Dorna EPS-BS Series User manual

1
AC SERVO SYSTEM
EPS-BS SERIES
User Manual
(V1.3)

2
Table of Contents
SAFETY PRECAUTIONS ................................................................................................................................................ 5
★★★ QUICK START GUIDE ......................................................................................................................................... 9
★BASIC WIRING .............................................................................................................................................................9
★BASIC PARAMETERS ..................................................................................................................................................10
CHAPTER 1 PRODUCT OVERVIEW ..............................................................................................................................12
1.1 PRODUCT INSPECTION .............................................................................................................................................12
1.2 PRODUCT MODEL.................................................................................................................................................... 12
1.2.1 Nameplate description .................................................................................................................................... 12
1.2.2 Model descriptions .......................................................................................................................................... 13
1.3 NAME OF EACH PART OF SERVO DRIVE .....................................................................................................................14
1.4 MAINTENANCE & INSPECTION ................................................................................................................................ 14
CHAPTER 2 INSTALLATION..........................................................................................................................................15
2.1 INSTALLATION DIRECTION AND SPACE ..................................................................................................................... 15
2.2 SERVO DRIVE DIMENSIONS.......................................................................................................................................16
2.3 RECOMMENDED SPECIFICATIONS FOR CIRCUIT BREAKERS AND FUSES .....................................................................17
2.4 COUNTERING NOISE INTERFERENCEAND HIGHER HARMONICS ................................................................................17
2.4.1 Installation of EMI filter................................................................................................................................... 18
2.4.2 Installation of AC/DC reactor........................................................................................................................... 18
2.5 SELECTION OF REGENERATIVE RESISTORS ...............................................................................................................18
CHAPTER 3 WIRING ...................................................................................................................................................20
3.1 SYSTEM STRUCTURE &WIRING ...............................................................................................................................20
3.1.2 Wiring of the main circuit................................................................................................................................ 20
3.2 CN1 WIRING............................................................................................................................................................ 22
3.2.1 Arrangement of connector CN1 terminal ........................................................................................................ 22
3.2.2 I/O Signal allocations....................................................................................................................................... 23
3.2.3 Examples of connection to the host device...................................................................................................... 25
3.3 CN2 WIRING ............................................................................................................................................................29
3.4 STANDARD WIRING DIAGRAM .................................................................................................................................. 30
CHAPTER 4 PANEL OPERATIONS.................................................................................................................................31
4.1 PANEL OPERATOR.....................................................................................................................................................31
4.2 FUNCTION SWITCHING............................................................................................................................................. 32
4.3 PARAMETER SETTING METHOD ................................................................................................................................32
4.4 OPERATION EXAMPLE OF PARAMETER MANAGEMENT FUNCTION (EEPOP).............................................................33
4.4.1 Parameter storage function (EE - 0) example .................................................................................................. 33
4.4.2 Parameter Factory Reset Function (EE - 1) operation example ....................................................................... 34
CHAPTER 5 MONITOR DISPLAY ..................................................................................................................................34
5.1 MONITOR DISPLAY LIST ........................................................................................................................................... 34

