Wheatstone K series User manual

K/iK series
AC Servo Driver
User’s Manual 2016（V1.9）

Preface
●Thank you for purchasing this AC servo driver.
●This Manual is the user manual for K/iK series products.
●To use this series of servo drivers correctly, please carefully read this Manual before use and
keep this Manual properly for future reference. If this product is purchased for your customer,
please send this product to the final user together with this Manual.
☆Warm tips:
◇For the user who uses this product for the first time, please carefully read this Manual. If
there is any question with the function or performance of this product, please contact our
technical support staff for help in order to use this product correctly.
◇We have tried our best to improve the contents of this manual. However, if you find any
problem in this Manual, please contact our technical support staff in time for us to make
timely corrections.
◇As we will constantly improve our servo driver products, we may make changes to the
materials without prior notice.
◇Without prior written consent of the Company, no part of this manual shall be reproduced.

Safety Precautions
Before product storage, installation, wiring, operation, check or maintenance, users must be
familiar with and observe the following important notes to ensure safety during use of the product.
1. Electric Shock Injury Warning
Warning
When the servo driver is powered on, the machine casing should not be opened so as to avoid
electric shock.
When the casing is opened, the servo driver should not be powered on so as to avoid electric
shock resulting from exposed high voltage wire.
In maintenance of the driver, wait for at least five minutes after cutting off the power, and
detect both ends of the high-voltage capacitor using a voltmeter. The maintaining operation is
allowed only when it is confirmed that the safe voltage range is reached.
Power on only after reliable installation of the driver.
Servo driver and servo motor must be reliably grounded.
Do not touch the driver with wet hands for fear of electric shock.
Wrong voltage or power supply polarity may cause an explosion or operational accidents.
Ensure that the wire is properly insulated to avoid squeezing the wire and electric shock.
2. Warning of Damage to Equipment
Warning
Do not directly connect power to the U, V or W terminals of the driver for fear of damaging
the driver.
The servo motor and servo driver should be directly connected. Do not connect the U, V or W
output ends of the driver to any capacitive element (e.g. noise suppression filter, pulse
interference limiter, etc.) for fear of improper work of the driver.
Connect the input end of the driver to a compliant power supply as required.
Please verify the correctness and reliability of the cable connections before energizing.
Please purchase and use motor as required, or damage to the driver or motor may occur.
The rated torque of the servo motor should be higher than the effective continuous load
torque.
The ratio between the load inertia and servo motor inertia should be less than the
recommended value.

3. Fire Warring
Warning
The driver should not be installed on the surface of a combustible and should be kept away
from flammable materials. Otherwise, a fire accident may occur.
Do not use it at a place which is damp, full of corrosive gas or flammable gas for fear of a
fire.
When any abnormal situation occurs while the driver operates, please immediately cut off the
power for repair. Long-time overloaded operation of the driver may cause damage and fire.

Contents
Chapter I Function Overview...........................................................................................................1
1.1 Description of Servo Driver Models.....................................................................................1
1.2 External Dimension.............................................................................................................. 1
1.3 Basic Functions.....................................................................................................................2
Chapter II Installation and Dimension................................................................................................3
2.1 Servo Driver....................................................................................................................3
2.1.1 Storage Condition............................................................................................... 3
2.1.2 Installation Site................................................................................................... 3
2.1.3 Installation Direction.......................................................................................... 3
2.1.4 Installation of Several Servo Drivers..................................................................3
2.1.5 Dimension Description....................................................................................... 4
2.2 Servo Motor.................................................................................................................... 5
2.2.1 Storage Temperature........................................................................................... 5
2.2.2 Direction............................................................................................................. 5
2.2.3 Installation Concentricity....................................................................................6
2.2.4 Installation Direction.......................................................................................... 6
2.2.5 Protection Measures Against Water and Oil.......................................................6
2.2.6 Cable Tension......................................................................................................7
Chapter III Wiring............................................................................................................................... 8
3.1 Wiring of Main Circuit................................................................................................... 8
3.1.1 Descriptions of Terminals...................................................................................8
3.1.2 Typical Examples for Main Circuit Wiring........................................................ 9
3.2 Encoder Signal Wiring.................................................................................................. 11
3.2.1 Connection with Encoder Interface (CN1/CN2) and Processing of Output
Signal from CN3............................................................................................................... 12
3.3 Input/Output Signal Wiring.......................................................................................... 14
3.3.1 Speed/Torque Control Mode.............................................................................14
3.3.2 Position Control Mode......................................................................................16
3.3.3 Signals and Their Functions for Input/Output Connector (CN3).....................17
3.3.4 Interface Circuit................................................................................................ 18
3.4 Other wiring.................................................................................................................. 20
3.4.1 Precautions........................................................................................................20
3.4.2 Anti-interference Wiring...................................................................................22
3.5 Wiring of Motor............................................................................................................ 24
3.5.1 Connector Terminal Wiring for Motor Power Supply......................................24
3.5.2 Connector Terminal Wiring for Motor Encoder...............................................24
Chapter IV Panel Operation..............................................................................................................26
4.1 Basic Operation.............................................................................................................26
4.1.1 Key Names and Functions................................................................................ 26
4.1.2 Selection and Operation of Basic Mode...........................................................26
4.1.3 Status Display................................................................................................... 27

