HIWIN E1 Series Servo Drive User Manual
- June 4, 2024
- HIWIN
Table of Contents
E1 Series Servo Drive
www.hiwin.de
MD09UE01-2112_V2.2
User Manual
ED1 Series Servo Drive ED1-01-2-EN-2205-MA
User Manual
Imprint
HIWIN GmbH
Brücklesbünd 1
D-77654 Offenburg, Germany
Phone +49 (0) 7 81 9 32 78 – 0
Fax
+49 (0) 7 81 9 32 78 – 90
info@hiwin.de
www.hiwin.de
Imprint
All rights reserved. Complete or partial reproduction is not permitted without our permission.
These assembly instructions are protected by copyright. Any reproduction, publication in whole or in part, modification or abridgement requires the written approval of HIWIN GmbH.
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Preface
Preface
This manual aims to assist users to operate ED1 series servo drive. The
contents in this manual, including manual preface, evaluation of mechanism
design, precautions for electrical planning, software setting, operation and
troubleshooting, are arranged in accordance with the procedure of configuring
a machine. Carefully read through this manual to correctly operate ED1 series
servo drive.
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Approvals
Servo Drive Model ED1–0422-
Approvals
EU Directives
EMC Directives IEC/EN 61800-3: 2004/A1: 2012 (Category C3)
ED1–1022- ED1–2032-
Servo Drive Model
Approvals
EU Directives
EMC Directives EN 61800-3:2018 IEC 61800-3: 2017 BS EN 61800-3: 2018 (Category
C3)
ED1–0422– ED1–0522– ED1–1022– ED1–1222– ED1–2032– ED1–4032– ED1–5033– ED1–7533–
Content
STO (Safe Torque Off)
Item
IEC 61508 Parts 1-7: 2010 IEC 61800-5-2: 2016 IEC 62061: 2015 ISO 13849-1:
2015 IEC 60204-1: 2016 (in extracts)
Approvals
Low-voltage Directives
IEC / EN 61800-5-1:2007 (PD2, OVC III)
UL Approval
UL 61800-5-1 CSA C22.2 No. 274-17
N/A
Low-voltage Directives EN 61800-5-1: 2007+ A1:2017 IEC 61800-5-1: 2007 + A1:2016 BS EN 61800-5-1: 2007; A1: 2017+A11: 2021 (PD2, OVC III)
UL Approval
UL 61800-5-1 CSA C22.2 No. 274-17
N/A
Excellent Smart Cube (ESC) Model
ESC–
Item
EU Directives
EMC Directives IEC / EN 61800-3: 2004/A1: 2012 (Category C3)
Federal Communications Commission
Low-voltage Directives
IEC / EN 61800-5-1:2007 (PD2 ,OVC III)
Conducted Emission
ANSI C63.4-2014, FCC Part 15 Subpart B, KDB174176 CISPR PUB. 22
Radiated Emission
ANSI C63.4-2014, FCC Part 15 Subpart B, KDB174176 CISPR PUB. 22
Note: EN = European standard CE refers to European standards. (Publication of
harmonised standards under Union
harmonisation legislation) IEC: International Electrotechnical Commission
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Approvals
UKCA: UK Conformity Assessed The Certificate and the Declaration of Conformity can be downloaded from the HIWIN GmbH website (www.hiwin.de).
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General Precautions
General Precautions
Before using the product, please carefully read through this manual. HIWIN is
not responsible for any damage, accident or injury caused by failure in
following the installation instructions and operating instructions stated in
this manual.
Do not disassemble or modify the product. The design of the product has been
verified by structural calculation, computer simulation and actual testing.
HIWIN is not responsible for any damage, accident or injury caused by
disassembly or modification done by users.
Before installing or using the product, ensure there is no damage on its
appearance. If any damage is found after inspection, please contact HIWIN or
local distributors.
Carefully read through the specification noted on the product label or
technical document. Install the product according to its specification and
installation instructions stated in this manual.
Ensure the product is used with the power supply specified on the product
label or in the product requirement. HIWIN is not responsible for any damage,
accident or injury caused by using incorrect power supply.
Ensure the product is used with the rated load. HIWIN is not responsible for
any damage, accident or injury caused by improper usage.
Do not subject the product to shock. HIWIN is not responsible for any damage,
accident or injury caused by improper usage.
If an error occurs in the servo drive, please refer to chapter 6 and follow
the instructions for troubleshooting. After the error is cleared, power on the
servo drive again.
Do not repair the product by yourselves when it malfunctions. The product can
only be repaired by qualified technician from HIWIN.
HIWIN offers 1-year warranty for the product. The warranty does not cover
damage caused by improper usage (refer to the precautions and instructions
stated in this manual.) or natural disaster.
CAUTION!
Servo drive with rated input voltage 220 V or 400 V :
The maximum ambient temperature must be below 45 °C.
The product can only be installed in an environment with pollution degree not
exceeding 2.
The control power input must be: 220 VAC, 1 A and level 2.
The rated voltage input is 240 VAC. Short-circuit current must be below 5000
A.
Before inspection, please turn off the power and wait for at least 15 minutes.
To avoid electric shock, ensure the residual voltage between P and N terminals
has dropped to 50 VDC or lower by using multimeter.
The short circuit protection for internal circuits does not support branch
circuit protection. Branch circuit protection must be implemented in
accordance with the National Electrical Code and any additional local codes.
Refer to the table below for the suggested fuses used in both the main input
power (L1, L2, L3) and control input power (L1C, L2C) of the servo drive.
Servo Drive Model ED1–0422 ED1–0522 ED1–1022 ED1–1222 ED1–2032 ED1–4032 ED1–5033 ED1–7533
Suggested Model
BCP Fuse Class
Littelfuse / JLLN006.T Class T
Littelfuse / JLLN015.T Class T
Littelfuse / JLLN050.T Class T Littelfuse / JLLN070.V Class T Littelfuse / JLLS040.T Class T Littelfuse / JLLS060.T Class T
BCP Fuse Rating 300 V, 6 A
300 V, 15 A
300 V, 50 A 300 V, 70 A 600 V, 40 A 600 V, 60 A
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General Precautions
Suitable for circuit with maximum symmetrical short circuit current 5000 Arms
and maximum 240 V.
The level of motor overload protection is the percentage of full-load current.
(120 % of fullload current)
The servo drive does not provide motor over-temperature protection.
Use copper conductors of rated temperature 60/75 °C.
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Safety Precautions
Safety Precautions
Carefully read through this manual before installation, transportation,
maintenance and examination. Ensure the product is correctly used.
Carefully read through electromagnetic (EM) information, safety information
and related precautions before using the product.
Safety precautions in this manual are classified into “Danger”, “Warning”,
“Caution” and ” Attention”.
Signal Word Description
Danger!
Direct danger! Non-compliance with the safety notices will result in serious injury or death!
Warning!
Potentially dangerous situation! Non-compliance with the safety notices runs the risk of serious injury or death!
Caution!
Potentially dangerous situation! Non-compliance with the safety notices runs the risk of moderate to slight injury!
Attention!
Potentially dangerous situation!
Non-compliance with the safety notices runs the risk of damage to property or
environmental pollution!
Danger! Ensure the servo drive is correctly grounded. Use PE bar as reference
potential in control
box. Perform low-ohmic grounding for safety reason. Do not remove the motor
power cable from the servo drive when it is still power-on, or
there is a risk of electric shock or damage to contact. Do not touch the live
parts (contacts or bolts) within 15 minutes after disconnecting the
servo drive from its power supply. For safety reason, we suggest measuring the
voltage in the intermediate circuit and wait until it drops to 50 VDC.
Operation
Warning! Do not touch the terminals or internal parts of the product when
power on, or it may cause
electric shock. Do not touch the terminals and internal parts of the product
within fifteen minutes after
power off, or the residual voltage may cause electric shock. Do not modify
wiring when power on, or it may cause electric shock. Do not damage, apply
excessive force to, place heavy object on the cables. Or put the
cables between two objects. Otherwise, it may cause electric shock or fire.
Attention! Do not use the product in location which is subject to humidity,
corrosive materials,
flammable gas or flammable materials.
Storage
Warning! Do not store the product in location which is subject to water, water
drop, harmful gas,
harmful liquid or direct sunlight.
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Safety Precautions
Transportation
Attention! Carefully move the product to avoid damage. Do not apply excessive
force to the product. Do not stack the products to avoid collapse.
Installation site
Attention!
Do not install the product in location with high ambient temperature and high
humidity or location which is subject to dust, iron powder or cutting powder.
Install the product in location with ambient temperature stated in this
manual. Use cooling fan if the ambient temperature is too high.
Do not install the product in location which is subject to direct sunlight.
The product is not drip-proof or waterproof, so do not install or operate the
product
outdoor or in location which is subject to water or liquid. Install the
product in location with less vibration. Motor generates heat while running
for a period of time. Use cooling fan or disable the
motor when it is not in use, so the ambient temperature will not exceed its
specification.
Installation
Attention! Do not place heavy object on the product, or it may cause injury.
Prevent any foreign object from entering the product, or it may cause fire.
Install the product in the specified orientation, or it may cause fire. Avoid
strong shock to the product, or it may cause malfunction or injury. While
installing the product, take its weight into consideration. Improper
installation may
cause damage to the product. Install the product on non-combustible object,
such as metal to avoid fire.
Wiring
Attention! Ensure wiring is correctly performed. Otherwise, it may lead to
product malfunction or
burn-out. There could be a risk of injury or fire. The peripheral devices,
including controller, must share the same power supply system
with the servo drive. Otherwise, the voltage difference between the devices
and the servo drive could result in burn-out.
Operation and transportation
Attention! Use power supply specified in product specification, or it may
cause injury or fire. The product may suddenly start to operate after power
supply recovers. Please do not get
too close to the product. Set external wiring for emergency stop to stop the
motor at any time.
Maintenance
Warning! Do not disassemble or modify the product. If the product
malfunctions, do not repair the product by yourselves, please contact HIWIN
for repair.
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Intended Use
Intended Use
It is the customer’s responsibility to confirm conformity with any standards,
codes, or regulations that apply if the HIWIN product is used in combination
with any other products.
The customer must confirm that the HIWIN product is suitable for the systems,
machines, and equipment used by the customer.
Consult with HIWIN to determine whether use in the following applications is
acceptable. If use in the application is acceptable, use the product with
extra allowance in ratings and specifications, and provide safety measures to
minimize hazards in the event of failure.
Outdoor use, use involving potential chemical contamination or electrical
interference, or use in conditions or environments not described in product
catalogs or manuals.
Nuclear energy control systems, combustion systems, railroad systems,
aviation systems, vehicle systems, medical equipment, amusement machines, and
installations subject to separate industry or government regulations.
Systems, machines, and equipment that may present a risk to life or
property.
Systems that require a high degree of reliability, such as systems that
supply gas, water, or electricity, or systems that operate continuously 24
hours a day.
Other systems that require a similar high degree of safety.
Never use the product for an application involving serious risk to life or
property without first ensuring that the system is designed to secure the
required level of safety with risk warnings and redundancy, and that the HIWIN
product is properly rated and installed.
The circuit examples and other application examples described in product
catalogs and manuals are for reference. Check the functionality and safety of
the actual devices and equipment to be used before using the product.
Read and understand all use prohibitions and precautions, and operate the
HIWIN product correctly to prevent accidental harm to third parties.
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Contents
Contents
1
E1 series servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.1 Model explanation of servo motor (AC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2
E1 series servo drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1 Model explanation of servo drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Servo drive and servo motor combination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.3 Selecting regenerative resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3
Excellent Smart Cube (ESC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.1 Model explanation of Excellent Smart Cube (ESC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2 Dimensions of Excellent Smart Cube (ESC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.3 Terminals of Excellent Smart Cube (ESC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.4 Status indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.5 Hardware, wire specifications and suggested brands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.1 110 V / 220 V input power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.2 400 V input power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.3 General specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.4 Selecting no-fuse breaker (NFB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.5 Derated value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5
Electrical planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1 Wiring precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.2 Wiring diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
5.3 Wiring for power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.4 Wiring for servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5.5 Control signals (CN6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.6 STO connector (CN4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
5.7 Other connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
6 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 6.10 6.11 6.12 6.13 6.14
Basic function settings before operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 Setting main circuit power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Automatic motor identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Function and setting of servo on input (S-ON) signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Setting the moving direction of motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Overtravel function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 Motor stopping methods for servo off and alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Protection for motor overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Electronic gear ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Setting encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Setting regenerative resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Setting and wiring for over temperature protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
7
Software settings and trial operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
7.1 Trial operation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
7.2 Software installation and connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
7.3 Configuration Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.4 Inspection before trial operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
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Contents
7.5 Detection for electrical angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 7.6 Trial operation with Thunder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
8 8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9 8.10 8.11 8.12 8.13 8.14 8.15 8.16
Application function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 I/O signal settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 Setting maximum motor velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 Torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Encoder pulse output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Internal position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 Internal velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 Dual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Torque limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Internal homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 Error map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 Setting position trigger function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 Restarting the servo drive via software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 Function and setting of forced stop input (FSTP) signal . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 Full- closed loop function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
9
Trial operation when connected to controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
9.1 Trial operation with controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
9.2 Trial operation for position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
9.3 Trial operation for velocity mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
9.4 Trial operation for torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
9.5 Trial operation when connected to mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
10 10.1 10.2 10.3 10.4 10.5 10.6 10.7
Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 Tuning overview and function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 Precautions during tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 Tuneless function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 Auto tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 Adjusting application function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 Manual tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 Common functions for tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
11 11.1 11.2 11.3 11.4
Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 Servo drive information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 Servo drive status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 Monitoring physical quantity and servo status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 Using measuring instrument. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
12 12.1 12.2 12.3 12.4 12.5 12.6 12.7
Safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 Overview of STO safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 Overview of STO safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 Diagnosis of STO Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 Requirements for using the safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266 Application examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
13 Troubleshooting and maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270 13.1 Alarm display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
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13.2 13.3 13.4 13.5
Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 Causes and corrective actions for abnormal operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
14 14.1 14.2 14.3 14.4
Panel operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Panel description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 Parameter
setting (Pt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . 291 Monitoring function (Ut) . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 293 Auxiliary function (Ft). . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . 296
15 15.1 15.2
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 Introduction to parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 List of parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
16 16.1 16.2
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
17 Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
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1 E1 series servo motor
E1 series servo motor
1.1 Model explanation of servo motor (AC)
The model explanation of EM1 series servo motor is provided in Table 1.1.
