Coolmay C200H Series User manual

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C200H AC Servo Manual
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C200H AC Servo Manual
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Safety Caution
Before product storage, installation, wiring, operation, inspection or
maintenance, the user must be familiar and comply with the following important
matters to ensure to use the product safely .
Danger Misoperation would cause danger and personal injury.
Attention Misoperation may cause danger, personal injury and damage the
equipment.
Prohibition Behavior is strictly prohibited, otherwise it will lead to equipment
damage or can not be used.
1.Application
Danger
Forbidden to use the product when it is exposed to water gas, corrosive gas
and combustible gas. Or it could cause an electric shock or a fire.
Forbidden to use products in places with more direct sunlight, dust, salt and
metal powder.
Forbidden to use products in places where water, oil and medicine are
dripping.
2.Wiring
Danger
Please ground the grounding terminal reliably. Poor grounding may cause
electric shock or fire.
Please do not connect 380V power supply to 220 V servo drives, otherwise it
will cause equipment damage and electric shock or fire.

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The U、V、W motor output terminal and the motor wiring terminal must be
connected one-to-one correspondence, otherwise the motor may cause
equipment losing and casualties caused by the over speed vehicle.
Please fasten the power supply and motor output terminals, otherwise it may
cause fire.
3.Operation
Caution
When the mechanical equipment starts operation, it must match proper
parameters. If it does not adjust to the appropriate setting values, it may cause
the mechanical equipment to lose controlling.
Before starting operation, please confirm if you can start emergency switch
shutdown at any time.
Please test whether the servo motor is running normally without load firstly,
and then connect the load to avoid unnecessary loss.
Do not switch on and off power frequently, otherwise it will cause drive
overheating.
4.Working
Prohibition
When the motor is running, it is forbidden to touch any parts in rotation,
otherwise it will cause casualties.
When the equipment is in operation, it is forbidden to move connecting
cables, otherwise it will cause injury to the person or damage to the
equipment.
5. Maintenance and inspection
Prohibition
Do not touch the inside of the driver and its motor, otherwise it will cause
electric shock.
When the power is started, do not disassemble the driver panel, otherwise it

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will cause electric shock.
Do not touch the wiring terminal within 5 minutes after the power is turned
off, 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. Do not use
them on devices that may directly endanger personal safety.

C200H AC Servo Manual
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I
CONTENT
............................................................................................................................ - 1 -
Chapter 1 Product Inspection And Installation...........................................................1
1.1 Product Inspection........................................................................................ 1
1.2 Product Front Panel...................................................................................... 2
1.3 Product Installation.......................................................................................3
Chapter 2 Servo Specifications...................................................................................6
2.1 Servo Drive Specification..........................................................................6
2.2 Servo Drive Naming Rule......................................................................... 7
2.3 Servo Motor Naming Rule........................................................................ 7
2.4 Servo Motor And Matched Servo Drive List............................................ 8
Chapter 3 Drive And Motor Dimension..................................................................... 9
3.1 Drive Dimension........................................................................................9
3.2 Motor Dimension.....................................................................................10
Chapter 4 Drive System Wiring And Introduction...................................................12
4.1 Servo System Wiring............................................................................... 12
4.2 Servo driver terminals Introduction........................................................ 14
4.3 Main Circuit Terminal............................................................................. 15
4.4 CN1 Control Signal Terminal..................................................................17
4.5 CN2 Encoder Signal Terminal.................................................................28
4.6 CN3 And CN4 Terminal Definition........................................................ 30
4.7 Anti-jamming Countermeasures of Power Wiring.....................................33
Chapter 5 Running Mode And Controlling Wiring..................................................37
5.1 Position Control Mode............................................................................ 38
5.2 Speed Control Mode Wiring.......................................................................44
5.3 Torque Control Mode................................................................................. 47
5.4 Origin Regression Function And Relevant Parameters Introduction.........50
5.5 Pre-operational Inspection..........................................................................52
Chapter 6 Operation And Display............................................................................ 54
6.1 Drive Panel Introduction............................................................................ 54
6.2 Main Menu..................................................................................................55
6.3 Steps To Set Parameters..............................................................................55
6.4 Status Monitoring....................................................................................... 56
6.5 Analog Quantity Zeroing Adjustment........................................................ 58

