Hiwin MIKROSYSTEM E Series User manual

User Manual
E Series AC Servo Motor
www.hiwinmikro.tw
MC03UE01-2309_V1.2

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Related Documents
Through related documents, users can quickly understand the positioning of this manual and the
correlation between manuals and products. Go to HIWIN MIKROSYSTEM’s official website
(https://www.hiwinmikro.tw/Downloads/ManualOverview_EN.htm) → Download → Manual Overview for
details.

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Approvals
Approvals Drive Motor
CE requirement
EMC requirement
EN61800-3
EN55011
EN61000-6-2
EN61000-6-4
EN61000-2-4
IEC60146-1-1
IEC61000-2-1
EN55011
EN61000-6-2
EN61000-6-4
Low voltage requirement LVDS:EN61800-5-1 EN60034-1
EN60034-5
UL requirement UL:E348161 UL1004-1
UL1004-6

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Table of Contents
1. General information.......................................................................................................................................... 1-1
1.1 Revision history .............................................................................................................................. 1-2
1.2 About this manual ........................................................................................................................... 1-4
1.3 General precautions ....................................................................................................................... 1-5
1.4 Safety instruction ...........................................................................................................................1-11
1.5 Copyright ...................................................................................................................................... 1-15
1.6 Manufacturer information.............................................................................................................. 1-15
1.7 Product monitoring........................................................................................................................ 1-15
2. Basic safety information ................................................................................................................................... 2-1
2.1 Overview......................................................................................................................................... 2-2
2.2 Basic safety notices ........................................................................................................................ 2-2
2.3 Reasonably foreseeable misuse .................................................................................................... 2-3
2.4 Conversions and modifications....................................................................................................... 2-3
2.5 Residual risks ................................................................................................................................. 2-3
2.6 Personnel requirements.................................................................................................................. 2-4
2.7 Protective equipment ...................................................................................................................... 2-4
2.8 Labels on servo motor .................................................................................................................... 2-5
3. Product description .......................................................................................................................................... 3-1
3.1 Servo motor description.................................................................................................................. 3-2
3.2 Main components of servo motor ................................................................................................... 3-3
3.3 Order code ...................................................................................................................................... 3-4
3.3.1 Model explanations ................................................................................................................ 3-4
3.3.1.1 E series AC servo motor................................................................................................ 3-4
3.3.1.2 E1 Series Servo Drive ................................................................................................... 3-5
3.3.1.3 E2 Series Servo Drive ................................................................................................... 3-7
3.3.1.4 Power cable................................................................................................................... 3-8
3.3.1.5 Encoder cable ............................................................................................................... 3-9
3.3.1.6 Combination of E series AC servo motor, servo drives and cable .............................. 3-10
3.3.2 Technical data ...................................................................................................................... 3-12
3.3.2.1 EM1-C-M-05-2-□-□-0-□−technical data ....................................................................... 3-12
3.3.2.2 EM1-C-M-10-2-□-□-0-□−technical data ....................................................................... 3-13
3.3.2.3 EM1-C-M-20-2-□-□-0-□−technical data ....................................................................... 3-14
3.3.2.4 EM1-C-M-40-2-□-□-0-□−technical data ....................................................................... 3-15
3.3.2.5 EM1-C-M-75-2-□-□-0-□−technical data ....................................................................... 3-16
3.3.2.6 EM1-A-M-1K-2-□-□-0-□−technical data....................................................................... 3-17

