Maxsine EP100 Quick Manual

Maxsine

EP

100 AC SERVO

QuickGuide

Maxsine Electric Co.,Ltd

1.1 Standard wiring

Position control

3 Phase
AC220V

DC

12~24V

Servo ON(Enabled)

Alarm Clear

CCW Drive Inhibition

CW Drive Inhibition

Deviation Counter Clear

Command Pulse Inhibition

CCW Torque Limit

CW Torque Limit

Servo Ready

Servo Alarm

Positioning Completed

Mechanical Brake Release

Position Command

PULSE

Position Command

SIGN

NFB MC

COM+ 18

SON 10
ALRS 11
FSTP 12
RSTP 13

CLE 14

INH 15
FIL 16
RIL 17

SRDY+ 8
SRDY- 25

ALM+ 26
ALM- 27

COIN+ 28

COIN- 29
BRK+ 30
BRK- 31

PULS+ 32

PULS- 33

SIGN+ 34
SIGN- 35

FG 36

Maxsine

EP100(B) SERVO DRIVER

PE

R
S

T

r
t

CN1

4.7k

CN1

CN1

220

220

26LS31

Driver

Ground of

Metal Case

26LS32

Receiver

A

B

Z

CN2

CN1

U
V

W

PE

14 5V
15 5V
16 5V
17 5V
18 0V
19 0V
20 0V
21 0V

1 A+
2 A­3 B+
4 B­5 Z+
6 Z­7 U+
8 U-

9 V+
10 V­11 W+
12 W­22 0V
23 0V
26 FG

1 OA+

2 OA-

3 OB+

4 OB-

5 OZ+

6 OZ-

9 GND

7

SERVOMOTOR

2
3
4
1

4 Pins Connector
For Motor Power

2
3
4
7
5
8
6

9
10
13
11
14
12
15

1

15 Pins Connector

For Optical Encoder

A

A
B

Output Signals

B

of Encoder

Z

Z

Ground of

GND

CZ

Encoder Signal

Z

Z Signal of Encoder

(OC Output)

Picture 1.1 Standard wiring for position control

2

1.2 Terminal disposition for interface

Figure 3.1 is the disposition chart of terminal connector CN1 for the servo driver. CN1 is

the connector with 36 cores. Figure 3.2 is the disposition chart of terminal connector CN2 for
the servo driver. CN2 is the connector with 26 cores.

12

14

16

18 6

11

13

15

17

28

30

32

34

36

27

29

31

3335

Figure 2.1 the soldering lug of the CN1 plug（face to lug）

8

10

12

7

9

11

13

21

23

25

20

22

24

26

Figure 2.2 the soldering lug of the CN2 plug（face to lug）

1.3 Input/output interface type

1.3.1 Switch value input interfaces

810

79

25

4

5223201

2426

23

2

1921

6

5

19

18

24

13

1517

1416

z The range of external DC power supply is 12~24V, and the minimum input current is

100mA .

z Inverting the polarity of DC power source, which is provided by the user, can cause the servo

driver damage.

1.3.2 Switch value output interfaces

VCC

max 25V

Ground

Relay

Servo amplifier

8
26
28
30

25
27
28
29

Max Output 50mA

Relay connection

VCC

max 25V

Ground

Photo-coupler connection

The outputs use Darlington photo-coupler. It can be connected with relay, photo-coupler.

z

Servo amplifier

8
26
28

Max Output 50mA

30

25
27
28
29

z Inverting the polarity of DC power source, which is provided by the user, can cause the servo

driver damage.

z Open-collector circuit is used to transfer the outputs signal. the maximum current is 50mA,

the maximum voltage of external DC power supply is 25V. loads of the output signal should

be limited in that range, if not or directly connect to the power, can cause the servo driver

damage.

z When using relay like inductive loads, a free-wheel diode must be connected with the inductive

load in parallel. If the diode connects in wrong direction can cause damage to the output circuit.

z Owing to the low level of output is approximately 1V and cannot satisfy the TTL low-level

request, therefore cannot directly connect with the TTL circuit.

4

1.3.3 Pulse interfaces

z

The differential input connection is recommended for a correct transfer.

