Coolmay C100E User manual

C100E EtherCAT AC
Servo Drive
Shenzhen Coolmay Technology Co., Ltd
V22.11

C100E EtherCAT AC Servo Drive
www.coolmay.com
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.
DANGER Indicates a mistake operation possibly can cause danger
and physical injure or death.
CAUTION Indicates a mistake operation possibly can cause danger
and physical injure, and may result in damage to the product.
STOP Indicates prohibited actions, otherwise can cause
damage, malfunction to the products.
1. Service Conditions
Danger
Do not expose the product in moisture, caustic gas, and ignitable gas
situation. Otherwise can cause an electric shock or fire.
Do not use the product in direct-sunlight, dust, salinity and metal powder
places.
Do not use the product in the places that has water, oil and drugs drops.
2. Wiring
Danger
Connect the earth terminal (PE) to earth reliably.
Never connect the input power terminals (L1, L2, L3) to 380V power
supply, otherwise can result in the equipment damage and an electric
shock or fire.
The output terminals (U, V, W) must be connected with the servo motor
connections (U, V, W) correspondingly, otherwise can result in the
servomotor flying speed that may cause equipment damage and the

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personnel casualty
Referring to wire selection guide, please install all wires with an adequate
cross-section. Otherwise may cause fire.
3. Operation
Caution
Before the mechanical equipment starts to run, it must be matched with
the appropriate parameter settings. Failure to adjust to the proper setting
may result in loss of control or malfunction of the mechanical equipment.
Before starting operation, please confirm whether the emergency switch
can be activated at any time to stop.
Please test whether the servo motor operates normally without load first,
and then connect the load to avoid unnecessary losses.
Do not turn on and off the power frequently, otherwise it will cause
overheating inside the drive.
4. Running
Stop
When the motor is running, it is forbidden to touch any rotating parts,
otherwise it will cause casualties.
When the equipment is running, it is forbidden to touch the driver and
motor, otherwise it will cause electric shock or burns.
When the equipment is running, it is forbidden to move the connecting
cable, otherwise it will cause personal injury or equipment damage.
5. Maintenance and Inspection
Stop
It is forbidden to touch the inside of the driver and its motor, otherwise it
will cause electric shock.
When the power is turned on, it is forbidden to disassemble the driver
panel, otherwise it will cause electric shock.
Do not touch the terminals within 5 minutes after the power is turned off,

C100E EtherCAT AC Servo Drive
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otherwise the residual high voltage may cause electric shock.
It is forbidden to change the wiring or disassemble the servo motor when
the power is turned on, otherwise it will cause electric shock.
6. Scope of use
Caution
The products involved in this manual are for general industrial use and
should not be used on devices that may directly endanger personal safety.
◆Thank you very much for purchasing the products of Gumei Technology
◆Please read this manual carefully before use, and use the product correctly
◆Please keep this manual properly

C100E EtherCAT AC Servo Drive
www.coolmay.com
I
CATALOG
Chapte1 Product Introduction.........................................................................1
1.1 Description............................................................................................. 1
1.2 Feature................................................................................................... 1
1.3 Application..............................................................................................1
1.4 Dimension.............................................................................................. 2
1.5 Working Environment...........................................................................2
1.6 Cooling Method..................................................................................... 2
Chapter 2 Drive Specification......................................................................... 4
Chapter 3 Operation And Display.................................................................. 5
3.1 Key Name And Function...................................................................... 5
3.2 Parameter Setting.................................................................................5
3.3 State Indicator....................................................................................... 5
3.4 State Monitoring.................................................................................... 6
Chapter 4 System Wiring................................................................................ 8
4.1 System Wiring....................................................................................... 8
4.1.1 Wiring.......................................................................................... 8
4.1.2 Wiring Introduction.................................................................... 8
4.1.3 Electric Wire Specifications..................................................... 9
4.2 Servo driver terminals Introduction..................................................10
4.2.1 Drive Terminal Definition........................................................ 10
4.2.2 CN1 Terminal............................................................................11
4.2.3 Encoder Terminal.................................................................... 15
4.2.4 EtherCAT Network Communication Terminal..................... 15
4.2.5 Main Circuit Terminal.............................................................. 16
4.3.1 Communication Specification..................................................... 17
4.3.2 LED State Instruction..............................................................18
4.3.3 Communication Object........................................................... 19
4.3.4 PA Group Of Parameters....................................................... 33

