HLTNC T3DF Series AC Servo Motor Kit Instruction Manual

1. การแนะนำผลิตภัณฑ์

The HLTNC T3DF series digital AC servo drives are general-purpose AC servo drive products designed for industrial automation. These drives utilize advanced full digital control and AC motor vector control theory, offering excellent system performance and high reliability. They are widely used in servo shaft drive applications for food processing, packaging machinery, textile machinery, and other related automation industrial machinery.

คุณสมบัติผลิตภัณฑ์

• การออกแบบที่ปิดสนิทอย่างสมบูรณ์: The T3DF series features a fully sealed design, providing good protection and strong anti-interference ability.
• การออกแบบที่กะทัดรัด: The compact form factor of the T3DF series helps save valuable installation space.
• การควบคุมแบบบูรณาการ: Supports speed control, position control, and torque control.
• Versatile Motor Compatibility: Capable of driving various types of permanent magnet synchronous servo motors.
• ประสิทธิภาพแบบไดนามิก: Offers excellent low-speed torque characteristics and industry-leading dynamic acceleration and deceleration performance.

The kit includes the servo motor, AC servo drive, and necessary cables for installation.

Figure 1.1: HLTNC 1.5kW Servo Motor Kit components.

2. ข้อควรระวังเพื่อความปลอดภัย

To ensure safe and correct use of this product, please familiarize yourself with and observe the following important safety guidelines before storage, installation, wiring, operation, inspection, or maintenance.

2.1 คำเตือนด้านความปลอดภัยทั่วไป

• อันตราย: Incorrect operation may cause personal injury or death.
• สังเกต: Incorrect operation can be dangerous, cause personal injury, and possibly damage the equipment.
• ห้าม: Actions strictly prohibited, otherwise the equipment will be damaged or unusable.

2.2 Use Environment

▲อันตราย

• It is forbidden to use the product in places with moisture, corrosive gas, and flammable gas. Otherwise, electric shock or fire may result.
• Do not use the product in places with direct sunlight, dust, salt, and metal powder.
• It is forbidden to use the product in places with water, oil, and medicine dripping.

2.3 ความปลอดภัยในการเดินสายไฟ

▲อันตราย

• Please ground the ground terminal reliably. Poor grounding may cause electric shock or fire.
• Do not connect the 220V driver power supply to the 380V power supply, otherwise it will cause equipment damage, electric shock or fire.
• Do not connect the U, V, W motor output terminals to the three-phase power supply, otherwise it will cause personal injury or fire.
• The U, V, W motor output terminals must be connected to the driver wiring terminals U, V, W in one-to-one correspondence, otherwise the motor may overspeed and cause equipment loss and casualties.
• Please fasten the power supply and motor output terminals, otherwise it may cause fire.
• For wiring, please refer to the wire selection for wiring, otherwise it may cause a fire.

2.4 ความปลอดภัยในการทำงาน

• สังเกต: Before mechanical equipment starts to run, it must be matched with appropriate parameter settings. Failure to adjust may result in loss of control or malfunction.
• สังเกต: Before starting operation, confirm whether the emergency switch can be activated at any time to stop.
• สังเกต: Test whether the servo motor runs normally without load first, then connect the load to avoid unnecessary losses.
• สังเกต: Do not turn on or turn off the power frequently, otherwise it will cause overheating inside the drive.
• ห้าม: When the motor is running, it is forbidden to touch any rotating parts, otherwise it will cause personal injury or death.
• ห้าม: When the device is running, it is forbidden to touch the driver and motor, otherwise it will cause electric shock or burns.
• ห้าม: When the device is running, it is forbidden to move the connecting cable, otherwise it will cause personal injury or damage to the device.

2.5 Maintenance and Inspection Safety

• ห้าม: Do not touch the inside of the driver and its motor, otherwise it will cause electric shock.
• ห้าม: When the power is turned on, it is forbidden to disassemble the drive panel, otherwise it will cause electric shock.
• ห้าม: Do not touch the terminals within 5 minutes after the power is turned off, otherwise the residual high voltagอาจทำให้เกิดไฟฟ้าช็อตได้
• ห้าม: Do not change the wiring when the power is turned on, otherwise it will cause electric shock.
• ห้าม: It is forbidden to disassemble the servo motor, otherwise it will cause electric shock.