Refer to the catalogue of EM1 servo motor if detailed motor parameters are
needed for evaluation of machine design.
Table 1.1: Order code for EM1 servo motor (AC)
Number
1 2 3 – 4 – 5 – 6 7 – 8 – 9 – 10 – 11 – 12
Code
E M1 – A – M- 0 5 – 2 – B – E – 0 – A
1, 2, 3 EM1
E1 Series Servo Motor: EM1
4
A
Rated Velocity/Maximum Velocity (rpm): A: 2.000/3.000 C: 3.000/6.000 D: 2.000/5.000
5
M
Inertia:
M: Medium inertia
6, 7 05
Rated Power Output:
05: 50 W 10: 100 W 20: 200 W 40: 400 W
75: 750 W
1K: 1.000 W
1A: 1.200 W
2K: 2.000 W
8
2
AC Voltage: 2: 220 V 4: 400 V
9
B
Brake:
0: Without brake B: With brake
10
E
Serial Encoder: E: 23 bit incremental (Battery is not required.) F: 23 bit multi-turn absolute (Battery is required.)
11
0
Reserved:
0: Standard 1: Customized
12
A
Shaft Type: A: Round shaft/without oil seal B: Round shaft/with oil seal C: With key/without oil seal D: With key/with oil seal
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2 E1 series servo drive
2.1 Model explanation of servo drive
2.1.1 Nameplate
E1 series servo drive
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E1 series servo drive
2.1.2 Model explanation
The model explanation of ED1 series servo drive is provided in table below.
For detailed functions of the servo drive, please refer to this manual.
Number
Table 2.1: Order code ED1 1 2 3 4 – 5 6 – 7 8 9 10 – 11 12 –
Code
ED1S- VG- 0422- 01-
1, 2, 3 ED1
E1 Series Servo Drive: ED1
4
S
Type S: Standard F : Fieldbus
5
V
Control Interface: V: Voltage command and pulse
6
G
7, 8 04
9
2
10 2
11 0
12 1 13, 14 00
E: EtherCAT H: mega-ulink (For HIMC motion controller or API/MPI library) L:
MECHATROLINK III P: PROFINET
Special Function: G: Gantry N: No special function
Rated Output: 04: 400 W 05: 500 W 10: 1 kW 12: 1,2 kW 20: 2 kW 40: 4 kW 50: 5
kW 75: 7,5 kW
AC Phase: 2: Single/Three-phase (For 400 W/500 W/ 1 kW/1,2 kW model) 3: Three-
phase (For 2 kW/4 kW/5 kW/7,5 kW model)
AC Power: 2: 110 V/220 V (100 VAC ~ 240 VAC) 3: 400 V (380 VAC ~ 480 VAC)
Applicable Category: 0: AC, LM, DM and TM A: AC only T: GT
Reserved: 1: STO function security approval
Reserved
13 14 0 0
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Note:
Servo drive model no. 12 digits (ED1—0): STO function without security
approval.
Servo drive model no. 14 digits (ED1—1-): STO function with security approval.
For the communication settings and details about fieldbus servo drive
(ED1F-E), please refer to E1 Series Servo Drive EtherCAT (CoE) Communications
Command Manual.
For the communication settings and details about fieldbus servo drive
(ED1F-L), please refer to E1 Series Servo Drive MECHATROLINK-III Communication
Command Manual.
For the settings and details about gantry function servo drive (ED1-G), please
refer to E1 Series Servo Drive Gantry Control System User Manual.
When the 10th digit of the model number is 2 and the AC voltage is 100 ~ 120
Vac, only single phase input power can be used.
400 V servo drives (ED1–3) and gantry function servo drives (ED1-G) only
support Thunder 1.6.11.0 or later versions.
If the 10th digit = 2, the following drives are supported: 400 W/500 W/1
kW/1,2 kW/2 kW/4 kW. If the 10th digit = 3, the following drives are
supported: 5 kW/7,5 kW.
2.2 Servo drive and servo motor combination
The configuration diagrams of servo drives and cables are shown as follows.
Configuration diagram of servo drive
Standard servo drive
Fieldbus servo drive
Note: The port of gantry communication cable for Fieldbus servo drive is on
the top of servo drive.
The optional cables and accessories are listed in the table below.
Cable Name
Configuration
HIWIN Part No. Specifications
USB communication Connect servo drive and PC. cable
051700800366
STO cable
Connect servo drive and STO safety device.
HE00EJ6DH000
Connect standard servo drive via CN6. HE00EJ6DA300
Control signal cable Connect Fieldbus servo drive via CN6. HE00EJ6DC300
Length 1.8 m
Length 3 m
Standard 50 pin, length 3 m Fieldbus 36 pin, length 3 m
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Cable Name
Configuration
HIWIN Part No.
Gantry communication cable
Connect two servo drives which both HE00EJ6DD000 support gantry function via CN8.
Regenerative resistor
Connect external regenerative resistor to B1 and B3 terminals of servo drive.
050100700001 050100700004
Fieldbus communication cable
Connect servo drive and host
920200500007
controller or other servo drive via CN9.
Specifications Length 0,5 m
68 Ohm/100 W 190 Ohm/1000 W Length 0,2 m
Note: Gantry communication cable is only appicable to servo drive which
supports gantry
function (ED1-G).
Fieldbus communication cable is applicable to Fieldbus servo drive (ED1F)
which supports EtherCAT, mega-ulink or PROFINET communication. If the
communication format is MECHATROLINK-III, it cannot be used.
2.2.1 Servo motor (AC)
In this section, the servo motor refers to HIWIN EM1 series servo motor. EM1
series can be directly connected to servo drive for operation. Full-closed
loop control is also supported. If the external encoder of full-closed loop is
digital TTL, it can be directly connected to servo drive. If the external
encoder is analog, BiSS-C or EnDat, Excellent Smart Cube (ESC) is required.
Configuration diagram of servo drive and servo motor
EM1 series servo motor
Full-closed loop: EM1 motor + external encoder (Digital TTL)
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Full-closed loop: EM1 motor + external encoder (Analog, BiSS-C, EnDat); ESC is required.
Note: If servo drive for AC (ED1–22-A) is used, full-closed loop internal
encoder only supports EM1 series AC servo motor.
The related cables to combine servo drive and motor are listed in the table
below.
Cable Name
Configuration
HIWIN Part No.
Specifications
Encoder extension cable for servo motor
HVE23IABMB For 50 W ~ 750 W motor, serial incremental.
Connect motor encoder end to servo drive via CN7.
HVE23AABMB For 50 W ~ 750 W motor, serial absolute (with battery box).
Encoder extension cable for full-closed loop
control
HE00817DR00
For 50 W ~ 750 W motor, suitable for full-closed loop control.
ESC encoder
Connect communication port HE00EJUDA00 –
communication cable for ESC encoder to servo
drive via CN7.
Excellent Smart Cube Connect ESC encoder
FD000SCSSS01
(ESC)
communication cable and
ESC encoder extension cable.
ESC-SS-S01
ESC encoder extension cable
Connect motor encoder end to connection port for ESC encoder.
Select the cable according to the encoder format.
Motor power cable
for servo motor
Connect motor power cable end to servo drive via CN2.
HVPS04ABMB For 50 W ~ 750 W motor, without brake cable.
HVPS06ABMB For 50 W ~ 750 W motor, with brake cable.
Note: or represents cable length. Please fill in Part No. based on cable
length.
For the information of applicable servo motors and cables, please refer to
section 16.1.1 and 16.1.2.
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The allowable combinations of servo drives and servo motors are listed in table below.
Servo Motor Model EM1—05-2 EM1—10-2 EM1—20-2 EM1—40-2 EM1—75-2 EM1—1K-2 EM1—1A-2 EM1—2K-2
Capacity 50 W 100 W 200 W 400 W 750 W 1 kW 1.2 kW 2 kW
Servo Drive ED1–0422-A
ED1–1022-A ED1–2032-A
2.2.2 Linear motor (LM)
The linear motor cable configuration is different according to the encoder
format. If the encoder is a digital TTL, it can be directly connected to servo
drive. Excellent Smart Cube (ESC) is required when thermal sensor (PTC) or one
of the following signals is used as feedback signal of linear motor.
1 Analog (sin/cos) encoder signal
2 EnDat encoder
3 BiSS-C encoder
4 Digital Hall signal (Used with analog encoder or digital encoder)
Configuration diagram of servo drive and linear motor
Digital TTL encoder (ESC is not required)
Analog, BiSS-C, EnDat encoder (ESC is required)
Regenerative resistor (Optional)
Motor power cable for linear motor
USB communication cable
(Optional)
STO cable (Optional)
Regenerative resistor (Optional)
Control signal cable (Optional)
Gantry communication cable
(Optional)
Motor power cable
Encoder extension cable
for linear motor
for linear motor
LM
LM
Note: For the information of ESC, please refer to chapter 3.
USB communication cable (Optional)
STO cable (Optional)
Control signal cable (Optional)
Gantry communication cable (Optional)
ESC encoder communication cable Excellent Smart Cube (ESC)
ESC encoder extension cable
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E1 series servo drive
The related cables to combine servo drive and motor are listed in the table below.
Cable Name
Encoder extension cable for linear motor
Configuration
Connect motor encoder end to servo drive via CN7.
HIWIN Part No. HE00EJ6DF00 HE00817EK00
Specifications
For Renishaw linear digital encoder (female copper pillar)
For Renishaw linear digital encoder (male screw)
HE00EJ6DB00 The cable is with open ends.
ESC encoder communication
cable
Connect communication port HE00EJUDA00 for ESC encoder to servo drive via CN7.
Excellent Smart Connect ESC encoder
FD000SCSSS01
Cube (ESC)
communication cable and
ESC encoder extension cable. FD000SCANS01
ESC-SS-S01 ESC-AN-S01
ESC encoder extension cable
Motor power cable for linear motor
Connect motor encoder end to connection port for ESC encoder.
Connect motor power cable end to servo drive via CN2.
Select the cable according to the encoder format.
Please refer to the catalogue of linear motor.
Note: represents cable length. Please fill in Part No. based on cable length.
For the information of cables, please refer to section 16.1.3 and 16.1.4.
The maximum velocity supported by each encoder resolution when linear digital
encoder is used is listed in table below.
Encoder resolution 50 nm 0,1 m 0,5 m 1 m
Maximum velocity 1 m/s 2 m/s 10 m/s 20 m/s
2.2.3 Direct drive motor (DM) Direct drive motor (DM) with incremental feedback system Excellent Smart Cube (ESC) is required when thermal sensor (PTC) or one of the following signals is used as feedback signal of direct drive motor. 1 Analog (sin/cos) encoder signal 2 Digital Hall signal (Optional)
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Configuration diagram of servo drive and direct drive motor with incremental feedback system ESC is required
Regenerative resistor (Optional)
USB communication cable (Optional)
STO cable (Optional)
Control signal cable (Optional)
Motor power cable for direct drive motor
Gantry communication cable (Optional)
ESC encoder communication cable Excellent Smart Cube (ESC)
ESC encoder extension cable
Note: When HIWIN direct drive motor with incremental feedback system is used,
ESC-AN or ESC-SS is generally used. For the information, please refer to
chapter 3.
The related cables to combine servo drive and motor are listed in the table
below.
Cable Name
Configuration
HIWIN Part No. Specifications
ESC encoder
Connect communication port HE00EJUDA00
communication cable for ESC encoder to servo
drive via CN7.
Excellent Smart Cube (ESC)
Connect ESC encoder
FD000SCSSS01
communication cable and
ESC encoder extension cable. FD000SCANS01
ESC-SS-S01 ESC-AN-S01
ESC encoder extension cable
Connect motor encoder end to connection port for ESC encoder.
Select the cable according to the encoder format.
Motor power cable Connect motor power cable HE00841001 For direct drive motor,
for direct drive motor end to servo drive via CN2.
without brake cable.
Note: or represents cable length. Please fill in Part No. based on cable
length. For the information of cables, please refer to section 16.1.1 and
16.1.4.
Direct drive motor (DM) with absolute feedback system Excellent Smart Cube
(ESC) is not required for HIWIN direct drive motor (DM) with absolute feedback
system. The cable configuration is the same as servo motors and the following
feedback signals can be supported:
1 Serial signal 19 bit/rev (DM-A)
2 Serial signal 20 bit/rev (DM-B)
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Configuration diagram of servo drive and direct drive motor with absolute feedback system ESC is required
Regenerative resistor (Optional)
Motor power cable for direct drive motor
USB communication cable (Optional)
STO cable (Optional)
Control signal cable (Optional)
Gantry communication cable (Optional)
Encoder extension cable for direct drive motor
Note: When HIWIN direct drive motor with absolute feedback system is used, ESC
is not required. The default values of Pt308 and Pt316 will be changed. The
default setting of Pt002 is
using single-turn absolute encoder. The default setting of Pt009 is enabling
error map function.
