Moons' M2 Series User manual

Rev. 1.0
9/21/2015
M2 Series AC Servo System
Quick Setup Guide Manual
SHANGHAI AMP & MOONS’AUTOMATION CO.,LTD.

2
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M2 Quick Setup Guide Manaul
Safety
Only qualified persons may perform the installation procedures. The following explanations are for
things that must be observed in order to prevent harm to people and damage to property.
The M2 utilizes hazardous voltages. Be sure the drive is properly grounded.
Before you install the M2, review the safety instructions in this manual.
Failure to follow the safety instructions may result in personal injury or equipment damage.
Safety Symbols
Safety symbols indicate a potential for personal injury or equipment damage if the recommended
precautions and safe operating practices are not followed.
The following safety-alert symbols are used on the drive and in the documentation:
Caution Warning. Dangerous voltage. Protective earth Caution,Hot surface
Safety Instructions
Installation
Do not subject the product to water,corrosive or flammable gases,and combustibles.
Don’t use the motor in a place subject to excessive vibration or shock.
Never connect the motor directly to the AC power supply.
Don’t use cables soaked in water or oil.
Don’t extrude or pull-off the cable,nor damage the cables as electrical
shocks,damages may resul
Don’t block the heat dissipating holes. Please prevent any metal filings drop into the
drive when mounting.
Don’t switch the power supply repeatedly.
Don’t touch the rotating shaft when the motor is running.
Don’t strike the motor when mounting as the motor shaft or encoder may be
damaged.
In order to prevent accidents, the initial trial run for servo motor should be conducted
under no load conditions (separate the motor from its couplings and belts).
Starting the operation without matching the correct parameters may result in servo
drive or motor damage, or damage to the mechanical system.
Don’t touch either the drive heat sink or the motor and regenerative resister during
operation as they may become hot.
Don’t hold the motor cable during the transportation or mounting.
Wiring
Don’t connect any power supplies to the U,V,W teminals.
Install the encoder cable in a separate conduit from the motor power cable to avoid
signal noise.
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for
signal,encoder cables.
As a charge may still remain in the drive with hazardous voltage even after power has
been removed, Don’t touch the terminals when the charge led is still light.
Please observe the specified voltage.
Make sure both the drive and the motor connect to a class 3 ground.
Please ensure grounding wires are securely connected when power up.
Standards Compliance
The M2 Series AC servo drive has been designed according to standards:
* Electromagnetic compatibility * Electrical Safety: Low voltage directive
Standard EN 61800-3 (2004) Standard IEC 61800-5-1 (2007)

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Contens
1 Product Description ..................................................................... 5
1.1 Unpacking Check................................................................................5
1.2 Servo Drive Model Introduction .........................................................5
1.2.1 Drive Name Plate Description ................................................................5
1.2.2 Drive Model Description ..........................................................................5
1.3 Servo Motor Model Introduction ......................................................... 6
1.3.1 Motor Name Plate Description ................................................................6
1.3.2 Motor Model Description .........................................................................6
1.4 Servo Drive and Servo Motor Combinations ...................................... 6
2 Installation ................................................................................... 7
2.1 Storage Conditions .............................................................................7
2.2 Installation Conditions.........................................................................7
2.3 Drive Dimensions(Unit: mm)...............................................................7
2.4 Installation Space ...............................................................................8
2.5 Motor Installation ................................................................................8
3 Connections and Wiring .............................................................. 9
3.1 Connecting to Peripheral Devices ......................................................9
3.1.1 System Conguration ..............................................................................9
3.1.2 Servo Drive Connectors and Terminals.................................................10
3.1.3 Connections and Wiring Notes..............................................................10
3.2 Wiring Methods................................................................................. 11
3.2.1 Single-Phase Power Supply Connection(AC220V)............................... 11
3.2.2 Three-Phase Power Supply Connection(AC220V) ............................... 11
3.2.3 Recommend Cable Specications ........................................................12
3.3 Wiring to the Connector,P2...............................................................12
3.3.1 Motor Power Cable Conguration .........................................................12
3.3.2 Motor Power Cable Connector Specications ......................................13
3.3.3 Wiring Diagram of Motor extend Cable .................................................13
3.4 Electromagnetic Brake .....................................................................14
3.4.1 Wiring Diagram......................................................................................14
3.4.2 Notice for the Brake Motor ....................................................................14
3.4.3 The timing charts of the electromagnetic brake ....................................14
3.5 Regenerative Resister .....................................................................15
3.6 Connect to Host Computer,CN1 ....................................................... 15
3.7 Input and Output Signal Interface Connector,CN2 ........................... 15