2.6 ขอบเขตการใช้งาน

• สังเกต: These products are for general industrial purposes. Do not use them on devices that may directly endanger personal safety, such as nuclear energy devices, aerospace equipment, life support and maintenance equipment, and various safety equipment. Contact manufacturer for such applications.

3. Product Inspection and Installation

3.1 Product Inspection

Before leaving the factory, this product has undergone full functional testing. To prevent abnormalities due to delivery, please check the following items in detail after unpacking:

• Verify that the model of the servo drive and servo motor matches your order.
• Check for any damage or scratches on the servo drive and servo motor. If damage occurred during transportation, do not connect to power.
• Ensure there are no loose components or screws on the servo drive and servo motor.
• Confirm that the rotor shaft of the servo motor can rotate smoothly by hand. Motors with brakes cannot be rotated directly.

If any issues are found, contact your dealer immediately.

3.2 Product Front Panel Overview

The T3DF-L20/L30 series servo drive features a front panel with various terminals and indicators:

Figure 3.1: Servo motor kit with QR code for information. Scan the QR code to view ข้อมูลรายละเอียด

Key components on the front panel include:

• CN1: Host computer command port.
• CN2A: Motor encoder port.
• CN3/CN4: RS485 communication port (top of driver).
• L1/L2/L3 Terminal: Main power input terminal (for three-phase AC220V, connect L1/L2/L3; for single-phase AC220V, connect L1/L2 or L1/L3).
• P/D/C Terminal: Braking resistor connection terminal. P and D are connected for internal braking resistor. Do not connect 'N' terminal to avoid damage.
• U, V, W, PE Terminals: Motor power line connections.
• ค่าใช้จ่าย: Drive power indicator.

3.3 Servo Drive Installation Environment Conditions

The installation environment significantly impacts the drive's function and service life. Ensure the following conditions are met:

• อุณหภูมิในการทำงาน: 0°C ~ 40°C
• ความชื้นในการทำงาน: 40% ~ 80% (non-condensing).
• อุณหภูมิในการจัดเก็บ: -40°C ~ 50°C.
• ความชื้นในการจัดเก็บ: Below 93% (non-condensing).
• การสั่นสะเทือน: Below 0.5G.
• Avoid rain, direct sunlight, oil mist, salt corrosion, corrosive liquids, and gases.
• Prevent dust, cotton wool, and metal fines from entering.
• Keep away from radioactive materials and combustibles.
• When installing multiple drives in a control cabinet, ensure sufficient space for airflow and heat dissipation. Consider adding a cooling fan if the ambient temperature exceeds 40°C.
• If a vibration source is nearby, use vibration absorbers or anti-vibration rubber gaskets.
• If interfering devices are nearby, use noise filters and other anti-interference measures.

3.4 Servo Drive Installation Method

• Install the servo drive vertically and upright, with the top facing upwards for optimal heat dissipation.
• Tighten M5 fixing screws at the rear.
• Maintain adequate installation distance between servo drives and other devices for performance and life.
• Install a cooling fan in the electrical control cabinet to ensure vertical airflow for heat dissipation.
• Prevent dust or iron filings from entering the servo drive during installation.

Figure 3.2: T3DF Drive Dimensions (185mm x 180mm x 42mm).

3.5 Servo Motor Installation Environment Conditions

• อุณหภูมิในการทำงาน: 0°C ~ 40°C
• ความชื้นในการทำงาน: Below 80% (non-condensing).
• อุณหภูมิในการจัดเก็บ: -40°C ~ 50°C.
• ความชื้นในการจัดเก็บ: Below 80% (non-condensing).
• การสั่นสะเทือน: Below 0.5G.
• Well-ventilated place with little moisture and dust.
• No corrosive, flammable gas, oil and gas, cutting fluid, cutting powder, iron powder, or other environments.
• Places without water vapor and direct sunlight.

3.6 Servo Motor Installation Method

• การติดตั้งแนวนอน: To prevent water, oil, and other liquids from flowing into the motor from the outlet end, place the cable outlet at the bottom.
• การติดตั้งในแนวตั้ง: If the motor shaft is installed upwards with a reducer, ensure oil stains do not penetrate into the motor through the shaft.
• Ensure sufficient extension of the motor shaft to prevent vibration.
• When installing or removing the motor, do not strike it with a hammer, as this may damage the motor shaft and encoder.