3
5.2 OPERATION EXAMPLE OF MONITOR DISPLAY............................................................................................................36
5.3 INPUT SIGNAL MONITORING DP12...........................................................................................................................37
5.3.1 DP12 operation procedures ............................................................................................................................. 37
5.3.2 DP12 display explanations............................................................................................................................... 37
5.4 OUTPUT SIGNAL MONITORING DP13........................................................................................................................38
5.4.1 DP13 operation procedures ............................................................................................................................. 38
5.4.2 DP13 display explanations............................................................................................................................... 38
5.5 MONITORING DISPLAY WHEN POWER IS TURNED ON ................................................................................................ 39
CHAPTER 6 JOG RUN..................................................................................................................................................40
6.1 PREPARATIONS BEFORE JOG RUN ............................................................................................................................40
6.2 JOG RUN BY PANEL OPERATIONS ............................................................................................................................. 40
6.3 JOG RUN OF THE SERVO MOTOR ALONE BY HOST COMMAND ...................................................................................41
6.3.1 Input signal circuit wiring and confirmation.................................................................................................... 41
6.3.2 JOG run of position control .............................................................................................................................. 42
6.4 JOG RUN AFTER CONNECTING THE SERVO MOTOR TO THE MACHINE........................................................................ 42
6.5 JOG RUN OF SERVO MOTOR WITH BRAKE................................................................................................................. 43
CHAPTER 7 OPERATIONS............................................................................................................................................43
7.1 CONTROL MODE SELECTION .................................................................................................................................... 43
7.2 SETTING OF GENERAL BASIC FUNCTIONS .................................................................................................................44
7.2.1 SERVO ON setting ............................................................................................................................................ 44
7.2.2 Motor over travel prohibitation....................................................................................................................... 44
7.2.3 Overtravel settings .......................................................................................................................................... 45
7.2.4 Holing brake settings ....................................................................................................................................... 45
7.3 POSITION CONTROL OPERATIONS ............................................................................................................................. 47
7.3.1 User parameter settings .................................................................................................................................. 47
7.3.2 Electronic gear setting..................................................................................................................................... 47
7.3.3 Position instructions ........................................................................................................................................ 48
7.3.4 Positioning completed signal (COIN) ............................................................................................................... 49
7.3.5 ZSP (zero speed) signal setting ........................................................................................................................ 49
7.3.6 Pulse instruction inhibition function (INH)....................................................................................................... 50
7.4 INTERNAL SPEED CONTROL...................................................................................................................................... 50
CHAPTER 8 TROUBLESHOOTING ................................................................................................................................52
8.1 LIST OF ALARMS ......................................................................................................................................................52
8.2ALARM TROUBLESHOOTING.....................................................................................................................................53
CHAPTER 9 PRODUCT SPECIFICATIONS.......................................................................................................................56
9.1 SERVO DRIVE SPECIFICATIONS ................................................................................................................................. 56
9.2 SERVO MOTOR SPECIFICATIONS................................................................................................................................ 56
9.3 MOTOR PARAMETER PA9......................................................................................................................................... 59
9.4 EPS-BS SERVO MOTORAND SERVO DRIVE MATCHING TABLE .................................................................................. 59
CHAPTER 10 APPENDIX..............................................................................................................................................61
10.1 PARAMETERS......................................................................................................................................................... 61
10.2 MODBUS COMMUNICATION ................................................................................................................................ 67

4
10.2.1 Communication modes.................................................................................................................................. 67
10.2.2 Byte structure ................................................................................................................................................ 67
10.2.3 Communication data structure...................................................................................................................... 68
10.2.4 Communication troubleshooting ................................................................................................................... 74
10.2.5 Communication parameters.......................................................................................................................... 75
10.2.6 Servo drive parameter address...................................................................................................................... 75

5
Safety Precautions
This section explains important items that users must observe when confirming, storing, moving, installing, wiring,
operating, inspecting, and disposing of products when they arrive.
Risk
◼Input power.
The input power of this driver is AC220V .
◼When installing on a machine and starting operation, please put the motor in a state that can be
stopped immediately at any time.
Failure to do so could result in personal injury or mechanical damage.
◼In the power-on state, be sure to install the cover of the power terminal block.
Otherwise it may cause electric shock.
◼After turning off the power or performing a withstand voltage test, do not touch the power terminals
while the charging indicator is on.
Otherwise, it may cause electric shock due to residual voltage.
◼Please carry out trial operation according to the steps and instructions described in the user manual
corresponding to the product.
If the servo motor is installed in a mechanical state, if an operation error occurs, it will not only cause
mechanical damage, but may also cause personal injury.
◼Never modify this product, and do not set up, disassemble or repair it unless specified.
Failure to do so could result in personal injury, mechanical damage, or fire.
◼Please install a stop device on the machine side to ensure safety.
The holding brake of a servo motor with a brake is not a stopping device to ensure safety.
Failure to do so could result in injury.
◼Be sure to connect the ground terminal of the servo driver to the ground electrode (the ground
resistance of the power input servo driver is 100 Ω or less) .
Doing so may cause electric shock or fire.