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3.7.1 Input and Output Interface Diagram ......................................................16
3.7.2 Signals Description of Connector CN2 .................................................17
3.7.2.1 The Layout of CN1 Connector ............................................................17
3.7.2.2 Input Signals .......................................................................................17
3.7.2.3 Output Signals..................................................................................... 19
3.7.3 Encoder Feedback Ouput .....................................................................19
3.7.3.1 A/B/Z Wiring Method ........................................................................... 19
3.7.3.2 Phase Z Open Collector Output .......................................................... 20
3.8 Encoder Connector CN3...................................................................20
3.8.1 Motor Encoder Feedback Cable Conguration .....................................20
3.8.2 The Layout of CN3 Connector...............................................................20
3.8.3 Descriptions of Encoder Connector CN3 ..............................................21
3.8.4 Connect to Motor Encoder ....................................................................21
3.8.5 Specications of Encoder Connector ....................................................22
3.8.6 Wiring Diagram of Motor Encoder Extend Cable ..................................22
4 Control Block Diagram............................................................... 23
4.1 Position Mode ...................................................................................23
4.2 Speed Mode .....................................................................................24
4.3 Torque Mode.....................................................................................25
5 Display and Operation ............................................................... 26
5.1 Description of Operation Panel.........................................................26
5.2 Key Lock ...........................................................................................26
5.3 Key Operation Flowchart ..................................................................27
6 Preoperational mode ................................................................. 28
6.1 Inspection Before Trail Tun...............................................................28
6.2 Trail Run Procedure..........................................................................28
6.3 Motor Conguration Manually...........................................................29
6.4 Operations of JOG Mode..................................................................29
7 Troubleshooting ......................................................................... 30
7.1 Drive Alarm List.................................................................................30
7.2 Drive alarm reason and solutions ................................................31
8 Conguration by Personal Computer ........................................ 33
9 Appendix ................................................................................... 34
10 Contacting MOONS’ ................................................................ 35

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1 Product Description
1.1 Unpacking Check
Please refer to this section to confirm the model of servo drive and servo motor .
A complete and workable AC servo system should include the following parts:
1. Matched Servo drive and Servo motor
2. A power cable connect the drive to the servo motor(Option)
3. An feedback encoder cable connect the drive to the motor (Option )
4. A mini USB cable connect the port CN1 to PC for communication.(Option)
5. 50-PIN connector (For I/O connections, Port CN2) Option
6. 26-PIN connector(For encoder feedback,Port CN3 ) Option
7. 6-PIN connector(IEEE1394,Option)
8. RJ-45 connectors (For RS-485 or CANopen communication,Port CN6 adn CN7)Option
9. 5-PIN connectors (For L1,L2,L3,L1C,L2C)
10. 6-PIN connector(For U,V,W,B1+,B2,B3)
1.2 Servo Drive Model Introduction
1.2.1 Drive Name Plate Description
Model No.
Input/Output Voltage
Phase
Rated Current
Frequency
Rated Power
1.2.2 Drive Model Description
M2DV - □ □ □ 2 □ ***
M2 Series AC Servo Drive
If Applicable
Current
Code
Continuous
Current (RMS)
Boost
Current (RMS)
1D8 1.75A 5.25A
3D0 3.00A 9.00A
4D5 4.50A 13.50A
Voltage Code Input Voltage
2Single/Three-Phases200~240VAC±10%, 50/60Hz
Communication
Type Configuration Description Communication
S
Mini USB
Basic Type - - -
QQ Type RS-232
RQ Type(Modbus/RTU Type) RS-485
CCANopen Type CANBus
IP EtherNet/IP Type EtherNet
EeSCL Type EtherNet