3.7 Motor Rotation Direction Definition

Facing the motor shaft extension:

• การหมุนไปข้างหน้า: Counterclockwise rotation (CCW).
• การหมุนย้อนกลับ: Clockwise rotation (CW).

Figure 3.3: Dimensions for 110ST-M05030 servo motor (130mm x 260mm, shaft 12mm x 50mm).

Figure 3.4: Dimensions for 130ST-M10015 servo motor (145mm x 283mm, shaft 14mm x 52mm).

Figure 3.5: Dimensions for 130ST-M06025 servo motor (145mm x 262mm, shaft 14mm x 52mm).

4. การเดินสาย

4.1 คำแนะนำในการเดินสายไฟ

• Use wiring materials according to specifications.
• Cable length: Command cable within 3m, encoder cable within 20m.
• Verify power supply and L1, L2, T wiring. Do not connect 220V servo to 380V power supply.
• Ensure U, V, W motor output terminals correspond one-to-one with driver terminals. Incorrect connection may prevent motor rotation.
• Ground reliably at a single point.
• Connect the diode for absorbing the relay in the correct direction.
• Add isolation transformer and noise filter to the power supply to prevent malfunction from noise.
• Keep power wires (strong current circuits) and signal wires at a distance of more than 30cm, and do not place them in the same conduit.
• Install a non-fuse circuit breaker for timely power cut-off in case of drive failure.

4.2 Wire Specifications

The encoder cable must be twisted pair. If the encoder cable is too long (>20m), it may cause insufficient power supply to the encoder. The power supply and ground wire can be connected by multi-wire or thick wire.

4.3 Strong Current Terminals Description

4.4 CN1 Control Signal Terminal

The CN1 control signal terminal provides signals for connection with the upper controller. Signals include:

• 4 programmable inputs, 4 programmable outputs.
• Pulse command input (position command, speed command).
• Analog command input (speed command, torque command).
• Encoder signal output.

4.5 CN1 Terminal Signal Description

DI1~DI6 are programmable input ports (P100~P105); DO1~DO4 are programmable output ports (P108~P111). Refer to the manual for detailed function descriptions.

4.6 Digital Input Interface (C1)

The digital input interface circuit can be controlled by switches, relays, open collector transistors, optocouplers, etc. External voltage range DC12V ~ 24V.

4.7 Digital Output Interface (C2)

The output circuit adopts Darlington photocoupler. Max external power supply 25V, max output current 50mA. If using an inductive load (e.g., relay), add a diode in parallel.

4.8 Position Pulse Command Interface (C3)

Two connection methods: differential drive (recommended) and single-ended drive. Wiring should be twisted pair. Driving current 8~15mA. Working mode set by parameter P035.

4.9 Encoder Signal Line Driver Output (C5)

Outputs the encoder signal frequency to the upper controller via Line Driver. Ensure signal ground is connected on both sides.

4.10 Encoder Z Signal Open Collector Output (C6)

Outputs the encoder Z signal to the upper controller via open collector. Use a high-speed photocoupler due to narrow pulse width.

4.11 Brake Resistor Connection and Usage

If using the internal brake resistor, terminals P and D need to be short-circuited. If an external brake resistor is used, disassemble the short metal strip between P and D, then connect the external brake resistor between terminals P and C.

• Do not connect the external brake resistor to the positive and negative terminals P and N of the bus, otherwise it will cause explosion and fire.
• Resistance should not be smaller than 25 ohms, otherwise the drive may alarm or damage.

Figure 4.1: Wiring diagram for the T3DF drive, showing connections for power, motor, and control signals.

Video 4.1: Installation and wiring demonstration for the HLTNC T3DF Series AC Servo Motor Kit.

5. การดำเนินการ

5.1 Driver Panel Description

The T3DF series panels consist of 5 LED digital tube displays and 4 buttons (▲, ▼, SET, Enter) used to display various statuses and setting parameters of the system.

5.2 การแสดงตัวเลข

The numerical value is shown on 5 digital tube displays. A minus sign indicates a negative number. If a 5-digit negative number, all decimal points are lit. Some display items are preceded by a prefix character. If the value is too long, the prefix character will not be displayed.

5.3 การนำทางเมนูหลัก

The main menu has 4 operation modes. Use ▲ and ▼ keys to change modes. Press Enter to access the second layer for specific operations. Press SET to return to the main menu.

