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Maxsine EP3 AC Series User Manual

Servo driver
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Wuhan Maxsine Electric Co., Ltd

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Kanniyappan
May 10, 2025

Maxsime Run led not light up

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March 14, 2025

Фрезерный станок STALEX,для движения плититы имеется сервопривод и серводигатель. Как всё это запустить?

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Summary of Contents for Maxsine EP3 AC Series

  • Page 1 Wuhan Maxsine Electric Co., Ltd...
  • Page 2 DECLARATION Wuhan Maxsine Electric Co., Ltd all rights reserved. Without this company's written permission, forbid strictly the reprint either the part or the complete content of this handbook. Because improves and so on the reasons, the product specification or dimension has the change, not separate informs even slightly.

  • Page 3: Safety Precautions

    Safety Precautions In order to use this product safely, the user should be familiar with and observes the following important items before proceeding with storage, installation, wiring, operation, inspection or maintenance for the product. Indicates a disoperation possibly can cause danger and physical injure or death.
  • Page 4 3. Operations  Before operating the mechanical device, it is necessary to set the parameters with appropriate values. Otherwise, can cause the mechanical device to out of control or break down.  Before running the mechanical device, make sure the emergency stop switch can work at any time.
  • Page 5 6. Service ranges This handbook involves the product for the general industry use, please do not use in some equipment which may directly harm the personal safety, such as nuclear energy, spaceflight, aeronautic equipment, and life safeguard, life-support equipment and each kind of safety equipment.

  • Page 6: Table Of Contents

    CONTENTS Safety Precautions ......................... I  Chapter 1 Product inspection and installment ................1  1.1 Product inspection ......................1  1.2 Product nameplate ......................2 1.3 Product front panel ......................3 1.4 Servo driver installation ..................... 5  1.4.1 The environmental conditions for installation ............5  1.4.2 The method of installation ..................
  • Page 7 3.1.3 Data display ......................34  3.2 Main menu ........................35  3.3 Status monitor ........................36  3.4 Parameters setting ......................41  3.5 Parame ter management ....................42  3.6 Auxiliary functions ......................43  3.6.1 Special functions ....................43  3.6.2 Zeroing for analog quantity ................... 44  3.7 Resume the parameter default values ................
  • Page 8 4.7 Resonance suppressions ....................85  4.7.1 Low pass filters ..................... 86  4.7.2 Notch filters ......................88  4.8 Gains switching........................ 89  4.8.1 Parameters for gain switching ................89  4.8.2 Action of gain switching ..................90  4.9 Homing ..........................91  4.9.1 Parameters for homing ..................91  4.9.2 Operation procedure for homing ................
  • Page 9 8.3 Specifications of servo driver ..................213  8.4 Adaptive table for servo motor selections ............... 215  8.4.1 Maxsine motor matching scheme ................ 215  8.4.2 Huada and Mige AC servo motor matching scheme ..........217  8.4.3 380V series motor matching scheme ..............219 ...
  • Page 10 8.7.5 Parameters of 110 series servo motor ..............229  8.7.6 Parameters of 130 series servo motor ..............230  8.7.7 Parameters of 150 series servo motor ..............231  8.7.8 Parameters of 180 series servo motor ..............232  After- service introduction ......................234  VIII...

  • Page 11: Chapter 1 Product Inspection And Installment

    Chapter 1 Product inspection and installment 1.1 Product inspection This product has made the complete function test before delivery, for prevented the product to be abnormal owing to shipping process, please make detail inspection as the following items after breaking the seal： ...

  • Page 12: Product Nameplate

    Chapter 1 Product inspection and installment 1.2 Product nameplate...

  • Page 13: Product Front Panel

    1.1 Product inspection 1.3 Product front panel Applicable models: EP3-GL1A0、EP3-GL1A8、EP3-GL3A0、EP3-GL7A5、EP3-GL120、 EP3-GL160...
  • Page 14 Chapter 1 Product inspection and installment Note 1: The front panel of EP3-GL190 and EP3-GL240 servo driver is different from above picture. Please refer to Main circuit terminal explanation. Applicable models: EP3-GH3A5，EP3-GH5A4 Note 1: The front panels of EP3-GH8A5、 EP3-GH130 and EP3-GH170 servo driver are different from above picture.

  • Page 15: Servo Driver Installation

    1.4 Servo driver installation 1.4 Servo driver installation 1.4.1 The environmental conditions for installation Since the environment conditions for servo driver installation have the direct influence to the normal function and service life of the servo driver, therefore the environment conditions must be conformed to the following conditions: ...
  • Page 16 Chapter 1 Product inspection and installment...

  • Page 17: Servo Motor Installation

    1.5 Servo motor installation 1.5 Servo motor installation 1.5.1 The environmental conditions for installation  Ambient temperature: 0 to 40℃; Ambient humidity: less than 80 %( no dew).  Storage temperature: -40 to 50℃; Storage humidity: less than 93 %( no dew). ...

  • Page 18: The Definition Of Rotating Direction For Servomotor

    Chapter 1 Product inspection and installment 1.6 The definition of rotating direction for servomotor The motor rotating direction description in this handbook is defined as facing the shaft of the servomotor, if the rotating shaft is in counterclockwise direction will be called as positive direction, or in clockwise as reversal direction.

  • Page 19: Chapter 2 Wiring

    Chapter 2 Wiring 2.1 System construction and wiring 2.1.1 Servo driver wiring diagram 1 EP3-GL series Servo driver wiring 运 行 diagram Note: This wiring method is only suitable for EP3-GL1A0、 EP3-GL1A8、 EP3-GL3A0、 EP3-GL7A5、 EP3-GL120、...
  • Page 20 Chapter 2 Wiring EP3-GL160 servo driver. For EP3-GL190 and EP3-GL240, please refer to chapter 2.1.5. 2 EP3-GH series Servo driver wiring diagram Note: This wiring method is only suitable for EP3-GH3A5 and EP3-GH5A4 servo driver. For EP3-GH8A5、EP3-GH130 and EP3-GH170, please refer to chapter 2.1.5.

  • Page 21: Wiring Explanations

    2.1 System construction and wiring 2.1.2 Wiring explanations Wiring Notes:  According to electric wire specification, use the wiring materials.  The control cable length should be less than 3 meters and the encoder cable length 20 meters.  EP3-GL series: check that the power supply and wiring of L1, L2, L3 and L1C, L2C terminals are correct.

  • Page 22: Main Circuit Terminal Explanation

    Chapter 2 Wiring 2.1.4 Main circuit terminal explanation Terminal Symbol Model Detailed explanation name L1、L2 EP3-GL1A0、 1 phase 220VAC -15%～ EP3-GL1A8 +10% 50/60Hz Main power EP3-GL3A0 supply EP3-GL7A5、 EP3-GL120 3 phase 220VAC -15%～ EP3-GL160、 EP3-GL190 +10% 50/60Hz L1、L2、L3 EP3-GL240 EP3-GH series 3 phase 380VAC -15%～...

  • Page 23: Servo Motor And Ac Power Supply Wiring Diagrams

    2.1 System construction and wiring DC reactor EP3-GH170 connection terminals Servomoto U phase output to EP3 series servomotor V phase output to servomotor W phase output to servomotor Ground Ground terminal of EP3 series servomotor Ground terminal of servo driver Note 1: there is no internal brake resistor in EP3-GL240.
  • Page 24 Chapter 2 Wiring Applicable types: EP3-GL1A0 、 EP3-GL1A8 、 EP3-GL3A0 、 EP3-GL7A5 、 EP3-GL120 、 EP3-GL160 Applicable types : EP3-GL190、EP3-GL240 【note】...
  • Page 25 2.1 System construction and wiring Note: there is no internal brake resistor in EP3-GL240. When the external brake resistor is connected, please crossover the terminal P and B and leave the NC alone. 2. Two kinds of connection of EP3-GH series Applicable types: EP3-GH3A5、EP3-GH5A4...

  • Page 26: X1 Terminals For Control Signals

    Chapter 2 Wiring Applicable types: EP3-GH8A5、EP3-GH130、EP3-GH170 2.2 X1 terminals for control signals The X1 connector DB25 plug provides the signals interfaced with the host-controller. The...

  • Page 27: X1 Terminal Connector

    2.2 X1 terminals for control signals signal includes:  Five programmable inputs;  Three programmable outputs;  Analog command inputs;  Pulse command inputs;  Encoder signal outputs. 2.2.1 X1 terminal connector The X1 connector plug uses DB25 male head, the contour and pin disposition charts are as the followings: Connector X1 Soldering Lug Disposition...

  • Page 28: X1 Terminal Signal Explanation

    Chapter 2 Wiring 2.2.2 X1 terminal signal explanation Name of signals functions connec number digital inputs Photo isolation input; function is programmable; defines by parameter P100 to P104. COM+ DI power supply (DC12V～ 24V). digital output Photo isolation output; maximum output: 50mA/25V; function is programmable;...

  • Page 29: X1 Terminal Interface Type

    2.2 X1 terminals for control signals 2.2.3 X1 terminal interface type The followings introduce the X1 various interface circuits and the wiring ways with the host-controller. 1. Digital input interfaces (C1) For carrying on a control, the digital input interface circuit can be constructed by switch, relay, open-collector triode, and photo-coupler and so on.
  • Page 30 Chapter 2 Wiring  Freewheel diode must be connected. 3. Position command pulse interfaces (C3) There are both differential and single end connections. The differential connection is recommended and the twisted pair wire is used suitably. The drive current is in the range of 8 to 15mA.The operation mode is set by parameter P035: Pulse + direction, CCW/ CW pulse, A phase + B phase (orthogonal pulse).
  • Page 31 2.2 X1 terminals for control signals interference; inside of X1 plug;   Recommends using shielded cable. Recommends using shielded cable. 5. Line driver outputs of the encoder signals (C5) The signal divided from the encoder signal is transferred to the host-controller through the line driver.