The related cables to combine servo drive and motor are listed in the table
below.
Cable Name
Configuration
HIWIN Part No.
Specifications
Encoder extension Connect motor encoder
cable for direct drive end to servo drive via
motor
CN7.
HVE23IABMB
For HIWIN direct drive motor with absolute feedback system, serial incremental.
Motor power cable Connect motor power HVPS04ABMB For HIWIN direct drive motor
for direct drive motor cable end to servo drive
with absolute feedback system,
via CN2.
without brake cable.
Note: represents cable length. Please fill in Part No. based on cable length. For the information of cables, please refer to section 16.1.1 and 16.1.2.
Motor Model DMN21-A DMN22-A DMN42-A DMN44-A DMYA3-B DMYA5-B
Servo Drive ED1–04
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Motor Model DMN71-B DMN93-B DMY44-B DMY48-B DMY63-B DMY65-B DMY68-B DMYAA-B
Servo Drive ED1–10
E1 series servo drive
2.2.4 Torque motor (TM) Excellent Smart Cube (ESC) is required when thermal
sensor (PTC) or one of the following signals is used as feedback signal of
direct drive motor. 1 Analog (sin/cos) encoder signal 2 EnDat encoder 3 BiSS-C
encoder 4 Digital Hall signal
Configuration diagram of servo drive and torque motor ESC is required
Regenerative resistor (Optional)
Motor power cable for direct drive motor
USB communication cable (Optional)
STO cable (Optional)
Control signal cable (Optional)
Gantry communication cable (Optional)
ESC encoder communication cable Excellent Smart Cube (ESC)
ESC encoder extension cable
Note: When HIWIN TMRW torque motor is used, users generally need to install the encoder by themselves. For the information of ESC, please refer to chapter 3.
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The related cables to combine servo drive and motor are listed in the table below.
Cable Name
Configuration
HIWIN Part No.
ESC encoder
Connect communication HE00EJUDA00
communication cable port for ESC encoder to
servo drive via CN7.
Excellent Smart Cube (ESC)
Connect ESC encoder communication cable and ESC encoder extension cable.
FD000SCSSS01 FD000SCANS01
ESC encoder extension cable
Connect motor encoder end to connection port for ESC encoder.
Motor power cable Connect motor power HE00841001 for direct drive motor cable
end to servo drive
via CN2.
Specifications –
ESC-SS-S01 ESC-AN-S01
Select the cable according to the encoder format.
For direct drive motor, without brake cable.
Note: represents cable length. Please fill in Part No. based on cable length. For the information of cables, please refer to section 16.1.1 and 16.1.4.
2.2.5 Motor current and servo drive current
The continuous current and peak current of a motor must not exceed the output
current of the connected servo drive. If not, the motor is unable to generate
its rated force. Refer to table below to find proper servo drive power.
Comparison of Continuous Current
Comparison of Peak Current
Output Force (Torque)
Servo drive > Motor Servo drive > Motor The motor is able to generate the rated force (torque) and instantaneous force (torque) of its specification. This combination is suggested.
Servo drive > Motor
Servo drive < Motor
The motor is able to generate the rated force (torque), but is unable to generate the instantaneous force (torque) of its specification. This combination could be used depending on users’ operating conditions.
Servo drive < Motor Servo drive < Motor The combination is not suggested. Use servo drive with larger output power.
Note
Before selecting motor, the equivalent current (current at acceleration,
current at constantspeed motion, current at deceleration and average current
at dwell time) of motion must be calculated. It must be lower than the
continuous current of the motor and servo drive to ensure the average load
rate is lower than 100%.
The maximum current at acceleration and deceleration must be lower than the
peak current of the motor and servo drive, so the required acceleration and
deceleration can be reached.
For motor selection and calculation for equivalent current and maximum
current, go to the official website of HIWIN GmbH. Click on Support and select
Calculation.
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2.2.6 Operation voltage of servo drive and motor
The main circuit input voltage will be transformed to DC bus voltage. While
choosing a suitable motor, the user should pay attention if the DC bus voltage
transformed from input voltage will be over the operation voltage of the
motor. This is to avoid the input voltage destroys the insulation resistance
of the motor and results in a burn out.
DC bus voltage = Servo drive main circuit input voltage × 1,414
110 V/220 V input power (ED1–2)
Servo drive main circuit input voltage
100 ~ 120 VAC
200 ~ 240 VAC
Servo drive DC bus voltage
141,4 ~ 169,7 VDC 282,8 ~ 339,3 VDC
Servo drive undervoltage alarm threshold
below 60 VDC
below 184 VDC
400 V input power (ED1–33)
Servo drive main circuit input voltage
380 ~ 400 VAC
460 ~ 480 VAC
Servo drive DC bus voltage
537,3 ~ 565,6 VDC 650,4 ~ 678,7 VDC
Servo drive undervoltage alarm threshold
below 435 VDC
below 460 VDC
Note:
For the maximum motor operation voltage, please refer to “Linear Motor
Technical Information” and “Torque Motor and Direct Drive Motor Technical
Information”, which can be downloaded from the official website.
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E1 series servo drive
2.3 Selecting regenerative resistor
The energy used to drive motor returns to servo drive as the motor decelerates. If the returned energy exceeds the capacity of the servo drive capacitors, regenerative resistor should be installed to protect the servo drive by absorbing the extra energy. Regenerative resistor is frequently required for motion with heavy load or on Z axis. Whether to install regenerative resistor mainly depends on load and operating conditions. Users can follow the procedure provided below to see if regenerative resistor should be installed in their applications.
1 Calculate the regenerative energy generated as motor decelerates.
m is the total mass of moving parts (The total weight of forcer and load; kg).
V is the maximum velocity (m/s). E_dec (The regenerative energy during deceleration; Joule) = 12 × (m × V2) 2 Calculate the energy used by the motor.
Kf is the force constant of the motor (N/Arms).
T_decel is the deceleration time (s).
F is the required force for motor to decelerate (N).
a is the deceleration (m/s2).
R is the motor resistance (line to line).
F=m×a P_motor (Watt) = 34 × R × KFf × 2 ² E_motor (Joule) = P_motor × T_decel
3 Calculate the generated regenerative energy. Ereturned (The generated
regenerative energy) = Edec – Emotor
4 Calculate the energy absorbed by the servo drive.
C is the capacitance of the servo drive (uF).
V_regen is regenerative voltage (370 VDC).
V_mains is input voltage (220 VAC).
Wcapacity(The
energy
absorbed
by
the
servo
drive)
=
1 2
×
C
×
[Vr2egen
–
(1.414
×
Vmains)2]
5 Check if regenerative resistor should be installed.
If E_returned > W_capacity, regenerative resistor (built-in or external) must be used.
Eregen (The energy during deceleration) = Ereturned – Wcapacity
Ppulse(The
power
during
deceleration)
=
Eregen Tdecel
R
(Regenerative
resistor)
=
Vr2egen Ppulse
If regenerative resistor is overheating or regenerative energy is too large, change the regenerative resistor or how the regenerative resistor is connected. The resistance in parallel must not lower than the minimum allowable resistance.
For informations about built-in regenerative resistor and capacitor of ED1 series servo drives, please refer to Table 4.1 and Table 4.2.
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3 Excellent Smart Cube (ESC)
Excellent Smart Cube (ESC)
3.1 Model explanation of Excellent Smart Cube (ESC)
Excellent Smart Cube (ESC) converts signals, such as encoder signal, signal of
thermal sensor, Hall signal, etc. from the motor side into serial
communication format for ED1 series servo drive. For model explanation of
Excellent Smart Cube (ESC), please refer to the table below.
Note ESC is not required when HIWIN EM1 series servo motor is used. ESC is not
required when EM1 series servo motor is used with digital signal full-closed
loop
application. ESC-SS is required when EM1 series servo motor is used with
analog signal or serial signal
full-closed loop. For information of cables, please refer to section 16.1.4.
The ESC should be installed in a control box or in a machine. Grounding should
be used.
3.1.1 Nameplate
Fig. 3.1: Nameplate ESC
Input voltage/current Product model
Product serial number
3.1.2 Model explanation
Table 3.1: Order code ESC
Number
1
2
3
4
5
6
7
8
Code
E
S
C
–
A
N
–
S
0
1
E1 series Excellent Smart Cube (ESC): 1, 2, 3 ESC ESC: Excellent Smart Cube
4, 5
AN Encoder Signal Type:
AN: Analog encoder
Thermal sensor (TS) signal and digital Hall sensor function are supported.
SS: Two serial encoders, one analog encoder and one digital encoder (for dual- loop)
Thermal sensor (TS) signal and digital Hall sensor function are supported.
6, 7, 8 S01 S01: Standard type
Note ESC supports EnDat 2.1/2.2 or BiSS-C serial encoder.
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Excellent Smart Cube (ESC)
3.2 Dimensions of Excellent Smart Cube (ESC)
The dimensions of Excellent Smart Cube (ESC) are shown as below.
3.3 Terminals of Excellent Smart Cube (ESC)
3.3.1 Terminal symbols and terminal names
Terminal for connecting Excellent Smart Cube (ESC) and ED1 series servo drive
is listed in the table below.
Terminal Symbol Comm.
Terminal Name
Communication port for Excellent Smart Cube (ESC)
Description
Communication port for Excellent Smart Cube (ESC) and ED1 series servo drive.
Terminals for connecting Excellent Smart Cube (ESC) and motor are listed in the table below.
Terminal Symbol Encoder
TS
Terminal Name Connection port for encoder
Connection port for thermal sensor
Description
Connection port for motor encoder and Excellent Smart Cube (ESC).
For thermal sensor signal of motor (HIWIN linear motor)
Terminal for position trigger output signal of Excellent Smart Cube (ESC) is listed in the table below.
Terminal Symbol PT
Terminal Name Position trigger output signal
Description
Position trigger output signal can be output to user’s equipment.
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Excellent Smart Cube (ESC)
3.3.2 Pin definition Model: ESC-AN ESC-AN Excellent Smart Cube (ESC) is
required when motor is used with analogue encoder, digital Hall sensor and
thermal sensor.
Fig. 3.2: Pin definition ESC-AN
Pin
Signal
Description
1
SIN
Analog incremental signal input: SIN+
2
COS
Analog incremental signal input: COS+
3
REF
Analog signal reference point input: REF+
4
+5VE
Encoder power output
5
+5VE
Encoder power output
6
N/A
N/A
7
N/A
N/A
8
Hall U
Input for digital Hall sensor: U
9
Hall W
Input for digital Hall sensor: W
10
/SIN
Analog incremental signal input: SIN-
11
/COS
Analog incremental signal input: COS-
12
/REF
Analog signal reference point input: REF-
13
SG
Signal grounding
14
SG
Signal grounding
15
Inner Shield Inner shield
16
N/A
N/A
17
N/A
N/A
18
Hall V
Input for digital Hall sensor: V
19
SG
Signal grounding
20
SG
Signal grounding
21
SG
Signal grounding
22
SG
Signal grounding
23
SG
Signal grounding
24
SG
Signal grounding
25
TS
Input for thermal sensor: TS+ (HIWIN DM)
26
/TS
Input for thermal sensor: TS- (HIWIN DM)
Model: ESC-SS
ESC-SS Excellent Smart Cube (ESC) is required when motor is used with analog
encoder, digital encoder, serial encoder (EnDat or BiSS-C), digital Hall
sensor and thermal sensor. Please refer to Fig. 3.2.
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Excellent Smart Cube (ESC)
Pin Signal
Description
Note
1 SIN
Analog incremental signal input: SIN+ –
2 COS
Analog incremental signal input: COS+ –
3 REF,
Analog signal reference point input: REF+ 1 Depend on the encoder type of motor
ENC_IND, DATA2
Digital signal reference point input: Index+
Second serial signal input: DATA2+
2 When only one serial encoder is used, DATA2 has no function.
4 +5VE
Encoder power output
Power for encoder
5 +5VE
Encoder power output
Power for encoder
6 CLK2
Digital encoder alarm signal input: ERR + Second serial signal clock input: CLK2+
1 Depend on the encoder type of motor
2 When only one serial encoder is used, CLK2 has no function.
7 ERR, CLK1 First serial signal clock input: CLK1+
1 When only one serial signal is used, CLK1 will be used first.
2 Digital incremental encoder can be used with ERR signal.
8 Hall U
Digital Hall sensor signal input: U
Can be used with digital or analog encoder
9 Hall W
Digital Hall sensor signal input: W
Can be used with digital or analog encoder
10 /SIN
Analog incremental signal input: SIN-
–
11 /COS
Analog incremental signal input: COS- –
12 /REF,
Analog signal reference point input: REF- 1 Depend on the encoder of motor.
/ ENC_IND, Digital signal reference point input: Index- 2 When only one serial encoder is used,
/DATA2 Second serial signal input: DATA2-
/DATA2 has no function.
13 SG
Signal grounding
–
14 SG
Signal grounding
–
15 Inner Shield Inner shield
–
16 /CLK2
Second serial signal clock input: CLK2-
1 Depend on the encoder of motor. 2 When only one serial encoder is used,
/CLK2 has no function.
17 /ERR, /CLK1
Digital encoder alarm signal input: ERR First serial signal clock input: CLK1-
1 When only one serial signal is used, /CLK1 will be used first.
2 Digital incremental encoder can be used with ERR signal.
18 Hall V
Digital Hall sensor signal input: V
Can be used with digital or analog encoder
19 ENC_A
Digital incremental signal input: A+
–
20 /ENC_A Digital incremental signal input: A-
–
21 ENC_B
Digital incremental signal input: B+
–
22 /ENC_B
Digital incremental signal input: B-
–
23 REF2
First serial signal input: DATA1+
ENC_IND2 Analog signal reference point input :
DATA1
REF2+
Digital signal reference point input : Index2+
When only one serial signal is used, this will be used first.