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3.3.2.7 EM1-D-M-1A-2-□-□-0-□−technical data ...................................................................... 3-18
3.3.2.8 EM1-D-M-2K-2-□-□-0-□−technical data ...................................................................... 3-19
3.3.3 Mechanical overview............................................................................................................ 3-21
3.3.4 Selection calculation ............................................................................................................ 3-24
3.3.4.1 Mechanical mechanism............................................................................................... 3-24
3.3.4.2 Motion profile............................................................................................................... 3-26
3.3.4.3 Load inertia calculation................................................................................................ 3-27
3.3.4.4 Motor speed calculation .............................................................................................. 3-28
3.3.4.5 Motor torque calculation .............................................................................................. 3-29
3.3.4.6 Regenerative energy calculation................................................................................. 3-31
3.3.5 Operating instructions .......................................................................................................... 3-33
3.3.6 De-rating curve..................................................................................................................... 3-34
4. Transport and setup ......................................................................................................................................... 4-1
4.1 Delivery ........................................................................................................................................... 4-2
4.1.1 Delivery state ......................................................................................................................... 4-2
4.1.2 Scope of delivery.................................................................................................................... 4-2
4.1.3 Delivery ambient conditions ................................................................................................... 4-2
4.2 Transport to the installation site...................................................................................................... 4-3
4.3 Requirements at the installation site............................................................................................... 4-4
4.4 Storage ........................................................................................................................................... 4-5
4.5 Unpacking and setup ...................................................................................................................... 4-6
5. Assembly and connection ................................................................................................................................ 5-1
5.1 Mechanical installation.................................................................................................................... 5-2
5.1.1 Installation environment ......................................................................................................... 5-2
5.1.2 Tools and equipment .............................................................................................................. 5-3
5.1.3 Servo motor installation ......................................................................................................... 5-4
5.1.3.1 Motor ............................................................................................................................. 5-4
5.1.3.2 Oil seal........................................................................................................................... 5-7
5.1.3.3 Key ................................................................................................................................ 5-8
5.1.3.4 Belt ...............................................................................................................................5-11
5.1.3.5 Coupling ...................................................................................................................... 5-12
5.1.3.6 Safety brakes .............................................................................................................. 5-15
5.2 Electrical installation ..................................................................................................................... 5-17
5.2.1 Motor cable pin assignment ................................................................................................. 5-17
5.2.1.1 Motor power cable connector ...................................................................................... 5-17
5.2.1.2 17 bit / 23 bit Incremental encoder cable connector ................................................... 5-21
5.2.1.3 17 bit / 23 bit Absolute encoder cable connector ........................................................ 5-23
5.2.1.4 Allowable bending radius ............................................................................................ 5-27
5.2.2 Electrical connection ............................................................................................................ 5-28

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6. Commissioning................................................................................................................................................. 6-1
6.1 Commissioning ............................................................................................................................... 6-2
6.1.1 Flow chart for tuning .............................................................................................................. 6-2
6.1.2 Tuning function....................................................................................................................... 6-3
6.1.3 Precautions during tuning ...................................................................................................... 6-4
7. Maintenance and cleaning ............................................................................................................................... 7-1
7.1 Maintenance ................................................................................................................................... 7-2
7.2 Cleaning.......................................................................................................................................... 7-4
7.2.1 Test run .................................................................................................................................. 7-5
8. Disposal ........................................................................................................................................................... 8-1
8.1 Waste disposal................................................................................................................................ 8-2
8.1.1 General .................................................................................................................................. 8-2
8.1.2 Tools and equipment .............................................................................................................. 8-3
8.1.3 Decommissioning................................................................................................................... 8-3
8.1.4 Disposal ................................................................................................................................. 8-4
9. Troubleshooting................................................................................................................................................ 9-1
9.1 Troubleshooting .............................................................................................................................. 9-2
9.1.1 Troubleshooting form ............................................................................................................. 9-3
10. Declaration of incorporation .................................................................................................................. 10-1
10.1 Declaration of incorporation.......................................................................................................... 10-2
11. Appendix.................................................................................................................................................11-1
11.1 Glossary.........................................................................................................................................11-2
11.2 Unit conversion ..............................................................................................................................11-3
11.3 Tolerances and hypotheses ...........................................................................................................11-5
11.3.1 Tolerances.............................................................................................................................11-5
11.3.2 Hypotheses ...........................................................................................................................11-5
11.4 Supplementary formula..................................................................................................................11-6
11.5 Optional accessories .....................................................................................................................11-7
11.5.1 Accessory kit .........................................................................................................................11-7
11.5.2 Power supply filter and accessories......................................................................................11-7
11.5.3 Accessories for absolute encoder.........................................................................................11-7
11.5.4 Regenerative resistor ............................................................................................................11-7
11.6 Customer request form ..................................................................................................................11-8

