Setting station guide
AC Servo Driver
GPX2／GPR2-B4 SeriesThis is a summarized document about a main body setting
station and a setting console.
Please utilize as needed.

To begin with-2-

To begin with

Table of contents
1 To begin with ......................................................... 4
1-1．Product dimensions................................................................. 5
1-2．Name of each part ................................................................... 8

2 Setting station operation ....................................... 92-1．Startup .................................................................................... 9
2-2．Operation outline ...................................................................10
2-3．Select to a connected driver ...................................................12

3 Situation monitor of a driver ............................... 14
4 Motor trial run ..................................................... 15
5 Parameter confirmation and setting ................... 16
5-1．Fundamental setting parameter ............................................17
5-2．Servo adjustment parameter .................................................18
5-3．Function allocation parameter ...............................................19
5-4．Extension setting parameter .................................................20
5-5．Communication setting parameter ........................................20

6 Save a modified parameter .................................. 21
7 Display of alarm history ...................................... 22
7-1．List of alarm code...................................................................23-3-

To begin with

1 To begin withMain body setting station and a setting console has CPU and by communicatingwith CPU of Driver main body, it makes possible to operate a setting station.
By using this Setting station, you can do following things without doing tool
software operation from PC.
・ Monitoring a driving situation like motor feed back speed and torque.
・ Motor trial run by manual operation.
・ Contents confirmation of user parameter and setting change.
・ Parameter writing on a driver.
・ Reference of occurring alarm contents and history.
As a power of the Setting station and Setting console is supplied from a driver,
it is not necessary to arrange an external power supply.
When you use a Setting console, please switch ON a driver control power supply
only after connected to a Connector.

◎Target driver of main body setting station
Option model
GP2‐STX
GP2‐STY―
GP2‐STE

Driver model
GPX2‐8 to 16
GPX2‐24 and 40
GPX2‐60 and 80
GPR2‐24B4 to 80B4
GPR2‐8 to 40
GPE2‐8 to 40

Remarks
Small capacity typeMedium capacity typeBig capacity type is out of object
Battery power supply applicable type
Resolver specification (OEM model)
Encoder specification (OEM model)◎Target driver of setting console
Option model
GP2‐CNS

Driver model
GPX2‐8 to 16
GPX2‐24 and 40
GPX2‐60 and 80
GPR2‐24B4 to 80B4
GPR2‐8 to 40
GPE2‐8 to 40

Remarks
All models compatible-4-

To begin with
1-1．Product dimensions◎Driver (GPX2‐8 to 16) dimensions when attached to the main body setting
station (GP2‐STX).

◎Driver (GPX2‐24 and 40) dimensions when attached to the main body setting
station (GP2‐STY).

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To begin with

◎Driver (GPR2‐24B4 to 80B4) dimensions when attached to the main bodysetting station (GP2‐STE).

◎本体設定器（GP2‐STE）取付け時のドライバ（GPR2‐8～16，GPE2‐8～16）
なお GPR2‐24～40、GPE2‐24～40 への取付けは GPX2‐24～40 と同等。

◎Driver (GPE2／GPR2‐8 to 16) dimensions when attached to the main bodysetting station (GP2‐STE).

-6-

To begin with

◎A setting console dimensions (GP2‐CNS).

-7-

To begin with
1-2．Name of each part
◎Setting station (GP2‐STX, GP2‐STY, GP2‐STE)◎Setting console (GP2‐CNS)※A setting console is added a [AXIS] key.

-8-

Setting station operation

2 Setting station operation
2-1．Startup
A setting station and a setting console displays starting displays by following
sequence at a time power supply startup.
Later, changing over to situation display in compliance with driver conditions,a setting station operation becomes valid.