6
Storage & Handling
◼Do not store or install in the following environment.
Failure to do so may cause fire, electric shock, or machine damage.
➢Places exposed to direct sunlight
➢Use the place where the ambient temperature exceeds the storage and setting temperature conditions
➢Places where relative humidity exceeds storage and humidity conditions
➢Places with corrosive gas and flammable gas
➢Places with a lot of dust, dust, salt and metal powder
➢Places subject to splashing with water, oil and drugs
➢Vibration or shock will be transmitted to the subject's place
◼Do not hold the cable, motor shaft or detector for transportation.
Doing so may cause injury or malfunction.
Installation
◼Do not block the air inlet and air outlet. Also do not allow foreign matter to enter the product.
Failure to do so may cause malfunction or fire due to aging of internal components.
◼Be sure to observe the requirements of the installation direction.
Doing so may cause a malfunction.
◼When installing, please ensure that there is a prescribed interval between the servo driver and the
inner surface of the control cabinet and other machines.
Doing so may cause fire or malfunction.
◼Do not apply excessive impact.
Doing so may cause a malfunction.

7
Wiring
◼Make wiring correctly and reliably.
Failure to do so could result in loss of motor control, personal injury, or machine failure.
◼Do not connect commercial power to the servo motor connection terminals U , V , W of the servo
driver .
Failure to do so could result in injury or fire.
◼Please connect the power terminal and the motor connection terminal securely.
Doing so may cause fire.
◼Do not use the same sleeve for the main circuit cable, the input and output signal cables, and the
encoder cable, and do not bundle them together. When wiring, the main circuit cable and the input
and output signal cables should be more than 30cm away .
◼Please use double-stranded or multi-core double-stranded overall shielded cable for input and output
signal cables and encoder cables.
◼The wiring length of the input and output signal cables: up to 3 m ; encoder cables: up to 30 m .
◼Even if the power is turned off, high voltage may remain in the servo drive. Therefore, do not touch
the power terminal while the charging indicator is on.
After confirming that the charging indicator is off, perform wiring and inspection.
◼Please install a safety device such as a circuit breaker to prevent external wiring from being
shorted.
Doing so may cause fire.
◼When using in the following places, please take appropriate shielding measures.
➢When interference occurs due to static electricity, etc.
➢Places producing strong electric or magnetic fields
➢Places where there may be radiation radiation
Doing so may cause damage to the machine.
◼Pay attention to polarity when connecting batteries.
Otherwise, the battery, servo driver and servo motor will be damaged and exploded.

8
Operations
◼To prevent accidents, perform a trial operation on the servo motor alone (with the machine not
connected to the drive shaft of the servo motor).
After the test run is correct, connect the machine to run. Failure to do so could result in injury.
◼When installing on the supporting machinery and starting operation, please set the parameters in
accordance with the machinery in advance.
If you start running without parameter setting, it will cause the machine to run out of control or
malfunction.
◼Do not turn the power on / off frequently .
Since the power supply portion of the servo drive with a capacitor, so the power ON time, will flow
through a large charging current. Therefore, if the power is turned on and off frequently, the performance
of the main circuit components inside the servo drive will be reduced.
◼When using the servo motor on the vertical axis, please install a safety device to prevent the workpiece
from falling in the state of alarm, overtravel, etc. When overtravel occurs, set a fixed stop with zero
position.
Failure to do so may cause the workpiece to fall under overtravel.
◼Extreme parameter adjustment and setting changes will cause the operation of the servo system to
become unstable. Do not perform such operations.
Failure to do so may result in personal injury or machine damage.
◼When an alarm occurs, reset the alarm after removing the cause and ensuring safety, and restart the
operation.
Failure to do so may cause machine damage, fire, or injury.
◼Do not use the brake of a servo motor with a holding brake for braking.
Doing so may cause a malfunction.
◼Use the servo motor and servo driver in the specified combination.
Doing so may cause fire or malfunction.
Maintenance Note Italian
◼Do not change the wiring while the power is on.
Failure to do so may result in electric shock or injury.
◼When replacing the servo driver, please copy the parameters of the driver to be replaced to the new
driver, and then restart the operation.
Doing so may cause damage to the machine.