  • Page 32: X2 Encoder Signal Terminals

    Chapter 2 Wiring  30V is the maximum voltage of external power supply; 50mA is the maximum current output. 2.3 X2 encoder signal terminals 2.3.1 X2 terminal connector The connection diagram of X2 encoder signal terminals and motor encoder. The terminal which is used to connect incremental encoder is 3 rowa of DB 15 socket (VGA socket).
  • Page 33 2.3 X2 encoder signal terminals Servo Drive X2 Connector (Fewer-line Incremental Encoder) Incremental Connector X2 Soldering Lug Disposition The terminal which is used to connect 17 bits absolute encoder or rotary encoder is 2 rows of DB 9 socket. The contour and pin are displayed as follows: DB9 plug of Encoder terminal (absolute encoder)

  • Page 34: X2 Terminal Signal Explanation

    Chapter 2 Wiring DB9 plug for Encoder terminal (resolver encoder) Encoder terminal DB9 plug Soldering Lug Disposition 2.3.2 X2 terminal signal explanation Defination of incremental encoder: Colour of wire Signal name of encoder number Functions standard Wire (16core) saving [note1] (10core) [note2] red+red...
  • Page 35 2.3 X2 encoder signal terminals Yellow Yellow of encoder. /white /white Z phase input green green Connect with Z phase output of encoder. Green/wh Green/wh U phase input purple Connect with U phase output of encoder. Purple Not connect for wire saving. /white V phase input blue...
  • Page 36 Chapter 2 Wiring Shield protection Bare wire Connect with cable shield ground wire. Note 1:16 core cable for the type of 16FMB15 (for using in the 110 and above frame of servomoto) Note 2: 10 core cable for the type of 10FBM15X (for using in the 80 frame of servomotor)
  • Page 37 2.3 X2 encoder signal terminals Definition of resolver encoder: Signal name of encoder Functions number standard (10core) Encoder excited They are a pair of output difference output signal and need to be twisted together. red /white They are used for the excited signal of driver to output to resolver.

  • Page 38: X3 Terminal Connector

    Chapter 2 Wiring 2.4 X3 terminal connector Communication terminal adopts DB9 socket of two rows Signal name Functions number RS-485 The input and output signal wire used in Input and output the RS-485 two wire communication. signal wire Terminal resistor Short circuit pin 2 and pin 3.

  • Page 39: Standard Wiring Diagram

    2.5 Standard wiring diagram 2.5 Standard wiring diagram 2.5.1 Wiring diagram for position control...

  • Page 40: Wiring Diagram For Speed Or Torque Control

    Chapter 2 Wiring 2.5.2 Wiring diagram for speed or torque control...

  • Page 41: The Connection Of Brake Resistor

    2.6 The connection of brake resistor 2.6 The connection of brake resistor When the internal brake resistor is used, it is necessary to short circuit B1 and B2 (as the picture A shows); while for the driver models as picture B shows, they can be used directly as they deliveried from factory.

  • Page 42: The Connection Of Reactor

    Chapter 2 Wiring resistor is used, please crossover it between the terminals of P and B. Leave the NC alone. 2.7 The connection of reactor When it needs to be restrained to the power supply higher order harmonics, connect the direct current reactor between N1 and N2.

  • Page 43: Chapter 3 Front Panel Operation

    Chapter 3 Front panel operation 3.1 Explanation of the front panel of servo driver 3.1.1 Front panel compositions The front panel consists of the display (5-digit, 7-segment LED) and four switching buttons 8、 2、 4、5 ) and one USB interface. It displays monitor status, parameters and changes the parameter setting value and so on.

  • Page 44: Data Display

    Chapter 3 Front panel operation 3.1.3 Data display A number is shown by five digital displays; a minus symbol in front of the value represents a negative value; the lit decimal points in all the digits indicate a negative 5-digit value. Some displays have a prefix character.

  • Page 45: Main Menu

    3.2 Main menu 3.2 Main menu 8 or 2 The first layer is the main menu and has four operating modes. Pressing button changes the operation mode. Pressing the button enters the second layer and then executes a concrete operation. Pressing button returns to the main menu from the second layer.

  • Page 46: Status Monitor

    Chapter 3 Front panel operation 3.3 Status monitor Choose status monitor “ ’’under the main menu. Pressing the button enters the monitor mode. There are many kinds of monitor's project; Use buttons to select the needing project. Pressing the button again enters the concrete status display.
  • Page 47 3.3 Status monitor 1. Binary bits value display [note1] 32 binary bits value translates into a decimal value that is in the range of -2147483648~147483647. It is divided into the low portion and the top portion. Use '8' and '2' button to select the needing portion through the menu.
  • Page 48 Chapter 3 Front panel operation value can be obtained. 2. Pulse unit [note2] The original position command pulse is the input pulse count that has not transformed through the electronic gear. The pulse count unit for other parts is the same with the encoder pulse unit.
  • Page 49 3.3 Status monitor 7. Output terminals DO [note7] A vertical segment of LED shows an output status. The lit top vertical segment shows the DO output to be “ON” and the lit bottom vertical segment to be “OFF”. 8. Input signals from encoder [note8] A vertical segment of LED shows an input status.
  • Page 50 Chapter 3 Front panel operation 2500 lines encoder: the range is 0~9999 (decimal system). It is 0 when Z pulse appears. Absolute encoder: the range is 0～1FFFF (hexadecimal system), which indicates by high or low position. Resolver encoder: the range is 0~65535 (decimal system). It is 0 when Z pulse appears. 10.

  • Page 51: Parameters Setting

    3.4 Parameters setting 3.4 Parameters setting The parameter number expression uses a parameter section name combined with a parameter name. The three figures are the section name and two figures and one figure are the parameter name. Take P102 parameter as an example, '1' is the section name and '02' the parameter name. "...

  • Page 52: Parame Ter Management

    Chapter 3 Front panel operation 3.5 Parame ter management Choose the parameter management mode under the main menu " ". Pressing the button enters the parameter management mode. The operation is performed between parameter list and the EEPROM. There are three operation modes. Use button to select an operation mode and then pressing down and hold the button at least three seconds to active the operation mode.

  • Page 53: Auxiliary Functions

    3.6 Auxiliary functions 3.6 Auxiliary functions Choose the auxiliary function mode " " under the main menu. Pressing the button enters the auxiliary function mode. Use button to select an operation mode. Then pressing the button again enters the corresponding function. After finished this operation pressing the button returns to the operation mode selection.

  • Page 54: Zeroing For Analog Quantity

    Chapter 3 Front panel operation functions explanation number Fn36 reset the encoder The RESET command of encoder is used for encoder Multi-turn initialization, encoder alarm reset and multi-turn information absolute encoder return-to-zero. This function should be executed when the is valid battery is replaced.

  • Page 55: Resume The Parameter Default Values

    3.7 Resume the parameter default values 3.7 Resume the parameter default values In case of the following situation, please use the function of resuming the default parameter (manufacture parameter):  The parameter is adjusted chaotically, the system is unable the normal work. ...
  • Page 56 Chapter 3 Front panel operation 6. Turn off and on the power supply, then an operation can be performed again.
  • Page 57 3.7 Resume the parameter default values Remarks...

  • Page 58: Chapter 4 Running

    Chapter 4 Running 4.1 Trial running with no load The goal of trial running is confirming the following items that are correct or not:  The servo driver power supply wiring;  The servomotor wiring;  The encoder wiring;  The running direction and the servomotor speed 4.1.1 Wiring and inspection Before turn on the power supply, confirms the servomotor:...

  • Page 59: Trial Running In Jog Mode

    4.1 Trial running with no load 4.1.2 Trial running in JOG mode 1. Turn on power supply Turn on the control power supply (while the main power supply temporarily turned off). The front panel display is lit. If any error appears, please inspect the wirings. Then turn on the main power supply, the POWER indicating LED is lit.

  • Page 60: Trial Running In Speed Adjustment Mode With Keyboard

    Chapter 4 Running 4.1.3 Trial running in speed adjustment mode with keyboard 1. Turn on power supply Turn on the control power supply (while the main power supply temporarily turned off). The front panel display is lit. If any error appears, please inspect the wirings. Then turn on the main power supply, the POWER indicating LED is lit.

  • Page 61: Position Control Mode

    4.2 Position control mode 4.2 Position control mode The position control applies in systems that need to locate precisely, such as numerical control machine tool, textile machinery and so on. The position command is a pulse serial coming from the input terminals PULS, PULS-, SIGN and SIGN- . 4.2.1 Simple example for position control mode This is a simple example of positioning control.

  • Page 62: Position Commands

    Chapter 4 Running 4.2.2 Position commands 1. Parameters related to position command Param Default Name Range Unit Usage eter value Encoder pulse factor 1 P027 1～32767 10000 [note 1] Encoder pulse factor 2 P028 1～32767 [note 1] P029 numerator of electronic gear 1～32767 Denominator numerator...
  • Page 63 4.2 Position control mode 2. Transmission path of command pulse 3. Input mode of command pulse The command pulse input mode is dependent on the parameter P035. For adjusting the counting edge of a pulse, the parameter P037 sets the phases of the PULS and the SIGN signals. Parameter P036 uses in changing the counting direction.
  • Page 64 Chapter 4 Running 4. Timing chart specifications of command pulse Parameter demand Pulse waveform of position command Differenti Single >2μs >5μs >1μs >>2.5μs >1μs >>2.5μs <0.2μs <0.3μs <0.2μs <0.3μs >1μs >2.5μs >8μs >10μs >4μs >5μs >4μs >5μs <0.2μs <0.3μs <0.2μs <0.3μs >1μs >2.5μs...
  • Page 65 4.2 Position control mode 6. Smooth filter The parameter P040 carries on the smooth filter to the command frequency. It has the exponential form for acceleration and deceleration as showing in the following chart. The filter cannot lose any input pulse, but can delay its action time. When P040 is zero, the filter does not have any effect.

