Sinee EA100-010-2A, User Manual

Page 1: ...hich can be widely used in the numerically controlled machine tools printing and packaging machinery textile machinery robot automatic production line and other automation fields Since SINEE is commit...

Page 2: ...ider the installation space for cooling purpose when servo drive is installed in a closed cabinet or space Wiring Danger 1 1 Wiring must be performed by authorized and qualified personnel so as to avo...

Page 3: ...ircuit automatically Therefore do not touch wiring terminal U V or W of servo drive or the wiring terminal of the motor with bare hands otherwise it will result in electric shock Caution 1 1 If you ne...

Page 4: ...induction lightning stroke on a certain degree Additional protection devices are required in front of servo drive in the places where thunder and lightning occur frequently Altitude and Derating When...

Page 5: ...38 5 1 Drive power on 38 5 2 Trial running 38 5 3 Servo enable method 38 5 4 Speed control mode 39 5 5 Torque control mode debugging steps 40 5 6 Gain parameter adjustment strategy 40 6 Function Param...

Page 6: ...amaged in transportation Any loosened screws or other fastening parts Check with a screw driver if necessary If you find any quality problem please contact SINEE Direct Sale Department or the distribu...

Page 7: ...rs to as follows Type Control mode and function parameter Display Specification Single mode Position mode P1 00 1 P Drive accepts position command to control motor Running at target position Position...

Page 8: ...Below 4 9m s Impact Below 49m s Elevation Below 1000m please derating above 1000m 2 3 2 SER series servo motor using ambient conditions Item Description Ambient humidity Relative humidity20 80 no cond...

Page 9: ...diagram Item Description Anti rust solution Wipe clean servo motor shaft extension ends of the anti rust agent before installation and then do the relevant anti rust treatment Encoder note Installati...

Page 10: ...d one side of the encoder cable the encoder may be fault caused by the potential difference between the PE The connection please confirm the correct pin arrangement The connector is made of resin Do n...

Page 11: ...00W 50W 45 EA100 018 3B 40 200W 90W 30 EA100 021 3B 40 200W 90W 30 EA100 026 3B 40 200W 90W 25 2 7 2 External brake resistance capacity calculation When the retrogradation capacity exceeded retrograda...

Page 12: ...drive according to the contents of the manual installation and wiring still need to pay attention to the followings 1 Servo drive and EMI filter must be installed on the same piece of well grounded me...

Page 13: ...mode 5 In parameter group selection mode pressing left key the flashing character shift left It is easy to choose parameter group number Press SET key to enter parameter code selection mode press MOD...

Page 14: ...escribe P0 00 Press SET key to display the motor speed P0 01 Press SET key to display the motor load rate P0 02 Press SET key to display current electric angle P0 30 Press SET key to display received...

Page 15: ...prevent electric shock of servo system please put a fuse or molded case circuit breaker in the input power supply 2 Do not install electromagnetic contactor between the drive and the motor which can...

Page 16: ...phase 380V input P D C External braking resistor connection terminals Default connection between D and P When the braking is insufficient please keep P D circuit open and connect an external braking r...

Page 17: ...servo ready signal SRDY will be valid then it can accept the servo enable S ON signal When detecting the servo enable signal is valid the motor will be activated and running When detecting the servo...

Page 18: ...onnection Model L1C L2C L1 L2 L3 P C U V W PE EA100 2R8 2 0 5mm2 1 0mm2 1 0mm2 1 0mm2 2 5mm2 above EA100 5R5 2 EA100 7R6 2 2 0mm2 2 0mm2 2 0mm2 EA100 010 2 EA100 5R4 3 1 0mm2 1 0mm2 1 0mm2 EA100 8R4 3...

Page 19: ...erminal welding pinout 4 3 2 Encoder terminal definition of servo motor side There are two shapes encoder terminal in the servo motor side AMP plug for motor with 60 80 flange the pin defined in Table...

