Sinee EA180 Series Operation & User’s Manual

Operation & User’s Manual for Sinee EA180 Series Servo Drives (116 pages)

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1654/1654381-ea180_series.pdf file (03 Apr 2024)
  • Manufacturer: Sinee
  • Category of Device: Servo Drives
  • Document: EA180 Series, File Type: PDF Operation & User’s Manual
  • Updated: 03-04-2024
  • Count of Pages: 116
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Sinee EA180 Series Servo Drives PDF Operation & User’s Manual (Updated: Wednesday 3rd of April 2024 02:54:14 PM)

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Compatible devices: EA100-2R8-2A, SIGMA-7 Series, MR-JE-200A, 1S Series, SERVOPACK Sigma 7S Series, FXM1 Series, BR100, JOUCOMATIC 448 Series.

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Text Version of Sinee EA180 Series Servo Drives Manual

(Ocr-Read Summary of Contents, Document's Main Page, UPD: 03 April 2024)
  • Page 1:

    EA180 Series Servo Drive Users Manual

    1

    Introduction

    Thank you for choosing EA180 Series Servo Drives!

    File No.: 31010184

    Release Date: 2020/06

    Version: 100

    EA180 series servo drives are high-performance medium and small power AC servo units

    developed by SINEE. This series of products adopt advanced DSP chips for motor control, large-scale

    field programmable gate array (CPLD/FPGA) and PIM power module, and features high integration,

    small size, perfect protection and high reliability. The optimized PID control algorithm enables

    accurate full-digital control of torque, position and speed to achieve high precision and fast response. It

    provides advanced functions such as rigid selection, real-time automatic gain setting, automatic

    resonance suppression, etc. In addition, the products have rich digital and analog interfaces and

    support MODBUS communication protocol to facilitate networking. The two sub-series respectively

    support motors using 2500 PPR incremental pulse encoders or 17-bit incremental magnetic encoders,

    Tamagawa's 17-bit incremental photoelectric encoders and 23-bit absolute photoelectric encoders to

    meet different requirements on cost and performance. The products can be widely used in automation

    fields such as numerical control machine tools, printing and packaging machinery, textile machinery,

    robots, automatic production lines, etc.

    The EA180 series servo drives are also available in three models supporting EtherCAT bus

    (EA180E), CANopen bus (EA180C) and PROFINET bus (EA180P).

    We have been committed to the continuous improvement of products and product

    information. Therefore, the information provided by us is subject to change without prior notice.

    For the latest changes and more information, please visit www.sineedrive.com.

  • Page 2:

    EA180 Series Servo Drive Users Manual

    2

    Safety Precautions

    Safety definitions: In this Manual, safety precautions include the following two types:

    Danger: Danger caused by failure to operate as required, which may lead to

    serious injuries and even death;

    Attention: Danger caused by failure to operate as required, which may lead to

    moderate or minor injuries and equipment damage;

    Please read this chapter carefully when installing, debugging and repairing this system, and be sure

    to operate according to the safety precautions required herein. We bear no liability for any injury

    and loss caused by illegal operation.

    Safety Precautions

    Before installation:

    Danger

    1. If it is found that the package is flooded, any parts are missing or damaged after unpacking,

    please do not install the device!

    2. If the mark on the outer package does not match the name of the physical product, please do

    not install the device!

    Attention

    1. Please handle the device gently, otherwise it may be damaged!

    2. Do not use damaged servo drives or servo drives with missing parts, otherwise there is a

    risk of injury!

    3. Do not touch any component of the control system with your hands, otherwise electrostatic

    damage may be caused!

    During installation:

    Danger

    1. Please install the device on metal or other flame retardant objects and keep it away from

    combustible materials, otherwise a fire may be caused!

    Attention

    1. Please prevent any lead end or screw from falling into the servo drive, otherwise the device

    will be damaged!

    2. Please install the servo drive in a place with less vibration and no direct sunlight.

    3. When the servo drive is placed in a relatively closed cabinet or space, please reserve the

    installation gap to ensure the cooling effect.

    When wiring:

    Danger

    1. The instructions in this Manual must be followed and used by professional electrical

    engineers, otherwise unexpected risks will occur!

    2. There must be a circuit breaker between the servo drive and the power supply, otherwise a

    fire may occur!

    3. Please make sure the power supply is in zero energy state before wiring, otherwise electric

    shock may be caused! The servo drive must be grounded correctly according to the

    standard, otherwise electric shock may be caused!

    4. The grounding terminal must be grounded reliably, otherwise electric shock or a fire may be

    caused.

  • Page 3:

    EA180 Series Servo Drive Users Manual

    3

    Attention

    1. Never connect the input power supply to the output terminals (U, V, W) of the servo drive.

    Pay attention to the marking on the wiring terminals to ensure correct wiring! Otherwise,

    the servo drive will be damaged!

    2. Please ensure that the power lines comply with EMC requirements and local safety

    standards. Please refer to the recommendations for the preferred wire diameter, otherwise

    accidents may occur!

    3. Never connect the braking resistor directly between the DC bus P + and - terminals!

    Otherwise, it will cause a fire!

    4. Please fasten the terminals with a screwdriver with the specified torque, otherwise a fire

    may be caused.

    5. Never connect a phase-shift capacitor and LC/RC noise filter to the output circuit.

    6. Never connect an electromagnetic switch or magnetic contactor to the output circuit.

    Otherwise, the overcurrent protection circuit of the servo drive will operate, which will

    cause internal damage to the servo drive in serious cases.

    7. Do not remove the connection cables inside the servo drive, otherwise it may cause internal

    damage to the servo drive.

    Before power-on:

    Attention

    1. Please confirm whether the voltage level of the input power supply is consistent with the

    rated voltage level of the servo drive and whether the wiring positions on the power input

    terminals (L1, L2, L3) and output terminals (U, V, W) are correct; and pay attention to

    check whether there is any short circuit in the peripheral circuit connected with the servo

    drive and ensure the wire connections are reliable, otherwise the servo drive may be

    damaged!

    2. Withstand voltage test has been performed for the product before delivery from the factory,

    and it's not necessary to do it again for any part. Otherwise, an accident may be caused!

    Attention

    1、 The servo drive must be covered with the cover plate before being powered on, otherwise it

    may cause electric shock!

    2、 The wiring of all peripheral fittings must be performed correctly according to the

    instructions and circuit connection method in this Manual. Otherwise, an accident may be

    caused!

    After power-on:

    Danger

    1. Do not touch the servo drive and peripheral circuits with wet hands, otherwise an electric

    shock may be caused!

    2. After power-on, if the indicator light is not on or the keypad displays nothing, please

    disconnect the power switch immediately. Do not touch the servo drives L1, L2, L3 or any

    connection terminals by hand or screwdriver, otherwise an electric shock may be caused.

    After disconnecting the power switch, contact our customer service personnel

    immediately.

    3. At the beginning of power-on, the servo drive will automatically carry out safety detection

    on the external strong current circuit. At this time, never touch the U, V, W connection

    terminals of the servo drive or the motor connection terminals, otherwise an electric shock

    may be caused!

  • Page 4:

    EA180 Series Servo Drive Users Manual

    4

    Attention

    1. If parameter identification is required, please pay attention to the danger of injury caused by

    motor rotation, otherwise accidents may occur!

    2. Do not change the default parameters of the servo drive, otherwise it may cause damage to

    the device!

    During operation:

    Danger

    1. Do not test the temperature by touching the cooling fan, radiator, servo motor or discharge

    resistor, otherwise it may cause burns!

    2. Non-professional technicians are not allowed to detect signals during operation, otherwise

    personal injury or equipment damage may be caused!

    Attention

    1. Please prevent anything from falling into the servo drive during its operation, otherwise the

    device may be damaged!

    2. Do not control the start and stop of servo drive by switching on or off the contactor,

    otherwise the device may be damaged!

    3. Do not touch the rotating shaft of a running motor, otherwise it may cause injury!

    During maintenance:

    Danger

    1. Please do not repair or maintain the device when powered on, otherwise an electric shock

    may occur!

    2. Cut off the power supply of the main circuit and confirm that the CHARGE indicator light

    is off before maintenance or repair of the servo drive, otherwise personal injury may be

    caused by the residual charge on the capacitor!

    3. Personnel without professional training is not allowed to repair and maintain the servo

    drive, otherwise personal injury or equipment damage may be caused!

    4. After replacing a variable servo drive, the parameters must be set, and power must be cut

    before plugging or unplugging of any pluggable component!

    Precautions

     If there is any voltage-sensitive component or capacitor to improve the power factor on the

    output side:

    The servo drive outputs PWM waves. If there is any capacitor or voltage-sensitive component to

    improve the power factor or capacitor for lightning protection on the output side, instantaneous

    overcurrent of or even damage to the servo drive may be easily caused. Please do not use it.

     Lightning shock protection

    This series of servo drives are equipped with lightning overcurrent protection unit, which have

    certain self-protection capability for induced lightning. For areas with frequent lightning, lightning

    protection device should also be installed before the servo drive.

     Altitude and derating

    In areas with an altitude of more than 1,000m, the servo drive will have a poor cooling effect due

    to thin air, so it is necessary to derate the device. Please consult us for technical advice in such a

    case.

     Attention for servo drive scrapping

    The electrolytic capacitor in the main circuit and the one on the PCB may explode during

    incineration, and toxic gases will be generated during incineration of plastic parts. Please treat

    them as industrial waste.

  • Page 5:

    EA180 Series Servo Drive Users Manual

    5

    Maintenance and Inspection

    Please carry out regular maintenance and inspection on the drive and motor for safe use.

    Notes for maintenance and inspection

    1) The operator should first cut off the power supply. Do not approach the motor and the machine

    it drives when wrong actions occur during power-on.

    2) For a short period of time after the power supply is cut off, the internal circuit still maintains a

    high voltage charging state. Before inspection, the power supply must be cut off; wait for 10

    minutes, and make sure that the charging light is completely off.

    3) If it is necessary to test the insulation resistance of the drive, all connections to the drive must

    be cut off. Insulation resistance test on the drive connected with wires or a motor will damage

    the device.

    4) Do not use gasoline, diluents, acidic or alkaline detergents to clean the device, otherwise

    discoloration or damage to the case may occur.

    Inspection items and frequencies

    Normal use conditions

    Daily inspections and regular inspections shall be carried out according to the following list

    below.

    Inspection

    Frequency

    Items

    Daily

    inspection

    Daily

     Confirm the use environment (temperature and humidity,

    dust, foreign matters)

     Check for any abnormal vibration or sounds

     Check whether the power supply voltage is in the normal

    range

     Check for peculiar odors

     Check for fiber adhesion at the vents

     Check whether connections are clean and tight

     Check for wire damage

     Check whether any connection with the device is loose or

    eccentricity occurs

     Check whether any foreign matter has entered the

    mechanical transmission part

    Regular

    inspection

    Yearly

     Check whether any fastening part is loose

     Check for signs of overheating

     Check whether there is any oil leakage in the transmission

    mechanism and whether the shaft extension of the motor

    has been polluted.

     Check whether the terminals are intact

     Check whether any connection between wires and the

    drive is loose

    The environmental conditions are as follows: the annual average temperature is 30 ℃,

    the average load rate is below 80%, and the daily operation time is below 20 hours.

  • Page 6:

    EA180 Series Servo Drive Users Manual

    6

    Table of Contents

    CHAPTER 1 PRODUCT INFORMATION .......................................................................................................................... 8

    1.1 CONFIRMATION UPON UNPACKING ............................................................................................................................... 8

    1.2 EA180 SERVO DRIVE ................................................................................................................................................... 8

    1.3 SERVO MOTOR ........................................................................................................................................................... 12

    1.4 CONFIRM SERVO DRIVE AND MOTOR MODELS ............................................................................................................ 13

    CHAPTER 2 INSTALLATION ......................................................................................................................................... 14

    CHAPTER 2 .......................................................................................................................................................................... 14

    2.1 NOTES FOR INSTALLATION ......................................................................................................................................... 14

    2.2 ENVIRONMENTAL CONDITIONS FOR STORAGE............................................................................................................ 14

    2.3 ENVIRONMENT CONDITIONS FOR INSTALLATION........................................................................................................ 14

    2.4 INSTALLATION DIRECTION AND SPACE OF SERVO DRIVE ............................................................................................. 15

    2.5 INSTALLATION DIRECTION AND SPACE OF SERVO MOTOR ........................................................................................... 15

    2.6 SUGGESTIONS FOR CIRCUIT BREAKERS AND FUSES .................................................................................................... 17

    2.7 SELECTION OF BRAKING RESISTOR ............................................................................................................................ 17

    2.8 EMI FILTERS ............................................................................................................................................................. 18

    CHAPTER 3 WIRING ................................................................................................................................................... 19

    CHAPTER 3 .......................................................................................................................................................................... 19

    3.1 PERIPHERALS CONNECTION ....................................................................................................................................... 19

    3.2 MAIN CIRCUIT TERMINAL CONNECTION ..................................................................................................................... 20

    3.3 CN5 ENCODER SIGNAL TERMINAL ............................................................................................................................. 24

    3.4 CN4 CONTROL SIGNAL TERMINAL ............................................................................................................................. 26

    3.5 CN2 AND CN3 COMMUNICATION TERMINAL WIRING ................................................................................................. 36

    3.6 CN1 ANALOG OUTPUT TERMINAL .............................................................................................................................. 37

    3.7 BRAKE ...................................................................................................................................................................... 37

    3.8 STANDARD WIRING DIAGRAM OF CONTROL CIRCUIT .................................................................................................. 40

    3.9 NOTES FOR CONTROL CIRCUIT WIRING ...................................................................................................................... 41

    CHAPTER 4 DISPLAY AND OPERATION ....................................................................................................................... 42

    CHAPTER 4 .......................................................................................................................................................................... 42

    4.1 APPEARANCE OF DISPLAY AND BUTTONS ................................................................................................................... 42

    4.2 OVERVIEW OF DRIVE OPERATING MODES ................................................................................................................... 43

    4.3 INITIALIZATION MODE

    It

    ........................................................................................................................................ 43

    4.4 STATUS MONITORING MODE

    St

    ............................................................................................................................... 43

    4.5 PARAMETER MONITORING MODE

    dS

    ........................................................................................................................ 45

    4.6 PARAMETER SETTING MODE

    pr

    ............................................................................................................................... 46

    4.7 CHANGED PARAMETER MODE

    Cg

    ............................................................................................................................ 47

    4.8 WARNING AND ALARM MODE

    Al

    ............................................................................................................................. 48

    4.9 AUXILIARY FUNCTION MODE

    A F

    ............................................................................................................................. 49

    4.10 AUXILIARY FUNCTION OPERATION ......................................................................................................................... 50

    CHAPTER 5 TRIAL RUN .............................................................................................................................................. 53

    CHAPTER 5 .......................................................................................................................................................................... 53

    5.1 DRIVE POWER-ON ...................................................................................................................................................... 53

    5.2 TRIAL RUN................................................................................................................................................................. 53

    5.3 SERVO ENABLE METHOD ........................................................................................................................................... 54

    CHAPTER 6 ADJUSTMENT .......................................................................................................................................... 55

    CHAPTER 6 .......................................................................................................................................................................... 55

    6.1 POSITION CONTROL MODE BLOCK DIAGRAM ............................................................................................................. 55

    6.2 SPEED CONTROL MODE BLOCK DIAGRAM .................................................................................................................. 56

    6.3 TORQUE CONTROL MODE BLOCK DIAGRAM ............................................................................................................... 57

    6.4 GAIN ADJUSTMENT SUMMARY ................................................................................................................................... 58

  • Page 7:

    EA180 Series Servo Drive Users Manual

    7

    6.5 REAL-TIME AUTO GAIN ADJUSTMENT ........................................................................................................................ 61

    6.6 OFFLINE INERTIA IDENTIFICATION ............................................................................................................................. 62

    6.7 REAL-TIME AUTO GAIN ADJUSTMENT ........................................................................................................................ 62

    6.8 RIGIDITY ADJUSTMENT COEFFICIENT ......................................................................................................................... 63

    6.9 MECHANICAL RESONANCE SUPPRESSION .................................................................................................................. 63

    6.10 MANUAL GAIN ADJUSTMENT (BASIC) ..................................................................................................................... 65

    6.11 MANUAL GAIN ADJUSTMENT (APPLICATION) .......................................................................................................... 68

    CHAPTER 7 FUNCTION PARAMETER TABLE ................................................................................................................ 72

    CHAPTER 7 .......................................................................................................................................................................... 72

    7.1 FUNCTION PARAMETER DEFINITION ........................................................................................................................... 72

    7.2 FUNCTION PARAMETER TABLE ................................................................................................................................... 72

    CHAPTER 8 WARNING, ALARM AND TROUBLESHOOTING ......................................................................................... 99

    8.1 ALARM DIAGNOSIS AND TROUBLESHOOTING ............................................................................................................. 99

    8.2 WARNING DIAGNOSIS AND TROUBLESHOOTING ....................................................................................................... 105

    CHAPTER 9 SPECIFICATIONS .................................................................................................................................... 107

    9.1 EA180 SERVO DRIVE SPECIFICATIONS ..................................................................................................................... 107

    9.2 DIMENSIONS OF EA180 SERVO DRIVE ..................................................................................................................... 108

    9.3 SERVO MOTOR SPECIFICATIONS ............................................................................................................................... 110

    9.4 SERVO MOTOR DIMENSIONS..................................................................................................................................... 113

    9.5 OVERLOAD CHARACTERISTICS OF SERVO MOTOR .................................................................................................... 115

  • Page 8:

    EA180 Series Servo Drive Users Manual

    8

    Chapter 1 Product Information

    1.1

    Confirmation upon unpacking

    In order to check if there is negligence in the purchase and delivery of this product, please check

    the items listed in the following table in detail:

    Items

    Content

    Is it consistent with the model

    you ordered?

    Check the product model on the motor and drive nameplates

    respectively.

    If cables are ordered, check the type and length listed on the

    label of the cables.

    Is there any damage during

    transportation?

    Visually inspect the appearance for any damage or scratches

    Does the motor shaft run

    smoothly?

    Rotate the motor shaft by hand. If it can run smoothly, it

    means that the motor shaft is normal. However, the motor with

    a brake cannot be rotated by hand!

    1.1.1 A fully operable servo assembly shall include:

    1) A servo drive and a matching servo motor.

    2) An encoder signal line connecting the mother seat of the motor-side encoder and the CN5

    terminal of the drive.

    3) A motor power line with four core wires of U (red), V (white or blue), W (black or brown) and

    PE (yellow and green) (a motor with a brake should also have two power lines for the brake).

    U, V and W wires must be connected to the corresponding terminals on the drive in sequence,

    and PE wire must be connected to the ground terminal of the drive.

    4) The DB44 connector for CN4 can be used to make control lines according to actual needs.

    Note:

    1) It is strongly recommended to purchase encoder signal lines from SINEE.

    2) The colors of internal core wires of your motor power line purchased may be different

    from the above description. Therefore, please be sure to follow the letter marks on the core

    wires rather than colors.

    1.2 EA180 servo drive

    1.2.1 Nameplate description

    Model

    Applicable

    motor power

    Power supply

    Output

    Barcode

    S/N

    Rated output current

    EA180-8R5-3B

    XXXXXX

    Software version

    8.5A

    If there is any abnormal situation, please contact the agent for a proper solution.

  • Page 9:

    EA180 Series Servo Drive Users Manual

    9

    1.2.2 Product model description

    8R4

    EA: Servo drive

    Encoder Type

    A: pulse incremental

    B: serial communication

    Power Supply

    1: Single-phase 220V

    2: single/three-phase

    220V

    3: Three-phase 380V

    Rated output current

    EA 180 E-8R5-3B-XX

    0110R9

    2R5

    4R8

    11A

    4.8A

    2.5A0.9A

    Product series

    180: 180 Series

    Interface

    None: analog pulse

    028

    28A

    Special version

    E: EtherCAT

    C: CANOPen

    P: PROFINET

    Note: 1): Products of AC220V, 4.8A - 6.2A apply to single-phase and three-phase AC220V power

    supply, so there is no special single-phase AC220V product.

    2): For products of AC 220V, 11A and above, only the ones applicable to three-phase AC 220V

    power supply are provided.

    3): For products of AC 220V, 2.5A and below, only the ones applicable to single-phase AC

    220V power supply are provided.

    1.2.3 Servo drive part names

    LED display

    Buttons

    CHARGE Bus voltage

    indicator lamp

    L1C, L2C control

    circuit power supply

    L1, L2, L3 main circuit

    power supply

    P+,

    P+, D, C

    external braking resistor

    CN5 encoder

    connection terminal

    PE grounding

    terminal

    5-bit 7-segment LED displays running state

    Parameters

    setting

    Used to indicate whether the bus capacitance is in a charged state. When the

    lamp is on, the capacitor inside the drive is charged even if the main circuit

    power supply is OFF.

    Refer to the nameplate

    Refer to the nameplate (Size A model, i.e. 0R9, 1R6, 2R5 models have no

    L3 terminal)

    DC bus voltage terminal, for DC bus sharing

    A short connector is installed between P+ and D by default; when using

    external braking resistor, remove the short bar to create open circuit between P+

    and D, and connect an external braking resistor between P+ and C. (Size A

    model, i.e. 0R9, 1R6, 2R5 models have no D terminal)

    Connected to servo motor U, V, W

    Connected to the encoder of servo motor

    Connected to power supply and servo motor ground

    Connected to the upper controller

    CN4 control terminal

    CN2, CN3

    comm terminal

    Two in parallel, including RS232, RS485, CAN comm. port

    CN6

    USB comm. port

    USB comm. port reserved

    U, V, W

    Servo motor

    CN1 analog

    Monitoring port

    Two analog outputs

    CHARGE

    CN4CN5

    IN CN3 OUT CN2 CN6

    88888

    SIZE A/B model part names

  • Page 10:

    EA180 Series Servo Drive Users Manual

    10

    CN4CN5

    IN CN3 OUT CN2 CN6

    CHARGE

    88888

    LED display

    Buttons

    CHARGE

    Bus voltage indicator

    lamp

    L1C, L2C control

    circuit power supply

    L1, L2, L3

    Main circuit power

    supply

    P+,

    P+, D, Cexternal

    braking resistor

    CN5 encoder

    connection terminal

    PE grounding terminal

    5-bit 7-segment LED displays running state

    Parameters

    setting

    Used to indicate whether the bus capacitance is in a charged state. When the

    lamp is on, the capacitor inside the drive is charged even if the main circuit

    power supply is OFF.

    Refer to the nameplate

    Refer to the nameplate

    P+, DC bus voltage terminal, for DC bus sharing

    A short connector is installed between P+ and D by default; when using

    external braking resistor, remove the short bar to create open circuit between P+

    and D, and connect an external braking resistor between P+ and C. (Size D

    models, i.e. 017, 022, 028 models have no D terminal)

    Connected to servo motor U, V, W

    Connected to the encoder of servo motor

    Connected to power supply and servo motor ground

    (PE terminals of SIZE D model are in the same row as other ones)

    Connected to the upper controller

    CN4 control terminal

    CN2, CN3

    comm terminal

    Two in parallel, including RS232, RS485, CAN comm. port

    CN1 analog

    Monitoring port

    Two analog outputs

    U, V, W

    Servo motor

    SIZE C/D model part names

  • Page 11:

    EA180 Series Servo Drive Users Manual

    11

    1.2.4 Block diagram of EA180 servo drive

    Operation

    panel

    CN4

    CN2/

    CN3

    CN1

    CN5

    M

    Enco

    der

    Servo motor

    Rectifying circuit

    +

    P

    External braking resistor

    Servo drive

    Retrogradation

    processing circuit

    IGBT module

    U

    V

    W

    IGBT drive

    Protection

    circuit

    L1

    L2

    L3

    Control power

    supply

    +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 outputs

    Digital input

    Digital output

    Analog output

    D/A

    Current signal

    processing

    A/

    D

    Encoder

    signal

    processing

    D C

    Cooling

    fan

    Power Supply

    Single/three-phase

    AC220V

    Three-phase AC380V

    RS232

    RS485

    Internal

    braking

    resistor

    CHAR

    GE

    Electrolytic capacitor

    L3 not used

    for single

    phase

  • Page 12:

    EA180 Series Servo Drive Users Manual

    12

    1.3 Servo motor

    1.3.1 Nameplate description

    Model

    Rated output power, rated input voltage, rated current

    Rated torque, rated speed, insulation grade

    Barcode & S/N

    Motor code Protection level

    SER13-1R5-20-3FBY

    Note: The text on the actual product nameplate may be slightly different from that shown in the figure.

    1.3.2 Model description

    SER 08 - 0R7- 30 - 2

    F

    1

    A

    Y

    2 3 4 6 75 8 9

    -

    XX

    10

    1

    ① Product series

    ② Motor flange size

    ③ Rated output power

    SER: Standard servo motor

    04: 40mm

    005: 50W

    SES: High performance servo

    motor

    06: 60mm

    0R1: 100W

    SEM: High-power servo motor

    08: 80mm

    0R2: 200W

    09: 86mm

    0R4: 400W

    11: 110mm

    0R7: 750W

    ④ Rated motor speed

    13:130mm

    1R0: 1000W

    10: 1000rpm

    18: 180mm

    1R5: 1500W

    15: 1500rpm

    20: 200mm

    2R0: 2000W

    20: 2000rpm

    26: 266mm

    3R0: 3000W

    25: 2500rpm

    4R4: 4400W

    30: 3000rpm

    ⑦ Inertia type

    5R5: 5500W

    ⑤ Voltage level

    A: Low inertia

    7R5: 7500W

    2: 220V

    B: Medium inertia

    011: 11000W

    3: 380V

    C: High inertia

    ⑨ Optional

    ⑥ Encoder type

    ⑧ Shaft end

    None: No option

    A: 2500ppr incremental

    X: Shaft without keyway

    *1

    1: With brake (DC24V)

    B: 17-bit incremental

    Y: Shaft with U-shaped

    keyway and screw hole

    *2

    2: With oil seal

    H: 17-bit magnetic incremental

    Z: Shaft with double round

    keyways and screw hole

    3: With a brake and oil

    seal

    F: 23-bit absolute

    G

    *1

    : 2500ppr wire-saving

    encoder

    ⑩ Special specifications

    *1: Non-standard product, not recommended.

    *2: Some varieties may have double round keyways, but except the 130 flange motors, the

    width and height of the key are the same as those of the U keyway. See Chapter 10.

    The above 10 elements are not optional, please refer to the selection guide or consult SINEE.

  • Page 13:

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    13

    1.4 Confirm servo drive and motor models

    1.4.1 Servo drive and motor matching table

    Servo drive

    Servo motor

    Drive model

    Voltage

    Size

    Model

    Power

    Rated speed

    Rated torque

    EA180□-0R9-1□

    Single-phase AC 220V

    SIZE A

    SES04-005-30-2□AY□

    50W

    3000rpm

    0.16Nm

    EA180□-1R6-1□

    SES04-0R1-30-2□AY□

    100W

    3000rpm

    0.32Nm

    SER06-0R2-30-2□AY□

    200W

    3000rpm

    0.64Nm

    EA180□-2R5-1□

    SER06-0R4-30-2□AY□

    400W

    3000rpm

    1.28Nm

    EA180□-4R8-2□

    Single/three-phase AC

    220V

    SIZE B

    SER08-0R7-30-2□AY□

    750W

    3000rpm

    2.38Nm

    SER08-0R7-30-2□AY□

    750W

    3000rpm

    2.38Nm

    SER08-0R7-20-2□AY□

    750W

    2000rpm

    3.58Nm

    SER08-1R0-30-2□AY□

    1000W

    3000rpm

    3.18Nm

    EA180□-6R2-2□

    SER13-1R0-10-2□BY□

    1000W

    1000rpm

    9.55Nm

    SER13-1R0-20-2□BY□

    1000W

    2000rpm

    4.77Nm

    SER13-1R0-30-2□BY□

    1000W

    3000rpm

    3.18Nm

    EA180□-011-2□

    Three-phase AC 220V

    SIZE C

    SER13-1R5-10-2□BY□

    1500W

    1000rpm

    14.32Nm

    SER13-1R5-20-2□BY□

    1500W

    2000rpm

    7.16Nm

    SER13-1R5-30-2□BY□

    1500W

    3000rpm

    4.77Nm

    EA180□-8R5-3□

    Three-phase AC 380V

    SER13-1R5-10-3□BY□

    1500W

    1000rpm

    14.32Nm

    EA180□-5R6-3□

    SER13-1R5-20-3□BY□

    1500W

    2000rpm

    7.16Nm

    SER13-1R5-30-3□BY□

    1500W

    3000rpm

    4.77Nm

    EA180□-8R5-3□

    SER13-2R0-20-3□BY□

    2000W

    2000rpm

    9.55Nm

    SER13-2R0-30-3□BY□

    2000W

    3000rpm

    6.37Nm

    EA180□-013-3□

    SER13-3R0-20-3□BY□

    3000W

    2000rpm

    14.32Nm

    SER13-3R0-30-3□BY□

    3000W

    3000rpm

    9.55Nm

    SES18-2R9-15-3FBY□

    2900W

    1500rpm

    19Nm

    EA180□-017-3□

    SIZE D

    SES18-4R4-15-3FBY□

    4400W

    1500rpm

    28Nm

    EA180□-022-3□

    SES18-5R5-15-3FBY□

    5500W

    1500rpm

    35Nm

    EA180□-028-3□

    SES18-7R5-15-3FBY□

    7500W

    1500rpm

    48Nm

    Note that the type of encoder used for servo motors must be consistent with the one supported by

    the servo drive.

    For more specifications of servo motors, please consult SINEE.

    1.4.2 Cables for encoders

    Motor flange size

    Encoder type

    Cable model

    40~80

    2500ppr standard-wire incremental encoder

    A10-LP-A000-m

    *1

    17-bit incremental encoder

    A10-LS-A000-m

    23-bit absolute encoder

    A10-LA-A000-m

    *2

    110~180

    2500ppr standard-wire incremental encoder

    A10-LP-H100-m

    17-bit incremental encoder

    A10-LS-H100-m

    23-bit absolute encoder

    A10-LA-H100-m

    *2

    Note *1: m indicates cable length, in meters.

    Note *2: Battery for absolute encoder is mounted on the cable. When an absolute encoder is used

    as incremental, the 17-bit incremental encoder cable can be used.

    1.4.3 Servo motor power cables / brake cables

    Motor flange size

    Motor power cables

    Brake cables (brake)

    Motor power cables

    Motor power with brake cables

    40~60

    A10-LM-A010-m

    *1

    -

    A10-LZ-A005-m

    80

    A10-LM-A010-m

    *1

    -

    A10-LZ-A005-m

    110~130

    A10-LM-H120-m

    A10-LB-H120-m

    -

    180(2.9~4.4KW)

    A18-LM-M525-m

    *2

    -

    A18-LZ-H405-m

    180(5.5~7.5KW)

    A10-LM-M240-m

    -

    A18-LZ-H405-m

    Note *1: m indicates cable length, in meters.

    Note *2: For 180 flange, 2.9 and 4.4 KW motors with a brake, the motor power cable needs to be

    A10-LM-M240-m.

    For the above cables, we only provide length of an odd number.

    If you want to make the cables by yourself, please carefully read Chapter 3 in this Manual.

  • Page 14:

    EA180 Series Servo Drive Users Manual

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    Chapter 2 Installation

    2.1 Notes for installation

    Please pay attention to the following points:

     The cable between the servo drive and servo motor should be kept loose.

     If the cable between the servo drive and servo motor exceeds 20 meters, please thicken the

    UVW cables and the encoder cable.

     When fixing the servo drive, the installation direction must follow the instructions, and each

    fixing screw must be firmly fastened.

     Make sure the servo motor shaft is concentric with the equipment shaft to prevent radial stress

    during operation.

     The four fixing screws of the servo motor must be fastened according to the specified torque.

     In order to have a good cooling effect, when installing the AC servo drive, please keep

    enough space between the device and adjacent articles and baffles (walls) around it, otherwise

    faults may be caused.

     The servo drive shall not be toppled and placed during installation, and its suction and exhaust

    holes shall not be blocked, otherwise faults may be caused.

    2.2 Environmental conditions for storage

    Please put this product in its packing box before installation. If the servo set is not used for the

    time being, in order to make the product conform to the warranty scope and requirements for

    future maintenance of SINEE, the following matters must be paid attention to during storage:

    Item

    Description

    Ambient

    temperature

    -20 ℃ ~ + 65 ℃

    Ambient humidity

    Relative humidity 20%~90% (no condensation)

    Vibration

    Below 49m/s²

    Shock

    Below 49m/s²

    2.3 Environment conditions for installation

    2.3.1 Operating conditions of EA180 servo drive

    Item

    Description

    Dust and gas

    The device must be installed in a dust-free environment without

    corrosive gases or liquids.

    Ambient humidity

    Relative humidity 20%~90% (no condensation)

    Ambient temperature

    0 ℃ ~ + 45 ℃

    Vibration

    Below 49m/s²

    Shock

    Below 49m/s²

    Altitude

    Below 1000m; if above 1000m, please derate the device

    2.3.2 Operating conditions of servo motor

    Item

    Description

    Ambient

    humidity

    Relative humidity 20%~90% (no condensation)

    Ambient

    temperature

    0℃~+40℃

    Vibration

    Below 49m/s²

    Shock

    Below 49m/s²

    Altitude

    Below 1000m; if above 1000m, please derate the device

     Do not use the motor in a closed environment. Closed environment will lead to high

    temperature of motor and shorten its service life.

    2.3.3 Other notes

    In addition to the above environmental conditions, no matter the servo drive or motor, please

    follow the following instructions when selecting the installation location, otherwise the product

    may not meet our warranty scope and future maintenance requirements:

  • Page 15:

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     Places without high-temperature devices

     Places free of water droplets, vapor, dust or oily dust

     Places free of corrosive or flammable gases or liquids

     Places free of floating dust or metal particles

     Firm places without vibration or electromagnetic noise interference.

    2.4 Installation direction and space of servo drive

    Refer to Chapter 11 for outer dimensions and weight of servo drives and servo motors.

    2.4.1 Method

    Please ensure that the installation direction is perpendicular to the wall. Use natural convection or

    a cooling fan to cool the servo drive. Fix the servo drive firmly on the mounting surface through

    the mounting holes.

    When installing, ensure that the front side of the servo drive (the actual installation surface of the

    operator) faces the operator and make it perpendicular to the wall.

    2.4.2 Cooling

    In order to ensure air convection, please refer to Fig. 2-1 and leave enough space around the

    servo drive.

    In order to prevent local high temperature in the operating environment of the servo drive, it is

    necessary to keep uniform temperature in the electric cabinet. Please be sure to install a cooling

    fan above the servo drive in the electric cabinet.

    2.4.3 Grounding

    Please be sure to ground the grounding terminal, otherwise an electric shock or misoperation due

    to interference may be caused.

    10mm

    above

    Air outlet Air outlet Air outlet Air outlet

    Air inlet Air inlet Air inlet Air inlet

    50mm

    above

    50mm

    above

    20mm

    above

    CN4CN5

    IN CN3 OUT CN2 CN6

    CHARGE

    CN4CN5

    IN CN3 OUT CN2 CN6

    CHARGE

    CN4CN5

    IN CN3 OUT CN2 CN6

    CHARGE

    CN4CN5

    IN CN3 OUT CN2 CN6

    CHARGE

    Figure 2-1 Installation space of servo drive

    2.5 Installation direction and space of servo motor

    2.5.1 Motor installation

    Servo motors must be properly installed on a dry and strong platform. Please maintain good

    ventilation and cooling circulation during installation, and keep proper grounding.

    Please refer to "Chapter 11 Specifications" for the outer dimensions and weight of the

    motors.

  • Page 16:

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    2.5.2 Schematic diagram of installation

    Item

    Description

    Antirust

    treatment

    Before installation, please wipe off the "rust inhibitor" on the extension of the servo motor shaft

    before relevant antirust treatment.

    Notes for

    encoders

     The shaft extension shall not be impact during installation, otherwise the encoder inside will be

    cracked.

    Pulley

    installation

     When installing pulleys on a servo motor shaft with a keyway, use screw holes at the shaft end.

    In order to install the pulley, first insert the double-headed nail into the screw hole of the shaft,

    use a washer on the surface of the coupling end, and gradually fasten the pulley with a nut.

     For servo motor shaft with a keyway, install it with the screw hole at shaft end. For a shaft

    without keyway, wear coupling or similar methods can be adopted.

     When the pulley is removed, a pulley remover should be used to prevent impact on the bearing.

     In order to ensure safety, a protective cover or similar device shall be installed in the rotating

    area.

    Screw

    Washer

    Flange

    coupling

    Centering

     Please use a coupling to connect the device with the machine and keep the axis of the servo

    motor in a straight line with that of the machinery. The radial runout of the coupling should not

    be greater than 0.03 mm. If centering is not sufficient, vibration will occur, which may damage

    bearings, encoders, etc.

    Installation

    direction

     Servo motor can be installed in a horizontal or vertical direction. Please do not install the device

    obliquely, otherwise it may cause wearing of motor bearing.