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II
6.6 Encoder Selection....................................................................................... 58
6.7 How To Reset Default Parameters............................................................. 59
Chapter 7 Parameters................................................................................................60
7.1 PA Group.....................................................................................................60
7.2 P3 Group Parameters For Multifunctional Terminals................................ 81
7.2.1 Parameter Table....................................................................................... 81
7.3 P4 Group Parameters For Internal Position Command..............................91
Chapter 8 Error Code................................................................................................98
Chapter 9 Alarm Handling Methods.......................................................................100

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1
Chapter 1 Product Inspection And Installation
1.1 Product Inspection
This product has made the complete function test before delivery, Please check below points
after unpacking. (for prevented the product to be abnormal owing to shipping process, please
make detail inspection as the following items after breaking the seal:)
●
（Inspect the types of servo driver and servo motor and ensure that are the same types in
the order form.）The purchased product is identical with your desired.
●
Please do not power it on if there is any damage on the product appearance.
●
Inspect the parts of servo driver and servo motor to see any loosen parts such as loosened
or fallen off screw.
●
Rotate the servo motor shaft by hand and should be smooth rotation.
However, the servo motor with holding brake is unable to rotate directly. If there is any
break down item or abnormal phenomenon mentioned above, please contact with the dealer
immediately.
If there is any discrepancy, please contact the purchasing agents.

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2
1.2 Product Front Panel
Applicable types：C200H
Pic 1.1 C200H Servo Driver Front Panel Introduction
Item
Terminal
Introduction
①
CN3、CN4
Communication terminal
②
CN1
Input and output control signal terminal
③
CN2A
Encoder signal terminal,Connected with incremental motor encoder.
④
CN2B
Encoder signal terminal,Connected with absolute value motor
encoder.
⑤
L1,L2,L3
Main power input terminal.
⑥
CHARGE
Bus voltage indicator. It is used to indicate the bus capacitance in a charged
state. When the indicator lights on, even if the power supply is off, the
internal capacitor of the servo unit may still have a charge. Therefore, do not
touch the power terminal when the lights on to avoid electric shock.
⑦
P,D,C,N
Regeneration resistance terminal
⑧
U,V,W
Servo motor UVW connection terminal
⑨
PE
Ground terminal

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3
1.3 Product Installation
1.3.1 Servo Drive Installation
Installation direction
The normal mounting direction of the servo drive is vertical and upright..
Fixed installation
During installation, please tighten the 2pcs M4 fixing screws at the back of the servo drive.
Grounding
Be sure to ground the driver grounding terminal, otherwise there may be a risk of electric shock
or interference to produce wrong action.
Wiring requirement
When connecting the drive, please wire the cable down (refer to the below picture) to avoid any
liquid attached on the cable and then it flows into the drive along with the cable.
Pic 1.2 Wring Direction Requirement
Installation interval
Refer to pic1.3 for the distance between drives and installation intervals with other devices,and
please note that the picture indicates the smallest size, in order to ensure the performance and life
of the drives, please leave the full installation interval as far as possible.
Cooling
The servo drive adopts natural cooling mode and forced heat dissipation mode.
Installation considerations
Prevent dust or iron chips from entering the servo drive when installing the electrical
controlling cabinet.