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1.3 Servo Motor Model Introduction
1.3.1 Motor Name Plate Description
AC SERVO MOTOR
Model NO.SM0602AE2-KCD-NNV15
Ser NO. 12110027
Rated Torque 1.27N·m
Input 3ØAC 220V 2.8A
Ouput 400W
Rated Rev. 3000r/min
Model NO.
Rated Torque
Series NO.
Input Current
Output Power
Rated Speed
1.3.2 Motor Model Description
Servo Motor
Frame Size
04-40mm
06-60mm
08-80mm
Winding
A: 320 VDC(240 VAC) Shaft
K: Standard Keyway
E4: 2500 ppr Optical Encoder and Shared Commutation Tracks
Brake Option
N: No Brake
B: 24VDC Brake
Thermal Protector
N: No Protector
Shaft Seal
V: Shaft seal shipped with motor, but not placed on shaft
Connections
CD: 300mm (12") Shielded Cables with AMP 4 Pin, 6-7 Amp Motor Connector.
S M 04 01 A E 4-K CD-N N V **
Motor Length
□40 □60 □80
01 50W 200W
02 100W 400W
03 750W
04 1000W
Ecoder
Code
1.4 Servo Drive and Servo Motor Combinations
AC Servo Motor
Specificatioon
50W 100W 200W 400W 750W
Motor Model Numbers
2500ppr Increment
Encoder
(9PIN AMP connector)
Without Brake
SM0401AE4-KCD-
NNV09
SM0402AE4-KCD-
NNV09
SM0601AE4-KCD-
NNV09
SM0602AE4-KCD-
NNV09
SM0803AE4-KCD-
NNV09
With Brake
SM0401AE4-KCD-
BNV09
SM0402AE4-KCD-
BNV09
SM0601AE4-KCD-
BNV09
SM0602AE4-KCD-
BNV09
SM0803AE4-KCD-
BNV09
Rated Speed (RPM) 3000
Maximum Speed (RPM) 6000
Rated Torque (N•m) 0.19 0.32 0.64 1.27 2.4
Maximum Torque (N•m) 0.48 0.93 1.9 3.8 6.9
Rated Current (A) 0.7 1.2 1.5 2.75 4.5
Maximum Current (A) 1.75 3.6 4.5 8.3 13.5
Rotor Inertia Kg•m2
0.0232×10
-4
*0.0298×10
-4
(*With Brake)
0.0428×10
-4
*0.0494×10
-4
(*With Brake)
0.165×10
-4
*0.22×10
-4
(*With Brake)
0.272×10
-4
*0.326×10
-4
(*With Brake)
0.89×10
-4
*0.97×10
-4
(*With Brake)
Insulation Class Class B
Protection Class IP65(except shaft through hole and cable end connetor)
Oil Seal With Oil seal
AC
Servo
Drive
Drive Model Numbers
Pulse&Direction
Type USB Mini
Basic Type M2DV-1D82S M2DV-1D82S M2DV-1D82S M2DV-3D02S M2DV-4D52S
Q Type M2DV-1D82Q M2DV-1D82Q M2DV-1D82Q M2DV-3D02Q M2DV-4D52Q
Fieldbus Type
RS-485
SCL
M2DV-1D82R M2DV-1D82R M2DV-1D82R M2DV-3D02R M2DV-4D52R
Modbus RTU
CAN CANopen M2DV-1D82C M2DV-1D82C M2DV-1D82C M2DV-3D02C M2DV-4D52C
Ethernet
Ethernet/IP M2DV-1D82IP M2DV-1D82IP M2DV-1D82IP M2DV-3D02IP M2DV-4D52IP
eSCL M2DV-1D82E M2DV-1D82E M2DV-1D82E M2DV-3D02E M2DV-4D52E

