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Maxsine EP3 E Series User Manual

Profinet ac servo drive
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Maxsine
3
EP
E
series
PROFINET
AC servo drive
User Manual
(The fourth edition)
Servo drive
Wuhan Maxsine Electric Co., Ltd
GL1A0/GL1A8/GL3A0/GL5A5/GL7A5/GL120/GL160
GL190/GL240/GH2A0/GH3A5/GH5A4/GH8A5/GH130
GH170/GH210/GH260/GH320/GH390

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  • Page 1 Maxsine series PROFINET AC servo drive User Manual (The fourth edition) GL1A0/GL1A8/GL3A0/GL5A5/GL7A5/GL120/GL160 GL190/GL240/GH2A0/GH3A5/GH5A4/GH8A5/GH130 Servo drive GH170/GH210/GH260/GH320/GH390 Wuhan Maxsine Electric Co., Ltd...
  • Page 2 DECLARATION Wuhan Maxsine electric technology limited company 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...
  • Page 3 Safety Precautions In order to ensure proper use of 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. Indicates a disoperation possibly can cause danger and physical injure, and may result in damage to the product.
  • 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: Table Of Contents

    CONTENTS Chapter 1 Product inspection and installment ................ 1 1.1 Product inspection ..................... 1 1.2 Product nameplate ..................... 1 1.3 Product front panel ....................2 1.4 Servo driver installation ..................10 1.4.1 Installation environmental conditions ............10 1.4.2 Installation method ..................10 1.5 Servo motor installation ..................
  • Page 6 3.1.3 Data display ....................35 3.2 Main menu ......................35 3.3 Status monitor ......................36 3.4 Parameters setting ....................41 3.5 Parameter management ................... 42 3.6 Auxiliary functions ....................43 3.6.1 Special functions☆ ..................43 3.7 Parameter default value recovery ................44 Chapter 4 Running .......................
  • Page 7 Chapter 5 Parameters ......................62 5.1 Parameter list ......................62 5.1.1 Parameters of section 0 ................. 62 5.1.2 Parameters of section 1 ................. 63 5.1.3 Parameters of section 2 ................. 65 5.1.4 Parameters of section 3 ................. 66 5.2 DI Function List ...................... 66 5.3 DO Function List ....................
  • Page 8 8.1 Driver model ......................145 8.2 Drive size ......................146 8.3 Drive specification ....................148 8.4 Motor adaptation sheet of driver ................149 8.5 Servo motor model ....................150 8.6 Servo motor wiring ....................151 8.6.1 Winding wiring ................... 151 8.6.2 Brake wiring....................

  • Page 9: 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 10: Product Front Panel

    Chapter 1 Product inspection and installment 1.3 Product front panel Applicable models：GL1A0、GL1A8、GL3A0、GL5A5、GL7A5、GL120...
  • Page 11 1.3 Product front panel Applicable models：GL160...
  • Page 12 Chapter 1 Product inspection and installment Applicable models：GL190、GL240...
  • Page 13 1.3 Product front panel Applicable models：GH2A0、GH3A5、GH5A4...
  • Page 14 Chapter 1 Product inspection and installment Applicable models：GH8A5...
  • Page 15 1.3 Product front panel Applicable models：GH130、GH170、GH210...
  • Page 16 Chapter 1 Product inspection and installment Applicable models：GH260...
  • Page 17 1.3 Product front panel Applicable models：GH320、GH390...

  • Page 18: Servo Driver Installation

    Chapter 1 Product inspection and installment 1.4 Servo driver installation 1.4.1 Installation environmental conditions 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 19: Servo Motor Installation

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

  • Page 20: Motor Rotation Direction Definition

    Chapter 1 Product inspection and installment 1.6 Motor rotation direction definition 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 Positive Rotation Reversal Rotation...

  • Page 21: Chapter 2 Wiring

    Chapter 2 Wiring 2.1 System construction and wiring 2.1.1 Servo driver wiring diagram 1. EP3E-GL series servo driver wiring diagram Applicable models：GL1A0、GL1A8、GL3A0...
  • Page 22 Chapter 2 Wiring Applicable models：GL5A5、GL7A5、GL120、GL160 Note: Please refer to section 2.1.5 for details of GL190 and GL240.
  • Page 23 2.1 System construction and wiring 2. EP3E-GH series servo driver wiring diagram Note: This wiring method is only applicable to GH2A0, GH3A5 and GH5A4. Please refer to section 2.1.5 for details of GH8A5, GH130, GH170 and GH210.
  • Page 24 Chapter 2 Wiring Applicable models：GH260...
  • Page 25 2.1 System construction and wiring Applicable models：GH320、GH390...

  • Page 26: Wiring Instructions

    Chapter 2 Wiring 2.1.2 Wiring instructions 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.  GL series: Check that the power supply and wiring of L1、L2、L3 and L1C、L2C terminals are correct.

  • Page 27: Strong Terminal Specification

    2.1 System construction and wiring 2.1.4 Strong terminal specification Terminal Name model Detailed instructions symbol Single-phase 220VAC GL1A0、GL1A8、GL3A0 - 15% ~ + 10% 50/60 Hz Main circuit GL5A5、GL7A5、GL120、 Three-phase 220VAC power input GL160、GL190、GL240 -15%～+10% 50/60Hz terminal Three-phase 380VAC GH series - 15% ~ + 10% 50/60 Hz Single-phase 220VAC Control...

  • Page 28: Main Circuit Wiring Diagram

    Chapter 2 Wiring 2.1.5 Main circuit wiring diagram 1. GL series servo driver power supply adopts three-phase AC 220V, generally obtained from three-phase AC 380V through transformer. Applicable models：GL1A0 [Note] Note: GL1A0 has no internal brake resistor, so it is generally not necessary to connect the brake resistor.
  • Page 29 2.1 System construction and wiring Applicable models：GL5A5、GL7A5、GL120、GL160 Applicable models：GL190...
  • Page 30 Chapter 2 Wiring Applicable models：GL240 [Note] Note: GL240 has no internal brake resistor, so it needs to be connected with external brake resistor. 2. GH series: Applicable models：GH2A0、GH3A5、GH5A4、GH8A5...
  • Page 31 2.1 System construction and wiring Applicable models：GH130 Applicable models：GH170、GH210、GH260、GH320、GH390[Note] Note: GH170, GH210, GH260, GH320 and GH390 have no internal brake resistors. They need to be connected with external brake resistors for use.