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4
Pic 1.3 Installation Interval
1.3.2 Environment Condition 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:
Working environment temperature: 0 ~ 40 ℃; Humidity of working environment; below
80% (no condensation).
Storage ambient temperature: - 40 ~ 50 ℃; Humidity of storage environment: below 80%
(no condensation).
Vibration: below 0.5G.
Keep the place well ventilated with less moisture and dust.
Places without corrosive and igniting gases, oil and gas, cutting fluid, cutting powder, iron
powder, etc.
No steam and avoid direct sunlight.
1.3.3 Servo Motor Installation
For horizontal installation：In order to prevent water, oil, etc. from entering inside of the

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5
servo motor, please put the cable connector downward.
For vertical installation: if the shaft of the servo motor is in upward direction with a speed
reducer, some prevention measure shall be taken43 against entering inside of the servo
motor by oil come from the speed reducer.
The extension of motor shaft shall be sufficient. If the extension is insufficient, it will
easily cause vibration when the motor moves.
In case of installation or removing the servomotor, please do not hit the servo motor with a
hammer, otherwise the shaft and the encoder can be damaged.
1.3.4 Motor Rotation Direction Definition
The motor rotating direction description in this handbook is defined as facing the shaft of
the servo motor, if the rotating shaft is in counterclockwise direction will be called as positive
direction, or in clockwise as reversal direction.
Pic1.4 Motor Rotation Direction

C200H AC Servo Manual
6
Chapter 2 Servo Specifications
2.1 Servo Drive Specification
Model
C200H
Power
1KW~3KW
Main Circuit
1 phase/3 phases
AC220V-15%~10% 50/60Hz
Control Mode
0： Position. 1： Speed. 2： Torque. 3： Position and speed. 4： Position and
torque. 5：Speed and torque
Protection
Function
Over speed, Over voltage, Under voltage,Overload, Abnormal of main
power, Abnormal encoder, Out of position error etc.
Monitor Function
Speed, Current position, Command pulse accumulation,Position
deviation, Motor torque, Motor current, Running state etc.
Control Input
1：Servo on 2：Alarm clearance 3：CCW drive inhibition 4：CW drive
inhibition 5：Deviation counter clearance 6：Command pulse inhibition
7：CCW torque limit 8：CW torque limit
Control Output
Servo ready/Servo alarm/Positioning completion/Mechanical braking
Regeneration
Braking
Built-in/ Built-out
Load
Less than 3 times of motor torque
Display
5 LED digital display and 4 keys
Communication
RS485
Position Control
Mode
Input
Mode
0：pulse+direction
1：CCW/CW pulse
2：A/B phase orthogonal pulse
3：Internal position control
Electronic gear ratio
1-32767/1-32767

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2.2 Servo Drive Naming Rule
C 200 H ---□□□
2.3 Servo Motor Naming Rule
CN 130 -040 25 A6 -MH B
Serial No.
Definition
①
Coolmay technology C series servo driver.
②
Power: 100:0.05KW~1KW. 200:1KW~2KW.
③
H: High performance and for 2500ppr incremental encoder or 17-bit
single/multi-turn absolute encoder.
④
The branch power range below 1KW: 40: 0.05KW~0.4KW; 75:0.4KW~0.75KW.
⑤
Special specifications: Customization.
Serial No.
Definition
①
Motor type, CN: CN series 4 opposite pole servo motor
②
Flange: 40(mm),60(mm),80(mm),90(mm),110(mm),130(mm).
③
Rated torque(×0.1N.m): 040=4N.m.
④
Rated speed(×100rpm): 25=2500rpm.
⑤
A6:17-bit single turn absolute. A1:17-bit multi-turn absolute. I2: 2500ppr
incremental encoder.
⑥
TJA: AMP connector. MH: Aviation connector.
⑦
B: with a brake, Null: without a brake.
①
②
③
④
⑤
②
③
④
⑤
⑥
⑦
①
1. The code 04025 means the motor rated toque is 4N.m and rated speed is
2500rpm.
2. The rated power: P=0.1047×N×T=0.1047×4×2500=1047W≈1KW.
T=rated torque, N=rated speed.