24 /REF2
First serial signal input: DATA1-
/ENC_IND2 Analog signal reference point input :
/DATA1 REF2-
Digital signal reference point input : Index2-
When only one serial signal is used, this will be used first.
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Excellent Smart Cube (ESC)
Pin Signal
Description
Note
25 TS
Thermal sensor signal input: TS+ (HIWIN For HIWIN direct drive motor with
DM)
incremental feedback system
26 /TS
Thermal sensor signal input: TS- (HIWIN For HIWIN direct drive motor with
DM)
incremental feedback system
Connecting to the servo drive
Pin
Signal
Description
1
+5VDC
+5 V input power
2
ENC_Z+
Digital differential signal input: Z+
3
ENC_B+
Digital differential signal input: B+
4
ENC_A+
Digital differential signal input: A+
5
PS+
Encoder serial signal: PS+
6
SG
Signal grounding
7
ENC_Z-
Digital differential signal input: Z-
8
ENC_B-
Digital differential signal input: B-
9
ENC_A-
Digital differential signal input: A-
10
PS-
Encoder serial signal: PS-
11
Inner Shield Inner shield
12
Inner Shield Inner shield
13
D.N.C.
Do not connect.
14
RX
Serial communication signal
15
TX
Serial communication signal
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Excellent Smart Cube (ESC)
3.4 Status indicator
After Excellent Smart Cube (ESC) is connected to the servo drive, the status
indicator on ESC will display its current status.
Status Indicator Display Blinking green Solid green Solid red
Status ESC is not set by the servo drive. Setting completes. ESC is in operation. Error occurs.
3.5 Hardware, wire specifications and suggested brands
3.5.1 ESC hardware
Item
Description
Maximum Output Voltage/ Current (DC)
+5,0 V ± 5 % /650 mA
Supported Signal Type
Digital Hall Analog Incremental
Sensor
Signal
Digital Incremental Signal
Absolute Type
Hall U/V/W SIN/COS/Reference A/B/Index
BiSS-C Tamagawa EnDat 2,1/2,2
Maximum Signal Bandwidth
2 kHz
1 MHz
(Minimum multiplier factor: 4 times)*1
(Maximum multiplier factor: 4096 times)
4 MHz
5 MHz 5 MHz
4 MHz
Maximum Data
Length
64 bits
Input Signal Format
5V CMOS / TTL
Differential signal (RS- Differential Differential signal (RS-485) 422) 0,4
Vpp ~ 1,2 Vpp signal (RS-422)
5 V TTL
Motor Thermal Supports thermal sensor based on positive temperature coefficient (PTC) thermistor Protection (TS)
Operating
0 °C to +45 °C
Temperature
Storage
-20 °C to +65 °C
Temperature
IP Level
IP20
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Excellent Smart Cube (ESC)
Note A multiplier factor should be a multiply of 4. The counting length of the
travel distance can not be more than 32 bits. For example, if the
resolution is 1 nm/count, the total travel distance can not be more than 4,29
m.
3.5.2 ESC cables
For the cables of ESC, please refer to section 16.1.4. If user would like to
make encoder communication cable or encoder extension cable by himself, the
wires of the cables must comply with the specifications stated in the next
table.
Item
Specification
ESC encoder communication cable
The cable length (distance to the servo drive) must be less than 3 meters.
Operating distance within 3 meters
The outer diameters of wires at the power supply end (+5 V, GND) must be AWG24
(wire resistance must be under 84,2 Ohm/km).The outer diameters of wires at
the signal end must be AWG28.
Operating distance between 4 to 15 meters
The outer diameters of wires at the power supply end (+5 V, GND) must be AWG18 (wire resistance must be under 21 Ohm/km).The outer diameters of wires at the signal end must be AWG28.
ESC encoder extension cable
Operating distance within 3 meters
The outer diameters of wires at the power supply end (+5 V, GND) must be AWG24
(wire resistance must be under 84,2 Ohm/km). The outer diameters of wires at
the signal end must be AWG28.
Operating distance between 5 to 15 meters
The outer diameters of wires at the power supply end (+5 V, GND) must be AWG18 (wire resistance must be under 21 Ohm/km). The outer diameters of wires at the signal end must be AWG28.
Note
For double circuit application, the cable length should not be longer than 5
meters because this may result in voltage decrease and affects the performance
of the encoder.
The cable length of encoder communication cable and encoder extension cable
should not be longer than 18 meters because this may result in voltage
decrease and affects the performance of the encoder.
3.5.3 Suggested encoder brands and model number In this section we’ll provide suggested encoder brands and model numbers to work with ESC. Signal type: Analogue (SIN/COS)
Brand RENISHAW RSF Elektronik
Model No. RGH41A, RGH41B MS15, MS82
Signal type: EnDat 2.1/2.2
Brand HEIDENHAIN RSF Elektronik
Model No. ECN113, ECN125, ECN225, EQN437, LC483, ECI1319 MC15
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Excellent Smart Cube (ESC)
Signal type: BiSS-C
Brand RENISHAW
GIVI FAGOR YUHENG OPTICS
Model No.
RA26BAA104B99A, RGH24Z50D00A, LA11DAA2D0KA10DF00, LA11DCA2D0KA10DA00
AGMM1A528VB1VM02/S
SAB-50-170-5-A
JFT-10B-640C3, JFT-40B-620C3, JKN-2C-H20-26PB-G3.6~14BL, PTN-1-100A-26F-G05BL
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4 Technical data
Technical data
4.1 110 V / 220 V input power
4.1.1 Dimensions The dimensions and locations of installation holes of E1
series servo drives (Standard and Fieldbus) are provided in sections 4.1.1.1
and 4.1.1.2. The dimensions are shown in millimetres (mm). The diameter of
installation hole is 5 mm.
4.1.1.1 Standard models The model number of standard servo drive is ED1S. 400
W/500 W servo drive (Standard)
Fig. 4.1: The dimensions of 400 W/500 W servo drive (Standard)
Weight: 1,1 kg
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User Manual 1 kW/1,2 kW servo drive (Standard) Fig. 4.2: The dimensions of 1 kW/1,2 kW servo drive (Standard)
Technical data
Weight: 1,6 kg 2 kW servo drive (Standard) Fig. 4.3: The dimensions of 2 kW servo drive (Standard)
Weight: 1,9 kg
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User Manual 4 kW servo drive (Standard) Fig. 4.4: The dimensions of 4 kW servo drive (Standard)
Technical data
Weight: 3,4 kg
4.1.1.2 Fieldbus models The model number of Fieldbus servo drive is ED1F. 400
W/500 W servo drive (Fieldbus) Fig. 4.5: The dimensions of 400 W/500 W servo
drive (Fieldbus)
Weight: 1,1 kg ED1 Series Servo Drive
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User Manual 1 kW/1,2 kW servo drive (Fieldbus) Fig. 4.6: The dimensions of 1 kW/1,2 kW servo drive (Fieldbus)
Technical data
Weight: 1,6 kW 2 kW servo drive (Fieldbus) Fig. 4.7: The dimensions of 2 kW servo drive (Fieldbus)
Weight: 1,9 kg
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User Manual 4 kW servo drive (Fieldbus) Fig. 4.8: Dimensions 4 kW servo drive (Fieldbus)
Technical data
Weight: 3,4 kg
4.1.2 Installation If the servo drive is installed in a control box, ensure it
is mounted with conductive screws. The insulating materials, such as paint, on
the contact surface of the control box must be removed for grounding the servo
drive through the control box. When the input power of the servo drive is 220
V, the grounding resistance must be lower than 50 ; when the input power of
the servo drive is 110 V, the grounding resistance must be lower than 100 .
The suction hole and vent hole of the servo drive must not be obstructed.
Install the servo drive according to the specified orientation; otherwise, it
may malfunction.
Fig. 4.9: Correct and incorrect mounting directions
For well cooling and circulation effect, there must be enough clearance between the servo drive and the adjacent objects or baffle plates. While installing multiple servo drives, the clearance between two servo drives must be at least 20 mm. Install a fan in the control box to facilitate heat dissipation.
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User Manual Fig. 4.10: Installing multiple servo drives
Technical data
4.1.3 Power specification
Table 4.1: 110 V/220 V servo drive
Rated Output
400 W
500 W
1 kW
Input Power
Single Phase Rated Voltage AC 100 ~ 120 Vrms, 50 ~ 60 Hz Main Power (Line to line) AC 200 ~ 240 Vrms, 50 ~ 60 Hz
1,2 kW
Rated Current 2,9 (Arms)
3,8
6,58
11,1
Three Phase Rated Voltage AC 200 ~ 240 Vrms50 ~ 60 Hz Main Power (Line to line)
Rated Current 1,46 (Arms)
2,1
3,3
5,78
Control Power
1 Ø /AC 100 ~120 Vrms, 50 ~ 60 Hz
1 Ø/AC 200 ~ 240 Vrms, 50 ~ 60 Hz
Inrush Current of Main Power 14,2 (Apk)
14,2
23,4
23,4
Inrush Current of Control Power 17,7 (Apk)
17,7
17,7
17,7
Output Phase Voltage
3 Ø/AC 240 Vrms max.
Power
Max Rated Power (W)
400
500
1 k
1,2 k
Peak Current (Arms)
10
10
23,3
23,3
Rated Current (Arms)
2,5
3
5,6
9
Power Loss Data
< 40
< 40
< 80
< 80
PWM Modulation Frequency
16 kHz
8 kHz
Dynamic Brake
Built-in dynamic brake circuit 400 W/500 W: no built-in dynamic brake resistor Delay time of relay: 20 ms
Built-in Resistor for Dynamic Brake
10 Ohm/10 W
2 kW
AC 200 ~ 240 Vrms, 50 ~ 60 Hz
11,1
4 kW
11,3
17,0
24,0
36,2
17,7
17,7
2 k 42 12 (9)* < 160
4 k 75 25 < 320
27 Ohm/ 40 W
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Technical data
Rated Output
Regenerative Energy Protection
Regenerative Resistor
400 W
500 W
1 kW
1,2 kW
2 kW
4 kW
400 W/500 W:
Without built-in regenerative resistor Connect to external regenerative
resistor if needed. 1 kW/1,2 kW/2 kW/4 kW:
With built-in regenerative resistor. Connect to external regenerative resistor
to increase regenerative capacity.
Built-in Regenerative
Resistor
40 Ohm/40 W
12 Ohm/60 W 13 Ohm/ 120 W
Power Capacity [uF]
820
1.410
2.240
3.280
Protection of Regenerative +HV > 370 VDC Resistor Enabled
Protection of Regenerative +HV < 360 VDC Resistor Disabled
Overvoltage Protection 390 VDC
Environment Operating Temperature
0 ~ 45oC (45 ~ 50°C is acceptable when derated value is applied. Please refer to section 4.5)
Weight (kg)
1,1
1,1
1,6
1,6
1,9
3,4
- When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% (9 Arms) or smaller effective load ratio.
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4.2 400 V input power
Technical data
4.2.1 Dimensions
The dimensions and locations of installation holes of E1 series servo drives
(Standard and Fieldbus) are provided in sections 4.2.1.1 and 4.2.1.2. The
dimensions are shown in millimetres (mm). The diameter of installation hole is
6 mm.
4.2.1.1 Standard models The model number of standard servo drive is ED1S. 5 kW
servo drive (Standard)
Fig. 4.11: The dimensions of 5 kW servo drive (Standard)
Weight: 4.0 kg 7.5 kW servo drive (Standard) Fig. 4.12: The dimensions of 7,5 kW servo drive (Standard)
Weight: 5,3 kg ED1 Series Servo Drive
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4.2.1.2 Fieldbus models The model number of Fieldbus servo drive is ED1F. 5 kW
servo drive (Fieldbus) Fig. 4.13: The dimensions of 5 kW servo drive
(Fieldbus)
Technical data
Weight: 4,0 kg 7.5 kW servo drive (Fieldbus) Fig. 4.14: The dimensions of 7,5 kW servo drive (Fieldbus)
Weight: 5,3 kg
4.2.2 Installation If the servo drive is installed in a control box, ensure it
is mounted with conductive screws. The insulating materials, such as paint, on
the contact surface of the control box must be removed for grounding the servo
drive through the control box. When the input power of the servo drive is 400
V, the grounding resistance value should be less than 10 . The suction hole
and vent hole of the servo drive must not be obstructed. Install the servo
drive according to the specified orientation; otherwise, it may malfunction.
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User Manual Fig. 4.15: Correct and incorrect mounting directions
Technical data
For well cooling and circulation effect, there must be enough clearance
between the servo drive and the adjacent objects or baffle plates. While
installing multiple servo drives, the clearance between two servo drives must
be at least 20 mm. Install a fan in the control box to facilitate heat
dissipation.
Fig. 4.16: Installing multiple servo drives
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Technical data
4.2.3 Power specification
Table 4.2: 400 V servo drive
Rated Output
5 kW
7,5 kW
Input Power Three Phase Rated Voltage (Line AC 380 ~ 480 Vrms, 50~60 Hz Main Power to line)
Rated Current
12,6
17,6
(Arms)
Inrush Current (Apk) 50
Control Power
DC 24 V±15%, 2A
Output Power
Phase Voltage Maximum Rated Power (W)
3 Ø /AC 480 Vrms max.