  • Page 32: Brake Resistance Adaptation

    Chapter 2 Wiring 2.2 Brake resistance adaptation Internal brake Recommended Minimum resistance Drive series resistance specification for external of external brake specification brake resistance resistance GL1A0 None 47Ω/100W 30Ω GL1A8 47Ω/100W 36Ω/200W 30Ω GL3A0 47Ω/100W 36Ω/200W 30Ω GL5A5 47Ω/100W 36Ω/200W 25Ω...

  • Page 33: Connection Of Reactor

    2.3 Connection of reactor 2.3 Connection of reactor When it is necessary to suppress the high-order harmonics of the power supply, the DC reactor is connected between N1 and N2; when it is not necessary to suppress the high-order harmonics of the power supply, the DC reactor is directly connected between N1 and N2. Note: only GL190、...

  • Page 34: X1 Control Signal Terminal

    Chapter 2 Wiring 2.4 X1 control signal terminal X1 control signal terminals for connected to the host controller signals, use DB25 socket, signs include:  5 programmable inputs;  5 programmable outputs;  2 high-speed color code latch input. 2.4.1 X1 terminal plug The X1 terminal plug adopts DB25 male head, and its shape and pin distribution are as follows: X1 plug welding pin distribution...

  • Page 35: X1 Terminal Signal Description

    2.4 X1 control signal terminal 2.4.2 X1 terminal signal description Conne Signal name Functions number ctor Photoelectric isolation input, programmable function, defined by Digital inputs parameters P100 ~ P104. COM+ DI power supply (DC12V ~ 24V) Photoelectric isolation and output, maximum output capacity...

  • Page 36: X1 Terminal Interface Type

    Chapter 2 Wiring 2.4.3 X1 terminal interface type The following will introduce the X1 interface circuit and the connection mode with the upper control device. 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 37 2.4 X1 control signal terminal C2-1：Relay C2-2：Photo coupler  Freewheel diode must be connected. 3. Position command pulse interfaces (C3) C3：Position high speed latch interface  Maximum pulse frequency 200kHz;...

  • Page 38: X2、X3 Encoder Signal Terminals

    Chapter 2 Wiring 2.5 X2、X3 encoder signal terminals 2.5.1 X2 terminal plug The following figure shows the connection between the signal terminal of the X2 encoder and the motor encoder. The double-row DB9 socket is used. The shape and pin distribution are as follows: Driver X2 plug (absolute value serial communication encoder) Driver X2 plug (absolute value for BISSC communication encoder)

  • Page 39: X2 Terminal Signal Description

    2.5 X2、X3 encoder signal terminals 2.5.2 X2 terminal signal description Absolute value serial communication encoder definition: Pin number Signal name Function 10 core Use 5VDC power supply (provided by servo driver).If the cable is longer than 20m, in order to Encoder power prevent encoder from voltage drop down, it is supply...

  • Page 40: X5、X6 Profinet Network Port

    Chapter 2 Wiring 2.6 X5、X6 PROFINET network port The PROFINET interface of the EP3E PN servo drive has two ports that can be physically connected, X5 for PN Port.PN X5 and X6 for PN Port.PN X6. PROFINET devices are uniquely identified on the network by their PROFINET interfaces, each of which has a unique MAC address, a device name, and an IP address.

  • Page 41: Standard Wiring Diagram

    2.7 Standard wiring diagram 2.7 Standard wiring diagram 2.7.1 Control wiring Note: The wiring diagram above takes GL7A5 as an example.

  • Page 42: Chapter 3 Front Panel Operation

    Chapter 3 Front panel operation 3.1 Driver panel description 3.1.1 Front panel compositions The panel is composed of 5 LED digital tube displays and 4 keys 8、 2、 4、 5 and 1 USB interface to display various states of the system and set parameters. Operations are layered operations, which are expanded by the main menu layer by layer.

  • Page 43: Data Display

    3.2 Main menu 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. If the value is full-scale, then the prefix character can be omitted.

  • Page 44: Status Monitor

    Chapter 3 Front panel operation 3.3 Status monitor Choose status monitor "d-" under the main menu. Pressing the 5 button enters the monitor mode. There are many kinds of monitor's project; Use 8、2 button to select the needing project. Pressing the 5 button again enters the concrete status display. D-SPd 1000r/min r1000...
  • Page 45 3.3 Status monitor 1. 32-bit binary numeric display [note1] The 32-bit binary number ranges from -2147483648 to 2147483647, which is represented by the combination of low and high values. The low and high values are selected through the menu, and the complete values are synthesized by the formula in the figure. 2.
  • Page 46 Chapter 3 Front panel operation 6. Output terminal DO [note 6] 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”. 7.
  • Page 47 3.3 Status monitor 9. RE reserved display [note 9] (1) re-0 menu displays the date information of the software version: The first digital tube shows the last digit of the year, such as: 2016 shows 6,2017 shows 7, and so on; The second digital tube display month (note: October is indicated by "A", November by "B", December by "C");...
  • Page 48 Chapter 3 Front panel operation When the absolute value encoder is set to single-turn mode (P090=0), the multi-turn position is displayed as 0 and does not change with the rotor position. 11. Historical alarm number [note11] Display alarm number, can be used 8、2 keys to view the history of the alarm number.

  • Page 49: Parameters Setting

    3.4 Parameters setting 3.4 Parameters setting Parameters are represented by parameter segment + parameter number. The hundreds digit is the segment number, and the tens digit and the ones digit are the parameter number. For example, parameter P102, segment number is "1", parameter number is "02", display is "P-102".

  • Page 50: Parameter Management

    Chapter 3 Front panel operation 3.5 Parameter management Choose the parameter management mode under the main menu "E- ". Pressing the 5 button enters the parameter management mode. The operation is performed between parameter list and the EEPROM. There are three operation modes. Use 8、2 button to select an operation mode and then pressing down and hold the 5 button at least three seconds to active the operation mode.

  • Page 51: Auxiliary Functions

    3.6 Auxiliary functions 3.6 Auxiliary functions Select the auxiliary function "A-" from the main menu, and press 5 to enter the auxiliary function mode. Select operation mode with keys 8、 2. After selecting the operation, press 5 key to enter the corresponding function. After finishing, press 4 key to return to the operation mode selection state.