    Countermeasu

    res for oil and

    water

    For use in places with water dripping, please confirm the protection rating of the servo motor before

    use (except the shaft penetration part). For use in places where oil drips to the shaft penetration part,

    please be sure to use servo motors with oil seals.

    Service conditions for servo motors with oil seals:

     Please make sure that the oil level is lower than the lip of the oil seal during use.

     Please use the oil seal in a state where the oil spatter can be kept in a good degree.

     When the servo motor is installed vertically upward, please be careful to prevent oil

    accumulation on the oil seal lip.

    Flange face

    Shaft through part

    refers to the gap at the

    extending part of shaft

    from the motor end face

    Shaft end

    Cable

    stress

    condition

    Do not bend the cables excessively or apply tension to them, especially for the 0.14 mm

    2

    or 0.2 mm

    2

    core wires of the encoder signal cables, which is very thin. So please do not stretch them too tightly

    during wiring and use.

    When installing in the tow chain, high-flexibility tow chain cables must be selected.

    Connector

    handling

    For the connector part, please pay attention to the following:

     When connecting a connector, please make sure that there is no foreign matter such as garbage

    or metal debris in the connector.

     When connecting the connector to the servo motor, be sure to connect from the side of the main

    circuit cable of the servo motor first, and the main cable must be reliably grounded. Otherwise,

    the encoder may fail due to the potential difference with PE.

     When wiring, please make sure the pins are arranged correctly.

     The connector is made of resin. Do not apply impact to the connector, otherwise it may be

    damaged.

     Always hold the main body of the servo motor during handling while the cables remain

    connected. Otherwise, the connector may be damaged or the cables may be broken.

     If a cable needs to be bent, due care should be taken during wiring so as not to cause pressure or

    tension on the connector, otherwise damage or poor contact of the connector may be caused.

  • Page 17:

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    2.6 Suggestions for circuit breakers and fuses

    If the servo drive is equipped with a residual current circuit breaker for leakage fault protection,

    please select a model with sensitivity current above 200mA and operation time above 0.1 second in

    order to prevent misoperation of the circuit breaker.

    Please use a quick-action fuse, and its rated current should be about 1.5 times the drive capacity.

    UL/CSA recognized fuses and circuit breakers are strongly recommended.

    2.7 Selection of braking resistor

    When the output torque and rotation speed of the motor are in opposite directions, energy will be

    transmitted back from the load to the drive. This energy will be injected into the capacitor of the

    bus to increase the voltage of the bus inside the drive. The amount of recharged energy depends on

    the inertia of the motor rotor and load. If the system inertia is small, the recharged energy may be

    absorbed by the capacitor inside the drive. If the system inertia is large and exceeds the amount of

    energy that the capacitor can absorb, the voltage may rise high, causing the drive to stop or even

    damage. Therefore, when the voltage rises to a certain level, the recharged energy must be

    consumed by a braking resistor.

    Table 2-1 below lists the rotor inertia of commonly used SER series servo motors, the energy

    absorption capacity of capacitor inside EA180 servo drive, and the calculation formula of

    regenerative energy.

    Table 2-1 Rotor inertia and regenerative energy absorption capacity of capacitor of common

    SER/SES series servo motors

    Drive model

    Motor

    Rotor

    inertia

    42

    ( 10 )J kg m

    

    Regenerative energy from

    rated speed to 0 with

    no-load

    Eo (Joule)

    Maximum regenerative

    energy capacity of capacitor

    Ec (Joule)

    EA180□-0R9-1□

    SES04-005-30-2□AY

    0.02

    0.1

    9.5

    EA180□-1R6-1□

    SES04-0R1-30-2□AY

    0.04

    0.2

    9.5

    SER06-0R2-30-2□AY

    0.18

    0.89

    9.5

    EA180□-2R5-1□

    SER06-0R4-30-2□AY

    0.3

    1.48

    19

    EA180□-4R8-2□

    SER08-0R7-30-2□AY

    1.01

    4.99

    20.2

    EA180□-6R2-2□

    SER13-1R0-10-2□BY

    8.71

    19.1

    20.2

    EA180□-011-2□

    SER13-1R5-20-2□BY

    12.08

    26.5

    45.7

    EA180□-5R6-3□

    SER13-1R5-20-3□BY

    12.08

    26.5

    31.4

    EA180□-8R5-3□

    SER13-2R0-20-3□BY

    17.14

    37.67

    51.7

    EA180□-013-3□

    SER13-3R0-20-3□BY

    25.58

    56.22

    51.7

    EA180□-017-3□

    SES18-4R4-15-3FBY

    67.5

    83.45

    110.7

    EA180□-022-3□

    SES18-5R5-15-3FBY

    89

    110.0

    110.7

    EA180□-028-3□

    SES18-7R5-15-3FBY

    125

    154.53

    138.4

     Calculation formula of regenerative energy:

    )Joule (182/.

    2

    vjEo 

    v: rpm, generally the rated speed of the

    motor

    The rotor inertia of a servo motor with brake and that of a servo motor without brake is slightly different,

    which can be regarded as the same.

    2.7.1 Built-in braking resistor

    EA180 series servo drives contain braking resistors inside, which are suitable for general load

    inertia. Table 2-2 shows the specifications of built-in brake resistors of EA180 series servo

    drives.

    Table 2-2 Minimum resistance of built-in braking resistor and allowable minimum external resistance

    of EA180 servo drive

    Drive model

    Built-in braking resistor specifications

    Energy handling capacity

    of built-in braking resistor

    Allowable minimum

    external resistance

    Resistance (P8-10)

    Capacity (P8-11)

    EA180-0R9-1□

    N/A

    N/A

    N/A

    50Ω

    EA180-1R6-1□

    N/A

    N/A

    N/A

    50Ω

    EA180-2R5-1□

    N/A

    N/A

    N/A

    50Ω

    EA180-4R8-2□

    50Ω

    100W

    50W

    50Ω

    EA180-6R2-2□

    50Ω

    100W

    50W

    50Ω

    EA180-011-2□

    50Ω

    100W

    50W

    40Ω

    EA180-5R6-3□

    50Ω

    100W

    50W

    50Ω

    EA180-8R5-3□

    50Ω

    100W

    50W

    50Ω

  • Page 18:

    EA180 Series Servo Drive Users Manual

    18

    Drive model

    Built-in braking resistor specifications

    Energy handling capacity

    of built-in braking resistor

    Allowable minimum

    external resistance

    Resistance (P8-10)

    Capacity (P8-11)

    EA180-011-2□

    50Ω

    100W

    50W

    45Ω

    EA180-017-3□

    N/A

    N/A

    N/A

    30Ω

    EA180-022-3□

    N/A

    N/A

    N/A

    30Ω

    EA180-028-3□

    N/A

    N/A

    N/A

    25Ω

    2.7.2 Calculation of external braking resistor capacity

     When the regenerative energy exceeds the handling capacity of the built-in braking resistor

    (e.g. alarm Al017 occurs), an external braking resistor should be used.

     According to the calculation formula of the regenerative energy, assuming total load inertia is

    N times the inertia of the motor rotor, when brake motor is braked from the rated speed to 0,

    regenerative energy is N *Eo, the action cycle is T(s), then,

    𝑃𝑜𝑤𝑒𝑟 𝑜𝑓 𝑏𝑟𝑎𝑘𝑖𝑛𝑔 𝑟𝑒𝑠𝑖𝑠𝑡𝑜𝑟 =

    2

    (

    𝑁 × 𝐸

    0

    − 𝐸

    𝑐

    )

    𝑇

    2.7.3 Notes for using external braking resistor

     When using an external braking resistor, the resistor should be connected to the P + and C terminals of the

    drive. At the same time, the short connector installed on the P + and D terminals must be removed to create

    an open circuit between the P and D terminals.

     The resistance of the external braking resistor cannot be less than that listed in Table 2-2, otherwise the

    servo drive may be damaged.

     Please correctly set the resistance and capacity of the external braking resistor used into the function

    parameters of the drive, otherwise the function will be affected.

     P8-10 (braking resistance value), P8-11 (braking resistor power), P8-13 (braking resistor derating

    percentage).

     In the natural environment, when the braking resistor is used at the rated capacity, the temperature of the

    resistor will rise to above 120 ℃ (under the condition of continuous braking). For safety reasons, please use

    forced cooling to lower the temperature of braking resistor, or a braking resistor with a thermal switch is

    recommended. Please consult the manufacturer about the load characteristics of the brake resistor.

    Attention☞

    1. The resistance of the external braking resistor cannot be less than that listed

    in Table 2-2, otherwise the servo drive may be damaged.

    2. When using an external brake resistor, the servo drive will be damaged if the

    short connector between P and D is not removed.

    2.8 EMI filters

    All electronic equipment (including servo drives) will generate high-frequency or low-frequency noise during

    normal operation, which will interfere with peripheral equipment by conduction or radiation. The interference

    can be minimized if an appropriate EMI filter is used and correctly installed.

    If the servo drive and EMI filter can be installed and wired according to the instructions in this Manual, we can

    make sure that they 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 Notes for installation of EMI filter:

    In order to ensure that the EMI Filter can exert the greatest effect of suppressing the interference of the servo

    drive, in addition to the installation and wiring of the servo drive according to the instructions in this Manual,

    attention should also be paid to the following points:

    1) The servo drive and EMI filter must be installed on the same well-grounded metal plane.

    2) All wires should be as short as possible.

    3) The metal casing of the servo drive and EMI filter must be reliably connected to the metal plane, and the

    contact area should be as large as possible.

    2.8.2 Notes for motor cable selection and installation

    The selection and installation of motor cables partly determine whether EMI Filter can exert the maximum

    interference suppression effect. Please note the following points:

    1) Use cables with isolation copper mesh (preferably with double isolation layers).

    2) The isolation copper mesh at both ends of the motor cable must be grounded at the shortest distance and

    with the maximum contact area.

    3) The isolation copper mesh of the motor cable must be correctly connected with the metal plane, and the

    isolation copper mesh at both ends shall be fixed with the metal plane using a U-shaped metal piping

    bracket.

  • Page 19:

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    Chapter 3 Wiring

    3.1 Peripherals connection

    CN2

    CN3

    Braking resistor

    When the internal braking

    resistance and bus

    capacitance are insufficient,

    the P + and C terminals are

    connected with the external

    braking resistor

    DC24V

    Electromagnetic contactor

    The servo drive brake

    control signal turns on/off

    the power supply through

    the intermediate relay.

    EMI filter

    Install a noise filter to prevent

    external interference from the

    power line

    Brake power supply

    DC24V power supply for

    servo motor with brake

    System grounding

    Communication cable between

    servo drive and PLC

    (A10-T2-2.0)

    Servo motor power cable

    (A18-LZ-XXX-XX)

    Electromagnetic contactor

    Switch on/off the servo drive.

    Please install a surge suppressor

    when using.

    Servo motor

    Power Supply

    Single/three-phase AC220V

    Three-phase AC380V

    Circuit breaker

    Used to cut off the power

    supply in case of overcurrent

    to protect the power cords.

    Servo drive control cable

    (to be provided by user)

    Servo motor encoder cable

    (2500 ppr incremental encoder

    A10-LP-XXX-XX)

    (23-bit absolute encoder A10-LA-

    XXX-XX) (17-bit incremental

    encoder A10-LS-XXX-XX)

    Power

    indicator

    Communication cable between

    parallel servo drives

    (A10-T2-2.0)

    Communication cable between

    servo drive and PC

    (A10-T2-2.0)

    Cable for servo drive

    analog monitoring

    (A10-A0-1.0)

    Note 1

    Note 2

    Note 3

    Servo motor brake cable

    (A18-LZ-XXX-XX)

    CN4CN5

    IN CN3 OUT CN2 CN6

    CHARGE

    L1C

    L2C

    L1

    L2

    L3

    P+

    D

    C

    U

    V

    W

    CN1

    88888

    Note:

    1) The servo drive is directly connected to the industrial power supply and is not isolated by a transformer or

    other isolation devices. In order to prevent the servo system from causing cross electric shock accidents,

    please use a fuse or circuit breaker for wiring on the input power supply.

    2) It is strictly prohibited to install an electromagnetic contactor between the servo drive and the motor,

    otherwise it will cause damage to the drive.

    3) Please pay attention to the capacity of the power supply when connecting external control power supply

  • Page 20:

    EA180 Series Servo Drive Users Manual

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    and 24V power supply, especially when power is supplied to several servo drives or brakes at the same time.

    Insufficient power supply capacity will lead to insufficient supply current, which may cause damage to the

    servo drives or brakes.

    4) Please note that the brake power supply is 24V DC, and its capacity shall meet the power requirements of

    the brake. For braking power, please refer to the servo motor description.

    5) Confirm correct phase sequence and wiring of the U, V and W output terminals of the servo motor. Wrong

    wiring may cause the motor to fail to run or run disorderly, thus causing alarm and even motor damage.

    6) When an external braking resistor is used, the P+ and D terminals shall be open-circuited, and the resistor

    shall be connected to the P+ and C terminals. If an internal braking resistor is used, the P+ and D terminals

    shall be short-circuited and the P+ and C terminals shall be open-circuited (refer to Section 2.7).

    7) In single-phase 220V wiring, the main power supply terminals are L1 and L2. If there is an L3 terminal,

    please do not wire on it.

    8) CN2 and CN3 are two communication interfaces with exactly the same definition of pins, and you can use

    either of them.

    3.2 Main circuit terminal connection

    The terminal arrangement and screw size of the main circuit (high voltage part) are as follows.

    3.2.1 Main circuit (high voltage part) terminals description

    Table 3-1 Description of main circuit terminals of servo drive

    Terminal mark

    Terminal name

    Terminal function

    L1C, L2C

    Control power input

    terminal

    Input single-phase voltage consistent with that of the main circuit

    power supply

    L1, L2, L3

    Main circuit AC

    power input terminal

    EA180□-0R9-1□

    EA180□-1R6-1□

    EA180□-2R5-1□

    L1, L2 single-phase 220V input

    EA180□-4R8-2□

    EA180□-6R2-2□

    L1, L2 single-phase 220V input

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

    EA180□-010-2□

    L1, L2, L3 3-phase 220V input

    EA180□-5R6-3□

    EA180□-8R5-3□EA

    180□-013-3□

    EA180□-017-3□

    EA180□-022-3□

    EA180□-028-3□

    Three-phase 380V Supply Input

    SIZE A

    SIZE B

    SIZE C

    SIZE D

    Drive size

    Main circuit terminals

    Screw size

    Torque

    SIZE A

    N/A

    -

    SIZE B

    N/A

    -

    SIZE C

    M4

    2.5 N.m

    SIZE D

    M4

    2.5 N.m

    Drive size

    PE ground terminals

    Screw size

    Torque

    SIZE A

    M4

    2.5 N.m

    SIZE B

    M4

    2.5 N.m

    SIZE C

    M4

    2.5 N.m

    SIZE D

    M4

    2.5 N.m

  • Page 21:

    EA180 Series Servo Drive Users Manual

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    Terminal mark

    Terminal name

    Terminal function

    P +, D, C

    External brake

    resistor

    connection terminal

    Short circuit connection is between P + and D by default. When

    the braking capacity is insufficient, please open the circuit

    between P+ and D, and connect an external braking resistor

    between P+ and C.

    (SIZE A and SIZE D have no D terminal or short circuit

    connection)

    P+, ⊖

    Common DC bus

    terminal

    The DC bus terminals of the servo drive can be connected in

    parallel when multiple drives are in operation.

    U, V, W

    Servo motor

    connection terminal

    The connection terminals of the servo motor are connected with

    U, V and W wires of the motor.

    PE

    Grounding

    Two grounding terminals are connected to the power supply and

    the motor grounding terminals.

    3.2.2 Power connection

    The power connection methods of servo drives are divided into single-phase and three-phase methods.

    Single-phase method is only allowed for models with output current of 6.2A or below.

     Single-phase power supply connection method (applicable to a rated output current of 6.2 A and below)

    Servo drive

    M

    C

    D

    P+

    PE

    U

    V

    W

    DC

    24V

    -

    +

    RA

    RA

    MC

    ONOFF

    L1C

    L2C

    EMI

    Filter

    Single-phase

    AC220V

    ALM-

    ALM+

    MC

    Emergency

    Stop

    MC

    MCCB

    L3

    L2

    L1

    Figure 3-1 Single-phase power supply connection

     Three-phase power supply connection method (4.8 A and above are applicable)

    L1

    L2

    L3

    MCCB

    MC

    Emergency

    Stop

    MC

    ALM+

    ALM-

    Three-phase

    AC220V/

    AC380V

    EMI

    Filter

    L2C

    L1C

    OFF ON

    MC

    RA

    RA

    +

    -

    DC

    24V

    W

    V

    U

    PE

    P+

    D

    C

    M

    Servo drive

    Figure 3-2 Three-phase power supply connection

  • Page 22:

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    Attention☞

    1. If you do not want to cut off the main circuit power supply in the event of a fault, there is

    no need to use the RA relay.

    2. L1C and L2C can also be connected to P + and - terminals (with no need to distinguish

    polarity) respectively without using external power supply.

    3.2.3 Power-on timing sequence diagram

    Control circuit

    power supply

    Main circuit

    power supply

    Servo ready for

    output(S-RDY)

    Servo enable

    (S-ON)

    Servo motor

    excitation

    Power off

    Power on

    Power off

    Power on

    Not ready

    Ready

    Enable invalid

    Command

    not received

    Motor OFF

    Motor ON

    Command not

    received

    Command received

    Position/speed/

    torque command

    Delay 1.5s

    Delay P0-16 time

    S-ON signal

    Invalid

    Valid

    Invalid

    Enable invalid

    Motor OFF

    Enable valid

    Figure 3-3 Power-on timing sequence diagram

    Please refer to Figure 3-1 and Figure 3-2 for power supply connection, and turn on the power

    supply in the following sequence:

    1) The power supply L1C and L2C of the control circuit must be turned on before or at the same

    time as the main circuit power supply is turned on. If only the power supply of the control

    circuit is switched on, the servo ready signal (S-RDY) will not be valid.

    2) Connect the power supply to the power input terminals (L1, L2 and L3 for three-phase, and

    L1 and L2 for single-phase) of the main circuit through the electromagnetic contactor.

    3) After the power supply of the main circuit is turned on, the servo ready signal (SRDY) will be

    valid after a delay of about 1.5s, and now the servo enable (S-ON) signal can be accepted.

    After detecting that the servo enable signal is valid, the motor is excited and runs. If servo

    enable signal is void or an alarm is detected, the servo drive output is switched off and the

    motor is in a free state.

    4) When the servo is enabled at the same time as the power supply is turned on, the motor will

    be excited in about 1.5 seconds.

    5) Frequent switching on and off the main circuit power supply may damage the soft-start circuit

    and the energy consumption braking circuit. The frequency of switching on and off is

    preferably limited to 5 times per hour and less than 30 times per day. If the drive unit or motor

    is overheated, after the cause of the fault is eliminated, it will take 30 minutes to cool down

    before the power supply can be switched on again.

    6) Do not connect the input power line to the output terminals U, V, and W, otherwise it will

    damage the servo drive.

    7) It is absolutely forbidden to connect braking resistor between the P + and ⊖ terminals of the

    DC bus, otherwise a fire may be caused.

    8) After the power supply is turned off, there may be residual voltage on the internal capacitor of

    the servo drive. Please make sure that the CHARGE indicator on the servo drive panel is off

    before checking.

  • Page 23:

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    3.2.4 Specifications of motor power cable connectors

    Table 3-2 Servo motor power cable and connecting terminals

    Connector shape and type

    Terminal pin distribution

    Motor flange

    12

    34

    Shell type: 172159-1 TE MATE-N-LOCK

    Insert spring type: 170362-1 TE

    MATE-N-LOCK

    4PIN Amp plug (excluding brake)

    Pin #

    Function

    1

    U

    2

    V

    3

    W

    4

    PE

    40

    60

    80

    86

    1

    4

    3

    2

    Type: YD28K4TS

    Air plug (excluding brake)

    Pin #

    Function

    1

    PE

    2

    U

    3

    V

    4

    W

    110

    130 (SER Series)

    7

    6

    5

    4

    3

    2

    1

    Type: YD28K4TS

    Air plug (including brake)

    Pin #

    Function

    1

    PE

    2

    U

    3

    V

    4

    W

    5

    24V (brake)

    6

    0V (brake)

    7

    N/A

    110

    130 (SER Series)

    Type: MS3108A32-17S

    MS3108A18-10S

    MS3108A22-22S

    Air plug

    Pin #

    Function

    A

    U

    B

    V

    C

    W

    D

    PE

    130 (SES Series)

    180 (SES Series)

    Attention☞

    1. For 40, 60, 80, 86 flanged motors with a brake, the brake power supply has a separate 2P Amp

    plug, with no need to distinguish polarities.

    2. For SES series motors with a brake, the brake power supply has a CM10-SP2S-MD plug, with

    no need to distinguish polarities.

    3. The graph in the table is the cable end.

    3.2.5 Recommended specifications for main circuit connection cables

    Table 3-3 Recommended specifications for main circuit connection cables

    Drive model

    L1C,L2C

    L1,L2,L3

    P+,C

    U,V,W

    PE

    EA180□-0R9-1□

    0.5mm

    2

    0.5mm

    2

    0.5mm

    2

    0.5mm

    2

    1.0mm

    2

    EA180□-1R6-1□

    0.5mm

    2

    0.5mm

    2

    0.5mm

    2

    1.0mm

    2

    EA180□-2R5-1□

    1.0mm

    2

    1.0mm

    2

    1.0mm

    2

    2.5mm

    2

    and above

    EA180□-4R8-2□

    EA180□-6R2-2□

    EA180□-011-2□

    2.0mm

    2

    2.0mm

    2

    2.0mm

    2

    EA180□-5R6-3□

    1.5mm

    2

    1.5mm

    2

    1.5mm

    2

    EA180□-8R5-3□

    2.0mm

    2

    2.0mm

    2

    2.0mm

    2

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    Drive model

    L1C,L2C

    L1,L2,L3

    P+,C

    U,V,W

    PE

    EA180□-013-3□

    EA180□-017-3□

    4.0mm

    2

    4.0mm

    2

    4.0mm

    2

    EA180□-022-3□

    EA180□-028-3□

    6.0mm

    2

    6.0mm

    2

    6.0mm

    2

    3.3 CN5 encoder signal terminal

    CN5 is the encoder signal terminal and is a 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

    SIZE A/B

    SIZE C/D

    CHARGE

    CN4CN5 IN CN3 OUT CN2 CN6

    CN4CN5

    IN CN3 OUT CN2 CN6

    CHARGE

    L1C

    L2C

    L1

    L2

    L3

    P+

    D

    C

    U

    V

    W

    Figure 3-4 CN5 Terminal position

    3.3.1 Servo drive side encoder terminal definition

    Control circuit

    power supply

    Main circuit

    power supply

    Servo ready for

    output(S-RDY)

    Servo enable

    (S-ON)

    Servo motor

    excitation

    Power off

    Power on

    Power off

    Power on

    Not ready

    Ready

    Enable invalid

    Command

    not received

    Motor OFF

    Motor ON

    Command not received

    Command received

    Position/speed/

    torque command

    Delay 1.5s

    Delay P0-16 time

    S-ON signal

    Invalid

    Valid

    Invalid

    Enable invalid

    Motor OFF

    Enable valid

    Figure 3-5 CN5 terminal pins distribution

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    上位机装置

    100Ω

    100Ω

    31

    32

    14

    16

    PULSE+

    PULSE-

    SIGN+

    SIGN-

    GND

    PE

    GND

    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 3-6 CN5 pins distribution

  • Page 25:

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    3.3.2 Servo motor side encoder terminal definition

    There are 4 types of encoder terminals on the servo motor side.

    Connector

    Type

    TE 172163-1

    TE 172161-1

    YD28K15TS

    CM10-SP10S-MD

    4 532

    1

    9 107

    6

    14 151312

    11

    8

    321

    64

    987

    5

    12

    10

    5

    3

    11

    13

    14

    6

    15

    1 3

    4

    7

    10

    8

    2500ppr

    incremental

    encoder

    Signal

    Pin #

    Signal

    Pin #

    Signal

    Pin #

    Signal

    Pin #

    A+

    9

    V+

    10

    A+

    4

    V+

    11

    A-

    13

    V-

    12

    A-

    7

    V-

    14

    B+

    4

    W+

    11

    B+

    5

    W+

    12

    B-

    14

    W-

    15

    B-

    8

    W-

    15

    Z+

    7

    +5V

    2

    Z+

    6

    +5V

    2

    Z-

    5

    GND

    3

    Z-

    9

    GND

    3

    U+

    6

    PE

    1

    U+

    10

    PE

    1

    U-

    8

    U-

    13

    17/23-bit

    encoder

    Signal

    Pin #

    Signal

    Pin #

    Signal

    Pin #

    +5V

    1

    +5V

    2

    +5V

    4

    GND

    2

    GND

    3

    GND

    9

    SD+

    5

    SD+

    4

    SD+

    1

    SD-

    6

    SD-

    7

    SD-

    2

    VD+

    3

    VD+

    14

    VD+

    6

    VD-

    4

    VD-

    15

    VD-

    5

    PE

    9

    PE

    1

    PE

    10

    Note: The figure in the table is the motor side view.

    Notes for encoder wiring:

    1) Make sure that the drive side and motor side shield layers are reliably grounded,

    otherwise drive alarms will be caused.

    2) Ensure that the differential signal corresponds to the cores in the twisted pair of the

    connecting cable. For example, A + and A- are a set of differential signals, and a twisted pair

    should be used.

    3) When a 17-bit incremental encoder is used, there are no VD + or VD- signals.

    4) When a 17/23-bit encoder is used, please use a cable with a cross-sectional area of 0.2

    mm

    2

    if the wire length is less than 5 meters. If the wire is more than 5 meters, the

    cross-sectional area of the wire core shall be increased by 0.05 mm

    2

    for every

    additional meter.

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    3.4 CN4 control signal terminal

    CN4 signal terminals provide the signals required for connection with the upper controller and use a DB44

    socket. Pin distribution and signals definition are as follows:

    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

    +10V

    *

    保留 保留

    DO5

    *

    +24V

    DO3- DO2- DO1-

    COM

    OCZ

    DO2

    PULHIP

    PULHIS

    SIGN+

    PULSE+

    SIGN-

    PULSE-

    SIZE A/B SIZE C/D

    CN4CN5

    IN CN3 OUT CN2 CN6

    CHARGE

    L1C

    L2C

    L1

    L2

    L3

    P+

    D

    C

    U

    V

    W

    CHARGE

    CN4CN5 IN CN3 OUT CN2 CN6

    Fig. 3-7 Terminal position and pin distribution of servo drive control circuit

    3.4.1 Control signal terminal plug pin distribution

    Signal

    Pin #

    Function description

    Digital input

    DI1

    5

    Digital input, the default function number is 1

    Refer to Sections

    3.4.2 and 3.4.4

    DI2

    20

    Digital input, the default function number is 2

    DI3

    4

    Digital input, the default function number is 13

    DI4

    19

    Digital input, the default function number is 14

    DI5

    3

    Digital input, the default function number is 3

    DI6

    18

    Digital input, the default function number is 12

    DI7

    2

    Digital input, the default function number is 20

    DI8

    17

    Digital input, the default function number is 21

    COM+

    21

    Digital input common terminal (+)

    Power

    supply

    +24V

    25/40

    Internal 24V power supply, voltage range + 20V ~ 26V, maximum output

    current 200mA

    COM

    7/22/36

    Internal 24V power ground; digital input common ground

    +5V

    6

    + 5V power supply with maximum output current of 50mA

    +10V

    44

    + 10V power supply with maximum output current of 50mA

    GND

    29

    + 5V, + 10V power ground

    Digital

    output

    DO1

    8

    Digital output, the default function number is 1

    Refer to Sections

    3.4.3 and 3.4.5

    DO1-

    37

    DO2

    23

    Digital output, the default function number is 2

    DO2-

    38

    DO3

    9

    Digital output, the default function number is 8

    DO3-

    39

    DO4

    24

    Digital output, the fixed function number is 12

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    Signal

    Pin #

    Function description

    DO4-

    10

    DO5

    41

    Digital output, ground is COM. The default function

    number is 0

    Position

    pulse input

    PULHIP

    1

    The positive end when command pulse is used with

    24V power supply

    Refer to Section

    3.4.7

    PULSE+

    33

    Position pulse command +

    PULSE-

    34

    Position pulse command -

    PULHIS

    16

    The positive end when command pulse is used with

    24V power supply

    SIGN+

    31

    Position direction command +

    SIGN-

    32

    Position direction command -

    Frequency

    division

    output

    PA+

    28

    A pulse differential frequency division output,

    maximum allowable current 20mA

    Refer to Section

    3.4.8

    PA-

    13

    PB+

    12

    B pulse differential frequency division output,

    maximum allowable current 20mA

    PB-

    27

    PZ+

    11

    B pulse differential frequency division output,

    maximum allowable current 20mA

    PZ-

    26

    OCZ

    35

    Z pulse open collector output, maximum allowable

    current 40mA

    GND

    14

    Analog

    input

    AI1

    15

    Analog input 1

    Refer to Section

    3.4.6

    AI2

    30

    Analog input 2

    GND

    29

    Analog input signal ground

    Attention☞

    All GND terminals are connected inside the drive and all COM terminals are connected inside the

    drive

    3.4.2 Digital input (DI) function definition table

    Value

    Name

    Function

    Description

    Trigger

    mode

    Operating

    mode

    0

    Disabled

    Terminal invalid

    1

    S-ON

    Servo enable

    ON: Enabled

    OFF: Disabled

    Level

    P S T

    2

    ALM-RST

    Alarm and fault reset

    OFFON: Resettable fault reset

    Edge

    P S T

    3

    P-CLR

    Position error clear

    The trigger mode is defined in P1-16

    Edge/Level

    P

    4

    DIR-SEL

    Speed command

    direction selection

    ON: Reverse speed

    command direction

    OFF: Set speed

    command direction

    Level

    S

    5

    CMD0

    Internal command bit0

    In the multi preset position control mode, the

    signal is multi-position switching function;

    In the multi preset speed control mode, the

    signal is multi-speed switching function;

    Level

    P S

    6

    CMD1

    Internal command bit1

    Level

    P S

    7

    CMD2

    Internal command bit2

    Level

    P S

    8

    CMD3

    Internal command bit3

    Level

    P S

    9

    CTRG

    Internal command

    trigger

    Multi position trigger

    Edge

    P

    10

    MSEL

    Control mode

    switching

    Control mode switching; see P0-00 for the

    meaning of ON/OFF

    Level

    P S T

    11

    ZCLAMP

    Zero speed clamp

    enable

    ON: Enabled

    OFF: Disabled

    Level

    S

    12

    INHIBIT

    Pulse inhibit

    ON: Inhibited

    OFF: Pulse input

    allowed

    Level

    P

    13

    P-OT

    Inhibit forward drive

    ON: Inhibited

    OFF: Allowed

    Level

    P S T

    14

    N-OT

    Inhibit reverse drive

    ON: Inhibited

    OFF: Allowed

    Level

    P S T

    15

    GAIN_SEL

    Gain switching

    ON: Use second gain

    OFF: Use first gain

    Level

    P S T

    16

    J_SEL

    Inertia switching

    ON: Use second inertia ratio P4-11

    ON: Use first inertia ratioP4-10

    Level

    P S T

    17

    JOG_P

    Forward jog

    ON: Forward jog

    OFF: No function

    Level

    S

    18

    JOG_N

    Reverse jog

    ON: Reverse jog

    OFF: No function

    Level

    S

    19

    TDIR-SEL

    Torque command

    direction selection

    ON: Reverse torque

    command direction

    OFF: Set torque

    direction

    Level

    T

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    Value

    Name

    Function

    Description

    Trigger

    mode

    Operating

    mode

    20

    GNUM0

    Electronic gear ratio

    numerator selection 0

    GNUM1

    GNUM0

    Code

    0

    P1-04

    0

    1

    P1-08

    1

    0

    P1-10

    1

    1

    P1-12

    Level

    P

    21

    GNUM1

    Electronic gear ratio

    numerator selection 1

    Level

    P

    22

    ORGP

    External detector

    input

    Rising edge: External detector valid

    Falling edge: External detector invalid

    Edge

    P S T

    23

    SHOM

    Homing

    OFF→ON: Homing starts

    Edge

    P S T

    24

    TL2

    External torque

    limiting

    ON: Enabled

    OFF: Disabled

    Level

    P S T

    25

    EMGS

    Emergency stop

    ON: Emergency stop

    OFF: No function

    Level

    P S T

    33

    PDIR_SE

    L

    Position command

    direction selection

    ON: Negative

    position command

    direction

    OFF: Set position

    command direction

    Level trigger

    P

    34

    GBK

    Position probe

    ON: Execute position

    probe

    OFF: No action

    Edge trigger

    P S T

    35

    PUL_UP

    Forward direction

    pulse offset

    Rising edge: Forward

    direction offset

    Falling edge: No action

    Edge trigger

    P

    36

    PUL_DN

    Reverse direction

    pulse offset

    Rising edge: Reverse

    direction offset

    Falling edge: No action

    Edge trigger

    p

    3.4.3 Digital output (DO) function definition table

    Value

    Name

    Function

    Description

    Operating

    mode

    0

    Disable

    Terminal invalid

    1

    S-RDY

    Servo ready

    Valid - servo ready to receive S-ON command

    Invalid - the servo is not ready and does not receive the S-ON

    command

    P S T

    2

    BK

    Brake control

    Valid - brake disengaged (brake powered on)

    Invalid - brake engaged (brake powered off)

    P S T

    3

    TGON

    Motor rotation

    Valid - the motor is rotating (speed is above the P0-04 set

    value)

    Invalid - the motor stops rotating (speed is below the P0-04

    set value)

    P S T

    4

    ZER0

    Motor zero

    speed

    Valid - the motor speed is 0 (speed is above the P0-03 set

    value)

    Valid - the motor speed is not 0 (speed is above the P0-04 set

    value)

    P S T

    5

    V-CLS

    Speed close

    Valid: The actual speed of the motor reaches or exceeds the

    set value of P2-08 (regardless of direction).

    P S T

    6

    V-CMP

    Speed

    comparison

    Valid: During speed control, the absolute value of the

    difference between the actual speed of the motor and the

    speed command value is less than the P2-09 set value.

    S

    7

    PNEAR

    Position

    proximity

    Valid: In the position control mode, the position deviation

    pulse is less than the set value of the positioning approach

    width P1-23.

    P

    8

    COIN

    Positioning

    completed

    Valid: In the position control mode, the position deviation

    pulse is less than the positioning completion width, the P1-24

    set value, and the condition of the P1-22 definition is

    satisfied.

    P

    9

    C-LT

    Torque

    limiting

    Valid - motor torque limited

    Invalid - motor torque not limited

    P S T

    10

    V-LT

    Speed limiting

    Valid - motor speed limited

    Invalid - motor speed not limited

    T

    11

    WARN

    Warning

    output

    Valid: Warning occurs

    P S T

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    Value

    Name

    Function

    Description

    Operating

    mode

    12

    ALM

    Alarm output

    Valid: Alarm occurs

    P S T

    13

    Tcmp

    Torque

    compliance

    Valid: Motor output torque reaches set value

    Invalid: Motor output torque does not reach set value

    T

    14

    Home

    Homing

    Valid: Homing completed

    Invalid: Homing is in progress

    P

    15

    S-RUN

    Servo enable

    Valid - servo enabled

    Invalid - servo disabled

    P S T

    27

    T_CLS

    Torque close

    Valid: The current percentage of the motor reaches or exceeds

    the set value of P2-08 (regardless of direction).

    P S T

    29

    SPD_P

    Speed

    programming

    comparison

    output

    P8-36 selection judgment logic. When the conditions are met,

    the output is valid; When the conditions are not met, the

    output is invalid; 10rpm is used to judge the hysteresis, and

    the output does not change during the hysteresis.

    P S T

    30

    TRQ_P

    Torque

    programming

    compares

    output

    P8-39 selection judgment logic. When the conditions are met,

    the output is valid; When the conditions are not met, the

    output is invalid; 3.0% is used to judge the hysteresis, and the

    output does not change during the hysteresis.

    P S T

    31

    SPD_T

    RQ

    Speed

    programming

    compares

    output

    Valid: Both SPD_P and TRQ_P are valid

    Valid: SPD_P or TRQ_P is invalid

    P S T

    Attention☞

    1. The speed judgment generally has 10rpm hysteresis, and the output remains unchanged

    during the hysteresis.

    2. The torque judgment generally has 3.0% hysteresis, and the output remains unchanged

    during the hysteresis.

    3.4.4 Digital input terminal connection

    The digital input (DI) terminal of EA180 series servo drives adopts a full bridge rectifier circuit.

    The current flowing through the terminal can be either positive (NPN mode) or negative (PNP

    mode).

    Taking DI1 as an example, DI1 ~ DI8 interface circuits are identical.

