Parker FL20-S Series User manual

FL20-S Series
2
FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS
DESCRIBED HEREIN OR RELATED ITEMS CAN CAUSE DEATH, PERSONAL
INJURY AND PROPERTY DAMAGE.
This document and other information from Parker-Hannifin
Corporation, its subsidiaries and authorized distributors
provide product or system options for further investigation by
users having technical expertise.
The user, through its own analysis and testing, is solely
responsible for making the final selection of the system and
components and assuring that all performance, endurance,
maintenance, safety and warning requirements of the
application are met. The user must analyze all aspects of the
application, follow applicable industry standards, and follow
the information concerning the product in the current product
catalog and in any other materials provided from Parker or its
subsidiaries or authorized distributors.
To the extent that Parker or its subsidiaries or authorized
distributors provide component or system options based upon
data or specifications provided by the user, the user is
responsible for determining that such data and specifications
are suitable and sufficient for all applications and reasonably
foreseeable uses of the components or systems

FL20-S Series
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FL20-S series
2017 Parker Hannifin Manufacturing Ltd.
All rights strictly reserved. No part of this document may be stored in a retrieval system, or transmitted in any
form or by any means to persons not employed by a Parker SSD Drives company without written permission
from Parker Automation Wuxi, a division of Parker Hannifin Ltd . Although every effort has been taken to
ensure the accuracy of this document it may be necessary, without notice, to make amendments or correct
omissions. Parker Automation Wuxi cannot accept responsibility for damage, injury, or expenses resulting
therefrom.
WARRANTY
Refer to Parker Hannifin Manufacturing Limited Terms and Conditions of Sale. These documents are available
on request at www.parker.com/ADC. Parker Hannifin Manufacturing Limited reserves the right to change
the content and product specification without notice.

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About this manual
■ Description of technical terms
The terms in this manual are defined as follows:
Servodrive is used to drive and control servo motor.
Servo System means a servo control systemthat includes the combination of a servodrive, servo motor with a host
computer and peripheral devices.
Parameters include monitoring parameter and setting parameters. Monitoring parameters can only be checked,
but not be modified, and setting parameters can be checked and modified, which includes function parameters and
data parameters.
■ Common symbol
The following symbols are used for convenience.
1. Instruction
P: position mode
Pt：position pulse mode
ALL: all modes
Pr：internal register position mode
S: speed mode
Sr：internal register speed mode
Sz：analog speed mode
T: torque mode
Tr：internal register torque mode
Tz：analog torque mode
2. Usage of backslash (/)
Backslash is used in the wiring diagram. It describes the default logic of I/O interface.
For input signal (DI terminal), balckslash means, when input circuit is ON status, the input signal is valid, i.e. the
default logic is positive logic. Without blackslash means, when input side is OFF status, the input signal is valid,
i.e. the default logic is negative logic.
For output signal (DO terminal), backslash means output side circuit is common-opened, and when the signal is
output, the output side circuit is closed. Without backslash means output side circuit is common-closed, and when
the signal is output, the output side circuit is opened.
3. Others
NC: no connection
N/A: no unit