5.4 การตรวจสอบสถานะ

Select "d-" in the main menu and press Enter to enter monitoring mode. Use ▲ and ▼ keys to select display items and press Enter to view specific states.

5.5 การตั้งค่าพารามิเตอร์

Parameters are represented by segment and number (e.g., P-102). Select "P-" in the main menu, press Enter, then use ▲ and ▼ to select segment and number. Press Enter to display the value. Use ▲ and ▼ to modify the value. Long press for continuous change. Press Enter to confirm changes. Press SET to cancel changes.

5.6 การจัดการพารามิเตอร์

Access "E-" in the main menu. Modes include parameter write (E-SEE) and restore default value (E-DEF). Long press Enter for 3 seconds to activate. Parameter write saves changes permanently to EEPROM. Restore default value resets all parameters to factory settings.

5.7 ฟังก์ชั่นเสริม

Access "A-" in the main menu. Functions include analog zero adjustment (A-AO) and JOG operation (A-JOG).

5.8 Parameter Default Value Restoration

Use this function if parameters are disordered, replacing the motor, or if driver/motor codes do not match. Ensure servo enable signal (SON) is OFF, set password (P-000) to 385 or 316, verify motor series (P-099) and motor code (P-002), then execute restore default value operation in parameter management. Power off and on again after restoration.

6. Running Modes

6.1 No-load Test Run

The purpose is to confirm correct drive power wiring, servo motor power line wiring, encoder wiring, and servo motor running direction and speed. Ensure the motor is no-load and fixed. Verify wiring correctness and input voltage. Check encoder cable connection.

6.2 Position Control Mode

Used for precise positioning in systems like CNC machines. Command source is pulse input from PULS+, PULS-, SIGN+, SIGN- terminals. Correct wiring and parameter settings are crucial. Set P-004 to 0 for position control mode.

6.3 โหมดควบคุมความเร็ว

Used for precise speed control in applications like braiding machines. Can also form a position closed-loop control. Set P-004 to 1 for speed control mode. Analog speed command input is from AS+ and AS-.

6.4 Torque Control Mode

Used in printing, winding, and injection molding machines where output torque is proportional to input command. Set P-004 to 2 for torque control mode. Analog torque command input is from AS+ and AS-.

7. การปรับกำไร

The drive includes three control loops: current, speed, and position. The inner layer's bandwidth must be higher than the outer layer's for stability.

7.1 Gain Parameters

Key parameters include:

• P-005: Speed loop gain Kv
• P-006: Speed loop integral time constant Ti
• P-009: Position loop gain Kp
• P-017: Load moment of inertia ratio G
• P-007: Torque filter time constant
• P-019: Speed detection filter time constant

7.2 Gain Adjustment Procedure

Adjust gains to improve responsiveness and suppress vibration/overshoot. Start by setting load inertia ratio, then adjust speed loop integral time constant and gain. Finally, adjust position loop gain. If resonance occurs, lower gains or adjust filters (P-007, P-019).

8. Electromagnetic Brake

Electromagnetic brakes (holding brakes, power-off brakes) are used to lock the worktable to prevent it from falling after servo power loss. Brakes should only be used for holding, not for slowing down or stopping machine motion.

8.1 Electromagnetic Brake Parameters

Key parameters include:

• P-165: Motor standstill speed detection point
• P-166: Electromagnetic brake delay time when motor is stationary
• P-167: Electromagnetic brake waiting time when motor is running
• P-168: Electromagnetic brake action speed when motor is running
• P-169: Delay time for electromagnetic brake release

8.2 Use of Electromagnetic Brake

The brake release signal (BRK) of the driver connects to the relay coil, and the relay contact connects to the brake power supply. Install a surge absorber to suppress surge voltage. Diodes can also be used but may cause slight braking delay.

9 พารามิเตอร์

The servo drive parameters are organized into segments. Each parameter is identified by a segment number and a parameter number (e.g., P-000 to P-099 are 0-segment parameters, P-100 to P-199 are 1st segment parameters, etc.). The manual provides detailed explanations for each parameter, including its range, default value, unit, and applicability (Position, Speed, Torque control, or ALL).

For a complete list and detailed description of all parameters, please refer to the comprehensive T3DF series AC servo driver instruction manual (V2.2 version) PDF document.

