MIGE EP100 AC SERVO User Manual Servo Drive EP100 3A/ EP100 5A 60/80/90/110/130/180ST M Mige Electric Co., Ltd DECLARATION Hangzhou Mige Electric limited company all rights reserved. Without this company's written permission, forbid strictly the reprint either the part or the complete content of this handbook. Because improves and so on the reasons, the product specification or dimension has the change, not separate informs even slightly. Safety Precautions In order to use this product safely, the user should be familiar with and observes the following important items before proceeding with storage, installation, wiring, operation, inspection or maintenance for the product. DANGER Indicates a disoperation possibly can cause danger and physical injure or death. CAUTION Indicates a disoperation possibly can cause danger and physical injure, and may result in damage to the product. STOP Indicates a prohibited actions, otherwise can cause damage, malfunction to the product. 1
1. Service conditions DANGER Do not expose the product in moisture, caustic gas, and ignitable gas situation. Otherwise can cause an electric shock or fire. Do not use the product in direct sunlight, dust, salinity and metal powder places. Do not use the product in the places that has water, oil and drugs drops. 2. Wiring DANGER Connect the earth terminal (PE) to earth reliably, otherwise can cause an electric shock or fire. Never connect the input power terminals (L1, L2, L3) to 380V power supply, otherwise can result in the servo driver damage and an electric shock or fire. Do not connect the output terminals (U, V, W) to AC power supply, otherwise can cause personnel casualty or fire. The output terminals (U, V, W) must be connected with the servo motor connections (U, V, W) correspondently otherwise can result in the servomotor flying speed that may cause equipment damage and the personnel casualty. Please fasten the input power terminals (L1, L2, and L3) and the output terminals (U, V, W). Otherwise may cause fire. Referring to wire selection guide, please install all wires with an adequate cross section. Otherwise may cause fire. 3. Operations CAUTION Before operating the mechanical device, it is necessary to set the parameters with appropriate values. Otherwise, can cause the mechanical device to out of control or break down. Before running the mechanical device, make sure the emergency stop switch can work at any time. Performing trial run without load, make sure that the servomotor is in normal operation. Afterwards joins again the load. Please do not turn on and off the main power supply more frequently, otherwise can cause the servo 2
4. Running STOP Do not touch any moving parts of the mechanical device while the servomotor is running, otherwise can cause personnel casualty. Do not touch servo driver and servomotor while the equipment is operating, otherwise can result in an electric shock or in burn. Do not move any connection cables while the equipment is operating, otherwise can result in physical injure or equipment damage. 5. Maintenance and inspection STOP Do not touch any portion inside of the servo driver and servomotor, otherwise can cause an electric shock. Do not remove the front cover of the servo driver while power is on, otherwise can cause an electric shock. Please wait at least 5 minutes after power has been removed before touching any terminal, otherwise the remaining high voltage possibly can cause an electric shock. Do not change the wiring while the power is on, otherwise can cause an electric shock. Do not disassemble the servomotor, otherwise can cause an electric shock. 6. Service ranges CAUTION This handbook involves the product for the general industry use, please do not use in some equipment which may directly harm the personal safety, such as nuclear energy, spaceflight, aeronautic equipment, and life safeguard, life support equipment and each kind of safety equipment. Please make contact with the company if have the need of use mentioned above. 3
CONTENTS Chapter 1 Product inspection and installment...1 1.1 Product inspection...1 1.1 Installation and wiring...1 1.2 The method of installation...2 1.3 Servo motor installation...3 1.3.1 The environment conditions for installation...3 1.3.2 The method of installation...3 1.4 The definition of rotating direction for servo motor...3 Chapter 2 Wiring...4 2.1Wiring specifications...4 2.2 Wiring method...4 2.3 Notes...4 2.4 Standard connection...5 2.4.1 Position control...5 2.4.2 Speed control...6 2.4.3 Torque control...7 Chapter 3 Connector...8 3.1 EP100 2A/3A driver power terminals TB...8 3.2 Control signals input/output terminals CN1...9 3.3 Encoder signals input terminals CN2...14 3.4 Connector terminals configuration...15 3.5 Input/ output connector type...16 3.5.1 Switch input interface...16 3.5.2 Switch output interface...16 3.5.3 Pulse input interface...17 3.5.4 The analog input interface...20 3.5.5 Encoder signal output interface...22 3.5.6 Encoder Z signal open collector output interface...23 3.5.7 Servo motor optical encoder input interface...23 3.6 EP100 5A drive power supply terminal TB...24 Chapter 4 Parameter...25 4.1 Parameter table...25 4.2 Parameter description in detail...27 Chapter 5 Protection function...40 5.1 Alarm table...40 5.2 The method of alarm handing...41 Chapter 6 Display and keyboard operation...48 6.1 The first layer...49 6.2 The second layer...50 6.2.1 Monitoring mode...50 6.2.2 Parameter settings...52 6.2.3 Parameter management...53 4
6.2.4 Speed Trial Running...54 6.2.5 JOG Running...55 6.2.6 Analog auto zero...55 Chapter 7 Running...56 7.1 Ground...56 7.2 Timing chart of operation...56 7.2.1 Timing chart when power supply switch on...56 7.2.2 Timing chart...57 7.3 Make use of electromagnetic holding brake...57 7.4 Notes...59 7.5 Trial Running...60 7.5.1 Check before running...60 7.5.2 Trial Running after connecting power...60 7.6 Simple wiring running for position control mode...62 7.7 Simple wiring running for speed control mode...65 7.8 Simple wiring running for torque control mode...67 7.9 Electronic gear for dynamic use...69 7.9.1 Simple wiring...69 7.9.2 Operation...70 7.10 Speed control of unipolar analog voltage...71 7.11 Switch control mode of input terminals...72 7.12 Alarm function of user torque overload...72 7.13 Adjustment...73 7.13.1 Basic gain adjustment...73 7.13.2 Basic parameter adjustment graphics...73 7.14 Frequently Asked Questions...74 7.14.1 Restore default parameters...74 7.14.2 Appear Err 15, Err 30, Err 31, Err 32 alarm frequently...75 7.14.3 Appear power lamp can not light up...75 7.15 Correlative knowledge...76 7.15.1 Position resolution and electronic gear set...76 7.15.2 Delay pulse of position control...76 Chapter 8 Specifications...77 8.1 Specifications of servo driver...77 8.1 Dimensions of servo driver...77 8.3 Specifications of servo driver...78 8.4 The table of model code parameters and motor...79 8.5 Types of servo motor...81 8.6 Servo motor wiring...81 8.6.1 Winding wiring...81 8.6.2 Holding brakes...81 8.6.3 Standard encoders...82 8.6.4 Wire saving encoders...82 5