  • Page 52: Parameter Default Value Recovery

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

  • Page 53: Chapter 4 Running

    Chapter 4 Running 4.1 Trial running with no load The purpose of the trial run is to confirm whether the following matters are correct:  Driver power wiring;  Servo motor power wiring;  Encoder wiring;  Direction and speed of servo motor. 4.1.1 Wiring and inspection Before energizing, verify that the motor: ...

  • Page 54: Position Control Mode

    Chapter 4 Running Change the speed command with keys 8 and 2 and the motor will run at the given speed. A positive number means forward rotation (CCW), a negative number means reverse (CW), and the minimum given speed is 0.1r/min. Note: after the Fn function is completed, the E-SET saving operation cannot be carried out, and the power must be turned off and restarted, otherwise the state of Fn will be saved.

  • Page 55: Gain Related To Position Control Mode

    4.2 Position control mode 4.2.2 Gain related to position control mode Para Default Name Range Unit Usage meter value P009 First position loop gain 1～1000 P021 Position loop feed forward gain 0～100 Position loop feedforward filtering time P022 0.20～50.00 1.00 constant Since the position loop includes the speed loop, the load moment of inertia ratio is set firstly, then the gain of the speed loop and the integral time constant of the speed loop are...

  • Page 56: Speed Control Mode

    Chapter 4 Running 4.3 Speed control mode See the section "6.3.2 AC4: Motion control with central interpolation and speed setting interface" for instructions. The speed control mode is used in applications where precise speed control is required, such as weaving machines, drilling machines, CNC machines. The position control can also be constituted by the upper device.

  • Page 57: Gain Related To Speed Control Mode

    4.3 Speed control mode Acceleration and deceleration can slow down the sudden change of speed, so that the motor runs smoothly. As shown in the figure below, parameter P060 sets the acceleration time of the motor from zero speed to rated speed, while parameter P061 sets the deceleration time of the motor from rated speed to zero speed.

  • Page 58: Torque Control Mode

    Chapter 4 Running 4.4 Torque control mode This part of the function needs to be improved. 4.5 Gain adjustment The driver includes three control loops: current control loop, speed control loop and position control loop. The control block diagram is as follows: In theory, the bandwidth of the control loop of the inner layer must be higher than that of the outer layer, otherwise the whole control system will be unstable and cause vibration or poor response.

  • Page 59: Gain Parameters

    4.5 Gain adjustment 4.5.1 Gain parameters The parameters related to the gain are: Param Default Name Range Unit Usage eter value P005 First speed loop gain 1～3000 P006 First speed loop integral time constant 1.0～1000.0 20.0 P009 First position loop gain 1～1000 P017 Load inertia ratio...

  • Page 60: Gain Adjustment Steps

    Chapter 4 Running 3. Position loop gain Kp The position loop gain directly determines the reaction speed of the position loop. Under the premise that the mechanical system does not produce vibration or noise, the position loop gain value is increased to accelerate the reaction speed, reduce the position tracking error, and shorten the positioning time.

  • Page 61: Resonance Suppressions

    4.6 Resonance suppressions If the gain cannot be increased due to the resonance of the mechanical system and the desired responsiveness cannot be obtained, the torque low-pass filter or notch filter can be adjusted to suppress the resonance, and then the above steps can be repeated to improve the responsiveness.
  • Page 62 Chapter 4 Running The principle of resonance suppression is to use filter to suppress the resonance peak of mechanical response. The schematic diagram is as follows: Two kinds of filter characteristics are: Filter type Suitable case Advantage Disadvantage Do not need to Bring phase delay;...

  • Page 63: Low Pass Filter

    4.6 Resonance suppressions 4.6.1 Low pass filter Set by the parameter P007. The low pass filter is valid by default. Low pass filter has good attenuation to high frequency and can suppress high frequency resonance and noise. For example, the use of ball screw machinery to improve the gain of the driver, sometimes high frequency resonance will occur, the use of low pass filter has a better effect.

  • Page 64: Absolute Value Encoder Setting

    Chapter 4 Running 4.7 Absolute value encoder setting 4.7.1 Absolute value encoder multi-turn information saving Absolute value encoder defaults to single turn absolute value. If the user needs multiple position values, set the parameter P090 to 1, save and restart the drive. In order to preserve the multi-turn position data of the absolute value encoder, the battery unit needs to be installed.

  • Page 65: Over Travel Protection

    4.8 Over travel protection 4.8 Over travel protection Over-range protection function refers to the safety function that the motor is forced to stop when the moving part of the machine exceeds the designed safe moving range and the limit switch moves. Schematic diagram of over-range protection is as follows: Limit switches are recommended to use normally closed contacts, in the safe range is closed, over-range is disconnected.

  • Page 66: Timing Chart Of Operation

    Chapter 4 Running 4.10 Timing chart of operation 4.10.1 Timing chart when power supply switch on  Control power supply L1C, L2C and the main power supply L1, L2, L3 at the same time or before the main circuit power supply. If only the power supply of the control circuit is connected, the servo is ready to signal (RDY) OFF.

  • Page 67: Servo On/Off Action Timing When The Motor Is Stationary

    4.10 Timing chart of operation 4.10.3 Servo ON/OFF action timing when the motor is stationary When the electromagnetic brake is controlled by servo, when the motor speed is lower than the parameter P165, the action timing sequence is as follows: 4.10.4 Servo ON/OFF action timing during motor operation When the motor speed is higher than the parameter P165, the action timing sequence:...

  • Page 68: Electromagnetic Brake

    Chapter 4 Running 4.11 Electromagnetic brake Electromagnetic brake related parameters: Para Default Name Range Unit Usage meter value P165 Motor static speed detection point 0～1000 r/min Motor static electromagnetic brake delay P166 0～2000 time Electromagnetic brake waiting time when the P167 0～2000 motor is running...
  • Page 69 4.11 Electromagnetic brake...

  • Page 70: Chapter 5 Parameters

    Chapter 5 Parameters 5.1 Parameter list The Data Type of parameters used in this manual is INT16, and the range of INT16 is shown in the following table. Name Describe Range INT16 Signed 16bit -32768 ~ 32767 5.1.1 Parameters of section 0 Para Default Name...

