
This means that the communication is OK, if there is no return after sending, please check the wiring and

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 Chapter 5 Modbus Communication

parameter settings!！
5.8 Position and speed setting in communication mode
5.8.1Servo operation mode and enable setting
H3A03 set to d0103, if the direction is not correct set to d0003；
Servo enable H2-52=1;
5.8.2Positioning operation mode selection
User Parameters Meaning
Relative mode: each trigger at the current position according to the original
0 command to increase or decrease the original command pulse for forward and
H3d28 reverse speed
Absolute mode: each trigger according to the absolute value of the current
1
given speed forward or reverse to the absolute position of the given pulse
It is recommended that H3d28 be set to 1 to become absolute mode。
5.8.3Set speed and position
H3d50 determines the distance to be traveled (number of pulses per unit), whose corresponding addresses are
decimal 350 and 351；
Note that because H3d50 is a 32-bit type of data, the command to write multiple registers with 0x10 when
operating。
Starting Number of Number Write data
Write data
address of write of data content CRC
content
Address CMD the data registers bytes
High Low High Low High Low High Low Low High
Byte Byte Byte Byte Byte Byte Byte Byte Byte Byte
01 10 01 5E 00 02 04 86 A0 00 01 Test
software
auto-fill
Drive 1 copying H3d50 2 4 Write data 100000 CRC
instruction Checksum
Return Data
Starting address of the Number of write
CRC
data registers
Address CMD
High High Low Byte
Low Byte Low Byte High Byte
Byte Byte
01 10 01 5E 00 02 21 E6

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 Chapter 5 Modbus Communication

Drive 1 copying H3d50 2 CRC Checksum

instruction

Test Software Screenshot

H3d30 is used to determine the speed of travel and its corresponding address is decimal 330；
Starting address of
Write data content CRC
the data
Address CMD
High Low Low
High Byte Low Byte High Byte
Byte Byte Byte
01 06 01 4A 07 D0 Test software auto-fill
Drive 1 copying H3d30 2000(0.1r/min) CRC Checksum
instruction

Test Software Screenshot

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 Chapter 5 Modbus Communication

5.8.4Perform trigger
After setting the distance and speed to be traveled, you can trigger the servo operation manually or use the
communication！
It is recommended to perform a trigger test manually before using the communication。
Manual trigger: set H3d29 to 1；
Communication H3d29 corresponds to the address 329 write 1；
Starting address of
Write data content CRC
the data
Address CMD
High Low Low
High Byte Low Byte High Byte
Byte Byte Byte
01 06 01 49 00 01 Test software auto-fill
Drive 1 copying H3d29 1 CRC Checksum
instruction

Test Software Screenshot

At this point the drive should rotate at the set speed and distance！

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 Chapter 6 Other Important Function Code Descriptions

Chapter 6 Other Important Function Code

Descriptions
This drive provides a wealth of monitoring and setting functions, which are listed below for
your convenience：
6.1Monitoring functional area parameters

User
Display content Unit Note
Parameters
H1-00 Servo motor speed r/min
H1-01 Servo driver bus voltage V
H1-02 Servo drive output current 0.1A
H1-03 Current gain group display G
H1-05 Release time 10ms
H1-07 Given speed r/min Valid in speed mode
H1-09 Current output torque display %
The number of pulses for a given command Valid in pulse mode
H1-12 Command unit
is displayed in the upper 5 digits
The number of pulses for a given command Valid in pulse mode
H1-13 Command unit
is displayed in the lower 5 bits
Servo motor feedback relative position
H1-14 Command unit
single turn pulse number high 5 bits
Servo motor feedback relative position
H1-15 Command unit
single-turn pulse number low 5 bits

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 Chapter 6 Other Important Function Code Descriptions

Servo motor feedback relative position

H1-16 Command unit
multi-turn turns high 5 bits
Servo motor feedback relative position
H1-17 Command unit
multi-turn turns low 5 bits
H1-22 Command pulse deviation counting Command unit Valid in pulse mode
H1-25 DI4~DI1 status display 无
H1-26 DI5 status display 无
H1-28 DO4~DO1 status display 无
H1-31 Actual number of pulses received Command unit Valid in pulse mode
Note: The content of this area can not be set, only view。