4.2 Auxiliary Function Mode (F□□□□)....................................................................... 29
4.2.1 Execution Mode List of Auxiliary Functions................................................... 29
4.2.2 Display of Software Version of Servo.............................................................. 29
4.2.3 Position Demonstration Operation................................................................... 30
4.2.4 Identification of Inertia Percentage.................................................................. 30
4.2.5 Confirmation of Motor Model..........................................................................31
4.2.6 Initialization of User Parameter Setup............................................................. 32
4.2.7 Displaying History Alarm Data........................................................................ 32
4.3 Operation under User Parameter Mode (P□□□□).................................................. 33
4.3.1 User Parameter Setting..................................................................................... 33
4.3.2 Signal Distribution of Input Circuit..................................................................34
4.3.3 Signal Distribution of Output Circuit............................................................... 37
4.4 Operation under Monitoring Mode (Un□□□)..........................................................42
4.4.1 List of Monitoring Mode.................................................................................. 42
Chapter V Operation......................................................................................................................... 45
5.1 Trial Operation.............................................................................................................. 45
5.1.1 Trial Operation for Servo Motor Unit.............................................................. 45
5.1.2 Trial Operation for Servo Motor Unit with Superior Reference......................46
5.1.3 Trial Operation Servomotor Connected to the Machine.................................. 49
5.1.4 Trial Operation of Servomotor with Brakes..................................................... 50
5.1.5 Position Controlled by Command Controller...................................................50
5.2 Selection of Control Mode............................................................................................50
5.3 Setting of General Basic Functions.............................................................................. 51
5.3.1 Servo ON Setting.............................................................................................. 51
5.3.2 Rotation Direction Switching of Motor............................................................52
5.3.3 Overtravel Setting............................................................................................. 52
5.3.4 Setting for Holding Brake.................................................................................54
5.4 Use of Absolute Encoder.............................................................................................. 57
5.4.1 Interface Circuit....................................................................................................... 58
5.4.2 Selection of Absolute Encoder.................................................................................59
5.4.3 How to Use Battery..................................................................................................59
5.4.4 Giving and Receiving Sequence of Absolute Data................................................. 60
5.4.5 Setting of Absolute Encoder (F□009/ F□010)......................................................62
5.4.6 Clear of Multi-coil Data of Absolute Encoder........................................................ 62
5.4.7 Clear of Internal Errors of Bus Encoder..................................................................63
5.5 Speed Control (Analog Voltage Reference) Operation................................................ 63
5.5.1 User Parameter Setting..................................................................................... 63
5.5.2 Setting of Input Signal................................................................................... 64
5.5.3 Adjustment of Reference Offset....................................................................... 64
5.5.4 Soft Start........................................................................................................... 67
5.5.5 Use of Zero Clamping Function....................................................................... 68
5.5.6 Encoder Signal Output......................................................................................69
5.6 Position Control Operation........................................................................................... 71
5.6.1 User Parameter Setting..................................................................................... 71