9
Others
◼For detailed explanation, some illustrations in this manual have been removed from the cover or safety
protection. In actual operation, please be sure to install the cover or safety protection body to the original
position according to the regulations, and then operate according to the instructions in the user manual.
◼The illustrations in this manual are representative examples and may differ from the product you
received.
◼Please set up relevant protection and safety devices during driver debugging. The company is not
responsible for special damage, indirect losses, and other related losses caused by our products.
◼The information contained in this manual is a general description or feature introduction, which is not
always completely consistent with the description in actual applications, or may not be completely
suitable due to further development of the product.
★★★ Quick start guide
★Basic wiring
1. Power cord: L1 , L2 , L3 (see section 3.1 for details )
It can be connected to three-phase AC 220V ; or any two terminals can be connected to single-phase AC 220V .
2. the motor power line: U, V, W
These three wires need to be connected to U, V, W marked on the driver one by one. Connect the PE wires to the
driver's wiring screws .
3. Encoder line (see section 3.3 for signal definition )
Motor flange
Motor Power
Power line model
Encoder line model
60/80/90
-
DA-002
BD -031
110/130
0.8 ～1.0KW
DB-002
BC -031
1.2 ～1.5KW
DC-002
1.8 ～2.0KW
DD-002
2.2 ～3.0KW
DE-002
4. Braking resistor (braking resistor) wiring
1) 400W and below power driver has no internal braking resistor. If necessary, an external braking resistor is
required. Connect the two ends of the external braking resistor to the P + and C terminals respectively.
2) 750W and above power drivers, standard internal braking resistor ( P + , D terminals are equipped with a short
wiring). If the internal braking resistor is too small, an external braking resistor is required. First , remove the
short wires at terminals P+ and D , and connect the two ends of the external braking resistor
to terminals P+ and C respectively .

10
5. I/O signals (see section 3.2 and 3.4 for details )
Pin
Symbol
Definition
Description
1
DGND
Digital ground
Communication terminal
2
RS +
485 communication positive
3
RS-
485 communication negative
4
PL
24V common terminal
1, Differential input : connect to P+ P- S+S-;
2, Open collector (24V, NPN): PL connects to 24V,
the pulse output (e.g. Y0) connects to the P- , direction
output (e.g. Yl) connected S-;
3 , Siemens PLC (PNP) : P-, S- connect to 0V, pulse
output (Y0) serial 2K resistor connects to P+, direction
output (Yl) serial 2K resistor connects to S+ .
5
P+
Pulse positive (5V)
6
P-
Pulse negative
7
S+
Sign positive (5V)
8
S-
Sign negative
9
COM +
Switching value common
terminal positive (12V ~ 24V)
Switching power supply 12V ~ 24V
10
DI1
Digital input 1
Default: S-ON (PA145 can be redefined)
11
DI2
Digital input 2
Default: Alarm clear (PA146 can be redefined)
12
DI3
Digital input 3
Default: Deviation clear (PA147 can be redefined)
13
COM-
Switching value common
terminal negative (0V)
Switching power 0V
14
DO1
Digital output 1
Default: Servo alarm ( PA148 can be redefined)
15
DO2
Digital output 2
Default: holding brake ( PA149 can be redefined)
16
DO3
Digital output 3
Default: position reached ( PA150 can be redefined)
★Basic parameters
1. Setting method of these following parameters (PA2, PA8, PA9)
⚫Set PA0 into 1234 ;
⚫Modify the relevant parameters in turn according to the following instructions and confirm;
⚫Restore factory settings (EEPOP →EE-1);
⚫Power on again.

