Maxsine EP100 User manual

Maxsine
EP100 AC SERVO
QuickGuide
Maxsine Electric Co.,Ltd

1.1 Standard wiring
Position control
3 Phase
AC220V
NFB MC
R
S
T
r
t
DC
12~24V
Servo ON(Enabled)
Alarm Clear
CCW Drive Inhibition
Deviation Counter Clear
Command Pulse Inhibition
CCW Torque Limit
Servo Ready
Servo Alarm
Positioning Completed
Position Command
PULSE
FG 36
CN1
CN2
EP100(B) SERVO DRIVER SERVOMOTOR
PE
4.7k
A
B
Z
26LS31
Driver
A
A
B
B
Z
Z
Output Signals
of Encoder
26LS32
Receiver
Ground of
Metal Case
Mechanical Brake Release
SRDY+ 8
SRDY- 25
ALM+ 26
ALM- 27
COIN+ 28
COIN- 29
BRK+ 30
BRK- 31
COM+ 18
SON 10
ALRS 11
FSTP 12
RSTP 13
CLE 14
INH 15
FIL 16
RIL 17
Maxsine
U
V
W
PE
4 Pins Connector
For Motor Power
1OA+
2OA-
3OB+
4OB-
5OZ+
6OZ-
PULS+ 32
PULS- 33 220
SIGN+ 34
SIGN- 35 220
14 5V
15 5V
16 5V
17 5V
18 0V
19 0V
20 0V
21 0V
1A+
2A-
3B+
4B-
5Z+
6Z-
7U+
8U-
9V+
10 V-
11 W+
12 W-
22 0V
23 0V
26 FG
CN1
CN1
CN1
2
3
4
1
3
4
7
5
8
6
9
10
13
11
14
12
15
1
2
7CZ
9GND
Z Signal of Encoder
(OC Output)
Ground of
Encoder Signal
Z
GND
15 Pins Connector
For Optical Encoder
CW Drive Inhibition
CW Torque Limit
Position Command
SIGN
Picture 1.1 Standard wiring for position control
2

1.2 Terminal disposition for interface
Figure 3.1 is the disposition chart of terminal connector CN1 for the servo driver. CN1 is
the connector with 36 cores. Figure 3.2 is the disposition chart of terminal connector CN2 for
the servo driver. CN2 is the connector with 26 cores.
79
810
11
12
13
14
15
16
17
18 6
1921
2426
23
28
25
30
27
32
29
34
31
5
22
3
20
1
42
3335
36
Figure 2.1 the soldering lug of the CN1 plug（face to lug）
13
24
5
6
7
8
9
10
11
12
13
1416
1517
18
19
20
21
22
23
24
25
26
Figure 2.2 the soldering lug of the CN2 plug（face to lug）
1.3 Input/output interface type
1.3.1 Switch value input interfaces
zThe range of external DC power supply is 12~24V, and the minimum input current is
100mA .
zInverting the polarity of DC power source, which is provided by the user, can cause the servo
driver damage.

1.3.2 Switch value output interfaces
Servo amplifier
VCC
max 25V
Ground
Relay
Max Output 50mA
8
26
28
30
25
27
28
29
Servo amplifier
VCC
max 25V
Ground
Max Output 50mA
8
26
28
30
25
27
28
29
Relay connection
Photo-coupler connection
zThe outputs use Darlington photo-coupler. It can be connected with relay, photo-coupler.
zInverting the polarity of DC power source, which is provided by the user, can cause the servo
driver damage.
zOpen-collector circuit is used to transfer the outputs signal. the maximum current is 50mA,
the maximum voltage of external DC power supply is 25V. loads of the output signal should
be limited in that range, if not or directly connect to the power, can cause the servo driver
damage.
zWhen using relay like inductive loads, a free-wheel diode must be connected with the inductive
load in parallel. If the diode connects in wrong direction can cause damage to the output circuit.
zOwing to the low level of output is approximately 1V and cannot satisfy the TTL low-level
request, therefore cannot directly connect with the TTL circuit.
4