Display at time of starting
An operation starting point at time of startup, it content of the speed feedback(speed) or alarm situation (alarm).
At first, push [MODE] key 2 times, go back to main situation display (disP).
Later by [UP]，[DOWN] keys, select item and by pushing [SET] key, you canchange to each function. (As for each function, please refer item 3 to 7).
Main manu
disPuoG
parA_1
parA_2
parA_3
parA_4
parA_5roMsetal_loG

Situation display
Manual drive
Fundamental setting
parameter
Servo adjustment
parameter
Function allocation
parameter
Extension setting
parameter
Communication setting
parameter
Save parameter
Alarm history

Function
Situation monitor like motor speed feedback, torque andalarm contents.
Motor trial run by manual operation.
Parameter concerning to a fundamental setting like acontrol mode and a command format.
Parameter about a servo adjustment like a gain and afilter.
Parameter to allocate function status to in and out put
signal.
Parameter about extension setting like internal
command and alarm output.
Parameter concerning to communication setting likebaud rate and axis number.
Parameter write in to a driver (flush memory).
Reference of alarm history (past 7 times).

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Setting station operation
2-2．Operation outline- 10 -

Setting station operation- 11 -

Setting station operation
2-3．Select to a connected driver
A function of this phrase is a specialized function off setting console, using[AXIS] key.
Driver has 2 pieces of communication connectors and by RS-485 communication,
daisy chain connection is possible. You can select an axis number of driver (ID)which you want to display its content from a setting console connected to driver.

At time of power supply startup (shipment setting), connection destination (ID)is unset. A setting console will display a content of a driver connected by connector.

After that, by selection a Contact to (ID), you may display an objective drivercontents.

Example: Change connection
destination（ID）From 0 to 2.

Change operation of connection destination (ID)- 12 -

Setting station operation◎In case you cannot find an objective driver of connect to during operation.
At a situation of a connect to (ID) is displayed, push [AXIS] key for a long time.
Green LED on upper stage of a front panel of an objected driver flushes about
2 seconds.

◎About a connection destination (ID) at time of startup.
In the factory setting, when the power is turned on again, the connection
destination (ID) returns to the unset state.
If you want to specify the connection destination (ID), While the contents are
displayed, press and hold the [SHIFT] key for 2 seconds.
When (ID) setting is saved, applied from next startup.
The upper limit of the save function is 1000 steps in combination with "display
contents at startup". (refer item 3)- 13 -

Situation monitor of a driver

3 Situation monitor of a driver
Motor’s speed feedback or torque feedback etc., connected
driver’s driving situation can be monitored.
Selecting from Sub, transfer to a content display by [SET]key.
Sub manuContents

Remarkspulse

Position feedback0[pulse]devi_p

Position deviation

0[pulse]speed

Speed feedback0[min-1]

torqueTorque feedback0[%]

e_torqEffective torque0[%]

inrtiaEstimation inertia~0[ratio]alarm

Alarm situation

Al00

※1

Normal startup display

Abnormal happening display※1：As for contents of alarm situation, please refer an alarm code list (item 7-1).

Operation of situation display◎About a display contents at startup.
In the factory setting, the display will return to speed feedback (speed)
when the power is turned on again.
To change, press and hold the [SHIFT] key for 2 seconds in the sub display
you want to specify. If you save the display settings, they will be applied
from the next startup.
The upper limit of the save function is 1000 steps in combination with"connection destination (ID) at time of startup". (refer item 2-3)

- 14 -

Motor trial run

4 Motor trial run
You can make motor trial run (JOG) while driver CN1 (inand out put connector) is not wired.
Motor rotation speed at trial run is common with extension
setting parameter (parA_4) ’s JOG speed (p_420).
A modification of JOG speed can be effected to an action by real time, but power
supply is re input it returns to a value before the modification.
To save the modified value, please refer item 6.

Operation of manual drive◎About an _error display.
In the case of fundamental setting parameter (parA_1) ’s control mode（p_100）
is "torque", following contents display will be shown and motor trial run (JOG) cannot
be made.