  • Page 71: Parameters Of Section 1

    5.1 Parameter list Para Default Name Range Unit meter value P061 Speed command deceleration time 0～30000 P064 Torque limit selection 0～3 P065 Internal forward (CCW) torque limit 0～300 P066 Internal reversal (CW) torque limit -300～0 -300 Forward (CCW) torque overload alarm P070 0～300 level...
  • Page 72 Chapter 5 Parameters Para Default Name Range Unit meter value P110 Digital input DI1 filter 0.1～100.0 P111 Digital input DI2 filter 0.1～100.0 P112 Digital input DI3 filter 0.1～100.0 P113 Digital input DI4 filter 0.1～100.0 P114 Digital input DI5 filter 0.1～100.0 P118 Digital high speed input 1 (HDI1) filter level P119...

  • Page 73: Parameters Of Section 2

    5.1 Parameter list 5.1.3 Parameters of section 2 Para Default Name Range Unit meter value P200 First resonant trap frequency 50～1500 1500 P201 First quality factor of resonant trap 1～100 P202 First resonant trap depth 0～100 P203 Second resonant trap frequency 50～1500 1500 P204...

  • Page 74: Parameters Of Section 3

    Chapter 5 Parameters 5.1.4 Parameters of section 3 Para Default Name Range Unit meter value P302 Message selection P304 PROFINET mode switch 0～1 P310 Reference speed 10～X 3000 P312 Reference torque 1～X 4000 0.1nm P315 User-defined PZD receiving word 0～2 P316 User-defined PZD sending word 0～3...

  • Page 75: Parameter Description

    5.4 Parameter description 5.4 Parameter description 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、2 and 3 ...
  • Page 76 Chapter 5 Parameters velocity response bandwidth. Default First speed loop integral time Range Unit Usage P006 value constant 1.0～1000.0 20.0  The integral time constant of the speed regulator reduces the parameter value, which can reduce the speed control error and increase the rigidity. Too small is easy to cause vibration and noise.
  • Page 77 5.4 Parameter description Default Range Unit Usage P013 Second position loop gain value 1～1000  Refer to parameter P009 to enable the gain switch function before setting it. Default Range Unit Usage P017 Load inertia ratio value 0.0～200.0 times  The load inertia ratio is that the inertia of mechanical load (refers to servomotor shaft) divides by the rotor inertia of the servomotor.
  • Page 78 Chapter 5 Parameters Default Range Unit Usage P025 Speed command source value 0～5  When speed control, set the source of the speed instruction. Parameter meaning: 0, 1, 2: Reserved 3: JOG speed command, JOG (JOG) operation, need to set. 4: Keyboard speed command, keyboard speed regulation (SR) operation,need to set.
  • Page 79 5.4 Parameter description 2. The electronic gear is large (N/M>10); 3. Low instruction frequency; 4. Stepping and jumping and unstable phenomenon occur when the motor is running. Default Range Unit Usage value P060 Speed command acceleration time 0～30000  Set the acceleration time of the motor from zero speed to the rated speed. ...
  • Page 80 Chapter 5 Parameters Default Range Unit Usage P064 Torque limit selection value 0～3  Set torque limit mode: 0: internal torque limit; 1~2: reserved; 3: Torque limit comes from network Default Range Unit Usage value P065 Internal forward (CCW) torque limit 0～300 ...
  • Page 81 5.4 Parameter description  When set to 0, shielding torque overload alarm. Default Range Unit Usage P075 Maximum speed limit value 0～7500 5000 r/min  Set the maximum allowable speed limit of the servo motor.  It doesn't depend on the direction of rotation. ...
  • Page 82 Chapter 5 Parameters resistance.  If internal brake resistance (P084=0) is used, this parameter is invalid. Default Range Unit Usage P086 Power of external brake resistor value 10～10000  This parameter is set according to the actual power of the external brake resistor. ...
  • Page 83 5.4 Parameter description working. Default Range Unit Usage P096 Initial display item value 0～29  The display state of the monitor after the drive is powered on. Parameter meaning: P096 Display item P096 Display item Servomotor speed Digital output DO Original Position command Encoder signal Position command...

  • Page 84: Parameters Of Section 1

    Chapter 5 Parameters cannot run in this direction when OFF. Neglect: the motor can run in this direction, the driver forbid signal has no effect, can not access the signal. Default Range Unit Usage P098 Force enable value 0～1  P098 parameter is invalid when P304 = 1, effective P304 = 0.
  • Page 85 5.4 Parameter description Default Range Unit Usage P103 Digital input DI4 function value -37～37  Digital input DI4 function planning, refer to parameter P100 description. Default Range Unit Usage P104 Digital input DI5 function value -37～37  Digital input DI5 function planning, refer to parameter P100 description. Default Digital High Speed Input 1 (HDI1) Range...
  • Page 86 Chapter 5 Parameters Default Range Unit Usage P113 Digital input DI4 filter value 0.1～100.0  DI4 input digital filtering time constant. Refer to the description of parameter P110. Default Range Unit Usage P114 Digital input DI5 filter value 0.1～100.0  DI5 input digital filtering time constant.
  • Page 87 5.4 Parameter description  Corresponding functions are represented by 5-bit binary: Digital bit4 bit3 bit2 bit1 bit0 Corresponding function CINV CZERO ZCLAMP TCCW  Description of other reference parameter P120. Default Range Unit Usage P122 Digital input DI force valid 3 value 00000～11111 00000...
  • Page 88 Chapter 5 Parameters Default Range Unit Usage P131 Digital output DO2 function value -28～28  Digital output DO2 function planning, refer to parameter P130 description. Default Range Unit Usage P132 Digital output DO3 function value -28～28  Digital output DO3 function planning, refer to parameter P130 description. Default Range Unit...
  • Page 89 5.4 Parameter description Default Motor static electromagnetic brake Range Unit Usage P166 value delay time 0～2000  Define the delay time from the electromagnetic brake braking (DO output terminal BRK OFF) to the motor current cut OFF during the motor rest period when the system changes from the enabled state to the deactivated state or when an alarm occurs.

