Maxsine EP3 E Series User manual

Servo drive

GL1A0/GL1A8/GL3A0/GL5A5/GL7A5/GL120/GL160

GL190/GL240/GH2A0/GH3A5/GH5A4/GH8A5/GH130

GH170/GH210/GH260/GH320/GH390

Maxsine

EP3 E series

PROFINET

AC servo drive

User Manual

(The fourth edition)

Wuhan Maxsine Electric Co., Ltd

Because improves and so on the reasons, the product specification or

dimension has the change, not separate informs even slightly.

DECLARATION

Without this company's written permission, forbid strictly the reprint either

the part or the complete content of this handbook.

Safety Precautions

In order to ensure proper use of 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.

Indicates a disoperation possibly can cause danger and physical injure or death.

Indicates a disoperation possibly can cause danger and physical injure, and may

result in damage to the product.

Indicates a prohibited actions, otherwise can cause damage, malfunction to the

product.

1. Service conditions

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

Connect the earth terminal (PE) to earth reliably, otherwise can cause an electric shock or fire.

Never connect the input power terminals (L1, L2, L3) to 380V power supply, otherwise can result in the

equipment damage and an electric shock or fire.

Do not connect the servo motor output terminals (U, V, W) to 3 phase AC power supply, otherwise can cause

personnel casualty or fire.

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

otherwise can result in the servomotor flying speed that may cause equipment damage and the personnel

casualty

Please fasten the input power terminals (L1, L2, and L3) and the output terminals (U, V, W). Otherwise may

cause fire.

Referring to wire selection guide, please install all wires with an adequate cross-section. Otherwise may cause

fire.

3. Operations

Before operating the mechanical device, it is necessary to set the parameters with appropriate values. Otherwise,

can cause the mechanical device to out of control or break down.

Before running the mechanical device, make sure the emergency stop switch can work at any time.

Performing trial run without load, make sure that the servomotor is in normal operation. Afterwards joins again

the load.

Please do not turn on and off the main power supply more frequently, otherwise can cause the servo driver

overheat.

4. Running

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

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

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.

III

CONTENTS

Chapter 1

Product inspection and installment........................................................................ 1

1.1

Product inspection..................................................................................................... 1

1.2

Product nameplate..................................................................................................... 1

1.3

Product front panel.................................................................................................... 2

1.4

Servo driver installation .......................................................................................... 10

1.4.1

Installation environmental conditions........................................................... 10

1.4.2

Installation method........................................................................................ 10

1.5

Servo motor installation .......................................................................................... 11

1.5.1

Installation environmental conditions........................................................... 11

1.5.2

Installation method........................................................................................ 11

1.6

Motor rotation direction definition ......................................................................... 12

Chapter 2

Wiring.................................................................................................................. 13

2.1

System construction and wiring.............................................................................. 13

2.1.1

Servo driver wiring diagram ......................................................................... 13

2.1.2

Wiring instructions........................................................................................ 18

2.1.3

Electric wire specifications ........................................................................... 18

2.1.4

Strong terminal specification ........................................................................ 19

2.1.5

Main circuit wiring diagram ......................................................................... 20

2.2

Brake resistance adaptation..................................................................................... 24

2.3

Connection of reactor.............................................................................................. 25

2.4

X1 control signal terminal....................................................................................... 26

2.4.1

X1 terminal plug ........................................................................................... 26

2.4.2

X1 terminal signal description ...................................................................... 27

2.4.3

X1 terminal interface type............................................................................. 28

2.5

X2、X3 encoder signal terminals........................................................................... 30

2.5.1

X2 terminal plug ........................................................................................... 30

2.5.2

X2 terminal signal description ...................................................................... 31

2.5.3

X3 terminal ................................................................................................... 31

2.6

X5、X6

PROFINET network port ........................................................................ 32

2.6.1

X5、X6 terminals interface .......................................................................... 32

2.6.2

X5、X6 terminal signal description ............................................................. 32

2.7

Standard wiring diagram......................................................................................... 33

2.7.1

Control wiring............................................................................................... 33

Chapter 3

Front panel operation........................................................................................... 34

3.1

Driver panel description.......................................................................................... 34

3.1.1

Front panel compositions.............................................................................. 34

3.1.2

Front panel explanations ............................................................................... 34

3.1.3

Data display .................................................................................................. 35

3.2

Main menu .............................................................................................................. 35

3.3

Status monitor ......................................................................................................... 36

3.4

Parameters setting ................................................................................................... 41

3.5

Parameter management........................................................................................... 42

3.6

Auxiliary functions.................................................................................................. 43

3.6.1

Special functions☆....................................................................................... 43

3.7

Parameter default value recovery............................................................................ 44

Chapter 4

Running ............................................................................................................... 45

4.1

Trial running with no load....................................................................................... 45

4.1.1

Wiring and inspection ................................................................................... 45

4.1.2

Trial running in JOG mode ........................................................................... 45