HIWIN MIKROSYSTEM CORP. 1-1
1. General information
1. General information.......................................................................................................................................... 1-1
1.1 Revision history .............................................................................................................................. 1-2
1.2 About this manual ........................................................................................................................... 1-4
1.3 General precautions ....................................................................................................................... 1-5
1.4 Safety instruction ...........................................................................................................................1-11
1.5 Copyright ...................................................................................................................................... 1-15
1.6 Manufacturer information.............................................................................................................. 1-15
1.7 Product monitoring........................................................................................................................ 1-15

General information E Series AC Servo Motor User Manual
1-2 HIWIN MIKROSYSTEM CORP.
MC03UE01-2309
1.1 Revision history
The version of the manual is also indicated on the bottom of the front cover.
Release Date Version Applicable Product Revision Contents
Sep. 30th, 2023 1.2 E Series AC Servo Motor
1. Update the title of this manual.
2. Update section 3.3.1.1 E series AC servo motor.
3. Add section 3.3.1.2 E1 Series Servo Drive.
4. Add section 3.3.1.3 E2 Series Servo Drive.
5. Update section 3.3.1.4 Power cable.
6. Update section 3.3.1.5 Encoder cable.
7. Update section 3.3.1.6 Combination of E series
AC servo motor, servo drives and cable.
8. Update section 3.2 Main components of servo
motor.
9. Update section 3.3.2.1 EM1-C-M-05-2-□-□-
0−technical data.
10. Update section 3.3.2.4 EM1-C-M-40-2-□-□-0-
□−technical data.
11. Update section 3.3.2.8 EM1-D-M-2K-2-□-□-0-
□−technical data.
12. Update section 3.3.6 De-rating curve.
13. Add section 5.1.3.6 Safety brakes.
14. Update section 5.2.1.1 Motor power cable
connector.
15. Update section 5.2.1.2 17 bit / 23 bit Incremental
encoder cable connector.
16. Update section 5.2.1.3 17 bit / 23 bit Absolute
encoder cable connector.
17. Update section 7.1 Maintenance.
18. Delete section 7.2.1.1 Inspection procedure for
servo motor.
Release Date
MC03UE01-2309_V1.2
Version

E Series AC Servo Motor User Manual General information
HIWIN MIKROSYSTEM CORP. 1-3
MC03UE01-2309
Release Date Version Applicable Product Revision Contents
19. Update section 11.5.1 Accessory kit.
20. Update section 11.5.2 Power supply filter and
accessories.
21. Add section 11.5.3 Accessories for absolute
encoder.
22. Add section 11.5.4 Regenerative resistor.
May. 31st, 2023 1.1 E Series AC Servo Motor Rearrange the chapters.
Mar. 6th, 2020 1.0 E Series AC Servo Motor First edition.

General information E Series AC Servo Motor User Manual
1-4 HIWIN MIKROSYSTEM CORP.
MC03UE01-2309
1.2 About this manual
This manual explains the features of the product, possibilities for use, operating conditions and operation
limits of E series AC servo motor.
This manual is only intended for the use of trained specialists in automation and control engineering who
are familiar with the applicable national standards. It is the duty of the technical personnel to use the
manual published at the respective time of each installation and commissioning.
The responsible staff must ensure the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations guidelines and standards.
Be sure to refer to this manual and to keep this manual in a location where it can be accessed at any time.
Documents
For configuring, you require the catalog or manual as print version or online with the following website.
https://www.hiwinmikro.tw/en/product/ac-servo-motor/ac-servo-motor-e1-series

