Ep100 Use Manual

Maxsine
EP1 00 series AC servo driver

EP100
User Manual
(The tenth edition)
EP100-2A/EP100-3A/EP100-5A
Servo Driver
EP100B-2A/EP100B-3A
Wuhan Maxsine Electric Co.,Ltd

DECLARATION
Wuhan Maxsine electric technology limited company all rights reserved.

Without this company's written permission, forbid strictly the reprint either the part
or the complete content of this handbook.
Because improves and so on the reasons, the product specification or

dimension has the change, not separate informs even slightly.
Safety Precautions
In order to use this product safely, the user should be familiar with and observes the
following important items before proceeding with storage, installation, wiring, operation,
inspection or maintenance for the product.
Indicates a disoperation possibly can cause danger and physical injure or

D A N G ER
death.
Indicates a disoperation possibly can cause danger and physical injure, and
C A U TIO N
may result in damage to the product.
Indicates a prohibited actions, otherwise can cause damage, malfunction to the
STO P
product.
1. Service conditions
D A N G ER
� Do not expose the product in moisture, caustic gas, and ignitable gas situation. Otherwise
can cause an electric shock or fire.
� Do not use the product in direct-sunlight, dust, salinity and metal powder places.
� Do not use the product in the places that has water, oil and drugs drops.
2. Wiring
D A N G ER
� Connect the earth terminal (PE) to earth reliably, otherwise can cause an electric shock or
fire.
� Never connect the input power terminals (L1, L2, L3) to 380V power supply, otherwise
can result in the equipment damage and an electric shock or fire.
� Do not connect the servo motor output terminals (U, V, W) to 3 phase AC power supply,
otherwise can cause personnel casualty or fire.
� The output terminals (U, V, W) must be connected with the servo motor connections (U,
V, W) correspondently, otherwise can result in the servomotor flying speed that may cause
I
equipment damage and the personnel casualty
� Please fasten the input power terminals (L1, L2, and L3) and the output terminals (U, V,
W). Otherwise may cause fire.
� Referring to wire selection guide, please install all wires with an adequate cross-section.
Otherwise may cause fire.
3. Operations
C A U TIO N
� Before operating the mechanical device, it is necessary to set the parameters with
appropriate values. Otherwise, can cause the mechanical device to out of control or break
down.
� Before running the mechanical device, make sure the emergency stop switch can work at
any time.
� Performing trial run without load, make sure that the servomotor is in normal operation.
Afterwards joins again the load.
� Please do not turn on and off the main power supply more frequently, otherwise can cause
the servo driver overheat.
4. Running
STO P
� Do not touch any moving parts of the mechanical device while the servomotor is running,
otherwise can cause personnel casualty.
� Do not touch servo driver and servomotor while the equipment is operating, otherwise can
result in an electric shock or in burn.
� Do not move any connection cables while the equipment is operating, otherwise can result
in physical injure or equipment damage.
5. Maintenance and inspection
STO P
� Do not touch any portion inside of the servo driver and servomotor, otherwise can cause
an electric shock.
� Do not remove the front cover of the servo driver while power is on, otherwise can cause
an electric shock.
II
� Please wait at least 5 minutes after power has been removed before touching any terminal,
otherwise the remaining high voltage possibly can cause an electric shock.
� Do not change the wiring while the power is on, otherwise can cause an electric shock.
� Do not disassemble the servomotor, otherwise can cause an electric shock.
6. Service ranges
C A U TIO N
This handbook involves the product for the general industry use, please do not use in some
equipment which may directly harm the personal safety, such as nuclear energy, spaceflight,
aeronautic equipment, and life safeguard, life-support equipment and each kind of safety
equipment. Please make contact with the company if have the need of use mentioned above.
III
目录
CONTENTS
第 1 章产品检查与安装 Product inspection and installation..................................................... 1