6.2Auxiliary function area parameters

User Name Setting range Set Contro Factor Setting

Parame Unit l y Mode
ters Mode value
Encoder wire break protection 0〜1 G ALL 1 ■
H2-05
0: Shield encoder wire break protection; 1: Turn on encoder wire break protection；
Multi-stage position cycling
0〜1 G ALL ■
method 0
H2-07 0: Triggering between each group of positions operates according to the time interval
1: Trigger between each group of positions according to the signal from the external input terminal
(FunIN.20)
Motor blocking protection 0~1 NA ALL 1 ■
H2-09
0: Shield motor blocking protection; 1: Turn on motor blocking protection
H2-13 Servo OFF parking mode 0~2 G ALL 0 ■

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 Chapter 6 Other Important Function Code Descriptions

0: Free stop 1: Reserved 2: Fast enable

H2-14 Drive default status display 0~18 G ALL 0 ■
settings
Whether speed mode is enabled in 0~2 G ALL 0 ■
H2-15 communication mode
0: Not enabled 1: Reserved 2: Enabled
H2-20 Electric angle recognition setting 0~1 G ALL 0 ■
H2-21 JOG pointing operation Cannot be set G ALL — ■
H2-22 JOG pointing speed 0~30000 0.1r/min ALL 1000 ■
Electromagnetic brake delay time
H2-23 100~30000 0.1ms ALL 5000 ■
after enable
Enable off delay time after
H2-24 0~50 10ms ALL 0 ■
electromagnetic braking
Dynamic electromagnetic brake
H2-25 10~100 10ms ALL 50 ■
OFF delay time
H2-27 Drain Duty Cycle 0~100 % ALL 50 ■
Electromagnetic brake speed
H2-28 0~30000 0.1r/min 1000 ■
threshold
Overload warning signal output
H2-30 0~800 % ALL 120 ■
current
H2-31 Overload warning filtering time 0~1000 10ms ALL 10 ■
H2-32 Motor overload factor setting 1~500 % ALL 100 ■
H2-34 Blocking protection determination
10~1000 10ms ALL 50 ■
time
H2-44 Fault code when the drive last
0~31 G ALL 0 ★
failed
H2-45 Fault code on the penultimate
0~31 G ALL 0 ★
drive failure
H2-46 Fault code on the penultimate
0~31 G ALL 0 ★
drive failure
H2-47 Alarm reset ■○
H2-48 User Password 0~9999 G ALL 0 ●
H2-49 Motor parameters can be set for
— G ALL 0 ■
2020
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 Chapter 6 Other Important Function Code Descriptions

H2-50 Restore factory 0~10 G ALL 0 ●

H2-52 Forced enablement 0~1 G ALL 1 ●
DI2 terminal (FunIN. 20) trigger
0~1 G ALL 0 ●
H2-55 method
0：Low speed trigger 1：High speed trigger
H2-57 Allow CN1-17(DO1) to output
0~1 G ALL 0 ●
Z-phase collector signal

6.3 Cannot be set

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 Chapter 6 Other Important Function Code Descriptions

Functio Name and its description Unit Setting range Factor Applicabl Effectiv
n Code y value e mode e
method

 Control mode and G Two functions d0101 ALL ●

H3A03 forward/reverse
direction setting

H3A06  Maximum speed limit r/min 0～10000 — ALL ■

sets the maximum
speed of the motor,
the value of H3A06 is
the absolute value
of the motor speed,
valid for both
forward and reverse
rotation

H3A08  Rotational inertia G 0~2 0 ALL ■

mode selection

H3A09  Offline rotational ms 10~2000 100 ALL ■

inertia recognition
action gap time Set
the gap time for
offline rotational
inertia action

H3A12  Rigidity selection G 1~30 6 ALL ■

sets the rigidity of
the servo drive

H3A13  The rotational 0.01 1~30000 200 ALL ■

inertia ratio sets
the rotational
inertia ratio of the
system，

H3A14  Motion trajectory ms 200~5000 1000 ALL ■

acceleration and
deceleration time

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 Chapter 6 Other Important Function Code Descriptions

set rotation inertia

learning
acceleration and
deceleration time

H3A15  Offline rotational G 200~30000 10000 ALL ■

inertia recognition
motion range setting
offline rotational
inertia recognition
range