Please set a parameter’s control mode to "Speed" or "Position" when you use thisfunction.

- 15 -

Parameter confirmation and setting

5 Parameter confirmation and setting

Selecting parameter numbers from each set kind of sub and by pushing [SET] key,
it will shift to setting contents.
Using that display, if you push [SET] key again, it will shift to setting input.
Depending upon a setting item, it may need a power supply re input. Once youchange a setting contents, please be sure to save. (refer item 6)◎Kinds of setting
Main menu

Function

Sub menu

Fundamental setting
parameter
Servo adjustment
parameter
Function allocation
parameter
Extension setting
parameter
Communication setting
parameter

Parameter concerning to a fundamental setting like a control
mode and a command format.
Parameter about a servo adjustment like a gain and a filter.

Refer item 5-1

Parameter to allocate function status to in and out put signal.

Refer item 5-3

Parameter about extension setting like internal command andalarm output.
Parameter concerning to communication setting like baud rate
and axis number.

Refer item 5-4

Refer item 5-2

Refer item 5-5

Example: Zero speed judgment value of basic
setting parameter change from 10 [min-1]
to 1050 [min-1].

Operation of parameter setting- 16 -

Parameter confirmation and setting
5-1．Fundamental setting parameter
parA_1
Sub menu

Contents (initial value)

Input (setting area)

p_100

Control mode

1

0 = torque, 1 = speed, 2 = position

p_101

Forward direction

0

0 = CCW, 1 = CW

Position command pulse
p_110

Pulse line input format

1

0 = 1 pulse, 1 = 2 pulse,
2 = 2 phase(2), 3 = 2 phase(4)p_111Electronics gear numerator

1

1 to 10000

p_112

Electronics gear dominator

1

1 to 10000

Analog speed command
p_120

Command factor ※2

3000[min-1]

1 to 99999

p_121

Command dead zone~0[min-1]

0.0 to 999.9

p_122

Input voltage offset

~00

[V]

‐1.00 to 1.00

p_123

Acceleration time

0

[ms]

0 to 99999

p_124

Deceleration time

0

[ms]

0 to 99999

p_125

S shaped acc/dec time

0

[ms]

0 to 99999

Analog torque command
p_130

Command factor

300

[%]

1 to 999

p_131

Command dead zone

~0

[%]

0.0 to 999.9

p_132

Input voltage offset

~00

[V]

‐1.00 to 1.00

Feedback pulse output
p_140
p_141

Pulse division numerator

1

1~10000

Pulse division dominator

1

1~10000

6

Select from below ※1

Analog monitor output 1
p_150

Output selection

p_151

Output factor

※2

3000

p_152

Output standard

0

p_153

Output voltage offset

p_154

Averaging process function‐999999 to 999999‐999999 to 999999

~00

[V]

‐1.00 to 1.00

16

[step]

0~256

Analog monitor output 2
p_160

Output selection

Select from below ※1

9

p_161

Output factor

※2

300

‐999999 to 999999

p_162

Output standard

0‐999999 to 999999

p_163

Output voltage offset

p_164

Averaging process function

p_170

Position deviation excessive judgement

~00

[V]

‐1.00 to 1.00

16

[step]

0 to 256

10000[pulse]0 to 100000[min-1]

0 to 99999[%]

0 to 1000

value
p_171

Speed control value ※2

3500

p_172

Torque control value ※2

300

p_180

Mechanical lock judgement function0

0 = invalid, 1 = valid

p_181

Position keep function0

0 = invalid, 1 = valid

p_182

Position complete judgement value

10[pulse]0 to 10000

p_183

Speed reaching judgement value ※2

3000[min-1]

0 to 99999

p_184

Zero speed judgement value

10[min-1]

0 to 10000※1：Analog monitor selection group
0 = Position feedback [pulse],
1 = Position command [pulse],
2 = Position deviation [pulse],
6 = Speed feedback [min-1],
7 = Speed command [min-1],
8 = Speed analog input [V],9 = Torque feedback [%],
10 = Torque command [%],
11 = Torque analog input [V],12 = Main power supply voltage [V] (GPX2‐8~16 only),
13 = Estimated inertia ratio [ratio],
306 = Effective torque [%],
4 = Position command speed [pps]※2：It may be different depending upon combined motor specification.
※3：(Power supply) marked parameter should be re-power supply input after a modification.

