Maxsine EP3 AC Series User manual

Wuhan Maxsine Electric Co., Ltd

Wuhan Maxsine Electric Co., Ltd all rights reserved.
Without this company's written permission, forbid strictly the reprint either
the part or the complete content of this handbook.
DECLARATION
Because improves and so on the reasons, the product specification or
dimension has the change, not separate informs even slightly.

I
Safety Precautions
In order to use this product safely, the user should be familiar with and observes the
following important items before proceeding with storage, installation, wiring, operation,
inspection or maintenance for the product.
Indicates a disoperation possibly can cause danger and physical injure or
death.
Indicates a disoperation possibly can cause danger and physical injure, and
may result in damage to the product.
Indicates a prohibited actions, otherwise can cause damage, malfunction to the
product.
1. Service conditions
Do not expose the product in moisture, caustic gas, and ignitable gas situation. Otherwise
can cause an electric shock or fire.
Do not use the product in direct-sunlight, dust, salinity and metal powder places.
Do not use the product in the places that has water, oil and drugs drops.
2. Wiring
Connect the earth terminal (PE) to earth reliably, otherwise can cause an electric shock or
fire.
Never connect the input power terminals (L1, L2, L3) to 380V power supply, otherwise
can result in the equipment damage and an electric shock or fire.
Do not connect the servo motor output terminals (U, V, W) to 3 phase AC power supply,
otherwise can cause personnel casualty or fire.
The output terminals (U, V, W) must be connected with the servo motor connections (U,
V, W) correspondently, otherwise can result in the servomotor flying speed that may cause
equipment damage and the personnel casualty
Please fasten the input power terminals (L1, L2, and L3) and the output terminals (U, V,
W). Otherwise may cause fire.
Referring to wire selection guide, please install all wires with an adequate cross-section.
Otherwise may cause fire.

II
3. Operations
Before operating the mechanical device, it is necessary to set the parameters with
appropriate values. Otherwise, can cause the mechanical device to out of control or break
down.
Before running the mechanical device, make sure the emergency stop switch can work at
any time.
Performing trial run without load, make sure that the servomotor is in normal operation.
Afterwards joins again the load.
Please do not turn on and off the main power supply more frequently, otherwise can cause
the servo driver overheat.
4. Running
Do not touch any moving parts of the mechanical device while the servomotor is running,
otherwise can cause personnel casualty.
Do not touch servo driver and servomotor while the equipment is operating, otherwise can
result in an electric shock or in burn.
Do not move any connection cables while the equipment is operating, otherwise can result
in physical injure or equipment damage.
5. Maintenance and inspection
Do not touch any portion inside of the servo driver and servomotor, otherwise can cause
an electric shock.
Do not remove the front cover of the servo driver while power is on, otherwise can cause
an electric shock.
Please wait at least 5 minutes after power has been removed before touching any terminal,
otherwise the remaining high voltage possibly can cause an electric shock
Do not change the wiring while the power is on, otherwise can cause an electric shock.
Do not disassemble the servomotor, otherwise can cause an electric shock.

III
6. Service ranges
This handbook involves the product for the general industry use, please do not use in some
equipment which may directly harm the personal safety, such as nuclear energy, spaceflight,
aeronautic equipment, and life safeguard, life-support equipment and each kind of safety
equipment. Please make contact with the company if have the need of use mentioned above.

