Maxsine

EP100 AC SERVO
QuickGuide

Maxsine Electric Co.,Ltd

1.1 Standard wiring

Position control

Maxsine SERVOMOTOR
EP100(B) SERVO DRIVER
PE 2
U
V 3
R 4
3 Phase W
AC220V S 1
PE
T
CN2 4 Pins Connector
NFB MC For Motor Power
r 14 5V

t 15 5V
CN1
16 5V
DC COM+ 18
17 5V
12~24V
4.7k
18 0V
Servo ON(Enabled) SON 10
19 0V
Alarm Clear ALRS 11
20 0V 2
CCW Drive Inhibition FSTP 12
21 0V 3
CW Drive Inhibition RSTP 13
1 A+ 4
Deviation Counter Clear CLE 14
26LS32 2 A- 7
Command Pulse Inhibition INH 15 Receiver
3 B+ 5
CCW Torque Limit FIL 16
4 B- 8
CW Torque Limit RIL 17
5 Z+ 6

CN1 6 Z- 9
SRDY+ 8
7 U+ 10
Servo Ready
SRDY- 25
8 U- 13
ALM+ 26
9 V+ 11
Servo Alarm
ALM- 27
10 V- 14
COIN+ 28
11 W+ 12
Positioning Completed
COIN- 29
12 W- 15
BRK+ 30
22 0V 1
Mechanical Brake Release
BRK- 31
23 0V
15 Pins Connector
CN1 26 FG For Optical Encoder
PULS+ 32
Position Command
PULSE PULS- 33 CN1
220
SIGN+ 34 1 OA+ A
Position Command A
SIGN SIGN- 35 2 OA- A
220
3 OB+ B

FG 36 B Output Signals
4 OB- B of Encoder
26LS31
Driver 5 OZ+ Z
Z
Ground of 6 OZ- Z
Metal Case

9 GND GND Ground of

Encoder Signal
7 CZ Z Z Signal of Encoder
(OC Output)

Picture 1.1 Standard wiring for position control

2
1.2 Terminal disposition for interface

Figure 3.1 is the disposition chart of terminal connector CN1 for the servo driver. CN1 is
the connector with 36 cores. Figure 3.2 is the disposition chart of terminal connector CN2 for
the servo driver. CN2 is the connector with 26 cores.

18 16 14 12 10 8 6 4 2

17 15 13 11 9 7 5 3 1

36 34 32 30 28 26 24 22 20

35 33 31 29 27 25 23 21 19

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

12 10 8 6 4 2

13 11 9 7 5 3 1

25 23 21 19 17 15

26 24 22 20 18 16 14

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

1.3 Input/output interface type

1.3.1 Switch value input interfaces

z The range of external DC power supply is 12~24V, and the minimum input current is
100mA .
z Inverting the polarity of DC power source, which is provided by the user, can cause the servo
driver damage.
1.3.2 Switch value output interfaces

VCC
Relay Servo amplifier
8
max 25V
26
28 Max Output 50mA
30

25
27
Ground
28
29

Relay connection
VCC
max 25V
Servo amplifier
8
26
28 Max Output 50mA
30

25
27
Ground
28
29

Photo-coupler connection

z The outputs use Darlington photo-coupler. It can be connected with relay, photo-coupler.
z Inverting the polarity of DC power source, which is provided by the user, can cause the servo
driver damage.
z Open-collector circuit is used to transfer the outputs signal. the maximum current is 50mA,
the maximum voltage of external DC power supply is 25V. loads of the output signal should
be limited in that range, if not or directly connect to the power, can cause the servo driver
damage.
z When using relay like inductive loads, a free-wheel diode must be connected with the inductive
load in parallel. If the diode connects in wrong direction can cause damage to the output circuit.
z Owing to the low level of output is approximately 1V and cannot satisfy the TTL low-level
request, therefore cannot directly connect with the TTL circuit.