5.6.2 Setting of Electronic Gear................................................................................ 72
5.6.3 Position Reference............................................................................................ 74
5.6.4 Smoothing......................................................................................................... 77
5.6.5 Positioning Completed Output Signal.............................................................. 77
5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function)..........................79
5.7 Torque Control Operation............................................................................................. 80
5.7.1 User Parameter Setting..................................................................................... 80
5.7.2 Torque Reference Input.................................................................................... 80
5.7.3 Adjustment of Reference Offset....................................................................... 81
5.7.4 Speed Limit under Torque Control................................................................... 83
5.8 Speed Control (Internal Speed Selection) Operation................................................... 84
5.8.1 User Parameter Settings for speed control with an internally set speed.......... 84
5.8.2 Setting of Input Signal...................................................................................... 85
5.8.3 Operation at Internal Set Speed........................................................................ 85
5.9 Torque Limit................................................................................................................. 87
5.9.1 Internal Torque Limit (Limitation on Output Torque Maximum Value)..........87
5.9.2 External Torque Limit (through Input Signal)..................................................88
5.9.3 Torque Limit Based on Analog Voltage reference............................................89
5.9.4 Torque Limit Based on External Torque Limit + Analog Voltage Reference..90
5.9.5 Confirmation under Input Torque Limit...........................................................92
5.10 Control Mode Selection................................................................................................ 92
5.10.1 User Parameter Setting..................................................................................... 92
5.10.2 Shift of Control Mode.......................................................................................92
5.11 Other Output Signal...................................................................................................... 93
5.11.1 Servo Alarm Output (ALM)............................................................................. 93
5.11.2 Rotation Detection Output (/TGON)................................................................93
5.11.3 Servo Ready Output (/S-RDY).........................................................................94
5.12 Mode Motion Sequence Manner.................................................................................. 94
5.12.1 Single Data Set Manner.................................................................................... 94
5.12.2 Data Set Sequence Mode.................................................................................. 96
5.12.3 Operation of Seeking Reference Point (Return to Zero)................................101
Chapter VI Communication............................................................................................................ 105
6.1 Communication Wiring...............................................................................................105
6.2 User Parameter............................................................................................................106
6.3 MODBUS Communication Protocol................................................................................107
6.4 MODBUS Communication Address.................................................................................114
Chapter VII Maintenance and Inspection....................................................................................... 128
7.1 Abnormality Diagnosis and Treatment Methods........................................................128
7.1.1 Overview of Alarm Display............................................................................128
7.1.2 Alarm Displays and Their Causes and Treatment Measures..........................129
7.1.3 Causes and Treatment Measures of Other Abnormalities.............................. 139
7.2 Maintenance and Check of Servo Drive.....................................................................144
7.2.1 Check of Servo Motor.................................................................................... 144
7.2.2 Check of Servo Drive..................................................................................... 145

7.2.3 General Standards of Replacement of Internal Parts of Servo Drive............ 145
Appendix A Summary of User Parameters..................................................................................... 146
Appendix B Table of iK Series M2 Drive Parameters................................................................... 178
Appendix C List of Alarm Display................................................................................................. 193
Appendix D Guidelines for Motor Model by Users....................................................................... 195
Motor Adaption Table............................................................................................................. 196
1: M Series Motor........................................................................................................... 196
2. H Series Motor............................................................................................................198

K/iK Series AC Servo Driver
1
Chapter I Function Overview
1.1 Description of Servo Driver Models
Naming rule of K series servo driver:
Naming rule of iK series bus servo driver:
Note: 3.5kW and 5kW products are single axis products
1.2 External Dimension