E Series AC Servo Motor User Manual General information
HIWIN MIKROSYSTEM CORP. 1-5
MC03UE01-2309
1.3 General precautions
Before using the product, please carefully read through this manual. HIWIN MIKROSYSTEM is not
responsible for any damage, accident or injury caused by failure in following the installation instructions
and operating instructions stated in this manual.
Before installing or using the product, check the package to see if it has been damaged or broken. If
there is any damage, please contact the sales representatives of HIWIN MIKROSYSTEM or agents
or dealers.
Check if the cables have been damaged and if they can be used for connection.
Read the performance specifications indicated on the label or in the enclosed document before
installation. Install the product based on the limit of the performance with installation guide and only
use genuine spare parts from HIWIN MIKROSYSTEM.
Please comply with the instructions and regulations when using the product.
AC servo motor must be operated within the specified performance limits (see technical information
and the approval drawing).
AC servo motor must only be used for the intended purpose as described. Any other use of the AC
servo motor shall be considered as improper usage. HIWIN MIKROSYSTEM is not responsible for
any product damage or personal injury caused by this.
For safe operation of the AC servo motor, appropriate safety precautions must be taken to protect
the motor against overload.
Servo motors must not be used outdoors or in potentially explosive environments.
Do not disassemble or modify the product by yourselves. The product has been designed with
structural calculations, computer simulations, and physical testing. Do not disassemble or modify the
product without the permission of professionals.
Children are not allowed to operate this product.
People who have physical or mental disease or who do not have experience with the use of related
products should not be allowed to use this product unless they are accompanied by supervisors or
personnel familiar with the product to ensure their safety.
Damaged products must not be installed or operated.

General information E Series AC Servo Motor User Manual
1-6 HIWIN MIKROSYSTEM CORP.
MC03UE01-2309
If the information of registration does not match with your purchasing or if there are any questions
related to the product, please contact the sales representatives of HIWIN MIKROSYSTEM or agents
or dealers.
HIWIN MIKROSYSTEM offers 1-year warranty for the product. The warranty does not cover damage
caused by improper usage (refer to the precautions and instructions stated in this manual) or natural
disaster.
Protective requirement
Table 1.3.1
Operating Phase Personal Protective Equipment
Normal Operation
In the vicinity of AC servo motor, the following personal protective
equipment is required:
Safety shoes
Protective helmet
Protective gloves
Cleaning
When cleaning AC servo motor, the following personal protective
equipment is required:
Safety shoes
Protective helmet
Protective gloves
Protective goggles
Maintenance
When carrying out maintenance and repairs, the following personal
protective equipment is required:
Safety shoes
Protective helmet
Protective gloves

E Series AC Servo Motor User Manual General information
HIWIN MIKROSYSTEM CORP. 1-7
MC03UE01-2309
Installation precautions
WARNING
Risk of personal injury or damage to property.
Follow the technical instruction and install the AC servo motor at a location with bearable load.
When installing, do not impact or strike the motor.
When installing, prevent foreign objects from entering the product.
The spacing for installing the AC servo motor, servo drive, controller and other machines should follow
specifications.
When installing, please set up an external emergency stop loop that can immediately stop the product
and cut off power.
Wiring precautions
WARNING
Risk of personal injury or damage to property.
Ensure wiring is correctly performed. Otherwise, it may lead to product malfunction or burn-out. There
could be a risk of injury or fire.
Before using the product, carefully read through the specification noted on product label, and ensure the
product is used with power supply specified in product requirement.
Check if the wiring is correct. Incorrect wiring may make the AC servo motor operate abnormally, or even
cause permanent damage to the motor.
Select extension cable with shield. The shield must be grounded.
CAUTION
Risk of personal injury.
Ensure the AC servo motor is correctly grounded.
The resistance of grounding terminal connection shall be less than 10Ω when the input
voltage of the drive is 400V; less than 50Ω when it is 220V; less than 100Ω when it is
110V.