5 k
7,5 k
Peak Current (Arms)
42
85
Rated Current (Arms)
16
27,4
Power Loss Data (W)
< 250
< 525
PWM Modulation Frequency Dynamic Brake
8 kHz
Built-in dynamic brake circiut No built-in dynamic brake resistor Delay time
of relay: 20 ms
Lowest Value allowed for External Dynamic Brake 10 Ohm Resistor
Regenerative Regenerative Resistor Energy Protection
5 kW:
With built-in regenerative resistor.
Connect to external regenerative resistor to increase regenerative capacity.
7,5 kW:
Without built-in regenerative resistor.
Connect to external regenerative resistor if needed.
Built-in RegenerativeResistor
27 Ohm/180 W
Power Capacity [uF]
560
840
AC 380 V Protection of Regenerative Resistor Enabled
+HV > 620 VDC
Protection of Regenerative Resistor Disabled
+HV < 600 VDC
AC 480 V Protection of Regenerative Resistor Enabled
+HV > 770 Vdc
Protection of Regenerative Resistor Disabled
+HV < 755 Vdc
Overvoltage Protection Environment Operating Temperature
800 VDC 0 ~ 40 oC
Weight (kg)
4,0
5,3
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Technical data
4.3 General specification
Please refer to below table for the general specification of ED1 servo drive
series.
Table 4.3: ED1 Servo drive general specification
Category
Servo drive specification
Cooling Method
Fan cooling
Control Method
IGBT PWM space vector control
Applicable Motor
AC/DM/LM (Depending on encoder type, Excellent SmartCube (ESC) may be required.)
STAT LED Indicator
Blinking red: Error Blinking green: Ready Green: Enabled There is no STAT LED
indicator on Fieldbus servo
drive.
CHARGE LED Indicator
Red: The main power is supplied. No light: The main power is not supplied.
Analog Output
Channel: 2 Resolution: 12 bit Output voltage range: ±10 V Accuracy: ±2% Maximum output current: ± 10 mA
Control Function
Position Command Source
Mode
Signal Type
Pulse command from controller
Pulse/Direction CW/CCW AqB
Isolated Circuit
High-speed optical coupler
Input Signal
Differential input (2.8 V high and low potential difference 3.7 V) or single- ended input (12 ~ 24 VDC)
Maximum Input Bandwidth
Differential: 5 Mpps Single-ended: 200 kpps
Electronic Gear
Gear ratio: pulses/counts Pulses: 1 ~ 1.073.741.824 Counts: 1 ~ 1.073.741.824
Velocity Mode
Command Source
Analog Input
Impedance
Signal Format
DC voltage command from controller 14 k ±10 VDC
Maximum Input Bandwidth
100 Hz
Specification 16 bit A/D input (V-REF+/-)
Torque Mode
Command Source
Analog Input
Impedance
Signal Format
DC voltage command from controller 14 k ±10 VDC
Maximum Input Bandwidth
100 Hz
Specification 16 bit A/D input (T-REF+/-)
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Technical data
Category
Servo drive specification
Control Mode
1 Position mode 2 Velocity mode 3 Torque mode 4 Full-closed loop mode (Dual loop mode)
Computer
Standard USB2.0
Communication (Mini USB type)
Connect the servo drive with your computer to set parameters,monitor physical quantities and execute trial operation via Thunder.
Encoder
Power Supply
+5.1 VDC ± 5%, 700 mA
Signal Format
Serial signal
Resolution: 23 bit (Single-turn/multi-turn absolute encoder) Bandwidth: 5 MHz
Incremental signal (Digital differential TTL signal) AqB and Z-phase signals
The maximum input bandwidth of each phase is 5 MHz.Quadruple frequency, 20
Mcounts/s
Safety Function
Encoder power malfunction detection Short circuit protection Undervoltage
protection Overvoltage protection Encoder alarm protection (Digital
differential TTL
signal)
Position Counting Range
-2.147.483.648~2.147.483.647 (32 bit)
Linear Motor/Direct DriveMotor
Depending on encoder type, Excellent Smart Cube (ESC) maybe required.
Encoder Output
Emulated Encoder
Z Phase
Output(Fieldbus servo
drive does not support)
1 Serial encoder and incremental encoder (AqB,
sin/cos) aresupported.
2 The width of output signal can be adjusted by parameter.
3 Digital differential signal output
4 Z-phase open collector output is supported.
5 Two output methods can be selected. Only outputs one Z-phase signal for
total travel distance. Outputs one Z-phase signal per one revolution.
A/B Phase 1 Serial encoder and digital encoder (AqB) are supported.
Differential signal output.
2 The maximum output bandwidth is 18 Mcount/s. 3 The scaling of output can be
adjusted. For
instance, tenencoder counts = one emulated encoder count.
Buffered Encoder Output
Z Phase
1 Only supports digital encoder (AqB). 2 Differential signal output 3 Supports Z phase open-collector output.
A/B Phase 1 Only supports digital encoders (AqB). 2 Differential signal output, maximum output bandwidth 20 Mcount/s
Generalpurpose I/O
Input
The functions of general-purpose inputs (Optical couplers) canbe defined by
users.
ED1 series servo drive provides ten general-purpose inputs (I1to I10).
Fieldbus servo drive only provides eight general-purpose inputs (I1 to I8) 24
V/5 mA (Each input pin).
Output
The functions of general-purpose outputs (Optical couplers)can be defined by
users.
ED1 series servo drive provides five general-purpose outputs(O1 to O5) 24
V/0,1 A (Each output pin).
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Category
Position Trigger (PT)
Optional Function Environment Storage Temperature
Humidity Altitude
Vibrating
IP Rating
Technical data
Servo drive specification
The pins for position trigger (PT) output function are CN6-46and 47
(Differential signal). Differential 3,3 V, maximum current 20 mA, maximum
outputbandwidth 10 MHz.
Gantry synchronization control function
-20 oC ~ 65 oC
Operating and storage temperature: 20 to 85% RH (Non-condensing)
Altitude 1000 m or lower above sea level (1000 ~ 2000 m is acceptable when
derated value is applied. Please refer to section 4.5)
Less than 0,5 G Frequency 10 to 500 Hz (No continuous use under resonance
frequency)
IP20
4.4 Selecting no-fuse breaker (NFB)
While using no-fuse breaker for current shunt, its rated capacity should be
1,5 to 2,5 times of the rated current of the servo drive and the inrush
current of the servo drive must be considered as well. Refer to the
instructions below to select no-fuse breaker.
While using one servo drive: IB = C × In While using two or more servo drives,
but do not power on at the same time:
IB = (In – InMAX) × KCMAX × InMAX While using two or more servo drives, and
power on at the same time:
IB = C1 × In1C2 × In2CN × InN
Note: IB: The rated current of no-fuse breaker In: The rated current of the
servo drive InMAX: The largest rated current of servo drive while using servo
drives of different specifications C: Multiple for the rated current of the
servo drive
The multiple is usually 1,5 to 2,5. (Note: If users are not sure about the
multiple, please use 1,5.) CMAX: Multiple for the largest rated current of
servo drive while using servo drives of different specifications K: Demand
rate (Note: If users are not sure about the demand rate, please use 1.)
Example:
If five ED1–04 and one ED1–10 are used:
We assume C and CMAX are 2.
Do not use multiple servo drives at the same time: IB = (2,9×5+6,58×16,58)
×1+6,58×2=27,66 Arms
Use multiple servo drives at the same time: IB =
2×2,9+2×2,9+2×2,9+2×2,9+2×2,9+2×6,58=42,16 Arms
Suggested specifications of breaker and fuse used with ED1 series servo drive
If several servo drives use the same breaker, the current of the breaker must
be: the required current of the breaker for each servo drive x the number of
the servo drives. For instance, two ED1–04 share the same breaker, so the
specification of the breaker must be at least: 10 A × 2 = 20 A.
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Technical data
Servo Drive Model ED1–0422 ED1–0522 ED1–1022 ED1–1222 ED1–2032 ED1–4032 ED1–5033 ED1–7533
Rated Input Current 2,9 Arms 3,8 Arms 6,5 Arms 11,1 Arms 11,3 Arms 17,0 Arms 12,6 Arms 17,6 Arms
Breaker
10 A
15 A 30 A 30 A 50A 30 A 50 A
Fuse (Class T) 300 V, 6 A
300 V, 15 A 300 V, 50 A 300V, 70 A 600 V, 40 A 600 V, 60 A
The inrush current of E1 series servo drive When selecting breaker, the inrush current as power is supplied to the servo drive in the first 100 ms must be considered. If several servo drives share the same breaker, please add up the inrush currents of all the used servo drives to select a suitable breaker which can withstand the total inrush current.
Servo Drive Model ED1–0422 ED1–0522 ED1–1022 ED1–1222 ED1–2032 ED1–4032
Inrush Current of Main Power 14,2 Arms 14,2 Arms 23,4 Arms 23,4 Arms 24,0 Arms 36,2 Arms
Inrush Current of Control Power 17,7 Arms 17,7 Arms 17,7 Arms 17,7 Arms 17,7 Arms 17,7 Arms
Servo Drive Model ED1–5033 ED1–7533
Inrush Current of Main Power 50,0 Arms 50,0 Arms
Note: If leakage breaker is used, ensure it meets the following specifications to prevent false operation: Sensitivity current: Above 200 mA Operating time: Above 100 ms
4.5 Derated value
When the drive is operated under condition of temperature 45 ~ 50 °C or
altitude 1000 ~ 2000 M, please use the drive according to the decrease rate of
deration, which is displayed in below figures.
Rated output of the drive: 400 W/500 W/1 kW/1,2 kW/2 kW/4 kW
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5.1 Wiring precautions
5.1.1 General precautions
Danger!
Do not modify wiring when power on, or it may cause electric shock or injury.
Warning!
Wiring or examination must be performed by professional technician. If this is
not followed, it may cause electric shock or product malfunction.
Ensure wiring is correctly performed and the specified power is provided.
Short circuit may occur in output circuits due to incorrect wiring or voltage.
If short circuit is caused by the above reasons, brake will not be enabled.
And this may cause machine damage, injury or death.
Connect AC main power to the terminals of the servo drive. If AC main power
is used, connect to terminals L1, L2, L3 and L1C, L2C on the servo drive. If
this is not followed, it may cause product malfunction or fire.
Caution!
Wiring and examination must be performed at least five minutes after power off
and the indicator goes off. The residual voltage inside the servo drive could
still be high after power off. Do not touch the power terminals when the
indicator goes on. If this is not followed, it may cause electric shock.
Wiring and trial operation must be performed in accordance with the
precautions and procedures given in this manual. If brake circuit malfunctions
due to incorrect wiring or voltage, this may cause product malfunction,
machine damage, injury or death.
Wiring must be correctly performed. Connectors and pin definitions vary with
different models. Before wiring, refer to the technical documents of your
model. If this is not followed, it may cause product malfunction or false
operation.
Connect wires to the power terminals and motor terminals by following the
given instructions. If this is not followed, the wires and terminal blocks
could overheat due to poor connection. And this may cause fire.
Use shielded twisted-pair cables or shielded multi-core twisted-pair cables
for I/O signal cable and encoder cable.
While wiring the terminals of the servo drive main circuit, please pay
attention to the following. Turn on the power after wiring completes.
While wiring a connector, remove the connector from the servo drive first.
Insert one wire per one terminal socket. Ensure there is no short circuit
among wires.
Use circuit breaker or other safety device as protection for short circuit of
external wiring. If this is not followed, it may cause fire or product
malfunction.
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Notice!
Use the cables specified by HIWIN while wiring. If cables which are not
specified by HIWIN are used, perform wiring by using the wiring materials
specified by HIWIN or equivalent products after checking the rated current of
the servo drive and environment.
Ensure the screws on cable connectors are tightened and the servo drive is
securely installed inside the control box. If the screws are not tightened,
the cable connectors could fall off during operation.
Do not put high power cables (such as main circuit power cable) and low power
cables (such as I/O signal cable and encoder cable) in the same cable tray or
tie them together. If high power cable and low power cable are not put in
separate cable trays, they should be at least 30 cm apart. If this is not
followed, false operation may occur when low power cable is interfered.
Encoder battery must be installed on encoder cable.
While installing encoder battery, pay attention to its polarity. A broken
battery may cause encoder malfunction.
Note: Circuit breaker or fuse must be applied to protect the main circuit. If
the servo drive is
directly connected to a commercial power supply and is not insulated by
transformer or other device, circuit breaker or fuse must be used to prevent
the servo system from being affected by external system. Earth leakage circuit
breaker must be applied. The servo drive has no protective circuit for
grounding fault. To have a safer system, it is suggested to install earth
leakage circuit breaker or earth leakage circuit breaker with molded-case
circuit breaker to prevent overload or short circuit. Do not frequently turn
on or turn off the power of the servo drive. The internal components of the
servo drive may be deteriorated if the power is
frequently turned on or off. The interval between power on and power off
must be at least one hour after operation
starts.
For a safe and stable servo system, the following must be followed while
wiring.
1 Use the cables specified by HIWIN. While designing and configuring a system,
the cables must be as short as possible.
2 The conductors of signal cable must be 0.2 mm2 or 0.3 mm2. Do not bend or
apply tension to the cable.
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5.1.2 Countermeasures against interference
The servo drive has sophisticated microprocessors. If wiring or grounding is
not correctly performed, the servo drive could be interfered by peripheral
equipment. To avoid false operation caused by interference, follow the
instructions below to configure the servo drive.
1 Do not put main circuit power cable, control signal cable and encoder cable
in the same cable tray, or tie them together. If they are not put in separate
cable trays, they should be at least 30 cm apart while wiring.
2 The servo drive must not share the same power supply with electric welding
machine or electric discharge machine. If there is high frequency generator
near the servo drive, install noise filter at the input sides of main circuit
power cable and control circuit power cable. For installation instruction of
noise filter, please refer to the following.