  • Page 66: Electronic Gear For Input Commands

    Chapter 4 Running 4.2.3 Electronic gear for input commands Through the electronic gear user can define that one input command pulse will cause an adjustable movement of mechanical device. Therefore, the host controller does not have to consider that the gear ratio in the mechanical system and the encoder line number of the servomotor .The electronic gear variable is illustrated in the following table.
  • Page 67 4.2 Position control mode Movement quantity turn load shaft  Command pulse number turn load shaft (Pc) Movement quantity command pulse The calculated result will be abbreviated and make the numerator and the denominator smaller or equal to 32767 integer values. At last, the result must be in the range of 1/50<N/M<200 and write to the parameter list.
  • Page 68 Chapter 4 Running 10000    Electronic gear ratio   8000  Set parameters (By first numerator as an example) Numerator N=5， denominator M=4， set P029=5and P030=4。 2. Electronic gear is used for graduator drive The graduator load has ...
  • Page 69 4.2 Position control mode 10000 30000     Electronic gear ratio   3600 3600  Set parameters (By first numerator as an example) Numerator N=25，denominator M=3，set P029=25 and P030=3. 3. Electronic gear is used for conveyor belt drive The conveyer belt load has ...
  • Page 70 Chapter 4 Running  Set parameters (By first numerator as an example) Numerator N=2500，denominator M=157，set P029=2500 and P030=157...
  • Page 71 4.2 Position control mode 4. The relation between the electronic gear ratio and the turn number of servomotor The relation between the electronic gear ratio and the turn number of servomotor is:  Servomotor turn number ＝  Among them, pulse is input pulse number. For example, the incremental encoder line number C=2500 line, N=20, M=3, pulse=1000, the calculation is: ...

  • Page 72: Gains Related To Position Control Mode

    Chapter 4 Running 4.2.4 Gains related to position control mode Param Default Name Range Unit Usage eter value P009 gain of position loop 1～1000 P013 gain of position loop 1～1000 Feed forward gain of position P021 0～100 loop Time-constant of feed forward P022 0.20～50.00 1.00...

  • Page 73: Speed Control Mode

    4.3 Speed control mode 4.3 Speed control mode The speed control applies in the need of accurate-speed control situation, such as braider, drill, CNC machine. Also may construct a positioning control system with host controller. 4.3.1 Simple example for speed control mode This is a simple example of speed control (speed command is an analog input).
  • Page 74 Chapter 4 Running The parameter setting for the example: Paramet Name Setting Default Parameter explanation value value P004 Control mode Set speed control P025 Source speed Set analog input command P060 Acceleration time of suitable speed command P061 Deceleration time of suitable speed command P097...

  • Page 75: Parameters Related To Speed Commands

    4.3 Speed control mode 4.3.2 Parameters related to speed commands The following table is the parameters related to the speed command: Param Default Name Range Unit Usage eter value P025 Source of speed command 0～5 r/min/ P046 Gain of analog speed command 10～3000 Zero offset compensation of P047...
  • Page 76 Chapter 4 Running BUTTON speed command Set for BUTTON adjust speed operation(Sr) Demonstration speed command Set for adjustable speed demonstration. Note 1: inner speed command: DI Signals Speed command Internal speed 1 (parameter P137) Internal speed 2 (parameter P138) Internal speed 3 (parameter P139) Internal speed 4 (parameter P140) Internal speed 5 (parameter P141) Internal speed 6 (parameter P142)

  • Page 77: Acceleration And Deceleration

    4.3 Speed control mode command will reverse. 4.3.4 Acceleration and deceleration The following parameters relate to acceleration and deceleration: Param Default Name Range Unit Usage eter value Acceleration time of speed P060 0～30000 command Deceleration time of speed P061 0～30000 command Acceleration and deceleration can slow down the sudden change of speed and result in smooth movement of the servomotor.

  • Page 78: Clamp On Zero Speed

    Chapter 4 Running 4.3.5 Clamp on zero speed The parameters relate to zero speed clamp: Para Default Name Range Unit Usage meter value P160 Check point for zero speed 0～1000 r/min P161 Hysteresis for zero speed check 0～1000 r/min P162 Zero speed clamp mode 0～1 In the speed control mode, a position change may occur by an external force even if the...

  • Page 79: Gains Related To Speed Control Mode

    4.3 Speed control mode driver is still in the speed control mode, but the external force can cause revolving. 4.3.6 Gains related to speed control mode Parame Default Name Range Unit Usage value P005 First gain of speed loop 1～3000 First integral time constant of speed P006 1.0～1000.0...

  • Page 80: Torque Control Mode

    Chapter 4 Running 4.4 Torque control mode The torque control mode is used in the situations such as printer, winding machine, injection-molding machine and so on. The output torque of servomotor is proportional to the input torque command. 4.4.1 Simple example for torque control mode This is a simple example of torque control (torque command is an analog input).

  • Page 81: Parameters Related To Torque Commands

    4.4 Torque control mode 4.4.2 Parameters related to torque commands The following table is the parameters related to the torque command: Param Default Usag Name Range Unit eter value P026 Source of torque command 0～2 P053 Gain of analog torque command 1～300 Zero offset compensation of P054...

  • Page 82: Sources Of The Torque Commands

    Chapter 4 Running 4.4.3 Sources of the torque commands The sources of torque command determined by parameter P026: P026 Explanation Interpret Analog torque command From terminal AS+ and AS- inputs analog voltage. Internal torque command Determine on TRQ1、TRQ2 DI inputs [Note1].

  • Page 83: Speed Limitation In Torque Control Mode

    4.4 Torque control mode 4.4.4 Speed limitation in torque control mode In torque control mode, the torque output of the servomotor is controlled by torque command, but the speed of the servomotor is not controlled. Therefore, an over speed may occur if in light loading.
  • Page 84 Chapter 4 Running Signal [Note] Speed command Internal speed 1 (parameter P137) Internal speed 2 (parameter P138) Internal speed 13(parameter P139) Internal speed 4 (parameter P140) Internal speed 5 (parameter P141) Internal speed 6 (parameter P142) Internal speed 7 (parameter P143) Internal speed 8 (parameter P144)

  • Page 85: Motion Mode

    4.5 Motion mode 4.5 Motion mode Motion mode: the command may be consisted of one or more paths. Entering into the motion mode: set the parameter P305 as 1; or set DI：MMODE as ON. The path is triggered by （ DI：←CTRG）. And（DI：MDATA1～MDATA3）is used to appoint the path number of trigger.

  • Page 86: The Sequence Diagram Of Motion Mode

    Chapter 4 Running The IO description for this example is: There are eight track procedures in motion mode in total, which can be defined by the users. The trigger command ways are concluded as follows: DI：CTRG + MDATA1～MDATA3 Use the appointed trigger path number MDATA1～MDATA3 and then trigger the execution of the path by the rising edge DI: CTRG.

  • Page 87: Parameter Setting Of Motion Mode

    4.5 Motion mode 4.5.4 Parameter setting of motion mode 1. The motion path selection It is decided by MDATA1、MDATA2、MDATA3 inputted from DI. DI signal[note] path selection MDAT MDAT MDAT path1(P400、P401；P500、P501) path2(P402、P403；P502、P503) path3(P404、P405；P504、P505) path4(P406、P407；P506、P507) path5(P408、P409；P508、P509) path6(P410、P411；P510、P511) path7(P412、P413；P512、P513) path8(P414、P415；P514、P515) Note: 0 indicates OFF, 1 indicates ON. The detailed plan of path is decided by parameter P400～P415, and its target position is decided by P500～P515.
  • Page 88 Chapter 4 Running corresponding Speed track position track parameter control word P310～P317 path target speed Run to the set position with the set speed P330～P337 The deceleration of The deceleration of path path ACC P330～P337 The acceleration of The acceleration of path path P350～P357 The delay time when...

  • Page 89: Motion Path Explanation

    4.5 Motion mode NEXT: After this path is finished and the delay time is reached, it will load the next path automatically, which is triggered by the next CTRG signal. INS: it allows to be interrupted by the next path when this path is executed. The following chart shows how to set NPRC to choose the next path.
  • Page 90 Chapter 4 Running Path 1: speed command (TYPE=0), when DLY is set. Path 2: position command (TYPE=1) (DLY begins to count when the command has been finished) 2. Interrupted Path 1: Speed or position command, when it is set interrupt available (INS=1), regardless of whether DLY is set.

  • Page 91: Gain Adjustment

    4.6 Gain adjustment 4.6 Gain adjustment The servo driver includes the current control loop, the speed control loop and the position control loop. The control diagram is as follows: Theoretically, the inner control loop bandwidth must be higher than the outer loop; otherwise, the entire control system will be unstable and creates the vibration or worse response.
  • Page 92 Chapter 4 Running ：The integral time-constant of speed loop; ：The gain of position loop; G： The inertia ratio of load (P017); ：The load inertia referred to the rotor shaft; ：The rotor inertia of the servomotor. 1. The gain of speed loop K The speed loop gain Kv directly determines the response bandwidth of the speed loop.

  • Page 93: Procedure For Gain Adjustment

    4.6 Gain adjustment    4.6.2 Procedure for gain adjustment The bandwidth selections of the position and the speed loop depend on the machinery rigidity and the application situation. A leather belt conveyer has low rigidity and may set low bandwidth.
  • Page 94 Chapter 4 Running vibration occurs then increase the time constant a bit. 5. Increase the gain of position loop, if vibration occurs then decreases the gain a bit. 6. Because the mechanical system may have resonating factors and is unable to adjust for a bigger gain, then the desired response cannot obtain.

