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