  • Page 90: Parameters Of Section 2

    Chapter 5 Parameters 5.4.3 Parameters of section 2 Default Range Unit Usage value P200 First resonant trap frequency 50～1500 1500  Notch filter is a kind of filter used to eliminate the special frequency resonance caused by machinery.  If parameter P202 is set to 0, the notch filter is turned off. Default Range Unit...
  • Page 91 5.4 Parameter description machinery.  If P205 is set to 0, the notch filter is turned off. Default Range Unit Usage P204 Second quality factor of resonant trap value 1～100  Refer to the specification of parameter P201. Default Range Unit Usage value...
  • Page 92 Chapter 5 Parameters  The comparator has a return function, set by parameter P210. P208 Gain switching condition Unit Command pulse frequency 0.1kHz(kpps) Pulse deviation pulse Servomotor speed r/min Default Range Unit Usage value P210 Gain switching level 0～32767  Refer to the description of parameter P209.
  • Page 93 5.4 Parameter description Default Range Unit Usage P223 Vibration suppression mode value 0～3  Parameter meaning: 0: The vibration suppression function is invalid. 1: Vibration suppression mode 1, automatic detection of vibration frequency, suitable for the inertia of little change occasions. 2: Vibration suppression mode 2, automatic detection of vibration frequency, suitable for the occasion of inertia is always changing.
  • Page 94 Chapter 5 Parameters Default Intermediate frequency vibration Range Unit Usage P229 value suppression switch 0～2  Parameter meaning: 0: Invalid 1: Manual setting 2: Automatic setting Default Range Unit Usage P270 Model tracking control switch value 0～3  It is suggested that Fn1 function should be used to deduce the load inertia first. ...

  • Page 95: Parameters Of Section 3

    5.4 Parameter description 5.4.4 Parameters of section 3 Default Range Unit Usage value P302 Message selection  This parameter is used to set the drive letter. After parameters are changed, the parameters must be stored in EEPROM, power off the drive, and then power on the drive to take effect.
  • Page 96 Chapter 5 Parameters Default Range Unit Usage P315 User-defined PZD receiving word value 0～2  You can set this parameter to select the user-defined PZD content in the received packets.  Parameter meaning: 0: meaningless. 1: Additional torque (function to be improved); 2: Additional speed (functions to be improved).
  • Page 97 5.4 Parameter description Default Maximum number of lost SOL Range Unit Usage P360 value counts 0～32767  In periodic synchronization mode, the SOL signals in each period are used to ensure data reliability. If the SOL signals are continuously lost, you need to determine the validity of the data.

  • Page 98: Di Function Detail

    Chapter 5 Parameters 5.5 DI function detail See "6.5.3 Digital input/digital output" for details. The following table shows the function description of IO. Ordinal Symbol DI Function Functional explanation NULL No function Input state had no effect on the system. When there is an alarm, if the alarm allows clearing, enter the rising edge (OFF changes ON moment) to ARST...
  • Page 99 5.5 DI function detail Ordinal Symbol DI Function Functional explanation OFF：Allows the servo drive to work; Emergency ON ：Stop the motor according to the way set by shutdown parameter P164 Homing HOME reference Homing external reference point SWITCH point...

  • Page 100: Do Function Detail

    Chapter 5 Parameters 5.6 DO function detail See "6.5.3 Digital input/digital output" for details. The following table shows the function description of IO. Ordinal Symbol DO Function Functional explanation Always invalid Force output OFF. Always valid Force output ON. OFF： The main servo power supply is not turned OFF or there is an alarm;...

  • Page 101: Chapter 6 Communication Function

    Chapter 6 Communication function 6.1 PROFINET communication PROFINET communication consists of PROFINET IO and PROFIDrive. 6.1.1 PROFINET IO PROFINET, launched by PFOFIBUS International (PI), is a new generation automation bus standard based on industrial Ethernet technology. Communication between the PROFINET network and external devices is realized by PROFINET IO, which defines complete data exchange, parameter setting and diagnostic functions between the master controller and other slave devices, as shown in the figure below.

  • Page 102: Profidrive

    Chapter 6 Communication function PROFINET all diagnostic and configuration in the data transmitted through non real-time (NRT) channels, using TCP/IP protocol, no sure cycle. 6.1.2 PROFIDrive PROFIDrive is a protocol framework of PROFINET for driving technology applications. It is called application industry rules. Application industry rules help openness, interoperability, and interchangeability of devices.

  • Page 103: Data Type Definition

    6.1 PROFINET communication 6.1.4 Data type definition The contents and scope of Data types used in this manual are shown in the following table.  General data type definitions Name Description Range Signed 8bit -128 ~127 Unsigned 8bit 0 ~ 255 Signed 16bit -32768 ~ 32767 Unsigned 16bit...