C200H AC Servo Manual
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2.4 Servo Motor And Matched Servo Drive List
Table 2-1
Flange
Model
Power
(W)
Speed
(RPM)
Matched
Drive
Encoder
80mm
CN80-04025A6-MH(B)
1000
2500
C200H
17-bit single turn
absolute encoder
90mm
CN90-04025A6-MH(B)
1000
2500
130mm
CN130-04025A6-MH(B)
1000
2500
CN130-05025A6-MH(B)
1800
2500
CN130-06025A6-MH(B)
600
2500
CN130-07725A6-MH(B)
800
2500
CN130-10010A6-MH(B)
1200
1000
CN130-10015A6-MH(B)
1500
1500
CN130-10020A6-MH(B)
1200
2000
CN130-10025A6-MH(B)
1800
2500
CN130-15015A6-MH(B)
1000
1500
CN130-15025A6-MH(B)
1300
2500

C200H AC Servo Manual
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Chapter 3 Drive And Motor Dimension
3.1 Drive Dimension
The user can install the servo drive with the bottom plate and the installed
direction is perpendicular to the installation facing. Recommended to cool the
servo drive with fan or natural cooling.
400W
~
Pic 3.1 C200H Dimension

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3.2 Motor Dimension
●Flange 80mm,90mm
Pic 3.2 Flange 80mm/90mm And Table 3-1
Model
W
L
LE
S
LA
LB
LC
LD
M
DM80-04025A1/A6-MA
80
191
90
19
70
25
6
35
6
DM90-04025A1/A6-MA
90
182
100
16
80
25
5
35
6.5
●Flange 130mm
Pic 3.3 Flange 130mm And Table 3-22
0

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Model
W
L
LE
S
LA
LB
LC
LD
M
CM130-04025A1/A6-MH
130
166
145
22
110
42
6
57
6
CM130-05025A1/A6-MH
130
171
145
22
110
42
6
57
6
CM130-06025A1/A6-MH
130
179
145
22
110
42
6
57
6
CM130-07725A1/A6-MH
130
192
145
22
110
42
6
57
6
CM130-10010A1/A6-MH
130
213
145
22
110
42
6
57
6
CM130-10015A1/A6-MH
130
213
145
22
110
42
6
57
6
CM130-10025A1/A6-MH
130
209
145
22
110
42
6
57
6
CM130-15015A1/A6-MH
130
241
145
22
110
42
6
57
6
CM130-15025A1/A6-MH
130
231
145
22
110
42
6
57
6

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Chapter 4 Drive System Wiring And Introduction
4.1 Servo System Wiring
4.1.1 Servo Drive Wiring
Pic 4.1 Servo System Wiring

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4.1.2 Wiring Introduction
Wiring Notes:
Cable length, command cable within 3M, encoder length within 20m.
Check whether the power supply and wiring of L1, L2 and L3 are correct. If only 220VAC
drives are supported, do not connect to 380VAC power supply.
The phase sequence of the motor output u, V and W terminals must correspond to the
corresponding terminals of the driver one by one. If the motor is connected incorrectly, the
motor may not rotate or run fast. The motor cannot be reversed by changing the three-phase
terminals, which is different from asynchronous motor.
Because the servo motor flows through the high-frequency switching current, the leakage
current is relatively large. The motor grounding terminal must be connected with the servo
driver grounding terminal PE and well grounded.
For the relay installed in the output signal, the direction of the diode for absorption shall be
connected correctly, otherwise it will cause failure and fail to output the signal.
To prevent the wrong action caused by noise, please add insulation transformer, noise filter
and other devices to the power supply.
Please wire the power line (strong current circuit of motor line, power line, etc.) more than
30cm away from the signal line, and do not place it in the same wiring pipe.
Please install a non fusible circuit breaker to cut off the external power supply in time in
case of driver failure.
Because there is a large capacity electrolytic capacitor inside the servo driver, even if the
power supply is cut off, there is still high voltage in the internal circuit. After cutting off the
power supply, wait at least 5 minutes to contact the driver and motor.
4.1.3 Electric Wire Specifications
Connect Terminal
Symbol
Wire Specification
Main Power Supply
L1、L2、L3
1.5~4mm2
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
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