3 Grounding must be correctly performed. For information of grounding, please
refer to section 5.1.3.
4 While using motor with large capacity, the servo drive could be interfered
by noise from conduction or radiation. Use shielded motor power cable and its
shield must be connected to the grounding of electric control panel.
5 While using 400 V input power servo drive with large capacity motor, please
refer to 5.1.4 shielding of motor power cables.
Note: For suggested filter, please refer to section 16.2.3.
Wiring diagram for noise filter
Note: The ground wire must be at least 2,0 mm2. (Flat braided copper wire is suggested.) Use twisted-pair wire for connection marked with . For precautions while using noise filter, please refer to the following.
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Precautions for wiring and connecting noise filter
The input cables and output cables of noise filter must be separated. Do not
put them in the same cable tray or tie them together.
The ground wire must be separated from the output cables.
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Do not put the ground wire, output cables and other signal cables in the same cable tray or tie them together.
If noise filter is installed inside a control box, connect the ground wires of the noise filter and other device to the grounding plate of the control box. Then ground the grounding plate.
While connecting multiple servo drives, the control signal cables (CN6) must be away from the main power cables to prevent signal from being interfered.
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5.1.3 Grounding
To prevent interference from causing false operation, perform grounding by
following the instructions below.
1 Use the third type grounding or D type grounding (Grounding resistance must
be below 100 .).
2 The servo drive cannot share the same power supply with electric welding
machine or electric discharge machine. If there is high frequency generator
near the servo drive, install noise filter at the input sides of main circuit
power cable and control circuit power cable. For installation instructions of
noise filter, please refer to section 5.1.2.
3 The ground wire must be as short as possible. Parallel and single-point
grounding is suggested.
4 If servo motor is insulated from machine, ground the servo motor directly.
5 If there is high frequency generator (such as electric welding machine,
electric discharge machine or frequency converter) in servo system, the high
frequency generator must be grounded independently to avoid interference to
other device.
6 When servo motor is grounded through a machine, switching noise current may
flow out from the servo drive main circuit via the stray capacitance of the
servo motor. To avoid the above situation, connect the frame or grounding
terminal of the servo motor to the grounding terminal of the servo drive. Then
ground the grounding terminal of the servo drive. When linear motor is used,
both the forcer and stator must be grounded.
7 When control signal cable is interfered, connect its shield to its connector
shell. Then perform grounding.
5.1.4 Shielding of motor power cable
The goal of this section is to show how to make effective grounding of motor
power cable shielding when 400 V input power servo drive is used.
The noise created during the operation of a motor may disturb the work of a
servo drive through transmission and radiation. If the power cable is not
shielded, the noise will transmit to the ground to form common mode signal
voltage through stray capacitance. The common mode noise from the power cable
will couple with signals nearby through stray capacitance. To avoid the
distribution, a user has to shield the power cable and make the grounding from
the motor directly to the servo drive.
1 Get a 1,5 CM heat shrink tube and put the cable through it. Remove the
insulating tube for around 4,5 5,5 CM so the conductor and separation net in
the cable can be seen, as shown below.
2 Circle the copper foil tape (around 10 CM) on the insulating tube. Fold back the separation net to the insulating tube. Fix them together with the copper foil tape (around 10 CM).
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3 Peel off the insulating material of the inner cable (around 1 CM) so the metal conductors can be seen.
4 Get another 2 CM heat shrink to fix the copper foil tape and the inner
conductors.
5 Fix the four conductors to the terminals according to the servo CN2B drive
terminal indicators. Please make sure the the shielding back panel contacts
the copper foil tape.
6 Use the cable tie in the servo drive accessory kit to fix the shielding back panel and the copper foil tape together (make sure they are firmly fastened).
7 Move the 1,5 CM heat shrink tube in step (1) to the copper foil tape. Make
sure the copper foil tape is firmly fastened by the tube.
Note: The shielding should fully cover the motor power cable from motor to
servo drive. The shielding effect will be affected if the cover is broken.
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5.2 Wiring diagrams
5.2.1 Connections to peripheral devices 5.2.1.1 110 V/220 V input power Servo
drive 400 W 2 kW
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5.2.1.2 400 V input power
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5.2.2 Wiring diagrams for different modes Position mode-Standard model, ED1S
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5.2.3 Power terminal suggested wire size
Table 5.1: Rated input voltage 110 VAC/220 VAC 400 W ~ 2 kW suggested wire size
Suggested wire size
Terminal signal
CN1 European terminal
CN2
European terminal
Model No.
Input power L1, L2, L3
L1C, L2C
B1/, B2, B3 1, 2
U, V, W
Frame R type terminal(M4)
ED1–0422 Single phase 20 AWG/600 V 22 AWG/600 V 14 AWG/600 V 14 AWG/600 V 20 AWG/600 V 14 AWG/600 V
ED1–0522 Single phase 20 AWG/600 V
20 AWG/600 V
ED1–1022 Single phase 16 AWG/600 V
18 AWG/600 V
ED1–1222 Single phase 16 AWG/600 V
18 AWG/600 V
ED1–0422 Three phase 22 AWG/600 V
20 AWG/600 V
ED1–0522 Three phase 22 AWG/600 V
20 AWG/600 V
ED1–1022 Three phase 20 AWG/600 V
18 AWG/600 V
ED1–1222 Three phase 20 AWG/600 V
18 AWG/600 V
ED1–2032 Three phase 14 AWG/600 V
14 AWG/600 V
Note: Do not connect and use CN1 signal terminal. 2 kW servo drives only support three-phase 220 VAC input power.
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Table 5.2: Rated input voltage 220 VAC 4 kW suggested wire size
Suggested wire size
Terminal signal
CN1 R type terminal (M4)
Model No.
Input power L1, L2, L3
L1C, L2C
B1/, B2, B3 1, 2
CN2 European terminal
U, V, W
Frame R type terminal(M4)
ED1–0432 Three phase 10 AWG/600 V 22 AWG/600 V 12 AWG/600 V 12 AWG/600 V 8 AWG/600 V 14 AWG/600 V
Note: Do not connect and use CN1 signal terminal.
Table 5.3: Rated input voltage 400 VAC suggested wire size
Suggested wire size
Terminal signal
CN1A European terminal
CN1C
European terminal
Model No.
Input power
L1, L2, L3
B1, B2, B3 24V, RTN
ED1–5033 ED1–7533
Three phase Three phase
12 AWG/600 V 10 AWG/600 V
10 AWG/ 600 V
20 AWG/ 600 V
CN2B European terminal
U, V, W,
CN2A European terminal
D1, D2, D3
Frame R type terminal
(M4)
12 AWG/600 V 10 AWG/ 600 V
8 AWG/600 V
14 AWG/ 600 V
Note: Do not connect and use CN1B signal , terminal.
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5.3 Wiring for power supply
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5.3.1 110 V/220 V input power
5.3.1.1 Terminal symbols and terminal names (CN1) AC 110 V/AC 220 V wirings
for main circuit power supply and control circuit power supply are described
as below.
Caution! Wiring must be correctly performed by referring to this section.
Incorrect wiring may cause
product malfunction and fire.
The power input for the 400 W ~ 1,2 kW servo drive main circuit can be three-
phase AC 220 V or single-phase AC 110 V/AC 220 V. The power input for the 2 kW
and 4 kW servo drive main circuit should be three-phase AC 220 V. 1 Three-
phase AC 220 V input power (400 W-2 kW servo drives)
Terminal Symbol L1, L2, L3 L1C, L2C B1/, B2, B3
1, 2
Function
Description
AC main input power terminals
Three-phase AC 200 V240 V, 50/60 Hz
Control input power terminals
Single-phase AC 200 V240 V, 50/60 Hz
Terminals for regenerative resistor
When the capacity of internal regenerative resistor is insufficient, use B1/
and B3 terminals to connect to external regenerative resistor. External
regenerative resistor is an
optional purchase. B2 terminal is for internal regenerative
resistor.
Terminals for DC reactor
The terminals are used to connect to DC reactor to suppress high order harmonic and improve power factor. If DC reactor is not used, connect the terminals with the wire provided with the servo drive.
Do not connect.
2 Three-phase AC 220 V input power terminal and motor power output terminal (4 kW servo drives)
Terminal Symbol L1, L2, L3 L1C, L2C B1/, B2, B3
1, 2
Function AC main input power terminals Control input power terminals Terminals
for regenerative resistor
Terminals for DC reactor
Description
Three phase AC 200 V240 V, 50/60 Hz Suggested: R type terminal (M4)
Singel phase AC 200 V240 V, 50/60 Hz Suggested: R type terminal (M4)
When the capacity of internal regenerative resistor is insufficient, use B1/
and B3 terminals to connect to external regenerative resistor. External
regenerative resistor is an optional purchase. B2 terminal is for internal
regenerative resistor. Suggested: R type terminal (M4)
The terminals are used to connect to DC reactor to suppress high order
harmonic and improve power factor. If DC reactor is not used, connect the
terminals with the wire provided with the servo drive. Suggested: R type
terminal (M4)
Do not connect.
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Terminal Symbol
U, V, W
Function
Description
Motor power output terminal
While using HIWIN motor power cable, connect to the corresponding terminals by
referring to the symbols indicated on the cable.
Suggested: R type terminal (M4)
3 Single-phase AC 110 V / AC 220 V input power (400 W-1 kW servo drives)
Terminal Symbol
L1, L2
Function
Description
AC main input power terminals
Single-phase AC 100 V120 V, 50/60 Hz Single-phase AC 200 V240 V, 50/60 Hz
L1C, L2C
Control input power terminals
Single-phase AC 100 V120 V, 50/60 Hz Single-phase AC 200 V240 V, 50/60 Hz
B1/, B2, B3 1, 2
Terminals for regenerative resistor
Terminals for DC reactor
When the capacity of internal regenerative resistor is insufficient, use B1/
and B3 terminals to connect to external regenerative resistor. External
regenerative resistor is an optional purchase. B2 terminal is for internal
regenerative resistor.
The terminals are used to connect to DC reactor to suppress high order
harmonic and improve power factor. If DC reactor is not used, connect the
terminals with the wire provided with the servo drive.
Do not connect.
While using single-phase AC 220 V as main circuit power supply, set Pt00B = t.1 (Threephase/single-phase power input selection). For more information, please refer to section 6.3.1.
5.3.1.2 Wiring for main circuit connector
Caution! Wiring or examination must be performed by professional technician.
The power must be turned off before wiring or examination to avoid short
circuit or electric
shock. The residual voltage inside the servo drive could still be high after
power off. Wiring should
be performed five minutes after power off and the indicator goes off.
5.3.1.3 Power-on sequence
Pay attention to the following while designing power-on sequence.
1 The control power supply must be turned on before the main circuit power
supply. After 20 ms, the servo drive outputs drive ready output (D-RDY)
signal. Ensure the control power supply is turned on prior to the main circuit
power supply while designing power-on sequence. For information of D-RDY
signal, please refer to section 8.1.5.
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2 Ensure the components are compatible with the input power.
Note: The main circuit power supply and control power supply must be turned on
at the same
time. Or the control power supply must be turned on before the main circuit
power supply. While turning off the main circuit power supply and control
power supply, turn off the main
circuit power supply before the control power supply.
Warning!
The residual voltage inside the servo drive could still be high after power
off. To avoid electric shock, do not touch the power terminals. After the
voltage discharges, the indicator goes off. Ensure the indicator goes off
before wiring or examination.
5.3.1.4 Wiring diagram for power supply Wiring diagram for three-phase AC 220 V power supply
NFB R S T
3SA
1FLT
2KM
1KM
1Ry
Power ON
Power OFF
1PL 1KM
HIWIN E1 Series Drive
CN1 L1
L2
L3
L1C L2C B1/ B2 B3
1 2
CN6
1Ry
ALM+
O4+
O4- ALM-
1D
+24V 0V
1KM
1KM
1Ry
1SA 2KM
2SA
NFB 1FLT 1KM 2KM 1Ry 1PL 1D 1SA/2SA/3SA
No-fuse breaker Noise filter Magnetic contactor (control power supply) Magnetic contactor (main circuit power supply) Relay Indicator Bypass diode Surge absorber
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NFB R
S
1FLT
3SA
2KM
1KM
1Ry
Power ON
Power OFF
1PL 1KM
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HIWIN E1 Series Drive
CN1 L1
L2
L3
L1C L2C B1/ B2 B3
1 2
CN6
1Ry
ALM+
O4+
O4- ALM-
1D
+24V 0V
1KM
1KM
1Ry
1SA 2KM
2SA
NFB 1FLT 1KM 2KM 1Ry 1PL 1D 1SA/2SA/3SA
No-fuse breaker Noise filter Magnetic contactor (control power supply) Magnetic contactor (main circuit power supply) Relay Indicator Bypass diode Surge absorber
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Wiring diagram for connecting multiple servo drives (Three-phase AC 220 V
power supply)
Multiple servo drives can share the same noise filter. But the noise filter
must have sufficient capacity for the total power capacity of the servo
drives. The load condition must be considered as well.
NFB 1FLT 2FLT 3FLT 4FLT 1KM 2KM 1Ry 1PL 1D 1SA/2SA/3SA 1Tm/2Tm/3Tm/4Tm
No-fuse breaker Noise filter Noise filter Noise filter Noise filter Magnetic contactor (control power supply) Magnetic contactor (main circuit power supply) Relay Indicator Bypass diode Surge absorber Relay terminal
5.3.1.5 Wiring for regenerative resistor This section will describe how to
connect to regenerative resistor.
Warning! The wiring of external regenerative resistor must be correctly
performed. Do not directly
connect B1/ and B3. If B1/ and B3 are directly connected, it may cause damage
to the regenerative resistor as well as the servo drive and it may cause fire.