Page 20: ...gnal Z Z 1 7 6 Encoder signal U U 2 6 10 Encoder signal V V 3 10 11 Encoder signal W W 4 11 12 Encoder supply 5V 5V 5 2 2 Encoder signal Z Z 6 5 9 Encoder signal U U 7 8 13 Encoder signal V V 8 12 14...

Page 21: ...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 16 23 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 GND GND GND GN...

Page 22: ...function number is 2 COM 21 Digital input common positive terminal DO2 23 Digital output the default function number is 2 See section 3 4 2 and 3 4 4 DO4 24 Digital output the default function number...

Page 23: ...ction OFF Default command direction Level triggered S 5 CMD0 Internal instruction bit0 When works in position control mode it is location multi segment switching function signal When works in speed co...

Page 24: ...ating Invalid The motor stop rotating P S T 4 ZER0 Motor zero speed Valid Motor speed is zero Invalid Motor speed is not zero P S T 5 V CLS Speed approaching Valid when works in speed control the abso...

Page 25: ...manual defaults are as followed COM 7pin users can also use 22 36 pin GND 14pin users can also use 29 41 42 43 44 pin Servo internal 24V 25pin users can also use 40pin 2 When host device is NPN open...

Page 26: ...PN DC5V 24V Servo drive DO1 DO1 8 37 NPN DO1 DO1 8 37 When using internal power supply When using external power supply 25 24V COM 22 25 COM 22 Not connected with current limit resistor Not connected...

Page 27: ...CW CCW pulse PULSE 34 SIGN 31 SIGN 32 PULHIP 1 External power input interface of command pulse PULHIS 16 GND 41 5V power supply ground COM 36 24V power supply ground Pulse command can be input by ope...

Page 28: ...ervo drive input pulse will be unstable It will result in the following situations Missing pulse when enter instruction pulse The instruction is opposite when enter instruction direction 4 4 8 2 Posit...

Page 29: ...wer supply and external limiting resistor Selection of limit resistor R1is as followed The selection of resistor R1 is satisfied 1 5 10 1 200 CC V mA R Recommended resistance for R1 VCC voltage R1 res...

Page 30: ...ignal PB 27 PZ 11 Z Phase frequency division output signal Origin pulse output signal PZ 26 OCZ 35 Z Phase frequency division output signal Origin pulse open collector output signal GND 14 42 43 44 Or...

Page 31: ...computer RS232 TXD 5 The receiver of RS232 is connected with the sender upper computer GND 6 Reference ground CANH 7 CAN Communication port CANL 8 RS485 Servo drive RS485 GND upper computer RS485 comm...

Page 32: ...pply for brake For Intermediate relay it can be powered by servo drive internal DC24V and it is suggested that don t use the one DC24V power supply for both brake and relay 4 When using external power...

Page 33: ...22 Servo cancel enable the brake operation timing Remark When an alarm occurs P1 55will be invalid the servo motor will be in powered off state immediately In this case the movement unit may move befo...

Page 34: ...rvo ready Brake output Location arrival Fault output Torque limit PE Torque limit 0 10V Input impedance 9k Torque limit 10 0V Input impedance 9k Internal 5V power supply the maximum allowable current...

Page 35: ...maximum allowable current 200mA 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 DIR SEL TDIR SEL S ON P OT COM State input 7 Servo enable Alarm reset c...

Page 36: ...I8 ALM RST INHIBIT P OT N OT GNUMO GNUM1 S ON P CLR COM State input 7 Servo enable Alarm reset clear Pulse Deviation counter clear Pulse inhibit Forward Drive inhibit Reverse drive inhibit Electronic...

Page 37: ...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 output Digital input Digita...

Page 38: ...the encoder wiring Repeat the above steps If it still cannot run normally please contact the manufacturer to solve it 5 3 Servo enable method There are three ways to make the servo drive enable 1 Aft...

Page 39: ...ing filter time constant P1 46 User Setting Default value 300 Forward maximum torque limit P1 47 User Setting Default value 300 Reverse maximum torque limit P5 00 User Setting Default value 30 Positio...