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I NOTES FOR SAFE OPERATION............................................................................................ 11
II MODEL SELECTION.................................................................................................................14
2.1 SERVO DRIVE INTRODUCTION....................................................................................................14
2.1.1 SERVO DRIVE NAMEPLATE.....................................................................................................14
2.1.2 CONNECTION TO PERIPHERAL DEVICES .................................................................................16
2.1.3 SERVO DRIVE SPECIFICATION..................................................................................................17
2.1.4 CONNECTION TO PERIPHERAL DEVICES .................................................................................20
2.2 SERVO MOTOR...........................................................................................................................21
2.2.1 SERVO MOTOR NAMEPLATE AND MODEL.................................................................................21
2.2.2 SERVO MOTOR COMPONENT ...................................................................................................22
2.2.3 SERVO MOTOR MODEL............................................................................................................23
2.3 COMBINATION OF SERVOMOTOR AND SERVODRIVE....................................................................26
III INSTALLATION........................................................................................................................30
3.1 SERVO DRIVES INSTALLATION....................................................................................................30
3.1.1 INSTALLATION CONDITIONS....................................................................................................30
3.1.2 INSTALLATION PROCEDURE AND MINIMUM CLEARANCES .......................................................31
3.1.3 SERVO DRIVE DIMENSION.......................................................................................................32
3.2 SERVO MOTOR INSTALLATION....................................................................................................38
3.2.1 INSTALLATION LOCATION .......................................................................................................38
3.2.2 INSTALLATION CONDITIONS .................................................................................................38
3.2.3 PRECAUTIONS ON SERVO MOTOR INSTALLATION.....................................................................39
3.2.4 SERVO MOTOR DIMENSION .....................................................................................................40
IV WIRING ......................................................................................................................................46
4.1 MAIN CIRCUIT WIRING...............................................................................................................48
4.1.1 MAIN CIRCUIT TERMINALS .....................................................................................................48
4.1.2 MAIN CIRCUIT TERMINAL WIRING ..........................................................................................49
4.1.3 TYPICAL MAIN CIRCUIT WIRING EXAMPLES ............................................................................50
4.1.4 PRECAUTION FOR MAIN CIRCUIT WIRING................................................................................52
4.2 ENCODER WIRING......................................................................................................................53
4.2.1 ABSOLUTE ENCODER CONNECTOR TERMINAL LAYOUT ...........................................................53
4.2.2 RESOLVER ENCODER CONNECTOR TERMINAL LAYOUT............................................................54
4.2.3 INCREMENTAL ENCODER CONNECTOR TERMINAL LAYOUT......................................................55

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4.3 I/O SIGNAL WIRING .................................................................................................................56
4.3.1 POSITION COMMAND INPUT SIGNALAND FUNCTION ...............................................................58
4.3.2 ANALOG COMMAND INPUT SIGNALAND FUNCTIONS...............................................................63
4.3.3 ANALOG OUTPUT SIGNALAND FUNCTIONS .............................................................................63
4.3.4 DIGITAL INPUT SIGNALAND FUNCTIONS .................................................................................64
4.3.5 ENCODER FREQUENCY-DIVISION OUTPUT SIGNAL AND FUNCTION ..........................................67
4.3.6 COMMUNICATION WIRING ......................................................................................................68
4.3.7 WIRING WHEN USING MORE THAN ONE SERVOS......................................................................69
4.3.8 ABSOLUTE VALUE ENCODER...................................................................................................71
4.4 SERVO DRIVE AND SERVO MOTOR WIRING .................................................................................72
4.4.1 ENCODER WIRING...................................................................................................................72
4.4.2 POWER CABLE OF SERVO DRIVE AND SERVO MOTOR...............................................................75
V. OPERATION AND PARAMETERS......................................................................................77
5.1 KEYPAD DESCRIPTION ...............................................................................................................77
5.1.1 INSTRUCTION OF KEYPAD .......................................................................................................77
5.2 KEYPAD OPERATING PROCEDURE ..............................................................................................78
5.2.1 SWITCHOVER BETWEEN PARAMETER SECTION........................................................................78
5.2.2 PARAMETERS INSTRUCTIONS..................................................................................................79
5.3 KEYPAD OPERATING PROCEDURE...............................................................................................81
5.3.1 EXAMPLE OF MONITOR FUNCTION PARAMETER ......................................................................81
5.3.2 EXAMPLE OF AUXILIARY PARAMETERS USAGE........................................................................82
5.3.3 PARAMETER SETTING .............................................................................................................83
VI RUN..............................................................................................................................................85
6.1 BASIC PARAMETERS SETTING ....................................................................................................88
6.1.1 BEFORE RUNNING...................................................................................................................88
6.1.2 POWER ON ...........................................................................................................................88
6.1.3 PARAMETERS SETTING............................................................................................................88
6.1.4 SETTING THE OVERTRAVEL LIMIT FUNCTION.........................................................................92
6.1.5 JOG OPERATION PROCEDURE ..................................................................................................95
6.1.6 TIMING SEQUENCE CONTROL..................................................................................................96
6.1.7 SETTING THE BRAKING...........................................................................................................98
6.2 SPEED MODE ...........................................................................................................................101
6.2.1 PARAMETERS SETTING..........................................................................................................101