- 17 -

Parameter confirmation and setting
5-2．Servo adjustment parameter
parA_2Sub menu

Contents (initial value)

Input (setting area)

p_200

Tuning system

00 = automatic, 1 = manual

p_210

Gain volume Adjustment function 1

1

0 = invalid, 1 = valid
0 = invalid, 1 = valid

Automatic tuning
p_220

Inertia estimation

0

p_221

Gain 1 Tuning level

!0

p_222

Gain 1 Response level

~0

p_223

Gain 1 Inertia ratio~2[ratio]0.0 to 30.00[%]0 to 100

1.0 to 10.0
‐10.0 to 10.0

Manual tuning
p_242

Gain 1 Position feed forward

p_243

Gain 1 Position proportion

30

0 to 1000

p_244

Gain 1 Speed proportion

300

0 to 5000

p_245

Gain 1 Speed integral

150

0 to 5000

Current command notch filter
p_260

Function

p_261

Frequency

p_262

0 = invalid, 1 = valid

0
100~0

Q value[Hz]

10.0 to 1500.0
0.5 to 5.0~7

Current command low pass filter
p_263

Function

p_264

Frequency

0 = invalid, 1 = valid

0
100~0

[Hz]

10.0 to 3000.0

Speed command low pass filter
p_270

Function

p_271

Frequency

0 = invalid, 1 = valid

0
100~0

[Hz]

10.0 to 3000.0※1：In the case of setting modification of automatic tuning gain 2 (P224 to P226), manual tuning gain 2 (P248 to P251)
which are with out notation, please use a tool software (TelGPX2).
※2：(Power supply) marked parameter should be re-power supply input after a modification.

- 18 -

Parameter confirmation and setting
5-3．Function allocation parameter
parA_3Sub menu

Contents (initial value)
Input allocation

p_300

Servo ON

~1

Positive logic

p_301

Reset

~2

Positive logic

p_302

Deviation counter clear~2

Positive logic

p_304

Forward start~3

Positive logic

p_305

Reverse start~4

Positive logic

p_306

Forward force stop

!7

Negative logic

Reverse force stop

!8

Negative logic

p_307

Extended input allocation
p_320

Forward JOG~5Positive logic

p_321

Reverse JOG~6

Positive logic

p_322

Command selection 1

~0

p_323

Command selection 2

~0

p_324

Control value selection 1

~0

p_325

Control value selection 2~0Control mode selection

~0

p_326

Output allocation

Input (setting area)
It allocates function to input 1 to 8.
(double allocation possible)
0.0 = always OFF (function invalid),
0.1 = input 1 positive logic,
0.2 = input 2 positive logic,
0.3 = input 3 positive logic,
0.4 = input 4 positive logic,
0.5 = input 5 positive logic,
0.6 = input 6 positive logic,
0.7 = input 7 positive logic,
0.8 = input 8 positive logic,
1.0 = always ON (function valid),
1.1 = input 1 negative logic,
1.2 = input 2 negative logic,
1.3 = input 3 negative logic,
1.4 = input 4 negative logic,
1.5 = input 5 negative logic,
1.6 = input 6 negative logic,
1.7 = input 7 negative logic,
1.8 = input 8 negative logic
It allocates function to output 1 to 4.
(Double allocation prohibited) ※1