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2 Installation
2.1 Storage Conditions
Some Storage suggestions are followed:
•Correctly packaged and store in a clean and dry ,avoid direct sunlight
•Store within an ambient temperature range of -20℃to +65℃
•Store within a relative humidity rang of 10% to 85% and non-condensing
•Don’t store in a place subjected to corrosive gasses
2.2 Installation Conditions
The operation ambient conditions are followed:
•Temperature range of 0℃to 50℃. If the ambient temperature of servo drive is greater than
45℃, please install the drive in a well-ventilated location
The ambient temperature of servo dive for long-term reliability should be under 45℃.
•The servo drive and motor will generate heat. If they are installed in a control panel, please
ensure sufficient space around the units for heat dissipation.
•Operation within a relative humidity rang of 5%to 85% and non-condensing
•The vibration lower than 5.88m/s2, 10-60Hz(Do not continuously use the drive for along time at
resonance point.)
•Don’t mount the servo drive and motor in a location subjected to corrosive gasses or
flammable gases, and combustibles.
•Please mount the servo drive and motor to a indoor electric control cabinet without liquid and
direct sunlight
•Don’t mount the servo drive and motor in a location subjected to airborne dust.
2.3 Drive Dimensions(Unit: mm)
50W、100W、200W Type
M2DV-1D8
145 41
35.5
5
6
5
150
140
Ø5
400W Type
M2DV-3D0
Ø5
145
5
6
5
55
49.5
150 140
750W Type
M2DV-4D5
Ø5.2
176 65
57.5
7.5
5.2
150 140 5

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2.4 Installation Space
•Incorrect installation may result in a drive malfunction or premature failure of the drive and or
motor. Please follow the guidelines in this manual when installing the servo drive and motor.
•The M2 servo drive should be mounted perpendicular to the wall or in the control panel.
•In order to ensure the drive is well ventilated, ensure that the all ventilation holes are not
obstructed and sufficient free space is given to the servo drive,and a cooling fan is mounted in
the control panel.
•Please ensure grounding wires are securely connected
Fan Fan
10mm 10mm 10mm20mm 20mm
100mm
80mm
100mm
10mm 10mm 10mm20mm 20mm
2.5 Motor Installation
•Don't strike the motor when mounting as the motor shaft or encoder may be damaged.
•Don't use cables soaked in water or oil.
•Avoid a stress application to the cable outlet and connecting portion by bending
•Please use flexible cables when using cable carrier, make sure the minimum cable bending
radius is 200mm
•The shaft through hole and cable end connector is not IP65 design. Make sure to prevent any
liquid or oil into the motor from these parts.

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3 Connections and Wiring
3.1 Connecting to Peripheral Devices
3.1.1 System Conguration
Non Fuse Breaker
Line Filter
(optional)
Line Filter
AC Power Part No. Vendor
Single phase 240Vac 10ET1 Tyco
Three phase 240Vac DF300-10A-01 Dephir
PLC
LED Display
The 5 digit,7 segment LED displays the
diver status and faults.
Operation Panel
Function keys are used to perform status
display,monitor and diagnostic,function
and parameter setting.
I/O Interface
Used to connect PLC ,motion card
and other controllers.
Main Power Input
Control Power Input
Motor Power Cable
Motor Feedback Cable
Ground (PE)
USB communication Port
(CN1)
Regeneration
Absorbing Resistor
Electromagnetic
Contactor
Motion Control Card
AC Power
CANBus, RS-485, Ethernet
Communication Port