  • Page 95: Resonance Suppressions

    4.7 Resonance suppressions 4.7 Resonance suppressions When the mechanical system has the resonance effect, it is possibly created by higher rigidity of the servo system and quicker response. It may improve if reduce the gain. The servo driver provides the low pass filter and the notch filter. Under unchanging the gain by using filters can achieve the effect of resonance suppression.

  • Page 96: Low Pass Filters

    Chapter 4 Running Two kinds of filter characteristics are: Filter type Suitable case Advantage Disadvantage Low pass High Do not need to know the Bring phase delay; reduce filter frequency exact resonance frequency bandwidth of the system. Do resonance not suitable for the case of medium and low frequency resonance.
  • Page 97 4.7 Resonance suppressions unstable. If the system is low frequency resonating, the low pass filter is unable to suppress it. When the high frequency vibration caused by the servo driver, adjust the filter time-constant Tf of torque, possibly can eliminate the vibration. The smaller the value, the better control response achieves, but it is limited by mechanical condition.

  • Page 98: Notch Filters

    Chapter 4 Running 4.7.2 Notch filters The notch filters are not active by default. By setting the parameter P200~P205, two notch filters can be used at the same time and can suppress two kind of different frequency resonance. If the resonance frequency is known, then by using the notch filter the resonance can be eliminated directly.

  • Page 99: Gains Switching

    4.8 Gains switching 4.8 Gains switching Through internal condition or external signals carry on gains switching to achieve the following goals:  When the servomotor is in stop condition (servo driver is locking),make a switching for low gain in order to suppress the vibration and the incisive noise; ...

  • Page 100: Action Of Gain Switching

    Chapter 4 Running 4.8.2 Action of gain switching Action conditions for gain switching are: P208 P209 Condition of gain switching Unacted Fixed first gain group Unacted Fixed second gain group. Unacted Input GAIN terminal for gain switching from DI. 'OFF' is the first gain group;...

  • Page 101: Homing

    4.9 Homing first group. Therefore, it is a P control mode resulting in PI/P control switching. 4.9 Homing The homing let the mechanical to move to an assigned point. Take it as the reference origin for later on movement. 4.9.1 Parameters for homing The parameters related to homing are: Para Default...

  • Page 102: Methods Of Homing

    Chapter 4 Running After found the reference point, and then seek for the origin according to the second speed of homing. Can choose forward or backward direction seeking for the Z pulse, also can directly make the reference point as the origin. During homing operation, in order to avoid the machinery impact caused by speed change quickly uses the acceleration and the deceleration functions set by parameter P185, P186.

  • Page 103: Timing Chart Of Homing

    4.9 Homing with second speed (P184) and take it the origin. After found the reference point, directly make it the origin. For homing, the reference point mode (P179) and the origin mode (P180) cab be combined and have the following combinations. The detailed actions of each combined mode refer to 4.9.5 section.
  • Page 104 Chapter 4 Running 2. Rising edge triggering (P178=2) After the SON is on (active), the homing execution is triggered by the rising edge of input signal on terminal GOH. Then the normal command execution suspends. After the homing completed, the position and the position deviation reset, the output signal of terminal HOME becomes ON.
  • Page 105 4.9 Homing 3. Auto-execution when turn on the power supply (P178=3) This function only uses in the condition that the power supply turn on and the SON is ON for the first time. Each time carries out homing operation once and will not need to execute homing operation later.

  • Page 106: Timing Chart Of Homing For Combination Mode

    Chapter 4 Running 4.9.5 Timing chart of homing for combination mode For homing, the reference point mode (P179) and the origin mode (P180) cab be combined and have the following combinations. The detailed actions of each combined mode refer to 4.9.3 section.
  • Page 107 4.9 Homing (B) P179=1 or 3/P180=0 Parameter Setting Explanation P179 1 or 3 After starts homing, seek REF (rising edge trigger) or CWL (falling edge trigger) in CW direction with first speed (P183) and take it the reference point. P180 After found the reference point, seek Z pulse in backward direction with second speed (P184) and take it the origin.
  • Page 108 Chapter 4 Running (D) P179=1/P180=1 Parameter Setting Explanation P179 After starts homing, seek REF (rising edge trigger) in CW direction with first speed (P183) and take it the reference point. P180 After found the reference point, seek Z pulse in forward direction with second speed (P184) and take it the origin.
  • Page 109 4.9 Homing (G) P179=4/P180=2 Parameter Setting Explanation P179 After starts homing, seek Z pulse in CCW direction with first speed (P183) and take it the reference point. P180 After found the reference point, directly make it the origin. (H) P179=5/P180=2 Parameter Setting Explanation...

  • Page 110: Set The Absolute Encoder

    Chapter 4 Running 4.10 Set the absolute encoder This chapter is applicable to the servo drive with absolute encoder, while it is not valid to the incremental drive and resolver drive. Servo resoluti Multiturn Transfinite operation motor data output range Absolute 17 bits -32768～...

  • Page 111: Backups For The Multi-Turn Information Of Absolute Encoder

    4.10 Set the absolute encoder 2. Set the SEN signal The setting method of SEN signal is as follows. Again set the SEN signal as ON. Please do as the following diagram. Only when the riseup edge of SEN appears over 1.3S, can it be executed again. 4.10.2 Backups for the multi-turn information of absolute encoder Absolute encoder defaults to be single-ring value.

  • Page 112: The Initialization Of Absolute Encoder

    Chapter 4 Running 4.10.3 The initialization of absolute encoder In the following situation, the absolute encoder must be initialized. The first time to start machine “Alarm for encoder battery (Err48)” happens “Alarm for encoder internal fault (Err41)” happens “Alarm for motor overheating (Err49)” happens When it needs to set the rotating number of the absolute encoder as zero Initiate through Fn36.
  • Page 113 4.10 Set the absolute encoder The sending order of absolute data 1. Set the SEN signal to be valid. 2. After 50ms, it enters serial data and sends waiting state. 3. After 60ms, it receives 8 bits serial data. 4. After 400ms of finishing receiving the last serial data, it enters into the usual incremental action state.
  • Page 114 Chapter 4 Running The final absolute data Pm comes out from the following equation. Pe=M×R+Po mark meaning current positional value Multi-rotating rings data (Multi-rotating data) Initial incremental pulse number The pulse number when encoder rotates one circle（P027×P028） （３）the detailed specification of signal The detailed specification of all signals is as below.

  • Page 115: Over-Travel Protections

    4.11 Over-travel protections 8 bits. The contents are showing as following picture. Data form (note): 1.the range of null circle is one of “P+00000”(CR) or “P-00000”(CR) 2.the range of rotating volume is “+32767～―32768” . If it exceeds this range, the data “+32767” will turn to “-32768” and the data of “-32768”...
  • Page 116 Chapter 4 Running P097 Motion inhibition in Motion inhibition in CW direction(CWL) CCW direction(CCWL) Neglect Neglect 3(Default) Neglect Neglect...

  • Page 117: Torque Limitations

    4.12 Torque limitations 4.12 Torque limitations In order to protect the machinery from over-load can carry on the limit to the output torque. 4.12.1 Parameters for torque limitations The parameters related to torque limit: Para Default Name Range Unit Usage meter value P064...
  • Page 118 Chapter 4 Running by TRQ1 and TRQ2 from DI inputs. Note: 1.The final limitation value will be the smallest value if many limits occur. 2. The limit of the P065 and the P066 is effective all the time. 3. Even if the setting value greater than the permission maximum speed of the system, but the operation also can limit in the maximum torque range.

  • Page 119: Timing Chart Of Operation

    4.13 Timing chart of operation 4.13 Timing chart of operation 4.13.1 Timing chart when power supply switch on  The control power supply L1C, L2C turns on before or at the same time when the main power supply L1, L2, and L3 turn on. If only the control power supply turn on, the servo ready signal (RDY) is OFF.

  • Page 120: Alarm Timing Chart While Servo-On Is Executed

    Chapter 4 Running 4.13.2 Alarm timing chart while servo-ON is executed 4.13.3 Action timing chart while servo-ON/OFF are executed during the servo motor is in standstill When the speed of the servomotor is lower than parameter (P165), the action-timing chart...

  • Page 121: Action Timing Chart While Servo-On/Off Are Executed During The Servo Motor Is In Motion

    4.13 Timing chart of operation 4.13.4 Action timing chart while servo-ON/OFF are executed during the servo motor is in motion When the speed of the servomotor is higher than parameter (P165), the action-timing chart...

  • Page 122: Electromagnetic Holding Brake

    Chapter 4 Running 4.14 Electromagnetic holding brake The electromagnetic brake (holding brake, lost power brake) is used in locking the vertical or the inclined worktable of machine tool, which connected with the servomotor. When the power supply lost or SON is OFF, prevent the worktable from fall and break. Realizes this function, must select and purchase the servomotor with electromagnetic brake.
  • Page 123 4.14 Electromagnetic holding brake the low speed, and then the brake is active to avoid damaging the brake. The delay time is set by the parameter P167 or is the time that the speed of the servomotor decelerates to the speed set by parameter P168.
  • Page 124 Chapter 4 Running Remarks...

