Maxsine EP3E Series User manual

Servo drive
GL1A0/GL1A8/GL3A0/GL5A5/GL7A5/GL120/GL160/GL190/GL240
GH2A0/GH3A5/GH5A4/GH8A5/GH130/GH170/GH210
Maxsine
EP3ESeries
EtherCAT bus
AC servo drive
User manual
(The third edition)
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.
Danger
!
Indicates a disoperation possibly can cause danger and physical injure or death.
Caution
!
Indicates a disoperation possibly can cause danger and physical injure, and may
result in damage to the product.
Stop
Indicates a prohibited actions, otherwise can cause damage, malfunction to the
product.
1. Service conditions
危险
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
危险
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
注意
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
禁止
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
禁止
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
注意
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 .........................................................................................................................1
1.3 Product front panel........................................................................................................................2
1.4 Servo driver installation.................................................................................................................8
1.4.1 The environmental conditions for installation....................................................................8
1.4.2 The method of installation..................................................................................................8
1.5 Servo motor installation.................................................................................................................9
1.5.1 The environmental conditions for installation....................................................................9
1.5.2 The method of installation..................................................................................................9
1.6 The definition of rotating direction for servomotor.....................................................................10
Chapter 2 Wiring..................................................................................................................................... 11
2.1 System construction and wiring .................................................................................................. 11
2.1.1 Servo driver wiring diagram............................................................................................. 11
2.1.2 Wiring explanations..........................................................................................................14
2.1.3 Electric wire specifications...............................................................................................14
Connect terminal .......................................................................................................................14
symbol .......................................................................................................................................14
Wire specification......................................................................................................................14
2.1.4 Main circuit terminal explanation.....................................................................................15
Terminal name...........................................................................................................................15
Symbol.......................................................................................................................................15
Model.........................................................................................................................................15
Detailed explanation..................................................................................................................15
Main power supply....................................................................................................................15
2.1.5 Main circuit wiring diagram.............................................................................................17
2.2 Adaptation of brake resistance.....................................................................................................21
2.3 The connection of reactor............................................................................................................22
2.4 X1 Control signal terminal..........................................................................................................23
2.4.1 X1 terminal connector......................................................................................................23
2.4.2 X1 terminal signal explanation.........................................................................................24
2.4.3 X1 terminal interface type................................................................................................24
2.5 X2、X3 Encoder signal terminal ................................................................................................27
2.5.1 X2 terminal connector......................................................................................................27
2.5.2 X2 Terminal signal description.........................................................................................28
2.5.3 X3 terminal.......................................................................................................................28
2.6 X5、X6 EtherCAT port...............................................................................................................29

V
2.6.1 X5、X6 terminal socket................................................................................................... 29
2.6.2 X5、X6 terminal signal description................................................................................. 29
2.7 Standard wiring diagram ............................................................................................................. 30
2.7.1 Standard wiring diagram .................................................................................................. 30
Chapter 3 Front panel operation .......................................................................................................... 31
3.1 Explanation of the front panel of servo driver............................................................................. 31
3.1.1 Front panel compositions ................................................................................................. 31
3.1.2 Front panel explanations................................................................................................... 31
3.1.3 Data display...................................................................................................................... 33
3.2 Main menu................................................................................................................................... 33
3.3 Status monitor.............................................................................................................................. 34
3.4 Parameters setting........................................................................................................................ 39
3.5 Parameter management ............................................................................................................... 40
3.6 Auxiliary functions...................................................................................................................... 42
3.6.1 Special functions☆.......................................................................................................... 42
3.7 Parameter default 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............................................................................................................................ 46
4.2.2 Position control related gain............................................................................................. 46
4.3 Speed control............................................................................................................................... 47
4.3.1 Parameter setting of speed control.................................................................................... 47
4.3.2 Speed instruction source................................................................................................... 48
4.3.3Acceleration and deceleration........................................................................................... 48
4.3.4 Speed control related gain................................................................................................ 49
4.4 Torque control ............................................................................................................................. 51
4.5 Gain adjustment........................................................................................................................... 51
4.5.2 Gain adjustment step ........................................................................................................ 54
4.6 Resonance suppressions.............................................................................................................. 56
4.6.1 Low pass filters ................................................................................................................58
4.6.2 Notch filters...................................................................................................................... 58
4.7 Setting of absolute value encoder................................................................................................ 59
4.7.1 The preservation of the multi loop information of the absolute encoder.......................... 59
4.7.2 The initialization of the absolute encoder......................................................................... 59
4.8 overrange protection.................................................................................................................... 60
4.9 Torque limit ................................................................................................................................. 61
4.9.1 Torque limiting parameter................................................................................................ 61
4.9.2 Torque restriction mode.................................................................................................... 61