8.7 Parameters of servo motor...83 8.7.1 Parameters of 80 series servo motor...83 8.7.2 Parameters of 90 series servo motor...84 8.7.3 Parameters of 110 series servo motor...84 8.7.4 Parameters of 130 series servo motor...85 8.7.5 Parameters of 180 series servo motor...87 1.1 Product inspection Chapter 1 Product inspection and installment This product has made the complete function test before delivery, for prevented the product to be abnormal owing to shipping process, please make detail inspection as the following items after breaking the seal: Inspect the types of servo driver and servo motor and ensure that are the same types in the order form. Inspect the outward appearance of servo driver and servo motor to see any abrasion or damage; if so please do not wire to the power supply. Inspect the parts of servo driver and servomotor to see any loosen parts such as loosened or fallen off screw. Rotate the servomotor shaft by hand and should be smooth rotation. However, the servomotor with holding brake is unable to rotate directly. If there is any break down item or abnormal phenomenon mentioned above, please contact with the dealer immediately. 1.1 Installation and wiring Installation of electrical control cabinet The heat in the electrical control cabinet electrical equipment and cooling conditions, the temperature around the servo drive will continue to rise, so in considering the drive cabinet cooling and the configuration situation of control cabinet, long term security working temperature is below 40 degree. There is heating equipment near servo driver The life of driver will be shorten significantly and failure if Servo drives work under high temperature conditions. Therefore, we should ensure that servo driver is in ambient temperature below 40 degrees between thermal convection and heat radiation conditions. Servo drives used in harsh environment Servo drives used in harsh environments, drive will fail when contacts with corrosive gases, moisture, metal dust, water and process liquids. Therefore, the installation must make ensure that the working environment of the drive. 6
There is disturbance from interferential equipment nearby If there is disturbance from interferential equipment nearby along the wirings to the servo driver can make the servo driver misoperation. Using noise filters as well as other antijamming measure guarantee normal work of the servo driver. However, the noise filter can increase current leakage, therefore should install an insulating transformer in the input terminals of power supply. Pay special attention to the signal line drive is easy to receive the interference, there must be a reasonable alignment and shielding measures. 1.2 The method of installation Installation direction In order to get good cooling the servo driver should normally mount in vertical direction. Fixed installation For installing the servo driver, fasten 4 pieces the backboard of the servo driver with M5 screw bolt. Installation interval Reserve enough space around the servo drivers as shown in the reference diagram 1.1, please pay attention to that the dimension in the diagram is the minimum size. In order to guarantee the performance of the servo driver and the lifetime, please make the space as full as possible. Cooling Servo drives with natural cooling, To provide vertical wind to the heat sink of the servo driver should install ventilating fans in the control cubicle. Installation Notes Prevent the dust or the iron filings entering the servo driver when install the control cubicle. 7
Diagram 1.1 servo drive installation diagram 1.3 Servo motor installation 1.3.1 The environmental conditions for installation Ambient temperature: 0 to 40 ; Ambient humidity: less than 80 %( no dew). Storage temperature: 40 to 50 ; Storage humidity: less than 93 %( no dew). Vibration: less than 0.5G. Install the servomotor in well ventilated place with less moisture and a few dusts. Install the servomotor in a place without corrosive liquid, flammable gas, oil vapor, cutting cooling liquid, cutting chips, iron powder and so on. Install the servomotor in a place without water vapor and direct sunlight. 1.3.2 The method of installation For horizontal installation: In order to prevent water, oil, etc. from entering inside of the servomotor, please put the cable connector downward. For vertical installation: if the shaft of the servo motor is in upward direction with a speed reducer, some prevention measure shall be taken against entering inside of the servomotor by oil come from the speed reducer. Motor shaft extension should be long enough, or may cause vibration while motor is in running. In case of installation or removing the servomotor, please do not hit the servomotor with a hammer, otherwise the shaft and the encoder can be damaged. 1.4 The definition of rotating direction for servomotor The motor rotating direction description in this handbook is defined as facing the shaft of the servomotor, if the rotating shaft is in counterclockwise direction will be called as positive direction, or in clockwise as reversal direction. 8