Page 40: ...ward or reverse torque command to the servo application make confirm whether the motor rotation direction and speed are correct if it s normal then you can start to use 5 5 2 Mainly related to the fun...

Page 41: ...ation and strange noise to adjust P5 04 Speed controller proportional gain higher if there is a slight you should adjust the P5 04 smaller 4 In the range of no vibration to adjust P5 05 Speed controll...

Page 42: ...ke effect when repower Set when stop take effect immediately Set when stop take effect when repower Read only cannot set Control mode description P Position control mode S Speed control mode T Torque...

Page 43: ...00 Control mode selection 0 Speed control mode 1 Position control mode 2 Torque control mode 3 Speed position switching mode 4 Torque speed switching mode 5 Position torque switching mode 1 0100H 2100...

Page 44: ...200 ms 2111H P1 18 Speed command S curve smoothing time TSL 50 ms 2112H P1 19 Speed command low pass filter smoothing filter time constant 10 0 ms 2113H P1 20 Analog speed command gain 3000 rpm 2114H...

Page 45: ...H P1 47 Reverse maximum torque limit 300 212FH P1 48 Torque limit source selection 0 Internal limit P1 46 P1 47 1 Analog 1 limit while limited by P1 46 P1 47 2 Analog 2 limit while limited by P1 46 P1...

Page 46: ...peed of internal position command 4 1000 rpm 220EH P2 15 Waiting time after the completion of the Pr4 into the Pr5 0 0 s 220FH P2 16 High 5 pulse number of internal position command 5 0 ppr 2210H P2 1...

Page 47: ...and 12 1000 rpm 222EH P2 47 Waiting time after the completion of the Pr12 into the Pr13 0 0 s 222FH P2 48 High 5 pulse number of internal position command 13 0 ppr 2230H P2 49 Low 4 pulse number of in...

Page 48: ...un time setting 1 0 s 030DH 230DH P3 14 Internal speed command register 8 0 rpm 030EH 230EH P3 15 Internal command 8 run time setting 1 0 s 030FH 230FH P3 16 Internal speed command register 9 1200 rpm...

Page 49: ...eedforward smoothing time 5 ms 2503H P5 04 Speed regulator proportional gain KVP 350 0 rad s 2504H P5 05 Speed regulator integration time constant 10 0 ms 2505H P5 06 Speed gain fluctuation rate 50 25...

Page 50: ...Pro pert y Commu nication Address P S T P7 00 Station code setting 1 2700H P7 01 Communication transmission rate 0 4800 1 9600 2 19200 3 38400 4 57600 1 bps 2701H P7 02 Communication data format 0 No...

Page 51: ...king resistor capacity 100 W 2813H P8 20 Brake discharge duty ratio 22500 2814H 6 2 10 PB group origin return function parameters Parameters Function Initial value Unit Applicable control mode Pr op e...

Page 52: ...ted current 3 00 0 01 100 00 A P S T PE 04 Motor rated torque 2 40 0 1 100 00 N m P S T PE 05 Motor rated voltage 220V 220 380 V P S T PE 06 Rated motor speed 3000 10 9000 rpm P S T PE 07 Motor maximu...

Page 53: ...and saved If you require to frequently rewrite parameters frequently to EEPROM due to the limit of writing cycles of EEPROM EEPROM may be damaged Therefore for parameters which need to be frequently...

Page 54: ...gle of motor rotor Electric angle Motor mechanical angle Pole pairs of motor P0 03 DI Input level binary display Initial value Unit Communication Address 0 0003H Control mode P S T Data size 32bit Dis...

Page 55: ...000AH Control mode P S T Data size 16bit Display mode Decimal system Parameter function Display the current incremental encoder sector number If the motor uses the 2500ppr incremental encoder the sec...

Page 56: ...current motor speed the number of points to maintain the brake terminal BK status Motor reversal keeping the brake control terminal BK is invalid Motor reversal keeping the brake control terminal BK...

Page 57: ...ystem Parameter function Show the motor speed when the last fault occurred P0 20 Show bus voltage when the P1 60 fault occurs Initial value Unit Communication Address 0 V 0014H Control mode P S T Data...