11
2. Set the matching parameters according to the motor nameplate: PA2, PA8, PA9
⚫Check whether the motor pole pair number PA2 is consistent with the motor nameplate.
PA2 = 4 : four pairs of pole motors
PA2 = 5 : five pairs of pole motors
⚫Check whether the motor encoder type parameter PA8 is consistent with the motor nameplate (the brackets
are the encoder identification in the motor model) .
PA8 = 0 : (H) Magnetic encoder 1024 line
PA8 = 1 : (P) Magnetic encoder 2500 line
PA8 = 2 : (E) Line-saving incremental 2500 line
PA8 = 3 : (K) Line-saving incremental 5000 line, ( Q ) Magnetic encoder 5000 line
⚫Check whether the motor current parameter PA9 is consistent with the motor nameplate.
PA9
parameter
Motor rated
current
PA9
parameter
Motor rated
current
0
-
20
10A
1
0.5A
21
11A
2
1.0A
22
12A
3
1.5A
23
13A
4
2.0A
24
14A
5
2.5A
25
15A
6
3.0A
26
16A
7
3.5A
27
17A
8
4.0A
28
18A
9
4.5A
29
19A
10
5.0A
30
20A
11
5.5A
31
21A
12
6.0A
32
22A
13
6.5A
33
23A
14
7.0A
34
24A
15
7.5A
35
25A
16
8.0A
17
8.5A
18
9.0A
19
9.5A
3. Does the motor and driver capacity match?
If the rated current of the motor is more than 1A than the rated current of the driver , please consider
replacing with a higher power driver! The current is marked on the nameplate.

12
Chapter 1 Product Overview
1.1 Product inspection
In order to avoid various problems during the purchase and shipping of this product, please check the items listed
in the table below in detail.
Items
Reference
Does the product match the
model you ordered?
Check the product models on the motor and drive nameplates
Is the motor shaft normal?
Rotate the motor shaft by hand. If it can run smoothly, it
means that the motor shaft is normal. However, a motor with
an electromagnetic brake cannot run by hand!
Is the appearance damaged?
Check visually for any damage.
Are there loose screws?
Use a screwdriver to check whether the screws of the servo
drive are locked.
If you encounter any of the above situations, please contact the agent or manufacturer for a proper solution.
A complete servo system should include the following items:
Items
Reference
1
Servo driver and matching servo motor.
2
Motor power cable
3
Motor encoder cable
4
Servo control line
5
An instruction manual
1.2 Product Model
1.2.1 Nameplate description
■EPS-BS series servo driver nameplate

13
1.2.2 Model descriptions
■EPS-BS series servo drive model description
EPS –BS –0D75 A A –□□□□
[1] [2] [3][4] [5]
[ 1 ] Servo driver series
[ 2 ] Driver power
[ 3 ] Rated input voltage
Symbol
Specifications
Symbol
Specifications
Symbol
Specifications
BS
BS series
0D20
200W
A
220V
0D40
400W
0D75
750W
0001
1.0KW
[ 4 ] Hardware version
01D5
1.5KW
[ 5 ] factory code
Symbol
Specifications
02D2
2.2KW
Symbol
Specifications
A
0003
3.0KW
0000
General 1
1000
General 2
■Servo motor model description 130 DN MA 2–0D75 D K A M
【1】【2】【3】【4】【5】【6】【7】【8】【9】
【１】Flange
【2】Name
【3】Inertia
Symbol
Specifications
Symbol
Specifications
Symbol
Specifications
60
60 flange
DN
MA
Medium 220V
80
80 flange
HA
High 220V
130
130 flange
180
180 flange
【4】Pole pair
【5】Rated power
【6】Rated speed
Symbol
Specifications
Symbol
Specifications
Symbol
Specifications
1
4 pole pairs
0D20
200W
A
1000rpm
2
5 pole pairs
0D40
400W
B
1500rpm
0D75
750W
C
2000rpm
0001
1.0KW
D
3000rpm
01D2
1.2KW
01D5
1.5KW
0002
2KW
0003
3.0KW
【7】Encoder type
【8】Brake
【9】Shaft
Symbol
Specifications
Symbol
Specifications
Symbol
Specifications
E
2500 line
A
No brake
K
Key, no oil seal
H
Magnetic 1024 line
B
With brake
Y
No key, oil seal
K
5000 line
M
Key, oil seal
P
Magnetic 2500 line
N
No key, no oil seal
Q
Magnetic 5000 line