p_350

Ready

~0

p_351

Servo being ON

~0

p_352

Positioning completed

~1

p_353

Speed reached

~0

p_354

Zero speed~2

Positive logic

p_355

Brake open

~3

Positive logic

p_356

Control ON

~0

p_357

Abnormal happen

!4

p_360

Reverse ON~0

Positive logic

Negative logic

0.0 = no allocation (function invalid),
0.1 = output 1 positive logic,
0.2 = output 2 positive logic,
0.3 = output 3 positive logic,
0.4 = output 4 positive logic,
1.0 = no allocation (function invalid）,
1.1 = output 1 negative logic,
1.2 = output 2 negative logic,
1.3 = output 3 negative logic,
1.4 = output 4 negative logic※1：If the function allocation to the output signal is duplicated, "warning" occurs.

Please be careful.

※2：In the case of setting modification of gain selection (P303), specified item abnormal (P370) and specified item
warning (P371) which are with out notation, please use a tool software (TelGPX2).

- 19 -

Parameter confirmation and setting
5-4．Extension setting parameter
parA_4Sub menu

Contents (initial value)

p_400

Control value selection function

p_401

Extension control mode

Input (setting area)
0 = invalid, 1 = valid‐1 = no extension,
0 = torque, 1 = speed, 2 = position

0
-1

JOG
p_420

Speed

100

[min-1]

1 to 99999

p_421

Accelerating & Decelerating time

500

[ms]

0 to 99999

p_422

Inching travel value0[pulse]1 to 999999(0 = infinite feed)

Internal speed 1
p_430

Speed

1000

[min-1]‐99999 to 99999

p_431

Accelerating time

100

[ms]

0 to 99999

p_432

Decelerating time

100

[ms]

0 to 99999

p_433

S shaped acc/dec time

100

[ms]

0 to 99999

2000[min-1]‐99999 to 99999

Internal speed 2
p_434

Speed

p_435

Accelerating time

100

[ms]

0 to 99999

p_436

Decelerating time

100

[ms]

0 to 99999

p_437

S shaped acc/dec time

100

[ms]

0 to 99999

3000[min-1]‐99999 to 99999

Internal speed 3
p_438

Speed ※2

p_439

Accelerating time

100

[ms]

0 to 99999

p_440

Decelerating time

100

[ms]

0 to 99999

p_441

S shaped acc/dec time

100

[ms]

0 to 99999

p_450

Internal torque 1

50

[%]

‐99999 to 99999

p_451

Internal torque 2

100

[%]

‐99999 to 99999

p_452

Internal torque 3

150

[%]

p_472

Force stop processing‐99999 to 99999
0 = torque zero,
1 = speed/torque zero,2 = speed zero0

※1：In the case of setting modification of specified abnormality function (P402), specified warning function (P403),
and Warning judgement value (P410 to P416) which are with out notation, please use a tool software (TelGPX2).
※2：It may be different depending upon combined motor specification.
(Power supply) marked parameter should be re-power supply input after a modification.

※3：

5-5．Communication setting parameter
parA_5Sub menu

Contents (initial value)

Input (setting area)

p_500

RS-232C-1 (COM1)

Baud rate2

Select from below ※1

p_510

RS-232C-2 (COM2)

Baud rate2

Select from below ※1

p_520

RS-485

Axis number

0

0 to 7

p_521

RS-485

Baud rate2

Select from below ※1

p_525

RS-485

Terminator

0

p_526

RS-485

Response waiting time1

※1：Baud rate selection group
0 = 9600 [bps], 1 = 19200 [bps],※2：

2 = 38400 [bps],0=無効、 1=有効[ms]

3 = 57600 [bps],

0 to 999
4 = 115200 [bps](Power supply) marked parameter should be re-power supply input after a modification.

- 20 -

Save a modified parameter

6 Save a modified parameter
Save a modified parameter contents (item 5) into a flush
memory in a driver.
Please do not cut an operation power supply (driver control
power supply) while writing operation.
While sub display (_start), please push [SET] key for a long time. Once display
changes to (_end), writing operation completes.

