Maxsine EP3 E Series User manual

Servo drive
GL1A0/GL1A8/GL3A0/GL5A5/GL7A5/GL120/GL160
GL190/GL240/GH2A0/GH3A5/GH5A4/GH8A5/GH130
GH170/GH210/GH260/GH320/GH390
Maxsine
EP3 E series
PROFINET
AC servo drive
User Manual
(The fourth edition)
Wuhan Maxsine Electric Co., Ltd

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

I
Safety Precautions
In order to ensure proper use of 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.
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.

III
CONTENTS
Chapter 1 Product inspection and installment........................................................................ 1
1.1 Product inspection..................................................................................................... 1
1.2 Product nameplate..................................................................................................... 1
1.3 Product front panel.................................................................................................... 2
1.4 Servo driver installation .......................................................................................... 10
1.4.1 Installation environmental conditions........................................................... 10
1.4.2 Installation method........................................................................................ 10
1.5 Servo motor installation .......................................................................................... 11
1.5.1 Installation environmental conditions........................................................... 11
1.5.2 Installation method........................................................................................ 11
1.6 Motor rotation direction definition ......................................................................... 12
Chapter 2 Wiring.................................................................................................................. 13
2.1 System construction and wiring.............................................................................. 13
2.1.1
Servo driver wiring diagram ......................................................................... 13
2.1.2
Wiring instructions........................................................................................ 18
2.1.3 Electric wire specifications ........................................................................... 18
2.1.4 Strong terminal specification ........................................................................ 19
2.1.5 Main circuit wiring diagram ......................................................................... 20
2.2 Brake resistance adaptation..................................................................................... 24
2.3 Connection of reactor.............................................................................................. 25
2.4 X1 control signal terminal....................................................................................... 26
2.4.1 X1 terminal plug ........................................................................................... 26
2.4.2 X1 terminal signal description ...................................................................... 27
2.4.3 X1 terminal interface type............................................................................. 28
2.5 X2、X3 encoder signal terminals........................................................................... 30
2.5.1 X2 terminal plug ........................................................................................... 30
2.5.2 X2 terminal signal description ...................................................................... 31
2.5.3 X3 terminal ................................................................................................... 31
2.6
X5、X6 PROFINET network port ........................................................................ 32
2.6.1 X5、X6 terminals interface .......................................................................... 32
2.6.2
X5、X6 terminal signal description ............................................................. 32
2.7 Standard wiring diagram......................................................................................... 33
2.7.1 Control wiring............................................................................................... 33
Chapter 3 Front panel operation........................................................................................... 34
3.1 Driver panel description.......................................................................................... 34
3.1.1 Front panel compositions.............................................................................. 34
3.1.2 Front panel explanations ............................................................................... 34

IV
3.1.3 Data display .................................................................................................. 35
3.2 Main menu .............................................................................................................. 35
3.3 Status monitor ......................................................................................................... 36
3.4 Parameters setting ................................................................................................... 41
3.5 Parameter management........................................................................................... 42
3.6 Auxiliary functions.................................................................................................. 43
3.6.1 Special functions☆....................................................................................... 43
3.7 Parameter default value recovery............................................................................ 44
Chapter 4 Running ............................................................................................................... 45
4.1 Trial running with no load....................................................................................... 45
4.1.1 Wiring and inspection ................................................................................... 45
4.1.2 Trial running in JOG mode ........................................................................... 45
4.2 Position control mode ............................................................................................. 46
4.2.1 Parameter setting of position control mode .................................................. 46
4.2.2 Gain related to position control mode........................................................... 47
4.3 Speed control mode................................................................................................. 48
4.3.1
Speed control mode parameter setting.......................................................... 48
4.3.2
Speed command source................................................................................. 48
4.3.3 Acceleration and deceleration ....................................................................... 48
4.3.4 Gain related to speed control mode .............................................................. 49
4.4 Torque control mode ............................................................................................... 50
4.5 Gain adjustment ...................................................................................................... 50
4.5.1 Gain parameters ............................................................................................ 51
4.5.2 Gain adjustment steps ................................................................................... 52
4.6 Resonance suppressions.......................................................................................... 53
4.6.1 Low pass filter............................................................................................... 55
4.6.2 Notch filter.................................................................................................... 55
4.7 Absolute value encoder setting................................................................................ 56
4.7.1 Absolute value encoder multi-turn information saving................................. 56
4.7.2 Initialization of the absolute value encoder .................................................. 56
4.8 Over travel protection ............................................................................................. 57
4.9
Torque limit............................................................................................................. 57
4.9.1 Torque limit parameters ................................................................................ 57
4.10
Timing chart of operation...................................................................................... 58
4.10.1 Timing chart when power supply switch on ............................................... 58
4.10.2 Alarm timing chart while servo-ON is executed......................................... 58
4.10.3 Servo ON/OFF action timing when the motor is stationary ....................... 59
4.10.4 Servo ON/OFF action timing during motor operation................................ 59
4.11 Electromagnetic brake........................................................................................... 60
4.11.1 Electromagnetic brake use .......................................................................... 60

