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