  • Page 125: Chapter 5 Parameters

    Chapter 5 Parameters 5.1 Parameter table The usage item in the table indicates the suitable control mode. “P” stands for the position control; “S” stands for the speed control; “T” stands for the torque control; “M” stands for Motion mode, “All” stands for the position, speed, and torque control. The“*”indicates default value that may be different.
  • Page 126 Chapter 5 Parameters only) Encoder pulse factor 2 (Absolute type P028 1～32767 only) First numerator of electronic gear for P029 1～32767 command pulse Denominator of electronic gear for P030 1～32767 command pulse Second numerator of electronic gear for P031 1～32767 command pulse Third numerator of electronic gear for P032...
  • Page 127 5.1 Parameter table P065 Internal torque limit in CCW direction 0～300 P066 Internal torque limit in CW direction -300～0 -300 P067 External torque limit in CCW direction 0～300 P068 External torque limit in CW direction -300～0 -100 P069 Torque limit in trial running 0～300 Alarm level of torque overload in CCW P070...

  • Page 128: Parameters Of Section 1

    Chapter 5 Parameters 5.1.2 Parameters of section 1 param Default name range unit usage eter value P100 Function of digital input DI1 -30～30 P101 Function of digital input DI2 -30～30 P102 Function of digital input DI3 -30～30 P103 Function of digital input DI4 -30～30 P104 Function of digital input DI5...
  • Page 129 5.1 Parameter table param Default name range unit usage eter value P151 Hysteresis for positioning completion 0～32767 pulse P152 Range for approach positioning 0～32767 pulse P153 Hysteresis for approach positioning 0～32767 pulse P154 Arrival speed -5000～5000 r/min P155 Hysteresis of arrival speed r/min 0～5000 P156...
  • Page 130 Chapter 5 Parameters param Default name range unit usage eter value P182 misalignment bottom digit of homing -9999～9999 pulse P183 First speed of homing 1～3000 r/min P184 Second speed of homing 1～3000 r/min P185 Acceleration time of homing 0～30000 P186 Deceleration time of homing 0～30000 P187...

  • Page 131: Parameters Of Section 2

    5.1 Parameter table 5.1.3 Parameters of section 2 param default name range unit usage eter value P200 Frequency of first notch filter 50～1500 1500 P201 Quality factor of first notch filter 1～100 P202 Depth of first notch filter 0～100 P203 Frequency of second notch filter 50～1500 1500...

  • Page 132: Parameters Of Section 3

    Chapter 5 Parameters 5.1.4 Parameters of section 3 Param Default Name Range Unit Usage eter value P300 ID number of drive 1～32 P301 MODBUS communication baud rate 0～6 MODBUS communication protocol P302 0～5 option P305 Motion mode enabled 0～1 P309 Default target speed 0～6000 P310...

  • Page 133: Parameters Of Section 4

    5.1 Parameter table 5.1.5 Parameters of section 4 Param Default Name Range Unit Usage eter value P400 Path 1 control word low 16 bits -32768～32767 P401 Path 1 control word high 16 bits -32768～32767 P402 Path 2 control word low 16 bits -32768～32767 P403 Path 2 control word high 16 bits...

  • Page 134: Parameters Of Section 5

    Chapter 5 Parameters 5.1.6 Parameters of section 5 Param Default Name Range Unit Usage eter value P500 Path 1 control word low 16 bits -32768～32767 P501 Path 1 control word high 16 bits -32768～32767 P502 Path 2 control word low 16 bits -32768～32767 P503 Path21 control word high 16 bits...

  • Page 135: Di Function Table

    5.2 DI function table 5.2 DI function table Ordinal Symbol DI Function Ordinal Symbol DI Function NULL Not have function CMODE Control mode switching Servo enable GAIN Gain switching Electronic gear ARST Clear alarm GEAR1 switching 1 Electronic gear CCWL CCW drive inhibition GEAR2 switching 2...

  • Page 136: Do Function Table

    Chapter 5 Parameters 5.3 DO function table Ordin Ordin Symbol DO Function Symbol DO Function Always invalid Electromagnetic brake Always valid Servo is in motion Servo ready NEAR Near positioning Alarm TRQL Torque under limitation Zero speed Speed under limitation COIN Positioning complete HOME...

  • Page 137: Parameter Description In Detail

    5.4 Parameter description in detail 5.4 Parameter description in detail 5.4.1 Parameters of section 0 Default Range Unit Usage P000 Password value 0～9999  Classifying parameter management can guarantee the parameters cannot modify by mistake.  Setting this parameter as 315 can examine, modify the parameters of the 0, 1, and 2 sections. For other setting only can examine, but cannot modify parameters.
  • Page 138 Chapter 5 Parameters  When the parameter is 3 , 4 or 5.The concrete control mode depends on the CMODE of DI inputs: P004 CMODE[Note] Control mode Position control Speed control Position control Torque control Speed control Torque control Note: 0 indicates OFF; 1 indicates ON. Default Usag Range...
  • Page 139 5.4 Parameter description in detail reduce the position tracking error, and enhance the response. It is easy to cause overshoot or oscillation when the value is too large. Default Usag Range Unit value P010 Second gain of speed loop 1～3000 ...
  • Page 140 Chapter 5 Parameters is too small. In addition, it will cause oscillation if the value is too big. Default Usag Range Unit P021 Feed forward gain of position loop value 0～100  The feed forward can reduce position-tracking error in the position control mode. Under any frequency command pulse the position-tracking error always becomes zero if the parameter setting value is 100.
  • Page 141 5.4 Parameter description in detail Note: 0 indicates OFF; 1 indicates ON. 2：Analog speed command plus internal speed command: DI Signals[note] Speed command Analog speed command Internal speed2 (parameter P138) Internal speed 3 (parameter P139) Internal speed 4 (parameter P140) Internal speed 5 (parameter P141) Internal speed 6 (parameter...
  • Page 142 Chapter 5 Parameters Internal torque (parameterP146) Internal torque (parameterP147) Internal torque (parameterP148) Note: 0 indicates OFF; 1 indicates ON. 2: Analog torque command plus internal torque command: Torque command Signal[note] TRQ2 TRQ1 Analog torque command Internal torque (parameterP146) Internal torque (parameterP147) Internal torque...
  • Page 143 5.4 Parameter description in detail  The electronic gear numerator N of command pulse is determined by GEAR1 and GEAR2 from DI inputs. The denominator M is set by parameter P030. DI Signals [note] Numerator of electronic gear for command pulse N GEAR2 GEAR1 First...
  • Page 144 Chapter 5 Parameters 0：Pulse + direction 1：Positive/Reverse pulse 2：Orthogonal pulse Note: The arrow indicates the counting edge when P036=0, P037=0.  The diagram of command pulse inputs  The parameter needs to preserve firstly and then turn off and on the power supply. Default Usag Range...
  • Page 145 5.4 Parameter description in detail Input signal logic of command Default Usag P037 Range Unit pulse value 0～3  Set the phase of the input pulse signals PULS and SIGN for adjusting the counting edge as well as the counting direction. P037 PULS signal SIGN signal phase...
  • Page 146 Chapter 5 Parameters 3. The command frequency is lower; 4. When the servomotor is in motion appears step-by-steps or unstable phenomenon. Default Usag Range Unit P046 Gain of analog speed command value 10～3000 r/min/V  This proportional coefficient is that the servomotor actual speed divides by the analog input voltage.
  • Page 147 5.4 Parameter description in detail Default Usag Range Unit Direction analog speed P048 value command 0～1  The meanings of this parameter are: P048 Positive polarity (positive Negative polarity (negative voltage) analog input voltage) analog input CCW speed command CW speed command CW speed command CCW speed command Default...
  • Page 148 Chapter 5 Parameters Default Usag Dead zone 1 of analog speed Range Unit value P051 command 0～13000  When the input voltage is located between the second dead band (parameter P052) and the first dead band (Parameter P051) forces the input command to be zero. Default Usag Dead zone 2 of analog speed...
  • Page 149 5.4 Parameter description in detail Default Usag Zero offset compensation of analog Range Unit value P054 torque command -1500.0～1500.0  This is the zero-bias compensation for analog torque input. The actual torque command is that the analog torque input minus this parameter value. ...
  • Page 150 Chapter 5 Parameters Default Usag Range Unit Time constant of filter for analog P056 value torque command 0.20～50.00 2.00  This is the low pass filter of the analog torque input.  The bigger the value, the slower response of the analog speed input will be and it is advantageous in reducing the high frequency noise jamming;...
  • Page 151 5.4 Parameter description in detail Default Usag Range Unit Deceleration time speed P061 value command 0～30000  Set the deceleration time for the servomotor from the rated speed down to zero speed.  If the command speed is lower than the rated speed, the fall time also correspondingly reduces.
  • Page 152 Chapter 5 Parameters by TRQ1 and TRQ2 from DI inputs. Note: 1. If many limits occur, the final limitation value will be the smallest value. 2. The limits of P065 and P066 are effective all the time. 3. Even if the setting value greater than the permission maximum torque of the system, but the operation also can limit in the maximum torque range.
  • Page 153 5.4 Parameter description in detail speed adjustment, the demonstration mode).  The torque limitation is not related to the rotation direction. It is valid in both directions.  The internal and the external torque limitation are still effective. Default Usag Alarm level of torque overload in Range Unit...
  • Page 154 Chapter 5 Parameters P077 Explanation Interpret Basic limit Limited by parameter P078。 Basic limit +Analog limit Except basic limit, it is also limited by analog speed command Basic limit + Except basic limit, it is also limited by internal Internal speed limit speed command.
  • Page 155 5.4 Parameter description in detail  The meanings of this parameter: 0: adopting internal brake resistor. 1: adopting external brake resistor. Default Usag Range Unit value P085 The value of external brake resistor 1～750 Ω  Set this parameter according to the value of actual external brake resistor. ...
  • Page 156 Chapter 5 Parameters work.  When the module temperature is lower than this temperature, drive cooling fan stops working. Default Usag Range Unit value P096 Items of initial display 0～22  Set the display status on the front panel after turn on the power supply. The meanings of this parameter are: P096 Display item...

