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Sinee EA180 Series Manual
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EA180 Servo Drive Manual
3
1.1.4
Block
diagram of EA180 servo drive
Operation
panel
CN4
CN2/
CN3
CN1
CN5
M
en
code
r
S
ervo
mo
tor
rect
i
f
i
er
+
P
Ex
tern
a
l
b
r
akin
g
resist
o
r
S
erv
o
d
r
i
v
e
Regenerative tr
e
atm
e
n
t
c
i
r
c
ui
t
IGB
T mo
d
ule
U
V
W
IGB
T d
rive
Pr
otect
i
o
n
ci
rcu
i
t
L1
L2
L3
Cont
r
l.
power
+
15V
+
5V
+
3.3V
+
24V
L1C
L2C
A
/
D
Posi
tion
co
ntrol
Spe
ed
co
ntrol
Cu
rr
en
t
co
ntrol
To
DSP
PW
M
D
SP
CPLD
F
rom
prote
c
t
.
c
ir
cuit
Dat
a
Bus
Ex
tern
a
l
s
p
e
ed
Ex
tern
a
l
to
rq
u
e
Posi
tion
pulse
A
,B,Z
outp
ut
D
i
g
i
t
al
in
put
D
i
g
i
tal o
u
t
p
u
t
Analog output
D
/
A
Cu
rrent
sig
nal
trea
tme
nt
A
/
D
En
code
r si
gnal
trea
tme
nt
D
C
C
ool
i
n
g fan
M
ains
su
pp
ly
1
phase
/ 3
phase
2
2
0
V
,
3
phase
3
80V
RS23
2
RS485
Bui
l
t-i
n
braki
ng
resi
stor
CH
AR
GE
El
e
c
t
rolyt
i
c
c
ap
ac
it
or
W
he
n
1
-pha
se
,
L3 not used
2
4
Table of Contents
Product Information
2
EA180 Servo Drive
2
Description of the Nameplate
2
Model Description
2
Block Diagram of EA180 Servo Drive
3
Servo Motor
4
Servo Drive and Motor Matching Table
5
Cables for Encoders
5
Servo Motor Power Cables / Brake Cables
5
Installation
6
Selection of Braking Resistor
6
Built in Braking Resistor
6
External Braking Resistance Capacity Calculation Formula
6
Wiring
7
Peripherals Connection
7
3-Phase 220VAC/380VAC
7
Main Circuit Terminal Connection
8
The Main Circuit (High Voltage Part) Terminal Description
8
Description of Main Circuit Terminal of Servo Drive
8
Power Connection
8
Power on Timing Sequence
9
Power-On Timing Diagram
9
Three Phase Power Supply Wiring Method (All Series Are Applicable)
9
Servo Motor Power Cable and Servo Motor Connecting Terminal
10
Recommended Specifications for Main Circuit Connection Cables
10
CN5 Encoder Signal Terminal
11
Drive Side Encoder Terminal Definition
11
CN5 Terminal Pin Distribution
11
CN5 Pins Location
11
17/23Bit Incremental/Absolute Encoder Pin#
12
2500Ppr Encoder Pin#
12
CN4 Connector
14
CN4 Pins Location and Definition
14
（DI）Digial Input Function
15
Digital Output Function Definition( DO)
16
Digital Input Terminal Connection
16
Internal 24V Supply
16
External 24V Supply
16
NPN Open Collector Circuit Output Wiring Diagram
17
PNP Open Collector Circuit Output Wiring Diagram
17
Digital Output Terminal Connection
17
Relay Input, the Correct DO Terminal Wiring
17
When the Uppder Device Is Optocoupler Input
18
Optocoupler Input, Correct DO Port Wiring
18
Optocoupler Input, Wrong DO Port Wiring
18
CN4 Analog Input Terminal Wiring
18
Timing Table for Different Command Pulses
19
Pulse Input Time Parameter
19
Position Command Pulse Differential Input Mode
20
Differential Mode Input Pulse Command Wiring Diagram
20
Position Command Pulse Open Collector Input Mode
20
When Using Internal 24V Power Supply
20
External 24V Supply and Internal Current
21
NPN Wiring Method
21
PNP Wiring Method
21
Selection of Current Limiting Resistance R1：
21
Typical Examples of Mis-Connection
22
Servo Drive
22
CN4 Encoder Output Frequency Division Circuit
22
Encoder Frequency Division Output Signal Description
22
Frequency Division Output Wiring Diagram
23
OCZ Terminal Circuit
23
CN2, CN3 Communication Terminal Wiring
23
CN1 Analog Monitoring Output Terminal
24
Brake
24
Brake Signal and Power Cable
24
Brake Sequence
25
Brake Engaged and Disengaged Delay Time
25
Servo Enabled-Off Brake Action Sequence
25
Control Circuit Standard Wiring Diagram
26
Position Control Mode Standard Wiring Diagram
26
Speed Control Mode Standard Wiring Diagram
27
Torque Control Mode Standard Wiring Diagram
28
Control Circuit Wiring Notes
28
Display and Operation
29
Appearance of Display and Buttons
29
Overview of Drive Operating Modes