1.3.3 Pulse interfaces
zThe differential input connection is recommended for a correct transfer.
zThe RS422 driver(e.g AM26LS31、MC3487) is used to make the differential connection.
zThe action frequency will be fall down under a single connection. Base on the input circuit,
the driver current is in the range of 10~15mA , the maximum voltage of external DC power
supply is 25V, the R value will be got, Experience data:VCC=24V, R=1.3~2k; VCC=12V,
R=510~820Ω; VCC=5V, R=82~120Ω.
zUnder the single connection, inverting the polarity of DC power source, which is provided by the
user, can cause the servo driver damage.
zThe input mode、timing and parameters of the pulse are shown below, the arrow indicates the
counting edge. When use the mode of A、B phase, the maximum of the four times the frequency
is 500kHz.
Input pulse mode
5

Parameter demandPulse waveform of position command
Differential Single end
6
The maximum frequency is 500kHz
>2μs t>5μs
tck ck
t t
The maximum frequency is 500kHz
The maximum frequency is 125kHz
h>1μs h>>2.5μs
tl>1μs tl>>2.5μs
t<0.2μs t<0.3μsrh rh
t<0.2μs t<0.3μsrl rl
t>1μs t>2.5μss s
t>8μs t>10μsqck qck
tqh>4μs tqh>5μs
t
tql>4μs ql>5μs
t<0.2μs t<0.3μsqrh qrh
t<0.2μs t<0.3μsqrl qrl
t>1μs t>2.5μsqs qs
Input pulse timing and parameters

1.3.4 Encoder signals output interfaces
zThe encoder signals is transferred through the differential driver (e.g AM26LS31).
zOn the host controller uses AM26LS32(or equivalent) to make the receiver, must connect the
terminal resistance, the value is about 330Ω;
zEncoder signal (GND) of servo driver must connect with the ground terminal on host
controller.
zNo isolation output.
zThe high-speed photo coupler (e.g. 6N137) can also be used on the host controller to make the
receiver.
7

1.3.5 Open-collector output of encoder Z signal
zThe Z signal of encoder is transferred through the open-collector circuit, it output ON(Turn on)
when the Z signal appears or OFF(Turn off) when there is no Z signal appears.
zNo isolation output.
zBecause the width of the Z pulse is narrow, please use a high-speed photo-coupler to receive it
on the host controller.
1.3.6 Photoelectric encoder input interfaces of servomotor
1.4 Parameter table
The default value in the next table take 110ST-M02030 (matches the EP100-2A drivers the
example. the parameter “*” symbol is possibly dissimilar in other models.
Table 4.1 User parameter table
Ordinal Name Usage Range Default Unit
0 Password 0~9999 315
P，S，T
1 Identity code of servo driver 0~51 30*
P，S，T
2 Software version (read only) * *
P，S，T
3 Status of initial display 0~21 0
P，S，T
4 Control mode selection 0~6 0
P，S，T
8
5 Proportional gain of speed loop 5~2000 150* Hz
P，S
6 Integral time constant of speed loop 1~1000 20* ms
P，S
7 Filter of torque 20~500 100 %
P，S，T
8 Filter for speed detection 20~500 100 %
P，S

9
Ordinal Name Usage Range Default Unit
9 Proportional gain of position loop P 1~1000 40 1/s
10 Feed forward gain of position loop P 0~100 0 %
11 Cut-off frequency of feed forward
filter for position loop
P 1~1200 300 Hz
12 Numerator of frequency divider for
position command pulse
P 1~32767 1
13 Denominator of frequency divider
for position command pulse
P 1~32767 1
14 Input mode of position command
pulse
P 0~2 0
15 Reversing direction of position
command pulse
P 0~1 0
16 Positioning completed range P 0~30000 20 pulse
17 Position deviation limit for error
detection
P 0~30000 400
×100
pulse
18 Neglect excessive position deviation P 0~1 0
19 Smooth filter for position command P 0~30000 0 0.1ms
20 Neglect drive inhibition inputs P，S，T0~1 0
21 JOG running speed S -3000~3000 120 r/min
22 Internal/external speed command
selection
S 0~2 1
23 Maximum speed limit P，S，T0~4000 3600 r/min
24 Internal speed 1 S -3000~3000 0 r/min
25 Internal speed 2 S -3000~3000 100 r/min
26 Internal speed 3 S -3000~3000 300 r/min
27 Internal speed 4 S -3000~3000 -100 r/min
28 Arrival speed S 0~3000 500 r/min
29 Input gain of analog torque
command
T 10~100 30 0.1V/100
%
30 Alarm level of torque overload P，S，T1~300 300 %
31 Detection time for torque overload
alarm
P，S，T0~32767 0 ms
32 Permission of control mode
exchange
P，S，T0~1 0
33 Inversing direction of analog torque
command
T 0~1 0