    1) When the upper device is relay output:

    4.7K

    +24V

    + 24V power

    supply

    COM+

    DI1

    Relay

    COM

    Internal 24V power supply

    4.7K

    +24V

    + 24V power

    supply

    COM+

    DI1

    Relay

    COM

    External 24V power supply

    DC24V

    4.7K

    +24V

    + 24V power

    supply

    COM+

    DI1

    COM

    Servo drive Servo drive

    No single-phase power

    supply is used

    25

    21

    5

    7

    25

    21

    5

    7

    25

    21

    5

    7

    Relay

    DC24V

    Fig. 3-8 Wiring of digital input terminals when the upper device is relay output

    Attention☞

    Default settings:

     The COM terminal uses pin# 7, and pin# 22/36 is also applicable.

     The GND terminal uses pin# 14, and pin# 29 is also applicable.

     Servo internal + 24V supply uses pin# 25, and pin# 40 is also applicable.

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    30

    2) When the upper device is NPN open collector circuit output:

    4.7K

    +24V

    + 24V power

    supply

    COM+

    DI1

    COM

    Internal 24V power supply

    Servo drive

    NPN

    NPN

    4.7K

    +24V

    + 24V power

    supply

    COM+

    DI1

    COM

    External 24V power supply

    Servo drive

    NPN

    NPN

    DC24V

    25

    21

    5

    7

    25

    21

    5

    7

    Fig. 3-9 (a) Wiring of digital input terminals when the upper device is NPN open collector circuit

    output

    3) When the upper device is PNP open collector circuit output:

    4.7K

    +24V

    + 24V power

    supply

    COM+

    DI1

    COM

    Internal 24V power supply

    Servo drive

    PNP

    PNP

    4.7K

    +24V

    + 24V power

    supply

    COM+

    DI1

    COM

    External 24V power supply

    Servo drive

    PNP

    PNP

    DC24V

    25

    21

    5

    7

    25

    21

    5

    7

    Fig. 3-9 (b) Wiring of digital input terminals when the upper device is PNP open collector circuit

    output

    Attention☞

    1. When using an external power supply, be sure to keep an open circuit

    between the 24V and COM+ terminal

    2. PNP and NPN mixed input is not supported

    3.4.5 Digital output terminal connection

    Taking DO1 as an example, DO1~DO4 interface circuits are identical. DO5 has no

    DO-terminal (internal COM shorting) and only supports internal power connection.

    1) When the upper device is relay input:

    DC5V ~ 24V

    NPN

    Relay

    Servo drive

    DO1

    DO1-

    8

    37

    Use internal power supply

    25

    +24V

    COM

    22

    NPN

    Servo drive

    DO1

    DO1-

    8

    37

    25

    22

    Use external power supply

    NPN

    DC5V ~ 24V

    DO1

    DO1-

    No relay

    connected

    8

    37

    25

    22

    NPN

    Relay

    Servo drive

    DO1

    DO1-

    8

    37

    25

    +24V

    COM

    22

    Freewheeling

    diode

    polarity error

    Servo drive

    Fig. 3-10 (a) Correct wiring of DO terminal

    when the upper device is relay input

    Fig. 3-10 (b) Wrong wiring of DO terminal

    when the upper device is relay input

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    31

    Attention☞

    When the upper device is relay input, be sure to connect the flywheel diode,

    otherwise the DO port may be damaged.

    2) When the upper device is optocoupler input

    NPN

    DC5V ~ 24V

    Servo drive

    DO1

    DO1-

    8

    37

    NPN

    Servo drive

    DO1

    DO1-

    8

    37

    Use internal power supply Use external power supply

    25

    +24V

    COM

    22

    25

    COM

    22

    External power

    ground

    NPN

    DC5V ~ 24V

    Servo drive

    DO1

    DO1-

    8

    37

    NPN

    DO1

    DO1-

    8

    37

    Use internal power supply Use external power supply

    25

    +24V

    COM

    22

    25

    COM

    22

    Current limiting

    resistor not

    connected

    Current

    limiting

    resistor not

    connected

    External power

    ground

    Servo drive

    Fig. 3-11 (a) Correct wiring of digital output

    terminal when the upper device is optocoupler

    input

    Fig. 3-11 (b) Wrong wiring of digital output

    terminal when the upper device is optocoupler

    input

    Attention☞

    The maximum allowable voltage and current of the optocoupler output circuit inside

    the servo drive are as follows:

     Voltage: DC30V (max)

     Current: DC50mA (max)

     As for inductive loads (such as relays and contactors) are driven, a surge

    voltage absorption circuit should be installed, such as RC absorption circuit

    (note that its leakage current should be less than that of the control contactor or

    relay), varistor, or flywheel diode, etc. (for DC electromagnetic circuit, pay

    attention to polarity during installation). The components of the absorption

    circuit shall be installed near the coil of the relay or contactor.

    3.4.6 CN4 analog input terminal wiring

    Signal

    Pin #

    Function

    Analog

    AI1

    15

    Voltage analog

    input

    Voltage input range:-10V ~ +10V,

    resolution 12 bits

    Maximum allowable voltage: ±12 V

    Input impedance: 10K

    AI2

    30

    GND

    29

    Analog input

    ground

    AI1 and AI2 are generally used for speed or torque analog signal input.

    -10~+10V

    AI1

    -10~+10V

    AI2

    Approx. 9K

    Approx. 9K

    Servo drive

    GND

    15

    30

    29

    Figure 3-12 AI1 and AI2 terminals wiring

    3.4.7 CN4 position command input signal

    The position command pulse input signal and command symbol input signal terminals in the

    CN4 terminal will be described below.

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    Table 3-6 Description of position pulse input signal

    Signal

    Pin #

    Function

    Position

    comman

    d

    PULSE+

    33

    Pulse command

    input mode:

    Differential input

    open collector

    input

    Input pulse mode:

    Direction + Pulse

    Phase A and B orthogonal

    pulse

    CW/CCW pulse

    PULSE-

    34

    SIGN+

    31

    SIGN-

    32

    PULHIP

    1

    External power input interface for command pulse

    PULHIS

    16

    +24V

    25/40

    24V power +

    COM

    36

    24V power ground

    The pulse command can be input using open collector mode or differential mode. The maximum

    input pulse frequency of differential input mode is 500Kpps, and that of open collector mode is

    200Kpps.

    A certain filter time needs to be set for the pulse input terminal to prevent interference signals

    from entering the servo drive to cause motor misoperation. For filter time, see the description of

    P1-15 function parameters.

    Different command input pulse modes have different timing and time parameters, as shown in

    Tables 3-7 and 3-8:

    Table 3-7 Timing of different command pulses

    Pulse command mode

    Logical state

    Pulse waveform

    Pulse + Direction

    P1-01=0 positive

    logic

    PULSE

    SIGN

    T3

    T2

    Forward

    Reverse

    T1

    P1-01=1 negative

    logic

    PULSE

    SIGN

    T3

    T2

    Forward

    Reverse

    T1

    Two-phase orthogonal

    pulse (frequency

    quadrupling)

    P1-01=2 positive

    logic

    PULSE

    SIGN

    T4 T4

    Forward

    T4

    T4

    Reverse

    P1-01=3 negative

    logic

    Reverse

    PULSE

    SIGN

    T4

    T4

    T4

    T4

    Forward

    CW/CCW pulse

    P1-01=4 positive

    logic

    PULSE

    SIGN

    T3

    T1

    T2

    Forward Reverse

    P1-01=5 negative

    logic

    Forward

    Reverse

    PULSE

    SIGN

    T3

    T1

    T2

    Table 3-8 Pulse input time parameter

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    Pulse mode

    Maximum

    input frequency

    Minimum allowable width:

    Voltage

    T1

    T2

    T3

    T4

    Differential

    500Kpps

    1s

    1s

    2s

    0.5s

    5V

    Open collector

    200Kpps

    2.5s

    2.5s

    5s

    1.25s

    24V (MAX)

    3.4.7.1 Differential input mode of position command pulse

    Servo drive

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    Upper device

    100Ω

    100Ω

    31

    32

    41

    16

    GND

    PULSE+

    PULSE-

    SIGN+

    SIGN-

    Pulse position

    command minimum

    pulse width 1us;

    maximum input

    frequency is

    500kpps

    PE

    GND

    2KΩ

    Fig. 3-13 Wiring diagram of differential mode input pulse command

    Attention☞

    Please ensure that "2.8 V ≤ (H level-L level) ≤ 3.7 V", otherwise the input pulse of

    the servo drive will be unstable. This can result in the following:

     Pulse loss occurs when the command pulse is input.

     Command reversal occurs when the command direction is input.

    3.4.7.2 Open collector input mode of position command pulse

     When using internal 24V power supply:

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    36

    16

    PULSE-

    SIGN-

    COM

    +24V

    PULHIP

    PULHIS

    + 24V power

    supply

    Servo drive

    PULSE+

    PE

    Internal 24V power supply NPN connection

    Internal 24V power supply NPN connection

    Open collector pulse

    position command

    Max input frequency

    is200kpps

    Mini pulse width2.5us

    25

    2KΩ

    SIGN+

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    36

    16

    PULSE-

    SIGN-

    COM

    +24V

    PULHIP

    PULHIS

    + 24V power

    supply

    Servo drive

    PULSE+

    PE

    25

    2KΩ

    SIGN+

    Fig. 3-14 Wiring diagram of open collector mode input pulse command (using internal 24V power

    supply)

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    34

     When using the external 24V power supply and internal current limiting resistance

    +24V

    External

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    36

    16

    PULSE-

    SIGN-

    COM

    +24V

    PULHIP

    PULHIS

    + 24V power

    supply

    Servo drive

    PULSE+

    PE

    External 24V power supply and internal current limiting resistor

    NPN connection

    External 24V power supply and internal current limiting resistor

    PNP connection

    Open collector pulse position

    command

    Max input frequency

    is200kpps

    Mini pulse width2.5us

    25

    2KΩ

    SIGN+

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    36

    16

    PULSE-

    SIGN-

    COM

    +24V

    PULHIP

    PULHIS

    + 24V power

    supply

    Servo drive

    PULSE+

    PE

    25

    2KΩ

    SIGN+

    +24V

    External

    Fig. 3-15 (a) Wiring diagram of open collector mode input pulse command (using external power

    supply and internal current limiting resistor)

     When using the external 24V power supply and internal current limiting resistor:

    +24V

    External

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    36

    16

    PULSE-

    SIGN-

    COM

    +24V

    PULHIP

    PULHIS

    + 24V power

    supply

    Servo drive

    PULSE+

    PE

    External 24V power supply and external current limiting resistor

    NPN connection

    External 24V power supply and external current limiting

    resistor PNP connection

    Open collector pulse

    position command

    Max input frequency

    is200kpps

    Mini pulse width2.5us

    25

    2KΩ

    SIGN+

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    36

    16

    PULSE-

    SIGN-

    COM

    +24V

    PULHIP

    PULHIS

    + 24V power

    supply

    Servo drive

    PULSE+

    PE

    25

    2KΩ

    SIGN+

    +24V

    External

    R1

    R1

    R1

    R1

    Fig. 3-15 (b) Wiring diagram of open collector mode input pulse command (using external power

    supply and external current limiting resistor)

    The current limiting resistor R1 is selected as follows:

    The selection of resistor R1 should meet the formula:

    1.5

    10

    1 200

    CC

    V

    mA

    R

    The recommended resistance of R1:

    VCC voltage

    R1 resistance

    R1 power

    24V

    2.0K

    0.5W

    12V

    0.8K

    0.5W

    Attention☞

    1. Always use a twisted pair for a pair of differential signals.

    2. The pulse input signal cable must be separated from the power cable at a

    distance of at least 30cm.

    3. Since the pulse input interface is not a shielded input interface, in order to

    reduce noise interference, it is recommended to connect the output signal

    ground of the upper device with the signal ground of the servo drive.

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    35

     Typical examples of incorrect connection

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    16

    PULSE+

    SIGN-

    COM

    +24V

    PULHIP

    PULHIS

    25

    SIGN+

    PULSE-

    Servo drive

    PE

    VCC

    No current limiting resistor

    connected

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    16

    PULSE+

    SIGN-

    COM

    +24V

    PULHIP

    PULHIS

    25

    SIGN+

    PULSE-

    Servo drive

    PE

    VCC

    Current limiting

    resistors are not

    used separately

    Error 1: No current

    limiting resistor connected,

    and port will be damaged

    Error 2: Multiple ports

    share a current limiting

    resistor, resulting in pulse

    receipt error

    2KΩ

    2KΩ

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    16

    PULSE+

    SIGN-

    COM

    +24V

    PULHIP

    PULHIS

    25

    SIGN+

    PULSE-

    Servo drive

    PE

    Error 3: SIGN port is not

    connected, resulting in no pulses

    received by both ports

    VCC

    R1

    No SIGN signal

    connected

    2KΩ

    100Ω

    100Ω

    1

    33

    34

    100Ω

    100Ω

    31

    32

    16

    PULSE+

    SIGN-

    +24V

    PULHIP

    PULHIS

    25

    SIGN+

    PULSE-

    Servo drive

    PE

    Error 4: The port is incorrectly

    connected, causing the port to

    burn out.

    VCC

    Collector signal

    not connected to

    designated port

    COM

    2KΩ 2KΩ

    Figure 3-16 Four typical incorrect connections

    3.4.8 Frequency division output circuit of CN4 encode

    Table 3-9 Encoder frequency division output signal description

    Signal

    Pin #

    Function

    PA+

    28

    Phase A differential frequency

    division output signal

    Phase A, B orthogonal frequency division

    pulse output signal

    PA-

    13

    PB+

    12

    Phase B differential frequency

    division output signal

    PB-

    27

    PZ+

    11

    Phase Z differential frequency

    division output signal

    Origin pulse output signal

    PZ-

    26

    OCZ

    35

    Phase Z OC gate frequency

    division output signal

    Origin pulse open collector output signal

    GND

    14

    Origin pulse open collector output signal ground

    The encoder frequency division output circuit outputs differential signals through a differential

    drive. In general, it will provide feedback signals when the drive and the host device constitute the

    position control system. In the upper device, please use differential or optocoupler receiving circuit

    to receive signals, with a maximum output current of 20mA.

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    EA180 Series Servo Drive Users Manual

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    28

    PA-

    GND

    PA+

    Differential reception

    PB+

    PB-

    PZ+

    PZ-

    Upper device

    13

    12

    27

    11

    26

    14

    GND

    28

    PA-

    GND

    PA+

    Optocoupler reception

    PB+

    PB-

    PZ+

    PZ-

    Upper device

    13

    12

    27

    11

    26

    14

    GND

    PE

    PE

    Servo

    Servo

    Figure 3-17 Frequency division output wiring diagram

    The encoder Z-phase frequency division output circuit can provide feedback signals through the

    collector open circuit signal, usually when the position control system is formed by the upper

    device and servo drive. In the upper device, it can receive signals through optocoupler and relay

    receiving circuit, with a maximum output current of 40mA.

    Servo drive

    35

    DC5V ~ 24V

    OCZ

    14

    GND

    GND

    PE

    Figure 3-18 OCZ terminal wiring diagram

    Attention☞

    Please be sure to connect the signal power supply ground of the upper device to the servo

    drive GND and use twisted pair shielded cables to reduce noise interference.

    The triode inside the drive has a maximum withstand voltage of DC30V and a maximum

    allowable input current of 40mA.

    3.5 CN2 and CN3 communication terminal wiring

    The servo drive is connected to the upper device through two identical communication signal

    connectors CN2 and CN3 connected in parallel. Users can use MODBUS communication to

    operate the drive, with a communication distance of about 15m.

    Table 3-10 Description of communication connector pins

    Signal

    Pin #

    Function

    Terminal pin distribution

    RS485+

    1

    RS485 communication interface

    8

    1

    RS485-

    2

    GND

    3

    RS485/RS232 communication reference

    ground

    RS232-RXD

    4

    The sender of RS232 is connected with the

    receiver of upper device

    RS232-TXD

    5

    The receiver of RS232 is connected with the

    sender of upper device

    GND ISO

    6

    CAN communication reference ground

    CANH

    7

    CAN communication port

    (This port is available only for CANopen bus

    type products)

    CANL

    8

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    RS485-

    Servo drive

    RS485+

    GND

    Upper

    device

    RS485

    comm

    port

    + terminal

    - terminal

    GND

    RS232-TXD

    RS232-RXD

    GND

    Upper

    device

    RS232

    comm port

    TXD

    RXD

    GND

    Servo drive

    Figure 3-18 Communication terminal wiring diagram

    3.6 CN1 analog output terminal

    Table 3-11 Analog output signal description

    Signal

    Pin #

    Function

    Pin

    distribution

    Circuit diagram

    AO1

    1

    Analog output 1, output voltage

    -10V ~ 10V, maximum output

    current 1mA

    The

    correspondin

    g output

    information

    can be set by

    the P6 group

    codes

    CN1

    4 3

    1

    2

    (front view

    when servo

    drive is

    vertical)

    Servo drive

    AO1

    GND

    1

    2

    AO2

    3

    A

    A

    AO2

    2

    Analog output 2, output voltage

    -10V ~ 10V, maximum output

    current 1mA

    GND

    3

    Analog output signal common ground

    Reserved

    4

    Cannot connect to any signal cable

    Note:

    1) After the control power supply is OFF, the analog monitoring output terminal may output a

    voltage of about 5V within a maximum period of 10ms. Please consider it during use.

    2) The maximum output current of the analog terminal is 1 mA, and the drive may be damaged if

    this is exceeded. Please consider it fully when selecting the load.

    3.7 Brake

    When the motor is used to drive the vertical axis or under similar conditions (e.g. external force), a

    motor with a brake is required in order to prevent the movement of moving parts due to gravity or

    external force in case of power failure.

    Attention☞

    1. The brake is only used for keeping the motor in a stopped state and must not

    be used to stop the operation of the motor.

    2. The brake may give off clicking sound when the motor runs, but it does not

    affect its function.

    External 24V power supply is needed for brake. The wiring methods of brake signal and power

    supply are as follows:

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    EA180 Series Servo Drive Users Manual

    38

    Intermediate

    relay

    DO2 set to

    BK signal

    Brake cable

    7

    38

    23

    25

    +24V

    N

    L

    COM

    DC24VPower

    supply for brake

    PE

    U

    V

    W

    L1C

    L2C

    EMI

    Filter

    DO2-

    DO2+

    MC

    MCCB

    L3

    L2

    L1

    CN5

    Figure 3-20 Brake signal and power supply wiring

    3.7.1 Notes for brake wiring:

    1) The intermediate relay must be controlled through the signal terminal (DO2 +, DO2- in the above

    figure) defined as function 2 (BK), and the brake power supply is switched on and off by the NO

    contacts of the intermediate relay.

    2) There is no need to distinguish the polarity of the brake coil, and the brake is in release state when powered

    on (at this time, the brake pads are separated and there is no braking force).

    3) Be sure to use external power supply for the brake. Internal DC 24V power supply can be used for the

    intermediate relay coil, and it is not recommended that the relay coil and brake share the same power

    supply when an external power supply is used.

    4) When using an external power supply for the intermediate relay coil, please note that the DO2+ terminal

    should be connected to the positive terminal and the DO2- terminal should be connected to the negative

    terminal of the power supply.

    5) The operation of brake requires an input voltage of at least 21.5 V, so the voltage drop caused by the power

    cable resistance needs to be fully considered, and cables above 0.5 mm

    2

    are recommended. Refer to

    Chapter 10 for specific parameters of brake power.

    6) It is better not to share a power supply with other electrical appliances to prevent voltage or current drop

    due to the work of other electrical appliances, which will eventually lead to misoperation of the brake.

    3.7.2 Brake action timing sequence

    3.7.2.1 The brake has an action delay time. Please refer to the following figure for the release and engagement

    delay time of the brake.

    Servo enable (/S-ON)

    Motor ON

    Brake command

    Position/speed/

    torque command

    Motor speed

    ON

    OFF

    P0-11

    P0-16

    ON

    OFF

    OFF

    OFF

    ON

    OFF

    OFF

    Brake

    Released

    Engaged

    *1 *1

    *3

    Command not received

    Command received

    0 rpm

    *2

    Figure 3-21 Brake release and engagement delay time

  • Page 39:

    EA180 Series Servo Drive Users Manual

    39

    *1: The delay time of brake varies with the motor model. Please refer to Chapter 11 and the actual

    situation shall prevail.

    *2: P0-16 specifies the time interval from the time when the servo drive receives the enable (/S-ON)

    command to the time when it can receive the position, speed and torque commands, which

    must be greater than the time required for brake release. After the/S-ON signal is ON, the

    upper device should wait for this time before outputting commands to the servo drive.

    *3: Please use P0-09, P0-10, P0-11 to set the time for brake action and servo drive OFF.

    3.7.2.2 Brake signal (/BK) output time when servo motor stops

    In the case of vertical axis, the dead weight of the moving parts of the machine or external

    force may cause slight movement of the machine. By setting P0-11, the motor can be in a

    non-energized state only after the brake is engaged to eliminate slight mechanical movement.

    Servo enable (/S-ON)

    Motor ON

    Brake command

    Motor ON

    P0-11

    ON

    OFF

    Motor OFF

    Released

    Engaged

    Figure 3-22 Brake action timing sequence when servo enable OFF

    Attention☞

    When an alarm occurs under any circumstances, P0-11 is invalid and the servo

    motor will immediately enter the OFF state. At this time, the moving part may

    move freely before the brake acts.

    3.7.2.3 Brake signal (/BK) output time when servo motor rotates

    When an alarm occurs or the enable signal is forcibly cancelled during the rotation of the

    servo motor, the servo motor will immediately enter the OFF state. At this time, the brake

    signal (/BK) output time can be adjusted by setting the brake command output speed value

    P0-10 and the servo OFF-brake command waiting time P0-09.

    Brake operation conditions when servo motor rotates

    When any of the following conditions is true, the brake

    signal will act:

     The motor speed is lower than the set value of P0-10

    after the motor enters the OFF state.

     The set time of P0-09 has passed after the motor enters

    the OFF state.

    Fig. 3-23 Brake actions when servo motor rotates

    Attention☞

    1. The servo motor speed will not exceed its maximum speed even if the set value in

    P0-10 is higher than the maximum speed.

    2. Do not assign the motor rotation signal (TGON) and the brake signal (BK) to

    the same terminal. Otherwise, the TGON signal will be ON due to the falling

    speed of the vertical axis, and the brake may not operate.

    Motor power

    Motor speed

    ON

    P0-10

    Released

    Engaged

    ON

    OFF

    OFF

    Servo enable (/S-

    ON) signal

    or alarm

    or Power OFF

    Coast to stop

    P0-09

  • Page 40:

    EA180 Series Servo Drive Users Manual

    40

    3.8 Standard wiring diagram of control circuit

    3.8.1 Position control mode

    100Ω

    PULSE+

    PULSE-

    33

    34

    SIGN+

    SIGN-

    31

    32

    16

    PULHIS

    PULS

    [CW Phase A]

    SIGN

    [CCW Phase B]

    Position command

    8

    23

    37

    38

    9

    24

    39

    10

    DO1

    DO1-

    DO2

    DO2-

    DO3

    DO3-

    DO4

    DO4-

    State output

    Encoder frequency

    division pulse

    output-differential

    PE

    PA+

    PA-

    PB+

    PB-

    PZ+

    PZ-

    28

    13

    12

    27

    26

    GND

    14

    11

    35

    14

    Upper

    device

    GND

    Encoder phase Z open

    collector output

    GND

    OCZ

    +5V

    +5V

    GND

    6

    29

    GND

    AO1

    Analog 1

    output

    Analog 2

    output

    15

    29

    30

    29

    GND

    GND

    AI2

    AI1

    1

    EA180

    servo drive

    See Section 3.4. 8 for the

    wiring diagram of position

    mode command

    1. See P6 group dunction code

    description for DO terminal

    functions;

    2. Refer to Section 3.4.6 for DO

    terminal wiring method;

    3. User-provided: DC5V ~ 24V

    Max allowable voltage: DC30V

    Max allowable current:

    DC50mA

    Servo ready

    Brake output

    Position

    comparison

    Fault output

    Refer to Section

    3.4.9 for

    frequency

    division output

    circuit

    Refer to Section

    3.4.9 for Z signal

    output circuit

    Refer to Section 3.4.7 for

    analog input circuit

    Refer to Section 3.6 for AO

    output wiring

    Torque limiting

    PE

    Torque limit 0~10V

    Input impedance: 9kΩ

    Torque Limit -10~0V

    Input impedance: 9kΩ

    Internal +5V power supply, with max allowable

    current of 50mA

    PULHIP

    +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

    P_CLR

    INHIBIT

    GNUMO

    GNUM1

    S-ON

    P_OT

    COM

    State input

    1. See P6 group function

    code description for

    functions of DI terminals

    2. See Section 3.4.5 for DI

    terminal wiring method

    Standard connection

    uses the internal

    +24V power supply

    by default

    7

    Servo enabled

    Alarm reset clear

    Reset pulse deviation counter

    Pulse inhibit

    No positive drive

    No negative drive

    Electronic gear ratio numerator

    selection 0

    Electronic gear ratio numerator

    selection 1

    S-RDY

    BK

    COIN

    ALM

    2KΩ

    2KΩ

    A

    GND

    AO1

    A

    100Ω

    100Ω

    100Ω

    C N 1 terminal

    41

    COM

    DO5

    Internal shorting

    +10V

    +10V

    44

    Internal +10V power supply, with max

    allowable current 20mA (Note)

    (Note)

    Note: DO5/+10V is not supported by all

    models

    Figure 3-24 Position control mode standard wiring diagram

    3.8.2 Speed control mode

    8

    23

    37

    38

    9

    24

    39

    10

    DO1

    DO1-

    DO2

    DO2-

    DO3

    DO3-

    DO4

    DO4-

    State output

    Encoder frequency

    division pulse

    output-differential

    PE

    PA+

    PA-

    PB+

    PB-

    PZ+

    PZ-

    28

    13

    12

    27

    26

    GND

    14

    11

    35

    14

    Upper

    device

    GND

    Encoder phase Z

    open collector output

    GND

    OCZ

    GND

    AO1

    Analog 1

    output

    Analog 2

    output

    15

    29

    30

    29

    GND

    GND

    AI2

    AI1

    EA180

    servo

    drive

    1. See P6 group dunction code

    description for DO terminal

    functions;

    2. Refer to Section 3.4.6 for DO

    terminal wiring method;

    3. User-provided: DC5V ~ 24V

    Max allowable voltage: DC30V

    Max allowable current:

    DC50mA

    Servo ready

    Brake output

    Speed

    comparison

    Fault output

    Refer to Section

    3.4.9 for

    frequency

    division output

    circuit

    Refer to Section

    3.4.9 for Z signal

    output circuit

    Refer to Section 3.4.7 for

    analog input circuit

    Refer to Section 3.6 for AO

    output wiring

    PE

    +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

    CMD0

    CMD1

    CMD2

    CMD3

    S-ON

    P-OT

    COM

    State input

    1. See P6 group function

    code description for

    functions of DI terminals

    2. See Section 3.4.5 for DI

    terminal wiring method

    Standard connection

    uses the internal

    +24V power supply

    by default

    7

    Servo enabled

    Alarm reset clear

    No positive drive

    No negative

    drive

    Speed internal

    command bit0

    Speed internal

    command bit1

    Speed internal command

    bit2

    Speed internal command

    bit3

    S-RDY

    BK

    V-CMP

    ALM

    A

    GND

    AO1

    A

    Speed command

    Analog speed given

    Signal input: ±10 V

    Input impedance: 9k

    Analog torque limiting

    Signal input: ± 10V

    Input impedance: 9kΩ

    C N 1 terminal

    41

    COM

    DO5

    Internal shorting

    +5V

    +5V

    GND

    6

    29

    Internal +5V power supply, with max

    allowable current of 50mA

    +10V

    +10V

    44

    Internal +10V power supply, with max

    allowable current 20mA (Note)

    (Note)

    Note: DO5/+10V is not supported by all

    models

    Figure 3-25 Speed control mode standard wiring diagram

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    41

    3.8.3 Torque control mode

    8

    23

    37

    38

    9

    24

    39

    10

    DO1

    DO1-

    DO2

    DO2-

    DO3

    DO3-

    DO4

    DO4-

    State output

    Encoder frequency

    division pulse

    output-differential

    PE

    PA+

    PA-

    PB+

    PB-

    PZ+

    PZ-

    28

    13

    12

    27

    26

    GND

    14

    11

    35

    14

    Upper

    device

    GND

    Encoder phase Z

    open collector

    output

    GND

    OCZ

    GND

    AO1

    Analog 1

    output

    Analog 2

    output

    15

    29

    30

    29

    GND

    GND

    AI2

    AI1

    EA180

    servo drive

    1. See P6 group function code

    description for DO terminal

    functions;

    2. Refer to Section 3.4.6 for DO

    terminal wiring method;

    3. User-provided: DC5V ~ 24V

    Max allowable voltage: DC30V

    Max allowable current:

    DC50mA

    Servo ready

    Brake output

    Torque

    comparison

    Fault output

    Refer to Section

    3.4.9 for

    frequency

    division output

    circuit

    Refer to Section

    3.4.9 for Z signal

    output circuit

    Refer to Section 3.4.7 for

    analog input circuit

    Refer to Section 3.6 for AO

    output wiring

    PE

    +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

    TDIR-SEL

    S-ON

    P-OT

    COM

    State input

    1. See P6 group function

    code description for

    functions of DI terminals

    2. See Section 3.4.5 for DI

    terminal wiring method

    Standard connection

    uses the internal

    +24V power supply

    by default

    7

    Servo enabled

    Alarm reset clear

    No positive drive

    No negative drive

    Torque command

    direction selection

    S-RDY

    BK

    Tcmp

    ALM

    A

    GND

    AO1

    A

    Speed command

    Analog torque

    Signal input: ± 10V

    Input impedance: 9kΩ

    Analog torque limiting

    Signal input: ± 10V

    Input impedance: 9kΩ

    C N 1 terminal

    41

    COM

    DO5

    Internal shorting

    +5V

    +5V

    GND

    6

    29

    Internal +5V power supply, with max

    allowable current of 50mA

    +10V

    +10V

    44

    Internal +10V power supply, with max

    allowable current 20mA (Note)

    (Note)

    Note: DO5/+10V is not supported by

    all models

    Figure 3-26 Torque control mode standard wiring diagram

    3.9 Notes for control circuit wiring

     The control circuit cable and the power cable must be separated at a minimum distance of

    30cm.

     If the control circuit cable is short and needs to be extended, please ensure that the shield is

    reliably connected to ensure reliable shielding and grounding.

     The + 24V of servo drive is referenced by COM, and + 5V/+ 10V is referenced by GND. The

    load should not exceed the maximum allowable current, otherwise the drive will not work

    properly.

     Try to use the shortest command input and encoder cables.

     Please use cables above 1.5 mm

    2

    for grounding.

     Single ground point is required.

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    42

    Chapter 4 Display and Operation

    4.1 Appearance of display and buttons

    Mode

    UP

    DOWN

    Shift Enter

    LED

    display

    EA180-8R4-3B

    01020052111410280001

    M S

    88888

    Drive

    model

    & S/N

    Part names

    Sign

    Function description

    Mode

    M

    Switch between different operating modes

    Exit current parameter/function operation

    Exit from

    Al

    mode to normal operating mode

    UP

    ˄

    Increase current cursor value

    Forward jog when AF-02 auxiliary function is in at level 2

    Directly display the first level of next parameter when

    d5

    and

    CG

    modes are at

    level 2

    Switch downward to view the fault information when there is a fault in

    Al

    mode

    Switch between AF-07 parameter selection and drive state in

    St

    mode

    DOWN

    ˅

    Decrease the current cursor value

    Reverse jog when AF-02 auxiliary function is in at level 2

    Switch upward to view the fault information when there is a fault in

    Al

    mode

    Directly display the first level of previous parameter when

    d5

    and

    CG

    modes are

    at level 2

    Shift

    <

    Move the cursor rightward when

    d5

    ,

    Pr

    and

    AF

    modes are at level 1 (

    >

    );

    Move the cursor leftward when

    d5

    and

    AF

    modes are at level 2 (

    <

    );

    Switch to display when

    d5

    and

    CG

    modes are at level 2 and one screen cannot

    display all parameters;

    Enter

    S

    Confirm the current operation

    LED

    4 3 2 1 0

    LED0

    LED2

    LED3

    LED4

    LED1

    jIdt

    The information in the box is the LED display content;

    120

    on the box indicates that the corresponding LED flashes.

    beneath the box indicates that the lower right point of the corresponding LED

    flashes.

    -. 11

    If the lower right dot "." of LED4 is on, it indicates that the current data is the second

    screen of the current information, and you can switch between the two screens with

    SHIFT

    button.

    -. 11

    13011

    The LED4 symbol "-" indicates that the current data is negative (the number of bits on

    current screen ≤ 4);

    The lower right dots ".." of LED4 and LED3 are on, it indicates that the current data is

    negative (the number of digits on current screen = 5);

    13011

    If the lower right dot "." of LED4 flashes and that of LED3 is on, it indicates that the

    current data is the second screen of the current information, and you can switch

    between the two screens with

    SHIFT

    button, and the current data is negative.

    120

    When digits are displayed, the lower right dots "." of LED3, LED2, and LED1 indicate

    the decimal point position of the current parameter.

    If the lower right dot "." of LED0 flashes, it indicates that a fault or warning occurs.

  • Page 43:

    EA180 Series Servo Drive Users Manual

    43

    4.2 Overview of drive operating modes

    EA180 servo drives have seven operating modes:

    Operating Mode

    Function

    Menu Display Levels

    Name

    Sign

    Level 1

    Level 2

    Level 3

    Initialization

    mode

    It

    Display drive model

    -

    EA180

    -

    Status

    monitoring

    mode

    St

    Show current drive status

    -

    -Prdy

    -

    Parameter

    monitoring

    mode

    d0

    Select monitoring parameters and monitor

    their values

    D0-00

    - 100

    -

    Parameter

    setting mode

    Pr

    Select a parameter and change its value

    p0-00

    1

    -End-

    Auxiliary

    function mode

    AF

    Select an auxiliary function and perform

    corresponding operations

    AF-05

    jIdt

    jIdt

    Changed

    parameter mode

    (hidden by

    default)

    CG

    Check all parameters that differ from the

    default values (Check with auxiliary function

    AF-08=1, which the information will be

    hidden again after power-on again)

    p1-00

    0

    -

    Warning and

    alarm Mode

    (displayed in

    case of

    exception)

    Al

    Display warnings and alarm information

    -

    AlE03

    -

    The modes are switched as follows:

    -Prdy

    Status monitoring

    mode

    M

    Parameter monitoring

    mode

    Parameter setting mode

    p0-00

    D0-00

    Auxiliary function

    mode

    AF-00

    Parameter mode changed

    p0-00

    Failure and warning mode

    AlE03

    EA180

    Initialization mode

    Show 1S

    Control panel power-on

    M

    M

    AF-08=0

    M

    AF-08=1

    st

    It

    dS

    pr

    Cg

    Al

    AF

    Initialization

    normal

    System stay state

    Warning or alarm occurs

    Warning/alarm clearing command

    4.3

    Initialization mode

    It

    After the drive control boards (L1C and L2C) are powered on for the first time or reset by AF-00 software, they

    first enter the initialization mode, display

    EA180

    , and automatically enter the status monitoring mode in 1

    second.

    4.4

    Status monitoring mode

    St

    After the system initialization, it will automatically enter the status monitoring mode in 1 second:

  • Page 44:

    EA180 Series Servo Drive Users Manual

    44

    -Prdy

    Initialization

    Normal

    ˄

    Show drive status only

    AF-07=0000

    .

    00

    AF-07 ≠ 0 e.g. AF-07=2001

    -Prdy

    First show the value of the parameter corresponding to the

    address set by AF-07;

    switch between the value and drive status by pressing UP key

    The following figure shows the display schematic of the drive's LED display in the status monitoring mode.

    P

    r u n

    LED

    0

    LED

    2

    LED

    3

    LED

    1

    LED4

    LED2 to LED0 display the current operating state of the drive, including five types:

    ndy

    The current drive is not ready (please check the bus voltage of the

    control circuit/drive circuit, and check for faults, etc.)

    rdy

    The current drive is ready to enable

    run

    The current drive is enabled

    poo

    The current drive is in the process of homing

    pal

    The current drive has a warning or an alarm

    LED3 shows the control mode of the current servo drive, and the decimal point shows whether the brake unit is

    in the discharging state.

    P

    The servo drive is in position control mode

    and the brake unit is not operating

    P

    The servo drive is in position control mode and

    the brake unit is discharging

    S

    The servo drive is in speed control mode and

    the brake unit is not operating

    S

    The servo drive is in speed control mode and

    the brake unit is discharging

    t

    The servo drive is in torque control mode and

    the brake unit is not operating

    t

    The servo drive is in torque control mode and

    the brake unit is discharging

    LED4 shows the direction of the current motor speed and the decimal point shows the state of the brake terminal (BK)

    8

    Motor runs reversely, and BK terminal output

    is valid

    8

    Motor runs reversely, and BK terminal output

    is invalid

    8

    Motor speed is 0, and BK terminal output is

    valid

    8

    Motor speed is 0, and BK terminal output is

    invalid

    8

    Motor runs forwards, and BK terminal output

    is valid

    8

    Motor runs forwards, and BK terminal output

    is invalid

    Example: Description for the following LED display:

  • Page 45:

    EA180 Series Servo Drive Users Manual

    45

    Forward

    rotation

    Brake control

    terminal output valid

    Brake unit is discharging

    Currently in

    position mode

    The servo is

    enabled and

    normally running

    P

    run

    Attention☞

    1: AF-07 parameter is hexadecimal. For example, the communication address of D0-01 is

    2001H, you can enter 2001 with the buttons, but if it is written through communication,

    you should write 2001H.

