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Dorna EPS-EB Series User Manual
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16
3.2.2 Speed/tor
que contr
ol wiring dia
grams
OZ
+
OZ
-
13
29
FG
20
21
24
22
S_
ON
S_
ON
Ser
vo al
arm
Co
n
n
ec
t
enclo
su
re
Sh
ield wi
r
e
A_
C
LR
CC
WL
En
coder
feed
b
a
ck
s
i
g
n
a
l
o
u
t
p
uts
Z
OB
+
OB
-
15
14
OA
+
OA
-
44
30
A
Ph
ase pu
lse ou
tput
B
19
CWL
CCW
Prohi
b
ited
S
e
rv
o
D
ri
v
e
H
andl
e
sh
i
el
d
w
i
r
e stubs
p
roper
l
y
Pow
e
r
Brak
e
En
coder
BRK
24
V
5V
G
ND
U
VW
A
B
Z
R
S
T
L
1
L
2
MC
MCCB
AC
220
V
Three pha
s
e
50
/
60
HZ
CN
2
RS
4
8
5
+
16
RS
4
8
5
-
17
CAN
H
41
CAN
L
42
26
23
ZER
O
SP
D
C_
M
ODE
CN
2
COM
-
A_
CLR
Zero s
p
e
ed
cl
amp
EM
G
S
CW
Pr
o
h
i
b
i
t
ed
Co
ntrol
mod
e
sw
i
t
ch
25
,
40
ZS
P
TLC
COI
N
ZO
BRK
_
O
FF
A
LM
S_
RDY
Ser
vo r
ea
dy
Brak
e
r
elease
Z
Sig
nal o
u
t
p
u
t
Spe
ed
reac
h
ed
To
rqu
e
r
ea
ch
e
d
Zer
o
sp
e
ed
d
etect
ed
CN
3
W
V
U
PE
4
5
7
8
3
27
28
3K
0
V
DC
12
~
24
V
Co
mmo
n
pow
er
su
p
p
l
y
Co
mmo
n
g
round
term
i
n
a
l
COM
+
Spe
ed
r
e
f
eren
c
e
±
10
V
2K
34
T
-
REF
32
AG
ND
±
10
V
2K
33
S-
REF
32
AG
ND
L
FC
A
/
D
L
FC
A
/D
To
rqu
e
ref
e
r
ence
CN
2
H
andl
e
sh
i
el
d
w
i
r
e tubs p
r
ope
rly
No
tes
:
o
p
tic
al
c
o
u
pl
e
r
outpu
t
M
aximum
volt
a
g
e
:
DC
30
V
DC
50
mA
M
ax
im
um
curr
ent
Ph
ase
p
uls
e
ou
tp
u
t
Ph
ase
p
uls
e
ou
tp
u
t
15
17
Table of Contents
default chapter
2
Safety Notice
2
Table of Contents
3
Chapter Idimensions
5
Installation Direction and Space
5
Dimensions of Servo Drivers
6
60/80 Series Servo Motors
7
Dimensions of Servo Motors
7
110 Series Servo Motors
8
130 Series Servo Motors
9
Appearance and Signal of CN3 Terminal
10
Chapter II Wiring
10
Connector and Terminal of Servo Driver
10
Appearance and Signal of CN2 Terminal
11
Motor Encoder Terminal Appearance and Signal
13
Wiring at Motor Side
13
Motor Power Terminal Appearance and Signal
14
Position Control Wiring Diagrams
15
Standard Wirings
15
Speed/Torque Control Wiring Diagrams
16
Chapter III Control & Operation
17
Control Mode Selection
17
Control Signals
18
Input Signals
18
Output Signals
20
Chapter 4 Monitoring and Operations
22
Panel Operator
22
Mode Switch
22
Monitoring Functions
23
Chapter 5 Troubleshooting
24
Errors
24
Chapter 6 Parameters
27
Parameters
27
Basic Parameters
27
Function Selection Parameter
27
Gain & Filter Parameters
28
Position Control Parameters
30
Speed Control Parameters
31
Torque Control Parameters
31
I/O Parameters
32
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Dorna EPS-EB Series Specifications
General
Brand
Dorna
Model
EPS-EB Series
Category
Controller
Language
English
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