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6.2.1 PARAMETERS SETTING..........................................................................................................102
6.2.2 SOFT START ..........................................................................................................................109
6.2.3 SCURVE SMOOTHNESS FUNCTION...................................................................................... 110
6.2.4 ZERO CLAMP FUNCTION ..................................................................................................... 111
6.2.5 SPEED OUTPUT SIGNAL ...................................................................................................... 111
6.3 TORQUE MODE...................................................................................................................... 115
6.3.1 PARAMETERS SETTING ....................................................................................................... 115
6.3.2 SOFT START ..........................................................................................................................121
6.3.3 SPEED LIMITING AT TORQUE MODE.....................................................................................122
6.3.4 LIMITING TORQUE .............................................................................................................122
6.3.5 RELATED OUTPUT.................................................................................................................124
6.4 POSITION PULSE MODE ............................................................................................................124
6.4.1 PARAEMETERS SETTING........................................................................................................125
6.4.2 SETTING ELECTRONIC GEAR .................................................................................................141
6.4.3 POSITION COMMAND FILTER.................................................................................................144
6.4.4 SOFT START OF POSITION COMMAND ....................................................................................144
6.4.5 POSITION COMMAND INHIBIT FUNCTION...............................................................................145
6.4.6 COMMAND PULSE CLEAR FUNCTION.....................................................................................145
6.4.7 FREQUENCY-DIVISION OUTPUT FUNCTION............................................................................146
6.4.8 HOMESEARCHMODE............................................................................................................150
6.4.9MECHANICAL ORIGIN SEARCH FUNCTION ............................................................................156
6.4.10 FIXED LENGTH INTERRUPT FUNCTION ...............................................................................158
6.4.11 DO OUTPUT RELATED TO POSITION PULSE ..........................................................................160
6.4.12 FULL CLOSED LOOP FUNCTION ...........................................................................................161
6.4.13 GANTRY SYCHRON FUNCTION ...........................................................................................165
6.4.14 ELECTRONIC CAM (E-CAM)FUNCTION..............................................................................168
6.5 DUAL MODE............................................................................................................................179
6.5.1 USER PARAMETER SETTING................................................................................................ 179
6.5.2 INTERNAL SPEED AND POSITION PULSE DUAL MODE ..........................................................180
6.5.3 ANALOG SPEED AND POSITION PULSE DUAL MODE.............................................................181
6.5.4 ANALOG SPEED AND INTERNAL REGISTER POSITION DUAL MODE........................................182
6.5.5 INTERNAL SPEED AND INTERNAL REGISTER POSITION DUAL MODE......................................183
6.5.6 TOREQUE MODE AND POSITION PULSE DUAL MODE..........................................................183
6.5.7 TORQUE MODE AND INTERNAL REGISTER POSITION DUAL MODE .....................................184
6.5.8 POSITION PULSE AND INTERNAL REGISTER POSITION DUAL MODE....................................185

