Rtelligent RSE Series User manual

锐 特R S E系 列 伺 服 快 速 启 动 指 南
Rtelligent RSE series Servo System
Quick Start Guide
Shenzhen Rtelligent
Mechanical Electrical Technology Co.,Ltd

Please disconnect the power supply for more than 5 minutes before removing or disassembling
the driver, otherwise it may cause electric shock due to residual voltage.
Cautions
1
Thank you for using the Rtelligent RSＥseries AC servo system! This operating
manual provides information about the RSＥseries drivers and RSM series
motors. Before use, please read the manual carefully to ensure proper use!
Please never touch the inside of the servo driver, otherwise it may cause electric shock
Please insulate the connection part of the power supply terminal, otherwise it may cause
electric shock.
Please do not damage or pull on the cable, subject the cable to excessive force, put it
under heavy objects or clamp it. Doing so may result in electric shock, which may cause
the product to stop or burn out.
Unless designated personnel, please do not set up, disassemble or repair, otherwise it may
cause electric shock or injury.
Please do not remove the cover, cables, connectors and optional accessories while the
power is on, otherwise it may cause electric shock and damage the drive.
Please follow the steps required by this manual for trial operation.
If an operation error occurs while the servo motor is connected to the machine, it will not
onlycause damage to the machine, but also sometimes cause personal accidents.
Please do not change the maximum speed value, except for special purposes. Inadvertent
change may damage the machine or cause injury.
When the power is turned on and for a period of time after the power is cut off, the heat sink of the
servo driver, the external braking resistor, and the servo motor may become hot.
Please do not touch it, otherwise it may cause burns.To prevent accidental contact with
hands or parts (cables, etc.), please take safety precautions such as installing an enclosure.
Please do not touch the rotating part of the servo motor while it is running, as this may
result in injury.
If the servo motor is installed on the supporting machine and starts to run, make sure that
the servo motor can be stopped at any time, otherwise you may get injured.
Please install a stop device on the machine side to ensure safety.
The brake of the servo motor with brake is not a stopping device to ensure safety. If a stop device
is not provided, it may cause injury.
If power is restored after a momentary power failure occurs during operation, the machine may
restart suddenly, so please do not approach the machine.
Please take measures to ensure that personal safety will not be endangered when
restarting, otherwise it may cause injury.
Please do not modify the product in any way, otherwise it may cause injury or mechanical
damage.
Please install the servo driver, servo motor, and external braking resistor on non-combustible
materials, otherwise it may cause a fire.
Between the power supply and the main circuit power supply of the servo driver
(L1, L2 for single-phase, L1, L2, L3 for three-phase), please connect an electromagnetic contactor
and a non-fuse circuit breaker. Otherwise, when the servo driver fails, the
large current cannot be cut off, which may cause a fire.

Model combination list
2
SizeA Below 400W
Absolute battery box dimensions
SizeC Below 3000W
SizeB Ｂｅｌｏｗ １５００Ｗ
Servo driver dimension drawing
178
40 160 41. 2 5.2
6.5
Φ5
178
51 16 0 41. 2 5.2
6.5
Φ5
200
70 180 47 5. 9
2*Φ6
6.5
12 6
19
22
65
Panel operator
USB debugging port
(CN3)
Input and output signal
terminals (CN1)
Power supply input
Braking resistor
(can be external)
Encoder interface (CN2)
Motor interface
Grounding port
EtherCAT communication
port (CN4, CN5)