Page 58: ...0 Received external pulse frequency Initial value Unit Communication Address 0 KHz 001EH Control mode P Data size 32bit Display mode Decimal system Parameter function Show the number of external pulse...

Page 59: ...switch signals under the condition of higher than zero velocity rotational state even then velocity fall below zero speed also can t switch control mode NOTE If external DI signal unused MSELn functi...

Page 60: ...tructions CTRG CMD3 CMD2 CMD1 CMD0 Pr1 Pr2 Pr3 Pr4 Pr5 Pr6 Pr7 Pr8 Pr9 Pr10Pr11Pr12Pr13Pr14 Pr15 Pr16 Pr1 NOTE 1 I t w i l l n o t t a k e e f f e c t t h a t i f c h a n g e s t h e c u r r e n t p e...

Page 61: ...able at logic level settings P1 05 Speed command source selection Initial value Unit Communication Address 0 2105H Control mode S Range 0 5 Data size 16bit Display mode Decimal system Parameter functi...

Page 62: ...speed 0 motor rated speed Spd3 0 0 1 0 P3 04 Setting speed 0 motor rated speed Spd4 0 0 1 1 P3 06 Setting speed 0 motor rated speed Spd5 0 1 0 0 P3 08 Setting speed 0 motor rated speed Spd6 0 1 0 1 P3...

Page 63: ...ommunication Address 0 dB 210BH Control mode P S Range 0 32 Data size 16bit Display mode Decimal system Parameter function Please see the function of P1 50 parameters P1 12 Internal position command a...

Page 64: ...equired time changes according to the proportion of variation of target speed and motor rated speed For example motor target speed is 1500rpm motor rated speed is 3000rpm P1 12 200ms P1 13 300ms motor...

Page 65: ...Speed instruction acceleration and deceleration time S curve NOTE P1 16 P1 17 refers to the variation of motor speed is motor rated speed requiring acceleration and deceleration time If the variation...

Page 66: ...ange 0 300 Data size 16bit Display mode Decimal system Parameter function Analog torque command gain setting is used when external voltage give torque Set P1 08 to 1 2 or 3 Setting the corresponding t...

Page 67: ...instructions pulse N Motor rotation laps C The encoder line number if encoder is 2500ppr incremental then C 10000 After four times the frequency If encoder is 17bit encoder then C 131072 It needn t ge...

Page 68: ...omplete COIN the corresponding DO output terminal would be effective Please see below Figure7 8 Positioning closed and completed width P1 34 Position deviation clear external DI signal action choice I...

Page 69: ...nction P1 37 Position follow deviation fault threshold Initail value Unit Communication Address 25000 256ppr 2125H Control Mode P Range 0 65535 Data size 16bit Display mode Decimal system Parameter fu...

Page 70: ...ion signal TGON will output a corresponding signal Figure7 11 Zero speed and rotation signal output value P1 42 Speed approaches threshold Initail value Unit Communication Address 100 rpm 212AH Contro...

Page 71: ...n t capture a narrow Z pulse then can broaden it Because the width of Z pulse will decrease with motor speed increase for the convenience of matching with all kinds of PC Z pulse width can be adjusted...

Page 72: ...l system resonance occurs it may because of large rigidity rapid response servo system reduce the gain may improve but will reduce the system response rate In order to suppress the mechanical resonanc...

Page 73: ...ilter P1 53 Stop mode selection Initail value Unit Communication Address 0 2135H Control Mode P S T Range 0 1 Data size 16bit Display mode Decimal system Parameter function set stop mode P1 53 0 when...

Page 74: ...e Unit Communication Address 0 213DH Control Mode P S T Range 0 65535 Data size 16bit Display mode Decimal system Parameter function System parameter initialization related setting Stop setting power...

Page 75: ...the motor during the execution Pr1 segment position P2 03 After the completion of the Pr1 into the Pr2 waiting time Initail value Unit Communication Address 1 0 S 2203H Control Mode P Range 0 0 3000...