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6.5.9 INTERNAL SPEED AND ANALOG SPEED DUAL MODE ..........................................................186
6.5.10 SPEED AND TORQUE DUAL MODE ......................................................................................187
6.5.11ANALOG TORQUE AND INTERNAL REGISTER TORQUE DUAL MODE ...................................189
6.6AUXILIARY FUNCTION.............................................................................................................190
6.6.1 SETTING PASSWORD .............................................................................................................190
6.6.2 SERVO DRIVE STATUS DISPLAY..............................................................................................191
6.6.3 FAN SETTING......................................................................................................................192
6.6.4 PARAMETER COPY................................................................................................................192
6.6.5 REVERTING TO MFR’S VALUE...............................................................................................193
6.6.6 MOTOR PROTECTION FUNCTION ..........................................................................................193
6.6.7 ENCODER PULSE FILTERING................................................................................................195
6.6.8 TORQUE UNREACHED PROTECTION CONTROL.......................................................................195
6.6.9 DI TERMINALS FILTER FUNCTION...................................................................................... 195
6.7 HIGH-SPEED COUNTER FUNCTION ........................................................................................198
6.7.1 OVERVIEW..........................................................................................................................198
6.7.2 HIGH-SPEED COUNTING.......................................................................................................198
6.8 BUILT-IN PLC FUNCTION ........................................................................................................204
6.8.1 SUMMARY............................................................................................................................204
6.8.2 SERVO BUILT-IN PLC SOFTWARE ACCESS AREA...................................................................205
6.8.3 BUILT-IN PLC PROGRAM DESIGN.........................................................................................210
6.8.3.1 DATA MOVE INSTRUCTION................................................................................................210
6.8.3.2ARITHMETIC INSTRUCTION................................................................................................ 211
6.8.3.3 LOGIC INSTRUCTION .........................................................................................................219
6.8.3.4 PROGRAM CONTROL INSTRUCTION ...................................................................................223
6.8.4 BUILT-IN PLC PARAMETERS.................................................................................................228
6.8.5 BUILT-IN PC/PLC USE AND APPLICATION EXAMPLE............................................................231
6.8.6 BUILT-IN PLC COMMUNICATION OPERATION.......................................................................236
6.8.6.1 MODBUSADDRESS.........................................................................................................236
6.8.6.2 DEBUG FUNCTION OF BUILT-IN PLC................................................................................236
VII. ADJUSTMENTS ....................................................................................................................237
7.1 SUMMARY...............................................................................................................................237
7.2 INERTIAIDENTIFICATION.........................................................................................................238
7.2.1 OFFLINE INERTIAIDENTIFICATION........................................................................................238
7.2.2 ONLINE INERTIAIDENTIFICATION.........................................................................................240

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7.3 GAIN ADJUSTMENT .................................................................................................................242
7.3.1 SUMMARY............................................................................................................................242
7.3.2 AUTOMATIC GAIN ADJUSTMENT ..........................................................................................243
7.3.3 MANUAL GAIN ADJUSTMENT...............................................................................................245
7.3.4 GAIN SWITCH.......................................................................................................................247
7.4 VIBRATION INHIBITION............................................................................................................250
7.4.1 VIBRATION INHIBITION FUNCTION .......................................................................................250
7.4.2 LOW-FREQUENCY VIBRATION INHIBITION FUNCTION...........................................................251
VIII LIST OF PARAMETERS .....................................................................................................252
8.1 .1 MONITOR FUNCTION GROUP（LO-□□） ..........................................................................252
8.1.2 UTILITY FUNCTION GROUP (SO-□□) ..................................................................................255
8.1.3 MAIN FUNCTION GROUP （PO-□□□）..............................................................................263
8.1.4 MOTOR FUNCTION GROUP（HO-□□□）............................................................................294
8.1.5 ALARM RECORD PARAMETERS（HO2□□～HO3□□）......................................................296
8.1.6 HIGH-SPEED COUNTER PARAMETERS（PL□□□）..............................................................299
ⅨMAINTENANCE AND INSPECTION....................................................................................314
9.1ALARM AND TROUBLE SHOOTING AT START.............................................................................314
9.1.1 POSITION CONTROL MODE....................................................................................................314
9.1.2 SPEED CONTROL MODE.........................................................................................................316
9.1.3 TORQUE CONTROL MODE......................................................................................................317
9.2ALARM CODE AND POSSIBLE CAUSE ........................................................................................318
9.3ALARM DISPLAY TABLE AND TROUBLE SHOOTING..................................................................319
9.3.1 OTHER MALFUNCTIONS........................................................................................................323
X COMMUNICATION .................................................................................................................324
10.1 COMMUNICATION..................................................................................................................324
10.1.1 MODBUS GENERAL..........................................................................................................324
10.1.2 MODBUS PROTOCOL........................................................................................................324
10.1.3 PARAMETER RELATED TO COMMUNICATION .......................................................................328
XIAPPENDIX................................................................................................................................330