The RS422 driver(e.g AM26LS31、MC3487) is used to make the differential connection.

z

The action frequency will be fall down under a single connection. Base on the input circuit,

z

the driver current is in the range of 10~15mA , the maximum voltage of external DC power

supply is 25V, the R value will be got, Experience data:VCC=24V, R=1.3~2k; VCC=12V,

R=510~820Ω; VCC=5V, R=82~120Ω.

z Under the single connection, inverting the polarity of DC power source, which is provided by the

user, can cause the servo driver damage.

z The input mode、timing and parameters of the pulse are shown below, the arrow indicates the

counting edge. When use the mode of A、B phase, the maximum of the four times the frequency

is 500kHz.

Input pulse mode

5

The maximum frequency is 500kHz

The maximum frequency is 500kHz

Parameter demand Pulse waveform of position command

Differential Single end

>2μs t >5μs

t

ck ck

t t

>1μs

h

h

tl>1μs

t <0.2μs t <0.3μs

t <0.2μs t <0.3μs

t >1μs

t >8μs t >10μs

tqh>4μs

tql>4μs

t <0.2μs t <0.3μs

t <0.2μs t <0.3μs

t >1μs

ql

>>2.5μs

tl>>2.5μs

t >2.5μs

tqh>5μs

t

>5μs

t >2.5μs

rh rh

rl rl

s s

qck qck

qrh qrh

qrl qrl

qs qs

The maximum frequency is 125kHz

Input pulse timing and parameters

6

1.3.4 Encoder signals output interfaces

The encoder signals is transferred through the differential driver (e.g AM26LS31).

z

z On the host controller uses AM26LS32(or equivalent) to make the receiver, must connect the

terminal resistance, the value is about 330Ω;

z Encoder signal (GND) of servo driver must connect with the ground terminal on host

controller.

No isolation output.

z

The high-speed photo coupler (e.g. 6N137) can also be used on the host controller to make the

z

receiver.

7

1.3.5 Open-collector output of encoder Z signal

The Z signal of encoder is transferred through the open-collector circuit, it output ON(Turn on)

z

when the Z signal appears or OFF(Turn off) when there is no Z signal appears.

No isolation output.

z

Because the width of the Z pulse is narrow, please use a high-speed photo-coupler to receive it

z

on the host controller.

1.3.6 Photoelectric encoder input interfaces of servomotor

1.4 Parameter table

The default value in the next table take 110ST-M02030 (matches the EP100-2A drivers the

example. the parameter “*” symbol is possibly dissimilar in other models.