10 การแก้ไขปัญหา

This section provides guidance for diagnosing and resolving common issues with the HLTNC T3DF Series AC Servo Motor Kit.

10.1 List of Alarms

The drive displays alarm codes (Err) to indicate specific issues. Common alarms include:

• Err--: No alarm (works fine)
• ข้อผิดพลาด 1: Overspeed (motor speed exceeds maximum limit)
• ข้อผิดพลาด 2: Power main circuit overvoltage (main circuit supply voltage exceeds specified value)
• ข้อผิดพลาด 3: Power main circuit undervoltage (main circuit supply voltage is lower than specified value)
• ข้อผิดพลาด 4: Position tracking deviation error (position tracking deviation exceeds set value P-080)
• ข้อผิดพลาด 5: Position command frequency error (command frequency exceeds maximum allowable frequency)
• ข้อผิดพลาด 6: Motor stall (motor power line connected incorrectly, or pole pairs P-201 incorrect)
• ข้อผิดพลาด 7: Drive forbidden exception (CCWL, CWL driver stroke limit switch signal abnormal)
• ข้อผิดพลาด 9: Incremental encoder ABZ signal failure (encoder ABZ signal disturbed or disconnected)
• ข้อผิดพลาด 10: Incremental encoder UVW signal failure (interference or disconnection in UVW signal)
• ข้อผิดพลาด 11: IPM module failure (main circuit IPM inverter module is faulty)
• ข้อผิดพลาด 12: Overcurrent (instantaneous current of servo drive is too large)
• ข้อผิดพลาด 13: Overload (average load current of motor is too high)
• ข้อผิดพลาด 14: Braking peak power overload (instantaneous load too large during braking)
• ข้อผิดพลาด 20: EEPROM error (read/write errors or unexpected power failure)
• ข้อผิดพลาด 21: Logic circuit error (processor peripheral logic circuit failure)
• ข้อผิดพลาด 23: AD conversion reference voltage error (AD sampling circuit voltage reference not standard)
• ข้อผิดพลาด 24: AD conversion asymmetry or zero drift (AD Sampหลิง Amplification Conditioning Circuit Abnormal)
• ข้อผิดพลาด 29: User torque overload alarm (motor load exceeds set value)
• ข้อผิดพลาด 30: Encoder Z signal lost (encoder Z signal does not appear)
• ข้อผิดพลาด 31: Encoder Z signal detected abnormally (encoder Z signal disturbed or unstable)
• ข้อผิดพลาด 32: Encoder UVW signal illegally encoded (encoder UVW signal disconnection)
• ข้อผิดพลาด 33: Wire-saving encoder signal error (no high-impedance state during power-up sequence)
• ข้อผิดพลาด 36: Second encoder disconnection (second encoder disconnected or interference)

10.2 Alarm Reason and Treatment

For detailed troubleshooting steps for each alarm, refer to the comprehensive manual. General approaches include:

• Err 1 (Overspeed): Check U, V, W wiring, running status, parameters, and encoder wiring.
• Err 2 (Main Circuit Overvoltagจ): ตรวจสอบปริมาณอุปทานtage, repair regenerative braking resistor/pipe, reduce start-stop frequency, increase acceleration/deceleration time, decrease torque limit, reduce load inertia, or replace with higher power components.
• Err 3 (Main Circuit Undervoltagจ): รับประกันปริมาณการจ่ายtage meets product specifications.
• Err 4 (Position Out of Tolerance): Correct U, V, W wiring, reinstall/zero encoder, check motor for mechanical issues, reduce input frequency, adjust pulse division/multiplication, increase position loop gain, increase torque limit, or reduce load.
• Err 5 (Position Command Overclocking): Reduce input frequency, correctly set P029/P030, or modify host computer timing.
• Err 6 (Motor Stall): Check motor and mechanical parts, U, V, W wiring, encoder wiring, or reduce load.
• Err 7 (Drive Forbidden Exception): Correctly input CCWL and CWL signals, or set P097 to shield.
• Err 9 (Encoder AB Signal Failure): Check encoder wiring, cables, connectors, motor model, or replace encoder.
• Err 11 (Power Module Failure): Correctly connect U, V, W wiring.
• Err 12 (Overcurrent): Check U, V, W wiring, replace motor, check ground, or add line filter.
• Err 13 (Overload): View load rate, reduce load, increase acceleration/deceleration time, reinstall/zero encoder.
• Err 14 (Braking Peak Power Overload): ตรวจสอบปริมาณอุปทานtage, repair regenerative braking resistor/pipe.
• Err 20 (EEPROM Error): Re-power and check; if fault persists, replace drive.
• Err 21 (Logic Circuit Error): Re-power and check; if fault persists, replace drive.
• Err 23 (AD Conversion Reference Voltage Error): Check current sensor/connector, main circuit, flexible connecting wire, or replace drive.
• Err 24 (AD Conversion Channel Asymmetry/Zero Drift): Check control circuit or replace drive.
• Err 29 (User Torque Overload Alarm): Adjust load or parameters P-070, P-071, P-072.
• Err 30 (Encoder Z Signal Lost): View/replace encoder Z signal, check cables/connectors, or replace drive.
• Err 31 (Encoder Z Signal Detected Abnormally): View/replace encoder Z signal, check cables/connectors, or replace drive.
• Err 32 (Encoder UVW Signal Illegally Encoded): Check/replace encoder UVW signal, correct wiring.
• Err 33 (Wire-saving Encoder Signal Error): Check/replace encoder signal, motor model.