4
1.3.3 Pulse interfaces

z The differential input connection is recommended for a correct transfer.

z The RS422 driver(e.g AM26LS31、MC3487) is used to make the differential connection.
z The action frequency will be fall down under a single connection. Base on the input circuit,
the driver current is in the range of 10~15mA , the maximum voltage of external DC power
supply is 25V, the R value will be got, Experience data:VCC=24V, R=1.3~2k; VCC=12V,
R=510~820Ω; VCC=5V, R=82~120Ω.
z Under the single connection, inverting the polarity of DC power source, which is provided by the
user, can cause the servo driver damage.
z The input mode、timing and parameters of the pulse are shown below, the arrow indicates the
counting edge. When use the mode of A、B phase, the maximum of the four times the frequency
is 500kHz.

Input pulse mode

5
Pulse waveform of position command Parameter demand
Differential Single end
tck>2μs tck>5μs
th>1μs th>>2.5μs
tl>1μs tl>>2.5μs
trh<0.2μs trh<0.3μs
trl<0.2μs trl<0.3μs
ts>1μs ts>2.5μs
tqck>8μs tqck>10μs
The maximum frequency is 500kHz tqh>4μs tqh>5μs
tql>4μs tql>5μs
tqrh<0.2μs tqrh<0.3μs
tqrl<0.2μs tqrl<0.3μs
tqs>1μs tqs>2.5μs

The maximum frequency is 500kHz

The maximum frequency is 125kHz

Input pulse timing and parameters

6
1.3.4 Encoder signals output interfaces

z The encoder signals is transferred through the differential driver (e.g AM26LS31).
z On the host controller uses AM26LS32(or equivalent) to make the receiver, must connect the
terminal resistance, the value is about 330Ω;
z Encoder signal (GND) of servo driver must connect with the ground terminal on host
controller.
z No isolation output.
z The high-speed photo coupler (e.g. 6N137) can also be used on the host controller to make the
receiver.

7
1.3.5 Open-collector output of encoder Z signal

z The Z signal of encoder is transferred through the open-collector circuit, it output ON(Turn on)
when the Z signal appears or OFF(Turn off) when there is no Z signal appears.
z No isolation output.
z Because the width of the Z pulse is narrow, please use a high-speed photo-coupler to receive it
on the host controller.

1.3.6 Photoelectric encoder input interfaces of servomotor

1.4 Parameter table

The default value in the next table take 110ST-M02030 (matches the EP100-2A drivers the
example. the parameter “*” symbol is possibly dissimilar in other models.
Table 4.1 User parameter table
Ordinal Name Usage Range Default Unit
0 Password P，S，T 0~9999 315
1 Identity code of servo driver P，S，T 0~51 30*
2 Software version (read only) P，S，T * *
3 Status of initial display P，S，T 0~21 0
4 Control mode selection P，S，T 0~6 0
5 Proportional gain of speed loop P，S 5~2000 150* Hz
6 Integral time constant of speed loop P，S 1~1000 20* ms
7 Filter of torque P，S，T 20~500 100 %
8 Filter for speed detection P，S 20~500 100 %

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Ordinal Name Usage Range Default Unit
9 Proportional gain of position loop P 1~1000 40 1/s
10 Feed forward gain of position loop P 0~100 0 %
11 Cut-off frequency of feed forward P 1~1200 300 Hz
filter for position loop
12 Numerator of frequency divider for P 1~32767 1
position command pulse
13 Denominator of frequency divider P 1~32767 1
for position command pulse
14 Input mode of position command P 0~2 0
pulse
15 Reversing direction of position P 0~1 0
command pulse
16 Positioning completed range P 0~30000 20 pulse
17 Position deviation limit for error P 0~30000 400 ×100
detection pulse
18 Neglect excessive position deviation P 0~1 0

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

20 Neglect drive inhibition inputs P，S，T 0~1 0
21 JOG running speed S -3000~3000 120 r/min
22 Internal/external speed command S 0~2 1
selection
23 Maximum speed limit P，S，T 0~4000 3600 r/min
24 Internal speed 1 S -3000~3000 0 r/min
25 Internal speed 2 S -3000~3000 100 r/min
26 Internal speed 3 S -3000~3000 300 r/min
27 Internal speed 4 S -3000~3000 -100 r/min
28 Arrival speed S 0~3000 500 r/min
29 Input gain of analog torque T 10~100 30 0.1V/100
command %
30 Alarm level of torque overload P，S，T 1~300 300 %
31 Detection time for torque overload P，S，T 0~32767 0 ms
alarm
32 Permission of control mode P，S，T 0~1 0
exchange
33 Inversing direction of analog torque T 0~1 0
command