Table 4.1 User parameter table

Ordinal Name Usage Range Default Unit

0 Password

1 Identity code of servo driver

2 Software version (read only)

3 Status of initial display

4 Control mode selection

5 Proportional gain of speed loop

6 Integral time constant of speed loop

7 Filter of torque

8 Filter for speed detection

P，S，T

P，S，T

P，S，T

P，S，T

P，S，T

P，S

P，S

P，S，T

P，S

8

0~9999 315

0~51 30*

* *

0~21 0

0~6 0

5~2000 150* Hz

1~1000 20* ms

20~500 100 %

20~500 100 %

Ordinal Name Usage Range Default Unit

9 Proportional gain of position loop P 1~1000 40 1/s

10 Feed forward gain of position loop P 0~100 0 %

11 Cut-off frequency of feed forward

filter for position loop

12 Numerator of frequency divider for

position command pulse

13 Denominator of frequency divider

for

position command pulse

14 Input mode of position command

pulse

15 Reversing direction of position

com

mand pulse

16 Positioning completed range P 0~30000 20 pulse

17 Position deviation limit for error

detection

18 Neglect excessive position deviation P 0~1 0

19 Smooth filter for position command P 0~30000 0 0.1ms

20 Neglect drive inhibition inputs

21 JOG running speed S -3000~3000 120 r/min

22 Internal/external speed command

selection

23 Maximum speed limit

24 Internal speed 1 S -3000~3000 0 r/min

25 Internal speed 2 S -3000~3000 100 r/min

26 Internal speed 3 S -3000~3000 300 r/min

27 Internal speed 4 S -3000~3000 -100 r/min

28 Arrival speed S 0~3000 500 r/min

29 Input gain of analog torque

command

30 Alarm level of torque overload

31 Detection time for torque overload

alarm

32 Permission of control mode

exchange

33 Inversing direction of analog torque

command

P 1~1200 300 Hz

P 1~32767 1

P 1~32767 1

P 0~2 0

P 0~1 0

P 0~30000 400

P，S，T

S 0~2 1

P，S，T

T 10~100 30 0.1V/100

P，S，T

P，S，T

P，S，T

T 0~1 0

0~1 0

0~4000 3600 r/min

1~300 300 %

0~32767 0 ms

0~1 0

×100

pulse

%

9

Ordinal Name Usage Range Default Unit

34 Internal torque limit in CCW

direction

35 Internal torque limit in CW direction

36 External torque limit in CCW

dire

ction

37 External torque limit in CW

direction

38 Trial running in speed mode; Torque

limit in JOG operation

39 Zero offset compensation of analog

torque command

40 Acceleration time constant S 1~10000 0 ms

41 Deceleration time constant S 1~10000 0 ms

42 S-curve acceleration/deceleration

time constant

43 Gain of analog speed command S 10~3000 300 (r/min) /

44 Reversing direction of analog speed

command

45 Zero offset compensation of analog

speed command

46 Time constant of filter for analog

speed command

47 Action setting for electromagnetic

brake when servomotor is in

standstill

48 Action setting for electromagnetic

brake when servomotor is in motion

49 Action speed for electromagnetic

brake when servomotor is in motion

50 Speed limit in torque control T 0~5000 3600* r/min

51 Electronic gear is available in

dynamic

52 Second numerator of frequency

divider for position command pulse

53 Bottom four bits control word for

forcing the input terminal to be ON

P，S，T

P，S，T

P，S，T

P，S，T

S 0~300 100 %

T -2000~2000 0

S 1~1000 0 ms

S 0~1 0

S -5000~5000 0

S 0~1000 300 Hz

P，S，T

P，S，T

P，S，T

P 0~1 0

P 1~32767 1

P，S，T

0~300 300* %

-300~0 -300* %

0~300 100 %

-300~0 -100 %

V

0~200 0

0~200 50

0~3000 100 r/min

0000~1111 0000 Binary

×10ms

×10ms

10

Ordinal Name Usage Range Default Unit

54 Top four bits control word for

forcing the input terminal to be ON

55 Bottom four bits control word for

inversing the terminal input signal

56 Top four bits control word for

inversing the terminal input signal

57 Control word for inversing the

terminal output signal

58 Time constant of input terminal for

removing the effect of vibrating

contact

59 Demonstration operation

P，S，T

P，S，T

P，S，T

P，S，T

P，S，T

P，S

0000~1111 0000 Binary

0000~1111 0000 Binary

0000~1111 0000 Binary

0000~1111 0000 Binary

1~1000 16 0.1ms

0~1 0

11

1.5 Alarm table

Alarm code Alarm name Alarm content

-- Normal

1 Over speed Servomotor speed exceeds the speed limit.

2 Over voltage of the

main power supply

3 Under voltage of the

main power supply

4 Position deviation

exceeds the limit value

5 Servomotor over heat The temperature of servomotor is too high

6 Saturation fault of the

7 Drive inhibition is

abnormal

8 Overflow of position

deviation counter

9 Encoder signal fault Lack of the signals of encoder

10 Under voltage of

control power supply

11 IPM model fault IPM intelligent model fault

12 Over current Over-current of servomotor

13 Overload Overload of servomotor and servo driver

14 Brake fault Fault occurs in brake circuit

15 Encoder counter error Encoder counter is abnormal.

16 Over-heat of

servomotor

17 Speed response fault Speed deviation is too big for a long time

19 Over heat reset System was reset by over heat fault

20 EEPROM error EEPROM is in error

21 U4 error U4 is in error

22 Reserved

23 U6 chip error U6 chip or current sensor is in error

29 Over torque alarm The torque of servomotor exceeds the setting value

speed amplifier

Table 5.1 Alarm table

The voltage of the main power supply exceeds the

specified value.

The voltage of the main power supply exceeds the

specified value.

The counter of position deviation exceeds the

setting limit value.

The speed regulator is in saturation status for a long

time

CCWL、CWL the inputs of drive inhibition are

OFF.

The absolute value of position deviation counter

exceeds 2

The voltage of control power supply is too low.