  • Page 104: Profinet Support Message And Content Explanation

    Chapter 6 Communication function 6.1.5 PROFINET support message and content explanation The basic length of a packet field is PZD. A PZD is a word, that is, 16 bits. The sending and receiving words are the data content that the servo driver needs to send and receive. Description of message 1 contents and fields: Message 1 is suitable for the application class AC1 speed control mode, the message content as follows:...
  • Page 105 6.1 PROFINET communication Description of message 102 contents and fields: Message 102 is suitable for the application class message AC4 real-time limit the speed of the positive and negative to the torque control mode, the message content is as follows: P302=102 Message 102 Receiving word (6 PZD)
  • Page 106 Chapter 6 Communication function P302=105 Message 105 Receiving word (10 PZD) Sending word (10 PZD) PZD1 STW1 ZSW1 PZD2 NSOLL_B NIST_B PZD3 PZD4 STW2 ZSW2 PZD5 MOMRED MELDW PZD6 G1_STW G1_ZSW PZD7 G1_XIST1 PZD8 PZD9 G1_XIST2 PZD10 STW1: Control word 1, U16. Signal Describe 1: The main contact is closed and can be enabled.
  • Page 107 6.1 PROFINET communication NSOLL_A: set speed A(16Bit), N2. Servo parameter P310 is used as the reference variable, and the speed instruction value corresponding to N2 normalized data sent by PLC is used as the speed instruction of the servo driver. See Section 6.1.4 for details. NSOLL_B: set speed B(32Bit), N4.
  • Page 108 Chapter 6 Communication function ZSW1: status word 1, U16. Signal Describe ZSW1.0 1: Server is ready. 0: servo is not ready. ZSW1.1 1: Servo run in place. 0: server is not running in place. ZSW1.2 1: Servo operation is enabled.0: The servo is not running. ZSW1.3 1: Server Error.
  • Page 109 6.1 PROFINET communication G1_ZSW: Encoder 1 status word, U16. Signal Describe G1_ZSW.0~ Reserved G1_ZSW.11 1: Gx_XIST2 transmission of absolute position data representation in the cycle. G1_ZSW.13 0: Gx_XIST2 of transferring data does not represent cycle G1_ZSW in absolute position. 1: Reside shaft encoder activation. G1_ZSW.14 0: Inactive reside shaft encoder.
  • Page 110 Chapter 6 Communication function P302=7 Message 7 Receiving word (2 PZD) Sending word (2 PZD) PZD1 STW1 ZSW1 PZD2 SATZANW AKTSATZ Description of message 9 content and fields (not supported currently): Message 9 is suitable for the application class AC3 position control mode, the message content as follows: P302=9 Message 9...
  • Page 111 6.1 PROFINET communication STW1: Control word 1, U16. Signal Describe 1: The main contact is closed and can be enabled. STW1.0 0: Brake through ramp function generator, eliminate pulse, ready to be connected. 1: No inertia stop command, enable. STW1.1 0: Main contact disconnect, inertia braking deceleration, eliminate pulse and ban on immediately.
  • Page 112 Chapter 6 Communication function POS_STW1: POS control word 1, U16. Signal Describe POS_STW1.0 Run segment selection, bit 0. POS_STW1.1 Run segment selection, bit 1. POS_STW1.2 Run segment selection, bit 2. POS_STW1.3 Run segment selection, bit 3. POS_STW1.4~ Reserved POS_STW1.7 1: Absolute positioning is selected. POS_STW1.8 0: Relative positioning is selected.
  • Page 113 6.1 PROFINET communication POS_STW2: POS control word 2, U16. Signal Describe POS_STW2.0 Reserved 1: Sets the reference point. POS_STW2.1 0: The reference point is not set. 1: The reference point block is activated. POS_STW2.2 0: The reference block is not activated. POS_STW2.3~ Reserved POS_STW2.4...
  • Page 114 Chapter 6 Communication function MDI_VELOCITY: MDI velocity, I32. The velocity instruction data sent by the PLC is used as the velocity instruction input for the position planning of the servo driver. For details, see section 6.4.3 (1hex = 1000LU/min). MDI_ACC: MDI acceleration multiplier, I16. The maximum servo acceleration is used as the reference variable, and the proportional value corresponding to the N2 type normalized data sent by PLC is used as the multiplier input of the acceleration instruction for the position planning of the servo driver.
  • Page 115 6.1 PROFINET communication POS_ZSW1: POS status word 1, U16. Signal Describe POS_ZSW1.0 Run segment activation, bit 0. POS_ZSW1.1 Run segment activation, bit 1. POS_ZSW1.2 Run segment activation, bit 2. POS_ZSW1.3 Run segment activation, bit 3. POS_ZSW1.4~ Reserved POS_ZSW1.9 POS_ZSW1 POS_ZSW1.10 1: JOG activation.
  • Page 116 Chapter 6 Communication function ZSW2: Status word 2, U16. Signal Describe ZSW2.0~ZSW2.10 Reserved ZSW2.11 1: Pulse is enabled. 0: Pulse disabled. ZSW2 ZSW2.12 Slave station life symbol, Bit0 ZSW2.13 Slave station life symbol, Bit1 ZSW2.14 Slave station life symbol, Bit2 ZSW2.15 Slave station life symbol, Bit3 MELDW: MELDW message word, U16.
  • Page 117 6.1 PROFINET communication Details of the contents and fields of Message 750: The message 750 is applicable to torque limit related control, and the message content is as follows: P362 = 750 Message 750 Receiving word (3 PZD) Sending word (1 PZD) PZD1 M_ADD1 M_ACT...
  • Page 118 Chapter 6 Communication function Details of the contents and fields of Message 860: Message 860 applies to the probe latch related applications, message content as follows: P362=860 Message 860 Receiving word (1 PZD) Sending word (9 PZD) PZD1 TB_FUNCTION TB_STATUS PZD2 TB1_POS_VALUE PZD3...

  • Page 119: Isochronous Mode

    6.1 PROFINET communication 6.1.6 Isochronous Mode In PROFINET communication, in order to realize isochronic synchronization, each Slave device realizes cycle synchronization according to PNPLL output clock signal, and sets T_IO_Output Time and T_IO_Input Time of each Slave device. Ensure that all Slave devices in the synchronization domain collect data at the same time and set output values at the same time to ensure that all devices are in the same pace.

  • Page 120: Drive Mode

    Chapter 6 Communication function 6.2 Drive mode 6.2.1 Servo state machine Low level Drive High level Power off or reset power Function power Start 1:初始化完成后（Auto skip 1） 15:Standstill OR Disable Operation S1:Switching On Inhibited (初始化 完成状态) 12:Coast Stop 2:OFF AND No Coast Stop AND No Quick Stop 7:Coast Stop OR Quick Stop...

  • Page 121: Operating Mode

    6.3 Operating mode Status switchover and description State Explanation ZSW1、ZSW2  After initialization, you can set servo ZSW1.0 = 0ZSW1.1 = 0 SwitchingOn parameters. ZSW1.2 = 0ZSW1.6 = 1 Inhibited  The main power supply cannot be ZSW2.11 = 0 supplied in the current state.
  • Page 122 Chapter 6 Communication function The ramp function generator is required in the speed set channel of application class AC1. The function of the speed set channel module in the slave device is illustrated below. STW1.5 controls the ramp function generator.