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3.1.2 Servo Drive Connectors and Terminals
Terminal Identification Description Details
P1 L1、L2、L3 Used to connect three-phase AC main circuit power
L1C、L2C Used to connect single-phase AC for control circuit power
P2
U、V、W
Used to connect servo motor
Terminal
Symbol Wire color Description
U Red
Connecting to three-phase
motor main circuit cable
V Yellow
W Blue
B1+、B2、B3
Regenerative resister terninals
Internal
Resister
Ensure the circuit is closed between B2 and B3,
and the circuit is open between B1+ and B3.
External
Resister
Ensure the circuit is open between B2 and B3,
and connect the external regenerative resister
between B1+ and B2.
CN1 Communication Port User to connect personal computer
CN2 I/O Connector Used to connect external controllers.
CN3 Encoder Feedback Connector Used to connect encoder of servo motor.
CN4 Reserved
CN5 Reserved
CN6 RS-485/CANopen
*RS-232 Communication Port
RJ45 connector, Daisy Chain, Used for RS-485/CANopen
*RS-232 Communication Port (-Q Type Only)
CN7 RS-485/CANopen
Communication Port
RJ45 connector, Daisy Chain, Used for RS-485/CANopen
Communication
3.1.3 Connections and Wiring Notes
•Please ensure grounding wires are securely connected, wires with more than 2.0mm2on width
is recommended.
•Grounding method must be single point grounding.
•Ensure L1/L2/L3 and L1C/L2C are correctly wired, and voltage supply are within the
specification range.
•Ensure U/V/W are following the order of RED/YELLOW/BULE. Wrong connections will cause
motor stop rotation, or wrong rotatory directions.
•Isolation transformer or EMI filter is recommended on drive’s power supply to ensure drive’s
safety and improve its anti-interference level.
•Please setup a emergence stop circuitry to switch off the power supply when fault occurs.
•Please DO NOT touch drive or motors’s connector terminals 5 minutes after drive and motor is
powered off. There are electrical charge components in the circuitry. Therefore, even power is
off, there might still be hazardous voltages within the circuitry, before its total discharge.
•Install the encoder cables in a separate conduit from the motor power cables to avoid signal
noise. Separate the conduits by 30cm (11.8inches) above.
•Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder
feedback cables.
•The maximum length of signal input/output cable is 5m, and the maximum length of encoder
(PG) feedback cables is 15m

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3.2 Wiring Methods
220V AC servo drive supports single phase or three phase wiring method. Three phase wiring
method for 750W or above drives is recommended.
3.2.1 Single-Phase Power Supply Connection(AC220V)
MC
MC
M
L1
L3
U
V
W
L N E
MCCB
P_on P_off
MC
L1C
L2C
P2
P1
CN3
Red
Yellow
Blue
Yellow/Green
M2 Servo Drive
Alarm
Alm_R
24VDC
Alm_R
Encoder
NF
Encoder
E_stop
Ground
B1+
B2
B3
Use Internal
regeneration resistor
B1+
B2
B3
Use external
regeneration resistor
3.2.2 Three-Phase Power Supply Connection(AC220V)
MC
L1
L2
RSE
MCCB
P_on P_off
MC
L1C
L2C
24VDC
Alm_R
NF
T
L3
MC Alarm
Alm_R
E_stop
M
U
V
W
P2
CN3 Encoder
Encoder
Ground
M2 Servo Drive
B1+
B2
B3
Red
Yellow
Blue
Yellow/Green
Use Internal
regeneration resistor
B1+
B2
B3
Use external
regeneration resistor

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Note:
Symbol Description
MCCB Circuit Breaker
NF Noise Filter
P_on Power On Switch
P_off Power Off Switch
E_stop Emergency Stop Switch
MC Magnetic Contactor
Alm_R Alarm Relay
Alarm Alarm Relay Contactor
3.2.3 Recommend Cable Specications
•For drive’s main circuit, please use wires withstands at least 600Vac.
•Please select wires with sufficient allowance for parameters such as operating current, and
ambient temperature.
•Recommended wire selections are as follows:
Matched Servo Drive and Motor Wire Diameter mm2(AWG)
L1/L2/L3 L1C/L2C U/V/W B1+,B3
M2DV-1D82*
SM0401AE4-KCD-*NV 1.25
(AWG16)
1.25
(AWG16)
1.25
(AWG16)
2.0
(AWG14)
SM0402AE4-KCD-*NV 1.25
(AWG16)
1.25
(AWG16)
1.25
(AWG16)
2.0
(AWG14)
SM0601AE4-KCD-*NV 1.25
(AWG16)
1.25
(AWG16)
1.25
(AWG16)
2.0
(AWG14)
M2DV-3D02* SM0602AE4-KCD-*NV 2.0
(AWG14)
2.0
(AWG14)
2.0
(AWG14)
2.0
(AWG14)
M2DV-4D52* SM0803AE4-KCD-*NV 3.5
(AWG12)
3.5
(AWG12)
3.5
(AWG12)
3.5
(AWG12)
3.3 Wiring to the Connector,P2
3.3.1 Motor Power Cable Conguration
P2 connector Interface of the Drive
Motor power
extension cable connector
Lead wire
of the motor connector
NOTE: Please refer to section 3.3.2 Motor Power Cable Connector Specications for
details

