Running Servo in Velocity or Torque mode via IO
Alon Avivi
Dec-24th, 2020 10:35

The Servo drive can be operated via IO in Velocity or Torque mode.

On these modes the drive will execute a constant velocity \Torque command proportional to an ANALOG input value

In order to do so you will need to wire CN1 IO connector.

CN1 pin 14 is the "Servo On" input, Connect +24Vdc to pin 13 and relay output to Pin 14.

CN1 pin 26&27 are the Torque value input

CN1 pin 1&2 are the velocity speed input.

CN1 pin 9&10 are the Servo ready outputs.

Velocity Control:

  1. Please note PN006 (No Bus) must be set to 0.
  2. Restart the Servo after PN006 change.
  3. Set Pn005 to H.0000 (default value is H.0010)
  4. Change Pn300- Analog Speed Reference Input Gain, 0-3000 (default value 150)
  5. This value will set the minimum velocity per 1V due to the equation: VRef [V]x Pn300. This value can be changed during Servo RUN operation.
  6. For example Pn300=300 X VRef=5V = Servo Velocity 1500Rpm.
  7. Connect Analog reference to CN1 pin 1 +Ref, Pin 2 –Ref. -10VDC - +10VDC
  8. Check Un001 for the actual velocity (Rpm).
  9. The Servo will start RUN in Velocity once S-ON is enabled.
  10. Note-It is also possible to RUN the Servo in Velocity mode without Voltage input (CN1 Pin1&2) using the value in Pn300.
  11. For example: Pn300=1000 , the Servo will RUN in 17 Rpm.
  12. Pn300=2000 , the Servo will RUN in 34 Rpm.
  13. Pn300=3000 , the Servo will RUN in 51 Rpm.

Torque Control:

  1. Please note PN006 (No Bus) must be set to 0.
  2. Restart the Servo after PN006 change.
  3. Set Pn005 to H.0020 (default value is H.0010)
  4. Change Pn400- Torque Reference Input Gain, 10-100 (default value 33)
  5. This value will set the minimum Torque per 0.1V/100% due to the equation:
  6. VRef [0.1V]x Pn400.
  7. This value can be changed during Servo RUN operation.


For example:

Pn400=30: The Servo motor operates at the rated torque with 3V input (factory setting).

Pn400=100: The Servo motor operates at the rated torque with 10V input.

In order to apply 300% Torque, set Pn400=30 and VRef=9V

  • Connect Analog reference to CN1 pin 26 +Ref, Pin 27 –Ref. -10VDC - +10VDC
  • Check Un003 for the actual Torque.
  • The Servo will start RUN in Torque once S-ON is enabled.

Running the Servo in velocity (Speed) control:

Running the Servo in Torque Control:

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