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Ordinal Name Usage Range Default Unit
34 Internal torque limit in CCW P，S，T 0~300 300* %
direction
35 Internal torque limit in CW direction P，S，T -300~0 -300* %
36 External torque limit in CCW P，S，T 0~300 100 %
direction
37 External torque limit in CW P，S，T -300~0 -100 %
direction
38 Trial running in speed mode; Torque S 0~300 100 %
limit in JOG operation
39 Zero offset compensation of analog T -2000~2000 0
torque command
40 Acceleration time constant S 1~10000 0 ms
41 Deceleration time constant S 1~10000 0 ms
42 S-curve acceleration/deceleration S 1~1000 0 ms
time constant
43 Gain of analog speed command S 10~3000 300 (r/min) /
V
44 Reversing direction of analog speed S 0~1 0
command
45 Zero offset compensation of analog S -5000~5000 0
speed command
46 Time constant of filter for analog S 0~1000 300 Hz
speed command
47 Action setting for electromagnetic P，S，T 0~200 0 ×10ms
brake when servomotor is in
standstill
48 Action setting for electromagnetic P，S，T 0~200 50 ×10ms
brake when servomotor is in motion
49 Action speed for electromagnetic P，S，T 0~3000 100 r/min
brake when servomotor is in motion
50 Speed limit in torque control T 0~5000 3600* r/min
51 Electronic gear is available in P 0~1 0
dynamic
52 Second numerator of frequency P 1~32767 1
divider for position command pulse
53 Bottom four bits control word for P，S，T 0000~1111 0000 Binary
forcing the input terminal to be ON

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Ordinal Name Usage Range Default Unit
54 Top four bits control word for P，S，T 0000~1111 0000 Binary
forcing the input terminal to be ON
55 Bottom four bits control word for P，S，T 0000~1111 0000 Binary
inversing the terminal input signal
56 Top four bits control word for P，S，T 0000~1111 0000 Binary
inversing the terminal input signal
57 Control word for inversing the P，S，T 0000~1111 0000 Binary
terminal output signal
58 Time constant of input terminal for P，S，T 1~1000 16 0.1ms
removing the effect of vibrating
contact
59 Demonstration operation P，S 0~1 0

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1.5 Alarm table

Table 5.1 Alarm table

Alarm code Alarm name Alarm content
-- Normal
1 Over speed Servomotor speed exceeds the speed limit.
2 Over voltage of the The voltage of the main power supply exceeds the
main power supply specified value.
3 Under voltage of the The voltage of the main power supply exceeds the
main power supply specified value.
4 Position deviation The counter of position deviation exceeds the
exceeds the limit value setting limit value.
5 Servomotor over heat The temperature of servomotor is too high
6 Saturation fault of the The speed regulator is in saturation status for a long
speed amplifier time
7 Drive inhibition is CCWL、CWL the inputs of drive inhibition are
abnormal OFF.
8 Overflow of position The absolute value of position deviation counter
deviation counter exceeds 230
9 Encoder signal fault Lack of the signals of encoder
10 Under voltage of The voltage of control power supply is too low.
control power supply
11 IPM model fault IPM intelligent model fault
12 Over current Over-current of servomotor
13 Overload Overload of servomotor and servo driver
(instantaneous over heat)
14 Brake fault Fault occurs in brake circuit
15 Encoder counter error Encoder counter is abnormal.
16 Over-heat of The heat load of servomotor exceeds the setting
servomotor value (I2t detection)
17 Speed response fault Speed deviation is too big for a long time
19 Over heat reset System was reset by over heat fault
20 EEPROM error EEPROM is in error
21 U4 error U4 is in error
22 Reserved
23 U6 chip error U6 chip or current sensor is in error
29 Over torque alarm The torque of servomotor exceeds the setting value
and sustained time
30 Lost Z signal of encoder Z signal of encoder is loss.
31 UVW signals error of The UVW Signals error or pole number does not
encoder match with the servomotor
32 Illegal code of encoder UVW signals are all high level or low level
UVW signals
1.6 Display and button operation

