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)

No.	Function Name	Description
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.

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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.

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Fn002 – JOG Commissioning Operation

Fn002 provides three modes:

Mode	Description
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

Parameter	Description	Range	Default
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.

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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

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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.

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Fn005 – Clear Position Deviation

Resets accumulated position error to zero.

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Fn006 – Forced SigOut Output

For testing output signals.

Value	Action
0	Cancel forced output state
1	Force all SigOut ports HIGH
2	Force all SigOut ports LOW

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Fn007 – Analog Torque Command Voltage Calibration

Calibrates the torque command input.

✔️ Before calibration: connect CN2-pin-25 (Vref) to 0 V reference.

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Fn008 – Analog Speed Command Voltage Calibration

Same procedure as torque calibration.

✔️ Connect CN2-pin-25 (Vref) to 0 V reference.

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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.

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Fn010 – Temperature Calibration

Calibrates the internal temperature sensor.

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Fn011 – Alarm Record Initialization

Clears all entries in the alarm history table.

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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.

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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

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Fn016 – Absolute Encoder Alarm Reset

Clears encoder alarm latches.

Failure occurs if:

• Encoder communication alarms persist

• Motor is in enabled state

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Fn018 – Load Inertia Estimation

Automatically measures the mechanical load inertia connected to the motor.

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AL Error Code Reference

Below is a GitBook-friendly summary of all AL-xx alarm codes mentioned in the manual.

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AL-01 — Memory Exception

EEPROM content corrupted, often caused by power-off during write.

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AL-02 — Low Voltage

DC bus voltage below safe operation threshold.

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AL-03 — Overvoltage

Bus voltage exceeds limit (e.g., due to regeneration).

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AL-04 — Intelligent Power Module Fault

IPM module detected internal hardware failure.

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AL-05 — Overload 1

Overcurrent condition level 1.

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AL-06 — Overload 2

Severe overcurrent condition level 2.

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AL-07 — Motor Overspeed

Motor exceeded allowed RPM.

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AL-08 — Radiator Overheat

Heatsink temperature too high.

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AL-09 — Encoder Exception

Encoder signal abnormal.

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AL-10 — Pulse Frequency Too High

Command pulse rate exceeds supported limit.

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AL-11 — Excessive Position Pulse Deviation

Internal position error too large.

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AL-12 — Current Sampling Circuit Fault

Analog current sensing hardware malfunction.

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AL-13 — CPU Internal Fault

Internal processor error.

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AL-14 — Emergency Stop Triggered

Emergency stop input activated.

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AL-15 — Drive Disable Error

Power stage disabled due to fault condition.

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AL-16 — Brake Average Power Overload

Brake resistor thermal overload.

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AL-17 — Encoder Frequency Division Error

Incorrect encoder signal division configuration.

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AL-18 — Incorrect Motor Code Setting

Pn001 does not match motor type.

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AL-19 — Power Module Overheat

Main power transistor overheating.

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AL-20 — Duplicate Function Port Setting

Conflicting assignment of I/O function ports.

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AL-21 — Memory Completely Destroyed

EEPROM data fully corrupted, requires reset/service.

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AL-22 — Watchdog Timer Overflow

Firmware watchdog expired → system stall detected.

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AL-31 ~ AL-43 — Absolute Encoder Related Alarms

Various absolute encoder communication or internal data errors.