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3.3.2 Motor Power Cable Connector Specications
◆PIN Assignment
A B
View A View B
PIN 1 2 3 4
Signal U V W PE
Colour Red Yellow Blue Yellow/Green
◆Model of Motor Connector
Type Motor Side(Plug) Plug-in(Housing)
Housing AMP 172167-1 AMP 172159-1
Crimp AMP 170360-1 AMP 170362-1
3.3.3 Wiring Diagram of Motor extend Cable
Housing: 172159-1(AMP)
Terminal: 170362-1(AMP)
Drive Side(P2) Signal Colour Motor Side(Housing)
(JST) S06B-F32SK-GGXR AMP 172159-1
4 U Red 1
5 V Yellow 2
6 W Blue 3
Grounding Screw PE Yellow/Green 4
NOTE: Ensure U/V/W are following the order of RED-YELLOW-BULE. Wrong connections
will cause motor stop rotation, or wrong rotatory directions.

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3.4 Electromagnetic Brake
When motor drives the vertical axis, brake should be used to hold and prevent the work (moving
load) from falling by gravity while the power to servo is shut off.
NOTE: only use servo motor brake for hold the stalling status, i.e.. motor is in disable or
power off.
Never use this for “brake” purpose to stop the load in motion. Wrong use might cause
servo motor damage.
3.4.1 Wiring Diagram
24V
DC
Relay
Brake+
Brake-
R
Servo Drive
Relay
Brake
24V
DC
3.4.2 Notice for the Brake Motor
◆When no power is applied to the electromagnetic brake, it is in locked position. Therefore, the
motor shaft will not be able to rotate.
◆The brake coil has no polarity.
◆During the brake/release action, there might be “Ka-Da”sounds occurring, this does not
effect the use of brake.
◆Specification of brakes are as follows:
Motor Power
Type 50W 100W 200W 400W 750W
Holding Torque(N•m) 0.35 2 4.5
Working Current(A) 0.25 0.38 0.61
Rated Voltage(V) 24V±10%
Release Time <25ms
Engage Time <25ms
Release Voltage(V) Release Voltage18.5VDC
3.4.3 The timing charts of the electromagnetic brake
In order to prevent damage to the brake, there are delay sequences during the brake operation.
Please be cautious with brake operation sequence.
Servo-on In Put
OFF
ON
Motor Active
OFF
ON
Brake Action
OFF
ON
Brake Signal
OFF
ON
Motion Command
OFF
ON
Actual Motion
OFF
ON
Brake Release Delay
P-68 Setting
Brake Engage Delay
P-69 Setting
Brake/release delay time can be set via M servo suite software, or on the drive itself through P
function: P-68(BD) or P-69(BE) .

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3.5 Regenerative Resister
In M2 series AC servo drives, there is a pre-installed 40W (M2DV-4D5 model: 60W )regeneration
resistor. In some applications, he pre-installed regeneration might not be enough to absorb all
fold back current. In these cases, a larger wattage regeneration resistor needs to be connected
externally, to prevent drive from over voltage warnings.
Ensure the circuit is closed between B2 and
B3,and the circuit is open between B1+ and
B3 when using internal resister.
Ensure the circuit is opened between
B2 and B3,and connect regenerative
resister between B1+ and B2 when
using external resister.
Regeneration
Resister
•For more detailed informations on regeneration resistor selection, please refer to M2 user
manual “regeneration resistor”.
3.6 Connect to Host Computer,CN1
Port CN1 is used to connect drive with PC. Use M servo suite software to set control mode,
change parameter values, use auto-tuning function and etc.
PIN Symbol Function
1 +5V +5V Power Supply
2 D- Data -
3 D+ Data +
4—Reserved
5 GND Ground
3.7 Input and Output Signal Interface Connector,CN2
The CN2 port on M2 series AC servo drives is used from input/output signals. Details are shown in
table below:
I/O
Signals
Digital Signal
Inputs 8 Configurable Optically isolate general High Speed Inputs, 5-24VDC, 20mA
2 Configurable Optically isolate general Inputs
Outputs
4 Configurable Optically isolate general High Speed Outputs, max 30VDC，20mA
1 Alarm Output, max 30VDC，20mA.
1 motor brake control output, max 30VDC，100mA .
Analog Signal Inputs 2 Analog Inputs, with 12bit resolution
Pulse Signal
Inputs 2 Optically isolated high speed inputs 500Hz(Open collector)
2 high speed differential inputs 2MHz
Outputs 4 high speed encoder feedback output(3 Line Driver A/B/Z,and 1 open collector OZ)

