Coolmay C100E User manual

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

C100E EtherCAT AC Servo Drive
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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,

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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
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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

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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

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

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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.

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Chapter 3 Operation And Display
3.1 Key Name And Function
The panel consists of 5 digital LED and 4 buttons including ↑、↓、←、SET
to display all system status and set parameters. The operation is
hierarchical.← button indicates “back” and SET button indicates “forward”
while it also has the meaning of “Enter” and ← button also has the meaning of
“Cancel” and “Exit”. ↑button indicates “Increasing ” and ↓button indicates
“decreasing”. If you press the↑button or↓button and maintain it, you would get
a duplicate result and stay longer, the repetition rate is higher.
3.2 Parameter Setting
Please firstly select “PA-”, and press SET button to enter the status of
parameter setting mode. And use ↑or ↓to choose parameters and SET button
to display the parameter’s value. You can modify the parameter’s value with
↑or ↓. Press ↑or ↓button one time, the parameter increases or decreases by 1.
Pressing and holding ↑or ↓key can make the value increased or decreased
continuously. After modifying the value of the parameter,please press SET
button and when the LED flashes two times, it means changes are completed .
Finally please recharge, then the new parameter is effective.
3.3 State Indicator

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Pic 3.1 State Indicator
3.4 State Monitoring
The first layer is the main menu and has four operating modes. Press ↑or
↓button to change the operation mode. Then press SET button to enter into the
second layer and executes a concrete operation. Press ← button returns to the
main menu from the second layer.
Pic 3.2 Operation Display Layer
In the first layer, please select “DP--” and press the SET button to enter
into monitoring mode. There are 16 displays in total. Users select the desired
display mode with ↑or ↓button, and then press SET button to enter into the
specific states.
Monitoring
Operation
Example
Definition
SET
Motor speed:1000r / min
The current position:1245806
Position command:124580
Position deviation:4 pulses
Motor torque 70%
Motor current 2.3A

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Control mode 0：position control
Absolute position of the rotor:3265
Input terminal
Output terminal
Encoder signal
Working state
No.9 alarm

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Chapter 4 System Wiring
4.1 System Wiring
4.1.1 Servo drive wiring diagram
Pic 4.1 System Wring
4.1.2 Wiring Introduction
Wiring Notes:
The control cable length should be less than 3 meters and the encoder
cable length 20 meters.

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Check that the power supply and wiring of L1,L2 are correct.If the driver
only supports single-phase 220VAC, please do not connect it to the
380VAC power supply.
The output terminals(U,V,W ) must be connected with the servo motor
connections(U,V,W ) correspondently, otherwise the servo motor will stop
or over speed. However, by exchanging three-phase terminal cannot
cause the motor to reverse; this point is different from asynchronous motor.
Earthed wiring must be reliable with a single-point connection.
Pay attention to the correct direction of freewheel diode which is
connected with the delay at the output terminal, other can cause the output
circuit breakdown.
In order to protect the servo driver from noise interference that can cause
malfunction, please use an insulation transformer and noise filter on the
power lines.
Wiring the power lines(power supply line, main circuit lines,etc) at a
distance above 30cm from the control signal wires, do not lay them in one
conduit.
Install a non-fuse circuit breaker that can shut off the external power
supply immediately for in case of the servo driver fault.
Because there are large-capacity electrolytic capacitors inside the servo
drive, even if the power supply is cut off, there is still a high voltage in the
internal circuit. After cutting off the power supply, wait at least 5 minutes
before touching the drive and motor.
4.1.3 Electric Wire Specifications
Connection Terminal
Symbol
Wire Specification
Main Power Supply
L1、L2
1.5~4mm2

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Servo Motor
U、V、W
1.5~4mm2
Ground
1.5~4mm2
Control Signals
CN1
≧0.14mm2(AWG26),
Shielded.
Encoder Signals
CN2
≧0.14mm2(AWG26),
Shielded.
Regenerative Resistors
Terminals
P、D/P、
C
1.5~4mm2
4.2 Servo driver terminals Introduction
4.2.1 Drive Terminal Definition
Pic 4.2 C100E Drive Terminals
Must use a twisted pair wire cable for the encoder signal wiring. If
the encoder signal cable is too long(>20m), in which the encoder
power supply can be insufficient, may use multi-wire or thick wire for
the power supply wiring.

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4.2.2 CN1 Terminal
Pic 4.3 CN1 Terminal
Pic 4.3 CN1 Pin Definition
C100E series has 8 input terminals and 6 output terminals. The definition
values of input and output can be changed by P3 group parameters, and all
kinds of input and output definitions can be completed ( low level of input
Terminal
Introduction
CN1
Digital input and output terminal
CN2
Encoder connection terminal
CN3
EtherCAT input terminal
CN4
EtherCAT output terminal

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terminal is valid as default). Only input signals with function numbers between
33 and 48 defined by the input terminal can be sent to the master station and it
can be obtained through the Digital Inputs object of 0x60fd in the object
dictionary, which in turn maps to the object's bit0-bit15, Where the inputs for
probe 1 and probe 2 functions must select high-speed input terminals 1 and 2:
Definition
Symbol
Function
33
NEGLIM
forward limit signal
34
POSLIM
negative limit signal
35
HOME
homing signal
36
QUICK STOP
emergency stop
37
PROBE1
probe 1
38
PROBE2
probe 2
When the defined function number is between 18 and 33, the bit0-bit15 of
the DigitalOutputs object of 0x60fe object in the dictionary is mapped to the
corresponding port in the order of the defined function number.
Input Circuit Of Digital Quantity Diagram
For DI1 as an example( the DI1~DI8 interface circuit is the same)：
1）When the upper device is relay output：
A) For internal 24V power supply:

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B) For external 24V power supply:
2）When the upper device is collector open output:
A) For internal 24V power supply:
B) For external 24V power supply:

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Output Circuit Of Digital Quantity Diagram
For DO1 as an example( the DO1~DO6 interface circuit is the same):
1) When the upper device is relay input:
2) When the upper device is optocoupler input:
Do not support PNP mixed with NPN input.
Be sure to connect a continuation diode when the upper device is a
relay, otherwise it may damage DO ports or cause strong signal
interference.
The maximum allowable voltage and current capacity of the
optocoupler output circuit in the servo drive are as follows:
Voltage: DC30V
Current: DC50mA