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Connecting to external regenerative resistor For input rated voltage 110 VAC /
220 VAC, please connect to external regenerative resistor via B1/ and B3
terminals of the servo drive.
Fig. 5.1: 110 V/220 V servo drive external regenerative resistor wiring
Using built-in regenerative resistor For input rated voltage 110 VAC / 220
VAC, to use built-in regenerative resistor, please connect B1/ and B2
terminals of the servo drive.
Fig. 5.2: 110 V/220 V servo drive built-in regenerative resistor wiring
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Built-in regenerative resistor of the servo drive
Servo drive power
400 W 500 W 1 kW
Regenerativ e Resistor
Built-in
Regenerat ive Resistor
Resistance [] Pt603 [10 m] Regenerative Resistance
–
–
40
–
– 4.000
Capacity [W]
–
–
40
Pt600 [10 W]
–
Regenerative Resistor Capacity
–
4
Minimum Allowable Resistance of External Regenerative Resistor []
40
40
40
1,2 kW 2 kW
40
12
4.000 1.200
40
60
4
6
40
40
4 kW 13
1.300
120 12
13
Note:
Pt600 (Regenerative resistor capacity) and Pt603 (Resistance of regenerative
resistor) must be correctly set when external regenerative resistor or built-
in regenerative resistor is used. Otherwise, AL.320 (Regenerative energy
overflow) may not be detected. And this may cause damage to the regenerative
resistor, injury or fire.
When Pt600 (Regenerative resistor capacity) and Pt603 (Resistance of
regenerative resistor) are not set, external regenerative resistor or built-in
regenerative resistor has no function.
Ensure the capacity of regenerative resistor is suitable. If not, this may
cause regenerative resistor burn-out, injury or fire.
5.3.1.6 Wiring for DC reactor
DC reactor is mainly used to improve power factor and suppress high order
harmonic. Terminals for connecting DC reactor, 1 and 2 terminals, are
connected as the servo drive is shipped out. Remove the wire to connect to DC
reactor. If there is no need to connect to DC reactor, do not remove the wire
between 1 and 2 terminals.
Fig. 5.3: Wiring for DC reactor for input rated voltage 110 V/220 V servo
drives
Note:
If users remove the wire between 1 and 2 terminals without connecting to DC
reactor, alarm AL.410 (Undervoltage) will occur.
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5.3.2 400 V input power
Electrical planning
5.3.2.1 Terminal symbols and terminal names (CN1A/CN1C)
AC 400 V servo drive wirings for main circuit power supply and control circuit
power supply are described as below.
Caution!
Wiring must be correctly performed by referring to this section. Incorrect
wiring may cause product malfunction and fire.
The main circuit input power for the 400 V servo drives should be three-phase AC 400 V and control input power should be DC 24 V.
TerminalName CN1A
CN1C
TerminalSymbol Function
Description
L1, L2, L3
AC main input Three-phase AC 380 V480 V, 50/60 Hz power terminals
Main circuit AC input power.
B1, B2, B3 ,
Terminals for regenerative resistor
–
When the capacity of internal regenerative resistor is insufficient, use B1
and B3 terminals to connect to external regenerative resistor. External
regenerative resistor is an optional purchase. B1 and B2 short circuit is for
built-in regenerative resistor. There is no built-in regenerative resistor for
7,5 kW servo drive.
Do not connect.
+24V, RTN
Control input powerterminals
DC 24 V ± 15 %, 2 A. Two sets of +24V, RTN
terminals are allowed forthe parallel of multiple servo drive control powers.
However, please pay attention to the capacity of the power supply.
5.3.2.2 Wiring for main circuit connector
Caution! Wiring or examination must be performed by professional technician.
The power must be turned off before wiring or examination to avoid short
circuit or electric
shock. The residual voltage inside the servo drive could still be high after
power off. Wiring should
be performed five minutes after power off and the indicator goes off.
5.3.2.3 Power-on sequence Pay attention to the following while designing
power-on sequence. 1 The control power supply must be turned on before the
main circuit power supply. After 20
ms, the servo drive outputs drive ready output (D-RDY) signal. Ensure the
control power supply is turned on prior to the main circuit power supply while
designing power-on sequence. For information of D-RDY signal, please refer to
section 8.1.5.
2 Ensure the components are compatible with the input power.
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Note: The main circuit power supply and control power supply must be turned on
at the same
time. Or the control power supply must be turned on before the main circuit
power supply. While turning off the main circuit power supply and control
power supply, turn off the main
circuit power supply before the control power supply.
Warning!
The residual voltage inside the servo drive could still be high after power
off. To avoid electric shock, do not touch the power terminals. After the
voltage discharges, the indicator goes off. Ensure the indicator goes off
before wiring or examination.
5.3.2.4 Wiring diagram for power supply Wiring diagram for three-phase AC 400 V power supply
1QF 1FLT 1KM 2KM 1Ry 1PL 1D 1SA/2SA/3SA
High voltage fuse breaker Noise filter Magnetic contactor (control power supply) Magnetic contactor (main circuit power supply) Relay Indicator Bypass diode Surge absorber
Wiring diagram for connecting multiple servo drives (Three-phase AC 400 V power supply)
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1QF 1FLT 2FLT 3FLT 4FLT 1KM 2KM 1Ry 1PL 1D 1SA/2SA/3SA 1Tm/2Tm/3Tm/4Tm
No-fuse breaker Noise filter Noise filter Noise filter Noise filter Magnetic contactor (control power supply) Magnetic contactor (main circuit power supply) Relay Indicator Bypass diode Surge absorber Relay terminal
5.3.2.5 Wiring for regenerative resistor Connecting to external regenerative
resistor
For input rated voltage 400 VAC, please connect to external regenerative
resistor via B1 and B3 terminals of the servo drive.
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User Manual Fig. 5.4: Wiring of 400 V servo drive external regenerative resistor
Electrical planning
Using built-in regenerative resistor Please connect terminal B1 and B2 to use
built-in regenerative resistor.
Fig. 5.5: Wiring of 400V servo drive internal regenerative resistor
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Built-in regenerative resistor of the servo drive
Table 5.4: 400 V servo drive
Servo drive power
5 kW
Regenerative Built-in
Resistor
Regenerative
Resistor
Resistance [] Pt603 [10 m] Regenerative Resistance
27 2.700
Capacity [W]
180
Pt600 [10 W]
18
Regenerative Resistor Capacity
Minimum Allowable Resistance of 27 External Regenerative Resistor []
Electrical planning
7.5 kW
–
18
Note: There is no built-in regenerative resistor for 7,5 kW servo drives.
5.3.2.6 Wiring for DC reactor
AC reactor is mainly used to improve power factor and suppress high order
harmonic. The related wiring is shown below.
Fig. 5.6: Wiring for AC reactor for input rated voltage 400 V servo drives
HIWIN E1 400V Series
Drive
QF R
S
RE
FLT
T
CN1A L1 L2 L3
B1 B2 B3
1 2
QF
No-fuse breaker
RE
AC reactor
FLT
Noise filter
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5.4 Wiring for servo motor
Electrical planning
5.4.1 Terminal symbols and terminal names
The terminals and connectors used for connecting servo drive and motor are
listed in table below.
Table 5.5: 110 V/220 V input power servo drives (400 W ~ 2 kW)
Terminal/Connector Symbol
Terminal/Connector Name
Description
CN2
Motor power connector While using HIWIN motor power cable,connect to
the terminals on CN2 by referring to the symbols
indicated on the cable.
Grounding terminal
The ground wire of the motor must beconnected to the ground screw on the servo drive frame.
CN7
Encoder connector
Connect to encoder or ESC.
Note:
There is no CN2 connector for 220 V input power 4 kW servo drive. Please
connect the motor cable to CN1.
Table 5.6: 110 V/220 V input power servo drives (400 W ~ 2 kW)
Connector Symbol
Connector Name
Description
CN2B
Motor power connector
While using HIWIN motor power cable, connect to the terminals on CN2B by referringto the symbols indicated on the cable.
CN7
Encoder connector
Connect to encoder or ESC.
5.4.2 Motor power connector (CN2/CN2B) The terminals used for connecting servo drives and motors are listed in table below. 110 V/220 V input power servo drives (400 W ~ 2 kW) motor power connector (CN2)
Terminal Symbol U V W
Function
Description
U phase motor power supply V phase motor power supply W phase motor power supply
Adaptable with 400 W~2 kW servo drives. While using HIWIN motor power cable, connect to the corresponding terminals by referring to the symbols indicated on the cable.
Note: There is no CN2 connector for 220 V input power 4 kW servo drive. Please
connect the motor cable to CN1.
400 V input power servo drives motor power connector (CN2B)
Terminal Symbol U V W
Function
Description
U phase motor power supply V phase motor power supply W phase motor power supply
Adaptable with 400 V servo drives. While using HIWIN motor power cable, connect to the corresponding terminals by referring to the symbols indicated on the cable.
Motor PE grounding
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5.4.3 Encoder connector (CN7)
The encoder connector and its pin definition are shown as below. ED1 series
servo drive supports AC servo motor with single-turn or multi-turn absolute
encoder, dual loop control (AC servo motor and digital optical scale) and
linear motor with digital optical scale. For information of encoder setting,
please refer to section 6.12.
Fig. 5.7: Encoder connector
Pin 1 2 3 4 5 6 7 8 9 10 SHIELD
Signal +5VE SG PS+ /E+ PS- /EENC_A+ ENC_AENC_B+ ENC_BENC_IND+ ENC_INDFG
Description Encoder power Signal grounding Encoder serial signal: PS+Encoder alarm signal: E+ Encoder serial signal: PS-Encoder alarm signal: EDigital differential signal input: A+ Digital differential signal input: ADigital differential signal input: B+ Digital differential signal input: BDigital differential signal input: Index+ Digital differential signal input: IndexShield
Parameter Pt00F t.0
(Default)
t.1
Description
Do not detect incremental encoder signal error.
Detect incremental encoder signal error.
Effective After power on
Category Setup
Note: When linear motor with digital incremental encoder is used, digital
differential encoder
alarm signal (E+/E-) can be supported. This function is supported only for
Thunder 1.6.11.0 or later versions. When default dual loop control (AC servo
motor and digital optical scale) is used, detection of incremental encoder
signal error is not supported.
While using multi-turn absolute encoder to record motor revolutions, please
install battery.
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Note: The battery must not be installed at the motor side to prevent
interference with the
machine. The battery should be installed at the servo drive side and inside
the control box. For information of encoder extension cable, please refer to
section 16.1.2. For information of battery box and battery, please refer to
section 16.2.4.
5.4.4 Wiring for brake
5.4.4.1 Using the brake
Note: For standard servo drive (ED1S), the default pins for brake control
output (BK) signal are
CN6-40/12 (O5). To change pin assignment, please refer to section 6.8.2. For
Fieldbus servo drive (ED1F), the default pins for brake control output (BK)
signal are
CN6-19/20 (O5). To change pin assignment, please refer to section 6.8.2. While
using brake, DC 24 V for brake and power for I/O signals (CN6) must not share
the
same power supply to avoid false operation. Use relay which has built-in surge
absorbing diode or add surge absorbing diode by
yourself to avoid digital output burn-out.
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Electrical planning
Note: For Fieldbus servo drive (ED1F), the default pins for brake control
output (BK) signal are CN619/20 (O5+/O5-).
5.4.4.2 Dynamic brake
Procedure for setting dynamic brake (110 V/220 V input power)
For input rated voltage 110 V/220 V input power 1 kW ED1 series servo drive or
above, dynamic brake resistor is already installed inside the servo drive.
However, when the motor operates over rated speed or the operating brake
distance is too long, a user can connect to external dynamic brake resistor
and relay or magnetic contactor according to figures below. Aluminium housed
power resistor with lower resistance is suggested to improve braking distance.
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HIWIN E1 Series Drive
+24V
CN6
DBK signal is output.
DBK+
Surge absorbing diode
DBK-
0V
U
CN2
V
W
Dynamic brake resistor
Short circuit point
Relay or magnetic contactor
Power cable
LM
Motor ground wire
HIWIN E1 Series Drive
+24V
CN6
Surge
DBK signal is absorbing not output. diode
DBK+
DBK-
0V
U
CN2
V
W
Motor ground wire
Dynamic brake resistor
Short circuit point
Relay or magnetic contactor
Power cable
LM
When DBK signal is output, the wiring between servo drive and motor is short -circuited. Motor can be enabled.
When DBK signal is not output, the wiring between servo drive and motor is open-circuited. Motor cannot be enabled. Dynamic brake resistor starts to absorb the kinetic energy of motor.
Parameter
Pt00B t.0 (Default)
t.1
Description
Effective
Use the built-in dynamic brake resistor. After power on
Use external dynamic brake resistor.
Category Setup
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Note:
When external dynamic brake resistor is required, use aluminium housed power
resistor. The installation site must be with well ventilation and heat
dissipation to avoid overheating.
Use the built-in calculation function for dynamic brake resistor to calculate
the resistance and power of aluminum housed power resistor. For proper braking
performance, the smaller the resistance is, the larger the power should be.
Pay attention to the contact point current when relay is used. If the current
is too large, use magnetic contactor and the contact point of the magnetic
contactor must be able to withstand large current.
Procedure for setting dynamic brake (400 V input power)
For input rated voltage 400 V input power servo drive or above, dynamic brake
resistor is not installed inside the servo drive. A user can connect to
external dynamic brake resistor according to figures below. Aluminium housed
power resistor with lower resistance is suggested to improve braking distance.
400 V input power servo drive external dynamic brake resistor connector is CN2A. Terminals used for the connection of external dynamic brake resistor are as below.