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1.3 Basic Functions
Control mode
Position control, JOG running, speed contact, etc.
Encoder feedback
2500-line incremental standard and 17 bit incremental encoders
Use
conditions
Ambient/storage
temperature
Ambient temperature: 0~+50℃; storage temperature: -20~+85℃
Ambient/storage humidity
Under 90%RH (no freezing or condensation)
Vibration/impact
resistance strength
4.9m/s2/19.6m/s2
Analog
speed
reference
input
Reference voltage
DC±10V
Input impedance
Appx. 20KΩ
Analog
torque
reference
input
Reference voltage
DC±10V
Input impedance
Appx. 20KΩ
IO input
signal
Point
8 points
Function (distributable)
Servo ON (/S-ON), P action (/P-CON), positive-side over travel prohibited (P-OT),
negative-side over travel prohibited (N-OT), alarm reset (/ALM-RST), positive-side torque
limit (/P-CL), negative-side torque limit (/N-CL), position deviation clear (/CLR), internal
set speed switch, etc.
Distribution of above signals and change of positive/negative logics are available
IO output
Signal
Point
6 points
Function (distributable)
Servo alarm (ALM), position complete (/COIN), velocity compliance detection (/V-CMP),
servo motor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection
(/CLT), breaker (/BK), encoder zero point output (PGC)
Distribution of above signals and change of positive/negative logics are available
Encoder divided frequency output
A-phase, B-phase and C-phase: linear drive output; divided pulse count: can be set freely
RS-485
communica
tion
Communication protocol
MODBUS
1:N communication
N = 127 stations at maximum
Axial address setting
Set by parameters
CAN
communica
tion
Communication protocol
CANOpen (DS301 + DS402 guild regulations)
1:N communication
N = 127 stations at maximum
Axial address setting
Set by parameters
Display functions
CHARGE indicator, 7-segment digital tube 5 bit
Regeneration processing
Built-in or external regeneration resistor (optional)
Overtravel (OT) prevention function
Dynamic breaker (DB) stop, deceleration stop or free running stop during P-OT or N-OT
input action
Protection functions
Overcurrent, overvoltage, undervoltage, overload, overspeed, regeneration failure, encoder
feedback error, etc.
Monitoring functions
Rotation speed, current position, reference pulse accumulation, positional deviation, motor
current, operating status, input and output terminal signal, etc.
Auxiliary functions
Gain adjustment, alarm record, JOG running, origin search, inertia detection, etc.
Intelligent function
Built-in gain auto tuning function
Applicable load inertia
Less than 5 times of the motor inertia
Position
control
Feed-forward
compensation
0~100% (set unit: 1%)
Input pulse type
Sign + pulse sequence, CW+CCW pulse sequence, 90 ° phase difference two-phase pulse
(A phase + B phase)
Input pulse type
Linear drive and open connector supported
Maximum input pulse
frequency
Linear drive：
Sign + pulse sequence, CW+CCW pulse sequence: 500Kpps
90 ° phase difference two-phase pulse (A phase + B phase): 500Kpps
Open connector：
Sign + pulse sequence, CW+CCW pulse sequence: 200Kpps
90 ° phase difference two-phase pulse (A phase + B phase): 200Kpps

K/iK Series AC Servo Driver
3
Chapter II Installation and Dimension
2.1 Servo Driver
K series servo drivers are base-mounted and improper installation may give rise to
failures. Please install the servo driver properly by following the instructions below.
2.1.1 Storage Condition
The servo driver should be kept in a place with an ambient temperature of [-20~+85]℃when
not used.
2.1.2 Installation Site
■ Temperature: 0～55°C;
■ Ambient humidity: not higher than 90% RH ( no condensation);
■ Sea level not higher than 1000 m;
■ Maximum vibration: 4.9m/s²;
■ Maximum Impact: 19.6m/s²;
■ Other installation precautions:
· Installed in a control cabinet
Attention should be paid to the size of the control cabinet, the placement mode of servo
driver and cooling mode, in order to ensure that the ambient temperature for the servo driver is
under 55℃. Please refer to description in Section 1.2.2 for operation details;
· Installed near heat source
The radiation of the heat source and temperature rise caused by convection should be under
control, in order to ensure that the ambient temperature for the servo driver is under 55℃;
·Installed near vibration source
A vibration isolation device should be installed to avoid vibration passing to the servo driver;
· Installed in a place exposed to corrosive air
Necessary measures should be taken to prevent the servo driver from exposing to corrosive
air. Corrosive air may not immediately affect servo driver but will obviously cause the failure of
electronic components and relevant elements of the contactor;
· Other occasions
Servo driver should not be put in occasions of high temperature, high humidity, condensation
dripping, oil splashing, dust, scrap iron or radiation;
Note: when cutting off the power to store the servo driver, please put the driver in a place
with the following environmental conditions: -20~85℃, 90% RH below (no condensation)
2.1.3 Installation Direction
The direction of installation should be vertical to the mounting surface and two mounting
holes should be used to reliably fix the servo driver on the installation base. If required, a fan
should be installed to compulsorily cool the servo driver.
2.1.4 Installation of Several Servo Drivers