    2: AF-07 cannot be set to an address that does not exist, otherwise the content displayed may be

    unknown.

    3: If it is currently not enabled, LED3 will display position control mode, and once enabled, it

    will be display the actual operating control mode.

    4.5

    Parameter monitoring mode

    dS

    After the system initialization, it will automatically enter the status monitoring mode; press the

    M

    button

    once to switch to the parameter monitoring mode.

    Take checking the previous fault information (d0-12 ~ d0-14 and d0-16) as an example, the following figure

    illustrates the button operation in parameter monitoring mode.

    D0-00

    -Prdy

    M

    Initialization

    Normal

    D0-00

    D1-00

    D1-00

    D1-10

    D1-12

    D1-10

    S

    ˄

    Multiple times

    Al013

    Or no key

    press for 2s

    D1-13 0

    D1-14 333

    Or no key

    press for 2s

    Or no key

    press for 2s

    ˄

    ˅

    ˄

    ˅

    ˄

    ˅

    ˄

    ˅

    Status monitoring mode

    Parameter monitoring mode

    Level 1 Level 2

    D1-16

    43210

    Or no key

    press for 2s

    M

    ˄

    ˅

    Multiple times

    Multiple times

    . 65

    1st display

    2nd display

    M

    M

    M

    S

    S

    S

    S

    S

    S

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    When selecting the monitoring parameter dx-yz, please select the group number (x) first, and then select the

    intra-group number (yz, z can be carried to y).

    The Shift button

    S

    controls the cursor to move rightward circularly in the first-level interface of this

    mode, and the position change route is LED0 (initial position)→ LED3→LED1→LED0 …; in this mode,

    the second-level interface controls the data of the first and second screens to be displayed back and forth.

    The monitoring parameter value can be checked more easily. If the current interface is the second level in

    this mode, press

    ˄

    button to directly switch to the first-level interface display of the next parameter

    (equivalent to

    M

    +

    ˄

    ); you can press the

    ˅

    button to directly switch to the first-level

    interface display of the previous parameter (equivalent to

    M

    +

    ˅

    );

    In this mode, when the first-level interface is displayed, you can press

    S

    button to directly enter the

    second-level interface. If there is no key operation for more than 2s, it will automatically enter the

    second-level interface for display.

    4.6

    Parameter setting mode

    pr

    After the system initialization, it will automatically enter the status monitoring mode; press

    M

    button twice

    to switch to the parameter setting mode.

    The following is an example of setting P1-01=2, Pb-01=1 and returning to P1 group parameters.

    D0-00

    -Prdy

    M

    Initialization

    Normal

    p1-00

    ˄

    p1-01

    p1-01

    ˄

    Multiple times

    S

    Status monitoring mode

    Parameter

    monitoring mode

    Level 1

    Level 2

    .

    p0-00

    M

    Parameter setting mode

    Level 3

    ˄

    p1-00

    0

    ˄

    Multiple times

    3

    S

    Po-on

    1s after display

    p1-01

    p1-00

    pb-00

    pb-00

    ˄

    pb-02

    S

    1

    ˄

    11

    S

    -End-

    1s after display

    pb-02

    Multiple times

    pb-02

    ˄

    Multiple times

    p1-01

    Set P1-01

    Set Pb-01

    Return to P1

    group

    Multiple times

    01

    M

    M

    When selecting the setting parameter Px-yz, please select the group number (x) first, and then select the

    intra-group number (yz, z can be carried to y);

    When selecting a group, the last operated intra-group number will be automatically displayed (if

    returning to Group P1 again, P1-01 will be directly displayed).

    The Shift button

    controls the cursor to move rightward circularly in the first-level interface of this

    mode, and the position change route is LED3 (initial position)→LED1→LED0→LED3 …; in the

    second-level interface of this mode, it controls the cursor to move leftward circularly, and the position

    change route is LED0 (initial position)→LED1→LED2→LED3→LED4→ (second screen LED0→second

    screen LED1→second screen LED2→second screen LED3→second screen LED4)→LED0→LED1.... The

    leftmost position of the cursor is determined by the number of bits displayed by the current parameter;

    When entering the parameter setting mode from other modes, the cursor stops at LED3 by default;

    When pressing

    M

    or

    S

    button to enter the first level from the second level of this mode, the

    cursor stops at LED0 by default;

    When entering the second level of a parameter, its current value will be automatically cached and displayed.

    At this time, after the value is changed through other channels (such as communication), the display will

    not be automatically refreshed.

    After changing the parameters with the buttons, press the

    M

    button to return to the first level, and

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    47

    the parameter remains the value before the change;

    After changing the parameters with the buttons, press the

    S

    button to confirm the setting; show

    the third level for 1s and automatically return to the first level, and the parameter will be set to the new

    value.

    After setting the parameter and pressing

    S

    button, whether the current parameter is valid immediately

    and what is displayed at the third level is related to the parameter attribute.

    Parameter

    attribute

    Display after

    pressing

    S

    Description

    -End-

    Set at any time, valid immediately

    Po-on

    The values before and after change are different: Set at any time, and valid

    the power-on again

    -End-

    The values before and after change are the same: The initial value is always

    valid.

    Halt

    The values before and after change are different: Set at any time, and valid

    after the motor is static for 1s.

    -End-

    The values before and after change are the same: The initial value is always

    valid.

    -

    Read-only

    4.7

    Changed parameter mode

    Cg

    After each power-on of the control panel, the changed parameter mode defaults to be hidden. You need to set

    AF-08=1 and switch to this mode with the

    M

    button.

    Below is the description in two cases:

    No function code and different from the factory set value: When entering the changed parameter mode, the

    LED displays

    null

    .

    null

    1

    M

    Auxiliary

    function mode

    Level 1 Level 2

    AF-08

    Changed

    parameter mode

    The following function codes (P1-00/P1-02/P9-08/P9-13/P9-14) are different from the factory set values:

    A.

    In order to distinguish from the normal function display, "-" flashes at LED2;

    B.

    Find the changed function code with

    ˄

    or

    ˅

    button;

    C.

    The monitoring parameter value can be changed more easily. If the current interface is the second level

    in this mode, press

    ˄

    button to directly switch to the first-level interface display of the next

    parameter (equivalent to

    M

    +

    ˄

    ); you can press the

    ˅

    button to directly switch to the

    first-level interface display of the previous parameter (equivalent to

    M

    +

    ˅

    );

    D.

    Only the current changed value can be viewed when entering the second level. Parameter changes in

    this interface are not supported.

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    p1-00

    1

    M

    p1-02 5000

    p9-08 3000

    P9-13 100

    ˄

    ˅

    ˄

    ˅

    ˄

    ˅

    ˄

    ˅

    Auxiliary function mode

    Level 1 Level 2

    p9-14

    00000

    ˄

    ˅

    - 65

    1st display

    2nd display

    AF-08

    Changed parameter mode

    ˄

    ˅

    1

    S

    ˅

    ˄

    ˄

    ˅

    ˅

    ˄

    .

    S

    S

    S

    S

    M

    M

    M

    M

    M

    4.8

    Warning and alarm mode

    Al

    In any mode, once a warning or alarm occurs, the system will directly enter the warning or alarm mode. At this

    time, you can temporarily switch to the normal operation mode by pressing the

    M

    button (the lower right dot

    of LED0 flashes to show the difference), but the system will return to the warning or alarm mode if there is no

    key operation within 10s.

    MOD

    Normal

    operating mode

    Level 1 Level 2

    n-ot

    A. New warning

    B. Existing warning, no key operation for 10s

    after pressing Mod key

    Or warning

    disappears

    The above figure shows the button operation when there is a warning. In the warning mode, only the warning

    sign (N-ot) is displayed, and the system will automatically return to normal operation mode after the warning

    disappears.

    d1-00

    MOD

    d1-01 -134

    d1-02 363

    d1-03 053

    Normal

    operating mode

    Level 1 Level 2

    00341

    65

    SHIFT

    1st display

    2nd display

    Failure and

    warning mode

    Al017

    .

    d1-04

    ˄˅

    ˄˅

    ˄˅

    ˄ ˅

    A. New alarm

    B. Existing alarm, no key operation for 10s

    after pressing Mod key

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    The above figure shows the button operation when there is an alarm. In the warning and alarm mode, the

    alarm information can be viewed by switching with the

    ˄

    and

    ˅

    buttons (alarm code AL.017,

    motor speed -134rpm, bus voltage 363V, motor current 0.53 A, and cumulative operation time 6500341min).

    When an alarm occurs, first clear the alarm source, then perform alarm reset or power on the control power

    supply again before system can exit the warning and alarm mode.

    Display

    Description

    Al0nn

    When the drive gives an alarm, the panel displays the alarm sign "Al0" and the alarm number "nn".

    AlEnn

    When the drive gives a warning, the panel displays the warning sign "AlE" and the warning number "nn".

    *: In the case of positive or negative overtravel, it directly displays the characters "-POT-" or "-NOT-".

    Note: Please refer to the Warning and Alarm Handling section for specific warning and alarm information.

    4.9

    Auxiliary function mode

    AF

    After the system initialization, it will automatically enter the status monitoring mode; press the

    M

    button

    thrice to switch to the auxiliary function mode.

    Take AF-03 (Internal S-ON) auxiliary function as an example for operation description. Other functions have the

    same operation method, and only different levels have different displays and meanings.

    D0-00

    -Prdy

    M

    Initialization

    Normal

    S

    Status monitoring mode

    Parameter

    monitoring mode

    Level 1 Level 2

    .

    p0-00

    M

    Auxiliary function mode

    Level 3

    ˄

    AF-03

    0

    ˄

    s-on

    S

    s-on

    1s after

    display

    AF-03

    Set P1-01

    M

    AF-00

    M

    Parameter

    setting mode

    Multiple times

    AF-00

    ˅

    When selecting the auxiliary function AF-yz, because there are not many parameters in this group, you can

    directly press the

    ˄

    and

    ˅

    buttons to select when the cursor flashes in the Z position, and it will

    be automatically carried to or borrowed from position y. You can also set them separately by moving the

    cursor with

    button.

    In this mode,

    is used to control the cursor to move between position z and position y in the first

    level.

    When entering the second level of a parameter, its current value will be automatically cached and displayed.

    At this time, after the value is changed through other channels (such as communication), the display will

    not be automatically refreshed.

    After changing the parameters with the buttons, press the

    M

    button to return to the first level, and the

    parameter will be the value before the change;

    After changing the parameters with the buttons, press the

    S

    button to confirm the operation; show the

    third level for 1s and automatically return to the first level.

    IMPORTANT: Auxiliary functions are parameters set to perform specific function operations, and the keypad

    display content is not the value of the internal register.

    During operation with the keypad, the displayed symbol shall prevail. During operation with

    communication mode, the register value is written to the corresponding address. A register value of '-'

    indicates that the operation cannot be performed by communication.

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    4.10 Auxiliary function operation

    AF-00

    Software reset

    Data size

    16bit

    Commu. addr.

    3F00H

    Register value storage

    Auto reset upon completion

    Register

    value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    rEsEt

    Press

    S

    to reset software (equivalent to power-on again of control power supply)

    AF-01

    Alarm reset

    Data size

    16bit

    Commu. addr.

    3F01H

    Register value storage

    Auto reset upon completion

    Register

    value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    AlClr

    Press

    S

    to perform the alarm reset operation

    * It must be a resettable alarm and the cause of current alert has been eliminated.

    AF-02

    JOG

    Data size

    16bit

    Commu. addr.

    3F02H

    Register value storage

    -

    Register

    value

    Display

    Operation

    -

    -sjog

    Press

    ˄

    , the motor rotates forward and it displays

    sjog

    _

    . Press

    ˅

    , the motor runs

    reversely and it displays

    _sjog

    . Do not press the key, motor is static, display

    -sjog

    * The speed of jog operation is determined by P8-00, and the acc/dec time is determined by

    P8-01.

    * Please operate in the

    prdy

    _

    .

    (not enabled, and ready) state, and the jog process will

    automatically exit if a warning occurs.

    AF-03

    Internal S_ON command

    Data size

    16bit

    Commu. addr.

    3F03H

    Register value storage

    Stored

    Register

    value

    Display

    Operation

    0

    0

    Press

    S

    to display

    -End-

    . If there is no other enable input, the drive will enter the

    enable OFF state.

    1

    s-on

    If the enable condition is met, press

    S

    to display

    s-on

    , and the drive will enter the

    enable-ON state.

    * This parameter will be stored and the drive will be enabled ON immediately upon the next power-on. If this is not desired, please

    modify this parameter value to 0 before power-off.

    AF-04

    FFT test

    Data size

    16bit

    Commu. addr.

    3F04H

    Register value storage

    Auto reset upon completion

    Register

    value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    Eydft

    Press

    S

    , and it displays

    Eydft

    and carries out speed bandwidth test with the upper

    device software identification system; after the test, automatically exit and upload the data to the

    upper device for analysis and display.

    * The motor has slight vibration and sound.

    AF-05

    Offline inertia identification

    Data size

    16bit

    Commu. addr.

    3F05H

    Register value storage

    Auto reset upon completion

    Register

    value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    jIdt

    Press

    S

    , it displays

    jIdt

    and starts to identify the current system inertia. After

    successful identification, the inertia (multiple of the motor inertia) is automatically stored in P4-10.

    * Refer to Section 6.6 for detailed description of inertia identification.

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    AF-06

    AI channel self-correction

    Data size

    16bit

    Commu. addr.

    3F06H

    Register value

    storage

    Auto reset upon completion

    Register

    value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    AI1

    The given AI1 external voltage source is 0V (the actual voltage may not be 0V); press

    S

    , it

    displays

    AI1

    and carries out zero drift learning, and the results will be automatically stored

    in P6-33 after completion.

    2

    AI2

    The given AI2 external voltage source is 0V (the actual voltage may not be 0V); press

    S

    , it

    displays

    AI2

    and carries out zero drift learning, and the results will be automatically stored

    in P6-34 after completion.

    Attention☞

    1: When performing zero drift automatic correction, it is necessary to ensure that the given

    command of the upper device itself is 0V (the actual voltage may not be 0)

    2: Zero drift automatic correction is only applicable to external power supply of -10 ~ 10V.

    3: If that actual voltage at the AI terminal exceeds ± 2 V while the correction is performed, an

    Al034 alarm will occur.

    AF-07

    Status displayed by default upon power-on

    Data size

    16bit

    Commu. addr.

    3F07H

    Register value storage

    Stored

    Register

    value

    Display

    Operation

    0000H

    0000

    Press

    S

    , it displays

    -End-

    ; only display the drive status in status monitoring mode.

    2001H

    (example

    )

    2001

    Press

    S

    , it displays

    -End-

    ; if AF-07 is a non-0 value, the status monitoring mode

    displays function code at the corresponding communication address (such as D0-01) by default.

    You can switch between the monitoring value and the drive status with

    ˄

    button.

    ˄

    00

    -Prdy

    First show the value of the parameter

    corresponding to the address set by AF-07;

    switch between the value and drive status by

    pressing UP key

    Attention☞

    1: AF-07 is displayed in hexadecimal format, which means the correspondence address. If the

    set address has no corresponding function code, the display value is unknown.

    2: If it is not enabled, LED3 will display position control mode (P), and once enabled, it will

    display the actual operating control mode.

    AF-08

    Non-factory value display

    Data size

    16bit

    Commu. addr.

    3F08H

    Register value storage

    Auto reset upon power-on

    Register

    value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , display normally

    1

    1

    Press

    S

    , it displays

    -End-

    ; press

    M

    again to enter the changed parameter mode,

    where "-" in the middle flashes to be different from the normal function code display.

    You can press

    ˄

    or

    ˅

    to view the changed parameters in turn, and press

    S

    to

    view the new values.

    AF-09

    System parameter initialization

    Data size

    16bit

    Commu. addr.

    3F09H

    Register value storage

    Auto reset upon power-on

    Register

    value

    Display

    Operation

    1

    1

    If AF-09 ≠ 65535, press

    S

    , it displays

    Po-on

    ; no operation

    65535

    65535

    If AF-09=65535, press

    S

    , it displays

    Po-on

    and restore the function code to the default

    state.

    Attention☞

    1: After using this function, the control power supply must be powered on again.

    2: This operation does not restore motor parameters.

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    AF-10

    Display motor parameters

    Data size

    16bit

    Commu. addr.

    3F0AH

    Register value storage

    Auto reset upon power-on

    Register

    value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    and hides Pd group parameters

    1

    1

    Press

    S

    , it displays

    -End-

    and displays Pd group parameters

    AF-16

    Multi-turn data and fault handling of absolute

    encoder

    Data size

    16bit

    Commu. addr.

    3F10H

    Register value storage

    Auto reset upon completion

    Register

    value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    1

    Clear multi-turn encoder fault: Press

    S

    , it displays

    -End-

    and executes the

    corresponding operation.

    2

    2

    Clear multi-turn data and fault of multi-turn encoder: Press

    S

    , it displays

    -End-

    and

    executes the corresponding operation.

    IMPORTANT: This function is operable only in a non-enabled state.

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    Chapter 5 Trial Run

    According to the instructions in this Manual, the load of the servo motor can be connected only

    after the motor operates normally. Usually the servo drive cannot be put into use after it has passed

    the following tests.

    1) Wiring, inspection.

    2) Power on servo drive and adjust the parameters.

    3) No-load operation.

    4) Control function debugging.

    Strongly recommendation: Please make sure the servo motor works normally without load

    before connecting the load to avoid unnecessary danger.

    5.1 Drive power-on

    5.1.1 Pre-power-on inspection

    1) Check whether the drive matches the motor specifications.

    2) L1, L2, L3 and U, V, W must be connected correctly and looseness is not allowed.

    3) The U, V and W of the motor must one-to-one correspond to the U, V and W of the drive.

    4) Check whether the input voltage is consistent with the voltage level shown on the drive

    nameplate or panel.

    5) Check whether the encoder terminals are connected properly.

    6) Check whether the servo motor and drive are well grounded.

    5.1.2 Power-on timing sequence

    1) Refer to Section 3.3.2 for proper power-on timing sequence.

    5.2 Trial run

    5.2.1 Jog parameter setting

    Set the following parameters when servo drive is disabled:

    Parameter

    Name

    P8-00

    JOG speed setting (usually factory value can be used)

    P8-01

    JOG acc/dec time (usually factory value can be used)

    5.2.2 JOG operation

    Operate as shown below:

    Show

    S

    >

    The motor runs in the forward direction at P8-00

    speed, and it will stop if released

    <

    The motor runs in the forward direction at P8-00

    speed, and it will stop if released

    M

    Exit jog mode

    P8-00

    AF-02

    Set jog speed

    SjoG

    Key

    Key

    Key

    Key

    For safety, the speed should not be too high, generally not

    more than 10% of the rated speed of the motor; the acc/dec

    time should not be too long, and the factory value is

    generally used.

    P8-01

    Set job acc/dec time

    _

    Show

    SjoG

    _

    SjoG

    _

    Show

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    If the motor runs normally in JOG mode, it indicates that the wiring and the basic functions of the

    drive and the motor are normal.

    If the motor does not run or does not run properly, please first check whether the system wiring is

    correct, including whether the motor control line UVW sequence is correct and in good contact,

    whether the encoder wiring is correct and in good contact, and then confirm whether the motor

    CODE (d2-01) is consistent with the motor in use. Repeat the above steps. If it still does not work

    normally, please contact the manufacturer for a solution.

    5.3 Servo enable method

    There are three ways to enable the drive:

    1) After the drive is powered on, set the parameter AF-03 to 1 (the keypad displays S-on), and

    the drive is enabled ON (if the AF-03 value is not modified, the drive will be enabled

    immediately when powered on again).

    2) By default, the input terminal DI1 is for enabling the servo drive. Reverse the logic of the

    DI1 terminal by setting P6-01=00000001, and the drive can be enabled ON (if the P6-01

    value is not modified, the drive will be enabled immediately when powered on again).

    3) According to the standard wiring method, the S_ON command is given through the DI

    terminal defined for the S_ON function.

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    Chapter 6 Adjustment

    6.1 Position control mode block diagram

    Main power

    supply

    Motor

    Load

    d0-02

    Command pulse

    accumulation

    (Command unit)

    Switching

    condition

    Switching

    time

    P4-15

    P4-16

    Switching

    threshold

    P4-18

    Gain switching

    Filter

    Torque

    feedforward

    P4-25

    Gain

    P4-24

    Pulse output

    PA

    PB

    PZ

    Frequency division

    output

    Z pulse width

    Output per

    turn

    Reverse

    P0-21

    P0-22

    P0-23

    d0-06

    d0-04

    d0-19

    Feedback pulse

    accumulation

    (encoder unit)

    (Command unit)

    Speed command

    (rpm)

    Current control

    Response

    setting

    Pd-27

    Pd-28

    Filter

    Torque filtering

    P4-29

    Filter

    Disturbance

    observer

    P4-29

    Gain

    P4-28

    Speed detection

    filtering

    Speed

    observation

    Filter

    Observation

    cut-off

    P4-08

    P4-23

    P4-22 bit3

    d0-20

    Torque command

    (%)

    Speed detection

    Encoder

    Acceleration

    feedback

    P4-22 bit0

    Motor speed

    (rpm)

    d0-00

    d0-01

    Motor load rate

    (%)

    Added

    value

    Positive

    direction

    Negative

    direction

    Friction compensation

    P4-32

    P4-33

    P4-34

    Viscous

    friction

    P4-31

    Smoothing

    filter

    P4-30

    Command

    source

    Forward

    rotation limit

    P0-05

    P0-06

    Reverse

    rotation limit

    P0-07

    External

    limit

    P8-25

    Torque limiting

    Notch filter

    Frequency

    Width

    Depth

    1

    2

    3

    4

    P5-02

    P5-05

    P5-08

    P5-11

    P5-03

    P5-06

    P5-09

    P5-12

    P5-04

    P5-07

    P5-10

    P5-13

    Adaptive mode

    setting

    P5-00

    Speed

    control

    1st gain

    1st load inertia

    ratio

    Performance

    expansion

    Ratio

    Integr

    al

    P4-03 P4-05

    P4-20 -

    P4-10

    P4-22

    P4-11

    PDFF control

    P4-12

    Switching

    ratio

    2nd load inertia

    ratio

    Pulse train

    PULS

    SIGN

    High frequency

    filter

    External pulse input

    setting

    P1-15

    Pulse type

    P1-01

    Switching

    ratio

    Position control

    P4-19

    1st gain

    P4-02

    FIR

    Smoothing

    filter

    P5-23

    One delay

    P1-14

    Filter

    Speed

    feedforward

    P4-08

    Gain

    P4-06

    Electronic gear

    ratio

    reverse conversion

    Electronic gear

    P1-02

    P1-04

    P1-08

    P1-06

    P1-10

    P1-12

    1

    turn

    1st

    numerator

    Denominator

    2nd

    numerator

    3rd

    numerator

    4th

    numerator

    Command

    selection

    Command source

    selection

    P1-00

    Position command

    speed

    (rpm)

    d0-18

    Position deviation

    (command unit)

    d0-10

    Position deviation

    (encoder unit)

    d0-10

    +

    -

    +

    -

    +

    +

    +

    +

    +

    +

    +

    +

    -

    +

    Execution

    mode

    P9-00

    P9-03

    P9-04

    P9-06~P9-69

    Multi-position

    setting

    Segment

    setting

    Deceleration

    time

    Acceleration

    time

    P9-02

    Command

    reference

  • Page 56:

    EA180 Series Servo Drive Users Manual

    56

    6.2 Speed control mode block diagram

    Main power

    supply

    Motor

    Load

    Filter

    Hyster

    esis

    P6-25

    P6-27

    Offset

    P6-29

    Dead

    zone

    P6-31

    Analog processing

    Filter

    Hyster

    esis

    P6-26

    P6-28

    Offset

    P6-30

    Dead

    zone

    P6-32

    Analog processing

    Analog Input

    AI2

    Analog Input

    AI1

    d0-41

    d0-42

    AI1 physical

    voltage

    (mV)

    AI2 physical

    voltage

    (mV)

    Gain

    Adjustment

    P2-01

    Gain

    Adjustment

    P2-01

    Switching

    condition

    Switching

    time

    P4-15

    P4-16

    Switching

    threshold

    P4-18

    Gain switching

    Acceleration

    time

    Deceleration

    time

    S smoothing

    time

    P2-04

    P2-06

    P2-05

    Filter

    Torque feedforward

    P4-25

    Gain

    P4-24

    Pulse output

    PA

    PB

    PZ

    Frequency division

    output

    Z pulse width

    Output per

    turn

    Reverse

    P0-21

    P0-22

    P0-23

    d0-06

    d0-04

    d0-19

    Feedback pulse

    accumulation

    (encoder unit)

    (Command unit)

    Speed command

    (rpm)

    Current control

    Response

    setting

    Pd-27

    Pd-28

    Filter

    Torque filtering

    P4-29

    Filter

    Disturbance

    observer

    P4-29

    Gain

    P4-28

    Speed detection

    filtering

    Speed

    observation

    Filter

    Observation

    cut-off

    P4-08

    P4-23

    P4-22 bit3

    d0-20

    Torque command

    (%)

    Speed detection

    Encoder

    Acceleration feedback

    P4-22 bit0

    Motor speed

    (rpm)

    d0-00

    d0-01

    Motor load rate

    (%)

    d0-14

    AI1 command

    voltage

    (mV)

    d0-15

    AI2 command

    voltage

    (mV)

    Command

    selection

    Speed command

    source

    P2-00

    Digital preset

    Digital speed

    command

    P2-01

    Multi speed

    Multi preset speed

    P9-XX

    Added

    value

    Positive

    direction

    Negative

    direction

    Friction compensation

    P4-32

    P4-33

    P4-34

    Viscous

    friction

    P4-31

    Smoothing

    filter

    P4-30

    Command

    source

    Forward

    rotation limit

    P0-05

    P0-06

    Reverse

    rotation limit

    P0-07

    External

    limit

    P8-25

    Torque limiting

    Notch filter

    Frequency

    Width

    Depth

    1

    2

    3

    4

    P5-02

    P5-05

    P5-08

    P5-11

    P5-03

    P5-06

    P5-09

    P5-12

    P5-04

    P5-07

    P5-10

    P5-13

    Adaptive mode setting

    P5-00

    Speed control

    1st gain

    1st load inertia

    ratio

    Performance

    expansion

    Ratio Integral

    P4-03 P4-05

    P4-20 -

    P4-10

    P4-22

    P4-11

    PDFF control

    P4-12

    Switching

    ratio

    2nd load inertia

    ratio

    +

    +

    +

    +

    +

    +

    -

    +

  • Page 57:

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    6.3 Torque control mode block diagram

    Main power

    supply

    Motor

    Load

    d0-19

    d0-00

    d0-06

    d0-04

    d0-20

    Pulse output

    PA

    PB

    PZ

    Filter

    Hyster

    esis

    P6-25

    P6-27

    Offset

    P6-29

    Dead

    zone

    P6-31

    Analog processing

    Filter

    Hyst

    eresis

    P6-26

    P6-28

    Offset

    P6-30

    Dead

    zone

    P6-32

    Analog processing

    Analog Input

    AI2

    Analog Input

    AI1

    d0-41

    d0-42

    AI1 physical

    voltage

    (mV)

    AI2 physical voltage

    (mV)

    d0-13

    AI1 command voltage

    (mV)

    d0-14

    AI2 command voltage

    (mV)

    Command

    selection

    Speed limiting

    selection

    P3-04

    Gain

    Adjustment

    P3-05

    Gain

    Adjustment

    P3-05

    Speed control

    1st load

    inertia ratio

    Ratio

    Integral

    P4-03

    P4-05

    P4-10

    Frequency division

    output

    Z pulse

    width

    Output per

    turn

    Reverse

    P0-21

    P0-22

    P0-23

    Feedback pulse

    accumulation

    (encoder unit)

    (Command unit)

    Motor speed

    (rpm)

    Filter

    Speed detection

    P4-08

    Filter

    Torque command

    filter

    P4-29

    Current control

    Response

    setting

    Pd-27

    Pd-28

    Torque command

    (%)

    Digital

    clipping

    Reverse torque limit

    P3-02

    Speed command

    (rpm)

    Speed detection

    Digital

    preset

    Torque command

    P3-02

    Digital

    preset

    Speed limiting

    P3-05

    Encoder

    Reverse direction

    clipping

    command gain

    Adjustment

    P3-02

    Torque command

    gain

    P3-01

    Reverse

    direction

    clipping

    command gain

    Adjustment

    P3-02

    Torque

    command gain

    P3-01

    Command

    selection

    Torque command and

    reverse direction limiting

    command selection

    P3-00

    +

    -

    d0-01

    Motor load rate

    (%)

  • Page 58:

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    6.4 Gain adjustment summary

    6.4.1 Purpose

    For the commands issued from the upper device, the drive needs to make the motor work faithfully and without

    delay according to the command as far as possible. In order to make the motor act more closely to the

    command and maximize the mechanical performance, gain adjustment is required.

    (Example: Screw)

    Gain setting: Low

    Gain setting: High

    Gain setting: High + feedforward setting

    0

    +3000

    -3000

    rpm

    Position loop gain

    20.0 1/s

    Position loop gain

    60.0 1/s

    Position loop gain

    60.0 1/s

    Speed loop gain

    8.0 Hz

    Speed loop gain

    30.0 Hz

    Speed loop gain

    30.0 Hz

    Integral time constant of speed loop

    30.0 ms

    Integral time constant of speed loop

    30.0 ms

    Integral time constant of speed loop

    30.0 ms

    Speed feedforward gain

    0.0 %

    Speed feedforward gain

    0.0 %

    Speed feedforward gain

    100.0 %

    Inertia ratio

    20.0

    Inertia ratio

    20.0

    Inertia ratio

    20.0

    6.4.1 Gain adjustment modes

    Adjustment

    mode

    P4-00

    Load inertia

    ratio

    Auto-set

    parameters

    Manually set

    parameters

    General applications

    Manual mode

    P4-00=0

    Fixed as

    the value of

    P4-10

    -

    All gain

    parameters

    Universal

    Semi-auto

    mode

    P4-00=1

    P4-02

    P4-03

    P4-05

    P4-29

    P4-01

    P4-10

    The load inertia is basically

    unchanged.

    Auto mode 1

    P4-00=2

    Auto

    measurement

    P4-10

    P4-02

    P4-03

    P4-05

    P4-29

    P4-01

    Load inertia changes

    slowly

    Auto mode 2

    P4-00=3

    Load inertia changes a bit

    fast

    Auto mode 3

    P4-00=4

    Load inertia changes fast

    Attention☞

    1 Load inertia changes slowly: Load inertia changes from minimum to maximum linearly in

    tens of seconds.

    2 Load inertia changes a bit fast: Load inertia changes from minimum to maximum linearly in

    seconds.

    3 Load inertia changes fast: Load inertia changes from minimum to maximum linearly in

    hundreds of milliseconds.

    4 Auto modes 1, 2 and 3 cannot be used if the load inertia will change abruptly.

  • Page 59:

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    6.4.2 Functions of gain adjustment modes

    Function

    Description

    Auto

    adjustment

    Real-time auto

    gain adjustment

    Deduce the inertia of mechanical load in real time, and automatically set the

    matching gain.

    Real-time auto

    gain adjustment

    Measure the inertia of load offline, and automatically generate gain by setting an

    appropriate rigidity.

    Adaptive filter

    In the actual running state, deduce the resonant frequency through the analysis of

    the motor speed, automatically set the coefficient of the notch filter, and remove

    the resonant component from the torque command, thus reducing the vibration of

    the resonant point.

    Manual

    adjustment

    Basic steps

    Position control mode adjustment

    Speed control mode adjustment

    Torque control mode adjustment

    Gain switching

    Perform gain switching using internal data or external signals to achieve the effects

    of reducing vibration when stopping, shortening setting time, improving command

    follow-up, etc.

    Mechanical

    resonance

    suppression

    In the case of low mechanical rigidity, vibration or noise occurs due to resonance

    caused by the distortion of shaft, the flexibility of belt, etc., and the gain setting

    cannot be improved. At this time, resonance can be suppressed by a notch filter.

    Feedforward

    function

    In position control mode, the responsiveness can be improved through speed

    feedforward.

    Acceleration feedforward can improve the responsiveness of speed control.

    External

    disturbance

    suppression

    Suppress the change of motor speed and improve the stability by changing the

    addition range of external interference torque and load variation calculation values.

    Friction torque

    compensation

    Reduce the influence of mechanical frictions, including dynamic friction

    compensation, viscous friction compensation and vertical axis gravity

    compensation.

    Inertia ratio

    switching

    Switch between the two inertia ratios, which can cope with two loads with phase

    changes in actual inertia ratio.

    Torque

    command filter

    It can adjust filtering of torque commands to reduce vibration.

  • Page 60:

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    6.4.3 Steps

    Start

    Load inertia changes during

    operation?

    Adjustment OK?

    Identification and

    learning of load inertia

    using offline inertia

    Success?

    Adjust rigidity

    P4-01

    Working well?

    End

    Auto adjustment mode 3

    P4-00=4

    Semi-auto adjustment

    mode

    P4-00=1

    Auto adjustment mode 2

    P4-00=3

    Run according to

    factory settings

    Operation OK?

    Load inertia change frequency

    Adjust rigidity

    P4-01

    Auto adjustment mode 1

    P4-00=2

    Adjustment OK?

    Manual gain

    adjustment

    P4-00=0

    Yes

    No

    Yes

    No

    No

    No

    No

    No

    Low change rate

    Moderate change

    rate

    High change rate

    Yes

    Yes

    Yes

    Yes

  • Page 61:

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    61

    6.5 Real-time auto gain adjustment

    6.5.1 Overview

    The drive detects the load inertia of the device in real time during operation and automatically adjusts the basic

    gain value according to the result and the set rigidity value. There are 3 options for different load

    characteristics

    6.5.2 Scope of application

    Real-time automatic gain adjustment is applicable to position control mode and speed control mode.

    6.5.3 Operating method

    1) Servo enable OFF

    2) Set P4-00 to 2-4; factory default is 1.

    Set value

    Real-time auto adjustment

    2

    Applicable to occasions with a slow change rate of load inertia (tens of seconds)

    3

    Applicable to occasions with a medium change rate of load inertia (seconds)

    4

    Applicable to occasions with a rapid change rate of load inertia (hundreds of milliseconds)

    3) Set P4-01 to a low value

    4) Properly set the settings such as clearing the position deviation count, prohibiting command input, torque

    limit, etc. to enable the motor to rotate normally without obstacles.

    5) Enable the servo (ON) and make the device operate as normal.

    6) The drive begins to detect the inertia characteristics of the load.

    7) Improve the responsiveness of the motor by increasing the set value of P4-01 (rigidity).

    8) Please observe the positioning time or vibration state and adjust them to an appropriate value.

    6.5.4 Precautions

    Under the following conditions, real-time automatic gain adjustment may not be used normally. Please

    change the load conditions or use semi-automatic gain adjustment/manual gain adjustment (P4-00=1, 0)

    Conditions affecting real-time automatic gain adjustment

    Load inertia

     When the total load inertia is less than 2 times or more than 20 times the motor rotor

    inertia

    Load

     When the mechanical rigidity is extremely low

     When there are nonlinear characteristics such as back lash

    Motion

    model

     When the speed is less than 100rpm and the device runs at a continuous low speed

     When the acceleration/deceleration is below 2000rpm/s

     When the acc/dec torque is less than the eccentric load and viscous friction torque

     When the speed is above 100rpm and the acceleration/deceleration is above 2000rpm/s,

    and the duration is not more than 50ms

     After the servo is enabled ON for the first time after power-on, or when the P4-01 rigidity value is

    increased, abnormal sounds or oscillations may occur before the load characteristic detection is stable.

    If it can become stable immediately, it is normal. If there is continuous oscillation or repeated action

    for more than 3 times, and there are still abnormal sounds, please take the following measures:

     Lower the setting value of P4-01.

     Set P4-00 to 1 or 0 to invalidate real-time automatic adjustment

     After abnormal sound or oscillation occurs, sometimes P4-10 (inertia ratio) will have an extreme

    value. At this time, please set P4-10 as the inertia ratio calculated by yourself.

     In the result of the automatic gain adjustment, the P4-10 is written to the EEPROM every 30 minutes.

    When the power is turned on again, this data is used as the initial value for automatic adjustment.

     The gain is updated when the motor is stopped, and even if the value of P4-01 (rigidity) is modified, it

    will not take effect if the motor is not stopped.

     The following functions are not valid when using real-time automatic gain adjustment:

     Acceleration feedback

     Disturbance observer

     Speed observer

     Torque feedforward

     Gain switching

     Offline inertia identification

  • Page 62:

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    6.6 Offline inertia identification

    6.6.1 Overview

    The load inertia ratio will directly intervene in the calculation of the speed loop gain, and various

    feedforward functions are based on the correct load inertia ratio. Therefore, before using semi-automatic

    gain adjustment and manual gain adjustment, if the conditions are met, it is strongly recommended to use

    offline inertia identification to obtain the correct load inertia ratio.