IV
CONTENTS
Safety Precautions......................................................................................................................... I
Chapter 1 Product inspection and installment.......................................................................... 1
1.1 Product inspection.............................................................................................................. 1
1.2 Product nameplate.............................................................................................................. 2
1.3 Product front panel............................................................................................................. 3
1.4 Servo driver installation..................................................................................................... 5
1.4.1 The environmental conditions for installation ........................................................ 5
1.4.2 The method of installation ...................................................................................... 5
1.5 Servo motor installation..................................................................................................... 7
1.5.1 The environmental conditions for installation ........................................................ 7
1.5.2 The method of installation ...................................................................................... 7
1.6 The definition of rotating direction for servomotor ........................................................... 8
Chapter 2 Wiring ........................................................................................................................... 9
2.1 System construction and wiring......................................................................................... 9
2.1.1 Servo driver wiring diagram ................................................................................... 9
2.1.2 Wiring explanations ...............................................................................................11
2.1.3 Electric wire specifications ....................................................................................11
2.1.4 Main circuit terminal explanation......................................................................... 12
2.1.5 Servo motor and AC power supply wiring diagrams............................................ 13
2.2 X1 terminals for control signals....................................................................................... 16
2.2.1 X1 terminal connector........................................................................................... 17
2.2.2 X1 terminal signal explanation ............................................................................. 18
2.2.3 X1 terminal interface type .................................................................................... 19
2.3 X2 encoder signal terminals............................................................................................. 22
2.3.1 X2 terminal connector........................................................................................... 22
2.3.2 X2 terminal signal explanation ............................................................................. 24
2.4 X3 terminal connector ..................................................................................................... 28
2.5 Standard wiring diagram.................................................................................................. 29
2.5.1 Wiring diagram for position control...................................................................... 29
2.5.2 Wiring diagram for speed or torque control.......................................................... 30
2.6 The connection of brake resistor...................................................................................... 31
2.7 The connection of reactor ................................................................................................ 32
Chapter 3 Front panel operation............................................................................................... 33
3.1 Explanation of the front panel of servo driver ................................................................. 33
3.1.1 Front panel compositions...................................................................................... 33
3.1.2 Front panel explanations ....................................................................................... 33

V
3.1.3 Data display ...........................................................................................................34
3.2 Main menu........................................................................................................................35
3.3 Status monitor...................................................................................................................36
3.4 Parameters setting.............................................................................................................41
3.5 Parame ter management....................................................................................................42
3.6 Auxiliary functions ...........................................................................................................43
3.6.1 Special functions....................................................................................................43
3.6.2 Zeroing for analog quantity ...................................................................................44
3.7 Resume the parameter default values ...............................................................................45
Chapter 4 Running.......................................................................................................................48
4.1 Trial running with no load ................................................................................................48
4.1.1 Wiring and inspection ............................................................................................48
4.1.2 Trial running in JOG mode ....................................................................................49
4.1.3 Trial running in speed adjustment mode with keyboard........................................50
4.2 Position control mode .......................................................................................................51
4.2.1 Simple example for position control mode............................................................51
4.2.2 Position commands................................................................................................52
4.2.3 Electronic gear for input commands ......................................................................56
4.2.4 Gains related to position control mode ..................................................................62
4.3 Speed control mode ..........................................................................................................63
4.3.1 Simple example for speed control mode................................................................63
4.3.2 Parameters related to speed commands .................................................................65
4.3.3 Sources of the speed commands ............................................................................65
4.3.4 Acceleration and deceleration................................................................................67
4.3.5 Clamp on zero speed..............................................................................................68
4.3.6 Gains related to speed control mode......................................................................69
4.4 Torque control mode.........................................................................................................70
4.4.1 Simple example for torque control mode...............................................................70
4.4.2 Parameters related to torque commands ................................................................71
4.4.3 Sources of the torque commands ...........................................................................72
4.4.4 Speed limitation in torque control mode................................................................73
4.5 Motion mode.....................................................................................................................75
4.5.1 The unit of motion mode .......................................................................................75
4.5.2 Simple example for motion mode..........................................................................75
4.5.3 The sequence diagram of motion mode .................................................................76
4.5.4 Parameter setting of motion mode .........................................................................77
4.5.5 Motion path explanation ........................................................................................79
4.6 Gain adjustment................................................................................................................81
4.6.1 Gain parameters .....................................................................................................81
4.6.2 Procedure for gain adjustment ...............................................................................83