Clockwise (CCW) Reversal (CW) Chart 1.2 The definition of rotating direction for servomotor 2.1 Wiring specifications Chapter 2 Wiring Wiring diameter: R S T PE U V W terminals wiring diameter 1.5mm 2 (AWG14 16), r t terminals wiring diameter 0.75mm 2 (AWG18); Terminals use pre insulated terminals with cold terminal, be sure to connect firmly. Proposed use three phase isolation transformer power supply. 2.2 Wiring method Input and output signal cable and encoder signal cable, please use the recommended cable or similar shielding wire. Wiring length: the input and output signal cable length should be less than 3 meters and the encoder cable length 20 meters. Wiring connection according to the shortest distance, the shorter the better, the main circuit wiring and the signal cable to separate. Grounding cable is to be sturdy, made a grounding, and make sure servo motor terminal and servo drive ground terminal PE must be connected. To prevent interference of the wrong operation, it is recommended to install the noise filter, and pay attention to: 1) Noise filter, servo drives, and upper controller installed closely. 2) Relays, electromagnetic contactors, brakes, etc. be sure to install the surge suppressor coil 3) Main circuit and the signal cable should not in the same channel and binding together. There is strong interference source nearby (such as spot welding, EDM machine, etc.), input power with isolation transformers can be used to prevent interference which lead to wrong operation. Install a non fuse circuit breaker(nfb) that can shut off the external power supply immediately for in case of the servo driver fault. Use connect cable shield correctly 9
2.3 Notes Drive U, V, W terminals must connect motor terminal U, V, W correspondingly, pay attention that it can not transposed terminal like three phase to reverse the motor, this is completely different with asynchronous motor. As servo motor flows through the high frequency switch current, leakage current is relatively large, and the servo motor ground terminal must be connected with drive ground terminal PE and a good grounding. Because the drive with a large capacity electrolytic capacitors, so even cutting off power supply, there still has high voltage in internal circuit. After the power is cut off, at least wait 5 minutes to access the drive and motor Long time not to use, please cut off the power. 10
2.4 Standard connection 2.4.1Position control 11
12
2.4.2 Speed control 13
2.4.3 Torque contro 14
Chapter 3 Connector 3.1 EP100 2A/3A drive power supply terminal TB Table 3.1 power supply terminal TB Terminals No. Terminal symbol Signal name Function 1 PE Grounding system Grounding terminals 2 R 3 S 4 T Main circuit power input Three phase AC220V 5 U 6 V 7 W Servo motor power output Main circuit power input terminals AC220V 50Hz Notes: do not connect motor output terminals U, V, W Output to servo motor electrical power must be connect with servo motor U, V, W terminals correspondingly 8 PE Grounding Grounding terminals, connected to the motor shell 9 r 10 t Control power input Control circuit power supply terminal AC220V 50Hz 3.2 Control signals input/output terminals CN1 15
Control method abbreviation: P: position control mode; S: speed control mode; T: torque control mode Table 3.2 Control signals input/output terminals CN1 Pin number CN1 18 CN1 10 CN1 12 Signal name Input terminal power supply anode Servo enable CCW Drive disable symbol Function I/O Type COM+ SON FSTP Input terminal power supply anode is used for driving photocoupler of input terminal DC12~24V Current 100mA SON ON: enable driver SON OFF: disable driver, output turns off, driver stop runing, motor idle Note: 1, make sure motor must be stationary before SON OFF turn to SON ON; 2, When S ON is effective, wait at least 50ms, then start to enter the command. CCW(counter clockwise) drive forbid to input terminal FSTP ON: CCW drive permits, motor can be rotated counterclockwise; FSTP OFF: CCW drive disable, motor can not be rotated counterclockwise; Note:1, Used for mechanical position limit switch; when open OFF, CCW direction torque is 0. 2, Set Parameter PA20=1 is used to shield this signal. Users need not to connect this terminal also can make CCW drive permits. Type1 Type1 Type1 Mo de 16
CN1 13 CW Drive disable RSTP CW(clockwise) drive forbid to input terminal RSTP ON: CW drive permits, motor can be rotated clockwise; RSTP OFF: CW drive disable, motor can not be rotated clockwise; Note:1, Used for mechanical position limit switch; when open OFF, CW direction torque is 0. 2, Set Parameter PA20=1 is used to shield this signal. Users need not to connect this terminal also can make CW drive permits. Type1 CN1 14 Deviation counter clear zero Speed option 1 Zerospeed clamp CLE SC1 ZEROSPD For position control (Parameter PA4=0) is used to clear the position error zero. CLE ON: position control, pisition deviation counter clear zero. Speed control(parameter PA4=1), inner speed (Parameter No22=0) speed option 1 input terminal. Under speed control, SC1 and SC2 combination is used to choose different inner speed. SC1 OFF, SC2 OFF: inner speed1; SC1 ON, SC2 OFF: inner speed2; SC1 OFF, SC2 ON: inner speed3; SC1 ON, SC2 ON: inner speed4; Note: Inner speed1~4 can be set by modifying parameter. Speed control (Parameter PA4=1), exterior simulate speed(parameter No22=1, default value). ZEROSPD ON: Regardless of the number of analog inputs, speed command is forced to zero; ZEROSPD OFF:speed command is the number of analog inputs. Type1 Type1 Type1 P S S 17
Command pulse disable INH Under position control (Parameter PA4=0), position command pulse disable input terminal. INH ON: command pulse input disable; INH ON: command pulse input enable. Type1 P CN1 15 Speed option 2 SC2 Under speed control(parameter PA4=1), inner speed(parameter PA22=0) speed option 2 input terminal. Under speed control, SC1 and SC2 combination is used to choose different inner speed. SC1 OFF, SC2 OFF: inner speed1; SC1 ON, SC2 OFF: inner speed2; SC1 OFF, SC2 ON: inner speed3; SC1 ON, SC2 ON: inner speed4; Type1 CN1 16 CN1 17 CCW Torque limiting CW Torque limiting FIL RIL CCW(counter clockwise) torque limiting input terminal. FIL ON: CCW torque limiting within Parameter PA36; FIL OFF: CCW torque limiting without restriction Parameter PA36; Note: 1, Regardless of FIL valid or invalid, CCW torque is also limited by the parameters of PA34, usually Parameter PA34>PA36. CW(clockwise) torque limiting input terminal. RIL ON: CW torque limiting within Parameter PA37; FIL OFF: CW torque limiting without restriction Parameter PA37; Note: 1, Regardless of RIL valid or invalid, CW torque is also limited by the parameters of PA35, usually Parameter PA35 > PA37. Type1 Type1 18