14
1.3 Name of each part of servo drive
I/O terminal
Display
Power lamp
Main power input
Regenerative resistor terminals
1、Internal: P & D
2、External: P & C
Motor UVW terminal
Grounding
Motor encoder signal
1.4 Maintenance & Inspection
Please perform regular maintenance & inspection on the driver & motor to ensure safe & normal use. Routine
inspections and regular inspections should be implemented according to the following items .
Types
Cycle
Check item
Daily
inspection
daily
·Ambient temperature, humidity, dust and foreign matter
·Is there abnormal vibration, abnormal sound
·The INPUT power supply voltage is normal
·Is there a smell?
·Are the vents sticky fiber thread
·Clean situation drives the front of the connector
·The control device, the device motor connector portion for
loose & core leg departing
·Load section whether the foreign body embedded
Periodic
inspection
1 year
·Fastening parts for loose
·Are there signs of overheating
·Whether the terminals are damaged or loose

15
Chapter 2 Installation
2.1 Installation direction and space
The installation direction must be in accordance with the regulations, otherwise it will cause malfunctions. In
order to make a good cooling effect, the upper and lower, left and right with the adjacent items and baffle (wall)
must have enough space, otherwise it will cause malfunctions. The AC servo drive’s suction, exhaust hole cannot
be sealed, nor placed upside down, otherwise it will cause malfunctions.
In order to lower the wind resistance to the radiator fan and let heat discharge effectively, users shall follow the
recommended installation spacing distance of one or severalAC servo drivers (see the figure below).2.2 EPS-BS

16
2.2 Servo drive dimensions
(Unit: mm)
(1) A type case: EPS-BS-0D20AA, EPS-BS-0D40AA
(2) B type case: EPS-BS-0D75AA, EPS-BS-0D75AA -****-G, EPS-BS-0001AA,
EPS-BS-01D5AA
(3) C type case: EPS-BS-01D5AA-****-G, EPS-BS-02D2AA, EPS-BS-02D2AA-****-G,
EPS-BS-0003AA

17
2.3 Recommended specifications for circuit breakers and fuses
■ 220V class
Drive type
Power
breaker
Fuse (Class T)
Type A
400W or less
10A
20A
Type B
750W ~ 1.5KW
20A
40A
Type C
2.2KW ~ 3KW
30A
80A
Note:
1. Strongly recommended: the fuse and circuit-breaker must comply with UL/CSA standards.
2. When an earth leakage circuit breaker (ELCB) is added for leakage protections, please choose ELCB with
sensitivity current over 200mAand action time over 0.1s
2.4 Countering noise interference and higher harmonics
The main circuit of servo drive uses a high-speed switching device, so the peripheral wiring and earthing of servo
drive may be affected by the noise of the switching device. In order to prevent noise, the following measures can
be taken:
◆Please install EMI filter on the main power supply side;
◆Connection ofAC/DC reactor for suppression of higher harmonic;
◆Please install the command input equipment (such as PLC) and EMI filter as close as possible to the servo
drive;
◆The power line (cable for power supply from servo drive to servo motor) shall be over 30cm from the
input-output signal cable. Do not house them in the same bushing or tie them together.
◆Do not use the same power supply with a welding machine or electro spark machine.