11. ข้อมูลจำเพาะ

The HLTNC T3DF series AC Servo Motor Kit offers robust performance for various industrial applications. Below are key specifications for the drive and compatible motors.

11.1 Drive Specifications (T3DF-L30F-GABF)

11.2 Compatible Motor Specifications

The T3DF series drives are compatible with various servo motors. Below are specifications for the models included in this kit:

Figure 11.1: Detailed motor specifications for various models.

12. ฟังก์ชั่นการสื่อสาร

The T3DF servo driver features an RS-485 serial communication interface, enabling control of the servo system, parameter changes, and status monitoring via the MODBUS protocol.

12.1 ฟังก์ชั่นโอเวอร์view และแผนผังสายไฟ

The communication port CN3/CN4 uses three-position terminals. The RS485 communication port can also be connected through pins 40/41/42 of CN1.

12.2 พารามิเตอร์การสื่อสาร

• P-181 (Drive communication ID number): Sets the communication station number (address) for the servo drive. Range -1 to 32. -1 closes communication, >0 opens it.
• P-182 (MODBUS communication baud rate): Selects the baud rate for RS-485 communication. Range 0 to 3 (4800bps, 9600bps, 19200bps, 38400bps).
• P-183 (MODBUS communication data mode selection): Selects the data mode for RS-485 communication. Range 0 to 5.

12.3 MODBUS Communication Protocol (RTU Mode)

The MODBUS protocol defines a simple protocol data unit (PDU). The communication frame includes an address field, function code, data field, and a CRC check code for data integrity.

• Address Field: Specifies the slave address (0-247).
• Function Code (CMD): Indicates the operation (e.g., 03H for read parameter, 04H for read status, 06H for write single parameter, 10H for write multiple parameters, 41H for save parameters, 42H for servo enable/disable, 43H for alarm clear, 44H for JOG operation).
• Data Field: Contains parameters for the request/response.
• รหัสตรวจสอบ CRC: 16-bit CRC for verifying data validity.

12.4 Writing and Reading Parameters

Parameters can be read and written via communication. Each parameter has a 16-bit data representation and a communication address. Only parameters listed in the debugging manual are modifiable. Reserved parameters should not be modified without technical guidance.

12.5 Monitoring State Quantity Address

Internal state quantities of the servo drive can be read via the RS-485 communication port. These are stored as 16-bit data, providing 40 state variables (0 to 39).

13. เคล็ดลับผู้ใช้

ไม่มีผู้ใช้เฉพาะเจาะจงviews or Q&A content were provided to generate user tips. For optimal performance and longevity of your HLTNC T3DF Series AC Servo Motor Kit, always adhere to the installation and operation guidelines outlined in this manual. Regular inspection and maintenance are recommended to prevent potential issues.

14. การรับประกันและการสนับสนุน

For warranty information, technical support, or service inquiries, please contact your original point of purchase or the HLTNC Tools Store directly. Ensure you have your product model and serial number available for faster assistance.

You can also refer to the official seller's PDF manual for additional details: T3DF series AC servo driver instruction manual (V2.2 version)