Servo ready output terminal Type2 CN1 8 CN1 25 Servo ready output SRDY+ SRDY SRDY ON: Control power and main power condition is normal. No driver alarm, servo output ready ON; SRDY OFF: main power is abnormal, driver alarm, servo output not ready OFF. CN1 26 CN1 27 Servo alarm output ALM+ ALM Servo Alarm output terminal ALM ON: servo driver no alarm, servo alarm output ON; ALM OFF: servo driver alarm, servo alarm output OFF Type2 CN1 28 CN1 29 Position complete (under position control) speed get to oupput); (speed control) COIN+ COIN Position complete outpot terminal. COIN ON: When the position deviation counter value in setting the scope of the positioning, position completed output ON, otherwise output OFF. Speed get to output terminal. COIN ON: When the speed reaches or exceeds the set speed, the speed get to the output ON, otherwise the output OFF. Type2 Type2 P S P S CN1 30 CN1 31 Mechanical brake release BRK+ BRK When the motor has a mechanical brake (loss of electric brake), you can use this terminal to control brake. BRK ON: When brake get power, brake invalid, motor can run. BRK OFF: When brake without power, brake valid, motor can not run. Note: BRK function is controlled by drive internal. Type2 19
CN1 32 Command pulse input PULS+ External command pluse input terminal. Note1: pulse input mode is setted by parameter PA14. 1,PA14=0, command pluse + symbol mode; 2,PA14=1, CW/CCW command mode; 3,PA14=2, 2phase command mode; Type3 P CN1 33 PULS Type3 P CN1 34 Command pulse input SIGN+ CN1 35 SIGN CN1 19 CN1 20 Analog speed command input AS+ AS External analog speed command terminal, differential mode, input impedance 10KΩ, input range: 10V ~+ 10V. Type3 S CN1 23 Analog ground AGND Analog control signal input ground CN1 21 CN1 22 Analog torque reference input AT+ AT External analog torque command terminal, differential mode, input impedance 10KΩ, input range: 10V ~+ 10V. Type4 T CN1 24 Analog ground AGND Analog control signal input ground 20
CN1 1 CN1 2 Encoder A phase signal OA+ OA 1, ABZ encoder signal differential driver output (26LS31output, equivalent to RS422); Type5 CN1 3 CN1 4 CN1 5 CN1 6 CN1 7 CN1 9 CN1 36 Encoder B phase signal Encoder Z phase signal Encoder Z phase open collector output Encoder public ground wire Shielding ground wire OB+ OB OZ+ OZ CZ GND FG 2, Non Isolated Output (non insulated) 1, Encoder Z signal is outputed by open collector output, when there is encoder signal Z the output ON, otherwise the output OFF. 2, Non Isolated Output (non insulated) 3, In the upper lever controller, usually, Z signal pluse is very narrow, so please use high speed optocoupler receiver. Encoder public ground wire. Shielding ground wire terminal. Type5 Type5 Type6 3.3 Encoder signals input terminals CN2 Table 3.3 Encoder signals input terminals CN2 Terminal Signal name Function number Mark I/O Description 14 5V power 5V Servo motor photoelectric 15 16 17 supply encoder use +5V power supply and public ground; If cable length is long, 21
18 Power supply 19 20 21 22 23 ground 1 Encoder A+ input 2 Encoder A input 3 Encoder B+ input 4 Encoder B input 5 Encoder Z+ input 6 Encoder Z input 7 Encoder U+ input 8 Encoder U input 9 Encoder V+ input 10 Encoder V input 11 Encoder W+ input 12 Encoder W input 26 Shielding ground 0V should be used several cored wire parallel, in order to reduce wire pressure drop. A+ Type7 Connect with photoelectric encoder A+ A Connect with photoelectric encoder A B+ Type7 Connect with photoelectric encoder B+ B Connect with photoelectric encoder B Z+ Type7 Connect with photoelectric encoder Z+ Z Connect with photoelectric encoder Z U+ Type7 Connect with photoelectric encoder U+ U Connect with photoelectric encoder U V+ Type7 Connect with photoelectric encoder V+ V Connect with photoelectric encoder V W+ Type7 Connect with photoelectric encoder W+ W Connect with photoelectric encoder W FG Shielding ground terminal 3.4 Connector terminals configuration Figure 3.1 is the disposition chart of terminal connector CN1 for the servo driver. CN1 is the connector with 36 cores. Figure 3.2 is the disposition chart of terminal connector CN2 for the servo driver. CN2 is the connector with 26 cores. 22
Table 3.1 The soldering lug of the CN1 plug (S360 or S361, face to lug) Table 3.2 the soldering lug of the CN2 plug (S261, face to lug) 3.5 Input/ output connector type. 23
3.5.1 Switch input interface Table 3.3 Type1 Switch input interface Power was supplied by the user, DC12~24V, current 100mA Note, if the current class type reversed which can make up the servo driver doesn't work. 3.5.2 Switch output interface a. Relay Connection 24
b. Photoelectric coupler Connection Table 3.4 Type2 Switch output interfaces Darlington transistor output bit connect with the relay or photoelectric coupler; External power supply provided by the user, it must be noted that if the power level is anti access, will damage the servo drive. Output is the open collector form, maximum current is 50mA, maximum voltage is 25V of external power supply. Therefore, the load of switch output signal must meet the qualification requirements. If exceed restricted requirements or output signal connect power supply which will damage the servo drive. If the load is inductive loads such as relays, you must anti parallel freewheeling diode in both both ends of the load. If the freewheeling diode reversed, will damage the servo drive. Output transistor is a Darlington transistor, conduction, the pressure drop between collector and launch is about 1 V ce or so, can not meet the required low TTL and connect with TTL directly. 3.5.3 Pulse input interface 25
Table 3.5 Types 3 The differential drive mode of pulse input Table 3.6 Types 3 The single ended drive mode of pulse input In order to transmit pulse data correctly, proposed use differential drive mode; Differential drive mode, using AM26LS31, MC3487 or similar RS422 line driver; Using single ended drive mode, will reduce the frequency of action. According to pulse input circuit, limited conditions is drive current 10 ~ 15mA, maximum voltage 25V of external power supply which will determine the resistance of R values. Empirical data: VCC=24V, R=1.3~2K; VCC=12V, R=510~820Ω; VCC=5V,R=82~120Ω. Using single ended drive mode, the external power supply provided by user. It must be noted that if the power level is anti access, will damage the servo drive. Pulse input form shown in Table 3.4, arrows indicate the count along, Table 26