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11.1 ENCODER CABLE SELECTION.................................................................................................330
11.1.1ABSOLUTE ENCODER CABLE...............................................................................................330
11.1.2 INCREMENTAL ENCODER CABLE .........................................................................................331
11.1.3 RESOLVER ENCODER CABLE ...............................................................................................332
11.2 CONTROL CABLE ...................................................................................................................332
11.3 POWER CABLE .......................................................................................................................333
11.4 OTHER CABLE .......................................................................................................................334
11.5 MOTOR AND MATCHED CABLE...............................................................................................334
XIIAPPENDIX 2 ...........................................................................................................................337
12.1 ETHERCAT COMMUNICATION CARD......................................................................................337
12.1.1 INSTALLATION AND CONNECTION ......................................................................................339
12.1.2 HARDWARE LAYOUT ..........................................................................................................340
12.1.3 TOPOLOGY WAY .................................................................................................................340
12.1.4 LED INDICATOR .................................................................................................................341
12.1.5 DIAL SWITCH SW2.............................................................................................................341
12.1.6 SERVO RELATED PARAMETER SETTING ...............................................................................341
12.2 CANOPEN COMMUNICATION CARD .......................................................................................342
12.2.1 INSTALLATION AND CONNECTION ......................................................................................343
12.2.2 HARDWARE LAYOUT...........................................................................................................344
12.2.3 CAN-BUS CONNECTION .....................................................................................................344
12.2.4 CANOPEN BUS INTERFACE PINS .........................................................................................344
12.2.5 STATUS INDICATOR.............................................................................................................345
12.2.6 SWITCH CODE..................................................................................................................... 346
12.2.7 SERVO RELATED PARAMETER SETTING ...............................................................................346

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I Notes for safe operation
Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring,
operation and inspection, and disposal of the servo drives.
WARNING
·Do not touch terminals for five minutes after voltage resistance test.
·Do not touch terminals for five minutes after the power is turned off. Residual voltage may cause
electric shock.
·Never touch any rotating motor parts while the motor is running.
·Never touch the inside of the SERVOPACKs.
·Follow the procedures and instructions for trial operation precisely as described in this manual.
·Do not remove the front cover, cables, connectors, or optional items while the power is ON.
·Do not damaged, press, exert excessive force or place heavy objects on the cables.
·Do not change the max speed value (Po002) except special purpose. Failure to observe this warning
may result in damaged to products.
·Do not come close to the machine Immediate after resetting momentary power loss to avoid an
unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
·Do not modify products. Failure to observe this warning may result in injury or damage to products.
·MCtt (electromagnetic contactor) and NFB (no fuse breaker) must be installed between main circult
power （L1/R, L2/S, L3/T for 3-phase).

FL20-S Series
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Storage and Transportation
CAUTION
·Do not store or install the product in the following places:
1. Locations subject to direct sunlight.
2. Locations subject to temperatures outside the range specified in the storage or installation
temperature conditions.
3. Locations subject to humidity outside the range specified in the storage or installation temperature
conditions.
4. Locations subject to corrosive or flammable gases.
5. Locations subject to dust, salts or iron dust.
6. Locations subject to exposure to water, oil, or chemicals.
7. Locations subject to shock or vibration.
·Do not hold the product by the cables or motor shaft while transporting it.
·Do not place any load exceeding the limit specified on the packing box.
Installation
CAUTION
·Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
·Do not step on or place a heave object on the product.
·Do not cover the inlet or outlet ports and prevent any foreign objects from enternign the product.
·Be sure to install the product in the correct direction.
·Provide the specified clearances between the SERVOPACK and the control panel or with other
devices.
·Do not apply any strong impact.