Saveing operation of parameter- 21 -

Display of alarm history

7 Display of alarm history
You may refer a past alarm history saved in a connected
driver. A setting station shows 7 past history display.
To check a history more than 8 times before, please use tool
software (TelGPX2).

Reference operation of alarm history- 22 -

Display of alarm history
7-1．List of alarm code
al__
Alaem
code

Abnormal class(Reset function)

Abnormal contents

Cause

alno

―

No abnormality

―

al10

Minor fault(Reset: Possible)

Input a servo signal at no main power supply situation.

al13

Soft charge notcompleted
Main power supply
voltage shortage
Position deviation
excessExcess speed

al14

Excess load

al15

Mechanical lockal16

Communication
input time out

al11
al12

al20

Temperature(Reset: Possible)

Over heat detection
circuitCooling fan action

al21
al22
al23
al24
al30

al40

Transistor over heatControl power supply
voltage shortage(Reset: Possible)
Motor position sensor(Reset: Not possible)

Regenerate resistor
over heat
Regenerate
absorption circuitControl power supply
voltage shortage
Encoder sensor

al41

Resolver sensor

al42

Others

al50

al60
al70

Main power supply
excess voltage(Reset: Not possible)
Excess current(Reset: Not possible)
System abnormal(Reset: Not possible)

Main power supply
excess voltage
Excess current
CPU

Driver main power supply (internal bus voltage) fall less thanDC180 [V] during motor drive.
A position deviation excesses a position deviation excess
determination value (item P170).
A situation which a feedback speed excesses a speed control
value (item P171) continues more than 1 [sec].
Detects an excess load situation by electronics thermal system.
Miss wiring by power line (TB1, 2) or sensor (CN2).
In the zero-speed determination value (item P184) of feedback
speed, the lowest torque control situation continues more than
0.2 [sec].
while motor trial run is done, from tool software bycommunication, an abnormal communication continues morethan 2.5 [sec].
A cooling heat sink temperature excesses 80 [℃]. Detect aninternal protection of power element.
Detecting an abnormality at over heat detecting electric circuit.
Detect an abnormality of a fan.
(only GPX2‐60 to 80)
To detect an over heat of internal regenerate resistor by thermal
signal or resistor temperature rise 35 [K].
To detect an abnormality of electric circuit which does aregenerate absorption.
Input voltage of a driver control power supply falls less thanAC80 [V].
(increasing a case of instant power break down)
Wiring abnormality like sensor (CN2) disconnection and shortcircuit.
Sensor system of a combined motors does not match.
A logic of sensor signals and frequency abnormal situation.

By regenerate energy, a driver main power supply (internal bus)
rises more than DC430 [V].
A shortage of regenerate absorption capacity.
To detect an excess current of driver output stage by shortcircuit of motor power and ground fault.
Detected abnormal of CPU and control circuit by excess noise.

al71

Parameter area

al72

Capacity PDU code

Detected abnormal in parameter area internally in memory(data contents
Detect an abnormal in driver capacity detection circuit.

OthersHard ware of setting station is abnormal.

Connection ID

Cannot find an objected driver of connecting ID.

Communication

Detected a communication abnormality between setting stationand driver CPU.

al97
al98
al99

Setting stataion
abnormal( ※1)※1：After AL90, abnormality of a setting station. Driver main body’s abnormal will not happen.

- 23 -

Display of alarm history＜ REVISION HISTORY ＞
DATENUMBER2019.05.26

D0502010

CONTENTSFIRST EDITION

Waco Giken Co., Ltd.
Head office〒230‐0045
1‐1‐50, Suehiro cho, Tsurumi ku,
Yokohama city, Kanagawa
TEL：045‐502‐4441（+81 45 502 4441）

ALL SPECIFICATION IS SUBJECT TO CHANGE FOR IMPROVEMENT WITHOUTPRIOR INFORMATION.
D0502010- 24 -