3.5 is the pulse input timing and parameters. When using 2 phase input form, the four harmonic pulse frequency 500kHz. Table3.4 Pulse input form Table 3.5 is the pulse input timing and parameters Parameter Differential driver input Single ended driven input t ck >2μS >5μS t h >1μS >2.5μS t l >1μS >2.5μS t rh < 0.2μS < 0.3μS t rl < 0.2μS < 0.3μS t s >1μS >2.5μS t qck >8μS >10μS t qh >4μS >5μS t ql >4μS >5μS t qrh < 0.2μS < 0.3μS t qrl < 0.2μS < 0.3μS t qs >1μS >2.5μS 27
Table 3.7 Pulse + symbol Input interface Timing chart.( The maximum pulse frequency 500kHz) Table 3.8 CCW pulse/ CW pulse Input interface Timing chart. (The maximum pulse frequency 500kHz) 28
Table 3.9 2 phase pulse Input interface Timing chart. ( The maximum pulse frequency 125kHz) 3.5.4 The analog input interface Table 3.10 a Analog differential input interface (type4) 29
Table 3.10 b Analog single ended analog input interface (type4) Table 3.10 c Analog differential potentiometer input interface (type4) 30
Table 3.10 d Analog single ended potentiometer input interface (type4) Analog input interface is a differential manner, according to various connection, which can be connected into two forms: differential and single ended input interface, and the input impedance is 10kΩ. The range of input voltage is 10V~+10V; In the differential input interface connection way, analog ground and the negative input terminal connected to the controller side, the controller to the drive required 3 cables; In the single ended input interface connection way, analog ground and the negative input terminal connected to the controller side, the controller to the drive required 2 cables; Differential input interface connection has better performance than single ended input interface connection, it can suppress common mode interference; Input voltage can not exceed the range of 10V ~ +10 V, or it may damage the driver; Recommend to use shielded cable connection, reducing the noise; It is normal to appear zero bias in analog input interface which can compensate zero bias according to adjust parameters PA45; Analog interface is non isolated (the insulation) 31
3.5.5 Encoder signal output interface Table 3.11 a Photoelectric encoder output interface (Type5) Encoder signal output by the differential drive (AM26LS31). Controller input terminal can be used AM26LS32 receiver and must be connected termination resistors, about 330Ω. Controller ground wire and drive ground wire must be connected reliably. Non isolated output. Controller input terminal also can be used photoelectric coupler, but must use high speed photoelectric coupler (such as 6N137). 32
Table 3.11 b Optical encoder output interface (Type5) 3.5.6 Encoder Z signal output by open collector output, when there appears encoder Z signal, output ON (output on), otherwise the output OFF (output cutoff); 33
Non isolated output (non insulated); In the host computer, usually signal pulse Z very narrow, so please use high speed photocoupler to receive(such as 6N137) 3.5.7 Servo motor optical encoder input interface Table 3.13 Servo motor optical encoder input interface 3.6 EP100 5A drive power supply terminal TB Table 3.14 EP100 5A drive power supply terminal TB Special attention, compared with EP100 2A/3A drive, there is the external braking resistor terminals B in EP100 5A drive, under normal circumstances, terminal B is standing in the air and no need an external resistor. When appears renewable energy too big by slowing down speed, the internal braking resistor can not be fully absorbed, resulting in Err 2 over voltage alarm or Err 14 brake alarm, which can increase the deceleration time extenuatory, and if there is still alarm, you need to enhance brake effect through the B P terminal connecting brake resistance. External braking resistor resistance range of 40 to 200 ohms, the power 100 ~ 50w, the smaller the resistance, the greater the braking current, the greater the power required to brake resistor, the greater the 34
braking energy, but the resistance too small will be damaged to drive, the experimental method is from a big resistance to a small resistance, untill the drive not appear alarm. External braking resistor and internal automatic resistance (about 40 ohms) is connected in parallel. External braking resistor must be operated in 5 minutes and after the internal high pressure to vent. Due to B P terminals are connected to internal high voltage circuit, in order to prevent electric shock, people can not touch B P terminals when turn on the power and turn off the power within 5 minutes. 35
Chapter 4 Parameters 4.1 Parameter table The default value in the next table is taking 110ST M02030 (matches the EP100 2A driver) for example. the parameter * symbol is possibly dissimilar in other models. Table 1 User parameter table Ordinal Name Usage Range Default Unit 0 Password P,S,T 0~9999 315 1 2 3 4 5 Identity code of servo driver Software version (read only) Status of initial display Control mode selection Proportional gain of speed loop P,S,T P,S,T P,S,T P,S,T P,S 0~51 * 0~21 0~6 5~2000 30* * 0 0 150* Hz 6 Integral time constant of speed loop P,S 1~1000 20* ms 7 Filter of torque P,S,T 20~500 100 % 8 9 Filter for speed detection Proportional gain of position loop P,S P 20~500 1~1000 10 Feed forward gain of position loop P 0~100 0 % 11 Cut off frequency of feed forward filter for position loop 12 Numerator of frequency divider for position command pulse 13 Denominator of frequency divider for position command pulse 14 Input mode of position command Pulse 15 Reversing direction of position 16 17 18 19 20 21 22 command pulse Positioning completed range Position deviation limit for error Detection Neglect excessive position deviation Smooth filter for position command Neglect drive inhibition inputs JOG running speed Internal/external speed command Selection P P P P P P P P P P,S,T S S 1~1200 1~32767 1~32767 0~2 0~1 0~30000 0~30000 0~1 0~30000 0~1 3000~3000 0~2 23 Maximum speed limit P,S,T 0~4000 100 40 300 1 1 0 0 20 400 0 0 0 120 1 3600 % 1/s Hz Pulse 100 Pulse 0.1ms r/min r/min 36
