Parameter

Name

 Setting value

Parameter   description

Pr004

Control mode

1

Set it to speed   control mode

Pr025

Source of speed command

0 (default value)

0: Analog speed   

1: Internal multi-speed <8 selectable Pr137 to Pr144 Settings >

Pr046

Analog speed command gain

Set 300 (default   value) as needed

The rotational speed corresponding to 1V analog voltage (unit: r/min/V)

Pr047

Zero-offset compensation   for analog speed command

Set 0 (default   value) as needed

Unit: 0.1mv

Pr048

Simulate the   direction of the speed command

Set 0 (default   value) as needed

0: Normal   direction 1: Opposite direction

Pr060

Speed command acceleration   time

Set 100 (default   value) as needed

Acceleration   time from 0 to 1000r/min (unit: ms)

Pr061

Speed command   deceleration time

Set 100 (default   value) as needed

Deceleration   time of 1000 to 0r/min (unit: ms)

Pr005

Proportional gain in the speed loop

50 (default   value

To enhance   rigidity, Pr005 can be appropriately increased, with each adjustment   amounting to 5

Pr006

The integral time constant of the velocity loop

20 (Default   value

If the load   inertia is large, Pr006 can be appropriately increased, with each adjustment   being 10

Pr007

Torque filtering time constant

25 (Default   value

When the motor   operates and generates vibration or noise, it can be appropriately increased,   with each adjustment being 5

Pr019

The speed detection filter time constant

35 (default   value)

When the motor   operates and generates vibration or noise, it can be appropriately increased,   with each adjustment being 5

Parameter

Name

 Setting value

Parameter   description

Pr004

Control mode

2

Set it to torque   control mode

Pr026

Source of torque   command

0 (default value

0: Analog torque   1: Internal multi-stage torque <4 selectable Pr145 to Pr148 Settings >

Pr053

Simulated torque   command gain

Set 30 (default   value) as needed

The percentage   of the rated torque of the motor corresponding to a 1V analog voltage (unit:   1%/V)

Pr054

Zero-offset   compensation for simulated torque command

Set 0 (default   value) as needed

Unit: 0.1mv

Pr055

Simulate the   torque command direction

Set 0 (default   value) as needed

0: Normal   direction 1: Reverse direction

Pr078

Speed limit   during torque control

Set 1000   (default value) as needed

(Unit: r/min

Parameter

Name

 Setting value

Parameter   description

Pr004

Control mode

0 (default value)

Set it to   position control mode

Pr029

Electronic gear   molecule

1 (Default value)

Electronic gear   molecule

Pr030

Electronic gear   denominator

1 (Default value)

Electronic gear   denominator

Pr035

Pulse input mode

0 (default value)

0: Pulse +   direction

1:   Forward/reverse pulse

2: Orthogonal   pulse

Pr036

Pulse input   direction

0 (default value)

0: Normal   direction

1: Reverse the   direction

Pr005

Proportional   gain in the speed loop

50 (default   value)

To enhance   rigidity or reduce tracking error, the Pr005/Pr009 can be appropriately   increased, with each adjustment being 5

Pr006

The integral   time constant of the velocity loop

20 (Default   value)

To enhance   rigidity or reduce tracking error, the Pr005/Pr009 can be appropriately   increased, with each adjustment being 5

Pr009

Position-loop   proportional gain

40 (Default   value)

To enhance   rigidity or reduce tracking error, the Pr005/Pr009 can be appropriately   increased, with each adjustment being 5

Pr007

Torque filtering   time constant

25 (Default   value)

When the motor   operates and generates vibration or noise, it can be appropriately increased,   with each adjustment being 5

Pr019

The speed   detection filter time constant

35 (default   value)

When the motor   operates and generates vibration or noise, it can be appropriately increased,   with each adjustment being 5

Alarm code

Alarm name

Alarm content

Alarm cleared

E--

No alarm

Working normally

E1

Speeding

The motor speed   exceeds the maximum limit value

Can be

E2

Overvoltage in   the main power circuit

If the main   circuit power supply voltage exceeds the specified value, check whether the   braking resistor is damaged or if its resistance value is appropriate

no

E3

The main power   circuit is under-voltage

The main circuit   power supply voltage is lower than the specified value

no

E4

Position   deviation

The position   tracking deviation exceeds the set value

Can be

E5

Position command   overclocking

The frequency of   the position instruction exceeds the maximum allowable frequency