H3A33  Speed selection in r/min 0~3200 100 T ■

internal torque mode
1
H3A34  Torque selection in 1% 0~800 10 T ■
internal torque rated
mode1 torque
H3A35  Speed selection in 1r/mi 0~3200 100 T ■
internal torque n
mode2
H3A36  Torque selection in 1% 0~800 10 T ■
internal torque rated
mode2 torque
H3A38  Z-phase pulse signal ms 1~200 1 ALL ■
output time
H3b01  The first speed loop 0.1Hz 0~30000 600 ALL ■
proportional gain
sets the
proportional gain of
the speed loop.

H3b02  The first speed loop 0.1ms 0~10000 500 ALL ■

integration gain
sets the integration
time constant of the
speed loop.

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 Chapter 6 Other Important Function Code Descriptions

H3b03  Second speed loop 0.1Hz 0~30000 240 ALL ■

proportional gain
sets the
proportional gain of
the second group of
the speed loop。

H3b04  The second speed 0.1ms 0~30000 1250 ALL ■

loop integration
gain sets the
integration time
constant of the
second group of the
speed loop。

H3b06  First velocity loop 0.01m 1~20000 1 P、S ■

filter time constant s

H3b07  Second velocity loop 0.01m 1~20000 1 P、S ■

filter time constant s

H3b09  Speed mode 1ms 1~30000 200 S ■

acceleration time
Set speed mode
acceleration time

H3b10  Speed mode 1ms 1~30000 200 S ■

deceleration time
Set speed mode
deceleration time

H3b11  S-curve acceleration 1ms 1~12000 100 S ■

and deceleration time

H3b12  S-curve start sign G 0~1 0 S ■

H3b13  Internal speed given r/min 0~±3200 100 Sr ■

1 Internal register
speed given 1

H3b14  Internal speed given r/min 0~±3200 200 Sr ■

2 Internal register
speed given 2

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 Chapter 6 Other Important Function Code Descriptions

H3b15  Internal speed given r/min 0~±3200 300 Sr ■

3 Internal register
speed given 3

H3b17  Target speed range r/min 0~3000 30 S ■

Target speed range,
when the absolute
value of the
difference between
the speed of the
servo motor and the
commanded speed is
lower than the value
of this function
code, the speed
arrival signal is
output

H3b18  Rotation checkout r/min 0~3000 30 S ■

value, when the
absolute value of
speed exceeds the
value of this
function code,
output limit signal

H3b19  Origin Search G Four functions 0010 P ■

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 Chapter 6 Other Important Function Code Descriptions

H3b20  Origin/Mechanical r/min 0~2000 50 P ■

origin search first
search speed

H3b21  Origin/mechanical r/min 0~1000 20 P ■

origin search second
search speed

H3b22  Home/mechanical ms 0~1000 0 P ■

home retrieval
acceleration/decele
ration time

H3b23  Number of G 0~±32000 0 P ■

origin/mechanical
origin retrieval
offset pulses

H3b25  Home search / G 0~3 0 P ■

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 Chapter 6 Other Important Function Code Descriptions

mechanical home
search start method

H3b26  Speed value at zero r/min 0~3000 5 S ■

speed inlay

H3b27  Zero speed inlay G 0~1 0 S ■

enable

H3b28  Origin finding ms 0~30000 0 ALL ■

signal duration

H3b29  Return to home ms 0~655535 10000 ALL ■

timeout alarm time

H3b30  Gain switching G 0~6 0 P、S ■

method

H3b31  Gain Switching Speed r/min 1~3200 10 P、S ■

Set the gain
switching speed
value

H3b32  Gain switching pulse G 1~32000 100 P、S ■

sets the number of
gain switching
pulses

H3b33  Position loop gain 0.1ms 1~32000 20 P、S ■

switching time Time
required to smoothly
switch from one gain
to another in
position mode

H3b34  Speed gain switching 0.1ms 0~20000 100 P、S ■

time time required
to switch smoothly
from one gain to
another in speed
mode

H3b35  Gain 2 switching to 0.1ms 0~32000 1000 P、S ■

gain 1 delay time

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 Chapter 6 Other Important Function Code Descriptions

from gain 2 to gain 1

is delayed for the
time given by H3b35
before switching
according to the
smooth switching
time set by H3b33

