Sinee EA100-7R6-2A, EA100-012-3A, EA100-5R4-3A, EA100-8R4-3A, EA100-5R5-2A User Manual

1

Preface

Thank you for purchasing EA100 series servo drive.

EA100 is a high performance general-purpose servo drive, which can be widely used in the numerically controlled machine tools, printing and packaging machinery, textile machinery, robot automatic production line and other automation fields.

Since SINEE is committed to the development and improvement of products and products documents, this manual will be updated without notice.

2

Safety Information

Danger: The label indicates that a failure to follow instructions can result in

serious injury or even death.

Caution: The label indicates that a failure to follow instructions can result in moderate or slight injury and device damage.

Please read this chapter carefully before system installation, debugging and maintenance and always follow the safety precautions below during operation. SINEE will not undertake any damage or loss caused by a failure to follow the instructions.

Safety Precautions

Before Installation:

Danger

1. Do not install servo drive if its package is wetted or any its component is missing or

broken.

2. Do not install servo drive if the label information on its package is not identical to that on servo drive.

Caution

1. Be careful when carrying or transporting servo drive so as to avoid damage!

2. Do not use servo drive if it is damaged or any component is missing so as to avoid injury!

3. Do not touch the parts of control system with bare hands so as to avoid ESD!

During Installation:

Danger

1. Installation base shall be metal or other non-flammable material so as to prevent fire risk.

Caution

1. Ensure that no cable strips or screws are dropped servo drive so as to avoid damage to servo drive.

2. Install servo drive at a place with less vibration and no direct sunlight.

3. Consider the installation space for cooling purpose when servo drive is installed in a closed cabinet or space.

Wiring:

Danger

accidents.

risk.

applicable wiring standard so as to avoid electric shock.

Caution

attention to terminal symbols and connect to the terminals correctly so as to prevent risks of damaging servo drive.

recommended sizes so as to prevent accident risk.

Otherwise, it will trigger the action of the overcurrent protection circuit or even damage the internal parts of servo drive.

parts of servo drive.

3

Before Power-on:

Danger

L2 and L3 and output terminals U, V or W are correctly connected, there are no short circuit phenomena for the wiring of servo drive and its peripheral circuits, and all wires are in good connection. Otherwise, this may result in servo drive damage.

factory. Otherwise, this may result in accident.

Caution

may result in an electric shock.

manual. Otherwise, it may result in an electric hazard.

After Power-on:

Danger

1. Do not touch servo drive or its peripheral circuits with wet hands to avoid the electric shock.

2. If the indicator is off or the keypad does not display any information after power-on, please cut off the power supply immediately. Never touch any terminal of L1, L2 or L3 of servo drive or the connecting terminals with hands or a screw driver, or else an electric shock accident may occur. Contact our customer service personnel immediately after cutting off the power.

3. After being powered on, servo drive will automatically check the safety of the external strong circuit automatically. Therefore, do not touch wiring terminal U, V or W of servo drive or the wiring terminal of the motor with bare hands, otherwise it will result in electric shock.

Caution

running so as to avoid accidents.

During Operation:

Danger

temperature, which may result in burning!

personal injury or device damage.

Caution

avoid damage to the device.

damage to the device.

injury..

Maintenance:

Danger

shock.

indicator is off. Otherwise, the residual electric charge of capacitor may result in personal injury.

avoid personal injury or device damage.

performed after power-off.

Attentions

4

Varistor or Power Factor Improvement Capacitor on Inverter Output Servo drive outputs PWM wave. Do not use servo drive, if a power factor improvement capacitor or a lightning varistor is on output side, which may easily result in transient overcurrent of servo drive, or even damage servo drive.

Surge Protection A surge protection device is installed in servo drive to prevent it from induction lightning stroke on a certain degree. Additional protection devices are required in front of servo drive in the places where thunder and lightning occur frequently.

Altitude and Derating When servo drive is used in an area at an altitude of over 1,000m, the cooling effect will degrade, so it must be derated. For details, please consult SINEE.

Attentions at Servo Drive Scrapping Burning the electrolytic capacitors of the mains and PCB may result in explosion and burning plastic parts may generate toxic gas. Please handle them as industrial wastes when servo drive is scrapped.

5

CONTENT

1 Product Information .............................................................................................................. 6

1.1 Verifying Product .......................................................................................................... 6

1.2 Model Numbering Scheme and Nameplate ................................................................... 6

1.3 Model Number List ....................................................................................................... 7

1.4 Servo Drive Control Mode ............................................................................................ 7

2 Installation .............................................................................................................................. 8

2.1 Caution .......................................................................................................................... 8

2.2 Storage ambient conditions ........................................................................................... 8

2.3 Installation ambient conditions ...................................................................................... 8

2.4 Servo Drive Installation Direction and Space ................................................................ 8

2.5 Servo Motor Installation Direction and Space ............................................................... 9

2.6 Circuit breakers and fuse recommendations ................................................................ 10

2.7 Brake resistance selection ............................................................................................ 10

2.8 EMI Filters .................................................................................................................. 12

3 Display & Operation ............................................................................................................ 13

3.1 Display and key operation Exterior ............................................................................. 13

3.2 Display and operation mode ........................................................................................ 13

3.3 Parameter setting Description ...................................................................................... 13

3.4 Status Display .............................................................................................................. 14

3.5 Monitor display ........................................................................................................... 14

3.6 Fault and alarm display ............................................................................................... 14

4 Wiring ................................................................................................................................... 15

4.1 Peripheral connection .................................................................................................. 15

4.2 Main circuit wiring ...................................................................................................... 15

4.3 CN5 encoder signal terminal ....................................................................................... 18

4.4 CN4 Control signal terminal ....................................................................................... 20

4.5 CN2, CN3 communication terminal wiring ................................................................. 31

4.6 CN1 analog output terminal ........................................................................................ 31

4.7 Holding brake .............................................................................................................. 32

4.8 Standard wiring diagram for control circuit................................................................. 34

4.9 Control circuit wiring precaution ................................................................................ 36

4.10 Servo drive main circuit block diagram ..................................................................... 36

5 Running and debugging ....................................................................................................... 38

5.1 Drive power on ................................................................................................ ............ 38

5.2 Trial running ................................................................................................................ 38

5.3 Servo enable method ................................................................................................... 38

5.4 Speed control mode ..................................................................................................... 39

5.5 Torque control mode debugging steps ......................................................................... 40

5.6 Gain parameter adjustment strategy ............................................................................ 40

6 Function Parameters ................................................................................................ ............ 42

6.1 Function parameters define ......................................................................................... 42

6.2 Function parameter list ................................................................................................ 42

7 Function parameter details .................................................................................................. 54

7.1 P0 group - Monitoring parameters ............................................................................... 54

7.2 P1-xx Basic control parameters ................................................................................... 58

7.3 P2-xx Internal multi segment position (Pr) control parameter ..................................... 74

7.4 P3-xx Internal multi-speed control parameters ............................................................ 76

7.5 P4-xxTorque control parameter ................................................................................... 76

7.6 P5-xx Gain tuning parameters ..................................................................................... 77

7.7 P6-xx Input and output(DI/DO)parameter ................................................................... 82

7.8 P7-xx Communication parameters .............................................................................. 87

7.9 P8-xx Auxiliary check even-parity function parameters .............................................. 88

7.9 Pb-xx the origin of regression function parameters ..................................................... 91

8 Communications protocol .................................................................................................... 96

8.1 Application Scope ....................................................................................................... 96

8.2 Physical interface ........................................................................................................ 96

8.3 Protocol format ............................................................................................................ 96

8.4 Command interpretation .............................................................................................. 96

8.5 Protocol Format Description ....................................................................................... 97

8.6 Example....................................................................................................................... 98

9 Fault alarm and Treatment ................................................................................................. 99

9.1Fault Diagnosis and Treatment ..................................................................................... 99

9.2 Alarm Diagnose and Treatment Measures ................................................................. 102

10 Specification ...................................................................................................................... 104

10.1 Technical specification ............................................................................................ 104

10.2 Dimensions .............................................................................................................. 105

10.3 Motor specification .................................................................................................. 106

10.4 SER series servo motor dimension .......................................................................... 108

10.5 SER series servo motor overload characteristics ..................................................... 110

6

1 Product Information

1.1 Verifying Product

Check and verify the product:

Item

Method

Check if they are identical to the purchase order.

Check the nameplate at the side of inverter.

Any damage.

Check the overall appearance to see if they are damaged in transportation.

Any loosened screws or other fastening parts.

Check with a screw driver if necessary.

If you find any quality problem, please contact SINEE Direct Sale Department or the distributor.

1.2 Model Numbering Scheme and Nameplate

1.2.1 Nameplate

 EA100 series servo drive

产品型号

适配电机功率

电源规格

输出规格

产品条码

产品序列号

额定输出电流

 SER series servo motor

NOTE：The actual product nameplate may be different from as shown in the figure.

1.2.2 Model Numbering Scheme

Servo drive:

Servo motor:

7

1.3 Model Number List

Servo Drives

Matched Servo Motors

Model of servo

drives

Input voltage

Rated

output

current

Size

Model of servo motors

Motor power

EA100-2R8-2A

1/3 phase AC

220V

2.8A

SIZE A

SER06-0R4-30-2AAY

400W

EA100-5R5-2A

5.5A

SER08-0R7-30-2AAY

750W

EA100-7R6-2A

7.6A

SIZE B

SER13-1R0-20-2ABY

1000W

EA100-010-2A

3 phase AC

220V

10.0A

SER13-1R5-20-2ABY

1500W

EA100-5R4-3A

3 phase AC

380V

5.4A

SER13-1R5-20-3ABY

1500W

EA100-8R4-3A

8.4A

SER13-2R0-20-3ABY

2000W

EA100-012-3A

12.0A

SER13-3R0-20-3ABY

3000W

EA100-018-3B

18.0A

SIZE C

SER18-4R5-15-3BBZ

4500W

EA100-021-3B

21.0A

SER18-5R6-15-3BBZ

5600W

EA100-030-3B

30.0A

SER18-7R5-15-3BBZ

7500W

1.4 Servo Drive Control Mode

The drive can provide multiple control modes for users, please refers to as follows:

Type

Control mode and

function parameter

Display

Specification

Single

mode

Position mode P1-00=1

P

Drive accepts position command to control motor Running at target position. Position command input by terminal, signal is pulse.

Speed mode P1-00=0

S

Drive accepts speed command to control motor running to targer speed. Speed command can be provided by internal register (3 groups) or analog voltage input terminal, and confirm which use at present based on DI.

Torque mode P1-00=2

T

Drive accepts torque command to control motor running to target torque. Torque command can be provided by internal register (3

groups) or analog voltage input terminal, and confirm which use at present based on DI.

Mixed

mode Speed and Position switch mode P1-00=3

S-P

S and P can switch by DI terminal.

Torque and Position Switch mode P1-00=5

T-P

T and P can switch by DI terminal.

Speed and Torque switch mode P1-00=4

S-T

S and T can switch by DI terminal.

8

2 Installation

2.1 Caution

Please pay special attention to the following:

 The cable between servo drive and servo motor should stay relaxed, not tense.  If the cable between servo drive and servo motor is more than 20 meters, please

Strengthen UVW connection and encoder connection.

 When the servo driver is fixed, the installation direction must be in accordance with the regulations, and each fixed screw must be locked.  For the determination of concentric with the servo motor shaft and equipment shaft, to

prevent the radial stress when motor running.

 Four fixed screws of the servo motor must be locked according to the prescribed torque.  In order to make the cooling effect better, when install AC servo drives, the upper and lower, left and right and adjacent items and baffle

(wall) must keep enough space, otherwise it will cause fault.

 When the servo driver is installed, it can not be dumped. The air suction and exhaust holes are not blocked, otherwise, the fault can be

caused.

2.2 Storage ambient conditions

Please put the product in its packing box before installation. If the drive is not used, in order to enable the product to meet the company's scope of warranty and future maintenance, be sure to pay attention to the following conditions:

2.3 Installation ambient conditions

2.3.1 EA100 servo drive using ambient conditions:

Item

Description

Dust and gas

No dust, free of corrosive gas or liquid.

Ambient humidity

Relative humidity 20%～90%（no condensation）

Ambient temperature

0℃～+45℃

Vibration

Below 4.9m/s²

Impact

Below 49m/s²

Elevation

Below 1000m,please derating above 1000m

2.3.2 SER series servo motor using ambient conditions:

Item

Description

Ambient humidity

Relative humidity20%～80% (no condensation)

Ambient temperature

0℃～+40℃

Vibration

Below 4.9m/s²

Impact

Below 49m/s²

Elevation

Below 1000m,please derating above 1000m

 Do not use motor in closed ambient. Closed ambient will lead to high temperature of motor, shorten the service life.

2.3.3 Other caution In addition to the above ambient conditions, regardless of the drive or motor, when selecting the installation site, please observe the following precautions,otherwise, may make the product can not meet the company's warranty coverage and future maintenance:

 No high temperature.  No water drops, steam, dust and oil dust.  No corrosive or flammable gas or liquid.  No floating fiber or metal particles.  Installation base shall be solid and free from vibration.  No electromagnetic interference and away from interference source.

2.4 Servo Drive Installation Direction and Space

Servo drive and servo motor appearance size and weight specifications, please refer to the chapter 10.

2.4.1 Method Please ensure the installation direction and walls are vertical. To use natural convection or fan for cooling of the servo drive. Through the mounting hole, the servo driver is firmly fixed on the mounting surface. When installing, please turn the servo drive front (the operator's actual mounting face) to the operator, and make it perpendicular to the wall.

2.4.2 Cooling

Item

Description

Storage temperature

-20℃～+65℃（high temperature: 80℃ 72hours）

Storage humidity

Relative humidity of 0% to 95% with no condensation

Vibration

Below 49m/s²

Impact

Below 490m/s²

9

In order to ensure the air convection, please refer to Figure 2-1, around the servo drive with enough space.

In order not to make the ambient temperature of the servo drive partial excessive phenomenon, so that to maintain a uniform temperature of

electric cabinet, please install cooling fan above servo drive in electric cabinet.

2.4.3 Ground Make sure the ground terminal is grounded, otherwise, there may be a risk of electric shock or interference arising from false action.

Figure 2-1 Servo Drive Installation Direction and Space

2.5 Servo Motor Installation Direction and Space

2.5.1 Motor installation SER series servo motor must be installed in a dry and solid platform, please keep good ventilation and heat radiation effect, and keep a

good grounding.

2.5.2 Installation diagram

Item

Description

Anti-rust

solution

Wipe clean servo motor shaft extension ends of the "anti rust agent" before installation, and then do the relevant anti rust treatment

Encoder note

 Installation to prohibit the impact of the shaft extension end, otherwise it will cause internal encoder fragmentation.

Pulley

installation

 When installing the pulleys in the servo motor shaft with keyway ,please

use screw on the shaft end. In order to install pulley, at first, the double headed nail is inserted into the screw hole of the shaft, washer is used on the surface of the coupling end and a nut gradually locked into the pulley.

 About the servo motor shaft with keyway, use the screw holes of shaft

end to install. About the shaft of no keyway, adopt the wear coupling or similar method.

 When removing the pulley, adopt pulley removal device to prevent shaft

subjected to impact.

 In order to ensure safety, a protective cover or similar device shall be

installed in the rotating area.

10

Item

Description

Centering

 In connection with the machine, please use the coupling, as well as the

axis of the servo motor and mechanical axis to keep in a straight line, the circumference radial pulsation of the shaft coupling should not be greater than 0.03mm. If the centering is not sufficient, it will produce vibration, it can damage the bearings and encoders etc.

Installation

direction

 The servo motor can be installed in horizontal direction or vertical

direction, do not install slant, otherwise it may cause motor bearing wear.

Oil solution

When using at the place of water droplets drop , please confirm the servo motor on the basis of the protection level (except the shaft through part). When using for the site of oil droplets will drop to the shaft through part, please specify the use of oil seal with the servo motor. The servo motor operating conditions with oil seal:

 Please ensure the oil level is lower than the oil seal lip when using.

 Please use when oil seal can keep oil splash in a good condition.  In the servo motor vertical installation, please pay attention not to use oil

seal.

Shaft through part: Refers to the gap of motor shaft from the end surface of the protruding part

Stress condition

of cable

Don't make cable excessive bending or tension is applied to it, especially the core wire of the encoder signal line is 0.12 mm or0.22 mm, very fine, so in wiring and using, please don't make the stretching tight.

Connector parts

solution

For connector parts, please note the following:

 The connector, please confirm there is no garbage or metal debris and

other foreign bodies in connector.

 The connector connects to the servo motor please first from one side of

the servo motor circuit cable and cable main grounding wire must reliable connection. If first connected one side of the encoder cable, the encoder may be fault caused by the potential difference between the PE.

 The connection, please confirm the correct pin arrangement.  The connector is made of resin. Do not apply impact to prevent damage

to the connector.

 When cable maintain connection to handle, please hold the servo motor

main body. If only seize the cable handling, may be damaged or broken cable or connector.

 If you need to bend the cable, you should pay full attention to the

wiring , do not make the connector part of the pressure or tension, or may cause the connector damage or poor contact.

2.6 Circuit breakers and fuse recommendations

If there is a drive to install the leakage circuit breaker to be used as the leakage fault protection, to prevent leakage circuit breakers

malfunction, please select the model about the sense of current in the 200mA above and the action time of 0.1 seconds above. Fuse, please use the fast fuse model, its rated current should be based on the drive capacity of about 1.5 times.