  • Page 157: Parameters Of Section 1

    5.4 Parameter description in detail Neglect Neglect Neglect Use: When input signal is ON, the servomotor can move to this direction; When OFF the servomotor cannot move to this direction. Neglect: The servomotor can move to this direction, and the prohibition signal does not have the function, therefore can disconnect this signal.
  • Page 158 Chapter 5 Parameters Default Usag Range Unit P102 Function of digital input DI3 value -30～30  The function plan of digital input DI3. Refer to the explanation of parameter P100. Default Usag Range Unit value P103 Function of digital input DI4 -30～30 ...
  • Page 159 5.4 Parameter description in detail  This is the time-constant of DI5 input digital filter. Refer to the explanation of parameter P110. Default Usag Forced effect in DI digital inputs Range Unit value P120 (group 1) 00000～11111 00000  he function corresponding to 5 binary bit is as following: Bit number bit4 Bit3...
  • Page 160 Chapter 5 Parameters Bit number bit4 bit3 bit2 bit1 bit0 Function GEAR2 GEAR1 GAIN CMODE  Refer to the explanation of parameter P120 for others. Default Usag Forced effect in DI digital inputs Range Unit value P124 (group 5) 00000～11111 00000 ...
  • Page 161 5.4 Parameter description in detail Default Usag Range Unit P138 Internal speed 2 value -5000～5000 r/min  This is the internal speed 2. Refer to the explanation of parameter P025. Default Usag Range Unit value P139 Internal speed 3 -5000～5000 r/min ...
  • Page 162 Chapter 5 Parameters Default Usag Range Unit P146 Internal torque 2 value -300～300  This is the internal torque 2. Refer to the explanation of parameter P026. Default Usag Range Unit value P147 Internal torque 3 -300～300  This is the internal torque 3. Refer to the explanation of parameter P026. Default Usag Range...
  • Page 163 5.4 Parameter description in detail Default Usag Range Unit P153 Hysteresis for approach positioning value 0～32767 pulse  Refer to the explanation of parameter P152. Default Usag Range Unit value P154 Arrival speed -5000～5000 r/min  When the servomotor speed surpasses this parameter, the digital output DO ASP (speed arrives) is ON, otherwise is OFF.
  • Page 164 Chapter 5 Parameters Default Usag Range Unit P158 Hysteresis of arrival torque value 0～300  Refer to the explanation of parameter P157. Default Usag Range Unit value P159 Polarity of arrival torque 0～1  Refer to the explanation of parameter P157. Default Usag Range...
  • Page 165 5.4 Parameter description in detail Default Usag Range Unit The way of position deviation P163 value clearing 0～1  In the position control mode, use the CLR input signal (clear position deviation) from DI to clear the position deviation counter. ...
  • Page 166 Chapter 5 Parameters the work piece.  The timing chart refers to 4.13.3 section. Waiting time for electromagnetic Default Usag Range Unit value P167 brake when servomotor is in motion 0～2000  Use the electromagnetic brake when the SON is from ON go to OFF or alarm occurs in the servo driver.
  • Page 167 5.4 Parameter description in detail If resolver is used, the output encoder number is  resolution chosen P089  Take the incremental encoder for example P170 P171 Output encoder line number 2500 1250 1666  Equivalent encoder line number can be fraction. Default Usag Range...
  • Page 168 Chapter 5 Parameters Default Usag Range Unit P173 Encoder outputs B pulse phase value 0～1  The meaning of this parameter are 0: in-phase 1: anti-phase  This parameter can adjust the phase relation between B phase signal and A phase signal. That is, when motor CCW, A phase lags B phase 90 degree (P173=0) or A phase advances B phase 90 degree (P173=1);...
  • Page 169 5.4 Parameter description in detail 3：Automatic execution after turn on the power supply  Refer to 4.9 sections for detailed explanation. Default Usag Range Unit value P179 Reference mode of homing 0～5  After starting the homing, seek the reference point according to the first speed (P183) of homing.
  • Page 170 Chapter 5 Parameters Default Usag Range Unit P183 First speed of homing value 1～3000 r/min  This is the speed for seeking the reference point in homing. Default Usag Range Unit value P184 Second speed of homing 1～3000 r/min  This is the speed for seeking the origin in homing after the reference point arrived.

  • Page 171: Parameters Of Section 2

    5.4 Parameter description in detail Default Usag Range Unit Command executive mode after P189 value homing 0～1  The meanings of this parameter are: 0：After the homing completed, waiting for the HOME signal becomes OFF and then carries out the command again. 1：After the homing completed carries out the command immediately.
  • Page 172 Chapter 5 Parameters  Set the depth of the notch filter. The bigger the value, the more depth of the north obtains, namely the bigger attenuating of filter gain obtains. If the parameter P202 sets zero, then closes the north. ...
  • Page 173 5.4 Parameter description in detail First gain group Second gain group Parameter Name Parameter Name Second gain of speed P005 First gain of speed loop P010 loop First integral time Second integral time P006 P011 constant of speed loop constant of speed loop First filter time constant Second filter...
  • Page 174 Chapter 5 Parameters goal gain group according to the setting time by parameter P212. Each parameter of the gain group also changes at the same time.  The machinery impact caused by changing the parameter suddenly can avoid.

  • Page 175: Parameters Of Section 3

    5.4 Parameter description in detail 5.4.4 Parameters of section 3 Default Usag Range Unit P300 Drive ID number value 1～32  Drive ID number is used for setting the parameter of MODBUS communication station number.  When MODBUS is used to communicate, the communication address of servo drive needs to be set different servo drive station number respectively according to this parameter.
  • Page 176 Chapter 5 Parameters implies not to use this bit; E implies an even bit; O implies an odd bit; Figure 1 implies the ending bit is one. Default Usag Range Unit value P305 Motion mode enabled 0～1  This parameter is used for enable motion mode. The meaning of this parameter: 0: common mode 1: enable motion mode...
  • Page 177 5.4 Parameter description in detail Default Usag Range Unit P315 Target speed 6 value 0～5000  Target speed 6, refers to the explanation of parameter P310. Default Usag Range Unit value P316 Target speed 7 0～5000  Target speed 7, refers to the explanation of parameter P310. Default Usag Range...
  • Page 178 Chapter 5 Parameters Default Usag Range Unit Acceleration and deceleration time P334 value 30～10000 1000  Acceleration and deceleration time 5, refers to the explanation of parameter P330. Default Usag Acceleration and deceleration time Range Unit value P335 30～10000 1000 ...

  • Page 179: Parameters Of Section 4

    5.4 Parameter description in detail Default Usag Range Unit P353 Delay time 4 value 30～10000 1000  delay time 4, refers to the explanation of parameter P350. Default Usag Range Unit value P354 Delay time 5 30～10000 1000  delay time 5, refers to the explanation of parameter P350. Default Usag Range...
  • Page 180 Chapter 5 Parameters Default Usag Range Unit P401 Path 1 control word high 16 bits value -32768～32767  This parameter is used in motion mode to set the control word of path.  The detailed explanation of parameter. 14～10 9～5 4～3 TYPE NPRC...
  • Page 181 5.4 Parameter description in detail Default Usag Range Unit P404 Path 3 control word low 16 bits value -32768～32767  Path 3 control word low 16 bits, refers to parameter P400 for explanation. Default Usag Range Unit value P405 Path 3 control word high 16 bits -32768～32767 ...

  • Page 182: Parameters Of Section 5

    Chapter 5 Parameters Default Usag Range Unit P412 Path 7 control word low 16 bits value -32768～32767  Path 7 control word low 16 bits, refers to parameter P400 for explanation. Default Usag Range Unit value P413 Path 7 control word high 16 bits -32768～32767 ...
  • Page 183 5.4 Parameter description in detail Default Usag Range Unit P502 Path 2 data low 16 bits value -32768～32767  Path 2 data low 16 bits, refers to parameter P500 for explanation. Default Usag Range Unit value P503 Path 2 data high 16 bits -32768～32767 ...
  • Page 184 Chapter 5 Parameters Default Usag Range Unit P510 Path 6 data low 16 bits value -32768～32767  Path 6 data low 16 bits, refers to parameter P500 for explanation. Default Usag Range Unit value P511 Path 6 data high 16 bits -32768～32767 ...

  • Page 185: Di Function Description In Detail

    5.5 DI function description in detail 5.5 DI function description in detail Ordi Symbol Function Function explanation Not have The input condition does not have any influence to the NULL function system. OFF：servo driver does not enable, servomotor does not Servo excite;...
  • Page 186 Chapter 5 Parameters Ordi Symbol Function Function explanation OFF：Inhibit CW running; ON ：Enable CW running. Uses this function for protection of the mechanical traveling limit, the function is controlled by the parameter P097. Pays attention to that the P097 default value neglects this function, therefore needs to modify P097 if needs to use this function: P097...
  • Page 187 5.5 DI function description in detail Ordi Symbol Function Function explanation Under the speed or torque control mode, the speed or torque Zero command is: CZERO command OFF：Normal command; ON ：Zero command. Under the speed or torque control mode, the speed or torque Comman command is: CINV...
  • Page 188 Chapter 5 Parameters Ordi Symbol Function Function explanation DI Signals[note] Torque command TRQ2 Internal torque (parameterP145) Internal torque Internal torque TRQ2 selection (parameterP146) Internal torque (parameterP147) Internal torque (parameterP148) Note: 0 indicates OFF; 1 indicates ON. OFF：Permits the servo driver to work; Emergenc ON ：Servo driver stops;...
  • Page 189 5.5 DI function description in detail Ordi Symbol Function Function explanation gear N numerator(parameterP0 Electronic numerator(parameterP0 gear GEAR2 switching numerator(parameterP0 numerator(parameterP0 Note: 0 indicates OFF; 1 indicates ON. Eliminates the position deviation counter; The elimination Clear mode is selected by the parameter P163; The elimination of position position deviation occurs in the moment: deviation...
  • Page 190 Chapter 5 Parameters Ordi Symbol Function Function explanation Motion Trigger motion command. The rising edge is valid. Refer to CTRG command chapter 4.10 trigger Motion MDATA1 command choice 1 Motion command Choosing motion mode path, refers to chapter 4.5.4 MDATA2 choice 2 Motion command...