Ordinal Name Usage Range Default Unit 24 25 26 27 28 Internal speed 1 Internal speed 2 Internal speed 3 Internal speed 4 Arrival speed S S S S S 3000~3000 3000~3000 3000~3000 3000~3000 0~3000 0 100 300 100 500 r/min r/min r/min r/min r/min 29 Input gain of analog torque T 10~100 30 0.1V/100 30 Command Alarm level of torque overload P,S,T 1~300 300 % % 31 Detection time for torque overload alarm P,S,T 0~32767 0 Ms 32 Permission of control mode P,S,T 0~1 0 exchange 33 Inversing direction of analog torque Command T 0~1 0 34 Internal torque limit in CCW P,S,T Direction 0~300 300* % 35 Internal torque limit in CW direction P,S,T 300~0 300* % 36 External torque limit in CCW Direction P,S,T 0~300 100 % 37 External torque limit in CW P,S,T 300~0 100 % Direction 38 39 40 41 Trial running in speed mode; Torque limit in JOG operation Zero offset compensation of analog torque command Acceleration time constant Deceleration time constant S T S S 0~300 2000~2000 1~10000 1~10000 100 0 0 0 % Ms Ms 42 S curve acceleration/deceleration S 1~1000 0 Ms 43 time constant Gain of analog speed command S 10~3000 300 (r/min) / V 44 45 Reversing direction of analog speed Command Zero offset compensation of analog speed command S S 0~1 5000~5000 0 0 46 Time constant of filter for analog S 0~1000 300 Hz speed command 37
Ordinal Name Usage Range Default Unit 47 Action setting for electromagnetic P,S,T 0~200 0 10ms brake when servomotor is in 48 standstill Action setting for electromagnetic P,S,T 0~200 50 10ms brake when servomotor is in motion 49 Action speed for electromagnetic P,S,T 0~3000 100 r/min brake when servomotor is in motion 50 Speed limit in torque control T 0~5000 3600* r/min 51 Electronic gear is available in P 0~1 0 dynamic 52 Second numerator of frequency divider for position command pulse P 1~32767 1 53 Bottom four bits control word for P,S,T 0000~1111 0000 Binary forcing the input terminal to be ON 54 Top four bits control word for P,S,T 0000~1111 0000 Binary forcing the input terminal to be ON 55 Bottom four bits control word for P,S,T 0000~1111 0000 Binary inversing the terminal input signal 56 Top four bits control word for P,S,T 0000~1111 0000 Binary 57 inversing the terminal input signal Control word for inversing the P,S,T 0000~1111 0000 Binary 58 terminal output signal Time constant of input terminal for P,S,T 1~1000 16 0.1ms 59 removing the effect of vibrating contact Demonstration operation P,S 0~1 0 38
5.1 Alarm Table Alarm code Alarm name Alarm content Normal 1 Over speed Servomotor speed exceeds the speed limit. 2 Over voltage of the main power supply The voltage of the main power supply exceeds the specified value. 3 Under voltage of the main power supply The voltage of the main power supply exceeds the specified value. 4 Position deviation exceeds the limit value The counter of position deviation exceeds the setting limit value. 5 Servomotor over heat The temperature of servomotor is too high 6 Saturation fault of the speed amplifier The speed regulator is in saturation status for a long time 7 Drive inhibition is abnormal CCWL CWL the inputs of drive inhibition are OFF. 8 Overflow of position deviation counter The absolute value of position deviation counter exceeds 230 9 Encoder signal fault Lack of the signals of encoder 10 Under voltage of control power supply The voltage of control power supply is too low. 11 IPM model fault IPM intelligent model fault 12 Over current Over current of servomotor 13 Overload Overload of servomotor and servo driver (instantaneous over heat) 14 Brake fault Fault occurs in brake circuit 15 Encoder counter error Encoder counter is abnormal. 16 Over heat of servomotor The heat load of servomotor exceeds the setting value (I2t detection) 17 Speed response fault Speed deviation is too big for a long time 19 Over heat reset System was reset by over heat fault 20 EEPROM error EEPROM is in error 21 U4 error U4 is in error 22 Reserved 23 U6 chip error U6 chip or current sensor is in error 29 Over torque alarm The torque of servomotor exceeds the setting value and sustained time 30 Lost Z signal of encoder Z signal of encoder is loss. 31 UVW signals error of encoder The UVW Signals error or pole number does not match with the servomotor 32 Illegal code of encoder UVW signals UVW signals are all high level or low level Chapter 5 Protection 39
Picture 6.0 Front panel 1.5 Display The front panel consists of the display (6 digit, 7 segment LED) and four switching buttons ( Enter ). It is used for display the system status, parameter setting and so on. Operation is executed in layer. and Enter button expresses the layer going backward and forward respectively; The Enter button has the meaning of enter, confirm. The button has the meaning of exit, cancel. The and button expresses increase and decrease of serial number or value size respectively; if press down and hold the or button, then has the effect of repeat for doing so; And the longer of holding the higher of repeat rate. If 6 LED digit or decimal point of the most right side LED digit is twinkling, shows that any alarm occurs. If the POWER lamp lit indicates that the main power supply is on. If the RUN lamp has lit, indicates that the servomotor is in motion. 40
5.2 The method of alarm handing Alarm Alarm code name 1 Over speed Running state Reason Treatment Occurred when connected to control power Occurred during motor operation Occurred when motor start Control circuit board Change servo failure. driver. Encoder fault. Change servo motor. Input command pulse Set the input frequency too high. command pulse correctly. Add / deceleration time Increase plus / constant is too small, deceleration time so that excessive constant. speed overshoot. Enter e gear ratio too Set correctly. big. Encoder fault. Change servo motor. Bad encoder cable. Change encoder cable Servo system Re setting the instability, causing gain overshoot. If the gain is not set to an appropriate value, then it will reduce the load inertia ratio. Excessive load inertia. Reduce the load inertia Change drive and motor with more power Encoder zero error. Change servo motor. Please ask factory resetting the encoder zero point. Motor U, V, W Connect wires leads connect rightly. wrong. 55