Strongly recommended: The fuse and circuit breakers recognized by UL/CSA .

2.7 Brake resistance selection

When the motor's output torque and speed in the direction of the opposite, the energy will be transmitted back to the drive from the load. This energy will be poured into the bus bar so that the voltage value of the bus inside the drive is increased, and the magnitude of the recharge energy depends on the inertia of the motor and the load. If the system inertia small, may through drive internal capacitors to absorb recharge energy, but if the system inertia is large, more than the energy that capacity absorb, voltage value may rise too high, causing the drive stop or even damage, so when the voltage rises to a certain value, recharge energy must by a braking resistor to consume.

The following table 2-1 lists commonly used SER series servo motor rotor inertia and EA100 drive internal capacitive absorption ability, and

retrogradation energy calculation formula.

11

Table 2-1 SER series servo motor rotor inertia and retrogradation capacity absorbed

Model

Motor

rotor inertia

42

( 10 )J kg m





Retrogradation

from rated speed

to motionless

without load

Eo (J)

Capacity

maximum

retrogradatio

n

Ec (j)

EA100-2R8-2□

SER06-0R4-30-2□AY

0.3

1.48

16

EA100-5R5-2□

SER08-0R7-30-2□AY

1.01

4.99

24

EA100-7R6-2□

SER13-1R0-10-2□BY

17.14

9.42

41

EA100-7R6-2□

SER13-1R0-20-2□BY

8.71

19.1

41

EA100-010-2□

SER13-1R5-20-2□BY

12.08

26.5

41

EA100-5R4-3□

SER13-1R5-20-3□BY

12.08

26.5

34

EA100-8R4-3□

SER13-2R0-20-3□BY

17.14

37.67

49.6

EA100-012-3□

SER13-3R0-20-3□BY

25.58

56.22

49.6

EA100-018-3B

SER13-4R5-15-3BBZ

35.37

43.73

61.2

EA100-021-3B

SER13-5R6-15-3BBZ

45.51

56.26

91.8

EA100-026-3B

SER13-7R5-15-3BBZ

79.89

98.76

91.8

retrogradation energy calculation formula:

v：rpm，motor maximum speed

The motor rotor inertia of servo motor with brake is same with servo motor without

brake’s.

2.7.1 Built-in brake resistance

There is brake resistance in EA100 series drive, suitable for the general situation of the load inertia. About EA100 series built-in brake resistance specifications, please refer to Table 2-2.

Table2-2 EA100 drive built-in brake resistance allowable minimum external brake resistance

Model

Brake resistance(built in)

Retrogradation

treated by built in

brake resistance

Allowable

minimum

external brake

resistance

Resistor(P8-18)

Capacity(P8-19) EA100-2R8-2□

50Ω

100W

50W

50Ω

EA100-5R5-2□

50Ω

100W

50W

50Ω

EA100-7R6-2□

50Ω

100W

50W

40Ω

EA100-010-2□

50Ω

100W

50W

40Ω

EA100-5R4-3□

50Ω

100W

50W

50Ω

EA100-8R4-3□

50Ω

100W

50W

50Ω

EA100-012-3□

50Ω

100W

50W

45Ω

EA100-018-3B

40Ω

200W

90W

30Ω

EA100-021-3B

40Ω

200W

90W

30Ω

EA100-026-3B

40Ω

200W

90W

25Ω

2.7.2 External brake resistance capacity calculation

When the retrogradation capacity exceeded retrogradation capacity internal brake resistance can dealt with, should use external braking resistance. According to the calculation formula of retrogradation , assuming the load inertia is N times the inertia of the rotor of the motor, motor from the rated speed to 0, retrogradation is (N+1) *Eo, the action cycle is T, then Power of braking resistance

2.7.3 Note when using external braking resistance

 When using external braking resistor, resistor connected to the P+ and C terminal, at the same time must remove the short circuit piece

installing between P+ and D, makes P and D two terminals in the open state.

 The external braking resistance cannot be less than reported in table 2-2, otherwise it might damage the drive.  Please make the external resistor braking resistor value and the capacity set to the function parameters of drive correctly, otherwise it will

affect the execution of the function.

P8-18 (brake resistance), P8-19 (brake resistance capacity).  In the natural environment, when the braking resistor can handle retrogradation capacity (average) below the rated capacity, resistance

temperature will rise to 120℃ above(in the continuous braking condition). For security, please use the forced cooling system, to reduce the temperature of the brake resistor; or recommend the use of braking resistor with thermo switch. The load characteristics on braking resistance, please refer to the manufacturer.

Note：

1) Please make the external braking resistor same with the internal braking resistor, otherwise, may lead to drive damaged.

)(182/

2

0

JJ

v

E



T

N

EE

C

))1((2

0





12

2) When using external braking resistance, if don‘t remove the short circuit piece which is between P and D, it may lea to drive damaged.

2.8 EMI Filters

All of the electronic equipment (including servo drives) in normal operation, will produce some high frequency or low frequency noise, and through the conduction or radiation interference peripheral equipment. If you can match the appropriate EMI filter and the correct installation method, the interference will be reduced to a minimum. When the servo driver and EMI filter are installed, we can follow the installation and wiring of the contents of the manual, we can be sure that it can meet the following specifications:

1. EN61000-6-4（2001）

2. EN61800-3 （2004） PDS of category C2

3. EN55011+A2（2007） Class A Group 1

2.8.1 EMI Filter installation caution

In order to ensure that the EMI filter can achieve maximum effect of inhibit the servo drive interference, in addition to the servo drive according to the contents of the manual installation and wiring, still need to pay attention to the followings:

1) Servo drive and EMI filter must be installed on the same piece of well grounded metal plane.

2) Servo drive and EMI filter, please try to install the servo drive above the EMI filter .

3) All wiring will be as short as possible.

4) Metal shell of servo drive and EMI filter must be reliably connected with the metal ,surface, and the contact area between the two should be as large as possible.

2.8.2 Selection of motor cable and installation notes

The selection and installation of the motor line is correct or not, it’s related to the EMI filter can play the greatest effect of servo drive interference suppression. Please note the followings:

1) The cable with isolation copper mesh (Double isolation layer is preferred).

2) The isolated copper mesh on both ends of motor line to ground in the shortest distance and the maximum contact area.

3) Motor line isolation copper mesh connects metal plane correctly, isolated copper mesh on both sides of motor line should be fixed with U-shaped metal piping supports and metal plane.

13

3 Display & Operation

3.1 Display and key operation Exterior

Mode key

UP key DOWN key

Left key Set key

Digital display

EA100-8R4-3A

01020052111410280001

MOD SET

88888

Drive model

and serial

number

3.2 Display and operation mode

There are 5 display and operation mode for EA100 servo drive

Mode

Function

Monitor mode

Monitoring the value of parameter code

Parameter group

selection mode

Choose parameter group to be monitored or set

Parameter code selection mode

Choose parameter code to be monitored or set

Setting Mode

Setting the value of the selected parameter code

Fault and alarm mode

Display fault and alarm information

3.3 Parameter setting Description

1) When the drive is powered on, the digital tube display the default monitor code for one second, then work in monitor mode.

2) In monitor mode, pressing UP or DOWN key to change the monitored parameter code, then press the SET key to monitor selected

parameter code. If there is no key operation, it will monitor selected parameter code automatically after one minute.

3) In monitor mode, if the monitored parameter is 32 bit or displaying a more than 5 digits binary number, press the left key to switch the

display for high bit and low bit. When displaying high bit, the digital tube decimal point of the highest bit is lit.

4) In monitor mode, press MOD to enter the parameter set selection mode, then press UP / DOWN key to switch the parameter set, press the

MOD key to exit the parameter set selection mode back to monitor mode.

5) In parameter group selection mode, pressing left key, the flashing character shift left. It is easy to choose parameter group number. Press

SET key to enter parameter code selection mode, press MOD key to exit parameter code selection mode and back to parameter group selection mode.

6) In parameter code selection mode, pressing UP or DOWN key can change the value of last two code to change parameter code, then press

the SET key immediately to enter the parameter setting mode and display the value of the parameter code.

7) In the parameter setting mode, use UP / DOWN key to set parameter. When pressing left key the blinking character will shift left, it is

easily and quickly to modify the value of the parameter high bit.

8) After setting the value, press SET key to store or execute a command.

9) After setting the value, the digital tube will display the status information of the parameter, for example, displaying -End-. Then

automatically back to parameter code selection mode.

10) In parameter setting mode, press MODE key or no key operation in one minute will cancel the modification of parameter value, and back

to parameter code selection mode.

11) When servo alarm, pressing MODE key for one second, it will show the current alarm code; pressing any key again to exit the alarm code

displayed.

Alarm display

Monitoring

parameter

Basic control

parameter

Internal multi-

location parameters

Auxiliary function

parameter

...

Or

MOD MOD

SET

Display parameter settings

SET

Storage Parameters

MOD

Double-click

or

Shift Left

Fault

MOD MOD

MOD

Double-click

MOD

Double-click

AL00

1

P0-00 P0-01 P0-02

P1-00 P1-01 P1-02

P2-00 P2-01 P2-02

P8-00 P8-01 P8-02

10000 10001

-EnD-

14

Figure 3-1 Panel Operation flowchart

3.4 Status Display

There are following states:

Display symbol

Content note

-End-

The set value is stored correctly.

Po-0n

This parameter must be rebooting to be effective.

Sru0n

Parameter cannot be set when servo starting

Err-r

Read - only parameters, which cannot be modified

EESud

This parameter is reserved and cannot be modified.

3.5 Monitor display

Press the MOD key twice or no key operation more than one minute, servo drive will automatically enter monitor display group function code P0---, in monitor mode, you can press UP or DOWN key to change the monitoring code.

Example

Describe

P0-00

Press SET key to display the motor speed

P0-01

Press SET key to display the motor load rate

P0-02

Press SET key to display current electric angle

P0-30

Press SET key to display received external pulse frequency

3.6 Fault and alarm display

Example

Describe

AL0nn

When there is a fault in the drive, it will be shown in the panel and displaying fault code "Al0" and "NN". "NN" ranges from 01 to FFH. Pressing operation key for other display, but the decimal point of the lowest digital tube will be flashing, until it is cleared, there are no fault or displaying AL--- when warning

ALEnn

When the drive alarms, it will be shown in the panel and displaying warning code "AlE" and "NN". Pressing operation key for other display, but the decimal point of the lowest digital tube will be flashing, until the alarm is cleared.

15

4 Wiring

4.1 Peripheral connection

CN2

CN3

When braking resistance or bus capacitance is insufficient, an external braking resistor should connect to P+ terminal and C terminal

+24V

Electromagnetic contactor brake control signal. Open / Close brake power supply

EMI filter

24V power supply for brake (only for servo motor with brake)

System ground

PC communication cable of servo drive

Servo motor cable

Contactor

Servo motor

3-phae 220V AC / 380V AC

Breaker

CN1 analog output terminal. Please see section 3.6 for the circuit.

CN2 / CN3 internal connected in parallel. Please see section 3.5 for signal definition

Please see section 4 for panel operation

CN4 is connected to the upper computer. Please see section 3.4 for definition and use of CN4

CN5 is connected to servo motor encoder. Please see section 3.3 for definition and use of CN5

Please see section 2.8 for selection and wiring of braking resistor

Please see section 3.7 for braking circuit

Power indicator

SINEE EA100

L1C

L2C

L1

L2

L3

P+

D

C

U

V

W

CHARGE

CN1CN2CN3CN4CN5

电源 POWER

电机 MOTOR

制动 BRK

直流母线

Remark：

1) The servo drive is connected to the industry power supply directly, and there is no power isolation like transformer. To prevent electric

shock of servo system, please put a fuse or molded case circuit breaker in the input power supply.

2) Do not install electromagnetic contactor between the drive and the motor, which can damage the drive.

3) Please note the power supply capacity when connect to external control power supply or 24V power supply, especially when the power

supply is connected to several drives or brakes. If power supply capacity is not enough, the output current will also be not enough, which can lead to the damage of drive or brake. Please note that the brake power supply is 24V DC, whose capacity should be consistent brake power. Please refer to describe of servo motor for related brake power.

4) Check the servo motor output U, V, W terminal wiring phase. The motor will not run or run out of control and then alarm, or even

damaged by incorrect wiring.

5) When using external resistor, P+ and D terminal should be open, and the external brake resistor should be connected to P+, C terminal.

When using internal brake resistor, P+ and D terminal should be shorted and P+ and C terminal should be open.

6) In 1-phase 220V wiring, the main power supply terminal is L1, L2 terminal, and L3 should be empty.

7) CN2 and CN3 are same defined communication terminals, so that you can use any one of them.

4.2 Main circuit wiring

Main circuit (strong electric part) terminals and screw size are shown below.

16

L1C

L2C

L1

L2

L3

P+

D

C

U

V

W

SIZE

Main circuit terminal

Screw Size

Tightening

torque

SIZE A

M4

2.5N.m

SIZE B

M4

2.5N.m

SIZE C

M4

2.5N.m

SIZE

PE ground terminal

Screw Size

Tightening

torque

SIZE A

M4

2.5N.m

SIZE B

M4

2.5N.m

SIZE C

M4

2.5N.m

4.2.1 Main circuit (strong electric) terminal Introduction

Table 4-1 servo drive main circuit terminal

Terminals

markings

Terminal name

Terminal Function

L1C, L2C

Control power supply input terminals

1-phase input which is consistent with the main circuit power supply voltage level

L1, L2, L3

Main circuit AC power input terminals

EA100-2R8-2□ EA100-5R5-2□ EA100-7R6-2□

L1, L2 1-phase 220V input L1, L2, L3 3-phase 220V input

EA100-010-2□

L1, L2, L3 3-phase 220V input

EA100-5R4-3□

EA100-□□□-3□

EA100-026-3□

3-phase 380V input

P+,D,C

External braking resistor connection terminals

Default connection between D and P +. When the braking is insufficient, please keep P +, D circuit open, and connect an external braking resistor between the P + and C.

P+,

DC bus terminal

DC bus terminal of servo drive. It can be shared when multi-parallel.

U,V,W

Servo motor terminals

Connection terminals of the servo motor and they are connected to U, V, W of the motor

PE

Ground

One ground terminal for EA100-2R8-2A and EA100-5R5-2A; Two ground terminals for other power drives. It is connected to the ground terminal of power supply and the ground terminal of motor.

4.2.2 Power Wiring

Servo drive power connection is divided into 1-phase and 2-phase. 1-phase only for the drives with output current 7.6A and less than 7.6A

1-phase power supply wiring (rated output current ≤ 7.6A)

Figure 4-1 1-phase power supply wiring diagram

3-phase power supply wiring (all series are applicable)

17

Figure 4-2 3-phase power supply wiring diagram

Remark:

1: If you do not want to cut off the main circuit power supply when a failure occurs, RA relay is not necessary. 2: L1C, L2C can be connected to P +, - terminals instead of external power supply.

 Power on timing

Control circuit power

supply

Mains supply

Servo ready output

（S-RDY)

Servo enable

（S-ON )

Servo motor

excitation

Unpowered

Powered

Unpowered

Powered

Not ready

Ready

Enable invalid

Not receive

instruction

Motor

Unpowered

Motor

powered

Not receive instruction

Receive instruction

Position / speed /

Torque command

Delay1.5S

Delay as P1-54 set

Servo enable signal

（S-ON signal)

Invalid

Valid

Invalid

Enable invalid

Motor

Unpowered

Enable valid

Figure 4-3 power-on timing chart

Please refer to figure 3-1 and 3-2 for power wiring and wire as followed sequence.

1) Control power circuit L1C, L2C must be powered on before the main circuit or at the same time as the main circuit power supply. If only

the power control circuit is powered on, the servo ready signal (S-RDY) will be invalid.

2) The main circuit power input terminals should be connected to the mains supply by electromagnetic contactor (3-phase: L1, L2, L3, 1

phase: L1, L2).

3) After the main circuit power supply is powered on and a 1.5-second delay, servo ready signal (SRDY) will be valid, then it can accept the

servo enable (S-ON) signal. When detecting the servo enable signal is valid, the motor will be activated, and running. When detecting the servo enable is invalid or alarmed, output of drive will be off, and the motor is in a free state.

4) When the servo enable and the mains supply are powered on at the same time, the motor will be activated after 1.5 second.

5) Frequently turning on or off of the main circuit power supply may damage the soft start circuit and dynamic braking circuit. The frequency

of tuning on or off should be less than 5 times one hour, and 30 times one day. When the drive or motor is overheating, after the solving the problem, the main circuit should be powered on again after 30 minutes cooling.

6) The input power cable cannot connect to the output terminals U, V, W, which can damage the servo drive.

7) The braking resistor is absolutely prohibited to be connected to the DC bus P +, terminals, which may lead a fire.

8) After the power is turned off, there may be residual voltage in the servo drive internal capacitance, confirm the CHARGE indicator on the

servo drive panel is off before other operation.

4.2.3 Connector specification of motor power cables

Table 4-2 motor servo motor power cable connection terminals

Connector shape and model

Terminal pinout

Motor

flange size

12

34

Shell model：C4140HM-2X2P

4PIN AMP Plug（without brake）

Define

1 U 2

V

3 W 4

PE

60 80 86

18

Connector shape and model

Terminal pinout

Motor

flange size

Plug model：C4140F-TP-H

1

2

3

4

Model：YD28K4TS

Aviation plug（without brake）

Define

1

PE

2

U

3

V

4

W

130

1

2

3

4

5

6

7

Model：YD28K7TS

Aviation plug（with brake）

Define 1 PE

2

24V（brake）

3

0V（brake）

4

not used 5 U

6

V

7

W

130

Note: Due to the product improvement, the aviation plug model may be changed.