18
◆When there is a high frequency generating device nearby, an EMI filter shall be connected to the input side of
the main circuit cable.
◆Ensure the earthing is appropriate.
2.4.1 Installation of EMI filter
In order to ensure the EMI filter can fully suppress the interference, please note:
Item
Reference
1
Servo drives and EMI filters must be installed on the same metal surface.
2
The wiring has to be as short as possible.
3
The metal surface shall be well grounded.
4
The metal housing or earthing of both servo drive and EMI filter shall be reliably
fixed to the metal surface, with the contact area as big as possible.
5
The motor power line shall have shielded (double shielding layer is preferred) .
6
Ground shielding copper with the shortest distance and maximum contact.
2.4.2 Installation ofAC/DC reactor
An AC/DC reactor can be connected to the servo drive for suppression of higher harmonic. Please
connect the reactor according to the figure below:
AC Reactor
DC Reactor
Servo drive
L1
L2
L3
ACReactor
Power
Servo drive
1
2
DCreactor
2.5 Selection of regenerative resistors
When the motor is outputting torque opposite to the rotating direction, energy is regenerated from the load to the
drive. DC bus voltage will rise and at a certain level, the regenerated energy can only be consumed by the
regenerative resistor. The drive contains an internal regenerative resistor, and users can also connect an external
regenerative resistor. The table below shows the specifications of regenerative resistor contained in EPS-B1 series
servo drives.
Drive enclosure
Internal regenerative resistor specifications
Minimum allowable
resistance (Ohm)
Resistance (Ohm)
Capacity (Watt)
Type A
-
-
30
Type B
30
60
20
Type C
30 (220V)
80
13 (220V)

19
When the regenerative capacity exceeds the disposable capacity of the internal regenerative resistor, an
external regenerative resistor shall be connected. Please note:
Item
Reference
1
Please set the external resistor value and capacity correctly.
2
The external resistance value shall not be smaller than the minimum allowable resistance value. If
parallel connection is to be used to increase the power, please confirm whether the resistance value
satisfies the limiting conditions.
3
In natural environment, when the disposable regenerated capacity (mean value) of regenerative
resistor is used within the limit of nominal capacity, the temperature of resistor will rise to be above
120℃ (under continual regeneration). In order to ensure safety, it is suggested to use a regenerative
resistor with a thermo-switch.
4
When external regenerative resistor is used, the resistor shall be connected to P, C end, and P, D end
shall be open. External regenerative resistor shall follow the resistance value suggested in the table
above.

20
Chapter 3 Wiring
3.1 System structure & wiring
3.1.1 Connectors and terminals of the driver
Terminal symbol
name
L1, L2, L3
Power input terminal
P, D, C
External regeneration resistor connection terminal
DC bus negative terminal
U, V, W
Servo motor connection terminal
Ground terminal
CN1
Communication port, I / O connector
CN2
Encoder connector
3.1.2 Wiring of the main circuit
1) Wire size of servo drive main circuit
External
terminal name
Terminal
symbol
Wire diameter mm2 (AWG)
EPS-BS (A type chassis )
EPS-BS (B type chassis )
EPS-BS (C type chassis )
0D02A
0D04A
0D75A
0001A
01D5A
02D2A
0003A
Main circuit
power cable
L1 , L2 , L3
1.25 (AWG-16)
2.0 (AWG-14)
3.0 (AWG-14)
Motor power
line
U , V , W
1.25 (AWG-16)
2.0 (AWG-14)
3.0 (AWG-14)
External
regeneration
resistance line
P, D, C
1.25 (AWG-16)
Ground wire
2.0 (AWG-14) or more
2) Typical main circuit wiring example
◆When the signal of ALM is active, power supply of the main circuit shall be OFF.
◆Main circuit & control circuit shall be powered on at the same time, or the control circuit first.
◆The main circuit shall be powered off before the control circuit.