AASD Auxiliary Mode (Fn) Operation
Auxiliary mode provides special functions for commissioning, diagnostics, calibration, parameter handling, and encoder operations. These functions are accessed through the “Fn” (Function) menu of the
Auxiliary Function List (Fn000–Fn018)
Fn000
Alarm Record Query
View alarm history.
Fn001
Write User Parameters Permanently
Saves Pn000–Pn280 parameter changes to EEPROM (required for persistence after power-cycle).
Fn002
JOG Commissioning Operation
Provides inching mode and speed-adjustment commissioning.
Fn003
Clear Current Alarms
Clears active alarms that allow manual reset.
Fn004
Parameter Initialization
Restores Pn000–Pn280 to factory defaults (depends on Pn000 configuration).
Fn005
Clear Position Deviation
Resets accumulated position error.
Fn006
Forced Output of SigOut Ports
Forces all output ports HIGH or LOW for testing.
Fn007
Analog Torque Command Voltage Calibration
Calibrate torque input (Vref).
Fn008
Analog Speed Command Voltage Calibration
Calibrate speed input (Vref).
Fn009
Bus Voltage Calibration
Adjust measurement of AC input/bus voltage.
Fn010
Temperature Calibration
Calibrate internal temperature reading.
Fn011
Alarm Record Initialization
Clears the entire alarm history table.
Fn012
Encoder Zeroing
Automatically rotates motor to detect and lock a new zero position.
Fn015
Absolute Encoder Multi-Turn Data Zeroing
Resets multi-turn data to zero and clears latched encoder alarms.
Fn016
Absolute Encoder Alarm Reset
Clears absolute encoder alarms.
Fn018
Load Inertia Estimation
Automatically estimates load inertia.
3.4.2 Detailed Function Descriptions
Fn000 – Alarm Record Query
Allows viewing stored alarm history.
Fn001 – Permanent Write of User Parameters
Writes parameters Pn000–Pn280 into the driver’s internal EEPROM.
⚠️ Important Notes
You must not power off the drive until writing is fully completed (approx. 5 seconds).
Power-off during writing may corrupt EEPROM contents → AL-01 (Memory Error).
If the operation shows a busy indicator, wait a few seconds and try again.
Fn002 – JOG Commissioning Operation
Fn002 provides three modes:
0 – Inching Mode
Motor rotates CW/CCW while ▲ or ▼ is held, stops when released.
1 – Speed Regulation Mode
Motor energized; speed is adjusted via ▲ or ▼ keys.
2 – Exit Speed Mode
Motor power disabled; returns to standby.
JOG Parameters
Pn177
JOG Speed
0–5000 r/min
200 r/min
Pn178
Acceleration Time
5–10000 ms
100 ms
Pn179
Deceleration Time
5–10000 ms
100 ms
⚠️ Possible reasons for unable to enter JOG (error display):
Motor is already enabled or rotating.
An alarm is active and not cleared.
Fn003 – Alarm Clear Operation
Attempts to clear currently detected alarms.
If clearing fails, some alarms can only be reset by a full power-cycle.
Alarms Clearable by Fn003
AL-02 Low Voltage
AL-05 Overload 1
AL-07 Excessive Motor Speed
AL-08 Radiator Overheat
AL-10 Excessive Pulse Frequency
AL-11 Position Pulse Deviation Too Large
AL-12 Current Sampling Circuit Fault
AL-14 Emergency Stop
AL-15 Drive Disable Error
AL-16 Brake Power Overload
AL-17 Encoder Frequency Division Setting Error
AL-19 Power Module Overheat
Alarms Only Clearable After Power-Cycle
AL-01 Memory Exception
AL-03 Overvoltage
AL-04 Intelligent Power Module Fault
AL-06 Overload 2
AL-09 Encoder Error
AL-13 CPU Internal Fault
AL-18 Incorrect Motor Code Setting
AL-20 Duplicate Function Port Assignment
AL-21 Memory Content Destroyed
AL-22 Watchdog Timer Overflow
AL-31 … AL-43 Absolute Encoder Related Alarms
Fn004 – Parameter Initialization
Restores parameters Pn000–Pn280 to factory default values if permitted by Pn000.