30
EA180 Servo Drive Has 7 Operating Modes
30
Parameters Monitoring Mode
30
Parameter Setting Mode
31
Changed Parameter Mode
32
Alarm and Alarm Mode
32
Auxiliary Function Mode
33
Auxiliary Function Operation
34
Stored
35
Automatically Clear after Completion
35
Power on Sequence
38
Trial Running
38
JOG Running Parameters Setting
38
JOG Operation
38
Detailed Description of Function Parameters
39
D0-XX Universal Monitoring Parameters
39
Motor Speed
39
Motor Load Ratio
39
DI Input Terminal Status
40
DO Output Terminal Status
40
AI1 Command Voltage Value (after System Processing)
40
Bus Voltage
40
IGBT Module Temperature
41
Total Elapsed Time of the System
41
Brake Load Rate
41
Current Motor Electrical Angle
41
Servo Motor Current Position (Encoder Unit)
42
Positioning Status
42
Multi-Speed Current Execution Segment
42
Multi- Position Current Execution Segment
42
The Run Time at this Failure
43
Servo Drive Type
43
Current Motor CODE
43
Control Mode Selection
43
Position -Torque Switching Mode (Zero Speed)
44
Speed - Position Switch Mode (Immediately)
44
Torque - Speed Mode Switching (Immediately)
44
Rotation Direction
45
Maximum Speed Setting
45
Zero Speed Signal Output Value
45
Rotation Signal Output Value
45
The First Torque Limit Source Selection
46
The First Torque Limit-Forward Maximum
46
Stop Mode Selection
46
The First Torque Limit-Reverse Maximum
46
Enabled OFF-Brake Command Dismissed Delay Time
47
Brake Command Dismissed Speed Value
47
Re-Enabled Condition for each Kind of Stop Mode
47
Servo Enabled on Condition
47
Enable ON-Command Receiving Delay Time
48
Zero Speed Stop Deceleration Time
48
Overshoot Protection Deceleration Time
48
Emergency Stop Deceleration Time
48
Pulse Output Setting Definition
49
The Pulse Number for Every 1 Turn of the Motor
49
Pulse Output Logic Selection
49
Z Pulse Width
49
External Pulse Command Input Mode
50
Command Pulse Number for 1 Turn of the Motor
50
Electronic Gear Ratio Numerator 1
50
Electronic Gear Ratio Denominator
50
External Pulse Command Smooth Filtering Time
51
External Pulse Input High Frequency Filtering Time
51
Example of Pulse Input Signal Filtering
52
Position Deviation Clear External DI Signal Action
52
Position Following Deviation Threshold Alarm
52
Position Following Deviation Alarm Threshold
52
Positioning Proximity Width
53
Positioning Completion Width
53
INP Maintaining Time
53
Positive Limit Position
53
P2-XX Speed Control Parameters
54
Speed Command Source Selection
54
Digital Speed Setting
54
Speed S-Type Acceleration Time T
54
Speed Command Zero Position Fixing Threshold
55
Arrival Speed
55
Speed Consistency Threshold
56
P3-XX Torque Control Parameter
56
Torque Given Command Source Selection
56
Digital Torque Setting
57
Opposite Direction Torque Limit
57
Torque Command Direction Speed Limit Source
57
Torque Consistency Threshold
57
Gain Adjustment Mode
58
Rigidity
58
Semi-Automatic Adjustment Mode (Rigid Table)
58
Auto Tuning Mode
58
Position Loop Gain
59
Speed Loop Gain
59
Speed Loop Integral Time Constant
59
Speed Feedforward Gain
60
Speed Feedforward Filtering Time Constant
60
Speed Feedback Low-Pass Filtering Time Constant
60
The Second Negative Inertia Ratio
60
Low Frequency Rigidity Adjustment Coefficient
61
Control Loop Coefficient
61
Gain Switching Condition
61
Gain Switching Change Time
61
Gain Switching Threshold
62
Second Position Loop Gain Change Coefficient
62
Second Speed Loop Gain Change Coefficient
62
Inhibit Performance Expansion 1
62
Speed Observer Cutoff Level
63
Torque Feedforward Gain
63
Torque Feedforward Filter Time Constant
63
Torque Command Low Pass Smoothing Constant
63
Torque Command Added Value
64
Forward Torque Compensation
64
Reverse Torque Compensation
64
Positive Direction
64
P5-XX Vibration Suppression Parameter
65
Adaptive Filter Mode Setting