2 Main circuit overvoltage 3 Main circuit under voltage Occurred when connected to control power Occurred when connected to main power Occurred during motor operation Occurred when connected to main power Occurred during motor operation Encoder cables connected wrong Circuit Board Fault. Change servo driver Power supply voltage too high. Abnormal power Check power supply. supply voltage waveform. Disconnect the brake Re wiring. resistor wiring. Damaged brake transistors. Damage the internal brake resistor. Brake circuit capacity is not enough. Circuit Board Fault. Change servo driver. Reduce the start stop frequency. Increase plus / minus time constant. Reduce the torque limit value. Reduce the load inertia Change drive and motor with more power. Change servo Power Insurance driver. Damage. Soft start circuit fault. Rectifier damage. Low supply Check power voltage. supply. Temporary power failure for more than 20ms. Insufficient power Check power capacity. supply. Instantaneous 56
4 Location tolerance 5 Motor over heating Occurred when connected to control power Connected to the main power supply and control cable, input the command pulse, the motor does not rotate or reverse Occurred during motor operation Occurred when connected to control power power down. Radiator overheating Check load condition. Circuit Board Fault. Change servo driver. Motor U, V, W lead wires connect wrong. Encoder cables connect wrong. Encoder zero point change. Encoder fault. Detection range of position tolerance setting is too small. Position proportional gain is too small. Connect wires rightly. Readjust encoder zero point. Change servo motor. Increase the detection range of position tolerance Increase gain. Less torque. Check torque limit value. Reduce the load capacity. Change servo motor and driver with more power. Command pulse Reduce frequency. frequency is too high. Encoder zero point Readjust change. encoder zero point. Circuit Board Fault. Change servo driver. Cables Break. Check cables. Damage to the Check motor. motor temperature relay. Occurred during motor operation Motor overload Reduce the load Reduce the start stop 57
6 Speed amplifier saturation faults 7 Driving forbidden abnormal 8 Position deviation counter overflow 9 Encoder fault Occurred during motor operation frequency. Reduce the torque limit value. Reduce the related gain. Change servo motor and driver with more power. Motor internal fault Change servo motor. Motor are mechanically Check the stuck. mechanical load part. Load too large Reduce the load. Change servo motor and driver with more power. CCE, CW driver Check wiring. forbidden input terminals are disconnected. Motor are mechanically stuck. Input command pulse abnormal. Encoder wiring connect wrong. Encoder damage. Bad encoder cable Encoder cable is too long, resulting in low supply voltage of encoder Check the mechanical load part. Check command pulse. Check whether motor rotates according to the command pulse. Check wiring. Change motor. Change cable. Shorten the cable, using multi core parallel power supply 58
10 Control power supply under voltage 11 IPM Module fault 12 Over current 13 Overload Occurred when connected to control power Occurred during motor operation Occurred when connected to control power Occurred during motor operation Low input control Check control power. power. Bad drive internal Change driver. connector. Check Switching power connector. supply abnormal. Check Chip damage. Switching Power Supply. Circuit Board Fault. Change servo driver. Low supply voltage. Overheat. Check driver. Connect power again. Change driver. Among drive U, V, W Check wiring. short circuit. Improper grounding. Properly grounded. Motor Insulation Change motor. damage. Interference. Increase line filter. Away from the interference source. Among drive U, V, W Check wiring. short circuit. Improper grounding. Properly grounded. Motor Insulation Change motor. damage. Driver damage. Change driver. Circuit Board Fault. Change servo driver. More than the rated Check load. torque operation. Reduce the start stop frequency. Reduce the torque limit value. Change servo motor and driver with 59
14 Brake failure 15 Encoder count error Occurred when connected to control power Occurred during motor operation more power. Maintain the brakes did Check maintain not open. brake. Electrical instability Change gain. oscillation. Increase plus / deceleration time. Reduce the load inertia. One of U, V, W wire Check wiring. broken. Encoder Connection Error. Circuit Board Fault. Change servo driver. Disconnect the brake Re wiring. resistor wiring. Damaged brake transistors. Damage the internal brake resistor. Brake circuit capacity is not enough. Main circuit power supply is too high. Encoder damage. Encoder lines wrong. Encoder disc damage. There is a false Change servo driver. Reduce the start stop frequency. Increase plus / minus time constant. Reduce the torque limit value. Reduce the load inertia Change drive and motor with more power. Check the main power. Change encoder. 60
encoder Z signal (There are more than one signal Z per turn) Encoder wiring error. Check wiring. Improper grounding. Properly grounded. Check whether shielded cable connected well or not. 16 Motor thermal Occurred when Circuit Board Fault. Change servo overload connected to control driver. power Parameter setting Set the parameters error. correctly. Occurred during motor Long run than the Check load. operation rated torque. Reduce the start stop frequency. Reduce the torque limit value. Change servo motor and driver with more power. Poor mechanical Check the rotation. mechanical parts. 19 Thermal Reset Input control power Check control supply instability. power. Interference Increase line filter. Away from the interference source. 20 EEPROM error Chip or circuit board Change servo damage. driver. After repair, need to re set the drive type (parameter PA1), and then restore the default parameters 21 U4 error Chip or circuit board Change servo 61
damage. 23 U6 chip error Chip or circuit board damage. Current Sensor damaged. 29 Users torque overload alarm 30 Encoder Z pulse missing 31 Encoder UVW signal error 32 Encoder UVW signal illegal coding PA30 PA31 unreasonable parameters. Appear unexpected large loads. Z pulse is not exist, the encoder damage. Bad cable. Bad cable shield. Shield ground is not good together. Encoder interface circuit fault. Encoder UVW signal damage. Encoder Z signal damage. Bad cable. Bad cable shield. Shield ground is not good together. Encoder interface circuit fault. Encoder UVW signal damage. Bad cable. Bad cable shield. Shield ground is not good together. Encoder interface circuit fault. driver. Change servo driver. Modify parameter. Mechanical Maintenance. Change encoder. Check encoder Interface circuit. Change encoder. Check encoder Interface circuit. Change encoder. Check encoder Interface circuit. 62