  • Page 123: Ac3: Single Axis Positioning Driver With Local Motion Control

    6.3 Operating mode 6.3.2 AC3: Single axis positioning driver with local motion control Application class AC3 (as shown in the figure below), the process function of automatic process exists in PLC, positioning parameters and position speed feedback value are transmitted through cyclic data, positioning request is started through the command of the controller.
  • Page 124 Chapter 6 Communication function Control word Set up Describe Choose the MDI POS_STW1.15 Choose to run the program segment When using Message 9, the function is given directly with the control word SATZANW.15 set value: Control word Set up Describe Choose the MDI SATZANW.15 Choose to run the program segment...
  • Page 125 6.3 Operating mode Pause and reject MDI tasks When using Message 9、111, the MDI task is rejected by STW1.4, and the servo decelerates the ramp at maximum deceleration. Control word Set up Describe Do not refuse to perform tasks STW1.4 Refuse to perform the task (perform slope descent at maximum deceleration) When Message 9 and 111 are applicable, the task is suspended through STW1.5, and the servo...
  • Page 126 Chapter 6 Communication function At the rising edge of signal REF, the current position is set to 0, and the servo drives back to the reference point. External reference point block (signal REF) and encoder zero pulse (Mode 1) When using Message 111, set the external input signal REF via POS_STW2.1: Control word Set up Describe...
  • Page 127 6.3 Operating mode Back to the reference point in the process of related parameters as shown below Factory Parameter Range Unit Describe Settings Back to the reference -2147482648 Sets the position value of the point offset value ~2147482647 reference axis Set the signal source for the start Return to reference point direction of the search block:...
  • Page 128 Chapter 6 Communication function Encoder only zero pulse (Mode 2) In this mode, the REF signal is not available and the return to the reference point process is triggered by STW1.11(0->1). The servo drive is accelerated to the speed specified by the parameter "return to reference search zero speed", and the running direction is specified by the parameter "return to reference direction";...
  • Page 129 6.3 Operating mode Back to the reference point in the process of related parameters as shown below: Factory Parameter Range Unit Describe Settings Back to the reference -2147482648 Offset of the reference point point offset value ~2147482647 Set the signal source for the start Return to reference direction of the search block: point direction...
  • Page 130 Chapter 6 Communication function Setting JOG parameters can be modified through the EPOS parameter editor in the upper computer software. When using Message 9, the following JOG Settings are set with the parameter: JOG1 speed: the unit is 1000LU/min. JOG2 speed: the unit is 1000LU/min. When using Message 111, set the following JOG Settings as a parameter JOG1 speed: the unit is 1000LU/min.

  • Page 131: Ac4: Motion Control With Central Interpolation And Speed Setting Interface123

    6.3 Operating mode 6.3.3 AC4: Motion control with central interpolation and speed setting interface Application class AC4(shown below) shows closed-loop position control through a communication system. The speed set and actual values as well as the actual position values are transmitted through a cyclic data exchange. The servo driver contains only closed-loop speed control and actual position sampling algorithms.

  • Page 132: Pattern Common Function

    Chapter 6 Communication function 6.4 Pattern common function 6.4.1 Touch Probe Function This function is to select the trigger signal from the external input (HDI1, HDI2) or the Z phase (the position of the data in the single turn of the rotary encoder is 0 during the semi-closed loop control) and lock the feedback position.
  • Page 133 6.4 Pattern common function （1）TB_FUNCTION Start the Touch Probe action, the basic object used for various Settings, and the corresponding Bit description value Note Switch off touch probe 1 Enable touch probe 1 Trigger first event Continuous Trigger with touch probe 1 input Trigger with zero impulse signal of position encoder Reserved Switch off sampling at positive edge of touch probe 1...
  • Page 134 Chapter 6 Communication function （2）TB_STATUS Indicates the status of the Touch Probe action. The corresponding Bit is described value Note Touch probe 1 is switch off Touch probe 1 is enabled Touch probe 1 no positive edge value stored Touch probe 1 positive edge value stored Touch probe 1 no negative edge value stored Touch probe 1 negative edge value stored Reserved...
  • Page 135 6.4 Pattern common function  Continuous mode（TB_FUNCTION：bit1=1 / bit9=1） After starting, each time the trigger signal nesting mode is checked out. The obtained value is held until the next Probe latch signal is valid.

  • Page 136: Stop Function

    Chapter 6 Communication function 6.4.2 Stop function When the servo driver needs to be stopped due to motion control or servo driver failure, the PROFIDrive defined deceleration function can be combined with servo deceleration function (EMG, dynamic brake stop, free running stop, instant stop, etc.) to achieve the "stop function".

  • Page 137: Reference Speed

    6.4 Pattern common function 3. OFF2 free parking Drive directly cut off the motor current, the motor stop freedom. After the motor stops, it switches to a Switching On Inhibited state. 4. OFF3 stop quickly When STW1.0 goes from 1 to 0, the deceleration stop is performed according to the setting of parameter P321(ramp deceleration time).

  • Page 138: Position Feedback Interface

    Chapter 6 Communication function 6.4.5 Position feedback interface The position feedback interface is the interface between the axis and higher level control that enables the controller to get position feedback through the PROFIDrive interface. This position feedback comes from a sensor connected to the driver, where the functions described in the position feedback interface are implemented.

  • Page 139: Chapter 7 Alarm

    Chapter 7 Alarm 7.1 Diagnostic information PROFIDrive classifies each alarm information of the servo drive. The specific category information is shown in the following table: Class Error class name Reason statement Hardware or software malfunction A hardware or software fault occurs The main power supply is faulty, with phase loss, overvoltage Main power failure and undervoltage...

  • Page 140: Alarm List

    Chapter 7 Alarm 7.2 Alarm list Alarm Serial Class Alarm Alarm name Alarm content code clear Err-- No alarm Normal operation Motor speed exceeds the maximum Err 1 Over speed limit main circuit supply voltage Err 2 Main circuit overvoltage exceeds the specified value The main circuit supply voltage is Err 3...
  • Page 141 7.2 Alarm list Alarm Serial Class Alarm Alarm name Alarm content code clear Motor load exceeds user set value and Err29 Torque overload alarm duration Err35 Interplate connection failure Drive internal connection path failure Err36 Fan alarm Fan fault Absolute value encoder The driver and encoder cannot...
  • Page 142 Chapter 7 Alarm Alarm Serial Class Alarm Alarm name Alarm content code clear Axis position exceeds negative soft Err75 Negative soft limit overrun limit Axis position beyond positive soft limit Err76 Positive soft limit overrun point Failed search Err77 Failed to search for reference block reference block Err78 Search for zero pulse failed...