(instantaneous over heat)

The heat load of servomotor exceeds the setting

2

value (I

and sustained time

t detection)

30

30 Lost Z signal of encoder Z signal of encoder is loss.

31 UVW signals error of

encoder

32 Illegal code of encoder

UVW signals

The UVW Signals error or pole number does not

match with the servomotor

UVW signals are all high level or low level

1.6 Display and button operation

The front panel consists of the display (6-digit, 7-segment LED) and four switching buttons

( ↑、↓、←、Enter ).

is executed in layer. ← and Enter button expresses the layer going backward and forward
respectively; The Enter button has the meaning of enter, confirm. The ← button has the
meaning of exit, cancel. The ↑ and ↓ button expresses increase and decrease of serial
number or value size respectively; if press down and hold the ↑ or ↓ button，then has the

effect of repeat for doing so; And the longer of holding the higher of repeat rate.

If 6 LED digit or decimal point of the most right side LED digit is twinkling, shows that

any alarm occurs. If the POWER lamp lit indicates that the main power supply is on. If the RUN

lamp has lit, indicates that the servomotor is in motion.

It is used for display the system status, parameter setting and so on. Operation

Maxsine

EP100 Series
AC Servo Amplifier

Picture 6.0 Front panel

Power

Run

Enter

1.7 First layer

Use the first layer to select the operation mode, There are seven operation mode can be
selected by using ↑ or ↓ button，Then press down the Enter button for entering the second

layer that has selected. After that if press down the ← button, then return to the first layer

again.

Picture 7.0 Diagram of operation mode selection

1.8 Second layer

1.8.1 Monitor mode

If has chosen the monitor mode “dP-@@@” in the first layer, Press the Enter button to enter

the monitor mode. There is twenty one monitor’s status. Use ↑ and or ↓ button to select the

needing monitor's status; Press the Enter button again to enter the concrete display condition.

dp-spd

dp-pos

dp-pos.

dp-[po

dp-[po.

dp-epo

dp-epo.

dp-trq

dp- i

dp-lsp

dp-[nt

dp-frq

dp- [s

dp- [t

dp-apo

dp- in

dp-out

dp-[od

dp- rn

dp-err

dp-res

Motor speed(r/min)
Bottom 5 digits of current position (pulse)

Top 5 digits of current position
(x100000 pulse)

Bottom 5 digits of current command (Pulse)
Top 5 digits of current command

(x100000Pulse)
Bottom 5 digits of current deviation (Pulse)

Top 5 digits of current deviation
(x100000Pulse)

Motor torque(%)

Motor current(A)

Linear velocity(m/min)
Current control mode

Pulse frequency of position command(kHz)

Speed command(r/min)

Torque command(%)

Absolute position of rotor in one turn(Pulse)

Status of input terminal
Status of output terminal

Input signals of encoder

Operation status

Alarm code

Factory reserve

Enter

r1000

p45806

p. 12

[45810

[. 12

e4

e. 0

t70

i2.3

l5.000

[nt 0

f12.6

r. -35

t. -20

a3265

In!!!!

out !!

[od!!!

rn- on

err 9

u0

Motor speed 1000r/min

Current position 1245806
pulses

Position command 1245810
pulses

Position deviation 4 pulses

Motor torque 70%

Motor current 2.3A

Linear velocity 5.000m/min

Control mode 0

Pulse frequency of position
command 12.6kHz

Speed command -35r/min

Torque command -20%

Absolute position of rotor 3265

Input terminal

Output terminal
Input signals of encoder

Operation status: in running

Number 9 alarm

Factory reserve

Picture 8.0 Diagram of monitor mode operation

1.8.2 Parameter setting

If has chosen the parameter setting mode “PA-@@@” in the first layer, Press the Enter

button to enter the parameter setting mode. Use ↑ and or ↓ button to select the number of
parameter. Press the Enter button to display the value of selected parameter. Use ↑ and ↓
button to be able to modify the parameter value. Press ↑ (or ↓ ) button once to increase ( or
decrease) the parameter value by one. Pressing down and hold the ↑ ( or ↓ ) button, the

parameter can increase ( or decrease) continuously. When the parameter value is modified, the

decimal point on the most right sides LED is lit. Press Enter to confirm the parameter value to

be effective, meanwhile the decimal point is turned off. The modified parameter value is
immediately active to influence on the control. Hereafter pressing ↑ or ↓ button can
continue to modify the parameter. After finishing modification of parameter, press the ←

button to return to the parameter number selection. If the value of the parameter is not satisfied,
do not press the Enter button and can press ← button to cancel and to resume the original
parameter value and to return to the parameter number selection.