The front panel consists of the display (6-digit, 7-segment LED) and four switching buttons
( ↑、↓、←、Enter ). It is used for display the system status, parameter setting and so on. Operation
is executed in layer. ← and Enter button expresses the layer going backward and forward
respectively; The Enter button has the meaning of enter, confirm. The ← button has the
meaning of exit, cancel. The ↑ and ↓ button expresses increase and decrease of serial
number or value size respectively; if press down and hold the ↑ or ↓ button，then has the
effect of repeat for doing so; And the longer of holding the higher of repeat rate.
If 6 LED digit or decimal point of the most right side LED digit is twinkling, shows that
any alarm occurs. If the POWER lamp lit indicates that the main power supply is on. If the RUN
lamp has lit, indicates that the servomotor is in motion.

Maxsine

EP100 Series
AC Servo Amplifier Power

Run

Enter

Picture 6.0 Front panel

1.7 First layer

Use the first layer to select the operation mode, There are seven operation mode can be
selected by using ↑ or ↓ button，Then press down the Enter button for entering the second
layer that has selected. After that if press down the ← button, then return to the first layer
again.

Picture 7.0 Diagram of operation mode selection

1.8 Second layer

1.8.1 Monitor mode

If has chosen the monitor mode “dP-@@@” in the first layer, Press the Enter button to enter
the monitor mode. There is twenty one monitor’s status. Use ↑ and or ↓ button to select the
needing monitor's status; Press the Enter button again to enter the concrete display condition.

dp-spd Motor speed(r/min) r 1000 Motor speed 1000r/min

dp-pos Bottom 5 digits of current position (pulse) p45806 Current position 1245806
Top 5 digits of current position pulses
dp-pos. (x100000 pulse) p. 12
dp-[po Bottom 5 digits of current command (Pulse) [45810 Position command 1245810
Top 5 digits of current command pulses
dp-[po. (x100000Pulse) [. 12
dp-epo Bottom 5 digits of current deviation (Pulse) e 4
Position deviation 4 pulses
Top 5 digits of current deviation
dp-epo. (x100000Pulse)
e. 0
dp-trq Motor torque(%) t 70 Motor torque 70%

dp- i Motor current(A) i 2.3 Motor current 2.3A

Enter
dp-lsp Linear velocity(m/min) l 5.000 Linear velocity 5.000m/min

dp-[nt Current control mode [nt 0 Control mode 0

Pulse frequency of position
dp-frq Pulse frequency of position command(kHz) f 12.6 command 12.6kHz

dp- [s Speed command(r/min) r. -35 Speed command -35r/min

dp- [t Torque command(%) t. -20 Torque command -20%

dp-apo Absolute position of rotor in one turn(Pulse) a 3265 Absolute position of rotor 3265

dp- in Status of input terminal In!!!! Input terminal

dp-out Status of output terminal out !! Output terminal

dp-[od Input signals of encoder [od!!! Input signals of encoder

dp- rn Operation status rn- on Operation status: in running

dp-err Alarm code err 9 Number 9 alarm

dp-res Factory reserve u 0 Factory reserve

Picture 8.0 Diagram of monitor mode operation

1.8.2 Parameter setting
If has chosen the parameter setting mode “PA-@@@” in the first layer, Press the Enter
button to enter the parameter setting mode. Use ↑ and or ↓ button to select the number of
parameter. Press the Enter button to display the value of selected parameter. Use ↑ and ↓
button to be able to modify the parameter value. Press ↑ (or ↓ ) button once to increase ( or
decrease) the parameter value by one. Pressing down and hold the ↑ ( or ↓ ) button, the
parameter can increase ( or decrease) continuously. When the parameter value is modified, the
decimal point on the most right sides LED is lit. Press Enter to confirm the parameter value to
be effective, meanwhile the decimal point is turned off. The modified parameter value is
immediately active to influence on the control. Hereafter pressing ↑ or ↓ button can
continue to modify the parameter. After finishing modification of parameter, press the ←
button to return to the parameter number selection. If the value of the parameter is not satisfied,
do not press the Enter button and can press ← button to cancel and to resume the original
parameter value and to return to the parameter number selection.