V
Chapter 5 Parameters ........................................................................................................... 62
5.1 Parameter list........................................................................................................... 62
5.1.1 Parameters of section 0 ................................................................................. 62
5.1.2 Parameters of section 1 ................................................................................. 63
5.1.3 Parameters of section 2 ................................................................................. 65
5.1.4 Parameters of section 3 ................................................................................. 66
5.2 DI Function List ...................................................................................................... 66
5.3 DO Function List .................................................................................................... 66
5.4 Parameter description.............................................................................................. 67
5.4.1 Parameters of section 0 ................................................................................. 67
5.4.2 Parameters of section 1 ................................................................................. 76
5.4.3 Parameters of section 2 ................................................................................. 82
5.4.4 Parameters of section 3 ................................................................................. 87
5.5 DI function detail .................................................................................................... 90
5.6 DO function detail................................................................................................... 92
Chapter 6 Communication function..................................................................................... 93
6.1
PROFINET communication.................................................................................... 93
6.1.1
PROFINET IO .............................................................................................. 93
6.1.2 PROFIDrive .................................................................................................. 94
6.1.3 Status LED .................................................................................................... 94
6.1.4 Data type definition....................................................................................... 95
6.1.5 PROFINET support message and content explanation................................. 96
6.1.6 Isochronous Mode........................................................................................111
6.2 Drive mode............................................................................................................ 112
6.2.1 Servo state machine .................................................................................... 112
6.3 Operating mode..................................................................................................... 113
6.3.1 AC1: Standard driver................................................................................... 113
6.3.2 AC3: Single axis positioning driver with local motion control................... 115
6.3.3 AC4: Motion control with central interpolation and speed setting interface123
6.4 Pattern common function ...................................................................................... 124
6.4.1 Touch Probe Function ................................................................................. 124
6.4.2
Stop function ............................................................................................... 128
6.4.3 Reference speed .......................................................................................... 129
6.4.4
Reference torque ......................................................................................... 129
6.4.5 Position feedback interface ......................................................................... 130
Chapter 7 Alarm ................................................................................................................. 131
7.1 Diagnostic information ......................................................................................... 131
7.2 Alarm list ............................................................................................................... 132
7.3 Alarm cause and handling ..................................................................................... 135
Chapter 8 Specifications .................................................................................................... 145

VI
8.1 Driver model ......................................................................................................... 145
8.2 Drive size .............................................................................................................. 146
8.3 Drive specification ................................................................................................ 148
8.4 Motor adaptation sheet of driver........................................................................... 149
8.5 Servo motor model................................................................................................ 150
8.6 Servo motor wiring ............................................................................................... 151
8.6.1 Winding wiring ........................................................................................... 151
8.6.2 Brake wiring................................................................................................ 151
8.6.3 Encoder ....................................................................................................... 152

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.
1.2 Product nameplate

Chapter 1 Product inspection and installment
2
1.3 Product front panel
Applicable models：GL1A0、GL1A8、GL3A0、GL5A5、GL7A5、GL120

1.3 Product front panel
3
Applicable models：GL160

Chapter 1 Product inspection and installment
4
Applicable models：GL190、GL240

1.3 Product front panel
5
Applicable models：GH2A0、GH3A5、GH5A4

Chapter 1 Product inspection and installment
6
Applicable models：GH8A5

1.3 Product front panel
7
Applicable models：GH130、GH170、GH210

Chapter 1 Product inspection and installment
8
Applicable models：GH260

1.3 Product front panel
9
Applicable models：GH320、GH390

Chapter 1 Product inspection and installment
10
1.4 Servo driver installation
1.4.1 Installation environmental conditions
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: 0～40 ; Ambient humidity: less than℃40% ~ 80% (no dew).
Storage temperature: -40～50 ; 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 Installation method
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.

1.5 Servo motor installation
11
1.5 Servo motor installation
1.5.1 Installation environmental conditions
Ambient temperature: 0～40 ; Ambient humidity: less than 80 %( no dew℃).
Storage temperature: -40～50 ; Storage humidity: less than℃80 %( 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 Installation method
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
12
1.6 Motor rotation direction definition
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
Positive Rotation
Counterclockwise (CCW) Reversal Rotation Clockwise(CW)