VI
4.7 Resonance suppressions................................................................................................... 85
4.7.1 Low pass filters..................................................................................................... 86
4.7.2 Notch filters .......................................................................................................... 88
4.8 Gains switching................................................................................................................ 89
4.8.1 Parameters for gain switching............................................................................... 89
4.8.2 Action of gain switching ....................................................................................... 90
4.9 Homing ............................................................................................................................ 91
4.9.1 Parameters for homing.......................................................................................... 91
4.9.2 Operation procedure for homing........................................................................... 91
4.9.3 Methods of homing ............................................................................................... 92
4.9.4 Timing chart of homing ........................................................................................ 93
4.9.5 Timing chart of homing for combination mode.................................................... 96
4.10 Set the absolute encoder .............................................................................................. 100
4.10.1 Set the standard connection diagram and SEN signal of absolute encoder....... 100
4.10.2 Backups for the multi-turn information of absolute encoder ............................ 101
4.10.3 The initialization of absolute encoder............................................................... 102
4.10.4 Receiving and sending order of absolute encoder............................................. 102
4.11 Over-travel protections ................................................................................................ 105
4.12 Torque limitations ........................................................................................................ 107
4.12.1 Parameters for torque limitations...................................................................... 107
4.12.2 Modes of torque limitation................................................................................ 107
4.13 Timing chart of operation............................................................................................. 109
4.13.1 Timing chart when power supply switch on ..................................................... 109
4.13.2 Alarm timing chart while servo-ON is executed................................................110
4.13.3 Action timing chart while servo-ON/OFF are executed during the servo motor is
in standstill....................................................................................................................110
4.13.4 Action timing chart while servo-ON/OFF are executed during the servo motor is
in motion.......................................................................................................................111
4.14 Electromagnetic holding brake .....................................................................................112
4.14.1 Parameters of electromagnetic holding brake ....................................................112
4.14.2 Make use of electromagnetic holding brake ......................................................112
Chapter 5 Parameters...............................................................................................................115
5.1 Parameter table ...............................................................................................................115
5.1.1 Parameters of section 0 ........................................................................................115
5.1.2 Parameters of section 1 ........................................................................................118
5.1.3 Parameters of section 2 ....................................................................................... 121
5.1.4 Parameters of section 3 ....................................................................................... 122
5.1.5 Parameters of section 4 ....................................................................................... 123
5.1.6 Parameters of section 5 ....................................................................................... 124
5.2 DI function table ............................................................................................................ 125

VII
5.3 DO function table ...........................................................................................................126
5.4 Parameter description in detail .......................................................................................127
5.4.1 Parameters of section 0........................................................................................127
5.4.2 Parameters of section 1........................................................................................147
5.4.3 Parameters of section 2........................................................................................161
5.4.4 Parameters of section 3........................................................................................165
5.4.5 Parameters of section 4........................................................................................169
5.4.6 Parameters of section 5........................................................................................172
5.5 DI function description in detail .....................................................................................175
5.6 DO function description in detail....................................................................................181
Chapter 6 Communication functions.......................................................................................183
6.1 Communication hardware interface................................................................................183
6.2 Communication parameter..............................................................................................184
6.3 MODBUS communication protocol ...............................................................................186
6.4 Write in and read out parameters ....................................................................................194
6.5 Common operation command.........................................................................................195
6.6 Quantity of state surveillance .........................................................................................196
6.7 Operation example..........................................................................................................198
Chapter 7 Alarm .........................................................................................................................199
7.1 Alarm table .....................................................................................................................199
7.2 The reason and handling of alarm...................................................................................201
Chapter 8 Specifications...........................................................................................................211
8.1 Types of servo driver ......................................................................................................211
8.2 Dimensions of servo driver.............................................................................................212
8.3 Specifications of servo driver .........................................................................................213
8.4 Adaptive table for servo motor selections.......................................................................215
8.4.1 Maxsine motor matching scheme ........................................................................215
8.4.2 Huada and Mige AC servo motor matching scheme............................................217
8.4.3 380V series motor matching scheme ...................................................................219
8.5 Types of servo motor ......................................................................................................221
8.6 Servo motor wiring .........................................................................................................222
8.6.1 Winding wiring ....................................................................................................222
8.6.2 Holding brakes.....................................................................................................222
8.6.3 Incremental Standard encoders............................................................................222
8.6.4 Incremental Wire saving encoders .......................................................................223
8.7 Parameters of servo motor..............................................................................................224
8.7.1 Parameters of 40 series servo motor ....................................................................224
8.7.2 Parameters of 60 series servo motor ....................................................................225
8.7.3 Parameters of 80 series servo motor ....................................................................226
8.7.4 Parameters of 90 series servo motor ....................................................................227

VIII
8.7.5 Parameters of 110 series servo motor ................................................................. 229
8.7.6 Parameters of 130 series servo motor ................................................................. 230
8.7.7 Parameters of 150 series servo motor ................................................................. 231
8.7.8 Parameters of 180 series servo motor ................................................................. 232
After- service introduction........................................................................................................ 234