Page 76: ...e Unit Communication Address 1 0 S 2301H Control Mode S Range 0 1 6553 5 Data size 16bit Display mode Decimal system Parameter function The first segment running time of internal multispeed According...

Page 77: ...meanwhile while P4 02 Torque speed limit instruction source is set to 1 2 which limited the speed of the motor by external analog and select the same analog source such as both AI1 then the analog lim...

Page 78: ...2503H Control Mode P Range 2 100 Data size 16bit Display mode Decimal system Parameter function Set the first order filter time constant of feed forward gain of position regulator When smooth change...

Page 79: ...value Unit Communication Address 0 2507H Control Mode P S Range 0 2 Data size 16bit Display mode Decimal system Parameter function P5 07 0 Manual mode The related parameters of position and speed reg...

Page 80: ...stment mode The system can calculate the value of P5 00 P5 04 P5 05 related to position and speed regulator based on this parameter 1 50Hz Low rigidity low response 51 250Hz Medium rigidity medium res...

Page 81: ...14 Gain switching time Initail value Unit Communication Address 5 ms 250EH Control Mode P S Range 0 3000 Data size 16bit Display mode Decimal system Parameter function When the gain switching conditio...

Page 82: ...bandwidth Position bandwidth P5 17 There is no parameters about position bandwidth can be set The parameters control based on the theory of automatic control that the speed loop bandwidth should be at...

Page 83: ...6 01 0 DI effective DI effective DI Invalid DI Invalid DI effective Figure7 21 DI Terminal filter and level P6 02 DI1 function code Initail value Unit Communication Address 1 2602H P6 03 DI2 function...

Page 84: ...of abnormal conditions has been lifted reset the fault and alarm can be reset Edge Trigger P S T 3 P CLR Position control pulse deviation counter clear Trigger mode refer to P1 34 definition Edge Leve...

Page 85: ...N Start origin regression function Level triggered P S T 24 99Retention Function invalid P6 12 DO level logic Initail value Unit Communicatio n Address 0000 260CH Control Mode P S T Range 0000 1111 Da...

Page 86: ...12 ALM Fault output Valid fault event Invalid no fault event P S T 13 Tcmp Torque reach signal Valid motor output torque reach fixed value Invalid motor output torque can not reach fixed value T 14 H...

Page 87: ...m Parameter function set the meaning of AO terminal output P6 27 28 0 motor speed P6 27 28 1 speed instruction P6 27 28 2 torque instruction P6 27 28 3 positional deviation after electronic gear ratio...

Page 88: ...e Decimal system Parameter function More are available at P8 03Parameter function P8 03 Jog Speed Initail value Unit Communication Address 0 rpm 2803H Control Mode P S T Range 0 motor rated speed Data...

Page 89: ...16 Total external pulse 2 P0 02 Current electric degree 18 P0 18 P1 60 Selection fault code 3 P0 03 DI Input level Binary 19 P0 19 P160 Speed of fault 4 P0 04 DO Output level Binary 20 Retention 5 P0...

Page 90: ...de P S T Range 0 1 Data size 16bit Display mode Decimal system Parameter function More are available at P8 17 Parameter function explanation P8 15 S ON condition Initail value Unit Communication Addre...

Page 91: ...Data size 16bit Display mode Decimal system Parameter function Setting the braking resistor when using the built in braking resistor please do not modify P8 19 Braking resistor power setting Initail...

Page 92: ...nce to reach the origin of ways 0 after finding the origin point Reference the motor folded in 2nd speed to find the nearest degree Z phase pulse as the mechanical origin 1 after find reference point...

Page 93: ...o return to find Pb 02 1 Z phase pulse When the Z phase pulse is not used as the mechanical origin the positive edge of ORGP can be set to the mechanical origin Pb 02 2 Pb 03 4 Forward direction direc...

Page 94: ...r supply Servo prepared Servo enable Origin regression HOME terminal The maximum execution time is limited to Pb 00 Origin of execution ON ON ON effective 2 The origin regression Pb 01 2 is triggered...