1.1 产品检查 Product inspection.............................................................................................. 1
1.2 安装与接线 Installment and wiring.................................................................................... 1
1.3 安装方法 The method of installation................................................................................. 2
1.4 伺服电机安装 Servo motor installation..............................................................................3
1.4.1 安装环境条件 The environmental conditions for installation..................................... 3
1.4.2 安装方法 The method of installation........................................................................... 3
1.5 电机旋转方向定义 The definition of rotating direction for servo motor........................... 3
第 2 章接线 Wiring...................................................................................................................... 4
2.1 配线规格 Electric wire specifications................................................................................4
2.2 配线方法 Wring methods....................................................................................................4
2.3 注意事项 Notes...................................................................................................................4
2.4 标准连接 Standard wiring...................................................................................................5
2.4.1 位置控制 Position control............................................................................................5
2.4.2 速度控制 Speed control............................................................................................... 6
2.4.3 转矩控制 Torque control..............................................................................................7
第 3 章接口 Interface ................................................................................................................. 8
3.1 EP100-2A/3A 驱动器电源端子 TB
EP100-2A/3A servo drive power supply terminals TB........................................................ 8
3.2 控制信号输入/输出端子 CN1 Control signal input/output terminal CN1..........................9
3.3 编码器信号输入端子 CN2 Encoder signal input terminal CN2...................................... 14
3.4 接口端子配置 Terminal disposition for interface............................................................. 15
3.5 输入/输出接口类型 Input/output interface type...............................................................16
3.5.1 开关量输入接口 Switch value input interface...........................................................16
3.5.2 开关量输出接口 Switch value output interface.........................................................16
3.5.3 脉冲量输入接口 Pulse value input interface............................................................. 17
3.5.4 模拟输入接口 Analog input interface....................................................................... 20
3.5.5 编码器信号输出接口 Encoder signal output interface............................................. 22
3.5.6 编码器 Z 信号集电极开路输出接口
Encoder Z signal collector open circuit output intreface...................................................... 23
3.5.7 伺服电机光电编码器输入接口
Servo motor optical-electricty encoder input interface.........................................................23
IV
3.6 EP100-5A 驱动器电源端子 TB EP100-5A drive power supply terminal TB...................24
第 4 章参数 Parameter............................................................................................................... 25
4.1 参数一览表 Parameter table............................................................................................. 25
4.2 参数详解 Detailed explanation for parameter................................................................... 27
第 5 章保护功能 Protection function.........................................................................................43
5.1 报警一览表 Alarm table................................................................................................... 43
5.2 报警处理方法 The handling methods for alarm............................................................... 44
第 6 章显示与键盘操作 Display and button operation............................................................. 51
6.1 第 1 层 First layer..............................................................................................................52
6.2 第 2 层 Second layer.......................................................................................................... 53
6.2.1 监视方式 Monitor mode............................................................................................ 53
6.2.2 参数设置 Parameter setting....................................................................................... 55
6.2.3 参数管理 Parameter management..............................................................................56
6.2.4 模拟量自动调零 Zeroing for analog quantity........................................................... 58
第 7 章运行 Operation............................................................................................................... 59
7.1 接地 Grounding................................................................................................................. 59
7.2 工作时序 Work Timing..................................................................................................... 59
7.2.1 电源接通次序 Timing chart when power supply switch on...................................... 59
7.2.2 时序图 timing chart....................................................................................................60
7.3 机械制动器使用 Make use of mechanical brake............................................................... 60
7.4 注意事项 Notes................................................................................................................. 62
7.5 试运行 Trial running......................................................................................................... 62
7.5.1 试运行的检查 Inspection before trial running........................................................... 62
7.5.2 通电试运行 power on to trial running....................................................................... 63
7.6 位置控制模式的简单接线运行 Operation of position control mode with simple wiring65
7.7 速度控制模式的简单接线运行 Operation of speed control mode with simple wiring... 68
7.8 转矩控制方式的简单接线运行 Operation of speed control mode with simple WIRING..70
7.9 动态电子齿轮使用 The use of dynamic electronic gear....................................................72
7.9.1 简要接线 sample wiring.............................................................................................72
7.9.2 操作 operation............................................................................................................ 73
7.10 输入端子切换控制方式 Input terminal switching control mode................................... 75
7.11 用户转矩过载报警功能 Alarm function for user torque overload................................. 75
7.12 调整 Adjustment.............................................................................................................. 76
7.12.1 基本增益调整 basic gain adjustment.......................................................................76
7.12.2 基本参数调整图 basic parameter adjustment diagram............................................76
7.13 常见问题 Common problems.......................................................................................... 77
7.13.1 恢复缺省参数 recover default parameter................................................................ 77
7.13.2 频繁出现 Err-15、Err-30、Err-31、Err-32 报警 alarm Err-15、Err-30、Err-31、
Err-32 appear frequently.......................................................................................................78
V
7.14 相关知识 Related knowledge.......................................................................................... 79
7.14.1 位置分辨率和电子齿轮的设置 set the position resolution and electronic gear..... 79
7.14.2 位置控制时的滞后脉冲 the lag pulse of position control.......................................79
第 8 章规格 Specifications.......................................................................................................80
8.1 伺服驱动器规格 Specification for servo drive................................................................. 80
8.2 伺服驱动器尺寸 Dimensions of servo driver...................................................................80
8.3 伺服驱动器规格 Specifications of servo driver............................................................... 81
8.4 型号代码参数与电机对照表........................................................................................... 82
8.4.1 迈信交流伺服电机适配............................................................................................ 82
8.4.2 华大、米格交流伺服电机适配................................................................................ 83
8.5 伺服电机型号 Types of servo motor................................................................................ 85
8.6 伺服电机接线 Servo motor wiring................................................................................... 85
8.6.1 绕组接线 Winding wiring.......................................................................................... 85
8.6.2 制动器 Holding brakes...............................................................................................85
8.6.3 增量式标准编码器 Standard Incremental Encoder................................................... 85
8.6.4 增量式省线编码器 Incremental saving wire encoder............................................... 86
8.7 伺服电机参数 Parameters of servo motor........................................................................ 87
8.7.1 60 系列电机参数 Parameters of 60 series servo motor........................................... 87
8.7.4 110 系列电机参数 Parameters of 110 series servo motor....................................... 90
附录 1 西门子数控系统连接 Connection for SIEMENS CNC system................................ 95
1. 接线图 Wiring diagram........................................................................................................95
2. 连接电缆 Connecting cable................................................................................................. 96
VI
备注 remarks
VII
第 1 章产品检查与安装
Chapter 1 Product inspection and