65
1St Notch Frequency
65
1St Notch Width
65
3Rd Notch Frequency
66
4Th Notch Frequency
66
Position FIR Filter
66
P6-XX I / O Parameters
67
DI Filter Time
67
DI Level Logic
67
DI1 Function Selection
67
Digital Input (DI) Function Definition Table
68
Dithe Input Is Forcibly Valid
69
DO On-Off Logic
69
DO1 Function Selection
69
DO2 Function Selection
69
Digital Output (DO) Function Definition Table
70
DO1 Effective Delay
70
DO1 Invalid Delay
70
DO2 Effective Delay
70
DO Forced Output
71
AI1 Filter Time
71
AI2 Filter Time
71
AI1 Hysteresis
71
AI1 Offset
72
AI2 Offset
72
AI1 Dead Zone
72
AI2 Dead Zone
72
Parameter Function: Set the Meaning of AO Terminal Output
73
AO1 Gain
73
AO1 Offset
73
AO Direct Output 1
73
Modbus Communication Baud Rate
74
Modbus Communication Data Format
74
Modbus Communication Response Delay
74
P8-XX Extended Function Parameters
75
Jogging Command Execution
75
Auto Tuning Torque Identified by Offline Inertia
75
Absolute Encoder Maximum Number of Revolutions
75
Absolute Encoder Use Method Selection
76
Fan Control
76
Drive Overload Warning Threshold
76
Motor Overload Warning Threshold
76
The Speed of Motor Stall Judgment
77
The Time of Motor Stall Judgment
77
Motor Stall Restriction Torque
77
Function Switch 1
77
Setting≥Instanteneous Power Outage Time
78
Setting＜Instanteneous Power Outage Time
78
Power down Detection Function
78
Position Judgment Relative Command Unit Is Switched to Encoder Unit
78
Internal Torque Limiting
79
External Torque Limit Switching Rate 1
79
External Torque Limit Switching Rate 2
79
Multi-Position Execution Mode
79
DI Terminal Status Corresponding to Multi Segment Position Command
80
Multi-Position Execution Segment Selection
81
Multi-Position Command Reference Setting
81
Range
82
Multi-Position Acceleration Time T
82
Multi-Position Deceleration Time T
82
Multi-Position Command Pr1 Movement Speed
83
Pr1 Stop Time
83
PA-XX Multi - Speed Parameters
84
Multi-Speed Command Execution Mode
84
DI State and Corresponding Multi Speed Command
85
Multi-Speed Execution Number Selection
85
Multi-Speed Command Spd1 Running Speed
86
Multi-Step Speed Command Spd1 Running Time
86
Pb-XX Homing Parameters
87
Zero Return Failure Alarm Time
87
The Homing Starting Mode
87
Homing Mode
88
Origin Detecting Switch
94
Zero Return 1St High Speed Setting
94
Zero Return 2Nd Low Speed Setting
94
Homing Acceleration Time
94
Motor Parameters
95
Warning and Troubleshooting
96
Alarm Diagnosis and Treatment Measures
96
AD Initializing Alarm
96
Abnormality Memory Alarm
96
AI 007: Encoder Error 1
97
Ai 007
97
Ai 009
97
Ai 00B
97
AI010 Drive Is Overheated
98
Ai 012
98
Ai 013
98
Ai 014
98
Al 01A
99
Al 01B
99
Al 01C
99
Al 01D
99
Analog Zero Drift Error Correction
100
Drive Overheating Warning
100
Motor Overload Warning
100
Drive Overload Warning
100
Communication Parameters Written/Storage Times in EEPROM Are too Many
101
Requied to Power on Again
101
Positive over Travel Warnings
101
Negative over Travel Warnings
101
Specification
102
EA180 Servo Drive Specification
102
Dimension of EA180 Servo Drive
103
Motor Model Specification
103
The Common Features of the Servo Motors
104
Brake Specifiction
104
Servo Motor Parameters
104
Servo Motor Dimensions
106
40 Flange Servo Motor
106
60 Flange Servo Motor
106
80 Flange Servo Motor
106
110 Flange Motor, Installation Sizes In: MM
107
130 Flange Servo Motor
107
LD Sizes Vary with Different Models
107
180 Flange Servo Motor
108
Relation between Servo Motor Load and Operation Time
108
Servo Motor Overload Characteristic
108
Overload Protection Definition
108
Load Rate
109
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Sinee EA180 Series Specifications
General
Brand
Sinee
Model
EA180 Series
Category
Servo Drives
Language
English
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