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3.7.1 Input and Output Interface Diagram
3
X1+
4
X1-
5
X2+
6
X2-
29
X3+
31
X3-
35
X4+
34
X4-
8
X5+
2
X5-
9
X6+
1
X6-
39
X7+
38
X7-
12
X8+
32
X8-
7
COM
26
X9
27
X10
28
X11
30
X12
1.5K
1.5K
1.5K
1.5K
1.5K
1.5K
1.5K
1.5K
AOUT+
AOUT-
BOUT+
BOUT-
ZOUT+
ZOUT-
21
22
48
49
23
24
CZ
DGND
19
15
High Speed
Pulse Input
44
PULSH1
45
PULSH2
46
SIGNH1
47
SIGNH2 37 Y1+
36 Y1-
11 Y2+
10 Y2-
40 Y5+
41 Y5-
14 Y6+
13 Y6-
42 Y3
43 Y4
OUT-
+
-
+
-
16
15
18
17 DGND
+10V User
User_GND
20
25
FG
50
DGND
ANA1
ANA2
STEP/CW
DIR/CCW
Enable
Alarm Reset
Limit Sensor
Limit Sensor
Gain Select
Control mode Switch
Dividing Switch
SPD0
SPD1
SPD2
Position
Command
Analog Input
Speed Command
Torque Command
Alarm Output
Motor Brake
Control Output
Servo Ready Output
In Position Output
Torque Reached Output
Velocity Reached Output
Encoder
Feedback
Output
33

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3.7.2 Signals Description of Connector CN2
3.7.2.1 The Layout of CN1 Connector
AB
View AView B
3.7.2.2 Input Signals
M2 series AC servo drive have 12 programmable digital inputs as well as 2 analog inputs.
Each of the input can be specified with different function via parameter settings. The functions are
as follows:
◆Specified function signals: i.e. Pulse/DIR signal, motor enable/disable signals.
◆General purpose signal: In velocity mode, torque mode, Q program mode, or SCL mode,

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general purpose signal has no specified functions.
Signal Symbol Pin NO. Details
X1
X1+ 3 This input has three functions:
●Accept STEP pulse input such as pulse signals, CW pulse, A pulse in
position mode.
●Run/Stop input in torque or velocity mode.
●General Input.
X1- 4
X2
X2+ 5 This input has three functions:
●Accept STEP pulse input such as Direction signals,CCW pulse,
B pulse in position mode.
●Direction input in torque or velocity mode.
●General Input.
X2- 6
X3 X3+ 29 ●Enable/Disable input.
●General Input.
X3- 31
X4
X4+ 35 ●Alarm Reset Input,used to reset drive alarm.
●General Input.
X4- 34
X5 X5+ 8 ●Limit Sensor Input
●General Input
X5- 2
X6 X6+ 9 ●Limit Sensor Input
●General Input
X6- 1
X7 X7+ 39 ●Gain Select Input in all control mode.
●General Input.
X7- 38
X8 X8+ 12 ●Switch Control mode between Main mode and second mode.
●General Input.
X8- 32
X9 X9 26
●Dividing Switch,change the pulses per revolution for electronic Gearing.
●General Input.
X10 X10 27
●Pulse Inhibited Input. Ignore the pulse input when this input is activated
in position mode.
●Speed Selecting Input 1 in change Speed mode.
●General Input.
X11 X11 28
●Speed Selecting Input 2 in change Speed mode.
●General Input.
X12 X12 30
●Speed Selecting Input 3 in change Speed mode.
●General Input.
COM COM 7 X9-X12 COM point.
High-speed pulse
inputs
PULSH1 44 High-speed pulse inputs(+5VDC line drive input).The max. input frequency is
2MHz.Three different pulse command can be selected:
●Pulse & Direction
●CW Pulse and CCW Pulse
●A Quadrature B pulse
(NOTE:DO NOT use it with X1/X2 both. )
PULSH2 45
SIGNH1 46
SIGNH2 47
Analog input
signal 1
ANA1 16
●AS velocity command in analog velocity mode. The offset ,dead band,
function of analog input 1 can be set by M Servo Suit or parameters
P-51, P-55 and P-60.
●Sets or requests the analog Input gain that relates to motor position
when the drive is in analog position command mode.
●Sets or requests the gain value used in analog velocity mode.
●General Analog Input in Q mode.
DGND 15 Digital Ground for Analog input.
Analog input
signal 2
ANA2 18
●AS torque command in analog torque mode. The offset ,dead band, function of
analog input 2 can be set by M Servo Suit or parameters P-53,P-57 and P-61.
●General Analog Input in Q mode
DGND 17 Digital Ground for Analog input.