3
List of standard model combinations
＊ Ｄｒｉｖｅｒ ｗｉｔｈ Ｅ ｉｓ ＥｔｈｅｒＣＡＴ ｆｕｎｃｔｉｏｎ
＊＊ Ｗｉｒｉｎｇ ｉｓ ３ ｍｅｔｅｒｓ ａｓ ｓｔａｎｄａｒｄ， ｏｔｈｅｒ ｓｐｅｃｉｆｉｃａｔｉｏｎｓ ｐｌｅａｓｅ ｓｐｅｃｉｆｙ ｗｈｅｎ ｏｒｄｅｒｉｎｇ
Ｍｏｔｏｒ ｂａｓｅ
40
60
80
110
130
Model
RSM-M04J0130A
RSMA-M06J0630A
RSMA-M06J1330A
RSMA-M08J2430A
RSMA-M08J3230A
RSM-M11W4030A
RSM-M11W5030A
RSM-M11W6020A
RSM-M11W6030A
RSM-M13W5025A
RSM-M13W6025A
RSM-M13W7725A
RSM-M13W10025A
RSM-M13W15015A
RSM-M13W15025A
RSM-M04J0330A
Rated power
50W
100W
200W
400W
750W
1KW
1.2KW
1.5KW
1.2KW
1.8KW
1.3KW
1.5KW
2.0KW
2.5KW
2.3KW
3.8KW
Matching driver
RS100(E)
RS100(E)
RS200(E)
RS400(E)
RS750(E)
RS1000(E)
RS2000(E)
RS2000(E)
RS2000(E)
RS2000(E)
RS2000(E)
RS2000(E)
RS2000(E)
RS3000(E)
RS3000(E)
RS3000(E)
Ｎａｍｉｎｇ ｏｆ ＡＣ ｓｅｒｖｏ ｓｕｐｐｏｒｔｉｎｇ ｃａｂｌｅｓ
Cable series
S:220V AC servo
H:380V high-voltage servo
1
D:Low-voltage brushless servo
Number of cable cores
Power cable 4 cores can be omitted
4
Plug category
S:Plastic Amp Head
H:Aviation plugs
3
Cable category
E:Encoder extension cable
M:Motor power cable
2
S E
__
1
_
2
4-0
_
S
_
53
30
Cable length
030: 3 meters
5
4
Servo cable list
Motor cable SMS-030
Color definition：
U V W PE
Red White Black Yellow-green
Ｃａｂｌｅ ｏｆ ８０ｍｍ ａｎｄ ｂｅｌｏｗ
电机线 SMH4-030
颜色定义：
U V W PE
棕 蓝 黑 黄绿
１１０ｍｍ ／ １３０ｍｍ Ｃａｂｌｅ
SES4-030
SES4-030
SES4-030
SES4-030
SES4-030
SEH4-030
SEH4-030
SEH4-030
SEH4-030
SEH4-030
SEH4-030
SEH4-030
SEH4-030
SEH4-030
SEH4-030
SES4-030
Encoder cable
SMS-030
SMS-030
SMS-030
SMS-030
SMS-030
SMS-030
SMH-030
SMH-030
SMH-030
SMH-030
SMH-030
SMH-030
SMH-030
SMH-030
SMH-030
SMH-030
Power cable

4
Ｍａｉｎ ｃｉｒｃｕｉｔ ｗｉｒｉｎｇ ｄｅｆｉｎｉｔｉｏｎ
Functions
Input power
supply
Braking
resistance
Motor wiring
Terminal symbol DiagramDescription
Single-phase 220 VAC
When using an external
braking resistor, just replace
the P+ and Br wiring
Connect the motor extension cable
ＣＮ２ Ｅｎｃｏｄｅｒ ｔｅｒｍｉｎａｌ ｗｉｒｉｎｇ ｄｅｆｉｎｉｔｉｏｎ
Pin numbers
Vcc
Gnd
PS+
PS-
Reserved
Reserved
Terminal symbol Diagram
Description
The encoder power supply
is provided by the driver
ＣＮ４、ＣＮ５—ＥｔｈｅｒＣＡＴ Ｃｏｍｍｕｎｉｃａｔｉｏｎ ｉｎｔｅｒｆａｃｅ
Diagram
1
2
5
6
3
4
Encoder communication terminal
Pin Definition Color
orange&white
orange
green&white
blue
blue&white
green
brown&white
brown
TX+
TX-
RX+
RX-
GND
——
——
——
1
2
3
4
5
6
7
8
L1
L2
P+
Br
U
V
W
PE
Ｍｏｔｏｒ ｍｏｄｅｌ ｄｅｓｃｒｉｐｔｉｏｎ
J: 17bit magnetic encoder
H: 23bit optical encoder
G: 17bit magnetic Multi-turn absolute encoder
L: 23bit optical Multi-turn absolute encoder
W: 10000 lines optical encoder
RSMA MJ
135
246
Ｄｕａｌ ＲＳ－４８５ ｉｎｔｅｒｆａｃｅ
ＲＳＭ Ｓｅｒｉｅｓ Ｓｅｒｖｏ Ｍｏｔｏｒ
A：5 pole pairs,Ultra thin
none: 4 pole pairs
Ｍｏｔｏｒ ｉｎｅｒｔｉａ ｃｏｄｅ
S: Small inertia
M: Medium inertia
H: Large inertia
Ｍｏｔｏｒ ｆｌａｎｇｅ ｓｉｚｅ
06:60mm 13:130mm
Encoder resolution
Motor rated torque
１３：１．３ Ｎｍ １５０： １５ Ｎｍ
Motor rated speed
３０： ３０００ ｒｐｍ １５： １５００ ｒｐｍ
Oil seal or not
Ａ： ｗｉｔｈ ｏｉｌ ｓｅａｌ
ｎｏｎｅ： ｗｉｔｈｏｕｔ
Ｂｒａｋｅ ｏｒ ｎｏｔ
Ｚ： Ｗｉｔｈ ｂｒａｋｅ