    6.6.2 Conditions for valid offline Inertia Identification

     The actual maximum motor speed is higher than 150rpm;

     The actual acceleration during acceleration/deceleration is above 2000rpm/s;

     The load torque is relatively stable without drastic changes;

     The load inertia is not more than 120 times of the motor rotor inertia;

     There is no situation where the mechanical rigidity is extremely low or the transmission mechanism

    has large back lash.

    6.6.3 Offline inertia identification steps

    Start

    After correct wiring and basic

    settings, enter rdy state

    Check if the actual

    rotatable turns of the motor meet

    the value of P8-03

    Please install limit switch on the

    machine to avoid accidents caused by

    overrun during inertia identification.

    Decrease P8-03

    Enter AF-05, press SET to display

    Jidt, start inertia identification

    Motor can rotate forward/backward.

    LED displays AL028?

    Increase P8-02

    Record the value of P4-10

    Repeat twice, check

    if P4-10 value changes by more

    than 20%?

    Increase P8-03 if

    mechanically

    allowed

    Identification ended

    The inertia identification

    conditions may not be met, or

    the inertia changes during

    operation. Please calculate

    manually or contact SINEE.

    Yes

    No

    Yes

    No

    Yes

    No

    6.7 Real-time auto gain adjustment

    6.7.1 Overview

    After getting the accurate load inertia ratio, select the appropriate rigidity value according to the actual

    mechanical situation, and the drive automatically sets the basic gain value according to the load inertia ratio

    P4-10 and rigidity value P4-01.

  • Page 63:

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    63

    6.7.2 Scope of application

    Applicable to situations where the load inertia basically has no change or changes little.

    6.7.3 Operating method

    1) Servo enable OFF

    2) Set P4-00 to 1

    3) Servo enable ON (no command input)

    4) Properly set the settings such as clearing the position deviation count, prohibiting command input, torque

    limit, etc. to enable the motor to rotate normally without obstacles.

    5) Confirm that the P4-10 value is basically consistent with the actual mechanical situation, or first carry out

    offline inertia identification.

    6) Set the rigidity value P4-01 according to the mechanical conditions (please first set a low value of about 1

    ~ 4), and the following parameters will be set automatically.

    P4-02 position loop gain

    P4-03 speed loop gain

    P4-05 integral time constant of speed loop

    P4-29 torque command low pass smoothing constant

    7) Improve the responsiveness of the motor by increasing the set value of P4-01.

    Please observe the positioning time or vibration state and gradually adjust them to an appropriate value.

    6.8 Rigidity adjustment coefficient

    When using real-time automatic gain adjustment and semi-automatic gain adjustment, for mechanical

    systems with poor responsiveness (low mechanical rigidity), P4-01 must be set to a low value if vibration,

    abnormal sound, etc. occurs when rigidity (P4-01) is set high. If the rigidity adjustment coefficient is enabled,

    the speed loop gain can be forcibly increased at a lower rigidity value to improve the responsiveness of the

    overall mechanical system, but it may also lead to increased vibration.

     Associated parameters

    Function

    code

    Parameter name

    Function

    P4-13

    Rigidity adjustment

    coefficient

    When P4-00 ≠ 0, forcibly adjust the speed loop gain

    13-P4

    03-P4

    gain loop Speed 

    6.9 Mechanical resonance suppression

    In case of low mechanical rigidity, vibration or noise occurs due to resonance caused by the distortion of

    shaft, the flexibility of belt, etc., and the gain setting cannot be improved. In this case, higher gain can be set

    or vibration can be reduced by suppressing the resonance point through the notch filter.

    6.9.1 EA180 resonance suppression block diagram

    Speed loop output

    Torque given

    Adaptive filter module

    Adaptive setting

    Adaptive setting

    Manual setting

    Manual setting

    -3db

    Width

    D

    e

    p

    t

    h

    Notch 2

    P5-05~P5-07

    -3db

    Width

    D

    e

    p

    t

    h

    Notch 4

    P5-02~P5-04

    -3db

    Width

    D

    e

    p

    t

    h

    Notch 3

    P5-08~P5-10

    -3db

    Width

    D

    e

    p

    t

    h

    Notch 4

    P5-11~P5-13

    First order low pass

    P4-29

    -3db

    Torque command filter

  • Page 64:

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    6.9.2 Torque command filter (P4-29)

     Set the filter time constant so that the gain attenuates near the resonant frequency.

     The cutoff frequency of the torque command filter can be calculated by the following formula:

    00001.0valueparameter Set 2

    1

    Hz)frequency( off-Cut

    

    6.9.3 Notch filter

     EA180 servo drive has 4 notch filters, and the frequency, width and depth can be adjusted manually.

    The 3rd and 4th notch filters can use auto mode.

     Set P5-00 as 1, input motion command; automatically set the center frequency and notch depth

    parameters of the 3rd and 4th notch filters when the resonance point affects the motor speed.

     If resonance point fails to be detected, users can appropriately decrease the value of P5-01 (automatic

    vibration detection level sensitivity) to find a vibration point with a small amplitude when vibration

    occurs.

    Resonance frequency

    Antiresonance frequency

    Antiresonance frequency

    Resonance point suppressed

    Notch

    Mechanical

    characteristics

    at resonance

    Notch filter

    characteristics

    Results after

    notch

     Notch width and depth

    The notch filter width and the ratio if notch center frequency at the depth of 0 to the frequency

    bandwidth at attenuation rate of -3dB are shown on the left side of the following table.

    When the notch filter depth is set as 0, the center frequency input is completely cut off; when it is set as

    100, and the center frequency input completely passes (output to input ratio = 1). When expressed as dB,

    the values are shown on the right side of the following table.

    Notch width

    Bandwidth/center

    frequency

    Notch width

    Output-to-input

    ratio

    dB

    0

    0.1

    0

    0

    -∞

    1

    0.59

    1

    0.01

    -40

    2

    0.71

    2

    0.02

    -34

    3

    0.84

    3

    0.03

    -30.5

    4

    1.0

    4

    0.04

    -28

    5

    1.19

    5

    0.05

    -26

    6

    1.41

    6

    0.06

    -24.4

    7

    1.68

    7

    0.07

    -23.1

    8

    2.0

    8

    0.08

    -21.9

    9

    2.38

    9

    0.09

    -20.9

    10

    2.83

    10

    0.1

    -20

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    11

    3.36

    15

    0.15

    -16.5

    12

    4.0

    20

    0.2

    -14

    13

    4.76

    25

    0.25

    -12

    14

    5.66

    30

    0.3

    -10.5

    15

    6.73

    35

    0.35

    -9.1

    16

    8.0

    40

    0.4

    -8

    17

    9.51

    45

    0.45

    -6.9

    18

    11.31

    50

    0.5

    -6

    19

    13.45

    60

    0.6

    -4.4

    20

    16.0

    70

    0.7

    -3.1

    The factory value (2) of notch filter width

    is generally used.

    80

    0.8

    -1.9

    90

    0.9

    -0.9

    100

    1

    0

     Notch width and depth relationship diagram

    10

    5

    0

    -3

    -5

    -25

    -20

    -15

    -10

    Depth 50, width 4

    Depth 0, width 4

    Depth 0, width 8

    10 100

    1000

    -30

     Notes for using notch filter

     Notch filter cannot be used in torque control mode.

     When the notch frequency is set as 5000, the notch filter is invalid.

     For the setting of the first and second notch filters, you can first obtain the third and fourth notch

    filters using the automatic mode, and then copy their parameters.

     Although there are 4 notch filters, it is recommended to use up to 2 notch filters at the same time,

    otherwise the vibration may increase.

     When using an adaptive notch filter, if the vibration cannot be eliminated for a long time, please

    disable the drive in a timely manner.

     The relationship between gain adjustment and mechanical rigidity

    In order to improve mechanical rigidity,

     The machine should be firmly placed on the foundation so that it does not vibrate.

     High-rigidity couplings should be used.

     Use a wide synchronous belt, and the tension of the synchronous belt should be set within the

    allowable axial load range of the motor.

     Use a special reducer for servo or gears with small clearance.

    The low rigidity of the machine means that its inherent vibration (resonance frequency) is low.

    Low mechanical rigidity will greatly affect the gain adjustment of servo. For machines with low

    rigidity, the responsiveness of servo cannot be adjusted too high (high gain).

    Attention☞

    Not all vibrations are mechanical resonance. If the servo gain adjustment reaches the limit,

    vibration will also be caused. This can be improved only by reducing the gain or the torque

    command filter time.

    6.10 Manual gain adjustment (basic)

    EA180 series servo drive has automatic gain adjustment function, but automatic gain adjustment may not

    meet the requirements due to constraints by load conditions, etc. Manual gain adjustment is recommended

    when the coordination between servo system and machinery is expected to have the best responsiveness and

    stability.

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    6.10.1 Position control mode adjustment

    The position control mode of the EA180 series is shown in the position control mode block diagram in

    Section 6.1.

    The position control mode is performed in the following order.

    1) Enable the servo drive.

    2) Set P4-00 to 0.

    3) Use default values for all gain parameters

    4) Input P4-10 load inertia ratio. It can be identified by the drive through the AF-05 function (with

    restrictions) or calculated by users.

    5) The values in the following table are used as a standard for adjustment.

    Sequen

    ce

    Paramete

    r

    Parameter

    name

    Standard

    value

    Adjustment method

    1

    P4-03

    Speed loop

    gain

    18.0

    Increase the value within the range where no abnormal sound or

    vibration occurs.

    Decrease the value when noise occurs.

    2

    P4-31

    Torque

    command

    filter

    1.26

    In order to suppress the vibration after motor stops, increase

    P4-03 and decrease P4-31.

    In the case of too severe vibration at the moment of stop, try to

    decrease P4-31.

    3

    P4-02

    Position

    loop gain

    32.0

    Observe the positioning time and adjust the value. If the value is

    increased, the positioning time will be shortened. However,

    vibration will occur when the value is too large.

    4

    P4-05

    Integral time

    constant of

    speed loop

    31.0

    No need to adjust if there is no problem with the action.

    When the value is decreased, the positioning time will become

    shortened, and if the value is too small, vibration will occur. If

    the value is too large, the position deviation may diverge.

    Increase the value within the range where no abnormal

    movements and sounds occur.

    5

    P4-06

    Speed

    feedforward

    gain

    30.0

    When the feedforward is set too large, the setting time may not

    be shortened due to the occurrence of overshoot and the jitter of

    the positioning completion signal. When the command pulse

    input is uneven, it can be improved by increasing the set value

    of P4-07.

    6.10.2 Speed control mode adjustment

    The speed control mode of the EA180 series is shown in the speed control mode block diagram in Section

    6.2.

    The adjustment of the speed control mode is basically the same as that of the position control mode, except

    that the adjustment of the position loop gain P4-02 and the speed feedforward gain P4-06 are not required.

    6.10.3 Torque control mode adjustment

    The torque control mode of the EA180 series is shown in the torque control mode block diagram in

    Section 6.3.

    The torque control is actually based on speed control, so users mainly set the torque limit and speed limit.

     In torque control, reverse direction means that the motor rotation direction is opposite to the torque

    command direction. This happens when an external device applies reverse traction force. In this case,

    the motor is in a continuous power generation state and the drive will give Al017 alarm. Please be

    sure to equip an appropriate external braking resistor and correctly set the values of P8-10, P8-11 and

    P8-13 according to the parameters of the braking resistor.

     The speed limit value works only in the torque command direction. When the motor is pulled back by

    an external device, the drive only controls the output torque of the motor, and the speed of the motor

    depends on the external device.

     In the torque command direction, when the motor speed reaches the limit value, the drive will switch

    from torque control based on the torque command to speed control based on the speed limit

    command.

     In order to ensure stable operation when the speed is limited, the speed loop parameters need to be set

    according to the speed control mode adjustment.

     When the speed limit value is too low, the speed loop gain is too low, or the speed loop integration

    time constant is 3000.0 (integration is invalid), sometimes the torque cannot be output as commanded

    if the torque limit input becomes small.

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     In torque control, the following functions don't work:

     Acceleration feedback

     Disturbance observer

     Speed observer

     Torque feedforward

     Online inertia identification

     Gain switching

     Adaptive filter

     Friction compensation

     Notch filter

    6.10.4 Gain switching

    When the gain is switched based on internal data or external signals, the following effects are achieved:

     Reduce the gain at stop (servo lock) to

    suppress vibration.

     Increase the gain at stop (when setting) to

    shorten the setting time.

     Increase the gain during action to improve

    command follow-up.

     Switching is performed with an external DI

    signal according to the mechanical state.

    Gain

    Action

    Low gain

    (Gain 1)

    Change time

    High gain

    (Gain 1)

    P4-16

    Change time

    P4-16

    Low gain

    (Gain 1)

    State

    Command

    speed

    Stop

    (Position

    locked)

    Movement

    Gain decrease, vibration

    reduced

    Stop

    (Position locked)

    Time

     Gain switching conditions

    P4-15

    Switching

    condition

    Gain switching mode

    bit1

    bit0

    0

    0

    Fix the first gain

    Always use the first gain

    1

    DI terminal input

    Use the second gain when the gain switching terminal (GAIN_SEL) is

    valid

    Use the first gain when the gain switching terminal (GAIN_SEL) is

    invalid

    * Always use the first gain when no terminal is defined as GAIN_SEL

    2

    Large position

    deviation

    If it is at the first gain and the absolute value of the position deviation

    exceeds P4_18 + lag, it shifts to the second gain.

    If it is at the second gain and the absolute value of the position deviation

    is smaller than P4_18 + lag, it returns to the first gain.

    * The lag value of position deviation is 100Pulse command units.

    3

    Large speed

    command

    If it is at the first gain and the absolute value of the speed command

    exceeds P4_18 + lag, it shifts to the second gain.

    If it is at the second gain and the absolute value of the speed command

    is smaller than P4_18 + lag, it returns to the first gain.

    * The lag value of speed command is 10rpm.

    4

    High actual speed

    If it is at the first gain and the absolute value of the motor speed exceeds

    P4_18 + lag, it shifts to the second gain.

    If it is at the second gain and the absolute value of the motor speed is

    smaller than P4_18 + lag, it returns to the first gain.

    * The lag value of motor speed is 10rpm.

    1

    0

    Valid integral

    action

    The speed loop integral time constant is always valid.

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    1

    DI terminal input

    When the gain switching terminal (GAIN_SEL) is valid, the speed loop

    integral action is cancelled.

    When the gain switching terminal (GAIN_SEL) is invalid, the speed

    loop integral action is restored.

    * The integral action is always valid if no terminal is defined as

    GAIN_SEL.

    2

    Large position

    deviation

    If it is at the first gain and the absolute value of the position deviation

    exceeds P4_18 + lag, the speed loop integral action is cancelled.

    If it is at the second gain and the absolute value of the position deviation

    is smaller than P4_18 + lag, the speed loop integral action is restored.

    * The lag value of position deviation is 100Pulse command units.

    3

    Large speed

    command

    If it is at the first gain and the absolute value of the position deviation

    exceeds P4_18 + lag, the speed loop integral action is cancelled.

    If it is at the second gain and the absolute value of the speed command

    is smaller than P4_18 + lag, the speed loop integral action is restored.

    * The lag value of speed command is 10rpm.

    4

    High actual speed

    If it is at the first gain and the absolute value of the motor speed exceeds

    P4_18 + lag, the speed loop integral action is cancelled.

    If it is at the second gain and the absolute value of the motor speed is

    smaller than P4_18 + lag, the speed loop integral action is restored.

    * The lag value of motor speed is 10rpm.

     Canceling the speed loop integral action will reduce the possibility of speed overshoot, but the

    servo response will slow down.

     bit0=5, 6, 7, 8 are opposite, please see the description of function code P4-15.

     Associated parameters

    Function

    code

    Parameter name

    Function

    P4-16

    Gain switching

    change time

    When the gain switching condition is satisfied, the gain value

    will linearly switch from the current range to the target gain

    value within this time period.

    P4-18

    Gain switching

    threshold

    A reference value for judging whether the gain switching

    condition is satisfied or not.

    * The unit of this parameter setting value is determined by the

    selection of P4-15.

    P4-19

    Second position loop

    gain change

    coefficient

    Second position loop gain = P4_02*P4_19

    P4-20

    Second speed loop

    gain change

    coefficient

    Second speed loop gain = P4_03*P4_20

    6.11 Manual gain adjustment (application)

    6.11.1 Feedforward function

    In position control mode, the speed control command required for the action is calculated from the internal

    position command, and the speed command calculated by comparing with the position feedback is added

    to obtain the speed feedforward, which can reduce the position deviation and improve the responsiveness

    compared with the feedback control.

    The torque command required for the action is calculated from the speed control command, and the torque

    command calculated by comparing with the speed feedback is added to obtain the torque feedforward,

    which can improve the responsiveness of the speed control system.

     Associated parameters

    Function code

    Parameter name

    Function

    P4-06

    Speed feedforward gain

    The speed control command calculated from the internal position

    command is multiplied by the ratio of this parameter, and the result is

    added to the speed command after the position control processing.

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    P4-07

    Speed feedforward filter

    time constant

    Set the time constant of the primary inertial filter required for the speed

    feedforward input to reduce harmonic components in the command.

    P4-24

    Torque feedforward gain

    Position control mode: The torque command obtained by second-order

    differentiation of the external position command is multiplied by the

    ratio set by this parameter, and the result is added to the torque command

    after speed control processing.

    Speed control mode: The torque command calculated from the internal

    speed command is multiplied by the ratio of this parameter, and the

    result is added to the torque command after the speed control processing.

    P4-25

    Torque feedforward filter

    time constant

    Set the time constant of the primary inertial filter required for the speed

    feedforward input to reduce harmonic components in the command.

     Example of speed feedforward use

    When the factory value (5ms) is used for the speed feedforward smoothing filter, the speed feedforward

    gain is gradually increased to make the speed feedforward valid. At a certain speed, the position

    deviation during the action can be adjusted according to the following formula:

    100

    gain dfeedforwar Speed100

    gain loopPosition

    commandposition toingcorrespond Speed

    = unit) (commanddeviation Position

    )( 

    If the speed feedforward gain is adjusted to 100%, the position deviation is 0 in calculation, but this will

    produce huge overshoot during acceleration and deceleration.

    In addition, when the pulse frequency of position command input is low or uneven, the speed

    feedforward gain may bring about large impact and sound during operation. Please use a position

    command filter (inertial filter P1-14, position FIR filter P5-23).

     Example of torque feedforward use

    When torque feedforward is used, the load inertia ratio P4-10 needs to be correctly set. Please use offline

    inertia identification to obtain it, or calculate it according to the actual mechanical situation.

    When the torque feedforward smoothing filter time constant is at the factory value (5ms), the torque

    feedforward gain is gradually increased to make the torque feedforward valid.

    By providing torque feedforward gain, the position deviation can be close to 0 during fixed acceleration

    and deceleration, so under the ideal condition of no external interference torque, the position deviation of

    all actions areas during trapezoidal speed curve driving can be approximately close to 0.

    Actually the external interference torque must exist, so the position deviation cannot be 0.

    6.11.2 Friction torque compensation

    There must be friction in machinery. According to different machinery, there are mainly three forms of

    friction. EA180 provides compensation for the three types of friction.

     Associated parameters

    Function

    code

    Parameter name

    Function

    P4-30

    Friction

    compensation

    smoothing time

    constant

    Carry out one-time inertial filtering for the three torque

    compensation values to avoid vibration and other problems

    caused by a sudden change of torque command, but a large set

    value will cause a slow compensation effect.

    P4-31

    Viscous friction

    compensation gain

    The product of the command speed and this set value is added to

    the torque command as a torque compensation value.

    * Used to compensate for the case where the friction force

    increases linearly with the increase of speed.

    P4-32

    Torque command

    added value

    It is added to the torque command in a fixed direction. A positive

    value indicates that the added value direction is the forward

    direction of the motor rotation, while a negative value indicates

    that the added value direction is the reverse direction of the motor

    rotation.

    * As long as the servo drive is ON, torque will be added even if

    there is no command.

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    P4-33

    Forward torque

    compensation

    It is added to torque command when the motor is running in the

    forward direction to compensate for the forward dynamic friction.

    * The physical direction of forward and reverse rotation of the

    motor is determined by P0-01.

    P4-34

    Reverse torque

    compensation

    It is added to torque command when the motor is running in the

    reverse direction to compensate for the reverse dynamic friction.

    * The reference compensation value of each friction torque is the rated torque of the motor.

    Positive direction

    Speed

    command

    P4-31

    Viscous friction

    compensation gain

    P4-33

    Forward torque compensation value

    P4-34

    Negative torque compensation value

    P4-32

    Torque command

    added value

    P4-31

    Viscous friction

    compensation gain

    Motor OFF Motor OFFMotor ON

    Time

    Negative direction

    Assuming that the torque command is T, the compensated torque command Tb is:

    Forward rotation direction: Tb=T+P4_32+P4_31* motor speed /1000+P4_33

    Reverse rotation direction: Tb=T+P4_32+P4_31* motor speed /1000-P4_34

    Attention☞

    Friction torque compensation is invalid in torque control mode.

    6.11.1 PDFF control

    When the speed command drives the motor to rotate, the action characteristics of the motor shaft itself also

    depend on the response characteristics of the mechanical system because the shaft end of the servo motor

    has a mechanical load. Considering the needs of various mechanical systems, EA180 servo drive designs

    PDFF controller in speed loop and uses it in non-torque mode.

    PDFF controller is a kind of controller between PI and IP controllers, which has the characteristics of both

    PI and IP controllers.

    IP controller structure:

    +

    -

    Integrator Ki

    Kp

    +

    -

    TCMD

    VCMD

    PC

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    PI controller structure:

    +

    -

    Integrator Ki

    Kp

    Kp

    +

    -

    TCMD

    VCMD

    +

    PC

    Comparison of IP controller and PI controller under the same proportional gain and integral time

    parameters

    Torque

    Time

    IP Control

    PI Control

    IP controllers are usually designed for small machines with good responsiveness (high mechanical rigidity).

    At the same time, for the step command of the position, it softens the torque rise characteristic at start-up,

    thereby reducing the vibration.

    PI controllers are usually designed for large machines with poor responsiveness (high mechanical rigidity).

    At the same time, since large torque can be obtained in a relatively short time after receiving the speed

    command, it can improve the torque rise characteristic at start-up when used on machines with high

    rigidity (e.g., small machines using screw drive).

    PDFF controller combines the characteristics of IP and PI controllers and can tend to IP controller or PI

    controller according to the PDFF coefficient, giving consideration to both responsiveness and low

    vibration in case of frequent start-stop.

     Associated parameters

    Function

    code

    Parameter name

    Function

    P4-12

    PDFF control

    coefficient

    The more the set value tends to 0, the more PDFF controller tends

    to IP controller. When the set value is 0, PDFF controller is

    completely an IP controller.

    The more the set value tends to 100, the more PDFF controller

    tends to PI controller. When the set value is 100, PDFF controller is

    completely a PI controller.

    When there is overshoot in speed feedback, gradually reduce P4-12

    from 100 until the effect is achieved.

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    Chapter 7 Function Parameter Table

    7.1 Function parameter definition

    The first two bits (such as P0) of the starting code in the function parameter are the group number, and the next two

    parameters (such as 00) are the intra-group number.

    dx-xx group: Monitor and query parameters, which are for display and reading only.

    St-xx group: Status display parameters, which are for display and reading only.

    Px-xx group: Parameters for setting

    AF-xx group: Function switch parameters.

    Function parameter setting attributes:

    ○:

    Set at any time, valid immediately

    ●:

    Set at any time and valid upon re-power-on

    ☆:

    Set at any time and valid after the motor is static for 1 second.

    ▲:

    Read-only

    Data type description:

    U16:

    The data length is 16bit, with no sign, and the communication address

    length is 1.

    I16:

    The data length is 16bit, with signs, and the communication address

    length is 1.

    U32:

    The data length is 32bit, with no sign, and the communication address

    length is 2.

    I32:

    The data length is 32bit, with signs, and the communication address

    length is 2.

    Description of letter following number:

    H:

    The corresponding numbers are operated, displayed and set in a

    hexadecimal manner.

    B:

    The corresponding numbers are operated, displayed and set in a binary

    manner.

    Control mode description:

    P:

    Position control mode

    S:

    Speed control mode

    T:

    Torque control mode

    Unit description

    rpm

    revolutions per minute

    kHz

    thousand Hz

    rad/s

    radian per second

    Pulse

    Command pulse

    mV

    millivolts

    %

    percent

    rev

    revolution

    V

    Volt

    ms/s

    milliseconds per second

    PUL

    Encoder pulse

    A

    Ampere

    min

    minute

    ppr

    Can be set as command or encoder

    pulse

    Celsius degree

    °

    degree

    7.2 Function parameter table

    7.2.1 d0 group - universal monitoring parameters

    Paramete

    r

    Function

    Data

    type

    Initial

    value

    (example)

    Unit

    Commu.

    addr.

    d0-00

    Motor speed

    I16

    0

    rpm

    2000H

    d0-01

    Motor load ratio

    I16

    0.0

    %

    2001H

    d0-02

    Total number of external pulses acquired

    I32

    0

    Pulse

    2002H

    d0-04

    Total number of feedback pulses

    (command pulse unit)

    I32

    0

    Pulse

    2004H

    d0-06

    Total number of feedback pulses (encoder

    unit)

    I32

    0

    PUL

    2006H

    d0-08

    Received external pulse frequency

    I32

    0.00

    kHz

    2008H

    d0-10

    Position deviation

    I32

    0

    ppr

    200AH

    d0-12

    DI terminal status

    0: Invalid; 1: Valid

    U16

    000000000

    0B

    -

    200CH

    d0-13

    DO output terminal status

    U16

    00000B

    -

    200DH

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    Paramete

    r

    Function

    Data

    type

    Initial

    value

    (example)

    Unit

    Commu.

    addr.

    0: Invalid; 1: Valid

    d0-14

    AI1 command voltage value (after system

    processing)

    I16

    0

    mV

    200EH

    d0-15

    AI2 command voltage value (after system

    processing)

    I16

    0

    mV

    200FH

    d0-16

    Busbar voltage

    U16

    0

    V

    2010H

    d0-17

    Motor RMS current

    U16

    0.00

    A

    2011H

    d0-18

    Speed corresponding to pulse command

    I16

    0

    rpm

    2012H

    d0-19

    Speed command value

    I16

    0

    rpm

    2013H

    d0-20

    Torque command value

    I16

    0.0

    %

    2014H

    d0-21

    Maximum instantaneous load ratio of

    motor

    I16

    0.0

    %

    2015H

    d0-22

    IGBT module temperature

    U16

    0

    2016H

    d0-23

    Switching power supply bus voltage

    U16

    0

    V

    2017H

    d0-24

    Total operation time of the system

    U32

    0

    min

    2018H

    d0-26

    Brake load ratio

    U16

    0.0

    %

    201AH

    d0-27

    Current motor electrical angle

    U16

    0.0

    °

    201BH

    d0-28

    Incremental encoder sector number

    U16

    0

    -

    201CH

    d0-29

    Revolution number of absolute encoder

    I16

    0

    rev

    201DH

    d0-30

    Serial encoder current turn position value

    U32

    0

    PUL

    201EH

    d0-32

    Total number of external pulses acquired

    I32

    0

    Pulse

    2020H

    d0-34

    Servo motor current position (command

    pulse unit)

    I32

    0

    Pulse

    2022H

    d0-36

    Servo motor current position (encoder

    unit)

    I32

    0

    PUL

    2024H

    d0-38

    Positioning status

    0: In positioning; 1: Positioning

    completed

    U16

    0

    -

    2026H

    d0-39

    Multi-speed current execution segment

    U16

    0

    -

    2027H

    d0-40

    Multi-position current execution segment

    U16

    0

    -

    2028H

    d0-41

    AI1 physical voltage (actual value)

    I16

    0

    mV

    2029H

    d0-42

    AI2 physical voltage (actual value)

    I16

    0

    mV

    202AH

    d0-46

    Motor average load ratio

    U16

    0.0

    %

    202EH

    d0-47

    Drive heat accumulation value

    U16

    0.000

    -

    202FH

    d0-48

    Motor heat accumulation value (transient)

    U16

    0.000

    -

    2030H

    d0-49

    Motor heat accumulation value (steady)

    U16

    0.000

    -

    2031H

    d0-62

    GBK detected position pulse value/length

    I32

    0

    -

    203EH

    7.2.2 d1 group - fault query parameters

    Paramete

    r

    Function

    Data

    type

    Initial

    value

    (example)

    Unit

    Commu.

    addr.

    d1-00

    Code of this fault

    U16

    Al000

    -

    2100H

    d1-01

    Speed at the current fault

    I16

    0

    rpm

    2101H

    d1-02

    Bus voltage at the current fault

    U16

    0

    V

    2102H

    d1-03

    RMS at the current fault

    U16

    0.00

    A

    2103H

    d1-04

    Runtime at the current fault

    U32

    0

    min

    2104H

    d1-06

    Previous fault code

    U16

    Al000

    -

    2106H

    d1-07

    Speed at the last fault

    I16

    0

    rpm

    2107H

    d1-08

    Bus voltage at the last fault

    U16

    0

    V

    2108H

    d1-09

    RMS at the last fault

    U16

    0.00

    A

    2109H

    d1-10

    Runtime at the last fault

    U32

    0

    min

    210AH

    d1-12

    Fault code before last

    U16

    Al000

    -

    210CH

    d1-13

    Speed at the fault before last

    I16

    0

    rpm

    210DH

    d1-14

    Bus voltage at the fault before last

    U16

    0

    V

    210EH

    d1-15

    RMS at the fault before last

    U16

    0.00

    A

    210FH

  • Page 74:

    EA180 Series Servo Drive Users Manual

    74

    Paramete

    r

    Function

    Data

    type

    Initial

    value

    (example)

    Unit

    Commu.

    addr.

    d1-16

    Runtime at the fault before last

    U32

    0

    min

    2110H

    d1-18

    Fault code before last two

    U16

    Al000

    -

    2112H

    d1-19

    Speed at the fault before last two

    I16

    0

    rpm

    2113H

    d1-20

    Bus voltage at the fault before last two

    U16

    0

    V

    2114H

    d1-21

    RMS at the fault before last two

    U16

    0.00

    A

    2115H

    d1-22

    Runtime at the fault before last two

    U32

    0

    min

    2116H

    d1-24

    Current alarm status

    U16

    0

    -

    2118H

    d1-25

    Current warning status

    U16

    0

    -

    2119H

    7.2.3 d2 group - product information query parameters

    Parame

    ter

    Function

    Data

    type

    Initial

    value

    (example)

    Unit

    Commu.

    addr.

    d2-00

    2nd bit: Encoder type

    0: 2500ppr incremental encoder

    1: 17/23 bit serial communication

    encoder

    1st bit: Command type

    1: Analog pulse type (EA180)

    2: EtherCAT bus type (EA180E)

    3: CANopen bus type (EA180C)

    U16

    10

    -

    2200H

    d2-01

    Current motor code

    U16

    101

    -

    2201H

    d2-02

    CPUA software version number

    U16

    100

    -

    2202H

    d2-03

    CPUA software serial number

    U16

    0.101

    -

    2203H

    d2-04

    CPUB software version number

    U16

    100

    -

    2204H

    d2-05

    CPUB software serial number

    U16

    0.101

    -

    2205H

    d2-06

    Product serial number 1

    U16

    2.000

    -

    2206H

    d2-07

    Product serial number 2

    U16

    3.1

    -

    2207H

    d2-08

    Product serial number 3

    U16

    3

    -

    2208H

    7.2.4 Auxiliary function operation

    AF-00

    Software reset

    Data size

    16bit

    Commu. addr.

    3F00H

    Register value storage

    Auto reset upon completion

    Register value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    rEsEt

    Press

    S

    to reset software (equivalent to power-on again of control power supply)

    AF-01

    Alarm reset

    Data size

    16bit

    Commu. addr.

    3F01H

    Register value storage

    Auto reset upon completion

    Register value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    AlClr

    Press

    S

    to perform the alarm reset operation

    * It must be a resettable alarm and the cause of current alert has been eliminated.

    AF-02

    JOG

    Data size

    16bit

    Commu. addr.

    3F02H

    Register value storage

    -

    Register

    Display

    Operation

    IMPORTANT: Auxiliary functions are parameters set to perform specific function operations, and the keypad display

    content is not the value of the internal register.

    During operation with the keypad, the displayed symbol shall prevail. During operation with communication

    mode, the register value is written to the corresponding address. A register value of '-' indicates that the

    operation cannot be performed by communication.

  • Page 75:

    EA180 Series Servo Drive Users Manual

    75

    value

    -

    -sjog

    Press

    ˄

    , the motor rotates forward and it displays

    sjog

    _

    . Press

    ˅

    , the motor

    runs reversely and it displays

    _sjog

    . Do not press the key, motor is static, display

    -sjog

    * The speed of jog operation is determined by P8-00, and the acc/dec time is determined by

    P8-01.

    * Please operate in the

    prdy

    _

    .

    (not enabled, and ready) state, and the jog process will

    automatically exit if a warning occurs.

    AF-03

    Internal S_ON command

    Data size

    16bit

    Commu. addr.

    3F03H

    Register value storage

    Saved

    Register value

    Display

    Operation

    0

    0

    Press

    S

    to display

    -End-

    . If there is no other enable input, the drive will enter the

    enable OFF state.

    1

    s-on

    If the enable condition is met, press

    S

    to display

    s-on

    , and the drive will enter the

    enable-ON state.

    * This parameter will be stored and the drive will be enabled ON immediately upon the next power-on. If this is not

    desired, please modify this parameter value to 0 before power-off.

    AF-04

    FFT test

    Data size

    16bit

    Commu. addr.

    3F04H

    Register value storage

    Auto reset upon completion

    Register value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    Eydft

    Press

    S

    , and it displays

    Eydft

    and carries out speed bandwidth test with the upper

    device software identification system; after the test, automatically exit and upload the data to the

    upper device for analysis and display.

    * The motor has slight vibration and sound.

    AF-05

    Offline inertia identification

    Data size

    16bit

    Commu. addr.

    3F05H

    Register value storage

    Auto reset upon completion

    Register value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    jIdt

    Press

    S

    , it displays

    jIdt

    and starts to identify the current system inertia. After

    successful identification, the inertia (multiple of the motor inertia) is automatically stored in

    P4-10.

    * Refer to Section 6.6 for detailed description of inertia identification.

    AF-06

    AI channel self-correction

    Data size

    16bit

    Commu. addr.

    3F06H

    Register value storage

    Auto reset upon completion

    Register value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    AI1

    The given AI1 external voltage source is 0V (the actual voltage may not be 0V); press

    S

    , it

    displays

    AI1

    and carries out zero drift learning, and the results will be automatically

    stored in P6-33 after completion.

    2

    AI2

    The given AI2 external voltage source is 0V (the actual voltage may not be 0V); press

    S

    , it

    displays

    AI2

    and carries out zero drift learning, and the results will be automatically

    stored in P6-34 after completion.

  • Page 76:

    EA180 Series Servo Drive Users Manual

    76

    Attention☞

    1: When performing zero drift automatic correction, it is necessary to ensure that the given

    command of the upper device itself is 0V (the actual voltage may not be 0)

    2: Zero drift automatic correction is only applicable to external power supply of -10 ~ 10V.

    3: If that actual voltage at the AI terminal exceeds ± 2 V while the correction is performed, an Al034

    alarm will occur.

    AF-07

    Status displayed by default upon power-on

    Data size

    16bit

    Commu. addr.

    3F07H

    Register value storage

    Stored

    Register value

    Display

    Operation

    0000H

    0000

    Press

    S

    , it displays

    -End-

    ; only display the drive status in status monitoring mode.

    2001H

    (example)

    2001

    Press

    S

    , it displays

    -End-

    ; if AF-07 is a non-0 value, the status monitoring mode

    displays function code at the corresponding communication address (such as D0-01) by default.

    You can switch between the monitoring value and the drive status with

    ˄

    button.

    ˄

    00

    -Prdy

    First show the value of the parameter

    corresponding to the address set by AF-

    07; switch between the value and drive

    status by pressing UP key

    Attention☞

    1: AF-07 is displayed in hexadecimal format, which means the correspondence address. If the

    set address has no corresponding function code, the display value is unknown.

    2: If it is not enabled, LED3 will display position control mode (P), and once enabled, it will display

    the actual operating control mode.

    AF-08

    Non-factory value display

    Data size

    16bit

    Commu. addr.

    3F08H

    Register value storage

    Auto reset upon power-on

    Register value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , display normally

    1

    1

    Press

    S

    , it displays

    -End-

    ; press

    M

    again to enter the changed parameter mode,

    where "-" in the middle flashes to be different from the normal function code display.

    You can press

    ˄

    or

    ˅

    to view the changed parameters in turn, and press

    S

    to

    view the new values.

    AF-09

    System parameter initialization

    Data size

    16bit

    Commu. addr.