C100E EtherCAT AC Servo Drive
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II
4.3.5 P3 Group Of Parameters....................................................... 58
Chapter 5 Control Mode................................................................................ 61
5.1 Cycle Synchronous Position Mode CSP.........................................61
5.1.1 Controlling Diagram................................................................ 61
5.1.2 Related Object......................................................................... 61
5.1.3 Recommended Configuration............................................... 62
5.2.1 Controlling Diagram................................................................ 62
5.2.2 Basic Configuration.................................................................63
5.3 Cycle Synchronous Torque Mode CST...........................................63
5.3.1 Controlling Diagram................................................................ 63
5.3.2 Basic Configuration.................................................................64
5.4 Profile Position Mode PP...................................................................64
5.4.1 Related Object......................................................................... 64
5.4.2 Position Curve Generator...................................................... 67
5.4.3 Recommended configuration................................................ 69
5.5 Profile Velocity Mode PV................................................................... 69
5.5.1 Related Objects....................................................................... 69
5.5.2 Recommended Configuration............................................... 70
5.6 Profile Torque Mode PT.....................................................................71
5.6.1 Related Objects....................................................................... 71
5.6.2 Recommended configuration................................................ 72
5.7 Homing Mode HM...............................................................................73
5.8 Probe function..................................................................................... 80
5.8.1 Set probe function 0x60B8.................................................... 80
5.8.2 Read probe status 0x60B9.................................................... 82
5.8.3 Probe Latch Position...............................................................83
Chapter 6 Fault Code.................................................................................... 85
Chapter 7 C100E Application Description.................................................. 87
7.1 Drive Wiring......................................................................................... 87
7.2 The Example Of Cooperating With TwinCAT Master Station...... 87

C100E EtherCAT AC Servo Drive
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1
Chapte1 Product Introduction
1.1 Description
C100E series ac servo drives are bus servo drives which are added bus
communication function on the basis of P series high performance AC servo
drives.The EtherCAT bus communication interface is used to realize the
real-time control and real-time data transmission of servo system based on the
transmission rate of 100 Mb/s of slave station technology. This kind of drives
has rich input and output interfaces and supports CSP,CSV,CST,PP and
PV,PT,HM running mode. Compared with the traditional pulse servo drives,
this kind of drives is especially suitable for long-distance or multi-axis linkage
applications. Meanwhile it can greatly reduce wiring and enhance the reliability
of drive operation.
1.2 Feature
Voltage: AC220V±10%，1phase/3phases and 50/60Hz.
EtherCAT communication protocol and addresses are automatically
assigned through the master station.
8 single terminal common positive isolation inputs. Max input frequency
is10KHz and input voltage 24V.
6 optocoupling isolated outputs. Max output capacity is 50mA and
withstand voltage is 30VDC.
1.3 Application
C100E servo drives are excellent for the applications in a variety of
multi-axis linkage control of small or medium-sized automation machines such
as robots, packaging machines and so on.

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2
1.4 Dimension
Pic1.1 C100E Dimension
1.5 Working Environment
Cooling
Natural Cooling or Forced Cooling
Working
Environment
Environment
Avoid corrosive gases,dust,oil,magnetic
field
Ambient
Temperature
0～50℃
Humidity
40～90%RH
Storage Temperature
-20℃～65℃
Weight
1.3Kgs
1.6 Cooling Method
The drive working environment temperature is recommended less than
50 ℃and the motor working temperature is less than 120 ℃.
Please install the drive with vertical side in order to make the heat sink and
air form a stronger convection. Please install a fan near the drive if

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3
necessary, which forces heat cooling and ensure the drive can work in the
reliable working temperature range.

C100E EtherCAT AC Servo Drive
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4
Chapter 2 Drive Specification
Power
Range
50W~7500W
Monitor
Function
speed / position / instruction pulse
accumulation / positional deviation
/ motor torque motor current /
working state
Input
Power
Supply
1 phase / 3 phases
AC220V-15%~+10%
50/60Hz
Control
Mode
0: position
1: speed
2: test trial running
3: JOG
6: torque
Protection
Function
over speed/over voltage/
over current/
overload/encoder
error/power supply
problem/ over positioning
and etc.
Control
Input
1: servo on
2: alarm clearance
3: CCW drive inhibition
4: CW drive inhibition
5: deviation counter zeroing
6: instruction pulse inhibition
7: CCW torque limitation
8: CW torque limitation
Regenerat
ion Brake
built-in / built-out
Max
Load
less than 3 times of motor torque
Control
Output
servo ready/servo alarm/
positioning completion/
mechanical braking
Display
5 LED digital tubes and 4
operation keys
Position
Control
Communicati
on
EtherCAT field bus communication
Electronic
Gear Ratio
gear ratio precision: 1-131072.
gear ratio motor precision: 17 bits and 23 bits.