4.2.4 Specifications of recommended cable for main circuit connection

Model

L1C,L2C

L1,L2,L3

P+,C

U,V,W

PE

EA100-2R8-2□

0.5mm2

1.0mm2

2.5mm

2

above

EA100-5R5-2□

EA100-7R6-2□

2.0mm2

EA100-010-2□

EA100-5R4-3□

1.0mm2

EA100-8R4-3□

2.0mm2

EA100-012-3□

EA100-018-3B

4.0mm2

EA100-021-3B

EA100-026-3B

6.0mm2

4.3 CN5 encoder signal terminal

CN5 is encoder signal terminal (DB15 socket), its position is shown in Figure 3-4:

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

SINEE EA100

L1C

L2C

L1

L2

L3

P+

D

C

U

V

W

CHARGE

电源 POWER

直流母线

制动 BRK

电机 MOTOR

CN1CN2CN3CN4CN5

Figure 4-4 CN5 terminal positions

4.3.1 Encoder terminal definition drive-side

19

5

10

4

9

3

8

2

7

1

15

14

13

12

11

6

Encoder B+ signal

Encoder B- signal

Encoder A+ signal

Encoder A- signal

Shielded layer connect to PE

Encoder Z- signal

Encoder U- signal

Encoder V- signal

Encoder W- signal

Encoder power supply 5V

Encoder Z+ signal

Encoder U+ signal

Encoder V+ signal

Encoder W+ signal

GND

5

10

4

9

3

8

2

7

1

15

14

13

12

11

6

Shielded layer connect to PE

Encoder power supply 5V

SD+

SD-

GND

CN5 2500ppr incremental encoder terminal definition

CN5 17-bit encoder terminal definition

It indicates that the terminal Is Left, and do not connect

Note: When connected to the wire-saving encoder, U + / U-, V + / V-, W + / W-,

Need not to be connected.

Figure 4-5 CN5 terminal pinout

2KΩ

100Ω

1

33

34

上位机装置

100Ω

31

32

14

16

PULSE+

PULSE-

SIGN+

SIGN-

GND

PE

GND

伺服驱动器

普通脉冲位置指令最小脉冲宽度1us 最大输入频率为500kpps

PULHIP

PULHIS

1

6

11

5 10 15

Figure 4-6 CN 5 terminal welding pinout

4.3.2 Encoder terminal definition of servo motor side

There are two shapes encoder terminal in the servo motor side.  AMP plug，for motor with 60, 80 flange, the pin defined in Table 4-3a, 3b, 3c

Plugs in motor side

Shape

2500ppr incremental encoder

17 bit encoder

4 532

1

9 107

6

14 151312

11

8

Motor side

321

64

987

5

Motor side

Encoder cable connector

15

610

11

15

234

9 7

12

1314

8

123

6 4

7

89

5

Shell model：

C4140-HM-3*5P

Plug model：

C4140F-TP-L

Shell model：

C4140-HM-3*3P

Plug model：

C4140F-TP-L

 Aviation plug: for motor with 110 flange and above, the pin defined in Table 4-3a, 3b, 3c

2500ppr incremental encoder

17 bit encoder

2

5

14

13

15

11

10

6

3

1

Terminal type：YD28K15TS

Note: Due to the product improvement, the aviation plug model may be changed.

Table 4-3a 17-bit incremental encoder cable connection

Function

Description

Drive side DB15

Servo motor side

AMP plug

Aviation plug

Signal name

Encoder power

supply

+5V 5 1

2

Encoder power

GND

10 2 3

20

Function

Description

Drive side DB15

Servo motor side

AMP plug

Aviation plug

Signal name

supply ground

Positive terminal

of serial signal

SD+ 1 5

4

Negative terminal

of serial signal

SD- 3 6

7

Shield layer PE

PE

Shell 9 1

Table 4-3b 17-bit absolute encoder cable connection

Function

Description

Drive side DB15

Servo motor side

AMP plug

Aviation plug

Signal name

Encoder power

supply

+5V 5 1

2

Encoder power

supply ground

GND

10 2 3

Positive terminal

of serial signal

SD+ 1 5

4

Negative terminal

of serial signal

SD- 3 6

7

Positive terminal

of external battery

VB+ 7

14

Negative terminal

of external battery

VB- 8

15

Shield layer PE

PE

Shell 9 1

Table 4-3c 2500ppr non-wire-saving encoder cable connection

Function

Description

Drive side DB15

Servo motor side

AMP plug

Aviation plug

Signal name

Encoder signal Z +

Z+ 1 7

6

Encoder signal U +

U+ 2 6

10

Encoder signal V +

V+ 3 10

11

Encoder signal W +

W+ 4 11

12

Encoder supply 5V

+5V 5 2

2

Encoder signal Z-

Z- 6 5

9

Encoder signal U-

U- 7 8

13

Encoder signal V-

V- 8 12

14

Encoder signal W-

W- 9 15

15

Encoder power

supply ground

GND

10 3 3

Encoder signal B +

B+

11 4 5

Encoder signal B-

B-

12

14

8

Encoder signal A +

A+

13 9 4

Encoder signal A-

A-

14

13

7

Shielding layer PE

PE

Shell 1 1

Remark for servo wiring：

1) Make sure the drive and the motor shielded layer are grounded; otherwise it will cause the drive error.

2) Do not confuse GND and PE.

3) Be sure that the differential signal can match the two cables of a twisted pair. For example, A + and A- is a set of differential signal, you

should use a twisted pair.

4) Encoder cable routing must be separated from the power cable routing by at least 30cm or more.

4.4 CN4 Control signal terminal

Using the DB44 socket, CN4 signal terminal provides signals for communication with upper computer. Signals include:

 8 programmable digital inputs  4 programmable digital differential output

21

 2 analog inputs  command pulse input  ABZ encoder signal output

SINEE EA100

L1C

L2C

L1

L2

L3

P+

D

C

U

V

W

CHARGE

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1

30 29 28 27 26 25 24 22 21 20 19 18 17

44 43 42 41 40 39 38 37 36 35 34 33 32 31

1623

AI1

GND

PA- PB+ PZ+

DO4- DO3 DO1

COM

+5V DI1 DI3 DI5 DI7

AI2

GND

PA+

PB- PZ-

+24V DO4

COM COM+

DI2 DI4 DI6 DI8

GND GND GND GND +24V

DO3- DO2- DO1-

COM

OCZ

DO2

PULIHP

PULIHS

SIGN+

PULSE+

SIGN-

PULSE-

电源 POWER 直流母线制动 BRK 电机 MOTOR

Figure 4-7 Drive control circuit terminal position and pin assignment

22

4.4.1 Control signal terminal pin distribution

Signal

Function description

PULHIP

1

The positive terminal of command pulse when using 24V power supply

DI7

2

Digital input, the default function number is 7

See section 3.4.2 and

3.4.3 DI5

3

Digital input, the default function number is 5

DI3

4

Digital input, the default function number is 3

DI1

5

Digital input, the default function number is 1

+5V

6

+ 5V power supply, maximum output current 50mA.

COM

7/22/36

Power supply ground (+ 24V)

DO1

8

Digital output, the default function number is 1

See section 3.4.2 and

3.4.4

DO3

9

Digital output, the default function number is 8

DO4-

10

DO4 digital output COM terminal

PZ+

11

Z pulse positive frequency dividing output, the maximum current is 20mA.

PB+

12

B pulse positive frequency dividing output, the maximum current is 20mA.

PA-

13

A pulse negative frequency dividing output

GND

14/29/41/4

2/43/44

Analog input signal ground

AI1

15

Analog input, input impedance: 10kΩ, the maximum input voltage ±

12V.

PULHIS

16

The positive terminal of command pulse when using 24V power supply

DI8

17

Digital input, the default function number is 8

See section 3.4.2 and

3.4.3 DI6

18

Digital input, the default function number is 6

DI4

19

Digital input, the default function number is 4

DI2

20

Digital input, the default function number is 2

COM+

21

Digital input common positive terminal

DO2

23

Digital output, the default function number is 2

See section 3.4.2 and

3.4.4

DO4

24

Digital output, the default function number is 12

+24V

25/40

Internal 24V power supply, voltage range of + 20V ~ 26V. The maximum output current is200mA.

PZ-

26

Encoder Z pulse negative output

PB-

27

Encoder B pulse negative output

PA+

28

Encoder A pulse positive output. The maximum current is 20mA.

AI2

30

Analog input. The input impedance is 10kΩ, The maximum allowable input voltage is ± 12V.

SIGN+

31

Position direction command +

SIGN-

32

Position direction command -

PULSE+

33

Position pulse command +

PULSE-

34

Position pulse command -

OCZ

35

Encoder Z pulse open collector output. The maximum allowable input current is 40mA.

DO1-

37

COM digital output terminal of DO1

See section 3.4.2 and 3.4.4

DO2-

38

COM digital output terminal of DO2

DO3-

39

COM digital output terminal of DO2

4.4.2 Digital Input \ Output Terminal Description

Signal

Default function

Default function number

Corresponding function code

DI1

5

Servo motor power on enable

1

P6-02

DI2

20

Alarm fault reset

2

P6-03

DI3

4

Position control pulse deviation counter clear

3

P6-04

DI4

19

Speed instruction direction selection

4

P6-05

DI5

3

Internal instruction bit0

5

P6-06

DI6

18

Internal instruction bit1

6

P6-07

DI7

2

Internal instruction bit2

7

P6-08

DI8

17

Internal instruction bit3

8

P6-09

DO1

8

Servo ready output signal The maximum allowable output current 40mA

1

P6-13

DO1-

37

23

Signal

Default function

Default function number

Corresponding function code

DO2

23

Brake output signal The maximum allowable output current 40mA

2

P6-14

DO2-

38

DO3

9

Rotation of the motor output signal The maximum allowable output current 40mA

8

P6-15

DO3-

39

DO4

24

Output signal stops servomotor The maximum allowable output current 40mA

12

P6-16

DO4-

10

+24V

25/40

Internal 24V supply voltage range + 22V ~ 26V, 200mA maximum output current

COM

7/22/36

COM+

21

Digital input common positive terminal（12V～24V)

4.4.3 Digital input (DI) function definition table

Input Signal Function Description

Set

value

Name

Function

Describe

Trigger

mode

Running

mode

0

Disabled

Terminal invalid

1

S-ON

Servo enable

ON- Servo motor power enable OFF- Servo motor cancel enabled

Level

triggered

P S T

2

ALM-RST

Alarm and fault reset

ON- If the abnormal condition have been solved, resettable fault can be reset.

Edge

triggered

P S T

3

P-CLR

Position control pulse deviation counter clear

See P1-34 for definition of trigger

Edge / level

triggered

P

4

DIR-SEL

Speed command direction selection

ON- Instruction in the opposite direction OFF- Default command direction

Level

triggered

S

5

CMD0

Internal instruction bit0

When works in position control mode, it is location multi-segment switching function signal; When works in speed control mode, it is speed multi-segment switching function signal;

Level

triggered

P S

6

CMD1

Internal instruction bit1

Level

triggered

P S

7

CMD2

Internal instruction bit2

Level

triggered

P S

8

CMD3

Internal instruction bit3

Level

triggered

P S

9

CTRG

Internal instruction trigger

Multi- segment position trigger condition

Edge

triggered

P

10

MSEL

Control mode switching

Used for mixed control mode switch

Level

triggered

P S T

11

ZCLAMP

Analog speed command zero fixed enable

ON- Zero fixed function enabled OFF- Zero fixed function disenabled

Level

triggered

S

12

INHIBIT

Pulse inhibit

ON- Prohibit command pulse input OFF- Allow command pulse input

Level

triggered

P

13

P-OT

Forward driving inhibit

OFF- Prohibit forward drive ON- Allow forward drive

Level

triggered

P S T

14

N-OT

Reverse driving inhibit

OFF- Prohibit Reverse driving ON- Allow reverse drive

Level

triggered

P S T

15,16

Not used

17

JOGCMD+

Forward Jog

ON- Input in accordance with the given instruction OFF- Stop input running instruction

Level

triggered

S

18

JOGCMD-

Reverse Jog

ON- Input in accordance with the given instruction

Level

triggered

S

24

Input Signal Function Description

Set

value

Name

Function

Describe

Trigger

mode

Running

mode

OFF- Stop input running instruction

19

TDIR-SEL

Torque command direction selection

OFF-Default function ON- Instruction Reverse

Level

triggered

T

20

GNUM0

Electronic gear ratio numerator selection 0

GNUM1

GNM0

code

0 0 P1-27

0 1 P1-29 1 0

P1-30 1 1

P1-31

Level

triggered

P

21

GNUM1

Electronic gear ratio numerator select 1

Level

triggered

P

22

ORGP

External detector input

Up eage： external detector valid Down eage：external detector invalid

Edge

triggered

P S T

23

SHOM

Origin return function

ON：Origin return function enable

Level

triggered

P S T

Not used

4.4.4 Digital Output (DO) function definition table

Input Signal Function Description

Set value

0

Disable

Terminal is invalid

1

S-RDY+-

Servo ready

Valid - servo ready，can receive S-ON instruction Invalid - Servo not ready，cannot receive S-ON instruction

P S T

2

BK+-

Brake control

Valid - Release holding brake Invalid - Closed holding brake

P S T

3

TGON+-

Motor rotation

Valid - The motor is rotating Invalid - The motor stop rotating

P S T

4

ZER0+-

Motor zero

speed

Valid - Motor speed is zero Invalid - Motor speed is not zero

P S T

5

V-CLS+-

Speed

approaching

Valid ： when works in speed control, the absolute value of the difference between the actual motor speed and the speed command is less than the value as P1-42 set.

S

6

V-CMP+-

Speed arrival

Valid：when works in speed control mode, the absolute value of the difference between the actual motor speed and the speed command is less than the value as P1-43 set.

S

7

PNEAR+-

Position

approaching

Valid：when works in position control mode, the position deviation pulse number is less than positioned close approaching width as P1-32 set.

P

8

COIN+-

Position arrival

Valid：when works in position control mode, the position deviation pulse number is less than positioned close approaching width as P1-33 set.

P

9

C-LT+-

Torque limit

signal

Valid - Motor torque is limited Invalid - Motor torque is not limited

P S

10

V-LT+-

Speed limit

signal

Valid - Motor speed is limited Invalid - Motor speed is not limited

T

11

WARN+-

Warning output

Valid：Warning things occur

P S T

12

ALM+-

Fault output

Valid：Fault event occur

P S T

13

Tcmp+-

Torque arrival

signal

Valid：Motor output torque reaches the set value Invalid：Motor output torque does not reach the set value

T

25

Input Signal Function Description

Set value

14

Home+-

Origin return

signal

Valid：Origin return accomplished Invalid：Origin return not accomplished

P S T

4.4.5 Digital input wiring The digital input terminals (DI) of EA100 servo drive adopt full bridge rectifier circuit. The current through the terminal can be positive (NPN

mode), or negative (PNP mode). So the external connections of DOI ~ DI8 terminals can be very flexible. Here is an example of DI1. The interface circuitry of DI1 ~ DI8 is the same.

1) When host device is relay output:

4.7K

+24V

+ 24V

power supply

COM+

DI1

Relay

COM

Servo internal 24V power supply

4.7K

+24V

COM+

DI1

Relay

COM

Servo internal 24V power supply

DC24V

4.7K

+24V

COM+

DI1

COM

Servo drive Servo drive

Do not use a separate power supply

25

21

5

7

25 21

5

7

25

21

5

7

Relay

DC24V

+ 24V

power supply

+ 24V

power supply

Figure 4-8 Digital input terminal when host device is relay output

Remark：Some of manual defaults are as followed：

 COM: 7pin，users can also use 22/36 pin  GND: 14pin，users can also use 29/41/42/43/44 pin

 Servo internal +24V: 25pin，users can also use 40pin

2) When host device is NPN open collector output

4.7K

+24V

+24V Power

supply

COM+

DI1

COM

Servo internal 24V power supply

Servo drive

NPN input

NPN

4.7K

+24V

+24V Power

supply

COM+

DI1

COM

Servo internal 24V power supply

Servo drive

NPN input

NPN

DC24V

25

21

5

7

25

21

5

7

Figure 4-9 (a) Digital input terminal when host device is NPN open collector output

3）When host device is PNP open collector output：

4.7K

+24V

+24V Power supply

COM+

DI1

COM

Servo internal 24V power supply

Servo drive

PNP input

PNP

4.7K

+24V

+24V Power

supply

COM+

DI1

COM

Servo internal 24V power supply

Servo drive

PNP input

PNP

DC24V

25

21

5

7

25

21

5

7

Figure 4-9(b) Digital input terminal when host device is PNP open collector output

Remark：

1. Be sure that the 24V and COM + terminals are not connected when using an external power supply.

2. PNP and NPN input cannot be used mixedly

4.4.6 Digital output wiring Here is an example of DO1. The interface circuitry of DO1 ~ DO4 is the same.

1) When host device is relay input:

26

DC5V~24V

NPN

relay

Servo drive

DO1

DO1-

8

37

When using internal power supply

25

+24V

COM

22

NPN

relay

Servo drive

DO1

DO1-

8

37

25

22

Figure 4-10(a) Correct digital input wiring when host device is relay output

NPN

DC5V~24V

DO1

DO1-

Relay Not

Accessed

8

37

25

22

NPN

Relay

Servo drive

DO1

DO1-

8

37

25

+24V

COM

22

Wrong polarity of freewheeling diode

Servo drive

Figure 4-10(b) incorrect digital input wiring when host device is relay output

Remark：

When the host device is relay input, make sure to access the freewheeling diode, or it may damage the DO port.