    3F09H

    Register value storage

    Auto reset upon power-on

    Register value

    Display

    Operation

    1

    1

    If AF-09 ≠ 65535, press

    S

    , it displays

    Po-on

    ; no operation

    65535

    65535

    If AF-09=65535, press

    S

    , it displays

    Po-on

    and restore the function code to the

    default state.

    Attention☞

    1: After using this function, the control power supply must be powered on again.

    2: This operation does not restore motor parameters.

    AF-10

    Display motor parameters

    Data size

    16bit

    Commu. addr.

    3F0AH

    Register value storage

    Auto reset upon power-on

    Register value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    and hides Pd group parameters

    1

    1

    Press

    S

    , it displays

    -End-

    and displays Pd group parameters

  • Page 77:

    EA180 Series Servo Drive Users Manual

    77

    AF-15

    Serial encoder motor parameter reading

    Data size

    16bit

    Commu. addr.

    3F0FH

    Register value storage

    Auto reset upon power-on

    Register value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    1

    Press

    S

    , it displays

    -End-

    , reads and uses the motor parameters stored in serial

    encoder If reading fails, still use the motor parameter set in Pb group.

    AF-16

    Multi-turn data and fault handling of

    absolute encoder

    Data size

    16bit

    Commu. addr.

    3F10H

    Register value storage

    Auto reset upon completion

    Register value

    Display

    Operation

    0

    0

    Press

    S

    , it displays

    -End-

    , no operation

    1

    1

    Clear multi-turn encoder fault: Press

    S

    , it displays

    -End-

    and executes the

    corresponding operation.

    2

    2

    Clear multi-turn data and fault of multi-turn encoder: Press

    S

    , it displays

    -End-

    and

    executes the corresponding operation.

    IMPORTANT: This function is operable only in a non-enabled state.

    7.2.5 P0 group - basic setting parameters

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appl

    icabl

    e

    mod

    e

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P0-00

    Control mode selection:

    0: Speed control mode

    1: Position control mode

    2: Torque control mode

    3: Speed and position switching mode

    (zero speed)

    4: Reserved

    5: Position and torque switching mode

    (zero speed)

    6: Speed and position switching mode

    (immediate)

    7: Torque and speed switching mode

    (Immediate)

    8: Position and torque switching mode

    (immediate)

    U16

    1

    -

    P S T

    0000H

    P0-01

    Motor rotation direction

    0: For a positive direction command, the

    motor runs counterclockwise (CCW)

    1: For a positive direction command, the

    motor runs clockwise

    U16

    0

    -

    P S T

    0001H

    P0-02

    Maximum speed setting

    0~10000

    U16

    3000

    rpm

    P S T

    0002H

    P0-03

    Zero speed signal output

    value

    10~1000

    U16

    10

    rpm

    P S T

    0003H

    P0-04

    Rotation signal output

    value

    10~1000

    U16

    20

    rpm

    P S T

    0004H

    P0-05

    The first torque limit

    source selection

    0: P0-06 limits positive torque and P0-07

    limits negative torque; 1: AI1 limits

    positive and negative torques; 2: AI2

    limits positive and negative torque; 3:

    AI1 limits the positive torque, and the

    P0-07 limits the negative torque; 4: AI2

    limits the positive torque, and the P0-07

    U16

    0

    -

    P S T

    0005H

  • Page 78:

    EA180 Series Servo Drive Users Manual

    78

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appl

    icabl

    e

    mod

    e

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    limits the negative torque; 5: P0-06

    limits the positive torque, and the AI1

    limits the negative torque; 6: P0-06

    limits the positive torque, and the AI2

    limits the negative torque; 7: AI1 limits

    the positive torque, and the AI2 limits

    the negative torque; 8: AI1 limits

    negative torque, and the AI2 limits the

    positive torque

    P0-06

    First torque limit - forward

    maximum

    0.0~500.0

    U16

    300.0

    %

    P S T

    0006H

    P0-07

    First torque limit - reverse

    maximum

    0.0~500.0

    U16

    300.0

    %

    P S T

    0007H

    P0-08

    Stop mode selection

    000H~311H

    Right 1: Stop mode when servo enable

    OFF

    0: Coast to stop, motor in a free state

    after stop

    1: Zero speed stop, motor in a free

    state after stop

    Right 2: Stop mode when second-level

    alarm occurs

    0: Coast to stop, motor in a free state

    after stop

    1: Zero speed stop, motor in a free

    state after stop

    Right 3: Handling when overtravel

    occurs

    0: Coast to stop, motor in a free state

    after stop

    1: Slow down and stop, motor in a free

    state after stop

    1: Slow down and stop, motor locked

    in position

    3: No handling

    U16

    200H

    -

    P S T

    0008H

    P0-09

    Enable OFF - brake

    release command delay

    time

    1~65535

    U16

    500

    ms

    P S T

    0009H

    P0-10

    Brake release command

    speed threshold

    1~1000

    U16

    20

    rpm

    P S T

    000A

    H

    P0-11

    Brake release command -

    motor OFF delay time

    0~500

    U16

    200

    ms

    P S T

    000B

    H

    P0-12

    Re-enable condition for

    each stop mode

    0: Enable according to P0-13 condition

    when coasting to stop

    1: Enable according to P0-13 condition

    when coasting to stop or zero speed stop

    U16

    0

    -

    P S T

    000C

    H

    P0-13

    Servo enable ON

    conditions

    0: Enable ON when meeting P0-14

    conditions

    1: Enable ON when meeting P0-15

    conditions

    2: Enable ON when meeting both P0-14

    and P0-15 conditions

    3: Immediately enable ON

    U16

    3

    -

    P S T

    000D

    H

    P0-14

    Delay for enable-ON

    again after enable-OFF

    1~30000

    U16

    500

    ms

    P S T

    000EH

  • Page 79:

    EA180 Series Servo Drive Users Manual

    79

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appl

    icabl

    e

    mod

    e

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P0-15

    Enable-ON speed

    threshold

    0~10000

    U16

    20

    rpm

    P S T

    000FH

    P0-16

    Enable ON - command

    receiving delay time

    0~500

    U16

    200

    ms

    P S T

    0010H

    P0-17

    Zero speed stop

    deceleration time

    1~65535

    U16

    200

    ms

    P S T

    0011H

    P0-18

    Overtravel protection

    deceleration time

    1~65535

    U16

    200

    ms

    P S T

    0012H

    P0-19

    Emergency stop time

    1~65535

    U16

    50

    ms

    P S T

    0013H

    P0-20

    Pluse output setting

    definition

    0: Before frequency quadrupling

    1: After frequency quadrupling (only

    supported by 17/23bit encoder)

    U16

    0

    -

    P S T

    0014H

    P0-21

    Number of output pulses

    per revolution

    30-2500 (2500 linear incremental)

    30-8192 (17/23bit encoder, and

    P0-20=0)

    120-16383 (17/23bit encoder, and

    P0-20=1)

    U16

    2500

    Puls

    e

    P S T

    0015H

    P0-22

    Pulse output logic

    selection

    0: When the motor is rotating forward, A

    leads B

    1: When the motor is rotating forward, B

    leads A

    U16

    0

    -

    P S T

    0016H

    P0-23

    Z Pulse output width

    0~3

    U16

    0

    ms

    P S T

    0017H

    P0-24

    Pulse output source

    0: Encoder feedback

    1: Command pulse (P0-20, 21, 22

    invalid)

    U16

    0

    -

    P S T

    0018H

    7.2.6 P1 group - position control parameters

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Uni

    t

    Appli

    cable

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P1-00

    Position command source

    selection

    0: External pulse command (pt)

    1: Multi-position command (Pr)

    U16

    0

    -

    P

    0100H

    P1-01

    External pulse command

    input mode

    0: Pulse + direction, positive logic

    1: Pulse + direction, negative

    logic

    2: Two-phase orthogonal pulse

    (frequency quadrupling), positive

    logic

    3: Two-phase orthogonal pulse

    (frequency quadrupling), negative

    logic

    4: CW/CCW pulse, positive logic

    5: CW/CCW pulse, negative logic

    U16

    0

    -

    P

    0101H

    P1-02

    Number of command

    pulses per revolution

    0~8388608

    U32

    10000

    Puls

    e

    P

    0102H

    P1-04

    Electronic gear ratio

    numerator 1

    0~1073741824

    U32

    0

    -

    P

    0104H

    P1-06

    Electronic gear ratio

    denominator

    1~1073741824

    U32

    10000

    -

    P

    0106H

    P1-08

    Electronic gear ratio

    numerator 2

    0~1073741824

    U32

    0

    -

    P

    0108H

    P1-10

    Electronic gear ratio

    numerator 3

    0~1073741824

    U32

    0

    -

    P

    010A

    H

  • Page 80:

    EA180 Series Servo Drive Users Manual

    80

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Uni

    t

    Appli

    cable

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P1-12

    Electronic gear ratio

    numerator 4

    0~1073741824

    U32

    0

    -

    P

    010C

    H

    P1-14

    External pulse command

    low-pass smoothing filter

    time

    0.0~3000.0

    U16

    0.0

    ms

    P

    010EH

    P1-15

    External pulse input high

    frequency filter time

    0~255

    U16

    7

    -

    P S

    010FH

    P1-16

    Position deviation clearing

    external DI signal

    selection

    0: Clear by P-CLR rising edge

    1: Clear by P-CLR low level

    2: Clear by P-CLR high level

    3: Clear by P-CLR falling edge

    U16

    0

    -

    P

    0110H

    P1-17

    Reserved

    P1-18

    Position following error

    warning threshold

    0~1073741824

    U32

    80000

    ppr

    P

    0112H

    P1-20

    Position following error

    alarm threshold

    0~1073741824

    U32

    100000

    ppr

    P

    0114H

    P1-22

    Positioning completion

    output setting

    0~6

    U16

    1

    -

    P

    0116H

    P1-23

    Positioning proximity

    width

    1~65535

    U16

    20

    ppr

    P

    0117H

    P1-24

    Positioning completion

    width

    0~65535

    U16

    10

    ppr

    P

    0118H

    P1-25

    INP hold time

    0~3000

    U16

    10

    ms

    P

    0119H

    P1-26

    Positive limit position

    -2147483647~2147483647

    I32

    2147483647

    ppr

    P S T

    011A

    H

    P1-28

    Negative limit position

    -2147483647~2147483647

    I32

    -214748364

    7

    ppr

    P S T

    011CH

    P1-30

    Pulse offset

    0~65535

    U16

    100

    Puls

    e

    P S T

    011EH

    P1-31

    Pulse offset exexcution

    time

    1~65535

    U16

    100

    ms

    P S T

    011FH

  • Page 81:

    EA180 Series Servo Drive Users Manual

    81

    7.2.7 P2 group - speed control parameters

    Para

    meter

    Function

    Parameter range

    Dat

    a

    type

    Initial value

    Unit

    Appl

    icabl

    e

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P2-00

    Speed command source 1

    selection

    0: Digital speed given 1 (P2-01

    given)

    1: AI1 given

    2: AI2 given

    3: Multi-speed given

    3: Pulse input (10.00kHz

    corresponds to P2-01)

    U16

    0

    -

    S

    0200H

    P2-01

    Digital speed given 1

    -30000~30000

    I16

    100

    rpm

    S

    0201H

    P2-02

    Reserved

    P2-03

    Reserved

    P2-04

    Speed S-type acceleration

    time T

    SACC

    1~65535

    U16

    200

    ms

    S

    0204H

    P2-05

    Speed S-type deceleration

    time T

    SDEC

    1~65535

    U16

    200

    ms

    S

    0205H

    P2-06

    Speed S-type acc/dec

    smoothing time T

    SL

    0~10000

    U16

    50

    ms

    S

    0206H

    P2-07

    Zero speed clamp

    threshold

    0~3000

    U16

    10

    rpm

    S

    0207H

    P2-08

    Arrival speed

    1~10000

    U16

    1000

    rpm

    PST

    0208H

    P2-09

    Speed consistency

    threshold

    1~10000

    U16

    10

    rpm

    S

    0209H

    7.2.8 P3 group - torque control parameters

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appli

    cable

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P3-00

    Torque given command

    source selection

    0: Torque P3-01 is given, positive and

    negative directions are symmetrical

    1: Torque P3-01 is given, negative

    direction is limited by P3-02

    2: Torque P3-01 is given, negative

    direction is limited by AI1

    3: Torque P3-01 is given, negative

    direction is limited by AI2

    4: Torque AI1 is given, positive and

    negative directions are symmetrical

    5: Torque AI1 is given, negative

    direction is limited by P3-02

    6: Torque AI1 is given, negative

    direction is limited by AI2

    7: Torque AI2 is given, positive and

    negative directions are symmetrical

    8: Torque AI2 is given, negative

    direction is limited by P3-02

    9: Torque AI2 is given, negative

    direction is limited by AI1

    U16

    0

    -

    T

    0300H

    P3-01

    Digital torque setting

    -500.0~500.0

    I16

    100.0

    %

    T

    0301H

    P3-02

    Reverse direction torque

    limit

    0.0~500.0

    U16

    300.0

    %

    T

    0302H

    P3-03

    Reserved

    P3-04

    Torque command

    direction speed limit

    0: Limit speed by P3-05

    1: Limit speed by AI1

    U16

    0

    -

    T

    0304H

  • Page 82:

    EA180 Series Servo Drive Users Manual

    82

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appli

    cable

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    command source

    2: Limit speed by AI2

    P3-05

    Torque command

    direction speed limit value

    in torque control mode

    0~10000

    U16

    100

    rpm

    T

    0305H

    P3-06

    Torque consistency

    threshold

    3.0~100.0

    U16

    5.0

    %

    T

    0306H

    P3-07

    Arrival torque

    3.0~500.0

    U16

    100.0

    %

    PST

    0307H

    P3-08

    Torque acceleration slope

    Torque acceleration slope is the

    percentage of torque increase per ms

    U16

    500.0

    %

    T

    0308H

    P3-09

    Torque deceleration slope

    Torque deceleration slope is the

    percentage of torque decrease per ms

    U16

    500.0

    %

    T

    0309H

    7.2.9 P4 group - gain tuning parameters

    Para

    meter

    Function

    Parameter range

    Dat

    a

    type

    Initial value

    Unit

    Appli

    cable

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P4-00

    Gain adjustment mode

    selection

    0: Manual

    1: Semi-auto adjustment mode 1

    (rigidity table)

    2: Auto adjustment mode 1 (inertia

    changes slowly)

    3: Auto adjustment mode 2 (inertia

    changes a bit fast)

    4: Auto adjustment mode 3 (inertia

    changes fast)

    U16

    1

    -

    P S T

    0400H

    P4-01

    Rigidity

    1~31

    U16

    13

    -

    P S T

    0401H

    P4-02

    Position loop proportional

    gain APR_P

    1.0~2000.0

    U16

    48.0

    1/s

    P

    0402H

    P4-03

    Speed loop proportional

    gain ASR_P

    0.1~5000.0

    U16

    27.0

    Hz

    P S

    0403H

    P4-04

    Reserved

    P4-05

    Speed loop integral time

    constant ASR_Ti

    0.1~3000.0

    U16

    21.0

    ms

    P S

    0405H

    P4-06

    Speed feedforward gain

    APR_Kp

    0.0~300.0

    U16

    30.0

    %

    P

    0406H

    P4-07

    Speed feedforward filter

    time constant

    0~100

    U16

    5

    ms

    P

    0407H

    P4-08

    Speed feedback filter time

    constant

    0.00~20.00

    U16

    0.00

    ms

    P S

    0408H

    P4-09

    Factory parameter

    0~10000

    U16

    0

    -

    P S T

    0409H

    P4-10

    First load inertia ratio

    (total inertia/motor rotor

    inertia)

    1.00~120.00

    U16

    2.50

    -

    P S T

    040A

    H

    P4-11

    Second load inertia ratio

    (total inertia/motor rotor

    inertia)

    1.00~120.00

    U16

    1.00

    -

    P S T

    040B

    H

    P4-12

    PDFF control coefficient

    0~100

    U16

    100

    %

    P S T

    040C

    H

    P4-13

    Rigidity adjustment

    coefficient

    0.5~1.0

    U16

    0.5

    -

    P S T

    040D

    H

    P4-14

    Control loop coefficient

    10~100

    U16

    75

    -

    P S T

    040EH

    P4-15

    Gain switching conditions

    00H~18H

    U16

    00H

    -

    P S T

    040FH

    P4-16

    Gain switching change

    time

    0~3000

    U16

    5

    ms

    P S T

    0410H

  • Page 83:

    EA180 Series Servo Drive Users Manual

    83

    Para

    meter

    Function

    Parameter range

    Dat

    a

    type

    Initial value

    Unit

    Appli

    cable

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P4-17

    Reserved

    P4-18

    Gain switching threshold

    0~32767

    U16

    100

    rpm

    P S T

    0412H

    P4-19

    Second position loop gain

    change coefficient

    10~500

    U16

    50

    %

    P S T

    0413H

    P4-20

    Second speed loop gain

    change coefficient

    10~500

    U16

    50

    %

    P S T

    0414H

    P4-21

    Reserved

    P4-22

    Suppression performance

    expansion

    bit0: Acceleration feedback

    function

    bit1: Reserved

    bit2: Reserved

    bit3: Reserved

    bit4: Speed observer function bit

    5: Low noise mode

    U16

    00000B

    -

    P S T

    0416H

    P4-23

    Speed observer cutoff

    frequency level

    0~13

    U16

    13

    P S T

    0417H

    P4-24

    Torque feedforward gain

    0.0~200.0

    U16

    0.0

    %

    P S T

    0418H

    P4-25

    Torque feedforward filter

    time constant

    0~100

    U16

    5

    ms

    P S T

    0419H

    P4-26

    Reserved

    P4-27

    Reserved

    P4-28

    External disturbance

    resistance gain

    0.0~100.0

    U16

    0.0

    %

    P S T

    041C

    H

    P4-29

    Torque command low pass

    smoothing constant

    0.00~100.00

    U16

    0.84

    ms

    P S T

    041D

    H

    P4-30

    Friction compensation

    smoothing time constant

    10~1000

    U16

    50

    ms

    P S

    041EH

    P4-31

    Viscous friction

    compensation gain

    0~1000

    U16

    0.0

    0.1

    %/1

    000r

    pm

    P S

    041FH

    P4-32

    Torque command added

    value

    -100.0~100.0

    I16

    0.0

    %

    P S

    0420H

    P4-33

    Forward torque

    compensation

    -100.0~100.0

    I16

    0.0

    %

    P S

    0421H

    P4-34

    Reverse torque

    compensation

    -100.0~100.0

    I16

    0.0

    %

    P S

    0422H

    7.2.10 P5 group - vibration suppression parameters

    Para

    meter

    Function

    Parameter range

    Dat

    a

    type

    Initial value

    Unit

    Appl

    icabl

    e

    mod

    e

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P5-00

    Adaptive filter mode

    setting

    0: Manually set 4 notch filters

    1: Manually set width of notch

    filters 3 and 4 and others are

    automatically set

    2: Clear notch filters 3 and 4

    U16

    0

    -

    P

    0500H

    P5-01

    Automatic vibration

    detection level sensitivity

    10~30000

    U16

    100

    -

    P

    0501H

    P5-02

    1st notch frequency

    50~5000

    U16

    5000

    Hz

    P

    0502H

    P5-03

    1st notch width

    0~20

    U16

    2

    -

    P

    0503H

  • Page 84:

    EA180 Series Servo Drive Users Manual

    84

    Para

    meter

    Function

    Parameter range

    Dat

    a

    type

    Initial value

    Unit

    Appl

    icabl

    e

    mod

    e

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P5-04

    1st notch depth

    0~99

    U16

    0

    dB

    P

    0504H

    P5-05

    2nd notch frequency

    50~5000

    U16

    5000

    Hz

    P

    0505H

    P5-06

    2nd notch width

    0~20

    U16

    2

    -

    P

    0506H

    P5-07

    2nd notch depth

    0~99

    U16

    0

    dB

    P

    0507H

    P5-08

    3rd notch frequency

    50~5000

    U16

    5000

    Hz

    P

    0508H

    P5-09

    3rd notch width

    0~20

    U16

    2

    -

    P

    0509H

    P5-10

    3rd notch depth

    0~99

    U16

    0

    dB

    P

    050A

    H

    P5-11

    4th notch frequency

    50~5000

    U16

    5000

    Hz

    P

    050B

    H

    P5-12

    4th notch width

    0~20

    U16

    2

    -

    P

    050C

    H

    P5-13

    4th notch depth

    0~99

    U16

    0

    dB

    P

    050D

    H

    P5-14

    Reserved

    P5-15

    Reserved

    P5-16

    Reserved

    P5-17

    Reserved

    P5-18

    Reserved

    P5-19

    Reserved

    P5-20

    Reserved

    P5-21

    Reserved

    P5-22

    Reserved

    P5-23

    Position FIR filter

    0.0~128.0

    U16

    0.0

    ms

    P

    0517H

  • Page 85:

    EA180 Series Servo Drive Users Manual

    85

    7.2.11 P6 group - 1/O parameters

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Applic

    able

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P6-00

    DI filter time

    0~20

    U16

    2

    ms

    P S T

    0600H

    P6-01

    DI level logic

    00000000B~11111111B

    0: Positive logic; 1: Negative logic

    U16

    0000

    0000B

    -

    P S T

    0601H

    P6-02

    DI1 function

    number

    Value

    Name

    Function

    0

    Disabled

    Terminal invalid

    1

    S-ON

    Servo enable

    2

    ALM-RST

    Alarm and fault reset

    3

    P-CLR

    Position error clear

    4

    DIR-SEL

    Speed command

    direction selection

    5

    CMD0

    Internal command bit0

    6

    CMD1

    Internal command bit1

    7

    CMD2

    Internal command bit2

    8

    CMD3

    Internal command bit3

    9

    CTRG

    Internal command

    trigger

    10

    MSEL

    Control mode

    switching

    11

    ZCLAMP

    Zero speed clamp

    enable

    12

    INHIBIT

    Pulse inhibit

    13

    P-OT

    Inhibit forward drive

    14

    N-OT

    Inhibit reverse drive

    15

    GAIN_SEL

    Gain switching

    16

    J_SEL

    Inertia switching

    17

    JOG_P

    Forward jog

    18

    JOG_N

    Reverse jog

    19

    TDIR-SEL

    Torque command

    direction selection

    20

    GNUM0

    Electronic gear ratio

    numerator selection 0

    21

    GNUM1

    Electronic gear ratio

    numerator selection 1

    22

    ORGP

    External detector

    input

    23

    SHOM

    Homing

    24

    TL2

    External torque

    limiting

    25

    EMGS

    Emergency stop

    33

    PDIR_SEL

    Position command

    direction selection

    34

    GBK

    Position probe

    35

    PUL_UP

    Forward direction

    pulse offset

    36

    PUL_DN

    Reverse direction

    pulse offset

    U16

    1

    -

    P S T

    0602H

    P6-03

    DI2 function

    number

    U16

    2

    -

    P S T

    0603H

    P6-04

    DI3 function

    number

    U16

    13

    -

    P S T

    0604H

    P6-05

    DI4 function

    number

    U16

    14

    -

    P S T

    0605H

    P6-06

    DI5 function

    number

    U16

    3

    -

    P S T

    0606H

    P6-07

    DI6 function

    number

    U16

    12

    -

    P S T

    0607H

    P6-08

    DI7 function

    number

    U16

    20

    -

    P S T

    0608H

    P6-09

    DI8 function

    number

    U16

    21

    -

    P S T

    0609H

    P6-10

    DI forcibly valid

    00000000B~11111111B

    0: Determined by terminal status; 1: Forcibly

    valid

    U16

    0000

    0000B

    -

    P S T

    060A

    H

    P6-11

    DO level logic

    00000B~11111B

    0: Positive logic; 1: Negative logic

    U16

    00000

    B

    -

    P S T

    060B

    H

    P6-12

    DO1 function

    number

    Valu

    e

    Name

    Function

    0

    Disable

    Terminal invalid

    U16

    1

    -

    P S T

    060C

    H

    P6-13

    DO2 function

    U16

    2

    -

    P S T

    060D

  • Page 86:

    EA180 Series Servo Drive Users Manual

    86

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Applic

    able

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    number

    1

    S-RDY

    Servo ready

    2

    BK

    Brake control

    3

    TGON

    Motor rotation

    4

    ZER0

    Motor zero speed

    5

    V-CLS

    Speed close

    6

    V-CMP

    Speed comparison

    7

    PNEAR

    Position proximity

    8

    COIN

    Positioning completed

    9

    C-LT

    Torque limiting

    10

    V-LT

    Speed limiting

    11

    WARN

    Warning output

    12

    ALM

    Alarm output

    13

    Tcmp

    Torque compliance

    14

    Home

    Homing completed

    15

    S-RUN

    Servo enable

    27

    T_CLS

    Torque close

    29

    SPD_P

    Speed programming

    comparison output

    30

    TRQ_P

    Torque programming

    compares output

    31

    SPD_TR

    Q

    Speed programming

    compares output

    H

    P6-14

    DO3 function

    number

    U16

    8

    -

    P S T

    060EH

    P6-15

    DO4 function

    number

    U16

    12

    -

    P S T

    060FH

    P6-16

    DO1 valid delay

    0~65535

    U16

    0

    ms

    P S T

    0610H

    P6-17

    DO1 invalid delay

    0~65535

    U16

    0

    ms

    P S T

    0611H

    P6-18

    DO2 valid delay

    0~65535

    U16

    0

    ms

    P S T

    0612H

    P6-19

    DO2 invalid delay

    0~65535

    U16

    0

    ms

    P S T

    0613H

    P6-20

    DO3 valid delay

    0~65535

    U16

    0

    ms

    P S T

    0614H

    P6-21

    DO3 invalid delay

    0~65535

    U16

    0

    ms

    P S T

    0615H

    P6-22

    DO4 valid delay

    0~65535

    U16

    0

    ms

    P S T

    0616H

    P6-23

    DO4 invalid delay

    0~65535

    U16

    0

    ms

    P S T

    0617H

    P6-24

    DO forcibly valid

    output

    00000B~111111B

    0: Determined by terminal function status; 1:

    Forcibly valid

    U16

    00000

    B

    -

    P S T

    0618H

    P6-25

    AI1 filter time

    0~10000

    U16

    10

    ms

    P S T

    0619H

    P6-26

    AI2 filter time

    0~10000

    U16

    10

    ms

    P S T

    061A

    H

    P6-27

    AI1 hysteresis

    0~300

    U16

    2

    -

    P S T

    061B

    H

    P6-28

    AI2 hysteresis

    0~300

    U16

    2

    -

    P S T

    061C

    H

    P6-29

    AI1 offset

    adjustment

    -3000~3000

    I16

    0

    mV

    P S T

    061D

    H

    P6-30

    AI2 offset

    adjustment

    -3000~3000

    I16

    0

    mV

    P S T

    061EH

    P6-31

    AI1 dead zone

    0~3000

    U16

    10

    mV

    P S T

    061FH

    P6-32

    AI2 dead zone

    0~3000

    U16

    10

    mV

    P S T

    0620H

    P6-33

    AI1 zero drift

    -2000~2000

    I16

    0

    mV

    P S T

    0621H

    P6-34

    AI2 zero drift

    -2000~2000

    I16

    0

    mV

    P S T

    0622H

    P6-35

    AO1 function

    0~20

    U16

    0

    -

    P S T

    0623H

  • Page 87:

    EA180 Series Servo Drive Users Manual

    87

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Applic

    able

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    selection

    P6-36

    AO2 function

    selection

    0~20

    U16

    1

    -

    P S T

    0624H

    P6-37

    AO1 gain

    adjustment

    -10.00~10.00

    I16

    1.00

    -

    P S T

    0625H

    P6-38

    AO2 gain

    adjustment

    -10.00~10.00

    I16

    1.00

    -

    P S T

    0626H

    P6-39

    AO1 offset

    adjustment

    -10000~10000

    I16

    0

    mV

    P S T

    0627H

    P6-40

    AO2 offset

    adjustment

    -10000~10000

    I16

    0

    mV

    P S T

    0628H

    P6-41

    AO direct output

    1

    -10000~10000

    I16

    0

    -

    P S T

    0629H

    P6-42

    AO direct output

    2

    -10000~10000

    I16

    0

    -

    P S T

    062A

    H

    P6-43

    DO5 function

    number

    0~99

    U16

    0

    -

    P S T

    062B

    H

    P6-44

    DO5 valid delay

    0~65535

    U16

    0

    ms

    P S T

    062C

    H

    P6-45

    DO5 invalid delay

    0~65535

    U16

    0

    ms

    P S T

    062D

    H

    P6-46

    VDI status

    selection

    00000000B~11111111B

    0: Determined by P6-55 1: Determined by

    VDOx

    U16

    00000

    000B

    -

    P S T

    062EH

    P6-47

    VDI1 function

    number

    Same as P6-02 ~ P6-09

    U16

    0

    -

    P S T

    062FH

    P6-48

    VDI2 function

    number

    U16

    0

    -

    P S T

    0630H

    P6-49

    VDI3 function

    number

    U16

    0

    -

    P S T

    0631H

    P6-50

    VDI4 function

    number

    U16

    0

    -

    P S T

    0632H

    P6-51

    VDI5 function

    number

    U16

    0

    -

    P S T

    0633H

    P6-52

    VDI6 function

    number

    U16

    0

    -

    P S T

    0634H

    P6-53

    VDI7 function

    number

    U16

    0

    -

    P S T

    0635H

    P6-54

    VDI8 function

    number

    U16

    0

    -

    P S T

    0636H

    P6-55

    VDI control

    00000000B~11111111B

    U16

    00000

    000B

    -

    P S T

    0637H

    P6-56

    VDI status

    00000000B~11111111B

    U16

    00000

    000B

    -

    P S T

    0638H

    P6-57

    VDO1 function

    number

    Same as P6-12 ~ P6-15

    U16

    0

    -

    P S T

    0639H

    P6-58

    VDO2 function

    number

    U16

    0

    -

    P S T

    063A

    H

    P6-59

    VDO3 function

    number

    U16

    0

    -

    P S T

    063B

    H

    P6-60

    VDO4 function

    number

    U16

    0

    -

    P S T

    063C

    H

    P6-61

    VDO5 function

    number

    U16

    0

    -

    P S T

    063D

    H

    P6-62

    VDO6 function

    number

    U16

    0

    -

    P S T

    063EH

  • Page 88:

    EA180 Series Servo Drive Users Manual

    88

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Applic

    able

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P6-63

    VDO7 function

    number

    U16

    0

    -

    P S T

    063FH

    P6-64

    VDO8 function

    number

    U16

    0

    -

    P S T

    0640H

    P6-65

    VDO1 valid delay

    0~65535

    U16

    0

    ms

    P S T

    0641H

    P6-66

    VDO1 invalid

    delay

    0~65535

    U16

    0

    ms

    P S T

    0642H

    P6-67

    VDO2 valid delay

    0~65535

    U16

    0

    ms

    P S T

    0643H

    P6-68

    VDO2 invalid

    delay

    0~65535

    U16

    0

    ms

    P S T

    0644H

    P6-69

    VDO3 valid delay

    0~65535

    U16

    0

    ms

    P S T

    0645H

    P6-70

    VDO3 invalid

    delay

    0~65535

    U16

    0

    ms

    P S T

    0646H

    P6-71

    VDO4 valid delay

    0~65535

    U16

    0

    ms

    P S T

    0647H

    P6-72

    VDO4 invalid

    delay

    0~65535

    U16

    0

    ms

    P S T

    0648H

    P6-73

    VDO forcibly

    valid output

    00000000B~11111111B

    U16

    00000

    000B

    -

    P S T

    0649H

    P6-74

    VDO status

    00000000B~11111111B

    U16

    00000

    000B

    -

    P S T

    064A

    H

    P6-75

    VDI1 valid delay

    0~65535

    U16

    0

    ms

    P S T

    064B

    H

    P6-76

    VDI1 invalid

    delay

    0~65535

    U16

    0

    ms

    P S T

    064C

    H

    P6-77

    VDI2 valid delay

    0~65535

    U16

    0

    ms

    P S T

    064D

    H

    P6-78

    VDI2 invalid

    delay

    0~65535

    U16

    0

    ms

    P S T

    064EH

    P6-79

    VDI3 valid delay

    0~65535

    U16

    0

    ms

    P S T

    064FH

    P6-80

    VDI3 invalid

    delay

    0~65535

    U16

    0

    ms

    P S T

    0650H

    P6-81

    VDI4 valid delay

    0~65535

    U16

    0

    ms

    P S T

    0651H

    P6-82

    VDI4 invalid

    delay

    0~65535

    U16

    0

    ms

    P S T

    0652H

    P6-83

    VDI level logic

    00000000B~11111111B

    0: Positive logic; 1: Negative logic

    U16

    0000

    0000B

    -

    P S T

    0653H

    P6-84

    VDO level logic

    00000000B~11111111B

    0: Positive logic; 1: Negative logic

    U16

    0000

    0000B

    -

    P S T

    0654H

    P6-85

    VDO selection

    00000000B~11111111B

    0: Determined by function number 1:

    Determined by DIx

    U16

    0000

    0000B

    -

    P S T

    0655H

    7.2.12 P7 group - communication settings parameters

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appli

    cable

    mode

    Attri

    bute

    Com

    mu.A

    ddr.

    P7-00

    Modbus communication

    address setting

    1~254

    U16

    1

    -

    P S T

    -

    P7-01

    Modbus communication

    baud rate

    0: 4800bps

    1: 9600bps

    2: 19200bps

    3: 38400bps

    4: 57600bps

    U16

    1

    -

    P S T

    -

  • Page 89:

    EA180 Series Servo Drive Users Manual

    89

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appli

    cable

    mode

    Attri

    bute

    Com

    mu.A

    ddr.

    5: 115200bps

    P7-02

    Modbus communication

    data format

    0: No check 1+8+N+1

    1: Odd check 1+8+O+1

    2: Even check 1+8+E+1

    3: No check 1+8+N+2

    4: Odd check 1+8+O+2

    5: Even check 1+8+E+2

    U16

    0

    -

    P S T

    -

    P7-03

    Modbus communication

    response delay

    1~20

    U16

    2

    ms

    P S T

    -

    P7-04

    Parameter storage options

    for Modbus

    communication

    0: Determined by P7-05

    1: Parameter not stored when

    communication changes

    U16

    0

    -

    P S T

    -

    P7-05

    Address selection for

    Modbus communication

    0: Address +8000H, stored

    1: Address +8000H, not stored

    U16

    1

    -

    P S T

    -

    P7-06

    Reserved

    P7-07

    Reserved

    P7-08

    Reserved

    P7-09

    32bit function code

    high-low bit sequence

    setting for Modbus

    communication

    0: First low 16-bit and then high

    16-bit for both reading and writing

    1: First high 16-bit and then low

    16-bit for both reading and writing

    2: First low 16-bit and then high

    16-bit for reading; reverse sequence

    for writing

    3: First high 16-bit and then low

    16-bit for reading; reverse

    sequence for writing

    U16

    0

    -

    PST

    0709

    H

    P7-10~P9-29 reserved

    P7-30

    Map SA 1 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    071E

    H

    P7-31

    Map DA 1 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    071F

    H

    P7-32

    Map SA 2 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0720

    H

    P7-33

    Map DA 2 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0721

    H

    P7-34

    Map SA 3 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0722

    H

    P7-35

    Map DA 3 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0723

    H

    P7-36

    Map SA 4 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0724

    H

    P7-37

    Map DA 4 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0725

    H

    P7-38

    Map SA 5 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0726

    H

    P7-39

    Map DA 5 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0727

    H

    P7-40

    Map SA 6 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0728

    H

    P7-41

    Map DA 6 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0729

    H

    P7-42

    Map SA 7 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    072A

    H

    P7-43

    Map DA 7 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    072B

    H

  • Page 90:

    EA180 Series Servo Drive Users Manual

    90

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appli

    cable

    mode

    Attri

    bute

    Com

    mu.A

    ddr.