Can be

E6

Motor locked   rotor

The motor power   line connection is incorrect, and the pole pair number P-201 is wrong

Can be

E7

Driver   prohibition exception

The travel limit   switch signals of the CCWL and CWL drivers are abnormal

Can be

E9

The ABZ signal   of the incremental encoder is faulty

There is   interference or disconnection in the encoder ABZ signal

Can be

E10

Signal failure   of incremental encoder UVW

There is   interference or disconnection in the encoder UVW signal

Can be

E11

The IPM module   is faulty

The IPM inverter   module of the power main circuit has malfunctioned

no

E12

Overcurrent

The   instantaneous current of the servo driver is too large

Can be

E13

Overload

The average load   current of the motor is too large

Can be

E14

Braking peak   power overload

If the   instantaneous load is too large during a short braking period, check whether   the braking resistor is damaged or if its resistance value is appropriate

Can be

E20

EEPROM error

EEPROM   read/write errors or unexpected power failure when saving parameters

no

E21

Error in the   logic circuit

The peripheral   logic circuit of the processor is faulty

no

E23

The reference   voltage for AD conversion is incorrect

The voltage   reference of the AD sampling circuit is not the standard value

no

E24

The AD   conversion channel is asymmetrical or has a large zero drift

The AD sampling   amplification conditioning circuit is abnormal

no

E29

User torque   overload alarm

The motor load   exceeds the value and duration set by the user

Can be

E30

The encoder Z   signal is lost

The encoder Z   signal did not appear

no

E31

The encoder Z   signal detection is abnormal

There is   interference or instability in the encoder Z signal

no

E32

The encoder UVW   signal is illegally encoded

The encoder UVW   signal is disconnected

no

E33

The signal of   the line-saving encoder is incorrect

There is no   high-resistance state in the power-on sequence

no

Motor model code（P - 002）

Adapted driver（AC 220V）

Servo motor   model（220V）

Rated power（kW）

Rated voltage（A）

Rated torque（Nm）

Overload factor

20

XBM300 - 20A

40ST - M00130

0.05

0.61

0.16

3

20

40ST - M00330

0.1

0.9

0.32

3

21

60ST - M00630

0.2

1.2

0.6

3

22

60ST - M01330

0.4

2.8

1.3

3

23

60ST - M01930

0.6

3.5

1.9

3

27

80ST - M01330

0.4

2

1.3

3

28

80ST - M02430

0.75

3

2.4

3

29

80ST - M03520

0.73

3

3.5

3

30

80ST - M04025

1

4.4

4

2.5

31

90ST - M02430

0.75

3

2.4

3

32

90ST - M03520

0.73

3

3.5

3

33

90ST - M04025

1

4

4

2.5

34

110ST - M02030

0.6

2.5

2

3

35

XBM300 - 30A

110ST - M04030

1.2

5

4

3

39

XBM300 - 20A

110ST - M04020

0.8

3.5

4

3

36

XBM300 - 30A

110ST - M05030

1.5

6

5

2.5

37

XBM300 - 30A

110ST - M06020

1.2

4.5

6

3

38

110ST - M06030

1.8

6

6

2.5

44

130ST - M04025

1

4

4

2.5/3

45

130ST - M05025

1.3

5

5

2/3

46

130ST - M06025

1.5

6

6

2.5

41

130ST - M06030

1.8

7

6

2.2

47

130ST - M07720

1.6

6

7.7

2.5

47

130ST - M07725

2

7.5

7.7

2

48

130ST - M07730

2.4

9

7.7

1.6

40

XBM300 - 20A

130ST - M10010

1

4.5

10

2.2

49

130ST - M10015

1.5

6

10

2.5

43

130ST - M10020

2

8.5

10

1.7

50

130ST - M10025

2.6

10

10

1.5

51

130ST - M15025

3.8

13.5

15

1.2

52

130ST - M15015

2.3

9.5

15

1.6