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

1
Chapter 1 Product inspection and
installment
1.1 Product inspection
This product has made the complete function test before delivery, for prevented the product
to be abnormal owing to shipping process, please make detail inspection as the following items
after breaking the seal：
Inspect the types of servo driver and servomotor and ensure that are the same types in
the order form.
Inspect the outward appearance of servo driver and servomotor to see any abrasion or
damage; if so please do not wire to the power supply.
Inspect the parts of servo driver and servomotor to see any loosen parts such as
loosened or fallen off screw.
Rotate the servomotor shaft by hand and should be smooth rotation. However, the
servomotor with holding brake is unable to rotate directly.
If there is any break down item or abnormal phenomenon mentioned above, please
contact with the dealer immediately.

Chapter 1 Product inspection and installment
2
1.2 Product nameplate

1.1 Product inspection
3
1.3 Product front panel
Applicable models: EP3-GL1A0、EP3-GL1A8、EP3-GL3A0、EP3-GL7A5、EP3-GL120、
EP3-GL160

Chapter 1 Product inspection and installment
4
Note 1: The front panel of EP3-GL190 and EP3-GL240 servo driver is different from above
picture. Please refer to Main circuit terminal explanation.
Applicable models: EP3-GH3A5，EP3-GH5A4
Note 1: The front panels of EP3-GH8A5、EP3-GH130 and EP3-GH170 servo driver are different
from above picture. Please refer to Main circuit terminal explanation

1.4 Servo driver installation
5
1.4 Servo driver installation
1.4.1 The environmental conditions for installation
Since the environment conditions for servo driver installation have the direct influence to the
normal function and service life of the servo driver, therefore the environment conditions must be
conformed to the following conditions:
Ambient temperature: 0 to 40℃; ambient humidity: less than 80% (no dew).
Storage temperature: -40 to 50℃; Storage humidity: less than 93% (no dew).
Vibration: less than 0.5G.
Preventive measure shall be taken against raindrop or moist environment.
Avoid direct sunlight.
Preventive measure shall be taken against corrosion by oil mist and salinity.
Free from corrosive liquid and gas.
Preventive measure shall be taken against entering the servo driver by dust, cotton fiber and
metal tiny particle.
Keep away from radioactive and inflammable substances.
When several driver installments in a control cubicle, for good ventilation please reserve
enough space around each driver, install fans to provide effective cooling, keep less than
40℃for long-term trouble-free service.
If there are vibration sources nearby (punch press for example) and no way to avoid it, please
use absorber or antivibration rubber filling piece.
If there is disturbance from interferential equipment nearby along the wirings to the servo
driver can make the servo driver misoperation. Using noise filters as well as other
antijamming measure guarantee normal work of the servo driver. However, the noise filter
can increase current leakage, therefore should install an insulating transformer in the input
terminals of power supply.
1.4.2 The method of installation
In order to get good cooling the servo driver should normally mount in vertical direction
with the topside upward.
For installing the servo driver, fasten the backboard of the servo driver with M5 screw bolt.
Reserve enough space around the servo drivers as shown in the reference diagram. In order
to guarantee the performance of the servo driver and the lifetime, please make the space as
full as possible.
To provide vertical wind to the heat sink of the servo driver should install ventilating fans in
the control cubicle.
Prevent the dust or the iron filings entering the servo driver when install the control cubicle.

Chapter 1 Product inspection and installment
6

1.5 Servo motor installation
7
1.5 Servo motor installation
1.5.1 The environmental conditions for installation
Ambient temperature: 0 to 40℃; Ambient humidity: less than 80 %( no dew).
Storage temperature: -40 to 50℃; Storage humidity: less than 93 %( no dew).
Vibration: less than 0.5G.
Install the servomotor in well-ventilated place with less moisture and a few dusts.
Install the servomotor in a place without corrosive liquid, flammable gas, oil vapor, cutting
cooling liquid, cutting chips, iron powder and so on.
Install the servomotor in a place without water vapor and direct sunlight.
1.5.2 The method of installation
For horizontal installation: In order to prevent water, oil, etc. from entering inside of the
servomotor, please put the cable connector downward.
For vertical installation: if the shaft of the servo motor is in upward direction with a speed
reducer, some prevention measure shall be taken against entering inside of the servomotor by
oil come from the speed reducer.
Motor shaft extension should be long enough, or may cause vibration while motor is in
running
In case of installation or removing the servomotor, please do not hit the servomotor with a
hammer, otherwise the shaft and the encoder can be damaged.

Chapter 1 Product inspection and installment
8
1.6 The definition of rotating direction for servomotor
The motor rotating direction description in this handbook is defined as facing the shaft of the
servomotor, if the rotating shaft is in counterclockwise direction will be called as positive
direction, or in clockwise as reversal direction.

9
4
运
行
Chapter 2 Wiring
2.1 System construction and wiring
2.1.1 Servo driver wiring diagram
1 EP3-GL series Servo driver wiring
diagram
Note: This wiring method is only suitable for EP3-GL1A0、EP3-GL1A8、EP3-GL3A0、EP3-GL7A5、EP3-GL120、

Chapter 2 Wiring
10
EP3-GL160 servo driver. For EP3-GL190 and EP3-GL240, please refer to chapter 2.1.5.
2 EP3-GH series Servo driver wiring diagram
Note: This wiring method is only suitable for EP3-GH3A5 and EP3-GH5A4 servo driver. For
EP3-GH8A5、EP3-GH130 and EP3-GH170, please refer to chapter 2.1.5.