4.2

Position control mode ............................................................................................. 46

4.2.1

Parameter setting of position control mode .................................................. 46

4.2.2

Gain related to position control mode........................................................... 47

4.3

Speed control mode................................................................................................. 48

4.3.1

Speed control mode parameter setting.......................................................... 48

4.3.2

Speed command source................................................................................. 48

4.3.3

Acceleration and deceleration ....................................................................... 48

4.3.4

Gain related to speed control mode .............................................................. 49

4.4

Torque control mode ............................................................................................... 50

4.5

Gain adjustment ...................................................................................................... 50

4.5.1

Gain parameters ............................................................................................ 51

4.5.2

Gain adjustment steps ................................................................................... 52

4.6

Resonance suppressions.......................................................................................... 53

4.6.1

Low pass filter............................................................................................... 55

4.6.2

Notch filter.................................................................................................... 55

4.7

Absolute value encoder setting................................................................................ 56

4.7.1

Absolute value encoder multi-turn information saving................................. 56

4.7.2

Initialization of the absolute value encoder .................................................. 56

4.8

Over travel protection ............................................................................................. 57

4.9

Torque limit............................................................................................................. 57

4.9.1

Torque limit parameters ................................................................................ 57

4.10

Timing chart of operation...................................................................................... 58

4.10.1

Timing chart when power supply switch on ............................................... 58

4.10.2

Alarm timing chart while servo-ON is executed......................................... 58

4.10.3

Servo ON/OFF action timing when the motor is stationary ....................... 59

4.10.4

Servo ON/OFF action timing during motor operation................................ 59

4.11

Electromagnetic brake........................................................................................... 60

4.11.1

Electromagnetic brake use .......................................................................... 60

Chapter 5

Parameters ........................................................................................................... 62

5.1

Parameter list........................................................................................................... 62

5.1.1

Parameters of section 0 ................................................................................. 62

5.1.2

Parameters of section 1 ................................................................................. 63

5.1.3

Parameters of section 2 ................................................................................. 65

5.1.4

Parameters of section 3 ................................................................................. 66

5.2

DI Function List ...................................................................................................... 66

5.3

DO Function List .................................................................................................... 66

5.4

Parameter description.............................................................................................. 67

5.4.1

Parameters of section 0 ................................................................................. 67

5.4.2

Parameters of section 1 ................................................................................. 76

5.4.3

Parameters of section 2 ................................................................................. 82

5.4.4

Parameters of section 3 ................................................................................. 87

5.5

DI function detail .................................................................................................... 90

5.6

DO function detail................................................................................................... 92

Chapter 6

Communication function..................................................................................... 93

6.1

PROFINET communication.................................................................................... 93

6.1.1

PROFINET IO .............................................................................................. 93

6.1.2

PROFIDrive .................................................................................................. 94

6.1.3

Status LED .................................................................................................... 94

6.1.4

Data type definition....................................................................................... 95

6.1.5

PROFINET support message and content explanation................................. 96

6.1.6

Isochronous Mode........................................................................................111

6.2

Drive mode............................................................................................................ 112

6.2.1

Servo state machine .................................................................................... 112

6.3

Operating mode..................................................................................................... 113

6.3.1

AC1: Standard driver................................................................................... 113

6.3.2

AC3: Single axis positioning driver with local motion control................... 115

6.3.3

AC4: Motion control with central interpolation and speed setting interface123

6.4

Pattern common function ...................................................................................... 124

6.4.1

Touch Probe Function ................................................................................. 124

6.4.2

Stop function ............................................................................................... 128

6.4.3

Reference speed .......................................................................................... 129

6.4.4

Reference torque ......................................................................................... 129

6.4.5

Position feedback interface ......................................................................... 130

Chapter 7

Alarm ................................................................................................................. 131

7.1

Diagnostic information ......................................................................................... 131

7.2

Alarm list ............................................................................................................... 132

7.3

Alarm cause and handling ..................................................................................... 135

Chapter 8

Specifications .................................................................................................... 145

8.1

Driver model ......................................................................................................... 145

8.2

Drive size .............................................................................................................. 146

8.3

Drive specification ................................................................................................ 148

8.4

Motor adaptation sheet of driver........................................................................... 149

8.5

Servo motor model................................................................................................ 150

8.6

Servo motor wiring ............................................................................................... 151

8.6.1

Winding wiring ........................................................................................... 151

8.6.2

Brake wiring................................................................................................ 151

8.6.3

Encoder ....................................................................................................... 152

Chapter 1

Product inspection and

installment

1.1

Product inspection

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 servomotor and ensure that are the same types in the

order form.

Inspect the outward appearance of servo driver and servomotor 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.

1.2

Product nameplate

Chapter 1 Product inspection and installment

1.3

Product front panel

Applicable models：GL1A0、GL1A8、GL3A0、GL5A5、GL7A5、GL120

This manual suits for next models

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