Table 5.7: Terminals for the connection of external dynamic brake resistor
Terminal Symbol
Function
Description
D1
Connection to dynamic brake
Suitable for 400 V servo drive. If a user need to use
resistor
dynamic brake, please use D1 and D2 to connect
external dynamic brake resistor. External dynamic
D2
Connection to dynamic brake
brake resistor accessory is an optional purchase.
resistor
400 V servo drive is not equipped with internal
D3
–
dynamic brake resistor. D3 is not allowed for use.
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Note: The lowest value allowed for external dynamic brake resistor is 10 Ohm.
For the connection of external dynamic brake circuit and external dynamic
brake resistor of 400 V servo drive, please check the figure as below: Fig.
5.8: Using external dynamic brake circuit and external dynamic brake resistor
Note: A user needs to set Pt00B (Table 5.7) while using external dynamic brake
circuit and external dynamic brake resistor.
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5.5 Control signals (CN6)
Electrical planning
5.5.1 Control signal connector The pin definition of control signal connector
is provided in the table below. Perform wiring according to the control mode
and I/O signals in use. Note: For information of control signal cable, please
refer to the first table in section 16.1.5. E1 series servo drive
(CN6)-Standard (ED1S)
Fig. 5.9: Pin definition of CN6-Standard (ED1S)
Table 5.8: Pin definition of CN6-Standard (ED1S)
Control Mode
Category
Pin Signal
Description
All Control Digital Input 7
COM
Modes
Common point for digital signal inputs
The wiring for digital signals must be sink or source type.
33 I1 30 I2 29 I3
General-purpose input signals
Users are allowed to use the default setting in each control mode or configure
input functions by themselves, please refer to section 8.1.1.
27 I4
28 I5
26 I6
32 I7
31 I8
9
I9
8
I10
Digital Output 35 O1+ 34 O137 O2+
General-purpose output signals
Users are allowed to use the default setting in each control mode or configure
output functions by themselves, please refer to section 8.1.2.
36 O2-
39 O3+
38 O3-
11 O4+
10 O4-
40 O5+
12 O5-
Analog Output 42 AO1
Analog output (+/- 10 V) Monitors motor torque.
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Electrical planning
Control Mode
Position Mode
Velocity Mode Torque Mode
Category
Pin Signal
Description
43
41 Encoder Output 21
22 48 49 23 24 19
25
Special
47
Application 46
Ground
50
Pulse Input 1
2
3
4
5
6
13
Analog Input 14
15
Analog Input 16 17
AO2
Analog output (+/-10 V)
Monitors motor velocity.
AOGND Analog signal grounding
A
Outputs pulse signals (Pulse type: AqB) according
to the setting for encoder output. For more
/A
information of encoder output setting, please refer
to section 8.6. B
/B
Z
Outputs one Z-phase signal per one revolution.
/Z
CZ
Outputs one Z-phase signal per one revolution
(single-ended signal).
SG
Signal grounding
PT+
For the wiring for position trigger output function,
please refer to section 5.5.3. Use Pt00E=t.X
PT-
to enable or disable position trigger output function.
FG
Frame ground
PULH_CW Pulse command inputs For the wirings for pulse command inputs, please
PULH_CCW refer to section 5.2.
CW+
CW-
CCW+
CCW-
SG
Pulse signal grounding
V_REF+ V_REF-
Velocity command inputs (Input voltage +/-10 V)
For wiring diagram for velocity command, please refer to section 5.5.2. (ED1-P
servo drive is not supported.)
T_REF+ T_REF-
Torque command inputs (Input voltage +/-10 V)
For wiring diagram for torque command, please refer to section 5.5.2.
E1 series servo drive (CN6)-Fieldbus (ED1F) Fig. 5.10: Pin definition of CN6-Fieldbus (ED1F)
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Table 5.9: Pin definition of CN6-Fieldbus (ED1F)
Control Mode
Category
Pin
Signal Description
Fieldbus Model
Digital Input 30
Common point for digital signal inputs
COM The wiring for digital signals must be sink or source type.
1
I1
General-purpose input signals
Users are allowed to use the default setting in each
2
I2
control mode or configure input functions by
3
I3
themselves, please refer to section 8.1.1.
4
I4
5
I5
6
I6
7
I7
8
I8
Digital Output 11 12 13
O1+ General-purpose output signals
Users are allowed to use the default setting in each
O1-
control mode or configure output functions by
O2+
themselves, please refer to section 8.1.2.
14
O2-
15
O3+
16
O3-
17
O4+
18
O4-
19
O5+
20
O5-
Encoder Output 24
A
Outputs pulse signals (Pulse type: AqB) according to
the setting for encoder output. For more information
25
/A
of encoder output setting, please refer to section 8.6.
26
B
27
/B
28
Z
Outputs one Z-phase signal per one revolution.
29
/Z
Special
9
Application
10
PT+ For the wiring for position trigger output function,
please refer to section 5.5.3. Use Pt00E=t.X
PT-
to enable or disable position trigger output function.
Analog Output 21
AO1 Analog output (+/-10 V) Monitors motor torque.
22
AO2 Analog output (+/-10 V)
Monitors motor velocity.
23
AOGND Analog signal grounding
Grounding
35
SG
Signal grounding
36
FG
Frame grounding
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Electrical planning
5.5.2 Wiring example of control mode Position mode (Pulse command is only supported in ED1S model.) 1 Differential signal input
Controller
PLS CW / A
DIR
CN6
1 PULH_CW 3 CW+ 4 CW2 PULH_CCW 5 CCW+ 6 CCW-
2.05K 2.05K 221
2.05K 2.05K 221
13 SG
2 Single-ended (NPN) interface with resistor
3 Single-ended (NPN) interface without resistor
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Electrical planning
5 Single-ended (PNP) interface with resistor 6 5V TTL interface
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Electrical planning
Velocity mode (Analog command is only supported in ED1S model.) Motor velocity is controlled by analogue voltage (+/-10 V).
Torque mode (Analog command is only supported in ED1S model.) Motor torque or force is controlled by analogue voltage (+/-10 V).
5.5.3 Wirings for digital inputs and digital outputs
The pin definitions of standard servo drive (ED1S) and Fieldbus servo drive
(ED1F) are different, please refer to section 5.5.1. Wiring for digital inputs
of standard servo drive
Digital input signal is input via optical coupler. The external power could be
12 ~ 24 VDC. The wiring could be sink or source type. Digital input functions
can be user-defined.
1 Wiring for digital inputs (Sink) (Switch or transistor)
Note: The pin definition of Fieldbus servo drive (E1F) is different from what
is shown in the figure above. COM is at CN6-30. I1 is at CN6-1. I2 is at
CN6-2. I3 is at CN6-3.
2 Wiring for digital inputs (Source) (Switch or transistor)
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Electrical planning
Note: The pin definition of Fieldbus servo drive (ED1F) is different from what
is shown in the figure above. COM is at CN6-30. I1 is at CN6-1. I2 is at
CN6-2. I3 is at CN6-3.
Wiring for digital outputs of standard servo drive
Digital output signal is output via optical coupler. The external power must
not exceed 24 VDC. The digital outputs are independent open-collector outputs.
The maximum allowable current is 100 mA. Digital output functions can be user-
defined.
1 Wiring for digital outputs (Relay or optical coupler)
Note: The pin definition of Fieldbus servo drive (ED1F) is different. O1+/O1-
are at CN6-11/12.
O2+/O2- are at CN6-13/14. O3+/O3- are at CN6-15/16. O4+/O4- are at CN6-17/18.
The default digital output for BK signal is O5, please refer to section 5.4.4.
Use relay which has built-in surge absorbing diode or add surge absorbing
diode by
yourself to avoid digital output burn-out. Wiring for analog outputs of
standard servo drive
Analog outputs are used to monitor motor torque (AO1) and motor velocity
(AO2). The voltage range is +-10 V. 1 Wiring for analog outputs
Note: The pin definition of Fieldbus servo drive (ED1F) is different from what
is shown in the figure above. AO1 is at CN6-21. AO2 is at CN6-22. AOGND is at
CN6-23.
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Electrical planning
Position trigger output (PT) signal of standard servo drive Enable or disable position trigger output function by Pt00E=t.X.
E1
PLC
PT+ 47 PT- 46
FG 50
Note: The pin definition of Fieldbus servo drive (ED1F) is different from what
is shown in the figure above. PT+ is at CN6-9. PT- is at CN6-10. FG is at
CN6-36.
5.6 STO connector (CN4)
5.6.1 Pin definition of STO connector For more information of STO safety
function, please refer to chapter 6. Before using STO safety function, pay
attention to the pin definition. If STO safety function is not used, plug the
safety jumper connector provided with the servo drive into CN4. If it is not
plugged in, the servo drive will not output current to the motor.
4
6
8
SF1+ SF2+ EDM+
3
5
7
SF1- SF2- EDM-
Pin 1 2 3 4 5 6 7 8 Shield
Function Reserved
Description Do not use.
SF1SF1+ SF2SF2+ EDMEDM+ FG
SF1 and SF2 signals are input via two independent circuits. If SF1 and SF2
signals are not input, the internal power module of the servo drive will be
shut down to cut off the output current.
Monitors if safety function is normal.
Frame grounding.
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5.6.2 Wiring for STO safety function
Ensure you have safety device connector (HIWIN part number: 051500400404) or
STO signal transmission cable (HIWIN part number: HE00EJ6DH00) before wiring.
For the specification of the connector, please refer to chapter 16.
Wiring for STO safety function
4
6
8
SF1+ SF2+ EDM+
3
SF1-
5
SF2-
7
EDM-
Wiring example of STO safety function
+24VDC
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5.7 Other connectors
Electrical planning
5.7.1 Connector for PC communication (CN3)
Use mini USB cable to connect to PC by CN3 for monitoring, trial operation or
parameter setting via Thunder.
5.7.2 Connector for Fieldbus communication (CN9)
If Fieldbus servo drive (ED1F) is used, connect to CN9 via metal shielded
RJ-45 connector and Ethernet communication cable. The communication cable must
be CAT-5 or above.
Note: For MECHATROLINK III communication (ED1F-L), use RJ-45 connector (FA),
CAT5e STP communication cable (which can be made by users) or cables suggested
by MECHATROLINK Members Association.
There are two communication ports on CN9, OUT port and IN port, please refer
to below.
OUT
Connect to the IN port on other servo drive or other slave. If the servo drive is the last
station, do not connect to this port.
IN
Connect to controller (master), OUT port on other servo drive or other slave.
The figure below shows the example of connecting HIWIN Fieldbus motion controller (HIMC) and ED1F-H servo drives.
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Basic function settings before operation
6 Basic function settings before operation
6.1 Parameters
This section provides descriptions of parameter definition, parameter list and
parameter setting.
6.1.1 Parameter definition The parameters of ED1 series servo drive are divided into two categories.
Category
Description
Setup parameter
Parameter for basic setting
Tuning parameter
Parameter for servo tuning
For how to set setup parameters and tuning parameters, please refer to below.
Setting setup parameters
Setup parameters can be set via the servo drive panel or Thunder. Note: It is
suggested to set setup parameters via Thunder. Users can follow the
instructions
given by Configuration Wizard in Thunder to set control mode, I/O signals and
parameters for trial operation. Configuration Wizard in Thunder is shown in
Fig. 6.1.
Fig. 6.1: Configuration Wizard in Thunder
Setting tuning parameters
Users do not need to set tuning parameters respectively. To improve response
performance, users can use the tuning functions provided in Thunder to adjust
tuning parameters. For more information, please refer to chapter 6.
ED1 Series Servo Drive
ED1-01-2-EN-2205-MA
Page 95 of 376
User Manual
Basic function settings before operation
6.1.2 Parameter list
There are two types of parameter setting methods. One is to input value (table
below) and the other one is to select function (table on the next page).
Parameter that needs to input value
Parameter Pt212
Range
64 ~ 1.073.741.824
Position mode, Control Mode velocity mode and
torque mode
Default
8.192
Effective After power on
Unit
Edge of pulse signal
Description
Set the number of output pulses for one revolution.
Parameter Default Description Range Effective Control mode
Unit
Parameter number Default value Function description Setting range When the setting becomes effective In which mode the parameter is effective (Control mode: velocity mode, position mode, torque mode, internal position mode and internal velocity mode) The minimum unit of the parameter
Parameter that needs to select function
Parameter Pt000
Range 0 ~ E
Control Mode
Position mode, velocity mode and torque mode
Default
t.1
Effective
After power on
Unit
–
Description
Set control mode. In ED1 series servo drive, there are position mode, velocity
mode, torque mode, internal position mode, internal velocity mode and dual
mode.
Pt000 = t.X
Value Control Mode
Value Control Mode
0
Velocity mode
8
Position mode Torque mode
1
Position mode
9
Torque mode Velocity mode
2
Torque mode
A
Internal position mode
3
Internal velocity mode
B
Internal position mode Position mode
4
Internal velocity mode Position mode C
Internal position mode Velocity mode
5
Internal velocity mode Velocity mode D
Internal position mode Torque mode
6
Internal velocity mode Torque mode E
Internal velocity mode Internal position mode
7
Position mode Velocity mode
Note:
t. means users need to select function for this parameter. The setting value
in is hexadecimal.
Pt000 = t.X means the value of X needs to be set. For instance, Pt000 needs to
be set to t.3 when users would like to change the control mode to internal
velocity mode.
6.1.3 Parameter setting Parameters can be set via the parameter list in Thunder or the servo drive panel. Set parameters via the parameter list in Thunder
ED1 Series Servo Drive
ED1-01-2-EN-2205-MA
Page 96 of 376
User Manual Fig. 6.2: The Parameter list in
References
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