Page 95: ...nal Z pulse position Motor speed ORPG signal 5 Pb 02 2 Pb 03 2 6 Pb 02 2 Pb 03 3 position Motor speed ORPG signal position Motor speed ORPG signal 7 Pb 02 2 Pb 03 4 8 Pb 02 2 Pb 03 5 Z pulse position...

Page 96: ...w in the protocol format 8 4 Command interpretation Command code 0x03 Read parameter and status of servo drive ADU Item Byte No Range Master requests Address of slave 1 0 0FEH Command code 1 0x03 Regi...

Page 97: ...ication addresses 0100H and 2100H Beginning with address 0 it indicates that this parameter written to the RAM register of the drive and can be executed immediately but will not be saved Beginning wit...

Page 98: ...of Sub function 0000H data16 The same as the data requested Circuit Diagnosis Abnormal response When the host sends the wrong data or the servo error data caused by disturbance it will send back an ex...

Page 99: ...ult When all the above problems are excluded the fault still occurs Send back to the dealer or the factory for check AL003 AD Initialization Fault Fault Causes Check Solution Fault of drive hardware P...

Page 100: ...unning Send back to the dealer or the factory for check AL00D AL00E Motor Overload Drive Overload Fault Causes Check Solution Continuous use above the rated load 1 Monitor P0 01 if it is continuously...

Page 101: ...tor phase sequence error Fault Causes Check Solution Motor UVW phase sequence error Check the connection order between the motor and the drive Wiring correctly AL016 Drive Parameter Fault Fault Causes...

Page 102: ...e and humidity are in the permitted range Improved servo drive cooling conditions reduce the ambient temperature Drive cooling fan damage Check the cooling fan of the drive is running during operation...

Page 103: ...eters of brake resistor P8 p18 and braking resistor capacity P8 20 2 check if the deceleration time is too short 1 Set the parameters of P8 p18 and P8 20 properly 2 Increase the deceleration time ALE0...

Page 104: ...orward drive prohibition reverse drive prohibition positive jog negative jog Output Servo ready brake output motor rotation output zero speed signal speed approach speed arrival location approach loca...

Page 105: ...10V Input Impedance 10K Time Constant 200us Instruction Control Mode External analog instruction Internal register instruction Instruction Smoothing Mode Low pass smoothing filter Torque Limit By sett...

Page 106: ...2 N m 3 N m 3 N m 10 N m 20 N m 40 N m Rated power 6 3W 7 10 4W 7 10 4W 7 11 6W 7 19 5W 7 25W 7 Closed voltage 16V DC max Release voltage 1 5V DC min Calibration action time 150ms Regarding of 7 5KW...

Page 107: ...15 316 403 404 Rated power W 1 1200 750 1000 1500 Rated speed rpm 1 3000 2000 1000 2000 3000 1000 Maximum speed rpm 1 3400 2500 1300 2500 3500 1500 Rated current A 1 4 9 3 88 4 72 4 72 4 96 6 76 Insta...

Page 108: ...rent A 1 28 8 42 5 47 5 71 8 Rated torque Nm 1 2 19 1 28 8 34 9 48 0 Instantaneous maximum torque Nm 47 8 72 0 87 3 120 0 Torque constant Nm A 1 66 1 69 1 84 1 67 Rotational inertia Kg cm2 4 25 95 26...

Page 109: ...Y 185 5mm SER11 1R0 20 2 BY1 240 5mm SER11 1R2 30 2 BY 205 5mm SER11 1R2 30 2 BY1 260 5mm 10 4 5 130 flange servo motor mounting dimensions unit mm LD size varies with different models Model of motor...

Page 110: ...5 3BBZ 202 5mm SER18 5R6 15 3BBZ1 251 0mm SER18 7R5 15 3BBZ 252 5mm SER18 7R5 15 3BBZ1 323 5mm 10 5 SER series servo motor overload characteristics 10 5 1 Overload protection definition The overload p...