6.1 First layer You can choose the operation mode in the first layer. There are seven modes in all. and is used to change the operation mode. Press Enter botton goes into the the second layer of the operation mode. Press botton returns to the main menu. 63
6.2 Second layer 6.2.1 Monitor mode Choose dp @@@ in the first layer, then press Enter botton goes into the monitor mode. There are 21 monitor projects. Use and to select the project you want, then press Enter botton to go into the specific status display. Table 6.2 Monitor mode Operation Diagram 64
Table 6.3 Input terminal display (Stroke point light indicates ON, lights out indicates OFF) Table 6.4 Output terminal display (Stroke point light indicates ON, lights out indicates OFF) Table 6.45 Encoder sigal display (Stroke point light indicates ON, lights out indicates OFF) 6.2.2 Parameters setting Select PA @@@ in the first layer, and press Enter button enters the parameter setting mode. First use ' ' or ' ' button to select the parameter name and then pressing 'Enter button shows the parameter value. Press ' ' or ' ' button to change the parameter value. Press ' ' or ' ' button once,the parameter value add or reduce 1. Keep pressing ' ' or ' ' button can change the parameter value in succession. When the parameter value is changed, the decimal point at right on the LED display is lit, press Enter to confirm the changed value, the light on the LED display is went out, and the changed value is inputed. Press ' ' or ' ' if you still want to change, and press botton returnes to the parameter setting mode, If the value needs to be changed, don't press Enter, press 65
to cancel, and the parameter is restored to the original and goes back to the setting mode. Chart 6.6 Parameters setting operation diagram 6.2.3 Parameter management Chart 6.7 Parameters management operation diagram Chapter 7 Operation 7.1 Wiring diagram for position control 1. wiring notes: * According to the below picture(7.8), main circruit terminals, 3 phase AC 220V should connect to R S T 66
* voltage control terminal, r t connect to single phase AC 220V * Encoder Signal connect to CN1, and connect with servo motor * Control signal connect to CN2, as picture below. 67
2 Operation Turn on the control circuit power supply and main power supply, display showing, POWER indicator lights. To set parameter values according to following table: Parameter number Meaning Parameter value Factory default values PA4 Control Mode Selection 0 0 PA12 Electronics gear molecular User Settings 1 PA13 Electronic gear denominator User Settings 1 PA19 Position command smoothing filter 0 0 PA20 Drive prohibit input invalid 1 0 There is no alarm and any abnormal situation, then servo enabled (SON) ON, RUN indicator light; low frequency pulse signal sent from the controller to the drive, then the motor runs in low speed. Chapter 8 Specification 8.1 Specifications of servo driver EP100 x 2A EP100 Series driver Marks Blank B Selection specification Only has position control Marks Output power kw 2A 1.0 3A 1.4 5A 2.5 68
8.2 Dimensions of servo driver Dimension(mm) A B EP100(B) 2A/3A 152 77 EP100 5A 200 108 8.3 Specifications of servo driver Model EP100(B) 2A EP100(B) 2A EP100 5A Power source Three phase AC220V 15%`+10% 50/60Hz Suitable Temperature Using: 0~40 C Storage: 40 C~50 C environment Humidity 40% ~ 80% (No dewing) Atmosphere 86~106kPa pressure Control mode EP100 series Position control Speed control Torque control EP100B series Position control 69
Regenerative applies the brake Characteristic In sets Speed frequency response Speed rate undulation 250Hz <±0.3 (load 0~100%); <±0.02 (power source 15~10%) (value corresponds to read speed) 1:5000 Velocity modulation ratio Pulse frequency <=500kHZ 1Servo Enable 2Alarm elimination 3CCW driver Enable 4CW driver Control input Enable 5Deviation counter nulling operation/speed selection1/ Zero speed clamp 6 Instruction pulse forbidden/ speed selection 2 7 CCW torque restriction 8CW torque restriction Control output 1 Servo ready output 2 Servo alarm output 3 Positioning complete Position control Speed control Acceleration and deceleration function Surveillance function output/speed arrived output 4Mechanical brake output Input model 1pulse + mark 2CCW pulse/ CW pulse 3Two phase A / B quadrature pulse Electric gear ratio 1~32767 / 1~32767 Feedback pulse 2500 pulse / revolution 4 kinds of internal speed Parameter setting 1~10000ms / 1000r/min Speed, current location, command pulse accumulation, position deviation, motor torque, motor current, linear speed, rotor absolute position, command pulse frequency, running state, input and output terminals signals etc Protection function Applicable load inertia Over speed, the main power overvoltage undervoltage, overcurrent, overload, braking abnormality, abnormal encoder, the control power anomaly, abnormal position etc Less than 5 times of the motor inertia 8.4 The table of model code parameters and motor Parameters PA1 (model code) value must be matched with the drive and motor, parameter PA1 values setting see table below, if you do not match, it will cause performance degradation or alarm. Each model code has different default parameters. 70
Device in the factory is set up the appropriate parameters of PA1, and to restore to the corresponding default parameters. If you need to modify the model code or the need to restore factory default parameters, please refer to section 7.14.1 to implement. Adaptive motor for EP100-2A drive Model code Adaptive motor Power(kW) Rated torque(n m) Rated speed(r/min) 53 60ST M00630(mige) 0.2 0.637 3000 54 60ST M01330(mige) 0.4 1.27 3000 55 60ST M01930(mige) 0.6 1.91 3000 56 80ST M01330(mige) 0.4 1.27 3000 57 80ST M02430(mige) 0.75 2.39 3000 58 80ST M03520(mige) 0.73 3.5 2000 59 80ST M04025(mige) 1 4 2500 60 90ST M02430(mige) 0.75 2.4 3000 61 90ST M03520(mige) 0.73 3.5 2000 62 90ST M04025(mige) 1 4 2500 63 110ST M02030(mige) 0.6 2 3000 64 110ST M04020(mige) 0.8 4 2000 65 110ST M04030(mige) 1.2 4 3000 66 110ST M05030(mige) 1.5 5 3000 67 110ST M06020(mige) 1.2 6 2000 68 130ST M04025(mige) 1 4 2500 69 130ST M05025(mige) 1.3 5 2500 70 130ST M06025(mige) 1.5 6 2500 71 130ST M10010(mige) 1 10 1000 72 130ST M10015(mige) 1.5 10 1500 71