General information E Series AC Servo Motor User Manual
1-8 HIWIN MIKROSYSTEM CORP.
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Operation precautions
WARNING
Risk of personal injury or damage to property.
Please follow the requirements of installation direction.
Avoid excessive friction when the motor is running.
Ensure there is no object in the motion range of the system.
Before starting the AC servo motor, ensure the main switch is on.
Before transmitting electricity, ensure there is at least one ground wire connecting to all electrical products.
Do not directly touch the motor parts after the AC servo motor is assembled.
Do not operate the product in an environment that exceeds its rated load.
If any abnormal odor, noise, smoke, temperature rise or vibration is detected, stop the AC servo motor
and cut off the power immediately.
Storage precautions
CAUTION
Risk of damage to property.
Follow the precautions of AC servo motor storage conditions.
Do not store the product in an inflammable environment or with chemical agents.
Do not store the product in a place with humidity, dust, harmful gases or liquids.
Clean and protect used AC servo motor before storage.
When storing AC servo motor, attach signs warning of magnetic fields.
Storage conditions must comply with EN 60721-3-1(Refer to the table below for Storage conditions)
Motor can be stored for up to two years indoor with the following conditions:
(1) Dry
(2) Dust-free
(3) No vibration
(4) Good ventilation
(5) Resistance to extreme weather
(6) Indoor air does not contain corrosive gases
(7) Prevent motor vibration and moisture
If no dry storage environment is available, the following measures need to be taken:
(1) Wrap the motor with moisture-absorbing material, and then seal the motor.
(2) Put desiccant in the sealed package; the desiccant needs to be checked and replaced if necessary.
Check the AC servo motor regularly.

E Series AC Servo Motor User Manual General information
HIWIN MIKROSYSTEM CORP. 1-9
MC03UE01-2309
Storage Conditions are listed as below:
Environmental Parameter
Description
Air temperature
-15°C ~70°C
Relative humidity
20%~80%
Rate of change of temperature
0.5°C /min
Air pressure
70 kPa ~106 kPa
Condensation Not allowed
Formation of ice
Not allowed
Store the motor in an environment with good protection. (indoor/factory)
Transportation precautions
CAUTION
Risk of personal injury or damage to property.
Follow the precautions of AC servo motor transport conditions.
Carefully move the product to avoid damage.
Do not apply excessive force to the product.
Do not stack the product to avoid collapse.
Transport conditions must comply with EN 60721-3-1 (Refer to the table below for transportation
conditions).
Transportation Conditions
Environmental parameter
Description
Air temperature
-15°C~70°C
Relative humidity
20%~80%
Rate of change of temperature
0.5°C /min
Condensation
Not allowed
Formation of ice
Not allowed
Transport the motor in an environment with good protection. (indoor/factory)

General information E Series AC Servo Motor User Manual
1-10 HIWIN MIKROSYSTEM CORP.
MC03UE01-2309
Maintenance precautions
WARNING
Risk of personal injury or damage to property.
Do not disassemble or modify the product.
I
f the product malfunctions, do not repair the product by yourselves, please contact HIWIN
MIKROSYSTEM for repairs.
Disposal precautions
WARNING
Risk of personal injury or damage to property.
If it is not correctly performed, it may cause personal injury or damage to material.
If AC servo motor or related components (especially the rotor with strong magnets) are not handled
correctly, it may cause personal injury, death or property damage.
Please ensure that the AC servo motor and related components are disposed correctly.