  • Page 143: Alarm Cause And Handling

    7.3 Alarm cause and handling 7.3 Alarm cause and handling In this manual, "☆" indicates the special function of the multi-circle absolute value code disk, and "★" indicates the special function of the incremental code disk. Err 1 (Over speed) Potential cause Check Handle...
  • Page 144 Chapter 7 Alarm Err 4 (Position deviation) Potential cause Check Handle Correct U、V、W wiring. The U、V、 Servomotor U 、 V 、 W Check U、V、W wiring W must connect with servo driver connection is not correct terminal U、V、W correspondently. Encoder zero point changes Check the encoder zero point Adjust the zero point of encoder again.
  • Page 145 7.3 Alarm cause and handling Err11 (Power module over-current) Potential cause Check Handle Short circuit between motor Check U、V、W wiring Properly connected U、V、W wiring connection U、V、W Motor winding insulation Check the servomotor Replace the servo motor damage No problem with motor, power on again Drive damage Check driver or alarm, may be drive damage...
  • Page 146 Chapter 7 Alarm Err14 (Overload of brake peak power) Potential cause Check Handle Make the voltage conform to the product Input AC power is high Check the supply voltage specification Whether the regenerative brake Regenerative braking fault resistance, brake pipe failure or Repair.
  • Page 147 7.3 Alarm cause and handling Err18 (IGBT model over-load) Potential cause Check Handle Excess the rated load for Reduce load or replace the servo driver Check current continuous duty operation with bigger one. Install the encoder again and adjust the Encoder zero point changes Check the encoder zero point zero point.
  • Page 148 Chapter 7 Alarm Err27 (Phase loss alarm) Potential cause Check Handle Phase loss of power supply Check the wiring of L1, L2,L3 Connect wire correctly Power supply undervoltage Check supply power voltage Ensure correct voltage input Phase loss checking return Check optocoupler, power on If error still exists, please replace drive circuit error...
  • Page 149 7.3 Alarm cause and handling Err41 (Absolute value encoder handshake error) ☆ Potential cause Check Handle Encoder connection wiring Check encoder connection Connect wiring correctly error wiring Encoder cable and connector Check cable and connector Replace cable and connector unsteady Encoder damage Check encoder Replace encoder...
  • Page 150 Chapter 7 Alarm Err47 (Absolute encoder external battery error) ☆ Potential cause Check Handle External battery out of power External battery voltage Replace battery Power on for the first time after If the voltage is normal, restart the Battery voltage replacing the battery encoder.
  • Page 151 7.3 Alarm cause and handling Err61 (Ethernet communication cycle deviation is too large) Potential cause Check Handle Industrial Ethernet Check the Ethernet cable Replace the Ethernet cable communication failure  Increase communication cycle  Increase communication cycle time Ethernet communication time ...
  • Page 152 Chapter 7 Alarm Err78 (Search for zero pulse block failed) Potential cause Check Handle Electronic gear related parameters are  Electronic gear related  Set valid electronic gear not set legally parameter setting parameters Err80 (Internal error 1) Potential cause Check Handle Parameter Settings of electronic gear...

  • Page 153: Chapter 8 Specifications

    Chapter 8 Specifications 8.1 Driver model...

  • Page 154: Drive Size

    Chapter 8 Specifications 8.2 Drive size Model GL1A8/ Size GL1A0 GL5A5 GL7A5 GL120 GL160 GL190 GL240 GL3A0 （mm） Model Size GH2A0/GH3A5/GH5A4 GH8A5 GH130 GH170/GH210 （mm）...
  • Page 155 8.2 Drive size GH260 Installation size chart GH320、GH390 Installation size chart...

  • Page 156: Drive Specification

    Chapter 8 Specifications 8.3 Drive specification model Rated output 11.0 15.0 power (kW) Rated output 11.5 15.5 19.0 24.0 13.0 17.0 21.0 25.5 32.0 39.0 current (A) Instantaneous maximum output 11.3 14.9 21.0 24.5 28.5 40.0 10.0 12.7 28.3 31.2 39.6 44.0 55.0...

  • Page 157: Motor Adaptation Sheet Of Driver

    8.4 Motor adaptation sheet of driver 8.4 Motor adaptation sheet of driver Adapter driver Motor type Torque Speed Power Recommend Can be （220V series） N·m r/min adaptation adapted 40MSL00330 0.32 3000 0.10 GL1A0 60MSL00630 0.64 3000 0.20 GL1A8 60MSL01330 1.27 3000 0.40 GL3A0...

  • Page 158: Servo Motor Model

    Chapter 8 Specifications Adapter driver Motor type Torque Speed Power Recommend Can be （380V series） N·m r/min adaptation adapted 110MAH04030 4.00 3000 1.26 GH3A5 GH5A4 110MAH05030 5.00 3000 1.57 GH5A4 GH8A5 110MAH06030 6.00 3000 1.88 GH8A5 GH5A4 130MAH04025 4.00 2500 1.00 GH3A5 130MAH04820...

  • Page 159: Servo Motor Wiring

    8.6 Servo motor wiring 8.6 Servo motor wiring 8.6.1 Winding wiring Terminal number Terminal Terminal explanation symbol 40/60/80 motor 110/130/180 motor U phase drive input V phase drive input W phase drive input Ground terminal of motor case 8.6.2 Brake wiring 40 Motor with brake power wiring: Terminal Terminal...

  • Page 160: Encoder

    Chapter 8 Specifications 60、80、110、130、180 motor brake wiring: Terminal number Terminal Terminal explanation 60/80 series 110/130/180 symbol motors series motors The brake power supply is DC, without polarity insert requirement —— 8.6.3 Encoder 40、60、80、110、130、180 motor encoder wiring Terminal number Terminal 40motor 60/80motor 110/130/180motor Terminal explanation...
  • Page 161 Edition antecedents Edition number Published time Modify content First edition June, 2019 Second edition September, 2019 Third edition June, 2021 Fourth edition December, 2021...
  • Page 162 Wuhan Maxsine Electric Co., Ltd Address: Building No. A6, Hangyu Building, No.7, Wuhan University Science Park Road, East Lake Development District, Wuhan City, Hubei Province, China. Zip: 430223 Central office: 400-894-1018 Sales Tel: 400-894-1018-857/804 Sales Fax：027-87921290 After service Tel: 400-894-1018-831/832 Website: www.maxsine.com...

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