ＣＮ１－ＤＢ４４ ｃｏｎｔｒｏｌ ｓｉｇｎａｌ ｉｎｔｅｒｆａｃｅ ｄｅｆｉｎｉｔｉｏｎ
1
116
331
115
330
444
5
1
6
1
5
0
4
Functions Signal Pin Definition Description
IN7+
IN7-
IN8+
IN8-
24VIN7+
24VIN8+
IN1(SV-ON)
IN2(POT)
IN3(NOT)
IN4(ALMRST)
IN5(PULStop)
IN6(Home)
INCOM
17
18
20
21
16
19
2
3
4
5
6
7
1
32
33
31
34
35
36
37
differential input
7 positive
input 1
input 2
input 3
input 4
input 5
input 6
input common
output 1
output 2
ou tput common
ou tput 3
po sitive
OUT1(SV-RDY)
OUT2(ALM)
OUTCOM-
DFOUT3+(INP+)
DFOUT3-(INP-)
DFOUT4+(BRK+)
DFOUT4-(BRK-)
Function
Undefined
probe 1
probe 2
positive limit
negative limit
origin input
servo ready
Positioning
completed positive
alarm output
Brake positive
differential input, 5V
24V positive
Below 24V
support common cathode or
common anode
Does not support the mixed
use of NPN and PNP
Below 24V
Common cathode output
Cu rrent does not exceed
50 mA
Below 24V
Differential input
Cu rrent does not exceed
200mA
output grouding
Emergency stop
Ｄｉｓｐｌａｙ ａｎｄ ｐａｎｅｌ ｏｐｅｒａｔｉｏｎ
Functions
Mode/Return MODE
SET
Symbol Diagram
Description
Mode switch
Confirm operation
Shift key
Increase
Decrease
Confirm
Shift left
Switch up selection or increase value
Switch down selection or decrease the value
Long Press KEY‘SET’
Short Press KEY‘MODE’
SAVE
READ
RESET
Ｏｐｅｒａｔｉｏｎ ｐｒｏｇｒｅｓｓ ｏｆ ｐａｒａｍｅｔｅｒｓ
Differential
input
interface
differential input
7 nagative
differential input
8 nagative
differential input
8 positive
24V input 7
positive
24V input 8
positive
ou tput 3
ne gative
output 4
po sitive
ou tput 4
ne gative
Positioning
completed netagive
Brake negative
General
input
interface
Common
cathode
general
output port
Differential
output
interface

6
Power-on initialization
display
Monitoring display
options
Parameter setting
Function operation
Monitoring display
Short press
the S key
M key
M key
M key
Press up and down keys
to select, SET key to view
Press up and down keys
to select, SET key to view
Long press the SET key
to confirm and modify the parameters
Long press the MODE key to
cancel the modified parameters
Use the up and down keys to select, long
press the SET key to execute functions
Ｐａｎｅｌ ｏｐｅｒａｔｉｏｎ ｍｅｎｕ
Ｊｏｇ Ｔｅｓｔ Ｏｐｅｒａｔｉｏｎ
Long Press S KEY
Servo enable,
Please retract servo enable signal
JOG
Forward
Ready
Error 2
Short Press M key
Reverse
Press Key 'UP’
Press Key 'DOWN’