FL20-S Series
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Wiring
CAUTION
·Do not connect a three-phase power supply to the U, V, or W output terminals.
·Connect U, V and W of servo drive directly to U, V, and W of servo motor, avoid using contactor in
between.
·Securely connect the power supply terminals and motor output terminals.
·Do not connect servo drive for 220V directly to 400V voltage.
·Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 30 cm.
·Use twisted-pair shielded wires or mult-core twisted pair shielded wires for singal and encoder
cables.
·The maximum length is 3m for reference input lines and the maximum length is 20m for encoder
cables.
·Take appropriate and sufficient countermeasures for each form of potential interference when
installing systems in the following locations.
Locations subjects to static electricity or other forms of noise.
Locations subjects to strong electromagnetic fields and magnetic fields.
Locations subjects to possible exposure to radioactivity.
·Repair or maintain the servo drive only after the CHARGE indication on the servo drive goes off.
Maintenance and Inspection
CAUTION
·Repair or maintenance of the servo drive can be performed only by qualified personnel.
·Please cut off all connection between servo drive with resistor before performing an insulation test
of resistor.
·When replacing the servo drive, resume operation only after transferring the previous servo drive
parameters to the new servo drive or computer.
·Do not attempt to change wiring while the power is ON.
·Do not disassemble the servo motor.

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II Model selection
2.1 Servo drive introduction
2.1.1 Servo Drive Nameplate
M2
Product series
-S 152 T3 M2
M4
M5 420
x
210 x215
218
x
100 x 203
380
x
185 x215
20series
M6 268.4x 234
498x
FL20
FL20
MM4 336150 203
x x
Product usage
PMSM
S
Power Structure
1-phase
220V
201
401
182
122
102
751
0.2 KW
1.8 KW
1.2 KW
1 KW
0.75KW
0.4 KW
M1
M2
Voltage
380V
T3
Frame size
（WxHxD)
F11
Communication
Modbus
External EtherCAT
External CANopen
F11
Note
EtherCAT and CANopencard is optional.
Please see below communication card name.
D2
Feedbacktype
Resolver
D2
D5
D51
14- core 2500ppr
incremental encoder
8- core 2500 ppr
incremental encoder
B3
Brake unit
Built- in brake unitB1
B3 Built-in brake unit
Dynamic brake unit
Note:M1 ,MM4 and above
servo drives do not have
built-in resistor
3-phase
380V
152
202
752
552
452
302
113
223
183
153
373
303
1.5KW
15KW
11KW
7.5 KW
5.5 KW
4.5 KW
3 KW
2 KW
37KW
30KW
22KW
18KW
3-phase
220V
302
452
3KW
4.5 KW
201
401
182
122
102
751
0.2 KW
1.8 KW
1.2 KW
1 KW
0.75KW
0.4 KW
M1
M2
M3
M2
M3
MM4
M4
M6
M5
S2
T2
1- phase220V
3- phase220V
M3
195
x
48 x 175
M3(5.5kW)
195
x
75 x 175 218
x
100 x 203
M1
Bake type
B3
B3
B1
B1
B1
B1
B1
B1
B1
B3
3- phase
( No built-in braking resistor)
D52
D7
D71
4- core 23-bit
incremental encoder
4-core 17-bit
absolute encoder
4- core23-bit
absolute encoder
500
101 0.05 kW 0.1 kW
500
101 0.05kW 0.1 kW
( No built-in braking resistor)
(No built-in braking resistor)
(No built-in braking resistor)
(No built-in braking resistor)
102 1.0 KW
Fig 2.1.1 Servo Drive naming rule