H3C00  Current loop first Hz 10~3000 — ALL ■

bandwidth set
current loop first
bandwidth

H3C01  Current loop second Hz 10~3000 — ALL ■

bandwidth set
current loop second
bandwidth

H3C02  Internal given 1% 0~800 200 ALL ■

maximum torque limit rated
sets drive output torque
torque

H3C04  Torque command 1% -800~800 10 T ■

keypad setpoint rated
torque

H3C07  Forward/reverse 1% 1~300 100 ALL ■

position limit and rated
emergency stop torque
torque limit Set
forward/reverse
position limit and
emergency stop
torque limit When
the forward/reverse
disable signal or
emergency stop
signal is valid, the

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 Chapter 6 Other Important Function Code Descriptions

maximum value of
instantaneous
reverse stop torque
of the servo motor is
limited to this
value, and the value
is absolute and
works for both
forward and reverse
rotation.

H3C08  Forward Max Torque 1% 0~800 100 ALL ■

Limit Set the rated
forward max torque torque
limit value

H3C09  Reverse Maximum 1% 0~800 100 ALL ■

Torque Limit Set the rated
Reverse Maximum torque
Torque Limit value

H3C10  Torque mode speed G 0~3 0 T ■

limit source setting

H3C11  Torque mode speed r/min 0~3200 100 T ■

limit internally
given

H3C12  Torque mode torque 0.1ms 0~30000 0 T ■

boost time

H3C13  Torque mode torque 0.1ms 0~30000 0 T ■

drop time

H3C14  First torque 0.01m 0~30000 0 ALL ■

filtering time s
constant Set the
first torque
filtering time
constant，

H3C15  Second Torque Filter 0.01m 0~30000 0 ALL ■

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 Chapter 6 Other Important Function Code Descriptions

Time Constant Set s

the second torque
filter time constant

H3C37  Internal speed G 0~1 0 ALL ■

selection in
communication mode
gives 2

H3C38  Internal speed is G 0~1 0 ALL ■

selected in
communication mode
to give 1

H3C39  Trigger to find the G 0~1 0 ALL ■

origin in
communication mode

H3C40  Internal position G 0~1 0 ALL ■

pause in
communication mode

H3C41  Internal position G 0~1 0 ALL ■

termination in
communication mode

H3C42  Enable delay time ms 0~30000 0 ALL ■

after servo alarm

H3d00 External pulse command G Four functions 0020 ALL ■

setting Set external
pulse command

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 Chapter 6 Other Important Function Code Descriptions

H3d01  First position loop G 1~30000 — P ■

gain sets the first
displacement gain

H3d02  Second position loop G 1~30000 — P ■

gain sets the second
bit permutation gain

H3d03  Position Loop G 0~1000 0 P ■

Feedforward Gain Set
Position Loop
Feedforward Gain

H3d06  Position Loop Filter ms 1~10000 1 P ■

Time Constant Set
the position loop
filter time constant

H3d07  Position arrival G 1~32000 — P ■

pulse range set the
position arrival
pulse range, when
the number of

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 Chapter 6 Other Important Function Code Descriptions

remaining pulses in
the deviation
register is less
than or equal to
H3d07, the drive is
considered to have
completed
positioning。

H3d08  Zero setting of the G Four functions 1111 P ■

position feed pulse

H3d09  Position error alarm G 1~32000 500 P ■

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 Chapter 6 Other Important Function Code Descriptions

pulse number Set the

position loop
tracking error alarm
pulse number

H3d10  Position 1 G 0~32000 100 P ■

acceleration time
H3d11  Position 1 G 0~32000 100 P ■
deceleration time
H3d12  Position 2 G 0~32000 100 P ■
acceleration time
H3d13  Position 2 G 0~32000 100 P ■
deceleration time
H3d14  Position 3 G 0~32000 100 P ■
acceleration time
H3d15  Position 3 G 0~32000 100 P ■
deceleration time
H3d16  Position 4 G 0~32000 100 P ■
acceleration time
H3d17  Position 4 G 0~32000 100 P ■
deceleration time
H3d18  Position 5 G 0~32000 100 P ■
acceleration time
H3d19  Position 5 G 0~32000 100 P ■
deceleration time
H3d20  Position 6 G 0~32000 100 P ■
acceleration time
H3d21  Position 6 G 0~32000 100 P ■
deceleration time
H3d22  Position 7 G 0~32000 100 P ■
acceleration time
H3d23  Position 7 G 0~32000 100 P ■
deceleration time
H3d24  Position 8 G 0~32000 100 P ■
acceleration time