2) When the host device is optocoupler input

NPN

DC5V~24V

Servo drive

DO1

DO1-

8

37

NPN

Servo srive

DO1

DO1-

8

37

Using internal power supply Using external power supply

25

+24V

COM

22

25

COM

22

External power supply ground

Figure 4-11(a) correct digital input wiring when the host device is optocoupler input

NPN

DC5V~24V

Servo drive

DO1

DO1-

8

37

NPN

DO1

DO1-

8

37

When using internal power supply When using external power supply

25

+24V

COM

22

25

COM

22

Not connected with current limit resistor

External power

supply ground

Servo drive

Figure 4-11(b) incorrect digital input wiring when the host device is optocoupler input

Remark：

The maximum allowable voltage, current capacity of servo drive internal optocoupler output circuit is as followed:

 Voltage：DC30V(maximum)

 Current: DC 50mA (maximum)

 If driving the inductive loads (relay, contactor), a surge voltage absorption circuit should be added; such as RC absorption circuit (the

leakage current should be less than the holding current of contactor or relay) varistor, or freewheeling diode (for DC circuit, check the polarity during installation). The element of snubber circuit should be closed to the relay or contactor.

4.4.7 CN4 analog input terminal wiring

Table 4-4 analog input terminal description

Signal name

Function

Function describe

Analog

AI1

15

Voltage analog input

AI2

30

27

GND

29

Analog input ground

AI1, AI2 generally used for speed and torque analog signal input。 Input voltage range：-10V～+10V, resolution 12 bit； Maximum allowable voltage：±12V； Input impedance：10K；

-10~+10V

AI1

-10~+10V

AI2

About 9K

Servo motor

GND

15

30

29

Figure 4-12 AI1, AI2 terminal wiring diagram

4.4.8 CN4 position command input signal

Describe for position command pulse input signal, the instruction symbol input signal terminal of CN4 are as followed.

Table 4-4 position pulse input signal specifications

Signal name

Function

Position

instruction

PULSE+

33

Pulse command input： Differential Input Open collector input

Input pulse shape：

Direction + pulse A, B phase orthogonal pulse CW/CCW pulse

PULSE-

34

SIGN+

31

SIGN-

32

PULHIP

1

External power input interface of command pulse

PULHIS

16

GND

41

5V power supply ground

COM

36

24V power supply ground

Pulse command can be input by open collector input or differential input. The maximum differentia input pulse wave is 500Kpps, maximum open collector input pulse wave is 200Kpps.

Different forms of command input pulse has different timing parameters，see section table 3-5 table 3-6 for details：

Table 4-5 different command pulse timing table

Pulse instruction

form

Logic state

Pulse waveform

Direction+ pulse

P1-02=0

Positive logic

PULSE

SIGN

T3

T2

Forward

Reversal

T1

P1-02=1

Negative logic

PULSE

SIGN

T3

T2

Forward

Reversal

T1

Two-phase orthogonal

pulses (4times)

P1-02=2

Positive logic

PULSE

SIGN

T4 T4

Forward

T4

Reversal

PULSE

SIGN

T4

CCW/CW pulse

P1-02=4

Positive logic

PULSE

SIGN

T3

T1

T2

Forward Reversal

28

Pulse instruction

form

Logic state

Pulse waveform

P1-02=5

Negative logic

Forward

Reversal

PULSE

SIGN

T3

T1

T2

Table 4-6 Pulse input time parameter

Pulse mode

Maximum

input frequency

The minimum allowable width

Voltage

T1

T2

T3

T4

Differential

500Kpps

5V

Open collector

200Kpps

24V(MAX)

4.4.8.1 Position instruction pulse differential input mode

EA100

2KΩ

100Ω

1

33

34

Upper computer

100Ω

31

32

41

16

GND

PULSE+

PULSE-

SIGN+

SIGN-

The minimum position instruction pulse width is 1us The maximum input frequency is 500kpps

PE

GND

2KΩ

Figure 4-13 Position instruction pulse differential input mode wiring

Please ensure "2.8V≤ (H level -L level) ≤3.7V", otherwise the servo drive input pulse will be unstable. It will result in the following situations:

 Missing pulse when enter instruction pulse.  The instruction is opposite when enter instruction direction

4.4.8.2 Position instruction pulse differential input mode Instruction direction

When using the servo internal 24V power supply

2KΩ

100Ω

1

33

34

100Ω

31

32

36

16

PULSE-

SIGN-

COM

+24V

PULHIP

PULHIS

+24V power

supply

+24V power

supply

2KΩ

100Ω

1

33

34

100Ω

31

32

36

16

PULSE-

SIGN-

COM

+24V

PULHIP

PULHIS

+24V power supply

+24V power

supply

25

PULSE+

SIGN+

Servo drive

PULSE+

PE

NPN

PNP

Open collector pulse position instruction. The maximum input frequency is 200kpps. The minimum pulse width is 2.5us

25

2KΩ

Figure 4-14 open collector pulse input command wiring diagram (using the servo internal 24V)

When using the servo external 24V power supply

29

2KΩ

100Ω

1

33

34

100Ω

31

32

16

PULSE+

SIGN-

COM

+24V

PULHIP

PULHIS

+24V

25

SIGN+

PULSE-

2KΩ

100Ω

1

33

34

100Ω

31

32

16

PULSE-

SIGN-

+24V

PULHIP

PULHIS

25

+24V

PULSE+

SIGN+

Servo drive Servo drive

PE

NPN

PNP

Open collector pulse position instruction. The maximum input frequency is 200kpps. The minimum pulse width is 2.5us

COM

external

2KΩ

Figure 4-15 (a) open collector pulse input command wiring diagram (using external power supply and internal limiting resistor)

2KΩ

100Ω

1

33

34

100Ω

31

32

16

PULSE+

SIGN-

COM

+24V

PULHIP

PULHIS

25

SIGN+

PULSE-

2KΩ

100Ω

1

33

34

100Ω

31

32

16

PULSE-

SIGN-

+24V

PULHIP

PULHIS

25

PULSE+

SIGN+

Servo drive Servo drive

PE

NPN

Open collector pulse position instruction. The maximum input frequency is 200kpps. The minimum pulse width is 2.5us

COM

VCC

R1

VCC

R1

PNP

2KΩ 2KΩ

Figure 4-15 (b) open collector pulse input command wiring diagram (using external power supply and external limiting resistor)

Selection of limit resistor R1is as followed：

The selection of resistor R1 is satisfied ：

1.5 10

1 200

CC

V

mA

R







Recommended resistance for R1：

VCC voltage

R1 resistance

R1 power

24V

2.0K

0.5W

12V

0.8K

0.5W

Remark：

1) Make sure a pair of differential signals is connected with a twisted two cables

2) Encoder cable routing must be separated from the power cable routing by at least 30cm or more.

3) The pulse input interface is not shielded input interface. In order to reduce noise, we recommend the ground output signal of the upper

computer the ground output signal of the servo drive should be connected together.

Examples of typical wrong wiring

2KΩ

100Ω

1

33

34

100Ω

31

32

16

PULSE+

SIGN-

COM

+24V

PULHIP

PULHIS

25

SIGN+

PULSE-

Servo drive

PE

VCC

Missed limiting

resistor

2KΩ

100Ω

1

33

34

100Ω

31

32

16

PULSE+

SIGN-

COM

+24V

PULHIP

PULHIS

25

SIGN+

PULSE-

Servo drive

PE

VCC

Not using separate

current limiting resistor

Error 1: Missed limiting resistor, the port will damage

Error 2: shared limiting resistor for Multiple port, resulting in

pulse reception error

2KΩ

30

2KΩ

100Ω

1

33

34

100Ω

31

32

16

PULSE+

SIGN-

COM

+24V

PULHIP

PULHIS

25

SIGN+

PULSE-

Servo drive

PE

Error 3: SIGN port missed, So that the two ports can not receive pulse

VCC

R1

SIGN signal

missing

2KΩ

100Ω

1

33

34

100Ω

31

32

16

PULSE+

SIGN-

+24V

PULHIP

PULHIS

25

SIGN+

PULSE-

Servo drive

PE

Error 4: wrong port, so that the port may be burned

VCC

The collector

signal dose not

access to the specified port

COM

2KΩ 2KΩ

2KΩ

100Ω

1

33

34

100Ω

31

32

36

16

PULSE-

SIGN-

COM

+24V

PULHIP

PULHIS

+24V电源

25

PULSE+

SIGN+

36 pin is not connected. And unable to form a closed loop

Servo drive

PE

25

2KΩ

Error 5: Signal loop is not

formed

Figure 4-16 5 typical wiring errors

4.4.9 CN4 encoder output frequency division circuit

Table 3-8 Encoder frequency division output signal description

Signal

name

Function

PA+

28

A Phase frequency division output signal

A,B orthogonal frequency pulse output signal

PA-

13

PB+

12

B Phase frequency division output signal

PB-

27

PZ+

11

Z Phase frequency division output signal

Origin pulse output signal

PZ-

26

OCZ

35

Z Phase frequency division output signal

Origin pulse open collector output signal

GND

14/42/43/44

Origin pulse open collector output signal ground

Encoder frequency division circuit output differential signals by a differential drive. Generally, it will provide a feedback signal when the drive and the host device constituting the position control system. In the upper computer device, please use a differential or optocoupler receive as circuit receive. The maximum output current is 20mA.

28

PA-

GND

PA+

Differential receive

PB+

PB-

PZ+

PZ-

Upper

computer

13

12

27

11

26

14

GND

28

PA-

GND

PA+

Optocoupler receive

PB+

PB-

PZ+

PZ-

Upper

computer

13

12

27

11

26

14

GND

PE

Servo drive

Figure 4-17 frequency division output wiring diagram

Encoder Z-phase frequency division circuit can provide a feedback signal by open collector output signal when the drive and the host device constituting the position control system. In the upper computer device, please use a relay or optocoupler receive as circuit receive. The maximum output current is 40mA.

31

Servo drive

35

DC5V～24V

OCZ

42

GND

PE

Figure 4-18 OCZ terminal wiring diagram

Remark：

Be sure that the signal ground of the upper computer should be connected with the ground of power supply, and shielded twisted-pair cables should be used to reduce noise. The maximum withstand voltage of drive internal transistor is DC 30V, and the maximum allowable input current is 40mA.

4.5 CN2, CN3 communication terminal wiring

Drive is connected with the upper computer by CN2, CN3. Users can operate the drive by MODBUS communication, and the communication distance is about 15m. RS485 can support multiple drives simultaneously online.

Communication signal connectors CN2, CN3 are two same internal, parallel communication signal connectors

Table 4-9 Communication Connector Pin Description

Signal

function

Terminal pinout

RS485+

1

RS485 Communication port

8

1

RS485-

2

GND

3

Reference ground

RS232-RXD

4

The sender of RS232 is connected with the receiver upper computer

RS232-TXD

5

The receiver of RS232 is connected with the sender upper computer

GND

6

Reference ground

CANH

7

CAN Communication port

CANL

8

RS485-

Servo drive

RS485+

GND

upper computer

RS485

communication

interface

+terminal

-terminal

GND

RS232-TXD

RS232-RXD

GND

upper computer

RS485

communication

interface

TXD

RXD

GND

Servo drive

Figure 4-19 Communication terminal wiring

diagram

4.6 CN1 analog output terminal

CN1: there are two different terminals shape, its connection end signal as follows:

Table 4-10 analog output signal description

Signal

name

Function

Terminal

pinout

wiring

AO1

1

1 analog output, the output voltage 0V ~ 10V, maximum output current 1mA

Can be set by P6 group

1

2

3

4

2

3 1

4

Servo drive

AO1

GND

1

2

AO2

3

A

AO2

2

2 analog output, the output voltage 0V ~ 10V, maximum output current 1mA

GND

3

The analog output signal common ground

Retent

ion

4

Cannot be connected with any signal line

Remark：

1) After turn off control power, analog monitor output terminal may output voltage of about 5V during 10ms, please note it when using.

2) The maximum output of analog terminal current is 1mA. The drive can be damaged is it is more than 1mA.

32

4.7 Holding brake

When the motor is used to vertical axis or similar situation, in order to protect the moving parts when loss power, you should use motors with holding brake.

1. The holding brake is used only to keep the motor stopped, not for stopping the running motor

2. When motors with holding brake running, there may be a clicking sound; it does not affect the function. Holding brake need an external 24V power supply, brake signal and brake power supply wiring as follows.

Figure 4-20 brake signal and brake power supply wiring

4.7.1 Holding brake Wiring Precautions：

1) The 2nd function (BK) signal terminals (DO2 +, DO2-) should be used to control the intermediate relay. The power supply of brake is

controlled by turning on or off the intermediate relay.

2) There is no polarity of the brake coil, when the brake powered on it is in release state.

3) Be sure to use an external power supply for brake. For Intermediate relay, it can be powered by servo drive internal DC24V，and it is

suggested that don‘t use the one DC24V power supply for both brake and relay

4) When using external power for relay coil, please note DO2 + terminal should be connected to the positive terminal, DO2- terminal

connected to the negative terminal.

5) The input voltage of brake should be at least 21.5V. And it is recommended to use cable more than 0.5mm2 considering the voltage drop

on the cable. Brake specific parameters in Table 3-11.

6) Brake should not to share power supply with other electrical appliances to avoid voltage drop which can lead to braking malfunction.

Table 4-11 Brake datasheets

Model

Holding torque

(Nm)

Voltage

（V)

Power

（W）

Release time

（ms)

Closing time

（ms)

SER06-0R4-30-2□AY1

2.0

24±10%

6.3±7%

150

SER08-0R7-30-2□AY1

3.0

10.4±7%

150

SER13-1R0-□□-2□BY1

20.0

19.5±7%

200 200

SER13-1R5-□□-□□BY1

SER13-2R0-□□-3□BY1

SER13-3R0-□□-3□BY1

4.7.2 Holding brake operation timing

4.7.2.1 There is a holding brake operation delay. Brake release and closing time please refer to the following diagram

33

Servo enable (/ S-ON) signal

Motor power on

Brake (/BK) instruction

Position / speed /

torque instruction

Motor speed

ON

OFF

P1-55

P1-54

ON

OFF

ON

OFF

Brake

Brake release

(Not brake)

Brake closed

(Brake)

*1 *1

*3

Not receive instruction

receive instruction

0 rpm

*2

Figure 4-21 holding brake release delay time and closing *1：For different motors, the brake delay time is different. Please refer to table 3-11 and the actual circumstances *2：It has been set by P1-54 that the time from the servo drive receiving enable (/ S-ON) instruction to it can receive position, speed and torque

instruction should be bigger than the time for brake to release. When the upper computer output instruction to servo motor, please wait until S-ON signal is ON.

*3：Please set the brake running and the servo OFF time by P1-55, P1-56, P1-57.

4.7.2.2 Servo motor brake signal (/ BK) output time when is stopped

When used in the vertical axis, the weight of moving parts may cause slight movement. By setting P1-55, we can make motor in power off state after the brake is closed to eliminate the slight movement.

Servo enable (/S-ON)signal

Motor power on

Brake (/ BK) instruction

ON

P1-55

ON

OFF

Brake release

(open)

Brake closed

(brake)

Figure 4-22 Servo cancel enable the brake operation timing

Remark： When an alarm occurs, P1-55will be invalid, the servo motor will be in powered off state immediately. In this case, the movement unit may move before the brake action.

4.7.2.3 Servo motor brake signal (/ BK) output time in rotation When an alarm occurs in the servo motor rotation, or the servo motor rotation forcibly cancel the enable signal, the servo motor will be in

powered off state immediately. In this case, by setting P1-56 (output speed value brake instruction) and P1-57(servo OFF-brake instruction waiting time), you can adjust the brake signal (/ BK) output time. Brake operating condition when the servo motor rotation

When any one of the following condition is satisfied, the brake will be enable:

 When the motor is in powered off state, and the speed motor is below the value as P1-56 set.  When the motor is in powered off state, and after a period as P1-57 set.

Motor Power State

Brake (/ BK)

instruction)

Motor speed

ON

P1-56

Brake release

(open)

Brake closed

(brake)

ON

OFF

Servo enable (/ S-ON) signal

Or Failure

Or Power OFF

Coast to stop

P1-57

Figure 4-23 servo motor brake action during rotation

Remark：

 Even the set value in P1-56 is faster than the maximum motor speed, it will also be limit

by the motor speed.

 Do not place the motor rotation signal (TGON) and brake signal (BK) to one terminal. If

they are assigned to one terminal, the brake may not work.