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3.7.2.3 Output Signals
M2 series AC servo drive has 6 programmable digital outputs available, each of the output can be
specified with different function via parameter settings.
Signal Symbol Pin NO. Details
Y1
Y1+ 37 This output has two functions:
●Alarm Output
●General Output
Y1- 36
Y2
Y2+ 11 This output has two functions:
●Motor brake control output
●General Output
Y2- 10
Y3 Y3+ 42 ●Torque Reached Output
●General Output
Y3- 33
Y4
Y4+ 43 ●Moving signal output, output signal when dynamic position error less
than set value in position mode.
●Velocity reach output. Output signal when actual speed is same as the
target speed and the speed ripple less than ripple range.
●General Output.
Y4- 33
Y5
Y5+ 40 ●Servo ready output. Output servo ready signal when the drive is ready
to be controlled and without alarm.
●General Output.
Y5- 41
Y6
Y6+ 14 ●In position signal output, output signal when in position, and the
position error less than set value in position mode.
●Tach out output. Tach output, produces pulses relative to the motor
position with configurable resolution.
●General Output.
Y6- 13
Encoder pulse
feedback Output
AOUT+ 21 The encoder feedback phase A line drive output.
AOUT- 22
BOUT+ 48 The encoder feedback phase B line drive output.
BOUT- 49
ZOUT+ 23 The encoder feedback phase Z line drive output.
ZOUT- 24
ZOUT 19 The encoder feedback phase Z output.(Open collector)
+10V
Output
+10V User 20 +10Vdc user ,max 100mA
USER_GND 25 +10Vdc user Ground
3.7.3 Encoder Feedback Ouput
M2 series AC servo drive can output encoder A/B/Z phase as differential output signals through
line driver. The output signal is 5V, A/B signals are 10000 pulse/rev, Z signal is 1pluse/rev.
The host must use line receiver to receive the signals. Please use twist pair wires for signal
transfers.
3.7.3.1 A/B/Z Wiring Method
Host Controller
A+
Servo Drive
A-
B+
B-
Z+
Z-
AOUT+
AOUT-
BOUT+
BOUT-
ZOUT+
ZOUT-
FG FG
21
22
48
49
23
24
DGND
25
50
DGND
NOTE:Please make sure the host controller and the servo drive have a same ground.

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3.7.3.2 Phase Z Open Collector Output
In M2 series AC servo drive, encoder signal Z uses open collector output circuitry. Due to the
narrow bandwidth of encoder signal Z, please use high speed optocoupler circuitry for the host
receiver.
CZ
DGND
0VDC
24VDC
Servo Drive
19
15
3.8 Encoder Connector CN3
3.8.1 Motor Encoder Feedback Cable Conguration
驱动器CN3端
P2
C
N
3
编码器延长线连接头 编码器引出线编码器连接头
B1+
B2
B3
U
V
W
NOTE: Please refer to section 3.8.4 Encoder Connector Specications for details.
3.8.2 The Layout of CN3 Connector
1
13
14
26
1
2
12
13
15
14
25
26
AB
View A
View B