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 Chapter 6 Other Important Function Code Descriptions

H3d25  Position 8 G 0~32000 100 P ■

deceleration time
H3d28  Mode Settings G 0~1 0 P ■

Set value Operation Note

Meaning
0 Relative mode Increases or decreases the original command pulse by one at the
current position for forward and reverse velocity at each trigger
1 Absolute Mode Forward or reverse rotation to the absolute position of the given pulse
at each trigger according to the absolute value of the current given
speed
H3d29  Multi-segment G 0~1 0 P ■
position mode
trigger

Set value Operation Note

Meaning
0 No Trigger Set to 1 to trigger the multi-segment position mode, the
1 Trigger parameter will automatically return to 0 after triggering

H3d30  Position 000 running G 0~3000 100 P ■

speed
H3d31  Position 001 running G 0~3000 100 P ■
speed
H3d32  Position 010 G 0~3000 100 P ■
operating speed
H3d33  Position 011 running G 0~3000 100 P ■
speed
H3d34  Position 100 running G 0~3000 100 P ■
speed
H3d35  Position 101 running G 0~3000 100 P ■
speed
H3d36  Position 110 running G 0~3000 100 P ■
speed
H3d37  Position 111 running G 0~3000 100 P ■
speed
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 Chapter 6 Other Important Function Code Descriptions

H3d40  First set of G 1~65535 0 P ■

electron gear ratio
molecules

H3d41  The first set of G 1~65535 10000 P ■

electronic gear
scores

H3d42  Second set of G 0~2147483647 0 P ■

electronic gear
ratio molecules

H3d44  Second set of G 0~2147483647 10000 P ■

electronic gear
dividers

H3d47  Acceleration and G 0~30000 0 P ■

deceleration times in
position mode

H3d48  Multi-segment G Two functions d0200 P ■

opening segment and
articulation method
H3d49  Multi-segment G 0~30000 0 P ■
internal position
cycle times
H3d50  Position 000 given -2147483647~+214748364 0 P ■
position 7
H3d52  Position 001 given -2147483647~+214748364 0 P ■
position 7
H3d54  Position 010 given -2147483647~+214748364 0 P ■
position 7
H3d56  Position 011 given -2147483647~+214748364 0 P ■
position 7
H3d58  Position 100 given -2147483647~+214748364 0 P ■
position 7
H3d60  Position 101 given -2147483647~+214748364 0 P ■
position 7
H3d62  Position 110 given -2147483647~+214748364 0 P ■

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 Chapter 6 Other Important Function Code Descriptions

position 7
H3d64  Position 111 given -2147483647~+214748364 0 P ■
position 7
H3d66  Interval after the end 0~32000 0 P ■
of the first paragraph
H3d67  Interval after the end 0~32000 0 P ■
of the 2nd paragraph
H3d68  Interval after the end 0~32000 0 P ■
of the 3rd paragraph
H3d69  Interval after the end 0~32000 0 P ■
of the 4th paragraph
H3d70  Interval after the end 0~32000 0 P ■
of the 5th paragraph
H3d71  Interval after the end 0~32000 0 P ■
of the 6th paragraph
H3d72  Interval after the end 0~32000 0 P ■
of paragraph 7
H3d73  Interval after the end 0~32000 0 P ■
of the 8th paragraph
H3E00  Maximum speed r/min 1~10000 — S ■
corresponding to
analog speed
command voltage
H3E01  Analog torque 1% 1~800 100 T ■
command voltage rated
corresponds to torque
maximum torque
H3E02  AI command zero mV -5000~5000 0 S,T ■
drift compensation
H3E04  Analog speed 0.01m 1~30000 200 S ■
command filtering s
time constants
H3E05  Analog torque 0.01m 1~30000 200 T ■
command filtering s