34

4.8 Standard wiring diagram for control circuit

4.8.1 Position control mode standard wiring diagram

100Ω

PULSE+

PULSE-

33 34

SIGN+ SIGN-

31 32

16

PULHIS

PULS

[CW A phase]

SIGN

[CCW B phase]

Position

instruction

8

23

37

38

9

24

39

10

DO1

DO1-

DO2

DO2-

DO3

DO3-

DO4

DO4-

Status

output

Encoder Dividing

pulse output -

Difference

PE

PA+ PAPB+ PB-

PZ+ PZ-

28 13 12 27

26

GND

29

11

35

42

Upper

computer

GND

Encoder Z-phase

open-collector output

GND

OCZ

+5V

GND

6

43

GND

AO1

Analog 1 output

Analog 2 output

15

29

30

29

GND

AI2

AI1

1

EA100

Servo drive

Servo ready

Brake output

Location arrival

Fault output

Torque

limit

PE

Torque limit 0 ~ 10V Input impedance : 9kΩ

Torque limit -10 ~ 0V Input impedance: 9kΩ

Internal + 5V power supply, the maximum allowable current 200mA

PULHIP

+24V

+24Vpower supply

25

COM+

21

DI1

5

DI2

20

4

DI3

19

3

18

2

DI4

DI5

DI6

DI7

17

DI8

ALM-RST

INHIBIT

P-OT

N-OT

GNUMO

GNUM1

S-ON

P-CLR

COM

State input

7

Servo enable

Alarm reset clear

Pulse deviation counter clear

Pulse inhibit

Forward driving inhibit

Reversal driving

inhibit

Electronic gear ratio numerator

selection 0

Electronic gear ratio numerator

selection 1

S-RDY

BK

COIN

ALM

2KΩ

A

GND

AO1

A

100Ω

Figure 4-24 standard position mode control circuit wiring diagram

4.8.2 Speed Control Mode Standard Wiring Diagram

35

8

23

37

38

9

24

39

10

DO1

DO1-

DO2

DO2-

DO3

DO3-

DO4

DO4-

Status output

Encoder Dividing

pulse output -

Difference

PE

PA+ PAPB+ PB-

PZ+ PZ-

28 13

12

27

26

GND

29

11

35

42

Upper

computer

GND

Encoder Z-phase open-

collector output

GND

OCZ

+5V

GND

6

43

GND

AO1

Analog 1 output

Analog 2 output

15

29

30

29

GND

AI2

AI1

EA100

Servo drive

Servo ready

Brake output

Torque arrival

Fault output

PE

Internal + 5V power supply, the maximum allowable current 200mA

+24V

+ 24V power supply

25

COM+

21

DI1

5

DI2

20

4

DI3

19

3

18

2

DI4

DI5

DI6

DI7

17

DI8

ALM-RST

N-OT

DIR-SEL

TDIR-SEL

S-ON

P-OT

COM

State input

7

Servo enable

Alarm reset clear

Forward driving inhibit

Reversal driving inhibit

Speed instruction

direction selection Torque instruction

direction selection

S-RDY

BK

Tcmp

ALM

A

GND

AO1

A

Speed

instruction

Analog speed given Signal Input: ± 10V Input impedance about: 9kΩ

Analog speed limit Signal Input: ± 10V Input impedance about: 9kΩ

Figure 4-25 standard speed mode control circuit wiring diagram

4.8.3 Torque Control Mode Standard Wiring Diagram

36

100Ω

PULSE+ PULSE-

33 34

SIGN+ SIGN-

31 32

16

PULHIS

PULS

[CW A phase]

SIGN

[CCW Bphase]

Torque

instruction

8

23

37

38

9

24

39

10

DO1

DO1-

DO2

DO2-

DO3

DO3-

DO4

DO4-

Status output

Encoder Dividing

pulse output

- Difference

PE

PA+ PA-

PB+ PB-

PZ+ PZ-

28 13 12

27

26

GND

29

11

35

42

Upper

computer

GND

Encoder Z-phase

open-collector output

GND

OCZ

+5V

+5V GND

6

43

GND

AO1

Analog 1 output

Analog 2 output

15

29

30

29

GND

AI2

AI1

1

EA100

Servo drive

Servo ready

Brake output

Location arrival

Fault output

Torque

limit

PE

Torque limit 0 ~ 10V Input impedance about: 9kΩ

Torque limit -10 ~ 0V Input impedance about: 9kΩ

Internal + 5V power supply, the maximum allowable current 200mA

PULHIP

+24V

+24V电源

25

COM+

21

DI1

5

DI2

20

4

DI3

19

3

18

2

DI4

DI5

DI6

DI7

17

DI8

ALM-RST

INHIBIT

P-OT

N-OT

GNUMO

GNUM1

S-ON

P-CLR

COM

State input

7

Servo enable

Alarm reset clear

Pulse Deviation counter clear

Pulse inhibit

Forward Drive inhibit

Reverse drive inhibit

Electronic gear ratio numerator

selection 0

Electronic gear ratio numerator

selection 1

S-RDY

BK

COIN

ALM

2KΩ

A

GND

AO1

A

100Ω

Figure 4-26 standard torque mode control circuit wiring diagram

4.9 Control circuit wiring precaution

 Encoder cable routing must be separated from the power cable routing by at least 30cm or more.  If the control circuits need to extend, make sure the shield is reliable connected.  In the servo drive, + 24V COM and + 5V reference to GND. Do not exceed the maximum allowable load current, otherwise the drive may

be broken.

 Try to use the shortest command input and encoder cable.  Please use the cable more than 1.5mm2 for grounding cable.  Must be a single-point ground.

4.10 Servo drive main circuit block diagram

37

Operation panel

CN4

CN2/

CN3

CN1

CN5

M

Encoder

Servo Motor

Rectifier

circuit

+

P

External braking resistor

Servo drive

Regenerative

processing

circuit

IGBT

U

V

W

GATE

DRIVER

Protection

circuit

L1 L2

L3

Control

Power

+15V

+5V

+3.3V +24V

L1C

L2C

A/D

Position

control

Speed Control

Current Control

To DSP

PWM

DSP

CPLD

From

Protection

circuit

Data Bus

External speed

External torque

Position pulse

A, B, Z output

Digital input

Digital Output

Analog Output

D/A

Current Signal

Processing

A/D

The encoder

signal processing

D C

24V fan

Power supply

1/3-phase 220V

3-phase 380V

RS232 RS485

Built-in braking

resistor

Figure 4-27 servo drive main circuit diagram

38

5 Running and debugging

Before connecting the load, according to the commands in this manual, make sure that the motor running normally, then you can connect the motor with load. Usually a servo drive can be put into using after the following tests.

1) Wiring, checking.

2) Drive power on, adjust the parameters.

3) No-load running.

4) Control function debugging.

Strongly recommended: please make sure that the motor running normally without load at first, then connect the motor with load to avoid unnecessary danger!

5.1 Drive power on

5.1.1 before power on

1) Check whether drive and motor are matched (check their specifications).

2) L1, L3, L2 and U, V, W, cannot connect conversely, and check whether these terminals are loose.

3) U, V, W of the motor must be correctly connected to the U, V, W of the drive.

4) Check whether the input voltage is corresponding with the nameplate or panel of drive.

5) Encoder terminal should be connected correctly.

6) The servo motor and driver should be well grounded.

5.2 Trial running

5.2.1 Parameters setting

Parameter

Name

P8-02

JOG function open

P8-03

JOG speed setting

Cancel the servo enable, and then enter the JOG mode to operate in the following diagram.

UP DOWN

Press“DOWN”key， the motor will run forward in the speed set as P8-03

For security reasons， the speed should be less than 500rpm!!!

SET

Jog speed

Press“UP”key，motor run as the speed of the P8-03 setting value

P8-03

P8-02

JOGEn

JOG Operation

If the motor runs normally then you can do next step. If they did not run normally, please check the system wiring, including phase sequence of motor control wiring, the encoder wiring. Repeat the above steps. If it still cannot run normally, please contact the manufacturer to solve it.

5.3 Servo enable method

There are three ways to make the servo drive enable:

1) After the servo drive is powered up, set P8-05 parameter to 1. The servo drive can be enable immediately, but parameter P8-05will

automatically restore to 0 when power off;

2) The input terminal DI1 is the default servo enable terminal. Setting P6-01=00001, so that the DI1 terminal is closed, servo drive can be

enable, and valid after restart;

3) The input terminal DI1 is the default servo enable terminal. When using internal 24V power supply, the 24V and COM should be shorted,

servo drive can enable.

5.3.1 Position control mode According to the command mode and operation characteristics of the servo drive, there are three kinds of operation modes, namely, position

control mode, speed control mode and torque control mode. In position control mode, the displacement is generally controlled by the number of external input pulse, and the rotational speed is controled by

the external input pulse frequency. Because the position mode can be used for speed and position control, it is generally applied to positioning device. It is the most widely used mode. It is mainly used for the robot hand, chip machine, engraving and milling engraving, CNC machine tools, etc…

5.3.2 Position control mode steps

1) Wiring according with chapter 3.10 ;

2) Set P1-00 to 1 (position control mode, the default value is 1), set P1-01 to 0 (external pulse is given, the default value is 0);

3) Set P1-02 to 0 (pulse + direction control mode, the default value is 0) or other mode for the user;

4) Set the electronic gear ratio. P1-27 is set for molecular (default is 1). P1-28 is set for denominator (default is 1), the default pulse for one

39

motor rotating circle is 10000.

a) If P1-27 = 10, P1-28=1, the motor rotates one circle with 1000 external pulse input b) If the P1-27=1, P1-28=10, the motor rotates one circle with 100000 external pulse input

5) Enable drive. Keep DI1 and COM which are in the CN4 terminal short connected, the drive will enable (DI1is the default servo enable

terminal, the user can modify it by function code).

5.3.3 Position control mode when the main function code

Table 5-1 Main function code for position control mode

Function

code

Setting value

Description

P1-00

1：Position control mode

Control mode selection

P1-01

0：External command (Default) 1：Internal instruction

Position command source

P1-02

0：Pulse + direction，positive logic （default value） 1：Pulse + direction，negative logic 2：Two phase orthogonal pulse (4

times of frequency), positive 3：Two phase orthogonal pulse (4 times of frequency), negative 4：CCW/CW pulse, positive logic 5：CCW/CW pulse, negative logic

External pulse input form

P1-27

User Setting，Default value 1

Electronic gear molecular

P1-28

User Setting，Default value 1

Electronic gear denominator

P1-33

User Setting，Default value 10

Positioning complete width

P1-36

User Setting，Default value 25000

Alarm threshold of position following deviation

P1-37

User Setting，Default value 25000

Fault threshold of position following deviation

P1-53

0：Free stopping（Default value） 1：Stopping at zero speed

Stop mode

P1-15

User Setting，Default value 0

External pulse instruction smoothing filter time constant

P1-46

User Setting，Default value 300

Forward maximum torque limit

P1-47

User Setting，Default value 300

Reverse maximum torque limit

P5-00

User Setting，Default value 30

Position regulator proportional gain KPP

P5-02

User Setting，Default value 0

Front position regulator feedforward gain

P5-03

User Setting，Default value 5

Position feedforward smoothing time

P5-04

User Setting，Default value 350

Speed regulator proportional gain KVP

P5-05

User Setting，Default value 10

Speed regulator integration time constant

5.4 Speed control mode

In speed control mode, the rotational speed is controlled by analog input, digital input, and communication. It is mainly used in some constant speed situation. Such as the application of the analog engraving and milling machine, the position control is achieved by the upper computer, the servo drive works in speed control mode.

5.4.1 Speed control mode:

1) According to the wiring of section 3.10.

2) Servo JOG test run through the key to confirm the normal operation of the motor.

3) Refer to the section 3.10.2 wiring for the necessary DI/DO and analog terminals for connecting CN4.

4) To carry out the relevant setting of speed mode.

5) To enable the servo drive, and then first make the motor rotate at low speed, determine whether the rotation direction of the motor is

normal, and then adjust the gain.

5.4.2 Speed control mode main function code:

Speed control mode when the main function code

Function code

Reference value

Description

P1-00

0: Speed control mode

Control mode is speed control

P1-05

0: Internal digital given 1: Analog value 1 given 2: Analog value 2 given 3: Not used

Select the speed command source

40

4: Internal multi section speed command

5: Point running

P1-16

100ms

Speed instruction acceleration time T

SACC

P1-17

100ms

Speed instruction deceleration time T

SDEC

P1-18

10ms

Speed instruction S curve smoothing time TSL

P3-00～P3-31

When using the internal speed

Internal Multi-speed parameters

P1-53

0：Free stopping 1：Stopping at zero speed

Stop mode

P1-46

300%

Forward maximum torque limit

P1-47

300%

Reverse maximum torque limit

P5-04

350

Speed regulator proportional gain KVP

P5-05

10

Speed regulator integration time constant

5.5 Torque control mode debugging steps

The torque control mode is the size of the output torque of the motor. Mainly used in the material of the force has strict requirements of the winding and winding device, such as winding device or pull fiber device, some tension control occasions, torque setting according to the change of the radius of the winding change, to ensure that the material force will not change with the radius of the wound.

5.5.1 Torque control mode debug step:

1) According to the wiring of section 3.10

2) Servo JOG test run through the key to confirm the normal operation of the motor.

3) Refer to the section 3.10.3 wiring commands for the DI/DO and the source of the torque command, speed limit, etc..

4) To carry out the relevant setting of the torque mode.

5) Enable the servo, and then set a lower speed limit value, give a forward or reverse torque command to the servo application, make confirm

whether the motor rotation direction and speed are correct, if it‘s normal , then you can start to use.

5.5.2 Mainly related to the function codes of torque control mode:

Mainly related to the function codes of torque control mode

Function

code

Reference value

Description

P1-00

2: Torque control mode

Control mode selection

P1-48

0: Internal limit [P1-46, P1-47] 1: Analog 1 limit, while limited by P1-46, P1-47 2: Analog 2 limit, while limited by P1-46, P1-47

3: Not used

Torque limit source selection

P4-00

100%

Internal digital torque given

P4-01

100rpm

Speed limit of torque control

P1-22

100us

Speed limit of torque control

P1-46

300%

Forward maximum torque limit

P1-47

300%

Reverse maximum torque limit

P5-04

350

Speed regulator proportional gain KVP

P5-05

10

Speed regulator integration time constant

5.6 Gain parameter adjustment strategy

The drive includes three control loops: current loop, speed loop and position loop. The control block diagram is as follows:

Position controll

er

Speed

controllerFilter

Current controll

er

Powe

r conv ersio

n

M

PG

Current

loop

Speed

loop

Position

loop

Position

instruction

Speed

instruction

+

-

+

-

+

-

Servo motor

Current

detect

Three block diagram of servo system

In theory, the inner control loop bandwidth must be higher than the outer, otherwise the whole control system will be unstable and cause vibration or is a response to the poor, so three control loop bandwidth relationship should be as follows:

Bandwidth of position loop < Bandwidth of speed loop < Bandwidth of current loop

41

Since the drive has been adjusted to the current control loop in the best state, the user only needs to adjust the control parameters of speed loop and position loop.

5.6.1 Gain adjustment procedure

The choice of position and speed bandwidth must be decided by the mechanical rigidity and applications, connected by a belt conveying mechanical rigidity and lower and can be set to a low bandwidth; driven by the speed reducer of the ball screw rod of the mechanical stiffness of the medium can be set to medium bandwidth; to drive directly to the ball screw rod or linear motor stiffness is higher, can be set to high bandwidth. If the properties of machine is unknown, can gradually increase the gain to improve the bandwidth and gain can be lowered until resonance. In each gain of servo drive, if one parameter is changed, other parameters are also should be adjusted. Please don't make a big change to one parameter. Regarding the change steps of servo parameters, please follow the following principles:

Improve response

Reduce response, suppress vibration and

overshoot

1.Increase the proportion of speed regulator P5-04

1.lower position regulator proportional gain P5-00

2.Reduce the speed regulator integral time constant P5-05

2.Increasing speed regulator integral time constant P5-05

3.Improve the position regulator proportional gain P5-00

3.Reduce the speed regulator P5-04

5.6.2 Speed gain adjustment procedure

1) Setting load inertia ratio of P5-08.

2) Setting speed regulator integral time constant P5-05 for larger values.

3) In the range of no vibration and strange noise to adjust P5-04(Speed controller proportional gain) higher, if there is a slight, you should

adjust the P5-04 smaller.

4) In the range of no vibration to adjust P5-05(Speed controller integral time constant) smaller, if there is a slight, you should adjust the

P5-05 higher.

5) If the mechanical system is unable to adjust the gain due to resonance and other reasons, it cannot get the desired response, the torque low

pass filter or notch filter to adjust the suppression of resonance, and then in order to improve the response, need to do the above steps again. First, try to use low pass filter, if the effect is not good, then try to use notch filter.

5.6.3 Position control gain adjustment procedure

1) Setting load inertia ratio of P5-08.

2) Setting speed regulator integral time constant P5-05 for larger values.

3) In the range of no vibration and strange noise to adjust P5-04(Speed controller proportional gain) higher, if there is a slight, you should

adjust the P5-04 smaller..

4) In the range of no vibration to adjust P5-05(Speed controller integral time constant) smaller, if there is a slight, you should adjust the

P5-05 higher.

5) Increase the position regulator proportional gain P5-00, if there is a slight, you should adjust it smaller.

6) If the mechanical system is unable to adjust the gain due to resonance and other reasons, it cannot get the desired response, the torque low

pass filter or notch filter to adjust the suppression of resonance, and then in order to improve the response, need to do the above steps again. First, try to use low pass filter, if the effect is not good, then try to use notch filter.

7) The position feed forward gain P5-02 can be adjusted properly if the positioning time is shorter and the position error is smaller.

