Servo ready for output (SRDY)
伺服使能（SON）
不使能
Not ready
10毫秒
10ms
使能
Ready
Servo enable (SON)
电机电流
Failure to enable
1ms
不通电（自由状态）
1秒
enabled
通电（电机锁住）
Motor current
电机抱闸
Not electrified (free state) 1s
无电（抱闸紧）
Power on (motor locked)
有电（抱闸松）
Motor band-type brake
without power (the brake tight) with power (the brake loose)
8.2 Position Control (Quick adjustment of parameters after power on)
Example: A DO-1000/3A driver matches a 130ST-M15015 motor (position control).
1. Make ensure that the three-phase 220V voltage between R, S and T is correct after power on.
2. Do not connect the servo enable signal temporarily. Check whether there is any alarm and observe the
red lamp (ALM). If the red lamp is not on, the operation is normally and you can go to the next step.
3. Start the adaptation of parameters.
a. Enter the parameter modification mode to change PA-0 into ―385‖ password and then change
Parameter PA-1 into ―51‖ corresponding to the motor type code (see Table 2.21 on Page 10).
b. Enter the parameter management mode ―EE--‖, transfer to ―DP-def‖ and then press down Enter
for three seconds. When ―Finish‖ appears, it means the default value has been restored according
to the current adapted motor and will be effective only after power down.
c. After power on again, check several key parameters (See Table 8.1 below) of position control and
confirm that they are correct; the upper computer can send out an enable signal (or internal enable)
and send out an pulse after the green lamp (RUN) is on. Observe the dynamic effect of the motor,
appropriately modify the gain and adjust the characteristic of the motor.
PA--4 –-Control mode Factory value = 0
PA-12 –-Electronic gear numerator Factory value=1
PA-13 –- Electronic gear denominator Factory value=1
PA-20 –-Driver enable ineffective Factory value=1
PA--5 –-Speed proportional gain Factory value=150
PA--6 –-Speed integral time constant Factory value=20
PA—7 –-Torque filter
Factory value=100
PA--8 –- Speed detection filter Factory value=100
PA--9 –- Position proportional gain Factory value=40
PA-10 –-Position Feed-forward gain Factory value=0
Table 8.1 Adjustment of Key Parameters of Position Control
8.3 Speed Control (Quick adjustment of parameters after power on)
Example: A DO-1000/3A driver matches a 130ST-M10015 motor (speed control)
1. Confirm that the three-phase 220V voltage between R, S and T is correct after power on.
2. Confirm that the wiring of the differential input of the speed analog value or the single-ended input is
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