Picture 8.1 Diagram of parameter setting operation

1.8.3 Parameter management
Choose the parameter management mode “EE-@@@” in the first layer. Press the Enter
button for entering the parameter management mode in which operation is performed between
the parameter list and the EEPROM.
There are five operation modes. First use ↑ and or ↓ button to select an operation
mode. Take “parameter write in” as the example, select “EE-Set” and then pressing down
and hold the Enter button at least three seconds to active the writing operation mode. The
“StArt@” is displayed in the front panel indicating that the parameter is writing into
EEPROM. Waiting for about 1 to two second, if the writing operation is successful, then the
“FInISH” will display, if it is fail the “Error@” will display. After finished the operation
and then press the ← button for returning to the operation mode selection.
EE-SEt Parameter write
This operation indicates that the parameter in parameter list will write to EEPROM.
The user has made change to a parameter. This only change the value of the parameter in
parameter list, but in the next time when the power supply is on the parameter will restore its
original value. Making permanent change to a parameter value, it is the need to carry out the
parameter write operation and write the parameter to EEPROM, in later when the power
supply is on and will be able to use the parameter.
EE-dEF Resume default value
This operation indicates that each default value of all the parameters will read and
write to the parameter list and EEPROM. For the next time when power supply is on the
default parameters will be used by now. When many parameters become confusion and
cause abnormal operation, it is necessary to carry out this operation for resuming the
default parameters. There are different default parameters for different servo driver model
and the servomotor model. Therefore, before doing this operation the servo driver code
(Parameter P001) and the servomotor code (Parameter P002) must be selected correctly.

Parameters
ee-set wirte in
Operation success
Parameters Press down and
ee- rd read out hold for 3 second finisk
ee- ba Parameters start
backup

Resume
error
ee- rs backup Operation fail

Resume
ee-def default value

Picture 8.2 Diagram of parameter management operation

1.9 Operation of position control mode with simple wiring

Wiring
According to the picture 7.8 make the wiring carefully.
z The main circuit terminal R、S and T connect with three phase AC 220V power supply.
z The terminal ‘r’ and‘t’ of control power supply connect with single phase AC 220V power
supply.
z The output terminals(U,V,W) must be connected with the servo motor connections(U,V,W)
correspondently, otherwise the servo motor will stop or over speed.
z Using the encoder connector CN2 connect the servo driver with the servomotor.
z Using the control signal connector CN1 connect other wiring according to the drawing.

Maxsine SERVOMOTOR
EP100(B) SERVO DRIVER
PE Motor
U 2

V 3
R 4
3 Phase W
AC220V S 1
PE
T
CN2 4 Pins Connector
NFB MC For Motor Power
r 14 5V

t 15 5V
CN1
16 5V
DC COM+ 18
17 5V
12~24V
4.7k
18 0V
Servo ON(Enabled) SON 10
Optical Encoder
19 0V

20 0V 2
SRDY+ 8 21 0V 3
Servo Ready
SRDY- 25 1 A+ 4

26LS32 2 A- 7
Receiver
PULS+ 32 3 B+ 5
Position Command
PULSE PULS- 33 4 B- 8
220
SIGN+ 34 5 Z+ 6
Position Command
SIGN SIGN- 35 6 Z- 9
220
7 U+ 10

Ground of 8 U- 13
Encoder Signal GND GND 9
9 V+ 11
Z Signal of Encoder Z CZ 7
(OC Output) 10 V- 14

11 W+ 12

12 W- 15

22 0V 1
FG 36
23 0V
15 Pins Connector
26 FG For Optical Encoder

Ground of
Metal Case

Picture 9.0 Simple wiring diagram of position control mode

Operation
z Turn on the control power supply and then the main power supply. The display of the
front panel is lit. The POWER indicating LED is lit.
z Set parameters according to the table below：
Number of explanation Setting value Default value
parameter
PA4 Control mode 0 0
selection
PA12 Numerator of By user 1
electronic gear setting
PA13 Denominator of By user 1
electronic gear setting
PA19 Smooth filter for 0 0
position command
PA20 Neglect drive 1 0
inhibition inputs
z Confirming that there is neither any alarm nor any unusual situation, the servo enable
(SON) signal is given, then the RUN indicating LED lit and the servomotor is active at
zero speed state by now. Send low frequency command pulse from the host controller to
the servo driver and make the servomotor running under low speed.