42

6 Function Parameters

6.1 Function parameters define

Function parameters are divided into the following 11 groups. The first code after starting code P is the group number. The next two parameters is the group internal number. The address is consisted of the group parameters and group internal parameters. The functional

groups are defined as follows: P0-xx group: Monitoring parameters P1-xx group: Basic parameters P2-xx group: Internal multi segment position control parameters P3-xx group: Internal multi segment speed control parameters P4-xx group: Torque control parameters P5-xx group: Gain tuning parameters P6-xx group: Input / output setting parameters P7-xx group: Communication parameters P8-xx group: Auxiliary function parameters

Pb-xx group: Origin return function parameters

PE-xx group: Motor parameters

Function parameter set attribute description:

(○): Set at any time, take effect immediately

(●): Set at any time, take effect when repower (☆): Set at any time, take effect when repower (□): Set when stop, take effect immediately (■): Set when stop, take effect when repower (▢): Read only, cannot set

Control mode description:

P—Position control mode

S—Speed control mode

T—Torque control mode

6.2 Function parameter list

6.2.1 P0 group - Monitoring parameters

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Property

Communicatio

n

Address

P S T

P0-00

Motor speed

0

rpm √ √ √ ▢

0000H

P0-01

Motor load rate

0 % √ √ √

▢

0001H

P0-02

Current electric angle

0 ° √ √ √

▢

0002H

P0-03

DI Input level (binary display)

Low bit: 11111 High bit: 11111

- √ √ √ ▢

0003H

P0-04

DO Output level (binary display)

Low bit: 11111 High bit: 1

- √ √ √ ▢

0004H

P0-05

Encoder multi circle position value (only for 17 bit absolute encoder)

0

rev √ √ √ ▢

0005H

P0-06

Total running time

0

min √ √ √ ▢

0006H

P0-08

AI1 voltage value

0

mV √ √ √ ▢

0008H

P0-09

AI2 voltage value

0

mV √ √ √ ▢

0009H

P0-10

Encoder sector number (only for 2500ppr incremental encoder)

0 - √ √ √

▢

000AH

P0-11

Bus voltage

0 V √ √ √

▢

000BH

P0-12

Effective current value

0 A √ √ √

▢

000CH

P0-13

Servo drive current state

- - √ √ √

▢

000DH

P0-14

Brake load ratio

0 % √ √ √

▢

000EH

P0-15

IGBT module temperature

0 ℃ √ √ √

▢

000FH

P0-16

Total collected external pulse

0

ppr √ ▢

0010H

P0-18

Display P1-60 selected fault codes

- - √ √ √

▢

0012H

43

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Property

Communicatio

n

Address

P S T

P0-19

Speed when P1-60 failure occurs

0

rpm √ √ √ ▢

0013H

P0-20

Bus voltage when P1-60 fault occurs

0 V √ √ √

▢

0014H

P0-21

Effective current when P1-60 fault occurs

0 A √ √ √

▢

0015H

P0-22

Running time when P1-60 fault occurs

0

min √ √ √ ▢

0016H

P0-24

Low 4 bit of encoder single-turn position value (only for 17 bit encoder)

0

ppr √ √ √ ▢

0018H

P0-25

High 5 bit encoder single-turn position value (only for the 17 encoder)

0

ppr √ √ √ ▢

0019H

P0-26

The current total inertia load continuous detection

0

kg*c

m2

√ √

▢

001AH

P0-27

Current load inertia ratio continuous detection

0 % √ √

▢

001BH

P0-28

Total number of feedback pulses

0

ppr √ ▢

001CH

P0-30

Received external pulse frequency

0

Khz √ ▢

001EH

6.2.2 P1 group - Basic control parameters

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Property

Communica

tion

address

P S T

P1-00

Control mode selection: 0: Speed control mode 1: Position control mode 2: Torque control mode 3: Speed position switching mode 4: Torque speed switching mode 5: Position torque switching mode

1 - √ √ √

○

0100H* 2100H*

P1-01

Position command source selection: 0: external pulse command (pt) 1: internal multiple command (pr)

0 - √ ○ 2101H

P1-02

External pulse command input form: 0: Pulse + direction, positive logic 1: Pulse + direction, negative logic 2: Two phase orthogonal pulse (4 times of frequency), positive logic 3: Two phase orthogonal pulse (4 times of frequency), negative logic 4: CCW/CW pulse, positive logic 5: CCW/CW pulse, negative logic

0 - √ ● 2102H

P1-03

Internal position command multiple execution options: 0: From pr1 to pr16, cycle 1: From pr1 to pr16, not cycle 2: External Di switch

0 - √ ○ 2103H

P1-05

Speed command source: 0: Internal digital given (P3-00 given) 1: Analog quantity 1 given (AI1) 2: Analog quantity 2 given (AI2) 3: Not used 4: Internal multi section speed command 5: Point running (should make external JOG DI enable)

0 - √ ○ 2105H

P1-06

Multi section speed selection: 0: Multi section speed automatic switching, cycle

0 - √ ○ 2106H

44

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Property

Communica

tion

address

P S T

1: Multi section speed automatic switch, not cycle 2: Multi section speed external Di switch

P1-07

Frequency dividing output

2500

ppr √ √ √ ●

2107H

P1-08

Torque command selection: 0: Internal digital given (given by P4-00) 1: Analog value 1 given (AI1) 2: Analog value 2 given (AI2) 3: Not used

0 - √ ○ 2108H

P1-09

Speed feedback filter time constant

500

us √ √ √ ○

2109H

P1-10

First group of resonance frequency setting value

1000

Hz √ √ ○

210AH

P1-11

First group of resonance points in the notch depth

0

dB √ √ ○

210BH

P1-12

Internal position command acceleration time T

PACC

100

ms √

☆ 210CH

P1-13

Internal position command deceleration time T

PDEC

100

ms √

☆ 210DH

P1-14

Internal position command S curve smoothing time TPL

10

ms √

☆ 210EH

P1-15

External pulse command smoothing filter time constant

0

ms √ ○

210FH

P1-16

Speed command acceleration time T

SACC

200

ms √

☆ 2110H

P1-17

Speed command deceleration time T

SDEC

200

ms √

☆ 2111H

P1-18

Speed command S curve smoothing time TSL

50

ms √

☆ 2112H

P1-19

Speed command low-pass filter smoothing filter time constant

10. 0

ms √

○ 2113H

P1-20

Analog speed command gain

3000

rpm √ ○

2114H

P1-21

Current feedback low-pass smoothing constant

100

us √ √

√ ○ 2115H

P1-22

Torque command low-pass smoothing constant

100

us √ √

√ ○ 2116H

P1-23

The torque command when analog maximum input (10V)

100 % √ ○ 2117H

P1-24

Second group of resonance frequency setting value

1000

Hz √ √ ○

2118H

P1-25

Second group of resonance points in the notch depth

0

dB √ √ ○

2119H

P1-26

Electronic gear ratio factor

0 - √ ○ 211AH

P1-27

Electronic gear molecular 1

1 - √

○

011BH* 211BH*

P1-28

Electronic gear denominator

1 - √

○

011CH* 211CH*

P1-29

Electronic gear molecular 2

1 - √

○

011DH* 211DH*

P1-30

Electronic gear molecular 3

1 - √

○

011EF* 211EH*

P1-31

Electronic gear molecular 4

1 - √

○

011FH* 211FH*

P1-32

Position approaching width When the fault counter is less than the setting value, it will export position approaching signal

20

ppr √ ○

2120H

P1-33

Position complete width

10

ppr √ ○

2121H

P1-34

Action selection to remove position deviation by external DI signal 0: By rising edge of P-CLR 1: By low level of P-CLR 2: By high level of P-CLR

0 - √ ○ 2122H

45

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Property

Communica

tion

address

P S T

3: By falling edge of P-CLR

P1-35

Automatic selection of position deviation: 0: Automatically remove deviation only when fault occurs 1: Automatically remove deviation when fault occurs or servo cancel enable 2: No automatically remove deviation, and remove deviation as P1-34 set

1 √ ○ 2123H

P1-36

Alarm threshold of position following deviation

25000 256

ppr

√ ○ 2124H

P1-37

Fault threshold of position following deviation

25000 256

ppr

√ ○ 2125H

P1-38

Threshold of torque reaches

0 % √ ○ 2126H

P1-39

Maximum speed setting (over-speed setting value)

5000

rpm √ √ √ ○

2127H

P1-40

Zero speed signal output value

10

rpm √ √ √ ○

2128H

P1-41

Rotation signal output value

10

rpm √ √ √ ○

2129H

P1-42

Speed approaching threshold

100

rpm √ ○

212AH

P1-43

Speed reach threshold

20

rpm √ ○

212BH

P1-44

Zero fixed value of analog speed command

10

rpm √ ○

212CH

P1-45

Z Pulse output width

0

0.

5ms

√ √ √ ● 212DH

P1-46

Forward maximum torque limit

300 % √ √ √ ○ 212EH

P1-47

Reverse maximum torque limit

300 % √ √ √ ○ 212FH

P1-48

Torque limit source selection; 0: Internal limit [P1-46, P1-47] 1: Analog 1 limit, while limited by P1-46, P1-47 2: Analog 2 limit, while limited by P1-46, P1-47

3: Not used

0 - √ √ √ ○ 2130H

P1-49

Third group of resonance frequency setting value

1000

Hz √ √ ○

2131H

P1-50

Third group of resonance points in the notch depth

0

dB √ √ ○

2132H

P1-53

Stop mode selection 0: When servo OFF, free stopping; 1: When servo OFF, stopping at zero speed

0 - √ √ √ ○ 2135H

P1-54

Delay time of Servo ON-receive command

200

ms √ √ √ ○

2136H

P1-55

Delay Time of Servo OFF-braking command

200

ms √ √ √ ○

2137H

P1-56

Speed brake command output speed

50

rpm √ √ √ ○

2138H

P1-57

Waiting time of Servo OFF-Brake command

500

ms

P1-58

Direction selection of frequency dividing output pulse

0 - √ √ √ ● 213AH

P1-60

Fault display options: 0: The last fault 1: Before the latest fault 2: 2 times before the latest fault 3: 3 times before the latest fault

0 - √ √ √ ○ 213CH

P1-61

System parameter initialization

0 - √ √ √ ○ 213DH

P1-62

Manufacturer parameter 1

0 - √ √ √ □ 213EH

P1-63

Manufacturer parameter 2

0 - √ √ √ □ 213FH

6.2.3 P2 group - Multi-position control parameters

Parameters

Function

Initial

value

unit

Applicable

control

mode

Pro

pert

y

Commu nication

address

P S T

46

Parameters

Function

Initial

value

unit

Applicable

control

mode

Pro

pert

y

Commu nication

address

P S T

P2-00

High 5 pulse number of internal position command 1

1

ppr √

☆ 2200H

P2-01

Low 4 pulse number of internal position command 1

0

ppr √

☆ 2201H

P2-02

Moving speed of internal position command 1

100

rpm √

☆ 2202H

P2-03

Waiting time after the completion of the Pr1 into the Pr2

1. 0

s √

☆ 2203H

P2-04

High 5 pulse number of internal position command 2

-1

ppr √

☆ 2204H

P2-05

Low 4 pulse number of internal position command 2

0

ppr √

☆ 2205H

P2-06

Moving speed of internal position command 2

100

rpm √

☆ 2206H

P2-07

Waiting time after the completion of the Pr2 into the Pr3

1. 0

s √

☆ 2207H

P2-08

High 5 pulse number of internal position command 3

0

ppr √

☆ 2208H

P2-09

Low 4 pulse number of internal position command 3

0

ppr √

☆ 2209H

P2-10

Moving speed of internal position command3

1000

rpm √

☆ 220AH

P2-11

Waiting time after the completion of the Pr3 into the Pr4

0. 0

s √

☆ 220BH

P2-12

High 5 pulse number of internal position command 4

0

ppr √

☆ 220CH

P2-13

Low 4 pulse number of internal position command 4

0

ppr √

☆ 220DH

P2-14

Moving speed of internal position command 4

1000

rpm √

☆ 220EH

P2-15

Waiting time after the completion of the Pr4 into the Pr5

0. 0

s √

☆ 220FH

P2-16

High 5 pulse number of internal position command 5

0

ppr √

☆ 2210H

P2-17

Low 4 pulse number of internal position command 5

0

ppr √

☆ 2211H

P2-18

Moving speed of internal position command 5

1000

rpm √

☆ 2212H

P2-19

Waiting time after the completion of the Pr5 into the Pr6

0. 0

s √

☆ 2213H

P2-20

High 5 pulse number of internal position command 6

0

ppr √

☆ 2214H

P2-21

Low 4 pulse number of internal position command 6

0

ppr √

☆ 2215H

P2-22

Moving speed of internal position command 6

1000

rpm √

☆ 2216H

P2-23

Waiting time after the completion of the Pr6 into the Pr7

0. 0

s √

☆ 2217H

P2-24

High 5 pulse number of internal position command 7

0

ppr √

☆ 2218H

P2-25

Low 4 pulse number of internal position command 7

0

ppr √

☆ 2219H

P2-26

Moving speed of internal position command 7

1000

rpm √

☆ 221AH

P2-27

Waiting time after the completion of the Pr7 into the Pr8

0. 0

s √

☆ 221BH

P2-28

High 5 pulse number of internal position command 8

0

ppr √

☆ 221CH

P2-29

Low 4 pulse number of internal position command 8

0

ppr √

☆ 221DH

P2-30

Moving speed of internal position command 8

1000

rpm √

☆ 221EH

P2-31

Waiting time after the completion of the Pr8 into the Pr9

0. 0

s √

☆ 221FH

P2-32

High 5 pulse number of internal

0

ppr √

☆ 2220H

47

Parameters

Function

Initial

value

unit

Applicable

control

mode

Pro

pert

y

Commu nication

address

P S T

position command 9

P2-33

Low 4 pulse number of internal position command 9

0

ppr √

☆ 2221H

P2-34

Moving speed of internal position command 9

1000

rpm √

☆ 2222H

P2-35

Waiting time after the completion of the Pr9 into the Pr10

0. 0

s √

☆ 2223H

P2-36

High 5 pulse number of internal position command 10

0

ppr √

☆ 2224H

P2-37

Low 4 pulse number of internal position command 10

0

ppr √

☆ 2225H

P2-38

Moving speed of internal position command 10

1000

rpm √

☆ 2226H

P2-39

Waiting time after the completion of the Pr10 into the Pr11

0. 0

s √

☆ 2227H

P2-40

High 5 pulse number of internal position command 11

0

ppr √

☆ 2228H

P2-41

Low 4 pulse number of internal position command 11

0

ppr √

☆ 2229H

P2-42

Moving speed of internal position command 11

1000

rpm √

☆ 222AH

P2-43

Waiting time after the completion of the Pr11 into the Pr12

0. 0

s √

☆ 222BH

P2-44

High 5 pulse number of internal position command 12

0

ppr √

☆ 222CH

P2-45

Low 4 pulse number of internal position command 12

0

ppr √

☆ 222DH

P2-46

Moving speed of internal position command 12

1000

rpm √

☆ 222EH

P2-47

Waiting time after the completion of the Pr12 into the Pr13

0. 0

s √

☆ 222FH

P2-48

High 5 pulse number of internal position command 13

0

ppr √

☆ 2230H

P2-49

Low 4 pulse number of internal position command 13

0

ppr √

☆ 2231H

P2-50

Moving speed of internal position command 13

1000

rpm √

☆ 2232H

P2-51

Waiting time after the completion of the Pr13 into the Pr14

0. 0

s √

☆ 2233H

P2-52

High 5 pulse number of internal position command 14

0

ppr √

☆ 2234H

P2-53

Low 4 pulse number of internal position command 14

0

ppr √

☆ 2235H

P2-54

Moving speed of internal position command 14

1000

rpm √

☆ 2236H

P2-55

Waiting time after the completion of the Pr14 into the Pr15

0. 0

s √

☆ 2237H

P2-56

High 5 pulse number of internal position command 15

0

ppr √

☆ 2238H

P2-57

Low 4 pulse number of internal position command 15

0

ppr √

☆ 2239H

P2-58

Moving speed of internal position command 15

1000

rpm √

☆ 223AH

P2-59

Waiting time after the completion of the Pr15 into the Pr16

0. 0

s √

☆ 223BH

P2-60

High 5 pulse number of internal position command 16

0

ppr √

☆ 223CH

P2-61

Low 4 pulse number of internal position command 16

0

ppr √

☆ 223DH

P2-62

Moving speed of internal position command 16

1000

rpm √

☆ 223EH

P2-63

Waiting time after the completion of the Pr16 into the Pr1

0. 0

s √

☆ 223FH

6.2.4 P3 group- Multi section speed control parameters

48

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Pro

pert

y

Commu nication

address

P S T

P3-00

Internal speed command register 1

0

rpm

√

○

0300H*

2300H

P3-01

Internal command 1 running time setting

1. 0 s √

○

0301H*

2301H

P3-02

Internal speed command register 2

0

rpm

√

○

0302H*

2302H

P3-03

Internal command 2 run time setting

1. 0 s √

○

0303H*

2303H

P3-04

Internal speed command register 3

-400

rpm

√

○

0304H*

2304H

P3-05

Internal command 3 run time setting

1. 0 s √

○

0305H*

2305H

P3-06

Internal speed command register 4

0

rpm

√

○

0306H*

2306H

P3-07

Internal command 4 run time setting

1. 0 s √

○

0307H*

2307H

P3-08

Internal speed command register 5

800

rpm

√

○

0308H*

2308H

P3-09

Internal command 5 run time setting

1. 0 s √

○

0309H*

2309H

P3-10

Internal speed command register 6

0

rpm

√

○

030AH*

230AH

P3-11

Internal command 6 run time setting

1. 0 s √

○

030BH*

230BH

P3-12

Internal speed command register 7

-800

rpm

√

○

030CH*

230CH

P3-13

Internal command 7 run time setting

1. 0 s √

○

030DH*

230DH

P3-14

Internal speed command register 8

0

rpm

√

○

030EH*

230EH

P3-15

Internal command 8 run time setting

1. 0 s √

○

030FH*

230FH

P3-16

Internal speed command register 9

1200

rpm

√

○

0310H*

2310H

P3-17

Internal command 9 run time setting

1. 0 s √

○

0311H*

2311H

P3-18

Internal speed command register 10

0

rpm

√

○

0312H*

2312H

P3-19

Internal command 10 run time setting

1. 0 s √

○

0313H*

2313H

P3-20

Internal speed command register 11

-1200

rpm

√

○

0314H*

2314H

P3-21

Internal command 11 run time setting

1. 0 s √

○

0315H*

2315H

P3-22

Internal speed command register 12

0

rpm

√

○

0316H*

2316H

P3-23

Internal command 12 run time setting

1. 0 s √

○

0317H*

2317H

P3-24

Internal speed command register 13

1500

rpm

√

○

0318H*

2318H

P3-25

Internal command 13 run time setting

1. 0 s √

○

0319H*

2319H

P3-26

Internal speed command register 14

0

rpm

√

○

031AH*

231AH

P3-27

Internal command 14 run time setting

1. 0 s √

○

031BH*

231BH

P3-28

Internal speed command register 15

-1500

rpm

√

○

031CH*

231CH

P3-29

Internal command 15 run time setting

1. 0 s √

○

031DH*

231DH

P3-30

Internal speed command register 16

0

rpm

√

○

031EH*

231EH

P3-31

Internal command 16 run time

1. 0 s √ ○ 031FH*

49

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Pro

pert

y

Commu nication

address

P S T

setting

231FH

6.2.5 P4 group- Multi-torque control parameters

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Pro

pert

y

Commu nication Address

P S T

P4-00

Internal digital torque given

100. 0 % √

○

0400H*

2400H

P4-01

Speed limit of torque control

100

rpm √ ○

2401H

P4-02

Torque speed limit command source: 0: P4-01 given 1: Analog 1 given 2: Analog 2 given 3: Not used