10
Ordinal Name Usage Range Default Unit
34 Internal torque limit in CCW
direction
P，S，T0~300 300* %
35 Internal torque limit in CW direction P，S，T-300~0 -300* %
36 External torque limit in CCW
direction
P，S，T0~300 100 %
37 External torque limit in CW
direction
P，S，T-300~0 -100 %
38 Trial running in speed mode; Torque
limit in JOG operation
S 0~300 100 %
39 Zero offset compensation of analog
torque command
T -2000~2000 0
40 Acceleration time constant S 1~10000 0 ms
41 Deceleration time constant S 1~10000 0 ms
42 S-curve acceleration/deceleration
time constant
S 1~1000 0 ms
43 Gain of analog speed command S 10~3000 300 (r/min) /
V
44 Reversing direction of analog speed
command
S 0~1 0
45 Zero offset compensation of analog
speed command
S -5000~5000 0
46 Time constant of filter for analog
speed command
S 0~1000 300 Hz
47 Action setting for electromagnetic
brake when servomotor is in
standstill
P，S，T0~200 0 ×10ms
48 Action setting for electromagnetic
brake when servomotor is in motion
P，S，T0~200 50 ×10ms
49 Action speed for electromagnetic
brake when servomotor is in motion
P，S，T0~3000 100 r/min
50 Speed limit in torque control T 0~5000 3600* r/min
51 Electronic gear is available in
dynamic
P 0~1 0
52 Second numerator of frequency
divider for position command pulse
P 1~32767 1
53 Bottom four bits control word for
forcing the input terminal to be ON
P，S，T0000~1111 0000 Binary

11
Ordinal Name Usage Range Default Unit
54 Top four bits control word for
forcing the input terminal to be ON
P，S，T0000~1111 0000 Binary
55 Bottom four bits control word for
inversing the terminal input signal
P，S，T0000~1111 0000 Binary
56 Top four bits control word for
inversing the terminal input signal
P，S，T0000~1111 0000 Binary
57 Control word for inversing the
terminal output signal
P，S，T0000~1111 0000 Binary
58 Time constant of input terminal for
removing the effect of vibrating
contact
P，S，T1~1000 16 0.1ms
59 Demonstration operation P，S 0~1 0

1.5 Alarm table
Table 5.1 Alarm table
Alarm code Alarm name Alarm content
-- Normal
1 Over speed Servomotor speed exceeds the speed limit.
2 Over voltage of the
main power supply
The voltage of the main power supply exceeds the
specified value.
3 Under voltage of the
main power supply
The voltage of the main power supply exceeds the
specified value.
4 Position deviation
exceeds the limit value
The counter of position deviation exceeds the
setting limit value.
5 Servomotor over heat The temperature of servomotor is too high
6 Saturation fault of the
speed amplifier
The speed regulator is in saturation status for a long
time
7 Drive inhibition is
abnormal
CCWL、CWL the inputs of drive inhibition are
OFF.
8 Overflow of position
deviation counter
The absolute value of position deviation counter
exceeds 230
9 Encoder signal fault Lack of the signals of encoder
10 Under voltage of
control power supply
The voltage of control power supply is too low.
11 IPM model fault IPM intelligent model fault
12 Over current Over-current of servomotor
13 Overload Overload of servomotor and servo driver
(instantaneous over heat)
14 Brake fault Fault occurs in brake circuit
15 Encoder counter error Encoder counter is abnormal.
16 Over-heat of
servomotor
The heat load of servomotor exceeds the setting
value (I2t detection)
17 Speed response fault Speed deviation is too big for a long time
19 Over heat reset System was reset by over heat fault
20 EEPROM error EEPROM is in error
21 U4 error U4 is in error
22 Reserved
23 U6 chip error U6 chip or current sensor is in error
29 Over torque alarm The torque of servomotor exceeds the setting value
and sustained time

30 Lost Z signal of encoder Z signal of encoder is loss.
31 UVW signals error of
encoder
The UVW Signals error or pole number does not
match with the servomotor
32 Illegal code of encoder
UVW signals
UVW signals are all high level or low level