  • Page 191: Do Function Description In Detail

    5.6 DO function description in detail 5.6 DO function description in detail Ordina Symbo Function Function explanation Always Forced output OFF. invalid Always valid Forced output ON. OFF：Servo main power supply is off; Or alarm occurs; Servo ready ON ：Servo main power supply is normal，no alarm occurs.
  • Page 192 Chapter 5 Parameters Ordina Symbo Function Function explanation OFF：Servomotor torque has not reached the limit value; Torque under TRQL ON ：Servomotor torque has reached the limit value. limitation Torque limitation is set by parameter P064. In torque control mode Speed under OFF：Servomotor speed has not reached the limit value;...

  • Page 193: Chapter 6 Communication Functions

    6.1 Communication hardware interface Chapter 6 Communication functions 6.1 Communication hardware interface Servo drive It has RS-485 serial communication functions, which could achieve functions of driving servo system, altering parameters and monitoring servo system state through MODBUS agreement. It has USB communication function, which need to use with PC terminal software. It can do the performance of changing parameters.

  • Page 194: Communication Parameter

    Chapter 6 Communication functions 6.2 Communication parameter default Usag range Unit P300 Drive ID number value 1～32 When RS-485 communication is used, the communication address of servo drive needs to set by this parameter respectively as different servo drive station number. The setting range of station number address is 1~ 32 and the default value is one.
  • Page 195 6.1 Communication hardware interface 0：8，N，1（MODBUS, ASCII） 1：8，E，1（MODBUS, ASCII） 2：8，O，1（MODBUS, ASCII） 3：8，N，1（MODBUS, RTU） 4：8，E，1（MODBUS, RTU） 5：8，O，1（MODBUS, RTU） Figure 8 indicates the transmissive data is eight bits. English letter N, E, O represent parity bit: N represents not to use this, E represents one even bit, zero represents one odd bit. Figure 1 means the end bit is 1.

  • Page 196: Modbus Communication Protocol

    Chapter 6 Communication functions 6.3 MODBUS communication protocol When RS-485 serial communication is used, every servo drive should be set its servo drive station by P300 parameter in advance. Computer or upper controller implements control for servo drive according to the station number. The baudrate needs to refer to the communication parameter of upper controller to set parameter P301, in which MODBUS can use the following two modes: ASCII （...
  • Page 197 6.3 MODBUS communication protocol 8，O，1 Communication data structure： ASCII mode： Start character ‘：’(3AH) Communication address: 1byte contains two ASCII codes Command code: 1byte contains two ASCII codes DATA(n-1) Data content: Nword=2Nbyte, contains 4N ASCII codes, N<=100 …….. DATA(0) Verification code: 1byte contains two ASCII codes End1 End code 1: (0DH)(CR) End0...
  • Page 198 Chapter 6 Communication functions Command code 03H, could read N words (16bit). The maximum of N is 100. For example, read two parameters continuously from section 0 number 5 parameter of 01H station number servo drive. ASCII mode: command information： Respond information：...
  • Page 199 6.3 MODBUS communication protocol RTU mode： command information： Respond information： Initial data 00H (high byte) Data position number(count 05H (low byte) by byte) Data 00H (high byte) 0 section 00H (high number number 5 byte) parameter 02H (low byte) 278H (low content byte) CRC Low...
  • Page 200 Chapter 6 Communication functions ASCII mode: command information： Respond information： ‘：’ ‘：’ ‘0’ ‘0’ ‘1’ ‘1’ ‘0’ ‘0’ ‘6’ ‘6’ ‘0’ ‘0’ Initial data ‘0’ Initial data ‘0’ position position ‘0’ ‘0’ ‘5’ ‘5’ ‘0’ ‘0’ ‘0’ ‘0’ Data Data content content ‘6’...
  • Page 201 6.3 MODBUS communication protocol RTU mode: ： command information： Respond information： Initial data 00H (high byte) initial data 00H (high position address byte) 05H (low byte) 05H (low byte) Data content 00H (high byte) Data content 00H (high byte) 64H (low byte) 64H (low byte) CRC Low...
  • Page 202 Chapter 6 Communication functions For example, read the section 0 No. 05 parameter of station number 01H servo drive. ‘:’ ‘0’ ‘1’ ‘0’ ‘3’ ‘0’ Initial data ‘0’ position ‘0’ ‘5’ ‘0’ ‘0’ Data number ‘0’ ‘2’ ‘F’ LRC Check ‘5’...
  • Page 203 6.3 MODBUS communication protocol example. For example, read the section 0 No.05 parameter of station No. 01H servo drive. If the last content of CRC register is 3794H counting from ADR to the last byte of data, the command information is as follows. It needs to note that byte 94H should be sent before byte 37H. Initial data 00H(hign byte) position...

  • Page 204: Write In And Read Out Parameters

    Chapter 6 Communication functions 6.4 Write in and read out parameters Please refer the details of the entire servo drive parameter to parameter chapter. The parameter is divided by the parameter section. Every parameter is represented by 16bit data. The communication address of every parameter is confirmed commonly by parameter section number and parameter sequence number in the section.

  • Page 205: Common Operation Command

    6.5 Common operation command 6.5 Common operation command The internal parameter of servo drive can be read and written through RS-485 communication interface. After reading and writing were completed, it can do entire operation to drive parameter list through specific command code. Firstly, write the operation code to operation command code register.

  • Page 206: Quantity Of State Surveillance

    Chapter 6 Communication functions 6.6 Quantity of state surveillance The internal quantity of state of servo drive can be read out through RS-485 communication interface, but can not be written in. The quantity of state is stored by 16bits data. For the data whose value is accurate to decimal place, its value will be magnified by 10 times or 100 times when it is read out by communication interface.
  • Page 207 6.6 Quantity of state surveillance Note 1: The data read by this address is 16bit, of which bit4~bit0 mean the input state of DI5~DI1. “1” means to input high level, “0” means to input low level; bit15~bit5 are stored for usage in future. Note 2: the data read by this address is 16bit, of which bit2~bit0 mean the output state of DO3~DO1.

  • Page 208: Operation Example

    Chapter 6 Communication functions 6.7 Operation example The following three operation examples explain the operation of parameter section and quantity of state. The quantity of state operation: this part is read only: d-A1 The value for “ ”quantity of sate in “ ”of servo drive shows 8.

  • Page 209: Chapter 7 Alarm

    Chapter 7 Alarm 7.1 Alarm table Alarm Alarm Alarm Alar code Name content clear No alarm occurs Normal operation Err-- Over speed Servomotor speed exceeds the speed limit. Err 1 Over voltage of the main The voltage of the main power supply Err 2 power supply exceeds the specified value.
  • Page 210 Chapter 7 Alarm Phase loss alarm Check whether the power line is three phase Err27 input or not Over-torque alarm The torque of servomotor exceeds the setting Err29 value and lasting time Lost Z signal of encoder Z signal of encoder is loss. Err30 signals error...

  • Page 211: The Reason And Handling Of Alarm

    7.2 The reason and handling of alarm 7.2 The reason and handling of alarm Err 1 (Over speed) Potential cause Check Handle Servomotor U 、 V 、 W Check U、V、W wiring Correct U、V、W wiring. The U、 connection is not correct V 、...
  • Page 212 Chapter 7 Alarm Err 4(Position deviation) Potential cause Check Handle Servomotor U 、 V 、 W Check U、V、W wiring Correct U、V、W wiring. The U、 connection is not correct V 、 W must connect with servo driver terminal U 、 V 、 W correspondently.
  • Page 213 7.2 The reason and handling of alarm Err 8 (Overflow of position deviation counter) Potential cause Check Handle The servomotor is blocked Check servomotor Repair. shaft and its mechanical connection The command pulse is Check command pulse abnormal Err 9 (Encoder signal fault) Potential cause Check Handle...
  • Page 214 Chapter 7 Alarm Err12 (Over-current) Potential cause Check Handle Short-circuit at drive Check wiring Repair replace output (U、V、W) connections between servo short-circuited wiring. driver and servomotor. Motor winding insulation Check the servomotor Replace the servomotor. is damaged Servo driver is damaged Check the servo driver Known the servomotor to be nofault, and then turn on the...
  • Page 215 7.2 The reason and handling of alarm Err14 (Overload of brake peak power) Potential cause Check Handle The voltage of input AC Check voltage correct power supply power supply is too high power supply according with the specifications. Regeneration fault Regenerative resistor Repair.
  • Page 216 Chapter 7 Alarm Err17 (Brake average power overload) Potential cause Check Handle The voltage of input AC Check voltage Use correct power supply according power supply is too high power supply with the specifications. Regeneration energy too Check regeneration  Slow down the starting and large load factor...
  • Page 217 7.2 The reason and handling of alarm Err24 (Under voltage of control power supply) Potential cause Check Handle Control circuit LDO fault Check the power of Replace the servo driver. control board Err27 (Phase loss alarm) Potential cause Check Handle Phase loss of power supply Check the wiring of Connect wire correctly...
  • Page 218 7.2 The reason and handling of alarm Err31 (Encoder UVW signal error) Potential cause Check Handle Encoder has problem  Check the line Replace the encoder. number and pole number  Check the encoder UVW signals  Encoder damaged Encoder wiring error Check encoder Correct wiring included shield...
  • Page 219 7.2 The reason and handling of alarm hardware circuit error Optocoupler access replace drive Err40 (Absolute encoder communication error) Potential cause Check Handle Encoder connection wiring error Check encoder connection Connect wiring correctly wiring Encoder cable and connector Check cable and connector Replace cable and connector unsteady Encoder damage...
  • Page 220 7.2 The reason and handling of alarm Err47 (Absolute encoder external battery error) Potential cause Check Handle External battery out of power External battery voltage Replace battery Err48 (Absolute encoder external battery alarm) Potential cause Check Handle External battery out of power External battery voltage Replace battery First...