    P7-44

    Map SA 8 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    072C

    H

    P7-45

    Map DA 8 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    072D

    H

    P7-46

    Map SA 9 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    072E

    H

    P7-47

    Map DA 9 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    072F

    H

    P7-48

    Map SA 10 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0730

    H

    P7-49

    Map DA 10 for Modbus

    communication

    0000H ~ FFFFH

    U16

    FFFF

    H

    -

    PST

    0731

    H

    7.2.13 P8 group - extended function parameters

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Uni

    t

    Applica

    ble

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P8-00

    JOG speed

    0~10000

    U16

    100

    rpm

    P S T

    0800H

    P8-01

    JOG acc/dec time

    1~65535

    U16

    200

    ms

    P S T

    0801H

    P8-02

    Auto tuning torque

    identified by offline inertia

    10~200

    U16

    50

    %

    P S T

    0802H

    P8-03

    Maximum number of

    revolutions identified by

    offline inertia

    1~20

    U16

    10

    rev

    P S T

    0803H

    P8-04

    Reserved

    P8-05

    Maximum revolution

    number of absolute

    encoder

    1~32767

    U16

    32767

    rev

    P S T

    0805H

    P8-06

    Absolute encoder use

    method selection

    0: Used as an incremental

    encoder

    1: Used as an absolute encoder

    U16

    0

    -

    P S T

    0806H

    P8-07

    Fan control

    0: Fan runs when servo enabled

    or alarm/warning occurs

    1: Fan runs when power-on

    2: Fan runs according to drive

    temperature

    U16

    0

    -

    P S T

    0807H

    P8-08

    Drive overload warning

    threshold

    20~100

    U16

    80

    %

    P S T

    0808H

    P8-09

    Motor overload warning

    threshold

    20~100

    U16

    80

    %

    P S T

    0809H

    P8-10

    Braking resistor resistance

    setting

    20~30000

    U16

    50

    Ω

    P S T

    080A

    H

    P8-11

    Braking resistor power

    setting

    10~30000

    U16

    100

    W

    P S T

    080B

    H

    P8-12

    Brake duty ratio

    0~100

    U16

    100

    %

    P S T

    080C

    H

    P8-13

    Braking resistor derating

    percentage

    1~100

    U16

    40

    %

    P S T

    080D

    H

    P8-14

    Minimum load for motor

    stall judgment

    10.0~250.0

    U16

    150.0

    %

    P S T

    080EH

    P8-15

    Speed for motor stall

    judgment

    0~500 (0: Stall judgment

    function disabled)

    U16

    0

    rpm

    P S T

    080FH

    P8-16

    Time for motor stall

    judgment

    10~3000

    U16

    100

    ms

    P S T

    0810H

    P8-17

    Torque limit for motor

    0.0~150.0

    U16

    100.0

    %

    P S T

    0811H

  • Page 91:

    EA180 Series Servo Drive Users Manual

    91

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Uni

    t

    Applica

    ble

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    stall protection

    P8-18

    Function switch 1

    bit0: Torque limiting at

    undervoltage

    bit1: Holding function at

    instantaneous power outage

    (PLRT)

    bit2: Power failure detection

    function (linked with bit1)

    bit3: Position judgment based on

    command unit and

    coder unit switching

    bit4: Speed command reverse

    (speed mode)

    U16

    00100B

    -

    P S T

    0812H

    P8-19

    Function switch 2

    bit0: Stop zero servo switch

    (speed mode)

    U16

    0B

    -

    P S T

    0813H

    P8-20

    Reserved

    P8-21

    Reserved

    P8-22

    Torque limit value when

    main circuit voltage drops

    1.0~100.0

    U16

    50.0

    %

    P S T

    0816H

    P8-23

    Torque limit release time

    when main circuit voltage

    drops

    10~1000

    U16

    100

    ms

    P S T

    0817H

    P8-24

    Holding time at

    instantaneous power

    outage

    10~1000

    U16

    100

    ms

    P S T

    0818H

    P8-25

    External torque limiting

    0.0~500.0

    U16

    100.0

    %

    P S T

    0819H

    P8-26

    External torque limit

    switching rate 1

    0.1~500.0

    U16

    300.0

    %/

    ms

    P S T

    081A

    H

    P8-27

    External torque limit

    switching rate 2

    0.1~500.0

    U16

    300.0

    %/

    ms

    P S T

    081B

    H

    P8-28

    Position deviation alarm

    detection blocking when

    the external torque limit is

    valid

    0: Normal detection

    1: Block detection

    U16

    0

    -

    P S T

    081C

    H

    P8-29

    Alarm blocking invalid

    delay when the external

    torque limit is invalid

    1~10000

    U16

    10000

    ms

    P S T

    081D

    H

    P8-30

    Reserved

    P8-31

    Reserved

    P8-32

    Reserved

    P8-33

    Reserved

    P8-34

    Reserved

    P8-35

    Reserved

    P8-36

    Speed DO judgment

    selection

    0: Setting 1 > speed > setting 2

    1: Speed > setting 1, or speed <

    setting 2

    2: Speed > setting 1

    3: Speed < setting 2

    U16

    0

    -

    P S T

    0824H

    P8-37

    Speed DO judgment

    setting 1

    -10000~10000

    I16

    100

    rpm

    P S T

    0825H

    P8-38

    Speed DO judgment

    setting 2

    -10000~10000

    I16

    -100

    rpm

    P S T

    0826H

    P8-39

    Torque DO judgment

    selection

    0: Setting 1 > torque > setting 2

    1: Torque > setting 1, or torque <

    setting 2

    2: Torque > setting 1

    U16

    0

    -

    P S T

    0827H

  • Page 92:

    EA180 Series Servo Drive Users Manual

    92

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Uni

    t

    Applica

    ble

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    3: Torque < setting 2

    P8-40

    Torque DO judgment

    setting 1

    -500.0~500.0

    I16

    100.0

    %

    P S T

    0828H

    P8-41

    Torque DO judgment

    setting 2

    -500.0~500.0

    I16

    -100.0

    %

    P S T

    0829H

    P8-42

    Special transmission ratio

    for GBK measurement

    0.000~65.535

    U16

    0

    mm

    P S T

    082A

    H

    P8-43

    Read motor parameters

    upon power-on

    0: Disabled

    1: Enabled

    U16

    0

    -

    P S T

    082B

    H

    7.2.14 P9 group - multi-position parameters

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Uni

    t

    Applica

    ble

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P9-00

    Multi-position execution

    modes

    0: Pr1 ~ Pr16, enable cycle operation

    selection segment

    1: Pr1 ~ Pr16, enable execution

    selection segment

    2: Pr1 ~ Pr16, trigger execution

    selection segment

    3: External DI selection segment,

    trigger execution

    4: Pr1 ~ Pr16, trigger execution

    segment 1, cycle operation

    5: Pr1 ~ Pr16, trigger execution

    segment 1

    6: P9-01 selection segment, trigger

    execution

    7: P9-01 selection segment, and

    execute immediately

    8: pr1 ~ pr16, enable cycle sequence

    operation selection segment

    9: pr1 ~ pr16, trigger sequence

    execution selection segment

    P9-70: Cycle operation start

    segment

    P9-71: Cycle operation end segment

    U16

    0

    -

    P

    0900H

    P9-01

    Multi-position execution

    segment selection

    0: Wait for command

    1 ~ 16: Execute corresponding

    segments (automatically reset to 0

    after execution)

    U16

    0

    -

    P

    0901H

    P9-02

    Multi-position command

    reference setting

    Right 1: Relative position

    0: Incremental position

    1: Absolute position

    Right 2: Cycle operation pause

    selection

    0: Not memorize

    1: Pause through terminal and

    memorize

    2: Memorize when S-OFF

    U16

    0

    -

    P

    0902H

    P9-03

    Multi-position

    acceleration time T

    PACC

    1~10000

    U16

    100

    ms

    P

    0903H

    P9-04

    Multi-position

    deceleration time T

    PDEC

    1~10000

    U16

    100

    ms

    P

    0904H

    P9-05

    Reserved

    P9-06

    Pulse number of

    -2147483647~2147483647

    I32

    10000

    Puls

    P

    0906H

  • Page 93:

    EA180 Series Servo Drive Users Manual

    93

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Uni

    t

    Applica

    ble

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    multi-position command

    Pr1

    0

    e

    P9-08

    Movement speed of

    multi-position command

    Pr1

    1~10000

    U16

    100

    rpm

    P

    0908H

    P9-09

    Pr1 stop time

    0~65535

    U16

    0

    ms

    P

    0909H

    P9-10

    Pulse number of

    multi-position command

    Pr2

    -2147483647~2147483647

    I32

    -1000

    00

    Puls

    e

    P

    090A

    H

    P9-12

    Movement speed of

    multi-position command

    Pr2

    1~10000

    U16

    100

    rpm

    P

    090C

    H

    P9-13

    Pr2 stop time

    0~65535

    U16

    0

    ms

    P

    090D

    H

    P9-14

    Pulse number of

    multi-position command

    Pr3

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    090EH

    P9-16

    Movement speed of

    multi-position command

    Pr3

    1~10000

    U16

    100

    rpm

    P

    0910H

    P9-17

    Pr3 stop time

    0~65535

    U16

    0

    ms

    P

    0911H

    P9-18

    Pulse number of

    multi-position command

    Pr4

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    0912H

    P9-20

    Movement speed of

    multi-position command

    Pr4

    1~10000

    U16

    100

    rpm

    P

    0914H

    P9-21

    Pr4 stop time

    0~65535

    U16

    0

    ms

    P

    0915H

    P9-22

    Pulse number of

    multi-position command

    Pr5

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    0916H

    P9-24

    Movement speed of

    multi-position command

    Pr5

    1~10000

    U16

    100

    rpm

    P

    0918H

    P9-25

    Pr5 stop time

    0~65535

    U16

    0

    ms

    P

    0919H

    P9-26

    Pulse number of

    multi-position command

    Pr6

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    091A

    H

    P9-28

    Movement speed of

    multi-position command

    Pr6

    1~10000

    U16

    100

    rpm

    P

    091C

    H

    P9-29

    Pr6 stop time

    0~65535

    U16

    0

    ms

    P

    091D

    H

    P9-30

    Pulse number of

    multi-position command

    Pr7

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    091EH

    P9-32

    Movement speed of

    multi-position command

    Pr7

    1~10000

    U16

    100

    rpm

    P

    0920H

    P9-33

    Pr7 stop time

    0~65535

    U16

    0

    ms

    P

    0921H

    P9-34

    Pulse number of

    multi-position command

    Pr8

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    0922H

    P9-36

    Movement speed of

    multi-position command

    Pr8

    1~10000

    U16

    100

    rpm

    P

    0924H

  • Page 94:

    EA180 Series Servo Drive Users Manual

    94

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Uni

    t

    Applica

    ble

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P9-37

    Pr8 stop time

    0~65535

    U16

    0

    ms

    P

    0925H

    P9-38

    Pulse number of

    multi-position command

    Pr9

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    0926H

    P9-40

    Movement speed of

    multi-position command

    Pr9

    1~10000

    U16

    100

    rpm

    P

    0928H

    P9-41

    Pr9 stop time

    0~65535

    U16

    0

    ms

    P

    0929H

    P9-42

    Pulse number of

    multi-position command

    Pr10

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    092A

    H

    P9-44

    Movement speed of

    multi-position command

    Pr10

    1~10000

    U16

    100

    rpm

    P

    092C

    H

    P9-45

    Pr10 stop time

    0~65535

    U16

    0

    ms

    P

    092D

    H

    P9-46

    Pulse number of

    multi-position command

    Pr11

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    092EH

    P9-48

    Movement speed of

    multi-position command

    Pr11

    1~10000

    U16

    100

    rpm

    P

    0930H

    P9-49

    Pr11 stop time

    0~65535

    U16

    0

    ms

    P

    0931H

    P9-50

    Pulse number of

    multi-position command

    Pr12

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    0932H

    P9-52

    Movement speed of

    multi-position command

    Pr12

    1~10000

    U16

    100

    rpm

    P

    0934H

    P9-53

    Pr12 stop time

    0~65535

    U16

    0

    ms

    P

    0935H

    P9-54

    Pulse number of

    multi-position command

    Pr13

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    0936H

    P9-56

    Movement speed of

    multi-position command

    Pr13

    1~10000

    U16

    100

    rpm

    P

    0938H

    P9-57

    Pr13 stop time

    0~65535

    U16

    0

    ms

    P

    0939H

    P9-58

    Pulse number of

    multi-position command

    Pr14

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    093A

    H

    P9-60

    Movement speed of

    multi-position command

    Pr14

    1~10000

    U16

    100

    rpm

    P

    093C

    H

    P9-61

    Pr14 stop time

    0~65535

    U16

    0

    ms

    P

    093D

    H

    P9-62

    Pulse number of

    multi-position command

    Pr15

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    093EH

    P9-64

    Movement speed of

    multi-position command

    Pr15

    1~10000

    U16

    100

    rpm

    P

    0940H

    P9-65

    Pr15 stop time

    0~65535

    U16

    0

    ms

    P

    0941H

    P9-66

    Pulse number of

    multi-position command

    Pr16

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    0942H

  • Page 95:

    EA180 Series Servo Drive Users Manual

    95

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Uni

    t

    Applica

    ble

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    P9-68

    Movement speed of

    multi-position command

    Pr16

    1~10000

    U16

    100

    rpm

    P

    0944H

    P9-69

    Pr16 stop time

    0~65535

    U16

    0

    ms

    P

    0945H

    P9-70

    Cycle operation start

    segment

    1~16 (only 2 and 9 are valid for first

    operation)

    U16

    1

    -

    P

    0946H

    P9-71

    Cycle operation end

    segment

    1~16

    U16

    16

    -

    P

    0947H

    7.2.15 PA group - multi-speed parameters

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Applic

    able

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    PA-0

    0

    Multi-speed execution modes

    0: Spd1 ~ Spd16, enable cycle

    operation

    1: Spd1 ~ Spd16, enable

    operation for one round

    2: Spd1 ~ Spd16, trigger

    operation for one round

    3: Run at the speed of external

    DI selection segment

    4: Run at the speed of PA-01

    selection segment

    U16

    0

    -

    S

    0A00

    H

    PA-0

    1

    Multi-speed command

    execution segment selection

    0: Wait for command1 ~ 16:

    Execute the corresponding

    segment

    U16

    0

    -

    S

    0A01

    H

    PA-0

    2

    Multi-speed command Spd1

    -10000~10000

    I16

    100

    rpm

    S

    0A02

    H

    PA-0

    3

    Multi-speed command Spd1

    operation time

    0.0~6553.5

    U16

    1.0

    s

    S

    0A03

    H

    PA-0

    4

    Multi-speed command Spd2

    -10000~10000

    I16

    -100

    rpm

    S

    0A04

    H

    PA-0

    5

    Multi-speed command Spd2

    operation time

    0.0~6553.5

    U16

    1.0

    s

    S

    0A05

    H

    PA-0

    6

    Multi-speed command Spd3

    -10000~10000

    I16

    0

    rpm

    S

    0A06

    H

    PA-0

    7

    Multi-speed command Spd3

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A07

    H

    PA-0

    8

    Multi-speed command Spd4

    -10000~10000

    I16

    0

    rpm

    S

    0A08

    H

    PA-0

    9

    Multi-speed command Spd4

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A09

    H

    PA-1

    0

    Multi-speed command Spd5

    -10000~10000

    I16

    0

    rpm

    S

    0A0A

    H

    PA-11

    Multi-speed command Spd5

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A0B

    H

    PA-1

    2

    Multi-speed command Spd6

    -10000~10000

    I16

    0

    rpm

    S

    0A0C

    H

    PA-1

    3

    Multi-speed command Spd6

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A0D

    H

    PA-1

    4

    Multi-speed command Spd7

    -10000~10000

    I16

    0

    rpm

    S

    0A0E

    H

    PA-1

    5

    Multi-speed command Spd7

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A0F

    H

    PA-1

    Multi-speed command Spd8

    -10000~10000

    I16

    0

    rpm

    S

    0A10

  • Page 96:

    EA180 Series Servo Drive Users Manual

    96

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Applic

    able

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    6

    H

    PA-1

    7

    Multi-speed command Spd8

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A11

    H

    PA-1

    8

    Multi-speed command Spd9

    -10000~10000

    I16

    0

    rpm

    S

    0A12

    H

    PA-1

    9

    Multi-speed command Spd9

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A13

    H

    PA-2

    0

    Multi-speed command Spd10

    -10000~10000

    I16

    0

    rpm

    S

    0A14

    H

    PA-2

    1

    Multi-speed command Spd10

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A15

    H

    PA-2

    2

    Multi-speed command Spd11

    -10000~10000

    I16

    0

    rpm

    S

    0A16

    H

    PA-2

    3

    Multi-speed command Spd11

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A17

    H

    PA-2

    4

    Multi-speed command Spd12

    -10000~10000

    I16

    0

    rpm

    S

    0A18

    H

    PA-2

    5

    Multi-speed command Spd12

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A19

    H

    PA-2

    6

    Multi-speed command Spd13

    -10000~10000

    I16

    0

    rpm

    S

    0A1A

    H

    PA-2

    7

    Multi-speed command Spd13

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A1B

    H

    PA-2

    8

    Multi-speed command Spd14

    -10000~10000

    I16

    0

    rpm

    S

    0A1C

    H

    PA-2

    9

    Multi-speed command Spd14

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A1D

    H

    PA-3

    0

    Multi-speed command Spd15

    -10000~10000

    I16

    0

    rpm

    S

    0A1E

    H

    PA-3

    1

    Multi-speed command Spd15

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A1F

    H

    PA-3

    2

    Multi-speed command Spd16

    -10000~10000

    I16

    0

    rpm

    S

    0A20

    H

    PA-3

    3

    Multi-speed command Spd16

    operation time

    0.0~6553.5

    U16

    0.0

    s

    S

    0A21

    H

    7.2.16 Pb group - homing parameters

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appli

    cable

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    Pb-00

    Homing failure alarm time

    0~65535

    U16

    0

    ms

    P

    0B00

    H

    Pb-01

    Homing start mode

    0: Disable the homing function

    1: Automatically perform homing when

    enabled

    2: Trigger homing by SHOW terminal

    (No.23 function)

    U16

    0

    -

    P

    0B01

    H

    Pb-02

    Homing mode

    1~35

    U16

    1

    -

    P

    0B02

    H

    Pb-03

    Homing 1st segment high

    speed setting

    0~10000

    U16

    500

    rpm

    P

    0B03

    H

    Pb-04

    Homing 2nd segment low

    speed setting

    0~10000

    U16

    50

    rpm

    P

    0B04

    H

    Pb-05

    Homing acc/dec time

    1~65535

    U16

    100

    ms

    P

    0B05

    H

    Pb-06

    Reserved

  • Page 97:

    EA180 Series Servo Drive Users Manual

    97

    Para

    meter

    Function

    Parameter range

    Data

    type

    Initial

    value

    Unit

    Appli

    cable

    mode

    Attr

    ibut

    e

    Com

    mu.

    Addr.

    Pb-07

    Reserved

    Pb-08

    Homing offset pulse

    number

    -2147483647~2147483647

    I32

    0

    Puls

    e

    P

    0B08

    H

    Pb-10

    Position after homing

    -2147483647~2147483647

    I32

    0

    PUL

    P

    0B0A

    H

    Pb-12

    Absolute position

    electrical origin offset

    -2147483647~2147483647

    I32

    0

    PUL

    P

    0B0C

    H

    7.2.17 Pd group - motor parameters

    Code

    Function

    Initial value

    Unit

    Attribute

    Commu.

    addr.

    Pd-00

    Reserved

    Pd-01

    Motor code

    Corresponding motor

    code

    -

    0D01H

    Pd-02

    Motor rated power

    Determined by motor

    code

    kW

    0D02H

    Pd-03

    Motor rated current

    Determined by motor

    code

    A

    0D03H

    Pd-04

    Motor rated torque

    Determined by motor

    code

    Nm

    0D04H

    Pd-05

    Motor rated voltage

    Determined by motor

    code

    V

    0D05H

    Pd-06

    Motor rated speed

    Determined by motor

    code

    rpm

    0D06H

    Pd-07

    Motor max. speed

    Determined by motor

    code

    rpm

    0D07H

    Pd-08

    Motor pole pair number

    Determined by motor

    code

    -

    0D08H

    Pd-09

    Q axis inductance

    Determined by motor

    code

    mH

    0D09H

    Pd-10

    D axis inductance

    Determined by motor

    code

    mH

    0D0AH

    Pd-11

    Line-to-line resistance

    Determined by motor

    code

    Ω

    0D0BH

    Pd-12

    torque constant

    Determined by motor

    code

    N/A

    0D0CH

    Pd-13

    BEMF

    Determined by motor

    code

    V

    0D0DH

    Pd-14

    Motor rotor inertia

    Determined by motor

    code

    kg.cm

    2

    0D0EH

    Pd-15

    Encoder type

    0: Standard-wire encoder, positive

    logic

    1: Standard-wire encoder,

    negative logic

    2: Wire-saving encoder, positive

    logic

    3: Wire-saving encoder, negative

    logic

    4: Serial encoder, positive logic

    5: Serial encoder, negative logic

    Determined by motor

    code

    -

    0D0FH

    Pd-16

    Encoder line number

    Determined by motor

    code

    Pulse

    0D10H

    Pd-18

    Origin electrical angle

    Determined by motor

    code

    °

    0D12H

    Pd-19

    Encoder U phase rising edge

    Determined by motor

    °

    0D13H

  • Page 98:

    EA180 Series Servo Drive Users Manual

    98

    Code

    Function

    Initial value

    Unit

    Attribute

    Commu.

    addr.

    electrical angle

    code

    Pd-20

    Reserved

    Pd-21

    Encoder supports absolute

    (multi-rev) application

    Determined by motor

    code

    -

    0D15H

    Pd-22

    Phase A and B relationship of

    incremental encoder

    0: A leads, B is CCW

    1: A leads, B is CW

    0

    -

    0D16H

    Pd-23

    Current regulator Q-axis

    proportional gain

    Determined by motor

    code

    -

    0D17H

    Pd-24

    Current regulator D-axis

    proportional gain

    Determined by motor

    code

    -

    0D18H

    Pd-25

    Current regulator Q-axis integral

    gain

    Determined by motor

    code

    -

    0D19H

    Pd-26

    Current regulator D-axis integral

    gain

    Determined by motor

    code

    -

    0D1AH

    Pd-27

    Current loop proportional tuning

    100

    %

    0D1BH

    Pd-28

    Current loop gain tuning

    100

    %

    0D1CH

    Pd-29

    Motor flange size

    Determined by motor

    code

    mm

    0D1DH

  • Page 99:

    EA180 Series Servo Drive Users Manual

    99

    Chapter 8 Warning, Alarm and Troubleshooting

    8.1 Alarm diagnosis and troubleshooting

    When the servo drive has an alarm, the fault display Al. " will appear on the LED display, and the

    electric machine will coast to stop or stop at zero speed (according to the setting of P0-08, but zero

    speed stop is only for second-level alarm). The drive records the last 4 alarms, which can be

    viewed through group d1. The alarm and troubleshooting are as follows:

    Al001: Short circuit

    Al002: Hardware overcurrent

    Al00C: Software overcurrent

    Alarm Scenarios

    Inspection

    Troubleshooting

    Motor wiring error

    Check the phase sequence of the wiring

    between the motor and the drive

    Re-wiring according to instructions

    Control parameters

    setting exception

    Check if the set value is much greater than

    the factory value

    Restore to the default value and fix it step by

    step.

    The commands

    have changed

    dramatically.

    Check if the control input command

    changes too drastically

    Correct the change rate of the input

    commands or enable the filtering function

    Drive output short

    circuit

    1: Check the wiring status of the motor and

    the drive or whether there is short circuit in

    the wire.

    2: Check whether the motor is damaged

    1: Eliminate short circuit and prevent metal

    parts from being exposed.

    2: Replace the damaged motor

    External braking

    resistance is too

    small or

    short-circuited

    Check whether external braking resistor

    conforms to specifications

    Use braking resistors that conform to the

    instructions and set the P8-10, P8-11 and

    P8-13 parameters correctly.

    Drive hardware

    failure

    The alarm still occur when all of that above

    faults have been eliminated

    Send it to distributor or manufacturer for

    overhaul.

    Al003: AD initialization alarm

    Alarm Scenarios

    Inspection

    Troubleshooting

    Drive hardware

    failure

    Check if this fault repeats after power cut

    and restart

    Send it to distributor or manufacturer for

    overhaul.

    Al004: Memory exception alarm

    Alarm Scenarios

    Inspection

    Troubleshooting

    Parameter data

    write exception

    Check if this fault repeats after power cut

    and restart

    Replace the drive

    Store too

    frequently

    Check whether the host device program

    frequently writes to the EEPROM of the

    drive.

    Correct the upper device program, please use

    RAM address for parameters that need to be

    written frequently. The P7 group can be used

    to adjust the address pointing.

    Al005: System parameters exception

    Alarm Scenarios

    Inspection

    Troubleshooting

    Parameters set

    have conflict

    Check the parameters set before the alarm

    Fixed parameter errors

    Al006: AD sampling alarm

    Alarm Scenarios

    Inspection

    Troubleshooting

    Excessive external

    analog sample

    deviation or

    conversion timeout

    Check if this alarm repeats after power cut

    and restart

    Send it to distributor or manufacturer for

    overhaul.

  • Page 100:

    EA180 Series Servo Drive Users Manual

    100

    Al007: Encoder exception 1

    Alarm Scenarios

    Inspection

    Troubleshooting

    Encoder loose

    Check CN5 and encoder connector on drive

    Reinstall

    Encoder wiring

    error

    Check if the wiring of the encoder follows

    the recommended wiring in the instructions

    Ensure correct wiring

    Poor encoder

    wiring

    Check whether the connection between CN5

    on the drive and servo motor encoder is

    good, including whether the shielding layer

    is in good condition.

    Do rewiring

    Encoder is

    damaged

    This alarm still occurs after wiring problems

    are eliminated

    Replace motor

    Al008: Encoder exception 2

    Alarm Scenarios

    Inspection

    Troubleshooting

    Incremental encoder AB

    signal exception

    Same as Al007

    Same as Al007

    Absolute encoder CRC

    check error

    Al009: Encoder Exception 3

    Alarm Scenarios

    Inspection

    Troubleshooting

    Incremental encoder Z

    signal exception

    Same as Al007

    Same as Al007

    Absolute encoder

    communication error

    Al00A: Undervoltage

    Alarm Scenarios

    Inspection

    Troubleshooting

    Input voltage of main

    circuit is lower than the

    allowable value

    Check whether the input voltage

    and wiring of the main circuit are

    normal

    Reconfirm power wiring

    No input voltage in main

    circuit

    Check whether the main circuit

    voltage is normal

    Reconfirm power switch

    Power error

    Check whether the power supply

    conforms to the specification

    required

    Use the correct power supply

    Al00B: Overvoltage

    Alarm Scenarios

    Inspection

    Troubleshooting

    The input voltage of the

    main circuit exceeds the

    allowable value

    Check if the main circuit voltage is

    within the allowable range

    Use the correct power supply

    Power input error

    Check whether the power supply

    conforms to the specification

    required

    Use the correct power supply

    Motor decelerates too fast

    Check if the system inertia is too

    large and decelerates too fast

    Extend deceleration time or use an

    appropriate external braking resistor

    The load inertia is large

    and no braking resistor is

    connected.

    Check if overvoltage occurs at stop

    Install a braking resistor with appropriate

    capacity and resistance value, and set the

    braking resistor parameters correctly.

    Drive hardware failure

    This alarm still occurs when the

    main circuit voltage is within the

    allowable range and the motor is

    not running

    Send it to distributor or manufacturer for

    overhaul.

    Al00C: Software overcurrent

    See the description for Al002

  • Page 101:

    EA180 Series Servo Drive Users Manual

    101

    Al00D / Al00E: Motor overload/drive overload

    Alarm Scenarios

    Inspection

    Troubleshooting

    Continuous use in excess

    of rated load

    1: Monitor whether d0-01 continues to

    exceed 100%

    2: Monitor whether d0-46 continues to

    exceed the rated value

    3: Monitor whether d0-47 ~ 49

    continues to increase

    1: Increase motor capacity or reduce load

    2: Increase drive capacity or reduce load

    Wiring error of motor and

    encoder

    Check U, V, W and encoder wiring

    Ensure correct wiring

    The power line of the

    motor is broken or has poor

    contact.

    1: Check whether the motor power line

    is connected to the drive reliably

    2: Check whether the connection

    between the power line and the motor

    is reliable, especially for the ones using

    plastic connectors.

    1: Fasten the screws to eliminate problems

    such as poor contact and poor cable

    crimping.

    2: Fix the connections so that they will not

    shake or be subjected to external pulling

    force.

    3. Check whether the reeds in the plug are

    deformed or not and correct it.

    Improper setting of control

    parameters

    1: Whether the machine oscillates and

    whether the motor makes abnormal

    noise

    2: The acceleration and deceleration is

    set too rapid

    1: Adjust position and speed gain value

    2: Decrease the acc/dec time

    Drive or motor fault

    Remove the above faults

    Send it to distributor or manufacturer for

    overhaul.

    Al010: Drive overheating

    Alarm Scenarios

    Inspection

    Troubleshooting

    High ambient temperature

    Check whether the ambient

    temperature and humidity are

    within the allowable range

    Improve installation environment

    Drive cooling fan is

    damaged

    Check whether the cooling fan is

    running during operation

    Replace the fan that does not work

    The heat dissipation of the

    servo drive is affected

    1: Check whether the drive

    installation meets the requirements

    2: Check whether the radiator of the

    drive is blocked

    1: Install the drive correctly according to the

    requirements of Chapter 2

    2: Clean up the blockage

    Al012: Overspeed

    Alarm Scenarios

    Inspection

    Troubleshooting

    UVW phase sequence error

    Check if the UVW phase sequence

    is correct

    Do wiring according to correct phase

    sequence

    Improper setting of

    over-speed judgment

    parameters

    Check whether the over-speed

    parameter is set too small

    Correctly set the over-speed parameter

    The speed input command

    has changed dramatically.

    Check whether the input analog

    voltage signal is abnormal

    Adjust the change rate of the input signal or

    adjust the filtering

    The encoder is disturbed

    Whether the wiring layout is

    appropriate and whether the system

    is grounded

    Adjust the wiring layout and ensure reliable

    grounding of the system

    Al013: Position deviation is too large

    Alarm Scenarios

    Inspection

    Troubleshooting

    Position following error

    alarm value is too small

    Confirm whether P1-20 parameter

    is appropriate

    Increase the set value of P1-20

    The pulse command

    frequency is higher than

    the specification.

    Detect the pulse command

    frequency

    Adjust the pulse frequency to be lower than

    the specification.

    Gain value is set too small

    Check if the set value is appropriate

    Set the gain value correctly

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    EA180 Series Servo Drive Users Manual

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    Torque limit is too low

    Confirm the torque limit

    Correctly adjust the torque limit value

    Excessive load inertia

    Calculate the ratio of load inertia to

    motor rotor inertia

    Reduce load inertia or reevaluate motor

    capacity

    Al014: Input phase loss

    Alarm Scenarios

    Inspection

    Troubleshooting

    Main circuit power supply

    is abnormal

    Check L1, L2, L3 power cords for

    loose connection or single-phase

    input only

    If three-phase power supply is connected

    correctly but there is still fault, send the

    device to the distributor or the manufacturer

    for overhaul.

    Drive parameters setting

    error

    Set the single-phase powered drive

    to three-phase powered

    Set parameters correctly

    Al015: Motor phase sequence error

    Alarm Scenarios

    Inspection

    Troubleshooting

    The rotation direction of

    the motor is not consistent

    with the given direction.

    Check whether U, V, W wiring is

    correct

    If the wiring is correct but there is still fault,

    send the device to the distributor or the

    manufacturer for overhaul.

    Al016: Drive exception

    Alarm Scenarios

    Inspection

    Troubleshooting

    Drive parameters setting

    exception

    -

    Check d2-09 ~ d2-10 and drive nameplate and

    make a record, then contact the distributor or

    manufacturer

    Al017: Braking resistor overload

    Alarm Scenarios

    Inspection

    Troubleshooting

    Braking resistor is not

    connected or capacity is

    too small.

    1: Confirm the connection status of

    the braking resistor

    2: Calculate braking resistance

    value

    1: Reconnect the braking resistor

    2: Use an appropriate brake resistor

    Failure of IGBT for

    braking

    Check for damage of IGBT for

    braking

    Send it to distributor or manufacturer for

    overhaul.

    Parameter setting error

    when an external braking

    resistor is connected

    Confirm the setting values of the

    braking resistance (P8-10) and

    braking resistor power (P8-11)

    parameters

    Set parameters correctly

    Al018: Encoder overheating

    Alarm Scenarios

    Inspection

    Troubleshooting

    Absolute encoder

    overheating

    Check whether the ambient

    temperature of the motor is too high

    Reduce ambient temperature or force air

    cooling of motor

    Al019 : Absolute encoder battery low warning

    Alarm Scenarios

    Inspection

    Troubleshooting

    Absolute encoder battery

    voltage is below 3.1 V

    Measure the battery voltage

    Replace the battery (Please replace the battery

    while keeping the encoder well connected to

    the CN5 terminal and the drive is powered on.

    If the battery is replaced when the encoder is

    off, the Al01A alarm will occur when the

    encoder is powered on again.)

    Al01A : Absolute encoder battery low

    Alarm Scenarios

    Inspection

    Troubleshooting

    Absolute encoder battery

    voltage is lower than 2.5 V,

    multi-turn position

    information has been lost.

    Measure the battery voltage

    Replace the battery and manually clear the

    multi-turn fault information through AF-16

    function after power-on, and then power-on

    again.

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    Al01B: Mismatch between drive and motor

    Alarm Scenarios

    Inspection

    Troubleshooting

    Drive does not match the

    motor

    1: Check if the voltage level of the

    motor is consistent with that of the

    drive

    2: Check if the motor code in the

    drive is consistent with that on the

    motor nameplate

    1: Match drive and motor correctly

    2: Enter the motor code correctly

    Al01C: Homing failed

    Alarm Scenarios

    Inspection

    Troubleshooting

    Pb-00 parameter is set too

    small

    Check whether the set value of

    Pb-00 is appropriate

    Increase the value of Pb-00

    External detector or limit

    switch failure

    Check external detectors, limit

    switches and wires

    Remove the fault

    Al01d: Main power supply failure

    Alarm Scenarios

    Inspection

    Troubleshooting

    The power supply of the

    main circuit is cut off.

    Check whether the power supply

    logic is correct

    Adjust the power supply logic or maintain the

    status when it is really necessary to cut off the

    power supply to the main circuit.

    Al01F: System restart

    Alarm Scenarios

    Inspection

    Troubleshooting

    After some operations are

    completed, the drive needs

    to be restarted

    N/A

    Turn off the drive and power it on again

    Al027: UVW shorted to ground alarm

    Alarm Scenarios

    Inspection

    Troubleshooting

    Motor lead UVW shorted

    to ground

    Check motor leads and connectors

    Handle the insulation problem well.

    Insulation damage of

    internal wire package

    occurred in motor

    Check the insulation of motor

    windings

    Send it to the distributor or the manufacturer

    for overhaul.

    Al028: Inertia identification failed

    Alarm Scenarios

    Inspection

    Troubleshooting

    Excessive load inertia

    Check if the load inertia is too large

    Reduce the load inertia or replace with a

    motor with a larger inertia.

    Abnormal mechanical

    connection between load

    and motor

    Check if the load is connected

    correctly to the motor

    Remove mechanical problems

    The number of turns that

    the motor can run is too

    small.

    Check if the number of turns the

    motor can rotate is greater than the

    set value of P8-03

    Adjust P8-03 parameter

    Appropriately increase the set value of P8-02

    P8-03 is set small

    Check if the motor can rotate more

    turns

    Al032: Electronic gear ratio setting range error

    Alarm Scenarios

    Inspection

    Troubleshooting

    Unreasonable setting of

    electronic gear ratio

    Check whether the setting values of

    the parameters related to the

    electronic gear ratio are appropriate.

    Adjust the parameters

    Al033: Input pulse frequency is too high

    Alarm Scenarios

    Inspection

    Troubleshooting

    Input pulse frequency

    exceeds 1MHz

    Check if the input pulse frequency

    is too high

    Adjust the output of the upper device

    Check if there is serious

    interference

    Send pulse signals using qualified twisted pair

    shielded conductors

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    Al034: Analog zero drift correction error

    Alarm Scenarios

    Inspection

    Troubleshooting

    When performing zero drift

    self-learning, the collected

    external voltage exceeds

    2V

    When performing zero drift

    self-learning, whether to set the

    upper device command to 0

    Set the upper device command to 0, and then

    carry out zero drift self-learning again.

    Check if the output voltage exceed

    2V when the command of the upper

    device is 0

    Correct the output of the upper device

    Al038: The relay is not fully engaged

    Alarm Scenarios

    Inspection

    Troubleshooting

    The soft start relay of the

    servo main circuit is not

    fully engaged

    Check if the alarm is eliminated

    after power-on again

    Send it to the distributor or the manufacturer

    for overhaul.

    Al039: Serial encoder line number setting error

    Alarm Scenarios

    Inspection

    Troubleshooting

    The number of serial

    encoder lines is set

    incorrectly by user

    Check related parameters

    Set them correctly The number of lines shall

    be one-fourth of the standard number of lines

    of encoder

    Al040: Write motor encoder EEPROM error

    Alarm Scenarios

    Inspection

    Troubleshooting

    An error occurred while

    writing parameters to the

    motor encoder

    1: Check whether the

    communication protocol of the

    encoder meets the requirements.

    2: Check whether the encoder cable

    is correctly and well connected.

    Re-perform the write operation

    Al041: Read motor encoder EEPROM error

    Alarm Scenarios

    Inspection

    Troubleshooting

    An error occurred while

    reading parameters from

    the motor encoder

    1: Check whether the

    communication protocol of the

    encoder meets the requirements.

    2: Check whether the encoder cable

    is correctly and well connected.

    Re-execute the read operation, if

    unsuccessful, use the motor CODE

    Al042: Read motor encoder EEPROM check error

    Alarm Scenarios

    Inspection

    Troubleshooting

    The parameter read from

    the motor encoder is not

    checked correctly, or no

    parameter is written in the

    encoder.