1.6 Display and button operation
The front panel consists of the display (6-digit, 7-segment LED) and four switching buttons
( ↑、↓、←、Enter ). It is used for display the system status, parameter setting and so on. Operation
is executed in layer. ← and Enter button expresses the layer going backward and forward
respectively; The Enter button has the meaning of enter, confirm. The ←button has the
meaning of exit, cancel. The ↑ and ↓ button expresses increase and decrease of serial
number or value size respectively; if press down and hold the ↑ or ↓ button，then has the
effect of repeat for doing so; And the longer of holding the higher of repeat rate.
If 6 LED digit or decimal point of the most right side LED digit is twinkling, shows that
any alarm occurs. If the POWER lamp lit indicates that the main power supply is on. If the RUN
lamp has lit, indicates that the servomotor is in motion.
Enter
Power
Run
EP100 Series
AC Servo Amplifier
Maxsine
Picture 6.0 Front panel

1.7 First layer
Use the first layer to select the operation mode, There are seven operation mode can be
selected by using ↑or ↓button，Then press down the Enter button for entering the second
layer that has selected. After that if press down the ←button, then return to the first layer
again.
Picture 7.0 Diagram of operation mode selection

1.8 Second layer
1.8.1 Monitor mode
If has chosen the monitor mode “dP-@@@” in the first layer, Press the Enter button to enter
the monitor mode. There is twenty one monitor’s status. Use ↑and or ↓button to select the
needing monitor's status; Press the Enter button again to enter the concrete display condition.
Motor speed(r/min)
Bottom 5 digits of current position (pulse)
Linear velocity(m/min)
Current control mode
Motor current(A)
Motor torque(%)
Speed command(r/min)
Torque command(%)
Absolute position of rotor in one turn(Pulse)
Alarm code
Operation status
Input signals of encoder
Status of input terminal
Factory reserve
Motor speed 1000r/min
Current position 1245806
pulses
Position command 1245810
pulses
Position deviation 4 pulses
Motor torque 70%
Motor current 2.3A
Linear velocity 5.000m/min
Control mode 0
Speed command -35r/min
Output terminal
Input terminal
Torque command -20%
Number 9 alarm
Pulse frequency of position command(kHz)
dp-spd
dp-pos
dp-pos.
dp-[po
dp-[po.
dp-epo
dp-epo.
dp-trq
dp- i
dp-lsp
dp-[nt
dp-frq
dp- [s
dp- [t
dp-apo
dp-[od
dp- in
dp-out
dp- rn
dp-err
dp-res
r1000
p45806
p. 12
[45810
[. 12
e4
e. 0
t70
i2.3
l5.000
[nt 0
f12.6
r. -35
t. -20
a3265
In!!!!
out !!
[od!!!
rn- on
err 9
u0
Enter
Top 5 digits of current position
(x100000 pulse)
Bottom 5 digits of current command (Pulse)
Top 5 digits of current command
(x100000Pulse)
Bottom 5 digits of current deviation (Pulse)
Top 5 digits of current deviation
(x100000Pulse)
Status of output terminal
Pulse frequency of position
command 12.6kHz
Absolute position of rotor 3265
Input signals of encoder
Operation status: in running
Factory reserve
Picture 8.0 Diagram of monitor mode operation

1.8.2 Parameter setting
If has chosen the parameter setting mode “PA-@@@” in the first layer, Press the Enter
button to enter the parameter setting mode. Use ↑and or ↓button to select the number of
parameter. Press the Enter button to display the value of selected parameter. Use ↑ and ↓
button to be able to modify the parameter value. Press ↑(or ↓) button once to increase ( or
decrease) the parameter value by one. Pressing down and hold the ↑( or ↓) button, the
parameter can increase ( or decrease) continuously. When the parameter value is modified, the
decimal point on the most right sides LED is lit. Press Enter to confirm the parameter value to
be effective, meanwhile the decimal point is turned off. The modified parameter value is
immediately active to influence on the control. Hereafter pressing ↑or ↓button can
continue to modify the parameter. After finishing modification of parameter, press the ←
button to return to the parameter number selection. If the value of the parameter is not satisfied,
do not press the Enter button and can press ←button to cancel and to resume the original
parameter value and to return to the parameter number selection.
Picture 8.1 Diagram of parameter setting operation