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Communication card
20S-0006
20S-0007
EtherCAT
CANopen
Fig 2.1.2 Optional function naming rule
Parker Hannifin Corporation
www . Parker. com
Model
Input AC 3 PH V 50 / 60 Hz
Output 3 PH A0～V
0 ~400Hz
FL20-S T M
BAR CODE
Function
code F11DB3
AC
Matched
motor FMMA-F
202 3 3 5
380
6380
202 67ED
Fig 2.1.3 Servo Drive nameplate

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2.1.2 Connection to Peripheral Devices
Charging indicator
The LED will light up when
incoming power is given. The
DC link capacitors will retain
charge for some time. Even if
power is turned off. Do not
touch the power terminals as
long as the LED is ON
Main Circuit terminal
Please refer to Fig 4.1
Control Circuit terminal
Braking resistor terminal
Used to connect resistor.
Please refer to 6.1.7
DC choke terminal
Please refer to Fig 4.1
Servomotor terminal
Operator Panel
Serial communication connector (CN1)
PC,PLC,CNC and other host controller
Please refer to 10.1 .
Encoder connector (CN2)
Please refer to Fig 4.2
I/O signal terminal (CN3)
Ground terminal
Be sure to connect to protect
against electrical shock.
Please refer to Fig 4.1
Please refer to 4.4.2
Please refer to Fig 4.3
Fig 2.1.4 Connection to Peripheral Devices

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2.1.3 Servo drive specification
1) Electrical specification
a）220V servo drive
Name
M1
M2
M3
Servo drive
FL20-S
500
101
201
401
751
102
122
182
302
452
Continuous
output current
Arms
0.6
1.2
1.5
2.8
3.5
4.5
6.0
8.0
12
17
Max output
current
Arms
1.8
3.6
4.2
8.4
9.8
12.6
16.8
22.4
33.6
47.6
Power of main
circuit
1-phase/3-phase AC 220V -15～+10% 50/60Hz
Power of
control circuit
1-phase/3-phase AC 220V -15～+10% 50/60Hz
Braking type
External braking resistor
Built-in braking resistor.
b) 380V/400V servo drive
Name
M2
M3
MM4
M4
M5
M6
Servo drive
FL20-S
102
152
202
302
452
552
752
113
153
183
223
303
373
Continuous
output current
Arms
3
3.5
6.0
8.0
10.
0
12.0
20
23
32
38
44
60
75
Max output
current
Arms
8.4
9.8
16
19.
2
28
33
56
64
80
95
110
150
187
Power of main
circuit
1-phase/3-phase AC 380V -10～+10% 50/60Hz
Power of control
circuit
Without control circuit
Braing type
Built-in braking resistor.
External braking resistor
2）Technical specification
A. Basic specifications
Items
Contents
Power supply
S2/T2
220VAC -15~+10% 50/60Hz
T3
380/400VAC -10～+10% 50/60Hz