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 Chapter 6 Other Important Function Code Descriptions

time constant
H3E06  AI auto-zeroing G 0~1 0 S,T ■

H3E07  DI1 function selection G Two functions — ALL ●

sets the DI1 function

H3E08  DI2 Function Selection G Two functions — ALL ●

Setting DI2 Function

H3E09  DI3 Function Selection G Two functions — ALL ●

Setting DI3 Function

H3E10  DI4 Function Selection G Two functions — ALL ●

Setting DI4 Function

H3E11  DI5 Function Selection G Two functions — ALL ●

Setting DI5 Function

H3E21  DO1 function selection G Two functions — ALL ●

sets the DO1 function

H3E22  DO2 function selection G Two functions — ALL ●

setting DO2 function

H3E23  DO3 Function G Two functions — ALL ●

Selection Setting DO3
Function

H3E24  DO4 Function G Two functions — ALL ●

Selection Setting DO4
Function

H3E26  AI zero drift alarm mV 1~10000 2000 S,T ■

range

H3E30  Speed analog lower G -1000~1000 -1000 ALL ■

limit voltage
corresponds to speed

H3E31  Speed analog lower G -1000~1000 -1000 ALL ■

limit voltage

H3E32  Speed analog upper G -1000~1000 1000 ALL ■

voltage corresponds to
speed

H3E33  Speed analog upper G -1000~1000 1000 ALL ■

voltage

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 Chapter 6 Other Important Function Code Descriptions

H3E34  Torque analog lower G -1000~1000 -1000 ALL ■

limit voltage
corresponds to speed

H3E35  Torque analog lower G -1000~1000 -1000 ALL ■

limit voltage

H3E36  Torque analog upper G -1000~1000 1000 ALL ■

voltage corresponds to
speed

H3E37  Torque analog upper G -1000~1000 1000 ALL ■

voltage

H3E38  DI1 terminal filtering G 0~30000 2 ALL ■

time

H3E39  DI2 terminal filtering G 0~30000 2 ALL ■

time

H3E40  DI3 terminal filtering G 0~30000 2 ALL ■

time

H3E41  DI4 terminal filtering G 0~30000 2 ALL ■

time

H3E42  DI5 terminal filtering G 0~30000 2 ALL ■

time

H3F00  Communication G 1~254 1 ALL ■

Address Set the
communication
address of the Servo
Drive

H3F01  Communication Mode G 0~1 0 ALL ■

Sets the
communication mode
of the Servo Drive

H3F03  Parity setting sets G 0~2 0 ALL ■

the communication
mode of the Servo
Drive

Set value Operation Meaning

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 Chapter 6 Other Important Function Code Descriptions

0 No calibration
1 Odd calibration
2 Even Check
H3F04  Communication baud bit/s 0~5 2 ALL ■
rate Set the
communication baud
rate of the servo
driver

Set value Operation Meaning

0 2400
1 4800
2 9600
3 19200
4 38400
5 57600
H3F05  Communication G 0~1 1 ALL ■
read/write
permission Set the
communication
read/write
permission of the
Servo Drive

Set value Operation Note

Meaning
0 Read and write Permits communication data to be written to the servo's internal data
allowed storage
1 Read and write Communication data commands are not allowed to be written to the
not allowed servo's internal data memory, and generally the communication data
will be lost after the servo is powered down and needs to be
rewritten.

118
 Chapter 7 Maintenance and Inspection

Chapter 7 Maintenance and Inspection

7.1Generating errors and how to handle them
Error
Error Name Possible causes of errors Processing method
Code

Err01 Hardware failure Drive internal hardware failure Please contact our company

Please set the following

parameters after the motor shaft is
unloaded
Electrical angle not he drive does not learn the
Err02 H2-20 set to 1
identified electro-mechanical angle
H2-21 Enter the parameter and
wait for TEST to show JOG to
indicate learning is complete

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 Chapter 7 Maintenance and Inspection