VI
4.10 Working time sequence..............................................................................................................62
4.10.1 Power switching time sequence......................................................................................62
4.10.2Alarm timing in servo ON ..............................................................................................62
4.10.3 Servo ON/OFF action timing of motor at rest................................................................63
4.10.4 Servo ON/OFF action timing of motor operation...........................................................63
4.11 Electromagnetic brake ...............................................................................................................64
4.13.2 Use of electromagnetic brake .........................................................................................64
Chapter 5 Parameters............................................................................................................................66
5.1 Parameter table............................................................................................................................66
5.1.1 Parameters of section 0.....................................................................................................66
5.1.2 Parameters of section 1.....................................................................................................69
5.1.3 Parameters of section 2.....................................................................................................70
5.1.4 Parameters of section 3.....................................................................................................71
5.2 DI Functional list.........................................................................................................................72
5.3 DO Functional list .......................................................................................................................72
5.4 Parameter detailed solution .........................................................................................................73
5.4.1 Parameters of section 0.....................................................................................................73
5.4.2 Parameters of section 1.....................................................................................................83
5.4.3 Parameters of section 2.................................................................................................. 90
5.4.4 Parameters of section 3.....................................................................................................96
5.5 DI function explanation in details................................................................................................97
5.6 DO function description in detail ................................................................................................99
Chapter 6 Communication functions..................................................................................................100
6.1 Common object description.......................................................................................................100
6.2.1 CANopen over EtherCAT structure................................................................................ 104
6.2.2 EtherCAT state machine................................................................................................. 105
6.2.3 LED status......................................................................................................................106
6.2.4 Data Type........................................................................................................................ 108
6.2.5 PDO mapping.................................................................................................................108
6.2.6According to the synchronization of DC (Distributed Clock)........................................ 110
6.3 Drive mode................................................................................................................................ 111
6.3.1 Servo state machine........................................................................................................ 111
6.3.2 Control word 6040h........................................................................................................ 113
6.3.3 Control word 6041h........................................................................................................ 115
6.4 Operation mode......................................................................................................................... 117
6.4.1 Periodic synchronous position mode..............................................................................120
6.4.2 Periodic synchronization velocity mode......................................................................... 121
6.4.3 Periodic synchronous torque mode................................................................................. 122
6.4.4 HM mode........................................................................................................................ 123
6.5 Pattern common function...........................................................................................................133

VII
6.5.1 Touch Probe function...................................................................................................... 133
6.5.2 Stop function .................................................................................................................. 140
6.5.3 Digital input / digital output........................................................................................... 145
6.5.4 Position information....................................................................................................... 147
Position Demand Value ×Electronic gear ratio ＝Position Demand Internal Value................................ 147
Chapter 7 Alarm.................................................................................................................................... 157
7.1 Alarm list................................................................................................................................... 157
7.2 The reason and handling of alarm ............................................................................................. 160
Chapter 8 Specifications...................................................................................................................... 174
8.1 Types of servo driver................................................................................................................. 174
8.2 Dimensions of servo driver ....................................................................................................... 175
8.3 Specifications of servo driver.................................................................................................... 176
8.4 Adaptive table for servo motor selections ................................................................................. 177
8.5 Types of servo motor.............................................................................................................. 178
8.6 Servo motor wiring.................................................................................................................... 179
8.6.1 Winding wiring............................................................................................................... 179
8.6.2 Wiring for brakes............................................................................................................ 179
8.6.3 Encoder........................................................................................................................... 180

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
Maxsine
AC Servo Drive
EP3E
Model
Input
Output
Number
GL3A0
1ΦAC220V/50-60Hz
3.0A/400W
3A0L18888888
RN05 50019
abcd
检验
PASSED
2018.01
Wuhan Maxsine Electric Co.,Ltd.
www.maxsine.com
Product Type
Main circuit
input power
Rated output
current/power
Serial Number
Logo and Date of Inspection before Delivery
Product Name
Brand Logo
Warning Logo
!注意
CAUTION
警告
WARNING
请妥善接地。
Make proper ground connections.
安装前须阅读说明书。
Read manual before installing
断电5分钟内，请勿打开机盖或
触碰接线端子，以免电击！
Turn off power and wait 5 min. before
servicing,or cause electric shock!
SPEC E3S0EC
Product
Specification

Chapter 1 Product inspection and installment
2
1.3 Product front panel
Applicable models: GL1A0、GL1A8、GL3A0、GL5A5、GL7A5、GL120
Mounting Hole
Nameplate And
Warning Logo
(Right side)
Built-out brake
resistor Terminals
(P、B1、B2)
5 Digit Display LED
Cover Opened
4 Operation Buttons
Main Power Input
Terminals
（L1、L2、L3）
Control Power
Input Terminals
（L1C、L2C）
Servo motor
Connection
terminals
（U、V、W）
Ground Terminals
Connector X2 For
Servo motor Encoder
Connector X1 For Input
And Output Signals
Display And
Operation Buttons
(Open the cover for
operating)
2 LED Lamps
（POW、RUN）
USB Interface
Connector X3 For
Servo motor Encoder