1.8.3 Parameter management
Choose the parameter management mode “EE-@@@” in the first layer. Press the Enter
button for entering the parameter management mode in which operation is performed between
the parameter list and the EEPROM.
There are five operation modes. First use ↑and or ↓button to select an operation
mode. Take “parameter write in” as the example, select “EE-Set” and then pressing down
and hold the Enter button at least three seconds to active the writing operation mode. The
“StArt@” is displayed in the front panel indicating that the parameter is writing into
EEPROM. Waiting for about 1 to two second, if the writing operation is successful, then the
“FInISH” will display, if it is fail the “Error@” will display. After finished the operation
and then press the ←button for returning to the operation mode selection.
EE-SEt Parameter write
This operation indicates that the parameter in parameter list will write to EEPROM.
The user has made change to a parameter. This only change the value of the parameter in
parameter list, but in the next time when the power supply is on the parameter will restore its
original value. Making permanent change to a parameter value, it is the need to carry out the
parameter write operation and write the parameter to EEPROM, in later when the power
supply is on and will be able to use the parameter.
EE-dEF Resume default value
This operation indicates that each default value of all the parameters will read and
write to the parameter list and EEPROM. For the next time when power supply is on the
default parameters will be used by now. When many parameters become confusion and
cause abnormal operation, it is necessary to carry out this operation for resuming the
default parameters. There are different default parameters for different servo driver model
and the servomotor model. Therefore, before doing this operation the servo driver code
(Parameter P001) and the servomotor code (Parameter P002) must be selected correctly.
ee-set
ee- rd
ee- ba
ee- rs
ee-def
Parameters
wirte in
Parameters
read out
start
finisk
error
Parameters
backup
Resume
backup
Resume
default value
Press down and
hold for 3 second
Operation success
Operation fail
Picture 8.2 Diagram of parameter management operation

1.9 Operation of position control mode with simple wiring
Wiring
According to the picture 7.8 make the wiring carefully.
zThe main circuit terminal R、S and T connect with three phase AC 220V power supply.
zThe terminal ‘r’ and‘t’ of control power supply connect with single phase AC 220V power
supply.
zThe 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.
zUsing the encoder connector CN2 connect the servo driver with the servomotor.
zUsing the control signal connector CN1 connect other wiring according to the drawing.
3 Phase
AC220V
NFB MC
R
S
T
r
t
DC
12~24V
Servo ON(Enabled)
Servo Ready
Position Command
PULSE
FG 36
CN1
CN2
EP100(B) SERVO DRIVER SERVOMOTOR
PE
4.7k
26LS32
Receiver
Ground of
Metal Case
SRDY+ 8
SRDY- 25
COM+ 18
SON 10
Maxsine
U
V
W
PE
4 Pins Connector
For Motor Power
PULS+ 32
PULS- 33 220
SIGN+ 34
SIGN- 35 220
14 5V
15 5V
16 5V
17 5V
18 0V
19 0V
20 0V
21 0V
1A+
2A-
3B+
4B-
5Z+
6Z-
7U+
8U-
9V+
10 V-
11 W+
12 W-
22 0V
23 0V
26 FG
2
3
4
1
3
4
7
5
8
6
9
10
13
11
14
12
15
1
2
7
CZ
9GND
Z Signal of Encoder
(OC Output)
Ground of
Encoder Signal
Z
GND
15 Pins Connector
For Optical Encoder
Position Command
SIGN
Optical Encoder
Motor
Picture 9.0 Simple wiring diagram of position control mode

Operation
zTurn on the control power supply and then the main power supply. The display of the
front panel is lit. The POWER indicating LED is lit.
zSet parameters according to the table below：
Number of
parameter
explanation Setting value Default value
PA4 Control mode
selection
0 0
PA12 Numerator of
electronic gear
By user
setting
1
PA13 Denominator of
electronic gear
By user
setting
1
PA19 Smooth filter for
position command
0 0
PA20 Neglect drive
inhibition inputs
1 0
zConfirming that there is neither any alarm nor any unusual situation, the servo enable
(SON) signal is given, then the RUN indicating LED lit and the servomotor is active at
zero speed state by now.Send low frequency command pulse from the host controller to
the servo driver and make the servomotor running under low speed.