Picture 8.1 Diagram of parameter setting operation

1.8.3 Parameter management

Choose the parameter management mode “EE-@@@” in the first layer. Press the Enter

button for entering the parameter management mode in which operation is performed between

the parameter list and the EEPROM.

There are five operation modes. First use ↑ and or ↓ button to select an operation

mode. Take “parameter write in” as the example, select “EE-Set” and then pressing down

and hold the Enter button at least three seconds to active the writing operation mode. The
“StArt@” is displayed in the front panel indicating that the parameter is writing into

EEPROM. Waiting for about 1 to two second, if the writing operation is successful, then the

“

FInISH” will display, if it is fail the “Error@” will display. After finished the operation

and then press the ← button for returning to the operation mode selection.

EE-SEt Parameter write

This operation indicates that the parameter in parameter list will write to EEPROM.

The user has made change to a parameter. This only change the value of the parameter in

parameter list, but in the next time when the power supply is on the parameter will restore its

original value. Making permanent change to a parameter value, it is the need to carry out the

parameter write operation and write the parameter to EEPROM, in later when the power

supply is on and will be able to use the parameter.

EE-dEF Resume default value

This operation indicates that each default value of all the parameters will read and

write to the parameter list and EEPROM. For the next time when power supply is on the

default parameters will be used by now. When many parameters become confusion and

cause abnormal operation, it is necessary to carry out this operation for resuming the

default parameters. There are different default parameters for different servo driver model

and the servomotor model. Therefore, before doing this operation the servo driver code

(Parameter P001) and the servomotor code (Parameter P002) must be selected correctly.

ee-set

ee- rd

ee- ba

ee- rs

ee-def

Parameters
wirte in

Parameters
read out

Parameters
backup

Resume
backup

Resume
default value

Press down and
hold for 3 second

Operation success

finisk

start

error

Operation fail

Picture 8.2 Diagram of parameter management operation

1.9 Operation of position control mode with simple wiring

Wiring

According to the picture 7.8 make the wiring carefully.

z The main circuit terminal R、S and T connect with three phase AC 220V power supply.
z The terminal ‘r’ and‘t’ of control power supply connect with single phase AC 220V power

supply.

z The output terminals(U,V,W) must be connected with the servo motor connections(U,V,W)

correspondently, otherwise the servo motor will stop or over speed.

z Using the encoder connector CN2 connect the servo driver with the servomotor.
z Using the control signal connector CN1 connect other wiring according to the drawing.

3 Phase
AC220V

12~24V

Servo ON(Enabled)

Servo Ready

Position Command

PULSE

Position Command

SIGN

Ground of

Encoder Signal

Z Signal of Encoder

(OC Output)

Maxsine

EP100(B) SERVO DRIVER

DC

GND

PE

R
S

T

NFB

MC

r
t

CN1

COM+ 18

4.7k

SON 10

SRDY+ 8
SRDY- 25

PULS+ 32

PULS- 33
SIGN+ 34
SIGN- 35

Z

FG 36

220

220

9GND

CZ

7

Ground of

Metal Case

CN2

26LS32

Receiver

U
V
W

PE

14 5V
15 5V
16 5V
17 5V
18 0V
19 0V
20 0V
21 0V

1 A+
2 A­3 B+
4 B­5 Z+
6 Z­7 U+
8 U-

9 V+
10 V­11 W+
12 W­22 0V
23 0V
26 FG

Picture 9.0 Simple wiring diagram of position control mode

SERVOMOTOR

Motor

2
3
4
1

4 Pins Connector
For Motor Power

Optical Encoder

2
3
4
7
5
8
6

9
10
13
11
14
12
15

1

15 Pins Connector

For Optical Encoder

Operation

z Turn on the control power supply and then the main power supply. The display of the

front panel is lit. The POWER indicating LED is lit.

z Set parameters according to the table below：

Number of

parameter

PA4 Control mode

PA12 Numerator of

PA13 Denominator of

PA19 Smooth filter for

PA20 Neglect drive

z Confirming that there is neither any alarm nor any unusual situation, the servo enable

(SON) signal is given, then the RUN indicating LED lit and the servomotor is active at

zero speed state by now

the servo driver and make the servomotor running under low speed.

explanation Setting value Default value

0 0

selection

electronic gear

electronic gear

By user

setting

By user

setting

1

1

0 0

position command

1 0

inhibition inputs

. Send low frequency command pulse from the host controller to