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4
If more than one servo driver should be installed in a control cabinet in parallel, the space
indicated below should be followed for installation and heat dissipation.
■ Installation direction of servo driver
The front (wiring side) of the servo driver should face the operator and should be vertical to
the mounting base.
■ Cooling
Adequate space should be reserved around the servo driver to ensure cooling through a fan or
free convection.
■ Parallel installation
As shown above, a space of above 10 mm should be reserved at both sides of the horizontal
direction and a space of above 50mm should be reserved at both sides of the vertical direction.
The temperature inside the control cabinet should be kept even to avoid excess temperature in
some parts of the servo driver. If necessary, a fan for compulsory cooling and convection should
be installed above the servo driver.
■ Environmental condition for normal operation of servo driver
1. Temperature: 0~ 55℃
2. Humidity: below 90%RH (no condensation)
3. Vibration: below 4.9m/s2
4. To ensure long-term stable use, it is recommended to use the servo driver under an
environmental temperature condition of 45℃and below.
2.1.5 Dimension Description

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5
Dimension of 1.5kW / 2.0kW（220V）and 2.0kW / 3.5kW（380V）are shown below:
Dimension of 3.5kW / 5.0kW（220V）和 5.0kW / 7.5kW（380V）are shown below:
2.2 Servo Motor
The servo motor can be installed in horizontal or vertical direction. The service life of the
servo motor will be shortened significantly or unexpected accident may occur if any mechanical
mismatch occurs during installation. Please follow the instructions below for correct installation.
Precautions before installation:
Antirust agent is applied at the motor axis end and should be wiped off using a soft cloth dipped in
diluent before installation.
When wiping off the antirust agent, attention should be paid to prevent the diluent from contacting
other parts of the servo motor.
2.2.1 Storage Temperature
The servo motor should be kept in a place with an ambient temperature of [-20~+60]℃when
not used.
2.2.2 Direction

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6
Servo motor should be installed indoor and the indoor space should meet the following
environmental conditions.
No corrosive, flammable or explosive air
Good ventilation, little dust and dry environment
Ambient temperature within 0~40℃
Relative humidity within 26%~80%RH without condensation
Easy for maintenance and cleaning
2.2.3 Installation Concentricity
Flexible coupling should be used as much as possible when connecting to machinery. In
addition, axis of servo motor should be placed in a straight line with that of mechanical load.
When installing servo motor, requirements for concentricity tolerance should be met as the
following figure.
Measure at quarter of a circle to make sure that difference between max. value and min.
value is lower than 0.03 mm. (rotating with coupling)
Mechanical vibration will be caused by large concentricity deviation
and therefore will lead to damages to servo motor bearing.
When installing coupling, axial percussion is prohibited, otherwise
damages will be caused to encoder of servo motor.
2.2.4 Installation Direction
Servo motors can be installed horizontally, vertically or in random direction.
2.2.5 Protection Measures Against Water and Oil
When using in places containing water, oil or condensation, it is required to take special
measures to motors as per protection requirements; however, motors with oil seals should be used
since protection requirements for shaft penetrating portion should be satisfied when motors
leaving factory. Shaft penetrating portion refers to interval between extension of motor end and
end flange.

K/iK Series AC Servo Driver
7
2.2.6 Cable Tension
Bending radius cannot be too small when connecting cables. It is also not suggested to exert
too much tension in cables. Specially, diameter for core wire of signal line is usually very fine (0.2
or 0.3 mm), therefore too much tension cannot be exerted during wiring.