1.3 Product front panel
3
Applicable models: GL160
Mounting Hole
Nameplate And Warning Logo
(Right side)
Built-out brake resistor Terminals
(Choosing from NC,P or B)
5 Digit Display LED
Cover Opened
4 Operation Buttons
Main Power Input Terminals
（L1、L2、L3）
Control Power Input Terminals
（L1C、L2C）
Servo motor Connection terminals
（U、V、W）
Ground Terminals
Connector X2 For Servo motor
Encoder
Connector X1 For Input And Output
Signals
Display And Operation Buttons
(Open the cover for operating)
2 LED Lamps
（POWER、RUN）
USB interface
Connector X3 For Servo motor Encoder

Chapter 1 Product inspection and installment
4
Applicable models: GL190、GL240
Back Mounting Hole
5 bits digital tube display screen
4 Operation Buttons
2 Indicator light
（POW、RUN）
The Opened Cover
DC reactor connection terminal
（N1、N2）
Nameplate And Warning Logo
(Side)
USB interface
Main Power Source Connecting
Terminals（L1、L2、L3）
Built-out brake resistor Terminals
（NC、P、B）
Servomotor Connection
Terminals（U、V、W）
Ground Terminals
Connector X2 For Encoder
Connector X1 for Input and Output
Signals
Display Screen and Operation
Buttons（Operating at opened
cover )
Charging Indicator
Connector X3 for communication
interface
Control Power Source
Connecting Terminals
（L1C、L2C）

1.3 Product front panel
5
Applicable models: GH2A0、GH3A5、GH5A4
Back Mounting Hole
5 bits digital tube
display screen
4 Operation Buttons 2 LED Indicators
（POW、RUN）
The Opened Cover
Charging indicator
DC Reactor(option)
Terminals（N1、N2）
Nameplate And
Warning Logo
(Right side)
Mini USB interface
Main Power Source
Connecting Terminals
（L1、L2、L3）
Control Power Source
Connecting Terminals
（24V、0V）
External Brake Resistor
(Option) Terminals
（P、B1、B2）
Ground Terminal
Connector X1 For Input
And Output Signals
Servomotor Connection
terminals（U、V、W）
Display Screen And
Operation Buttons
（Open the cover for
operating)
X3 connector for
communication
interface
Connector X2 For
Servomotor Encoder

Chapter 1 Product inspection and installment
6
Applicable models: GH8A5
Back Mounting Hole
Nameplate And Warning Logo
(Right side)
External Brake Resistor (Option)
Terminals
(P、B1、B2)
5 bits digital tube display screen
The Opened Cover
4 Operation Buttons
Main Power Source
Connecting Terminals
（L1、L2、L3）
Control Power Source
Connecting Terminals
（24V、0V）
Servomotor Connection
terminals（U、V、W）
Ground Terminal
Connector X2 For Servomotor
Encoder
Connector X1 For Input And Output
Signals
Display Screen And Operation
Buttons（Open the cover for
operating)
2 LED Indicators（POW、
RUN）
Mini USB interface
Charging indicator
X3 connector for communication
interface
DC Reactor(option) Terminals
（N1、N2）

1.3 Product front panel
7
Applicable models: GH130、GH170、GH210
Back Mounting Hole
5 bits digital tube display screen
4 Operation Buttons
2 LED Indicators
（POW、RUN）
The Opened Cover
DC Reactor(option) Terminals
（N1、N2）
Nameplate And Warning Logo
(Right side)
Mini USB interface
Main Power Source Connecting
Terminals
（L1、L2、L3）
External Brake Resistor Terminals
（P、B1、B2）
Servomotor Connection terminals
（U、V、W）
Ground Terminal
Connector X2 For Servomotor
Encoder
Connector X1 For Input And Output Signals
Display Screen And Operation
Buttons
（Open the cover for operating)
Charging indicator
X3 connector for communication
interface
Control Power Source Connecting
Terminals
（24V、0V）

Chapter 1 Product inspection and installment
8
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.

1.5 Servo motor installation
9
>50mm >50mm
>100mm
>100mm
>100mm
通风气流方向
X3
X1
X2
X3
X1
X2
X3
X1
X2
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
10
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 counter clockwise direction will be called as
positive direction, or in clockwise as reversal direction.
Positive
Rotation
(CCW)
Reversal
Rotation
(CW)