E Series AC Servo Motor User Manual General information
HIWIN MIKROSYSTEM CORP. 1-11
MC03UE01-2309
1.4 Safety instruction
Carefully read through this manual before installation, transportation, maintenance and examination.
Ensure the product is correctly used.
Carefully read through electromagnetic (EM) information, safety information and related precautions
before using the product.
Safety precautions in this manual are classified into “DANGER”, “WARNING” and “CAUTION”.
DANGER
Imminent danger!
Indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
Potentially dangerous situation!
Indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
Moderate danger!
Indicates that minor personal injury can result if proper precautions are not taken.
Warning Signs
No access for people with active
implanted cardiac devices.
Substance hazardous to the
environment!
Warning! Warning of crushing of hands!
Warning of electricity! Warning of hot surface!
Warning of magnetic field!

General information E Series AC Servo Motor User Manual
1-12 HIWIN MIKROSYSTEM CORP.
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Mandatory Signs
Wear head protection! Refer to user manual!
Wear protective gloves!
Disconnect before carrying out
maintenance or repair.
Wear safety footwear! Lifting point.
Connect an earth terminal to the
ground!
DANGER
Danger from operation!
Do not repair the product by yourselves if something abnormal occurs. The product can
only be repaired by HIWIN MIKROSYSTEM qualified technicians or sent back to HIWIN
MIKROSYSTEM for repairs.
Do not apply the load exceeding the specification standards to the product.
Do not change product parts or remove product screws without authorization, or the product
will be damaged. HIWIN MIKROSYSTEM is not responsible for any damage, accident or
injury caused by this.
Do not touch the product’s keyway with hands.
Do not touch the rotating parts of the product when it is operating.
DANGER
Danger from hot surface!
Do not place flammable materials around the AC servo motor, servo drive or regenerative
resistor.
Do not use the product in an environment with corrosive, flammable gases or flammable
materials.
Do not touch the surface of the AC servo motor, servo drive or regenerative resistor which
will be hot while operating.

E Series AC Servo Motor User Manual General information
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DANGER
Danger from electrocution!
To prevent risk of electric shock, do not use damaged cables with excessive pressure or
press and clamp the wire overly.
Do not remove the cover, cables, or connector from AC servo motor while the power is ON.
Do not touch wires or operate the equipment with wet hands.
Do not use when wires are in contact with oil or water.
DANGER
Danger from strong magnetic fields!
Strong magnetic fields around AC servo motor pose a health risk to persons with implants
(e.g., cardiac pacemakers) that are affected by magnetic fields.
People with implants are affected by magnetic fields should maintain a safe distance of at
least 1 m from the AC servo motor.
WARNING
Risk of personal Injury or damage to property.
Read this manual and follow it carefully before using the product.
If the product is used with excessive load, it may rise the temperature of the motor housing.
There may be electromagnetic compatibility (EMC) problems in other environments.
Do not use the product in an environment where it may be shocked. Do not directly strike
the shaft or encoder, as hitting or pounding. HIWIN MIKROSYSTEM is not responsible for
any damage, accident or injury caused by this.
Do not pick up or place the motor only by pulling its cable or shaft.
Since AC servo motor contains a precision encoder, please take sufficient measures to
prevent electromagnetic interference or abnormal temperature change while using.
The absolute encoder has an attached magnetic sensor. Do not op
erate magnetic
equipment on the top of the encoder cover or around the encoder.

General information E Series AC Servo Motor User Manual
1-14 HIWIN MIKROSYSTEM CORP.
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CAUTION
Risk of personal injury or damage to property.
Please follow the requirements of installation direction.
Follow the technical instruction and install the AC servo motor at a location with bearable
load.
When installing, do not impact or strike the motor.
When installing, prevent foreign objects from entering the product.
The spacing for installing the AC servo motor, servo drive, controller and other machines
should follow specifications.
When installing, please set up an external emergency stop loop that can immediately stop
the product and cut off power.
CAUTION
Risk of physical damage to watches and magnetic storage media.
Strong magnetic force may destroy watches and magnetizable data storage media near
the AC servo motor!
Do not bring watches or magnetizable data storage media in the vicinity (<300 mm) of
the AC servo motor!