0 - √ ○ 2402H

P4-03

Torque speed limit command gain

1000 √ ○ 2403H

P4-05

Torque command compensation

0 % √ ○ 2405H

6.2.6 P5 group- Gain tuning parameters

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Pro

pert

y

Commu nication Address

P S T

P5-00

Position regulator proportional gain KPP

30. 0

rad/s √ ○

2500H

P5-01

Position gain fluctuation ratio

50 % √ ○ 2501H

P5-02

Front position regulator feedforward gain

0. 0 % √ ○ 2502H

P5-03

Position feedforward smoothing time

5

ms √

☆ 2503H

P5-04

Speed regulator proportional gain KVP

350. 0

rad/s

√ √ ○ 2504H

P5-05

Speed regulator integration time constant

10. 0

ms

√ √ ○ 2505H

P5-06

Speed gain fluctuation rate

50 % √ √ ○ 2506H

P5-07

Gain adjustment mode selection 0: Manual mode 1: Semi-automatic mode (non-continuous adjustment) 2: Automatic mode (continuous adjustment)

0 - √ √ ○ 2507H

P5-08

Load inertia ratio total inertia / motor inertia

0. 01

- √ √ ○

2508H

P5-09

Offline load inertia torque autotuning

50 % √ √ ○ 2509H

P5-11

Speed bandwidth

60

Hz

√ √ ○ 250BH

P5-12

PDFF Control coefficient

100 % √ √ ○ 250CH

P5-13

Gain switching condition

0 - √ √ ○ 250DH

P5-14

Gain switching time

5

ms

√ √ ○ 250EH

P5-15

Gain delay time

5

ms

√ √ ○ 250FH

P5-16

Gain switching threshold

100

rpm, ppr

√ √ ○ 2510H

P5-17

Control loop coefficient

4 - √ √ ○ 2511H

P5-19

Low frequency rigidity coefficient

1. 0 - √ √ ○ 2512H

P5-20

External disturbance resistance gain

0 % √ √ ○ 2513H

6.2.7 P6 group- Digital input (DI) / output (DO) parameters

Paramete

rs

Function

Initial

value

Unit

Applicable

control

mode

Pro

pert

y

Commu nication Address

P S T

P6-00

DI filter time

2

ms √ √ √ ○

2600H

P6-01

DI level logic

00000000

- √ √ √ ○

2601H

P6-02

DI1 function code

1

- √ √ √ ○

2602H

50

Paramete

rs

Function

Initial

value

Unit

Applicable

control

mode

Pro

pert

y

Commu nication Address

P S T

P6-03

DI2 function code

2

- √ √ √ ○

2603H

P6-04

DI3 function code

3

- √ √ √ ○

2604H

P6-05

DI4 function code

4

- √ √ √ ○

2605H

P6-06

DI5 function code

5

- √ √ √ ○

2606H

P6-07

DI6 function code

6

- √ √ √ ○

2607H

P6-08

DI7 function code

7

- √ √ √ ○

2608H

P6-09

DI8 function code

8

- √ √ √ ○

2609H

P6-12

DO level logic

0000

- √ √ √ ○

260CH

P6-13

DO1 function code

1

- √ √ √ ○

260DH

P6-14

DO2 function code

2

- √ √ √ ○

260EH

P6-15

DO3 function code

8

- √ √ √ ○

260FH

P6-16

DO4 function code

12

- √ √ √ ○

2610H

P6-19

AI1 bias adjustment

0

mV √ √ √ ○

2613H

P6-20

AI2 bias adjustment

0

mV √ √ √ ○

2614H

P6-22

AI1 filter time

2

ms √ √ √ ○

2616H

P6-23

AI2 filter time

2

ms √ √ √ ○

2617H

P6-25

AO1 bias adjustment

0

mV √ √ √ ○

2619H

P6-26

AO2 bias adjustment

0

mV √ √ √ ○

261AH

P6-27

AO1 function plan

0

- √ √ √ ○

261BH

P6-28

AO2 function plan

1

- √ √ √ ○

261CH

6.2.8 P7 group - Communication parameters

Paramete

rs

Function

Initial

value

Unit

Applicable

control

mode

Pro

pert

y

Commu nication Address

P S T

P7-00

Station code setting

1 - √ √ √ ○ 2700H

P7-01

Communication transmission rate 0: 4800 1: 9600 2: 19200 3: 38400 4: 57600

1

bps

√ √ √ ○ 2701H

P7-02

Communication data format 0: No parity 1 + 8 + N + 1 1: Odd parity 1 + 8 + O + 1 2: Even parity 1 + 8 + E + 1 3: No parity 1 + 8 + N + 2 4: Odd parity 1 + 8 + O + 2 5: Even parity 1 + 8 + E + 2

0 - √ √ √ ○ 2702H

6.2.9 P8 group – Auxiliary function parameters

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Prope

rty

Commu nication Address

P S T

P8-00

Software reset: 0: No operation 1: System software reset

0 - √ √ √ □ 2800H

P8-01

Fault reset 0: No operation 1: Fault reset

0 - √ √ √ □ 2801H

P8-02

Jog function (trial run) When enter this function code, press UP key, the motor will run forward in the speed set as P8-03, and it will stop if loose UP key. When press Down key, the motor run reversal in the speed set as P8-03, and it will stop if loose Down key. Press MODE key to cancel this function code. Jog will be invalid.

0 - √ √ √ □ 2802H

P8-03

Jog speed

100

rpm √ √ √ ○

2803H

P8-04

Offline inertia identification switch

0 - √ √ □ 2804H

P8-05

Internal servo enable command 0: No function

0 - √ √ √ ○ 2805H

51

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Prope

rty

Commu nication Address

P S T

1: servo enable (auto-zero after power)

P8-07

Default monitoring project selection

0 - √ √ √ ■ 2807H

P8-11

0: Servo enable when the fan is running 1: The fan is running after power

0 - √ √ √ ○ 280BH

P8-12

Drive overload warning threshold setting

80 % √ √ √ ○ 280CH

P8-13

Motor overload warning threshold set

80 % √ √ √ ○ 280DH

P8-14

Enabling conditions for each stopping mode selection 0: Free stopping, start enable as condition of P8-15 1: Free stopping and zero speed stopping are both selected

0 - √ √ √ ○ 280EH

P8-15

Enabling conditions: 0: Start enable as time set in P8-16 1: Start enable as speed set in P8-17 2: Start enable according to time and speed conditions 3: Immediately enable

3 - √ √ √ ○ 280FH

P8-16

After the S-OFF , S-ON effective required interval time

5. 00

- √ √ √ ○

2810H

P8-17

Effective enable speed

20

rpm √ √ √ ○

2811H

P8-18

Braking resistor value

50 Ω √ √ √ ■ 2812H

P8-19

Braking resistor capacity

100

W √ √ √ ■

2813H

P8-20

Brake discharge duty ratio

22500

- √ √ √ ○

2814H

6.2.10 PB group– origin return function parameters

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Pr op

er ty

Commu nication Address

P S T

PB-00

Back to zero failure alarm time

0

ms

√

√ √ ○

2B00H

PB-01

Origin triggered start mode: 0: Disable origin return function 1: Power on, after servo enable origin return automatically 2: The SHOM function terminal (function 23) trigger origin return

0 - √

√ √ ○

2B01H

PB-02

Short distance moving mode of reaching origin 0: After finding reference origin, motor run back in second section speed to searching nearest Z-phase pulse as the mechanical origin. 1: After finding reference origin, motor run in the same direction in second section speed to searching nearest Z-phase pulse as the mechanical 2: According to PB-03.

0 - √

√ √ ○

2B02H

PB-03

Origin detector type and direction setting: 0: Forward direction to search the origin, and regard P-OT input as coarse reference origin. 1: Reverse direction to search the origin, and regard N-OT input as coarse reference origin. 2: Forward direction to search the

0 - √

√ √ ○

2B03H

52

Parameters

Function

Initial

value

Unit

Applicable

control

mode

Pr op

er ty

Commu nication Address

P S T

origin and regard ORGP terminal signal (Function No. 22) as coarse reference origin. 3: Reverse direction to search the origin and regard ORGP terminal signal (Function No. 22) as coarse reference origin. 4: Forward to search Z-phase pulse origin directly 5: Reverse to search Z-phase pulse origin directly

PB-04

Back to zero first section high speed

0

rpm

√

√ √ ○

2B04H

PB-05

Back to zero second section low speed

100

rpm √ √ √ ○

2B05H

PB-06

High 5 of origin return offset pulse

0

rev

√

√ √ ○

2B06H

PB-07

Low 4 of origin return offset pulse

0

ppr √ √ √ ○

2B07H

PB-08

Whether clear the position deviation after origin return 0: Do not clear 1: Clear

0 - √

√

○

2B08H

6.2.11 PE group - motor parameters

Parameters

Function

Default

value

Settings ranges

Unit

Property

Run

mode

PE-00

Motor parameter password

0

0-65535 - ■

P S T

PE-01

Motor Codes

code

120-8000

■ P S T PE-02

Motor rated power

0. 0

0. 0～6553. 5

KW ■ P S T

PE-03

Motor rated current

3. 00

0. 01～100. 00

A ■ P S T

PE-04

Motor rated torque

2. 40

0. 1～100. 00

N. m ■ P S T

PE-05

Motor rated voltage

220V

220～380

V ■ P S T

PE-06

Rated motor speed

3000

10～9000

rpm ■ P S T

PE-07

Motor maximum speed

5000

10～9000

rpm ■ P S T

PE-08

Motor number of pole-pairs

4

1～360 ■

P S T

PE-09

Q axis inductance

3. 0

0. 01～655. 35

mH ■ P S T

PE-10

D axis inductance

3. 0

0. 01～655. 35

mH ■ P S T

PE-11

Resistance between lines

3. 920

0. 001～65. 535

Ω ■ P S T

PE-12

Torque coefficient

1. 59

0. 01～655. 35

- ■ P S T

PE-13

Not used

PE-14

Encoder rotor inertia

0. 12

0. 01～655. 35

Kg*c

m2

■

P S T

PE-15

Encoder type

0

0～4 - ■

P S T

PE-16

Encoder pulses per revolution

2500

512～30000

ppr ■ P S T

PE-18

Encoder electrical angle

15.0

0. 0～359. 9

° ■ P S T

PE-19

Encoder rising electrical angle of U phase

80. 5

0. 0～359. 9

° ■ P S T

PE-20

Motor autotuning method setting

0

0～2 - □

P S T

PE-21

Absolute encoders using method selection

0

0: Incremental encoder 1: Absolute encoder

- ■ P S T

PE-22

Incremental encoder AB phase sequence relationship

0

0: A leads B CCW 1: A leads B CW

- ■ P S T PE-23

Q axis current regulator proportional gain

8000

-

- ○ P S T

PE-24

D axis current regulator proportional gain

8000

-

- ○ P S T

PE-25

Q axis current regulator integral gain

13000

-

- ○ P S T

53

Parameters

Function

Default

value

Settings ranges

Unit

Property

Run

mode

PE-26

D axis current regulator integral gain

13000

-

- ○ P S T

Notice

*: Some function parameters have two communication addresses, such as P1-00 have two communication addresses: 0100H and 2100H. Beginning with address 0, it indicates that this parameter written to the RAM register of the drive, and can be executed immediately, but will not be saved; Beginning with address 2, it indicates that this parameter written to the EEPROM of drive, can be executed immediately and saved;

*: If you require to frequently rewrite parameters frequently to EEPROM, due to the limit of writing cycles of EEPROM, EEPROM may be damaged. Therefore, for parameters which need to be frequently rewritten via communication, please use RAM address, whose starting address is 0. For example, in speed mode, when need to transfer speed command in real time via the communication, the written address of speed command must use 0300H, not 2300H.

*: For the parameters whose RAM register addresses are not listed, when using the address starting with 0, the data will be received but will not be executed and saved. When these parameters using EEPROM address, the data will be saved, but whether executed immediately depend on parameter attributes.

54

7 Function parameter details

7.1 P0 group - Monitoring parameters

Monitoring group parameters are used to view the status of the servo drive, they cann‘t be modified.

P0-00

Motor speed Initial value

Unit

Communication

Address

0

rpm

0000H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Display current motor speed

P0-01

Motor load rate Initial value

Unit

Communication

Address

0 % 0001H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Show the actual output torque of the motor and the motor rated torque ratio

P0-02

Current electric angle Initial value

Unit

Communication

Address

0 ° 0002H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Display current electric angle of motor rotor

Electric angle= Motor mechanical angle * Pole pairs of motor

P0-03

DI Input level (binary display) Initial value

Unit

Communication

Address

0 - 0003H

Control mode：P S T Data size：32bit Display mode：Binary system Parameter function：Show the status of the input terminal, a total of 10bit data, representing the DI1~DI10.

For example, panel display:

DI1DI2DI3DI4DI5

DI6DI7DI8

001 01001 01

DI2,DI4,DI5,DI6 are closed. DI9, DI10 are not used.

P0-04

DO Output level (binary display) Initial value

Unit

Communication

Address

0 - 0004H

Control mode：P S T Data size：32bit Display mode：Binary system Parameter function：Show the status of the output terminal, a total of 6bit data, representing the DO1~DO6.

For example, panel display:

DO1DO2DO3DO4

00101

00000

DO2,DO4 output are valid. DO5,DO6 are not used.

P0-05

Encoder multi circle position value (only for 17 bit absolute encoder)

Initial

value

Unit

Communication

Address

0

rev

0005H

Control mode：P S T Data size：16bit

55

Display mode：Decimal system Parameter function：Show multi circle value of encoder feedback, range: -32768~+32767

P0-06

Total running time Initial value

Unit

Communication

Address

0

min

0006H

Control mode：P S T Data size：32bit Display mode：Decimal system Parameter function：Display the total time elapsed after the servo drive is out of the factory.

P0-08

AI1 voltage value Initial value

Unit

Communication

Address

0

mV

0008H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function： Display analog channel 1 acquisition of the actual value of the voltage.

P0-09

AI2 voltage value Initial value

Unit

Communication

Address

0

mV

0009H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Display analog channel 2 acquisition of the actual value of the voltage.

P0-10

Encoder sector number (only for 2500ppr incremental encoder)

Initial value

Unit

Communication

Address

0 - 000AH

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Display the current incremental encoder sector number.

If the motor uses the 2500ppr incremental encoder, the sector number means the UVW combination of the encoder feedback, generally in the counter clockwise rotation, jump in accordance with : 2- > 6- > 4- > 5- > 1- > 3-.

P0-11

Bus voltage Initial value

Unit

Communication

Address

0 V 000BH

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function： Show the actual value of the DC bus voltage in the drive.

P0-12

Effective current value Initial value

Unit

Communication

Address

0 A 000CH

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Show the effective value of current motor current.

Effective current value

2 2 2

2

()

3

U V W

I I I I  

P0-13

Servo drive current state Initial value

Unit

Communicatio

n

Address

- - 000DH

Control mode：P S T Data size：16bit Display mode： - Parameter function：Show the current state of the servo drive.

When selecting the display P0-13, the following figure shows the display of the LED display on the servo drive panel.