K/iK Series AC Servo Driver
8
Chapter III Wiring
3.1 Wiring of Main Circuit
This section explains wiring examples of main circuit, functions of terminals in main circuit
and power ON sequence.
Notes
· Do not lead power lines and signal lines to the same pipe, nor bind them together. During wiring,
power lines should be kept over 30 cm away from signal line.
Otherwise, malfunction may be caused.
· Multi-stranded wires and multi-core shielded wire should be used as signal lines and feedback wires
for encoder (PG).
As for wire length, reference input wire should be 3m at most and 20 m at most for PG feedback wire.
· High voltage may be maintained in the servo driver even the power is turned off. Do not touch power
terminal within 5 minutes after power off.
Inspection operation should be carried out when CHARGE indicator light is confirmed to be off.
· Do not frequently turn on or off the power. If it is required to continuously turn on or off the power,
frequency should be limited to 1 time/min below.
Due to capacitance in power of servo unit, large charging current (charging for 0.2 s) will flow through
when power is ON. Therefore, performance of components in main circuit within servo unit will be
damaged if power is turned on/off frequently.
3.1.1 Descriptions of Terminals
Terminals and respective function and precaution for driver panel are as follows.
Terminal
Functions
Precautions for operation
U1, V1, W1
Terminal of A-axis motor power line
Connected to A-axis servo motor
U2, V2, W2
Terminal of b-axis motor power line
Connected to b-axis servo motor
L1, L2, L3
Input terminal of main circuit power
Three phase 200 - 230VAC (-15%~+10%)
(50/60Hz)
L1C, L2C
Power input terminal of control loop
Single phase 200 - 230VAC (-15%~+10%)
(50/60Hz)
B1, B2
Terminal of bleeder resistor
Resistor should be connected to B1 and B2 if
external connection for bleeder resistor is required
PE
Earthing Terminal
Earthing measures should be carried out for
connection of power earthing terminals and motor
earthing terminals
Notes: A axis refers to U1, V1 and W1; b axis refers to U2, V2 and W2 in the instruction.

K/iK Series AC Servo Driver
9
3.1.2 Typical Examples for Main Circuit Wiring
Three phase 220 V (double-axis drive)

K/iK Series AC Servo Driver
10
Three phase 220 V (single-axis drive)
--------------------------------------------------------------------------------------------
Notes: design of power ON sequence
The following items should be considered during design of power ON sequence.
1. Design of power ON sequence: power should be OFF after output of signals of "servo alarm". (Refer
to the above circuit diagram.)
2. Press the POWER ON button for over 2 s. When control power of servo unit is ON, output 2s "servo
alarm" signal (1Ry: OFF). It is required to be done during initial setting of servo driver.
3. Power specification for used parts should match with input power.
------------------------------------------------------------------------------------------------------------------------------------------

K/iK Series AC Servo Driver
11
Three phase 380 V (single-axis drive)
3.2 Encoder Signal Wiring
Connecting cables between encoder and servo driver and their wiring pin No. vary with
servo motors.Signal of side encoder interface (CN1/CN2) for servo driver:
Terminal
No.
Signal leads
Terminal
No.
Signal leads
Incremental
encoder
Bus encoder
Incremental
encoder
Bus encoder
1
PA
—
8
PU
—
2
/PA
—
9
/PU
—
3
PB
—
10
PV
—
4
/PB
—
11
/PV
—
5
PC
E+
12
PW
SD+
6
/PC
E-
13
/PW
SD-
7
5V
5V
14
GND
GND
Casing
Shielded wire

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12
3.2.1 Connection with Encoder Interface (CN1/CN2) and Processing of Output
Signal from CN3
In the figure: *1: connector wiring pin No. varies with used servo motor.
*2: refers to multi-stranded shielded wire.
*3: connector wiring pin No. varies with used servo motor. 19 -25 is pin number for
axis A of single-axis or double axis motor; 44 - 49 is pin number of axis b of double-axis motor.
(1) 2500 incremental wire-saving encoder