⚠️ Important:
Do not power off during write — may cause AL-01 memory corruption.
Operation may be blocked if writing is in progress or if Pn000 does not allow initialization.
Fn005 – Clear Position Deviation
Resets accumulated position error to zero.
Fn006 – Forced SigOut Output
For testing output signals.
0
Cancel forced output state
1
Force all SigOut ports HIGH
2
Force all SigOut ports LOW
Fn007 – Analog Torque Command Voltage Calibration
Calibrates the torque command input.
✔️ Before calibration: connect CN2-pin-25 (Vref) to 0 V reference.
Fn008 – Analog Speed Command Voltage Calibration
Same procedure as torque calibration.
✔️ Connect CN2-pin-25 (Vref) to 0 V reference.
Fn009 – Bus Voltage Calibration
Used to calibrate the AC input measurement.
✔️ Both control power and main power must be connected; input AC voltage must be measured manually and entered during calibration.
Fn010 – Temperature Calibration
Calibrates the internal temperature sensor.
Fn011 – Alarm Record Initialization
Clears all entries in the alarm history table.
Fn012 – Encoder Zeroing
Automatically rotates motor and sets a new zero reference.
Requirements
Pn001 (motor code) must match the actual motor. Otherwise excessive current may damage the motor.
No enable signal required.
Motor rotates several turns, then locks to zero.
Completion criterion: pulse deviation < 10
⚠️ After completion, wait several seconds for data to be written before powering off. ⚠️ If the motor is overheated, allow it to cool first.
Fn015 – Absolute Encoder Multi-Turn Zeroing
Resets multi-turn counter to zero and clears all latched absolute encoder alarms.
Failure occurs if:
Encoder communication alarm is active
Motor is enabled
Fn016 – Absolute Encoder Alarm Reset
Clears encoder alarm latches.
Failure occurs if:
Encoder communication alarms persist
Motor is in enabled state
Fn018 – Load Inertia Estimation
Automatically measures the mechanical load inertia connected to the motor.
AL Error Code Reference
Below is a GitBook-friendly summary of all AL-xx alarm codes mentioned in the manual.
AL-01 — Memory Exception
EEPROM content corrupted, often caused by power-off during write.
AL-02 — Low Voltage
DC bus voltage below safe operation threshold.
AL-03 — Overvoltage
Bus voltage exceeds limit (e.g., due to regeneration).
AL-04 — Intelligent Power Module Fault
IPM module detected internal hardware failure.
AL-05 — Overload 1
Overcurrent condition level 1.
AL-06 — Overload 2
Severe overcurrent condition level 2.
AL-07 — Motor Overspeed
Motor exceeded allowed RPM.
AL-08 — Radiator Overheat
Heatsink temperature too high.
AL-09 — Encoder Exception
Encoder signal abnormal.
AL-10 — Pulse Frequency Too High
Command pulse rate exceeds supported limit.
AL-11 — Excessive Position Pulse Deviation
Internal position error too large.
AL-12 — Current Sampling Circuit Fault
Analog current sensing hardware malfunction.
AL-13 — CPU Internal Fault
Internal processor error.
AL-14 — Emergency Stop Triggered
Emergency stop input activated.
AL-15 — Drive Disable Error
Power stage disabled due to fault condition.
AL-16 — Brake Average Power Overload
Brake resistor thermal overload.
AL-17 — Encoder Frequency Division Error
Incorrect encoder signal division configuration.
AL-18 — Incorrect Motor Code Setting
Pn001 does not match motor type.
AL-19 — Power Module Overheat
Main power transistor overheating.
AL-20 — Duplicate Function Port Setting
Conflicting assignment of I/O function ports.
AL-21 — Memory Completely Destroyed
EEPROM data fully corrupted, requires reset/service.
AL-22 — Watchdog Timer Overflow
Firmware watchdog expired → system stall detected.
AL-31 ~ AL-43 — Absolute Encoder Related Alarms
Various absolute encoder communication or internal data errors.
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