56

LED0LED1LED2LED3LED4

LED2, LED1,LED0 Show the current state of the servo drive，three states below：

Servo is in the normal operation condition，LED2~LED0 display:

Servo is ready but not enabled，LED2~LED0 display:

Servo is in a fault state，LED2~LED0 display:

LED3 shows current control mode for servo drives，the decimal point indicates whether the brake resistance is in the discharge state.

Servo is in position control mode, the brake resistance is not working

Servo is in the position control mode, the brake resistance is discharged.

Servo is in the speed control mode, the brake resistance is not working

Servo is in the speed control mode, the brake resistor is discharged

The servo is in the torque control mode and the brake resistance is not working

Servo is in the torque control mode, the braking resistor is discharged.

LED4 shows the direction of the current motor speed, the number of points to maintain the brake terminal (BK-) status.

Motor reversal, keeping the brake control terminal BK is invalid

Motor reversal, keeping the brake control terminal BK valid

Zero speed of motor, the brake control terminal BK is invalid

Zero speed of motor, the brake control terminal BK is valid

The motor is rotating , and the brake control terminal BK is invalid

The motor is rotating , and the brake control terminal BK is valid

For example:

Motor

forward

Brake control terminal valid

Braking resistor is discharging

Torque mode

Servo is in the

normal operation

condition.

In particular, when the servo is at the origin of the regression process, P0-13is showing:

P0-14

Brake load ratio Initial value

Unit

Communication

Address

0 % 000EH

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：When the motor is in the braking state, the load rate of the current braking resistor is displayed.

P0-15

IGBT module temperature Initial value

Unit

Communication

Address

0 ℃ 000FH

Control mode：P S T Data size：16bit

57

Display mode：Decimal system Parameter function： IGBT module inside temperature

EA100 servo driver has perfect over temperature protection mechanism. Because the temperature detection device is located inside the IGBT module, the temperature can reach 100 or higher, which is a normal phenomenon.

P0-16

Total collected external pulse Initial value

Unit

Communication

Address

0

ppr

0010H

Control mode：P S T Data size：32bit Display mode：Decimal system Parameter function： In the position mode, the total number of pulses sent to the servo is useful only in the position control mode. Note: This value may be more than five, please check the high data through the left shift key.

P0-18

Display P1-60 selected fault codes Initial value

Unit

Communication

Address

0 - 0012H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function： Show the last fault (P1-60) of the fault code

P0-19

Show speed when P1-60 failure occurs Initial value

Unit

Communication

Address

0

rpm

0013H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function： Show the motor speed when the last fault occurred.

P0-20

Show bus voltage when the P1-60 fault occurs

Initial value

Unit

Communication

Address

0 V 0014H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Show bus voltage when the last fault occurs

P0-21

Show effective current when P1-60 fault occurs

Initial value

Unit

Communication

Address

0 A 0015H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Show the effective value of the motor current at the time of the last fault.

P0-22

Show running time when P1-60 fault occurs

Initial value

Unit

Communication

Address

0

min

0016H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Show the running time when the last fault occurs.

P0-24

Low 4 bit of encoder single-turn position value (only for 17 bit encoder)

Initial value

Unit

Communication

Address

0

ppr

0018H

Control mode：P S T Data size：16bit Display mode：Decimal system Parameter function：Show current single loop position value low 4 bits of 17 bit encoder feedback.

P0-25

High 5 bit encoder single-turn position value (only for the 17 encoder)

Initial value

Unit

Communicatio

n

Address

0

ppr

0019H

Control mode：P S T

58

Data size：16bit Display mode：Decimal system Parameter function：Show current single loop position value high 5bits of 17 bit encoder feedback.

Single loop position value =10000*P0-25+P0-24

For example：

P0-26

The current total inertia load - continuous detection

Initial value

Unit

Communication

Address

0

kg*cm2

001AH

Control mode：P S Data size：16bit Display mode：Decimal system Parameter function：Show identification of the total value of the load of the total inertia, when servo drive is online inertia identification.

Total load inertia = Motor inertia + Load inertia

P0-27

Current load inertia ratio - continuous detection

Initial value

Unit

Communication

Address

0 % 001BH

Control mode：P S Data size：16bit Display mode：Decimal system Parameter function：Show the ratio of the real time value of the load inertia and the inertia of the motor, when servo drive is online inertia

identification

P0-28

Total number of feedback pulses Initial value

Unit

Communication

Address

0

ppr

001CH

Control mode：P Data size：32bit Display mode：Decimal system Parameter function：Show the total number of the rotation of the servo motor ,it‘s useful only in the position control mode. Note: This value may be more than five, please check the high data through the left shift key.

P0-30

Received external pulse frequency Initial value

Unit

Communication

Address

0

KHz

001EH

Control mode：P Data size：32bit Display mode：Decimal system Parameter function：Show the number of external pulses that are collected in the position adjustment cycle, it‘s only useful in the position

control mode.

7.2 P1-xx Basic control parameters

P1-00

Control mode selection Initial value

Unit

Communication

Address

1

-

0100H 2100H

Control mode：P S T Range：0～5 Data size：16bit Display mode：Decimal system Parameter function： Select control mode of servo system

P1-00=0：Speed control mode

Servo drive works in speed control mode, which can determine the speed of the motor running through communication, analog and multi section speed.

P1-00=1：Position control mode

Servo drive works in position control mode, which can determine the position of the motor running through the external position pulse and the multi section position.

P1-00=2：Torque control mode

Servo drive works in the torque control mode, which can determine the output torque of the motor through communication and analog.

P1-00=3：Speed- position switching mode

Servo drive works in speed -position switching mode , please set P1-00=3 and external DI

p i n fu n c t i o n c o d e se l e c t M S E L f u n c t i o n s. A t t h i s po i n t , se r v o d r i v e ca n s w i t c h be t w e e n speed control mode and position control mode.

P0-24

P0-25

Single loop

position value =

10000*15+131=150131

00 131 00 015

59

At the moment , make sure the instruction of speed and position to ensure servo drive running correctly. During the switching between two kinds of control mode, pay attention to switching can be running at zero speed state, but for safety, switching control mode when servo motor stop.From position control mode to speed control mode, retentionpulse will be cleared. If switch signals under the condition of higher than zero velocity rotational state, even then velocity fall below zero speed ,also can‘t switch control mode.

Note: Although mode switching signal switch ON/OFF when zero signal is invalid, then zero signal is valid ,it can’t switch control mode .

P1-00=4 ： Torque-speed switching mode

Servo drive works in torque -speed switching mode , please set P1-00=4 and external DI pin function code select MSEL functions.At this point , servo drive can switch between torque control mode and speed control mode. Torque-speed switching mode switch through external DI junction,whenever can switch control mode,

Note: If instruction value of speed instruction is 0 when switch speed control mode, the servo motor slowdown in setting deceleration time to stop. If external DI signal unused MSELn function, the drive can only run in torque control mode.

P1-00=5：Position-torque switching mode

Servo drive works in position-torque switching mode , please set P1-00=5 and external DI pin function code select MSEL functions.At this point , servo drive can switch between position control mode and torque control mode. It can switch at zero speed state, but for safety, switching control mode when servo motor stop. From position control mode to speed control mode, retentionpulse will be cleared. If switch signals under the condition of higher than zero velocity rotational state, even then velocity fall below zero speed ,also can‘t switch control mode.

NOTE: If external DI signal unused MSELn function, the drive can only run in to position control mode.

P1-01

Position command source selection Initial value

Unit

Communication

Address

0 - 2101H

Control mode：P Range：0～1 Data size：16bit Display mode：Decimal system Parameter function：Select the source of the position command

P1-01=0：External pulse command (pt)

Position command is derived from the external input pulse number, the frequency of the external pulse determines the speed of the motor running. Please see the description of P1-02.

P1-01=1：Internal multiple command (pr)

Position command is derived from the internal multiple command set by the P2 group. Please see the description of P1-03 and Section 7.3 .

P1-02

External pulse command input mode: Initial value

Unit

Communication

Address

0 - 2102H

Control mode：P Range：0～5 Data size：16bit Display mode：Decimal system Parameter function：The way of selecting an external pulse.

Table 7-1 pulse command logic

Parameters

Pulse form

Logic state

Direction of rotation

Forward

Reverse

P1-02=0

Pulse +

direction

Positive

logic

PULS

SIGN

P1-02=1

Pulse +

direction

Negative

logic

PULS

SIGN

Figure7-1 Speed-position switching mode

Speed control

mode

Position control

mode

Speed control

mode

Speed of

servo drive

motor

Zero

speed

Zero speed

signal

Mode

switch(MSEL)

(Note)

Speed control

mode

Torque control

mode

Speed control

mode

Servo motor

speed

Switch mode

(MSEL)

Load torque

Forward torque

Torque

instruction

（Note）

Position control

mode

Torque control

mode

Position control

mode

Servo motor

rotate speed

Switch mode

(MSEL)

Torque

instruction

Zero speed

value

Zero speed

signal

Figure7-2 Torque-speed switching mode

Figure7-3Position-torque switching mode

60

Parameters

Pulse form

Logic state

Direction of rotation

Forward

Reverse

P1-02=2

Two phase

orthogonal pulse

(4 times

frequency)

Positive

logic

PULS

SIGN

P1-02=3

Two phase

orthogonal pulse

(4 times

frequency)

Negative

logic

PULS

SIGN

P1-02=4

CCW/CW pulse

Positive

logic

PULS

SIGN

P1-02=5

CCW/CW pulse

Negative

logic

PULS

SIGN

P1-03

Internal position command multiple execution options

Initial value

Unit

Communication

Address

0 - 2103H

0 - 2102H

Control mode：P Range：0～2 Data size：16bit Display mode：Decimal system Parameter function：When the P2 group is given a position command, the multi section position switch mode is chosen.

P1-03=0：Press the 16 section position from the start of the PR1 cycle.

Pr1

Pr2 Pr3 Pr4 Pr5 Pr6

Pr8

Pr9

Pr10

Pr11

Pr12

Pr13

Pr14

Pr15

Pr16

Pr7

origin

P1-03=1：According to the 16 section position from the PR1 to the Pr16, running only one cycle .

Pr1

Pr2 Pr3 Pr4 Pr5 Pr6

Pr8

Pr9

Pr10

Pr11

Pr12

Pr13Pr14Pr15

Pr16

Pr7

origin

finish

P1-03=2：By external DI input switching operation as stipulated in the table 7-2. DI terminals must be set to 5(CMD0), 6(CMD1), 7(CMD2), 8(CMD3) and 9(CTRG)function. DI default is low level effectively, if 4 road（5/6/7/8）DI input information in the following way to form a number D of bit 4:

CMD0CMD1CMD2CMD3

0

3

，and D for 0000-1111 respectively corresponding to pr1-pr16，according to the value of D run under different position

pr instructions.

CTRG

CMD3

CMD2

CMD1

CMD0

Pr1 Pr2 Pr3 Pr4 Pr5 Pr6 Pr7 Pr8 Pr9 Pr10Pr11 Pr12 Pr13Pr14 Pr15 Pr16 Pr1

NOTE：

1 ： I t will n o t t a k e effe c t t h a t i f ch an g e s t h e cur r e n t p e r i od o f parame n ts i n t h e op e r a t i o n

when P1-03=0 or 1，these paraments will only be effective in the next run.

2 ： T h e s e g m e n t h as i mp l emen t e d w i l l b e c l e a r e d t h a t i f c a n m a k e O F F o r p o w e r d o w n i n

t h e o p e r a t io n w h en P 1 -03 = 0 o r 1. A t th e mo m e n t , i f di r e c t l y t o r u n a g a i n , t h e c u r r e n t

position as a starting point ,since Pr1starts execution. 3 ： T h e m u l t i s t a g e p o s i t i o n c o m m a n d e x e c u t i o n t r i g g e r e d b y f a l l i n g e d g e C T R G w h e n P1-03=2，please set corresponding DI input terminal low level effectively. 4 ： O n l y t h e e x e c u t i o n o f a p o s i t i o n c o m m a n d h a s f i n i s h e d , t h e r e s p o n s e t o a n o t h e r command whenP1-03=2.

 In the process of a position command execution, servo drive will not terminate the current position command execution by DI

terminal state change.

 When the current position commad execution has finished, the servo drive in a wait state, according to the current DI terminal state

executes the corresponding segment of position instruction after receives the CTRG falling edge.

Table7-2internal position instruction multistage (DI)function

Pr

instruction

CMD3

CMD2

CMD1

CMD0

CTRG

Corresponding

paramter

explaination

Speed

setting

Pr1 0 0 0 0 ↓ P2-00

Pr1pulses total

P2-02

61

Pr

instruction

CMD3

CMD2

CMD1

CMD0

CTRG

Corresponding

paramter

explaination

Speed

setting

P2-01

Pr2 0 0 0 1

↓

P2-04 P2-05

Pr2pulses total

P2-06

Pr3 0 0 1 0

↓

P2-08 P2-09

Pr3 pulses total

P2-10

Pr4 0 0 1 1

↓

P2-12 P2-13

Pr4 pulses total

P2-14

Pr5 0 1 0 0

↓

P2-16 P2-16

Pr5 pulses total

P2-18

Pr6 0 1 0 1

↓

P2-20 P2-21

Pr6 pulses total

P2-22

Pr7 0 1 1 0

↓

P2-24 P2-25

Pr7 pulses total

P2-26

Pr8 0 1 1 1

↓

P2-28 P2-29

Pr8 pulses total

P2-30

Pr9 1 0 0 0

↓

P2-32 P2-33

Pr9 pulses total

P2-34

Pr10 1 0 0 1

↓

P2-36 P2-37

Pr10 pulses

total

P2-38

Pr11 1 0 1 0

↓

P2-40 P2-41

Pr11 pulses

total

P2-42

Pr12 1 0 1 1

↓

P2-44 P2-45

Pr12 pulses

total

P2-46

Pr13 1 1 0 0

↓

P2-48 P2-49

Pr13 pulses

total

P2-50

Pr14 1 1 0 1

↓

P2-52 P2-53

Pr14 pulses

total

P2-54

Pr15 1 1 1 0

↓

P2-56 P2-57

Pr15 pulses

total

P2-58

Pr16 1 1 1 1

↓

P2-60 P2-61

Pr16 pulses

total

P2-62

NOTE: In the table, 0/1 is just respectively invalid/effective, doesn’t represent the actual level. More are available at logic level settings.

P1-05

Speed command source selection Initial value

Unit

Communication

Address

0 - 2105H

Control mode：S Range：0～5 Data size：16bit Display mode：Decimal system Parameter function：Speed command source selection：

P1-05=0：Internal digital given (P3-00 given); P1-05=1：Analog quantity 1 given (AI1); P1-05=2：Analog quantity 2 given (AI2); P1-05=3：Not used; P1-05=4：Internal multi section speed command（P1-06）; P1-05=5：Point running (should make external JOG DI enable);

P1-06

Internal multi section speed command execution mode

Initial value

Unit

Communication

Address

0 - 2106H

Control mode：S Range：0～2 Data size：16bit Display mode：Decimal system Parameter function： When P1-05=4, select the switching mode of operation of multi section speed.

P1-06=0：According to the 16 section speed command from spd1 begin circularly run.

Spd1

Spd2 Spd3 Spd4 Spd5 Spd6

Spd8

Spd9

Spd10

Spd11

Spd12

Spd13

Spd14Spd15Spd16

Spd7

Starting

speed

P1-06=1：According to the 16 section speed command from the spd1 run to spd16, only run a cycle.

Spd1

Spd2 Spd3 Spd4 Spd5 Spd6

Spd8

Spd9

Spd10

Spd11

Spd12Spd13Spd14Spd15

Spd16

Spd7

Starting

speed

End

62

P1-06=2：External DI input switch operation by table 7-3. The DI terminal needs to set to 5 (CMD0), 6 (CMD1), 7 (CMD2) and 8 (CMD3) function.

DI default is low level valid, if 4 input (5/6/7/8) DI form a 4bit number in the following ways:

D:

CMD0CMD1CMD2CMD3

0

3

, thenD is 0000-1111 corresponding to pr1-pr16, system according to the value of D running at different

speed command spd. As shown in the following diagram.

CMD3

CMD2

CMD1

CMD0

Spd

Spd1Spd2Spd3Spd4Spd5Spd6Spd7Spd8Spd9Spd10Spd11Spd12Spd13Spd14Spd15Spd16Spd

1

NOTE:

1：It will not take effect that if modifies the current segment paraments in the operation when P1-06=0 or1. 2 ： T h e s e g m e n t h as i mp l emen t e d w i l l b e c l e a r e d t h a t i f c a n m a k e O F F o r p o w e r d o w n i n

the operation when P1-06=0 or 1.At the moment , if directly to run again, since Spd1 starts

execution. 3 ： I f DI t e r m i n a l st at e u n c h a n g e d , s er vo d r i v e r u n co n t i n u o u s l y a c c o r d i n g t o t h e curr en t D I t e r mi n a l s t a t e c o r r e s p o n d i n g sp e e d whenP1 - 0 6 = 2.On c e t h e D I t e r m inal s t a t e cha n g e s , t hen i m m e d i a t e l y r u n t o t h e s p e e d o f n e w D I t e r m i n a l s t a te a c c o rd i n g t o ac c e l e ra t i o n an d deceleration time.

Table7-3 Internal multistage speed instruction（DI）function

Internal

speed

instruction

CMD3

CMD2

CMD1

CMD0

Corresponding

paramter

Explaination

Spd1 0 0 0 0

P3-00