7
Ｍｏｎｉｔｏｒ Ｓｔａｔｅ Ｃｏｎｔｅｎｔ Content
NO.Unit
——
rpm
rpm
%
%
%
Common unit(pulse)
Encoder unit(pulse)
Encoder unit(pulse)
rpm
KHz
——
——
Encoder unit(pulse)
°
V
——
Encoder unit(pulse)
circle
——
Run statement
Speed of motor
Speed command
Motor torque
Torque command
Run current
Position command counter
Position feedback counter
Position error
Pulse command speed
Pulse command frequency
Input signal state
Output signal state
Motor mechanical position
Motor electrical angle
Bus voltage
Encoder statement
Motor single-turn value
Motor multiturn value
Alarm code
Ｃｏｍｍｏｎ ａｌａｒｍ ＆ ｈａｎｄｌｉｎｇ
Handling
Code Fault content
Parameter read error
Encoder mismatch
IPM module overload
Command overload
Motor thermal protection
Internal voltage error
Encoder interference
Encoder data error
Encoder counter error
Encoder disconnection
Mode error
High Bus Voltage
Low Bus Voltage
Low encoder supply power 1
Low encoder supply power 2
Motor overspeed
Position feedback error
Brake inoperative
Limit fault
AL.100
AL.105
AL.110
AL.112
AL.113
AL.115
AL.120
AL.121
AL.125
AL.126
AL.200
AL.210
AL.211
AL.220
AL.221
AL.230
AL.240
AL.250
AL.252
Modify the P00.00 and reset
Confirm encoder style
Grounding correctly
The output torque of the drive exceeds the allowable range
Adjust command setting，change motor
Internal circuit error，change new driver
Check encoder shield
Check encoder wiring
Confirm control mode setting
High power voltage or too large braking energy
Low power voltage
Change encoder battery
Reset encoder alarm
Decrease motor speed
Adjust load and speed
Check brake circuit
Check limit switch

9
ＲＳＥ ｄｒｉｖｅｒ ｗｉｒｉｎｇ ｇｕｉｄｅ
16
17
18
19
20
21
24VIN7+
24VIN8+
IN7+
IN7-
IN8-
IN8+
5
1
2
3
24V+
24V-
34
35
36
37
32
33
31
CN2 Encoder cable
Motor cable
U
V
W
PE
L1
L2
P+
Br
INCOM
Single-phase
22 0VAC
IN1
IN2
IN3
IN4
6
7
4
Undefined
OUTCOM-
OUT2
DFOUT4+
DFOUT4-
Remark：
1.The general input signal is a two-way optocoupler circuit, which can be connected to a
single common anode or a separate common cathode (pin 1 is the common terminal). The common
anode and the common cathode cannot be mixed.
2.The two differential input signals have a total of 6 pins, please pay attention to check
the specifications of the input voltage.
3.The general output signal is a common cathode connection, and pin 31 is a common
ground. Maximum output circuit current 50mA.
4.The maximum current of the differential output signal output loop is 200mA, which can be used
to drive the relay switch. The relay for brake control must be connected to the differential output
circuit, which is the OUT4 port by default.
IN5
IN6
DFOUT3+
DFOUT3-
OUT1 Servo ready
Alarm output
Output common ground
Positioning complete positive
Positioning completed negative
Undefined
Emergency
stop
ECAT IN ECAT OUT
CN5CN4
Probe 1
Probe 2
Positive limit
Negative limit
Origin
Brake positive
Brake negative

10
Ｂａｓｉｃ ｐａｒａｍｅｔｅｒｓ ｏｆ ｐｏｓｉｔｉｏｎ ｃｏｎｔｒｏｌ ｍｏｄｅ
Sample value
No. Parameter name
Control mode
Rotation direction
Servo forced enable
IN1 function selection
IN1 polarity selection
IN2-8 function and polarity
OUT1 function selection
OUT1 polarity selection
OUT2-6 function and polarity
Position command source
Pulse command type
Pulse command filter constant
Command smoothing time
pulses required for one revolution
First speed gain
The first speed integral time
First position gain
P01.01
P01.02
P02.00
P02.01
……
P02.32
P02.33
……
P03.00
P03.02
P03.03
P03.04
P03.06
P06.00
P06.01
P06.02
P01.00 0,positioncontrolmode
0 or 1
0, external IO control enable; 1, internal enable
Default 1 ,IN1 as servo enable
0, valid at low level; 1, valid at high level
……
Default 4 ,OUT1 as servo ready
0, valid at low level; 1, valid at high level
……
0,External pulse input
0, PUL+DIR
Input pulse frequency limit
Default is 1 invalid
Default 10000
Rough adjustment of rigidity
Rough adjustment of rigidity
Rough adjustment of rigidity
Ｂｒａｋｅ ｗｉｒｉｎｇ ｄｉａｇｒａｍ
36
37
BRK+
BRK-
RSE SERVO DRIVER
24V-
24V+
KA
-+
Servo motor with brake
Relay
Servo driver
Remarks:
1. The output signal of bra ke control can only be specified as OUT3 or OUT4 port,
OUT4 is shown as defau lt.
2. Motor bra ke cable has polarity, please pay attention to distinguish