  • Page 221: Chapter 8 Specifications

    Chapter 8 Specifications 8.1 Types of servo driver...

  • Page 222: Dimensions Of Servo Driver

    Chapter 8 Specifications 8.2 Dimensions of servo driver Model GL1A GL1A8/GL3A GL7A5 GL120 GL160 GL190 GL240 Size（mm） Model GH3A5/GH5 GH8A5 GH130 GH170 Size（mm）...

  • Page 223: Specifications Of Servo Driver

    8.3 Specifications of servo driver 8.3 Specifications of servo driver Type Rated output 0.1 0.2 5.0 1.0 2.0 3.0 power(KW) 1.0 1.8 7.5 12.0 16.0 13.0 24. 8.5 13.0 17.0 Rated output current(A) Main Single phase Three-phase AC220V Three-phase 380VAC power 220VAC -15%～+10% 50/60Hz...
  • Page 224 Chapter 8 Specifications input Acceleratio n/decelerati Parameter setting command Command Analog voltage, Internal speed command source Analog command -10V～+10V，Input impedance 10kΩ input Torqu Speed limit Parameter setting Command Analog voltage, Internal torque command source Homing, Gain switching, Notch of mechanical resonance , supporting Special function Modbus protocol Speed, current position, position deviation, motor torque, motor current,...

  • Page 225: Adaptive Table For Servo Motor Selections

    8.4 Adaptive table for servo motor selections 8.4.1 Maxsine motor matching scheme Maxsine AC servo motor has two series, A and K. The detailed distinguish method is: the motor with the production serial number beginning from A to J, is A series motor. For example, B20494890202.
  • Page 226 Chapter 8 Specifications 110MSL06030 3000 GL120 GL160 C107 b106 130MSL04025 2500 GL7A5 GL120 C301 b301 130MSL05025 2500 GL7A5 GL120 C302 b302 130MSL06025 2500 GL7A5 GL120 GL160 C303 b303 130MSL07720 2000 GL120 GL160 C305 b312 130MSL07725 2500 GL160 GL190 C304 b304 130MSL07730 3000 GL160...

  • Page 227: Huada And Mige Ac Servo Motor Matching Scheme

    8.4 Adaptive table for servo motor selections 8.4.2 Huada and Mige AC servo motor matching scheme Adaptive driver Mige Torqu model speed power Better Huad Stand Wire Average (220V series) r/min adaptat saving N·m adaptation type type 60ST-M00630 GL1A8 GL3A0 3000 b061 F061...
  • Page 228 Chapter 8 Specifications 130ST-M10010 GL7A5 GL120 1000 b305 F305 130ST-M10015 1500 GA120 GL7A5 GL160 A308 b306 F306 130ST-M10025 2500 GL160 GL190 A309 b307 F307 130ST-M15015 GL160 GL190 1500 A310 b308 F308 130ST-M15025 GL190 GL240 2500 A311 b309 F309 150ST-M15025 GL190 GL240 2500 A501...

  • Page 229: Series Motor Matching Scheme

    8.4 Adaptive table for servo motor selections 8.4.3 380V series motor matching scheme Adaptive drive Maxsine Torqu Model(380V Speed Better Average Huada series) r/min adaptatio adaptatio A series N·m series 110MSH02030 3000 GH3A5 A112 110MSH04030 3000 GH3A5 GH5A4 A113 110MSH05030...
  • Page 230 Chapter 8 Specifications 180MSH20020 2000 GH130 GH170 C802 180MSH21520 21.5 2000 GH170 b811 180MSH25020 2000 GH130 GH170 C803 180MSH27010 1000 GH130 b812 180MSH27015 1500 GH170 b813 180MSH30010 1000 GH130 GH170 C804 180MSH35010 1000 GH130 b814 180MSH35015 1500 GH170 b815 180MSH40010 1000 GH130 GH170...

  • Page 231: Types Of Servo Motor

    8.5 Types of servo motor 8.5 Types of servo motor...

  • Page 232: Servo Motor Wiring

    Chapter 8 Specifications 8.6 Servo motor wiring Please refer 40,60,80,90 series wiring methods to respective specification. 110,130,150,180 series wiring methods are as follows: 8.6.1 Winding wiring Terminal Terminal Terminal explanation symbol number U phase drive input V phase drive input W phase drive input Ground terminal of motor case 8.6.2 Holding brakes...

  • Page 233: Incremental Wire Saving Encoders

    8.6 Servo motor wiring W phase output Metal case of encoder 8.6.4 Incremental Wire saving encoders Terminal Terminal Terminal explanation symbol number 5V input power A phase output B phase output Z phase output Metal case of encoder...

  • Page 234: Parameters Of Servo Motor

    Chapter 8 Specifications 8.7 Parameters of servo motor 8.7.1 Parameters of 40 series servo motor 40 series Motor model 00230 00330 Rated power (W) Rated line voltage(V) Rated line current(A) 0.75 Rated speed(rpm) 3000 3000 Rated torque (N∙m) 0.159 0.318 Peak torque (N∙m) 0.477 0.954...

  • Page 235: Parameters Of 60 Series Servo Motor

    8.7 Parameters of servo motor 8.7.2 Parameters of 60 series servo motor 60 series Motor model 00630 01330 01930 Rated power (KW) Rated line voltage(V) Rated line current(A) Rated speed(rpm) 3000 3000 3000 Rated torque (N∙m) 0.637 1.27 1.91 Peak torque (N∙m) 1.911 5.73 Rotor inertia (kg∙m...

  • Page 236: Parameters Of 80 Series Servo Motor

    Chapter 8 Specifications Encoder line sequence: Socket number Wiring Definition 8.7.3 Parameters of 80 series servo motor 80 series Motor model 01330 02430 03520 04025 Rated power (KW) 0.75 0.73 Rated line voltage(V) Rated line current(A) Rated speed(rpm) 3000 3000 2000 2500 Rated torque (N∙m)

  • Page 237: Parameters Of 90 Series Servo Motor

    8.7 Parameters of servo motor Socket number Wiring Definiti 8.7.4 Parameters of 90 series servo motor 90 series Motor model 02430 03520 04025 Rated power (KW) 0.75 0.73 Rated line voltage(V) Rated line current(A) Rated speed(rpm) 3000 2000 2500 Rated torque (N∙m) Peak torque (N∙m) 10.5 12.0...
  • Page 238 Chapter 8 Specifications conditions humidity: Relative humidity <90% (non condensing) Socket number Wiring Definitio...

  • Page 239: Parameters Of 110 Series Servo Motor

    8.7 Parameters of servo motor 8.7.5 Parameters of 110 series servo motor 110 series Motor model 02030 04020 04030 05020 05030 06020 06030 Rated power (KW) Rated line voltage(V) Rated line current(A) Rated speed(rpm) 3000 2000 3000 2000 3000 2000 3000 Rated torque (N∙m)

  • Page 240: Parameters Of 130 Series Servo Motor

    Chapter 8 Specifications 8.7.6 Parameters of 130 series servo motor 130 series Motor model 04025 05025 06025 07720 07725 10010 10015 10025 15015 15025 Rated power (KW) Rated line voltage(V) Rated line 13.5 current(A) Rated 2500 2500 2500 2000 2500 1000 1500 2500...

  • Page 241: Parameters Of 150 Series Servo Motor

    8.7 Parameters of servo motor 8.7.7 Parameters of 150 series servo motor 150 series Motor model 15025 18020 23020 27020 Rated power (KW) Rated line voltage(V) Rated line current(A) 16.5 16.5 20.5 20.5 Rated speed(rpm) 2500 2000 2000 2000 Rated torque (N∙m) 15.0 18.0 23.0...

  • Page 242: Parameters Of 180 Series Servo Motor

    Chapter 8 Specifications 8.7.8 Parameters of 180 series servo motor 220V motor parameter: 180 series Motor model 15020 48015 17215 19015 21520 27015 35015 Rated power (KW) Rated line voltage(V) Rated line current(A) 10.5 Rated speed(rpm) 2000 1500 1500 1500 1500 1500 1500...
  • Page 243 8.7 Parameters of servo motor 380V motor parameter: 180series Motor model 15020 17215 19015 20020 21520 25020 27015 30010 35015 40010 48015 Rated power (KW) Rated line voltage(V) Rated line 12.5 current(A) Rated 2000 1500 1500 2000 2000 2000 1500 1000 1500 1000...

  • Page 244: After- Service Introduction

    Please do not open driver and try to mend driver by yourself. Disassembly of driver may lead to damage of driver or personal injury. Please contact Maxsine or its appointed distributor if driver is broken or gets any problem. More information about service could be get in below website: www.maxsine.com...
  • Page 245 Edition antecedents Edition number Published time Modify content First edition Janunary, 2013 Applies to software version...
  • Page 246 Wuhan Maxsine Electric Co., Ltd Address: A6, Hangyu Building, No.7, Wuhan University Science Park Road, Donghu District, Wuhan, Hubei Province, China. Zip code: 430223 Central office: 027-87921282/027-87921283 Sales Tel: 027-87920040/027-87923040 transfer 809/817/818 Sales Fax：86-27-87921290 After service Tel: 027-87921284/027-87921282 transfer 831/832/833 Company Website: www.maxsine.com...

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