HIWIN E1 Series Servo Drive User Manual

June 4, 2024
HIWIN

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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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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Contents

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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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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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 Electrical planning

Electrical planning

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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User Manual Servo drive 4 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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User Manual Velocity mode-Standard model, ED1S

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User Manual Torque 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

Electrical planning

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

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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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Electrical planning

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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User Manual The wiring when brake is used with relay

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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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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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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Electrical planning

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.

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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

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User Manual Fig. 6.2: The Parameter list in

References

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