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Control mode
Pt Position pulse mode Pr Internal register position mode _
Sz Analog speed mode Sr Internal register speed mode
Tz Analog torque mode Tr Internal register torque mode
Regenerative braking
Built-in or External (External braking should be selected and purchased)
Control
characteristic
Control mode
PMSM
Frequency response
1.2KHz
Speed fluctuation
±0.01％(VC, load fluctuation 0 to 100%)
Speed control range
1：10000
Input pulse frequency
1. 500KHz (differential drive); 200KHz (Open collector)
2. At high-speed pulse circuit, receiving frequency is
4MHZ.(Differential)
Input signal
Control input
Servo on, Alarm reset, Pulse clear, Pulse prohibited, Forward run prohibited,
Reverse run prohibited, Forward torque limit, Reverse torque limit, Internal
speed selection, Internal position triggered, “Home” searching triggered, Zero
speed CLAMP
Speed Feedback
1. Absolute encoder.
2. Incremental encoder.
3. Resolver
Output
signal
Control output
Servo ready, Servo alarm activated, At positioning completed, At speed
reached, Electromagnetic brake control, Rotation Detection, At speed limit,
Homing completed, At torque limit, and so on.
Encoder signal
frequency-division
output
1. Encoder Z phase open-collector output.
2. Encoder signal output (A, B Z Line Driver) frequency-division output
3. Z pulse time extend function.
Position
control
Input mode
1. Aphase+B phase 2. Forward pulse+Reverse pulse
3. Pulse+Direction 4. Internal register
Electronic gear
1. 0.01≤ B / A ≤100
2. Two groups electronic gear can be selected by users.
Analog speed control
-10V～+10V analog speed signal input, the voltage scope can be set by
function code.
Analog torque control
-10V～+10V analog torque signal input, the voltage scope can be set by
function code.
Acceleration/Deceleration
Accele/decele time is set to 1～30000ms(related to 0←→rated speed)
Communication
1. RS485 communication port is connected with PC, to set control
parameters and to monitor servo.
2. CANopen or EtherCATcan be selected as option.
Parameters
setting
Keypad
The parameters are set by keypad, which is displayed by 5LEDs.
PC/PLC
RS485 communication can set parameters by some PC/PLC software.
Monitor function
Output current, PN voltage, motor speed, motor feedback pulse, motor
feedback rotation, given pulse, given pulse error, given speed, given torque,
analog speed given and analog torque given.
Protection function
Overvoltage, Undervoltage, Overload, Overcurrent, Encoder error,
Overspeed, Abnormal pulse control command, Emergency stop, Servo

FL20-S Series
19
overheat, Input power phase loss, Regeneration error, Overposition.
Applicable load inertia
Lower than 5 times of servo motor inertia.
B. Performance index
Control
mode
Specification
Speed
mode
Soft start
0～30S (Acceleration time and deceleration time can be set).
Input signal
Input voltage
DC±10V/ rated speed (It is default setting, which can be
changed by function code)
Input impedance
About 50K
Circuit time
parameter
About 52us
Internal
register speed
3 kinds of speed are combined by SD-S1 and SD-S2, the running direction is
controlled by SD-DIR (positive/negative logic is set by function code).
Position
mode
Specification
Feedforward
compensation
0～100% (resolution is 1%)
Positional
accuracy
1 command unit
Input signal
Pulse form
Select one from “direction +pulse” or “90° phase difference
orthogonal pulse”, or“forward pulse + reverse pulse”.
Input form
Differential input, open-collector input.
Input pulse
frequency
1. Optocoupler input
Differential driver: max frequency is 500KHZ；
Collector driver: max frequency is 200KHZ；
2. Differential chip input, the max frequency is 4MHZ
Electronical
gear
0.01≤B/A≤100
Output signal
Output form
A phase, B phase, Z phase: differential driver output
Z phase open collector output.
Frequency-divi
sion ratio
A, B phase frequency-division output except Z phase
Control signal
Pulse
command clear
Bias pulse can be cleared by external signal.
Built-in power
+24V (100mA)
Torque
mode
Input signal
Input voltage
DC±10V/ rated torque (It is default setting, which can be
changed by function code)
Input impedance
About 50K
Circuit time
parameter
About 52us

FL20-S Series
20
2.1.4 Connection to Peripheral Devices
Three phase AC power (for 1 phase 220v,
only L1 and L3 should be connected)
Breaker
Braking
resistor
Electromagnetic brake relay
(common-open)
EMI filter
Contacter
Input choke
DC choke
Servo Motor
24V power supply
Used to protect power wire
RS 485
communication
interface
MODBUS
PC / PLC
PLC, CNC command
controller
For electromagnetic
brake motor
Encoder interface
( Optional)
( Optional)
(Optional)
( Optional)
*This connection is forbidden for 380V, 3 phase option
Fig 2.1.5 Servo drive system
Note)
For 220V input servo drive, L1C and L2C should be connected to power supply.
For 380V input servo drive, L1C and L2C are forbidden to connect.