Wrong recognition Alarm in case of incorrect Manually adjust H3A13 up

Err03
of rotational inertia recognition of rotational inertia appropriately
Electrical angle Need to adjust the line sequence,
Err04 Motor wire sequence error
recognition error any exchange of two of the phases
Wrong wiring or poor connector
contact of U, V, W or encoder of Adjust or improve wiring
servo motor
Position control Increase gain, participate in speed
Err05 Lower driver gain
error is too large and position gain adjustment
Reduce the pulse frequency of the
The frequency of the position
position pulse command or adjust
pulse command is too high
the electronic gear
Main circuit wiring error Modify wiring
Cable may be short-circuited,
Short circuit on output side
repair or replace
Servo driver internal short circuit Repair or replacement of servo
Err11 Overcurrent or ground short circuit drives
Adopt anti-interference strategies,
Misoperation due to interference
improve wiring, etc.
Repair or replacement of servo
Servo Drive Failure
drives
High supply voltage Check if the rated voltage is input
Extended deceleration time
Err12 Overpressure Optional external braking resistor
Excessive load rotational inertia
Load reduction
Increase drive capacity
Check if the power supply voltage
is normal
Err13 Undervoltage Low input voltage
Detects if the main circuit power
is powered on
Poor contact of servo motor Check servo motor and encoder
Err14 Overload
wiring and encoder wiring wiring

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 Chapter 7 Maintenance and Inspection

Check to check the ratio of

Mechanical factors mechanical equipment
transmission
The electromagnetic holding Check electromagnetic brake
brake is not released and runs wiring
Load reduction
Too heavy load
Increase drive capacity
Need to reset the DI terminal
Input terminal Repeated definition of input
Err16 function to avoid duplicate
setting repeat terminals
definitions
Servo motor drive line, encoder
Servo motor speed exceeds
Err17 Speeding lead wire wiring error, mechanical
maximum speed
reasons, please check
Encoder ABZ
Motor encoder feedback ABZ
Err18 signal Broken or damaged encoder wire
signal is disconnected
disconnection
Encoder UVW
Motor encoder feedback UVW
Err19 signal Broken or damaged encoder wire
signal is disconnected
disconnection
The logic setting of the input
Check wiring or modify terminal
terminal with PSP function is not
logic settings
Err20 Emergency Stop consistent with the wiring method
Hardware damage to the input Set this function to other input
terminal with PSP function terminals or contact our company

Excessive zero drift of analog Please recheck the wiring or

Err21 Excessive zero drift
signal parameter settings
High ambient temperature Improved ventilation
Clean air inlet and outlet and heat
Heatsink is too dirty
sink
Drive The fan is stuck in a foreign body Removal of foreign objects
Err24
Overheating Fan damage Fan replacement
Unreasonable installation of the
drive, such as poor ventilation, Installation as required
wrong installation direction, etc
121
 To the users:

Overload
Excessive drainage energy
Origin finding Find the wiring or try to increase
Err27 Timeout to find the origin
timeout error the search time and speed
Incorrect braking resistor
Energy Changing parameter values
parameters
Err28 consumption brake
Continuous braking time is too Check the load, the servo can only
error
long drive non-potential loads
1. check whether the mechanical
structure is jammed.
2. whether the motor power line is
off.
3. blocking of the motor during
Motor blocking
Err29 Motor blocking during operation operation.
protection
4. The load is too heavy,
exceeding the allowable torque of
the motor.
5. Motor power line wiring is
wrong
Resetting the drive encoder type
H2-49 is set to 2020
Motor encoder type and drive
Err30 Encoder type error H4d42 set to 0 for
settings do not match
non-wire-saving
H4d42 set to 1 is wire-saving
Wire-saving Motor encoder failure or broken
Err31 Recheck encoder wire
encoder failure encoder wire

To the users:
Thank you for choosing our products, in order to ensure that you get the best after-sales service
from our company, please read the following terms and conditions carefully and do the relevant
matters.
1、Product warranty scope
Any failure arising from normal use according to the requirements of use.

122
 To the users:

2、Product warranty period

The warranty period of our products is twelve months from the date of delivery. After the
warranty period, long-term technical service is implemented.
3、Non-warranty scope
Any violation of the use of the requirements of man-made accidents, natural disasters and other
causes of damage, as well as unauthorized disassembly, modification and repair of the servo
drive, is considered to automatically abandon the warranty service.
4、Purchase of products from intermediaries
Any user who purchases products from a distributor or agent, please contact the distributor or
agent in case of product failure.。

123