    1: Check whether the encoder cable

    is correctly and well connected.

    Re-execute the read operation, if

    unsuccessful, use the motor CODE

    Al043: Pulse given direction signal error

    Alarm Scenarios

    Inspection

    Troubleshooting

    When the pulse + direction

    given position command is

    used, the drive detects that

    the direction signal changes

    frequently during the

    power-on and initialization

    process, and the real state

    of the direction signal

    cannot be determined.

    1: Check whether the pulse

    command cable is correctly and

    well connected.

    2: Check whether there is serious

    interference.

    3: Check whether the output of the

    upper device is normal

    1: Take appropriate anti-interference

    measures.

    2: Adjust the setting value of P1-15 to filter

    out interference.

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    8.2 Warning diagnosis and troubleshooting

    When the servo drive gives a warning, the warning information "AlE" will appear on the LED

    display. The occurrence of a warning indicates that the system has detected an abnormality, but the

    motor will not stop running. Please immediately check the cause of the warning and remove the

    problem. The warning display and its handling measures are as follows:

    AlE02: Drive overheating warning

    Warning Scenarios

    Inspection

    Troubleshooting

    High ambient temperature

    Check whether the ambient

    temperature and humidity are

    within the allowable range

    Improve the cooling condition of servo drive

    and reduce the ambient temperature.

    Drive cooling fan is

    damaged

    Check whether the drive cooling

    fan is running during operation

    Replace the fan that does not work

    The installation direction of

    the servo drive or the air

    inlet and outlet of the

    cooling fan are blocked.

    1: Check whether the drive

    installation meets the requirements

    2: Check whether the radiator of the

    drive is blocked

    1: Install the drive according to Chapter 2

    2: Clean up the blockage

    Servo drive is faulty

    Restart after power off for a period

    of time

    If the fault is still reported, replace the servo

    drive

    AlE03: Motor overload warning

    Warning Scenarios

    Inspection

    Troubleshooting

    Motor load reaches the

    motor overload warning

    threshold set by P8-09

    1: Refer to Al00D and Al00E

    2: P8-09 parameter is set too small

    1: Refer to Al00D and Al00E

    2: Appropriately increase the set value of

    P8-09

    AlE04: Drive overload warning

    Warning Scenarios

    Inspection

    Troubleshooting

    Drive load reaches the

    drive overload warning

    threshold set by P8-08

    1: Refer to Al00D and Al00E

    2: P8-08 parameter setting is too

    small

    1: Refer to Al00D and Al00E

    2: Appropriately increase the set value of

    P8-08

    AlE05 : Excessive position deviation warning

    Warning Scenarios

    Inspection

    Troubleshooting

    Position following error

    alarm threshold is too

    small

    Verify that P1-18 parameter is

    appropriate

    Increase the set value of P1-18

    The pulse command

    frequency is higher than

    the specification.

    Detect the pulse command frequency

    Adjust the pulse frequency to be lower than

    the specification.

    Gain value is set too

    small

    Check if the set value is appropriate

    Set the gain value correctly

    Torque limit is too low

    Confirm the torque limit

    Correctly adjust the torque limit value

    Excessive load inertia

    Calculate the ratio of load inertia to

    motor rotor inertia

    Reduce load inertia or reevaluate motor

    capacity

    AlE06: Brake overload warning

    Warning Scenarios

    Inspection

    Troubleshooting

    Braking resistor is not

    connected or capacity is

    too small.

    1: Confirm the connection status of the

    braking resistor

    2: Calculate braking resistance value

    1: Reconnect the braking resistor

    2: Use a braking resistor with appropriate

    resistance value

    Excessive load inertia

    Check whether the total load/rotor inertia

    ratio is appropriate.

    Reduce load inertia or change to a motor

    with larger inertia

    Incorrect parameter

    setting

    Confirm the setting values of the braking

    resistor resistance (P8-10) and power

    (P8-11) parameters

    Set the P8-10 and P8-11 parameters

    correctly

    Check if the brake resistance derating

    percentage (P8-13) is appropriate

    When using an external brake resistor,

    increase the P8-13 set value if the power is

    sufficient

    Check if the deceleration time is too

    short

    Extend deceleration time

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    -PoT-: Forward overrun warning

    Warning Scenarios

    Inspection

    Troubleshooting

    The P-OT terminal is valid

    and the command is

    positive

    Confirm the position of the positive

    limit switch

    1: Release positive limit switch

    2: Give a negative command

    Run beyond the positive

    limit position

    Confirm the current position of the

    motor and the value of P1-26

    Correct the command and P1-26 set value

    Set P1-26 to the maximum value and disable

    its function

    The absolute encoder

    system operate in the

    positive direction beyond

    the allowable number of

    turns and the command is

    positive

    Check if the setting value of P8-05

    is appropriate

    Adjust the set value of P8-05

    Give a negative command

    The servo system is not

    stable enough.

    Confirm the set control parameters

    and load inertia

    Re-correct control parameters or re-evaluate

    motor capacity

    -noT-: Reverse overrun warning

    Warning Scenarios

    Inspection

    Troubleshooting

    The N-OT terminal is valid

    and the command is a

    negative

    Confirm the status of the negative

    limit switch

    1: Release the negative limit switch

    2: Give positive command

    Run beyond the negative

    limit position

    Confirm the current position of the

    motor and the value of P1-28

    1: Correct the command and P1-28 set value

    2: Set P1-28 to the maximum value and

    disable its function

    The absolute encoder

    system operates in the

    opposite direction beyond

    the allowable number of

    turns and the command is

    negative

    Check if the setting value of P8-05

    is appropriate

    1: Adjust the set value of P8-05

    2: Give positive command

    The servo system is not

    stable enough.

    Confirm the set control parameters

    and load inertia

    Re-correct control parameters or re-evaluate

    motor capacity

    AlE09: Warning of write communication parameters to EEPROM too many times (parameters can still be written

    normally after alarm)

    Warning Scenarios

    Inspection

    Troubleshooting

    After this power-on, the

    upper device/PLC/touch

    screen modifies parameters

    too many times.

    Check whether the address used by

    the parameter that needs to be

    changed in real time corresponds to

    the RAM address.

    Use the corresponding RAM address for

    parameters that need real-time change (not

    saved in EEPROM), as described in Section

    9.5. 3 for details.

    AlE0A: Request for power-on again

    Warning Scenarios

    Inspection

    Troubleshooting

    Parameters that are valid

    upon re-power-on are

    changed

    -

    Power on again after the parameter setting is

    completed

    AlE0b: Braking resistor not connected (SIZE B, C models support)

    Warning Scenarios

    Inspection

    Troubleshooting

    Braking resistor not

    connected

    1: Check if the internal braking

    resistor short connector is

    connected (P + and D)

    2: When using an external braking

    resistor, check whether the wiring

    falls off

    3: Check whether the braking

    resistor is normal in power-off state

    After the wire is connected, power on again.

    Replacing braking resistor

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    Chapter 9 Specifications

    9.1 EA180 Servo drive specifications

    Model EA180-

    0R9-1A

    1R6-1A

    2R5-1A

    4R8-2

    A

    6R2-2A

    011-2A

    5R6-3A

    8R5-3A

    013-3A

    017-3A

    022-3A

    028-3A

    Applicable encoder

    2500ppr /wire-saving/standard incremental

    Model EA180-

    0R9-1B

    1R6-1B

    2R5-1B

    4R8-2

    B

    6R2-2B

    011-2B

    5R6-3B

    8R5-3B

    013-3B

    017-3B

    022-3B

    028-3B

    Applicable encoder

    17bit incremental, 23bit absolute

    Frame

    SIZE A

    SIZE B

    SIZE C

    SIZE D

    Rated motor power

    (kW)

    0.05

    0.1/0.2

    0.4

    0.75

    1.0

    1.5

    1.5

    2.0

    3.0

    4.4

    5.5

    7.5

    Rated output

    current (A)

    0.9

    1.6

    2.5

    4.8

    6.2

    11.0

    5.6

    8.5

    13.0

    17.0

    22.0

    28.0

    Powe

    r

    suppl

    y

    Main power

    supply

    50/60Hz

    Single-phase AC 220V±5%

    -

    Three-phase AC 380V ±10%

    -

    Three-phase AC 220V

    Control

    power

    supply

    Single-phase AC 220V±5%

    Single-phase AC 380V ± 10%

    Work

    ing

    condi

    tions

    Temperature

    Working temperature 0-40 °; storage temperature -20~85 °

    Humidity

    Work/storage humidity: ≤ 90% RH (no condensation)

    Altitude

    ≤ 1000 meters

    Vibration

    ≤ 4. 9m/s

    2

    , 10 ~ 60Hz (not allowed to work at resonance point)

    Cooling mode

    Fan cooling

    Control mode

    SVPWM, vector control

    Six control modes

    Speed control, position control, torque control, speed/position control, torque/speed control, position/torque control.

    Front panel

    5 keys, 5 LEDs

    Regenerative

    braking

    Built-in brake unit and resistor, external braking resistor can be used

    Feedback mode

    Supports wire-saving/standard incremental 2500 PPR encoders, 17-bit incremental encoders and 23-bit absolute

    encoders

    Digital I/O

    input

    Servo start, fault reset, position pulse deviation counter clearing, speed command direction selection,

    multi-position/speed switching, internal command trigger, control mode switching, pulse inhibit, positive

    drive inhibit, negative drive inhibit, positive jog, negative jog

    output

    Servo ready, brake output, motor rotation output, zero speed signal, speed approach, speed comparison,

    position approach, position comparison, torque limit, speed limit, warning output, fault output

    Protection function

    Hardware

    Overvoltage, undervoltage, overspeed, overheating, overload, overspeed, encoder failure, etc.

    Software

    Excessive position error, EEPROM failure, etc.

    Alarm data

    tracking function

    Record 4 sets of historical alarm records and related data

    Communication

    function

    Modbus RTU

    Encoder

    signal

    output

    Signal

    type

    A, B, Z differential output, Z signal open collector output, Z signal width can be set

    Resoluti

    on

    Programmable arbitrary frequency division, optional output before or after frequency quadrupling

    Positi

    on

    contr

    ol

    mode

    Maximum

    Input

    Pulse

    frequency

    Differential input mode: 500Kpps

    Open collector input mode: 200Kpps

    Pulse

    command

    mode

    Pulse + sign, AB orthogonal pulse, CW/CCW

    Command

    control mode

    External pulse command

    Command

    smoothing

    mode

    Ladder smoothing for low pass filtering, FIR filtering, multi-position command

    Electronic

    gear ratio

    Electronic gear ratio: N/M times (0.001 < N/M < 64000 = N: 1 ~ 2

    30

    , M: 1 ~ 2

    30

    Position

    accuracy

    ± 1 command pulse

    Spee

    d

    Command

    control mode

    External analog command, digital speed command, multi-speed command, jog command

  • Page 108:

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    108

    contr

    ol

    mode

    Command

    smoothing

    mode

    Low-pass filtering, S-curve smoothing

    Analog

    command

    input

    Voltage range

    -10V ~ 10V

    Input impedance

    10K

    Time constant

    200 µs

    Torque

    limiting

    Digital settings or external analog limits

    Speed ratio

    1: 3000 (2500ppr encoder) 1: 5000 (23bit encoder)

    Minimum speed/rated speed for continuous and

    smooth operation at rated load

    Bandwidth

    Not less than 250Hz (2500ppr encoder), not less than 800Hz (23bit encoder)

    Speed

    volatility

    Load variation (0 ~

    100%)

    Max. 0.1%

    23-bit encoder, when the speed command is rated

    speed,

    (Speed at no load - speed at full load)/rated speed

    Power voltage

    variation ± 10%

    Max. 0.1%

    Ambient temperature

    (0 ~ 50 ℃)

    Max. 0.1%

    Torq

    ue

    contr

    ol

    mode

    Command

    control mode

    External analog command, digital torque command

    Command

    smoothing

    mode

    Low-pass filtering

    Analog

    command

    input

    Voltage range

    -10V ~ 10V

    Input impedance

    10K

    Time constant

    200 µs

    Speed limit

    Digital settings or external analog limits

    Accuracy

    ± 3% (current repetition accuracy)

    9.2 Dimensions of EA180 servo drive

    SIZE A: EA180□-0R9-1□ EA180□-1R6-1□ EA180□-2R5-1□ Outline Dimensions

    CHARGE

    CN4CN5 IN CN3 OUT CN2 CN6

    148

    168

    44

    158+1.5

    5

    44

    5

    2-M4

    Mounting hole machining diagram

    3.2

    (72)

    (19)

    Grounding terminal

    2-M4

    50

    34

    168

    Shape

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    109

    SIZE B: EA180□-4R8-2□ EA180□-6R2-2□ Outline Dimensions

    CHARGE

    CN4CN5

    IN CN3 OUT CN2 CN6

    168

    55

    Grounding terminal

    2-M4

    165

    3.2

    (72)

    (19)

    3-M4

    158+1.5

    45 5

    55

    Mounting hole machining diagram

    168

    5

    63

    Shape

    SIZE C: EA180□-5R6-3□ EA180□-8R5-3□ EA180□-013-3□ EA180□-011-2□ Outline Dimensions

    Grounding

    terminal

    2-M4

    Mounting hole machining diagram

    CN4CN5

    IN CN3 OUT CN2 CN6

    CHARGE

    70 5

    80

    158+1.5

    168

    5

    3-M4

    170

    (73)

    3.2

    80

    168

    69

    Terminal

    12-M4

    L1C

    L2C

    L1

    L2

    L3

    P+

    D

    C

    U

    V

    W

    Shape

    SIZE D: EA180□-017-3□ EA180□-022-3□ EA180□-028-3□ Outline Dimensions

    Mounting hole machining diagram

    CN4CN5

    IN CN3 OUT CN2 CN6

    75 10

    95

    280

    6

    4-M4

    227

    (73)

    95

    250

    Terminal

    13-M4

    L1C

    P+

    C

    U

    V

    W

    Shape

    280

    L2C

    L1

    L2

    L3

    268+1.5

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    9.3 Servo motor specifications

    SER 08 - 0R7- 30 - 2

    F

    1

    A

    Y

    2 3 4 6 75 8 9

    -

    XX

    10

    1

    ① Product series

    ② Motor flange size

    ③ Rated output power

    SER: Standard servo

    motor

    SES: High performance

    servo motor

    04: 40mm

    06: 60mm

    08: 80mm

    09: 86mm

    11: 110mm

    13:130mm

    18: 180mm

    20: 200mm

    005: 50W

    0R1: 100W

    0R2: 200W

    0R4: 400W

    0R7: 750W

    1R0: 1000W

    1R5: 1500W

    2R0: 2000W

    3R0: 3000W

    4R4: 4400W

    5R5: 5500W

    7R5: 7500W

    011: 11kW

    ④ Rated motor speed

    10: 1000rpm

    15: 1500rpm

    20: 2000rpm

    25: 2500rpm

    30: 3000rpm

    ⑦ Inertia type

    A: Low inertia

    B: Medium inertia

    C: High inertia

    ⑤ Voltage level

    2: 220V

    3: 380V

    ⑨ Optional

    ⑧ Axis end

    None: No option

    1: With brake (DC24V)

    2: With oil seal

    3: With a brake and oil seal

    ⑥ Encoder type

    X: Shaft without keyway

    *1

    Y: Shaft with U-shaped

    keyway and screw hole

    *2

    Z: Shaft with double round

    keyways and screw hole

    A: 2500ppr incremental

    B: 17-bit incremental

    F: 23-bit absolute

    G

    *1

    : 2500ppr wire-saving

    encoder

    ⑩ Special specifications

    *1: Non-standard product, not recommended.

    *2: Some varieties may have double round keyways, but except the 130 flange motors, the width and height

    of the key are the same as those of the U keyway. See Chapter 10.

    9.3.1 Common characteristics of servo motors:

    Insulation grade of motor

    F Class

    Insulation withstand voltage

    1500V 60s

    Insulation resistance

    DC500V, above 10MΩ

    Temperature resistance grade of motor

    B

    Protection level

    Fully enclosed self-cooling IP65 (except shaft through part)

    Operating environment

    Ambient temperature 0-40 ° RH 20-80% (no condensation)

    Installation method

    Flange installation

    Rotation direction

    It rotates counterclockwise (CCW) when viewed from the

    load side under the forward rotation command.

    9.3.2 Brake specifications:

    Motor flange

    size

    40

    60

    80

    86

    110

    130

    180

    180

    Rated voltage

    DC 24 ~ 26.4 V

    Static friction

    torque

    0.35 N.m

    2 N.m

    3 N.m

    3 N.m

    10 N.m

    20 N.m

    40 N.m

    80 N.m

    *

    Rated power

    3.5 W ± 7%

    6.3 W ± 7%

    10.4 W ± 7%

    10.4 W ± 7%

    11.6 W ± 7%

    19.5 W ± 7%

    25W ± 7%

    *

    49W ± 7%

    *

    Closing voltage

    18V DCmax

    Release voltage

    1.5 V DCmin

    Standard action

    time

    150ms

    *: For 7.5 KW servo motor only.

    The above 10 elements are not optional, please refer to the selection guide or consult SINEE.

  • Page 111:

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    111

    9.3.3 Servo motor parameter table:

    Servo motor model

    Voltage

    level

    V

    Rated

    power

    W

    Rated

    speed

    rpm

    Maximum

    speed

    rpm

    Rated

    current

    A

    Instantaneous

    max.

    current A

    Rated

    torque

    Nm

    Instantaneous

    max.

    torque Nm

    Torque

    constant

    Nm/A

    Moment of

    inertia

    Kg.cm

    2

    *10

    -4

    Applicable

    drive

    EA180-

    SER06-0R2-30-2□AY□

    AC 220

    200

    3000

    5500

    1.2

    3.6

    0.64

    1.92

    0.53

    0.18(0.18)

    1R6-1□

    SER06-0R4-30-2□AY□

    400

    3000

    4500

    2.3

    6.9

    1.27

    3.81

    0.55

    0.3(0.3)

    2R5-1□

    SER08-0R7-30-2□AY□

    750

    3000

    4500

    4.3

    12.9

    2.4

    7.20

    0.56

    1.01(1.02)

    4R8-2□

    SER08-0R7-20-2□AY□

    2000

    3000

    3.0

    9.0

    3.5

    10.50

    1.17

    1.59(1.6)

    SER08-1R0-30-2□AY□

    1000

    3000

    4000

    4.0

    12.0

    3.2

    10.50

    0.88

    1.59(1.6)

    SER09-0R7-30-2□BZ□

    750

    3000

    4000

    3.4

    10.2

    2.4

    7.20

    0.71

    2.42(2.43)

    SER11-0R6-30-2□BY□

    600

    3000

    4000

    2.5

    7.5

    2.0

    6.00

    0.8

    3.03(3.05)

    2R5-1□

    SER11-1R0-20-2□BY□

    1000

    2000

    2500

    5.0

    15.0

    5.0

    15.00

    1.0

    7.22(7.24)

    6R2-2□

    SER11-1R2-30-2□BY□

    1200

    3000

    3500

    4.9

    14.7

    4.0

    12.00

    0.82

    5.54(5.56)

    SER11-1R8-30-2□BY□

    1800

    3000

    3500

    6.6

    19.8

    6.0

    18.00

    0.91

    8.55(8.57)

    011-2□

    SER13-0R7-20-2□BY□

    750

    2000

    2500

    3.88

    11.6

    3.65

    10.95

    0.94

    6.17(6.19)

    4R8-2□

    SER13-1R0-10-2□BY□

    1000

    1000

    1500

    4.72

    14.2

    9.55

    28.65

    2.02

    17.14(17.16)

    6R2-2□

    SER13-1R0-20-2□BY□

    2000

    2500

    4.72

    14.2

    4.77

    14.31

    1.01

    8.71(8.73)

    SER13-1R0-30-2□BY□

    3000

    3500

    4.96

    14.9

    3.27

    9.81

    0.66

    6.17(6.19)

    SER13-1R5-10-3□BY□

    AC 380

    1500

    1000

    1500

    5.4

    13.5

    14.32

    35.80

    2.65

    25.58(25.6)

    5R6-3□

    SER13-1R5-20-3□BY□

    2000

    2500

    4.1

    10.3

    7.16

    17.90

    1.75

    12.08(12.1)

    SER13-1R5-30-3□BY□

    3000

    3500

    4.2

    10.5

    4.78

    11.95

    1.14

    8.71(8.73)

    SER13-2R0-20-3□BY□

    2000

    2000

    2500

    6.5

    16.3

    9.55

    23.88

    1.47

    17.14(17.16)

    8R5-3□

    SER13-2R0-30-3□BY□

    3000

    3500

    5.8

    14.5

    6.5

    16.25

    1.12

    12.08(12.1)

    SER13-3R0-20-3□BY□

    3000

    2000

    2500

    9.6

    24.0

    14.32

    35.80

    1.49

    25.58(25.6)

    013-3□

    SER13-3R0-30-3□BY□

    3000

    3500

    8.3

    20.8

    9.55

    23.88

    1.15

    17.14(17.16)

    1: The brake is used to keep the motor locked after shutdown and cannot be used for braking.

    2: The 24V power supply for the brake should be provided by the user. The 24V on the drive should never be

    used.

    3: The action time of the brake varies with circuit, please confirm according to the actual product.

    4. Static friction torque is provided by the brake when the motor is static. If there is external impact, the

    motor cannot be guaranteed to be static.

  • Page 112:

    EA180 Series Servo Drive Users Manual

    112

    Note: 1. The value in () is the value with brake;

    2. When oil seal is provided, 10% derating is required.

    3. Rated torque is the continuous allowable torque on aluminum fins of the following sizes and at an ambient temperature of

    40 ℃.

    40, 60, 80 flange motors: 250*250*6mm 90; 110 flange motors: 300*300*10mm ; 130 flange motors: 400*400*15mm

    Servo motor model

    Voltage

    level

    V

    Rated

    power

    W

    Rated

    speed

    rpm

    Maximum

    speed

    rpm

    Rated

    current

    A

    Instantaneous

    max.

    current A

    Rated

    torque

    Nm

    Instantaneous

    max.

    torque Nm

    Torque

    constant

    Nm/A

    Moment of

    inertia

    Kg.cm2*10-4

    Applicable

    drive

    EA180□-

    SES04-005-30-2□AY□

    AC 220

    50

    3000

    6000

    0.6

    1.8

    0.16

    0.48

    0.26

    0.02(0.02)

    0R9-1□

    SES04-0R1-30-2□AY□

    100

    3000

    6000

    1.1

    3.3

    0.32

    0.96

    0.29

    0.04(0.04)

    1R6-1□

    SES06-0R2-30-2□BY□

    200

    3000

    6000

    1.6

    4.8

    0.64

    1.92

    0.44

    0.29

    (0.34)

    1R6-1□

    SES06-0R4-30-2□BY□

    400

    3000

    6000

    2.3

    6.9

    1.27

    3.81

    0.59

    0.56

    (0.61)

    2R5-1□

    SES08-0R7-30-2□BY□

    750

    3000

    5000

    4.0

    12

    2.4

    7.2

    0.653

    1.56

    (1.66)

    4R8-2□

    SES08-1R0-30-2□BY□

    1000

    3000

    5000

    6.0

    18

    3.2

    9.6

    0.538

    2.03

    (2.13)

    6R2-2□

    SES13-0R8-15-2FBY□

    850

    1500

    3000

    6.9

    17

    5.39

    13.8

    1.72

    13.95(16.1)

    011-2B

    SES13-0R8-15-3FBY□

    AC 380

    850

    1500

    3000

    3.5

    8.5

    5.39

    13.8

    1.72

    13.95(16.1)

    5R6-3B

    SES13-1R3-15-3FBY□

    1300

    1500

    3000

    5.4

    14

    8.34

    23.3

    1.78

    19.95(22.1)

    5R6-3B

    SES13-1R8-15-3FBY□

    1800

    8.4

    20

    11.5

    28.7

    1.5

    26.1(28.1)

    8R5-3B

    SES18-2R9-15-3FBY□

    2900

    11.9

    28

    18.6

    45.1

    1.7

    46.0 (53.9)

    013-3B

    SES18-4R4-15-3FBY□

    4400

    16.5

    40.5

    28.4

    71.1

    1.93

    67.5 (75.4)

    017-3B

    SES18-5R5-15-3FBY□

    5500

    20.8

    52

    35

    87.6

    1.8

    89.0(96.9)

    022-3B

    SES18-7R5-15-3FBY□

    7500

    25.7

    65

    48

    119

    1.92

    125.0(133)

    028-3B

    SES18-3R6-20-3FBY□

    3600

    2000

    2500

    9.5

    28.5

    16.7

    50.16

    2.1

    46.0(53.9)

    013-3B

    Note: 1. The value in () is the value with brake;

    2. When oil seal is provided, 10% derating is required.

    3: Rated torque is the continuous allowable torque on aluminum fins of the following sizes and at an ambient temperature of 40 ℃.

    40, 60, 80 flange motors: 250*250*6mm; 90, 110 flange motors: 300*300*10mm;

    130 flange motors: 400*400*15mm; 180 flange motor: 550*550*20mm

  • Page 113:

    EA180 Series Servo Drive Users Manual

    113

    9.4 Servo motor dimensions

    9.4.1 SER series 60, 80, 86 flange servo motor dimensions

    LD

    FA

    Power cable plug

    Encoder cable plug

    KW

    KH KL

    S h7

    LK

    LG

    LZ

    LE

    LH

    FBh7

    L=220

    LT

    4-FD

    FC

    T depth

    Motor

    specifications and

    models

    LD

    (mm)

    FA

    (mm)

    FB

    (mm)

    FC

    (mm)

    FD

    (mm)

    LZ

    (mm)

    LK

    (mm)

    LE

    (mm)

    LG

    (mm)

    LH

    (mm)

    S

    (mm)

    KL

    (mm)

    KH

    (mm)

    kW

    (mm)

    T

    (mm)

    Mass

    (kg)

    SER06-0R2-30-

    2□A□□

    113.5

    (147)

    60

    50

    70

    5.5

    30

    22.5

    3

    8

    44

    14

    11

    5

    5

    M5

    1.01

    (1.40)

    SER06-0R4-30-

    2□A□□

    134

    (168)

    60

    50

    70

    5.5

    30

    22.5

    3

    8

    44

    14

    11

    5

    5

    M5

    1.37

    (1.78)

    SER08-0R7-30-

    2□A□□

    141.5

    (173)

    80

    70

    90

    6.5

    35

    25

    3

    8

    55

    19

    15.5

    6

    6

    M5

    2.47

    (3.33)

    SER08-0R7-20-

    2□A□□

    171.5

    (203)

    80

    70

    90

    6.5

    35

    25

    3

    8

    55

    19

    15.5

    6

    6

    M5

    3.40

    (4.10)

    SER08-1R0-30-

    2□A□□

    171.5

    (203)

    80

    70

    90

    6.5

    35

    25

    3

    8

    55

    19

    15.5

    6

    6

    M5

    3.40

    (4.10)

    SER09-0R7-30-

    2□B□□

    148

    (183)

    86

    80

    100

    6.5

    35

    25

    3

    9

    58

    16

    13

    5

    5

    M5

    3.24

    (3.94)

    9.4.1 SES series 40, 60, 80 flange servo motor dimensions

    FC

    FA

    Tdepth

    KW

    S h6

    LK

    LG

    LZ

    LE

    (LT)

    FBh7

    L=220

    Power cable socket

    Encoder cable socket

    KLKH

    4-FD

    LD

    Brake cable socket

    Motor

    specifications

    and models

    LD

    (mm)

    FA

    (mm)

    FB

    (mm)

    FC

    (mm)

    FD

    (mm)

    LZ

    (mm)

    LK

    (mm)

    LE

    (mm)

    LG

    (mm)

    LT

    (mm)

    S

    (mm)

    KL

    (mm)

    KH

    (mm)

    kW

    (mm)

    T

    (mm)

    Mass

    (kg)

    SES04-005-30-

    2□AY□

    86.5

    (119.5)

    40

    30

    46

    4.5

    25.5

    14

    3

    8

    37

    8

    6.3

    3

    3

    M3

    0.4

    (0.6)

    SES04-0R1-30-

    2□AY□

    100.5

    (133.5)

    40

    30

    46

    4.5

    25.5

    14

    3

    8

    37

    8

    6.3

    3

    3

    M3

    0.47

    (0.67)

    SES06-0R2-30-

    2□BY□

    93.7

    (120.2)

    60

    50

    70

    4.5

    30

    20

    3

    8

    48

    11

    8.5

    4

    4

    M4

    1.01

    (1.40)

    SES06-0R4-30-

    2□BY□

    110.7

    (137.2)

    60

    50

    70

    4.5

    30

    25

    3

    8

    48

    14

    11

    5

    5

    M5

    1.37

    (1.78)

    SES08-0R7-30-

    2□BY□

    122.4

    (150.6)

    80

    70

    90

    6.3

    35

    25

    3

    10

    58

    19

    15.5

    6

    6

    M5

    2.4

    (2.8)

    SES08-1R0-30-

    2□BY□

    136.4

    (164.6)

    80

    70

    90

    6.3

    35

    25

    3

    10

    58

    19

    15.5

    6

    6

    M5

    3.0

    (3.4)

    Note: SES04 motor has only two mounting holes shown in the shadow in the figure.

  • Page 114:

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    114

    9.4.2 SER series 110, 130 flange servo motor dimensions

    FA

    Power cable plug

    Encoder cable

    plug

    T depth 15

    KW

    KL

    S h6

    LK

    LG

    LD LZ

    LE

    LM

    LH

    FB h7

    FC

    FD

    KH

    (LT)

    Motor

    specifications

    and models

    LD

    (mm)

    FA

    (mm

    )

    FB

    (mm

    )

    FC

    (mm

    )

    FD

    (mm

    )

    LZ

    (mm

    )

    LK

    (mm

    )

    LE

    (mm

    )

    LG

    (mm

    )

    LH

    (mm

    )

    LM

    (mm

    )

    LT

    (mm

    )

    S

    KL

    KH

    kW

    T

    Mass

    (kg)

    SER11-0R6-3

    0-2□B□□

    155.5

    (210.5

    )

    110

    95

    130

    9

    55

    31

    6

    9

    -

    107

    176

    19

    15.5

    6

    6

    M6

    3.93

    (5.39)

    SER11-1R0-2

    0-2□B□□

    205.5

    (260.5

    )

    110

    95

    130

    9

    55

    31

    6

    9

    -

    107

    176

    19

    15.5

    6

    6

    M6

    6.42

    (7.88)

    SER11-1R2-3

    0-2□B□□

    185.5

    (240.5

    )

    110

    95

    130

    9

    55

    31

    6

    9

    -

    107

    176

    19

    15.5

    6

    6

    M6

    5.46

    (6.92)

    SER11-1R8-3

    0-2□B□□

    218.5

    (273.5

    )

    110

    95

    130

    9

    55

    31

    6

    9

    -

    107

    176

    19

    15.5

    6

    6

    M6

    7.26

    (8.72)

    SER13-0R7-2

    0-2□C□□

    150

    (205)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    5.20

    (6.90)

    SER13-1R0-1

    0-2□B□□

    215

    (270)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    10.12

    (11.67)

    SER13-1R0-2

    0-2□B□□

    165

    (220)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    6.41

    (7.94)

    SER13-1R0-3

    0-2□B□□

    150

    (205)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    5.31

    (6.89)

    SER13-1R5-1

    0-□□B□□

    265

    (320)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    13.82

    (15.40)

    SER13-1R5-2

    0-□□B□□

    185

    (240)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    7.89

    (9.43)

    SER13-1R5-3

    0-□□B□□

    165

    (220)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    6.40

    (7.96)

    SER13-2R0-2

    0-3□B□□

    215

    (270)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    10.12

    (11.67)

    SER13-2R0-3

    0-3□B□□

    185

    (240)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    7.85

    (9.47)

    SER13-3R0-2

    0-3□B□□

    265

    (320)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    13.81

    (15.34)

    SER13-3R0-3

    0-3□B□□

    215

    (270)

    130

    110

    145

    9

    58

    45

    6

    12

    -

    117

    186

    22

    18

    7

    8

    M6

    10.12

    (11.67)

  • Page 115:

    EA180 Series Servo Drive Users Manual

    115

    9.4.3 SES series 130, 180 flange servo motor dimensions

    Power cable socket

    Encoder cable

    socket

    LG

    LZ

    LE

    FA

    FC

    4FD

    (LT)

    LD

    S h6

    LK

    FN

    LN

    FB h7

    LH

    LM

    T depth

    KL

    KW

    KH

    4-R23

    Brake cable socket

    Motor

    specificatio

    ns and

    models

    LD

    (mm)

    FA

    (mm

    )

    FB

    (mm

    )

    FC

    (mm

    )

    FD

    (mm

    )

    LZ

    (mm

    )

    LK

    (mm

    )

    LE

    (mm

    )

    LG

    (mm

    )

    LH

    (mm

    )

    LM

    (mm

    )

    LT

    (mm

    )

    LN

    (mm

    )

    FN

    (mm

    )

    S

    (mm

    )

    KL

    (mm

    )

    KH

    (mm

    )

    kW

    (mm

    )

    T

    (mm

    )

    Mass

    (kg)

    SES13-0R8

    -15-3FBY□

    150.9

    (183.4)

    130

    110

    145

    9

    58

    27.5

    6

    12

    63.3

    105

    230

    12

    28

    19

    16

    5

    5

    M5

    5.83

    (17.8)

    SES13-1R3

    -15-3FBY□

    166.9

    (199.4)

    130

    110

    145

    9

    58

    28

    6

    12

    63.3

    105

    230

    12

    28

    22

    18.5

    6

    6

    M5

    7.25

    (9.3)

    SES13-1R8

    -15-3FBY□

    184.9

    (217.4)

    130

    110

    145

    9

    58

    29

    6

    12

    63.3

    105

    230

    12

    28

    24

    20

    8

    8

    M5

    8.8

    (10.8)

    SES18-2R9

    -15-3FBY□

    173.3

    (231)

    180

    114.

    3

    200

    13.5

    79

    65

    3.2

    18

    63.3

    135.

    5

    230

    0

    35

    35

    30

    8

    10

    M12

    13

    (19.5)

    SES18-3R6

    -20-3FBY□

    197.3

    (324)

    180

    114.

    3

    200

    13.5

    79

    65

    3.2

    18

    63.3

    135.

    5

    230

    0

    35

    35

    30

    8

    10

    M12

    17.5

    (24)

    SES18-4R4

    -15-3FBY□

    197.3

    (324)

    180

    114.

    3

    200

    13.5

    79

    65

    3.2

    18

    63.3

    135.

    5

    230

    0

    35

    35

    30

    8

    10

    M12

    17.5

    (24)

    SES18-5R5

    -15-3FBY□

    236.3

    (278)

    180

    114.

    3

    200

    13.5

    113

    96

    3.2

    18

    114.

    3

    145.

    5

    230

    0

    42

    42

    37

    10

    12

    M16

    22

    (27.8)

    SES18-7R5

    -15-3FBY□

    282.3

    (324)

    180

    114.

    3

    200

    13.5

    113

    96

    3.2

    18

    114.

    3

    145.

    5

    230

    0

    42

    42

    37

    10

    12

    M16

    29.5

    (35)

    9.5 Overload characteristics of servo motor

    9.5.1 Definition of overload protection

    Overload protection of servo motor is a protection function to prevent motor overheating.

    9.5.2 Reasons for overload of servo motor

    1) The motor runs beyond the rated torque for too long.

    2) The load and motor rotor inertia are too large, and acceleration and deceleration are too

    frequent.

    3) Wrong wiring of motor power line or encoder

    4) Improper gain setting of servo drive causes motor oscillation.

    5) The motor with a brake is operated without enabling the brake.

    9.5.3 The Relationship between servo motor load and running time

    40, 60, 80, 86 flange servo motors

  • Page 116:

    EA180 Series Servo Drive Users Manual

    116

    1000

    100

    10

    1

    10000

    200%150%100% 300%250%

    Operation time (s)

    Load rate

    (output torque/rated torque * 100%)

    Load

    rate

    (%)

    Working hours (S)

    40

    Flange

    motor

    60, 80, 86

    Flange motor

    120

    235.5

    327.3

    140

    31.4

    44.0

    160

    15.7

    22.0

    180

    10.0

    14.0

    200

    7.1

    10.0

    220

    5.4

    7.6

    240

    4.3

    6.0

    260

    3.5

    4.9

    280

    2.9

    4.1

    300

    2.5

    3.5

    110, 130, 180 flange servo motor

    1000

    100

    10

    1

    10000

    200%150%100% 300%250%

    Operation time (s)

    Load rate

    (output torque/rated torque * 100%)

    Load rate

    (%)

    Working hours (S)

    110, 130

    Flange motor

    180

    Flange motor

    120

    471.1

    608.8

    140

    62.9

    81.2

    160

    31.4

    40.6

    180

    20.0

    25.8

    200

    14.3

    18.5

    220

    10.9

    14.1

    240

    8.6

    11.1

    260

    7.0

    9.0

    280

    5.9

    7.8

    300

    5.0

    6.4

DOC-10058435:

Recommended:

DAS 2, the great indoors US38338, 840A, CDMP-327U, GSC870M, VCQFX5600, AE2790/12
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