install ation
installation
1.1 产品检查 Product inspection
本产品在出厂前均做过完整功能测试，为防止产品运送过程中因疏忽导致产品不正
常，拆封后请详细检查下列事项：
This product has made the complete function test before delivery, for prevented the
product to be abnormal owing to shipping process, please make detail inspection as the
following items after breaking the seal:
� 检查伺服驱动器与伺服电机型号是否与订购的机型相同。
� Inspect the types of servo driver and servo motor and ensure that are the same types in
the order form.
� 检查伺服驱动器与伺服电机外观有无损坏及刮伤现象。运送中造成损伤时，请勿接
线送电。
� Inspect the outward appearance of servo driver and servo motor to see any abrasion or
damage; if so please do not wire to the power supply.
� 检查伺服驱动器与伺服电机有无零组件松脱之现象。是否有松脱的螺丝，是否螺丝
未锁紧或脱落。
� Inspect the parts of servo driver and servo motor to see any loosen parts such as loosened
or fallen off screw.
� 检查伺服电机转子轴是否能以手平顺旋转。带制动器的电机无法直接旋转。
� Rotate the servo motor shaft by hand and should be smooth rotation. However, the servo
motor with holding brake is unable to rotate directly.
如果上述各项有发生故障或不正常的现象，请立即与经销商联系。
If there is any break down item or abnormal phenomenon mentioned above, please
contact with the dealer immediately.
1.2 安装与接线 installation and wiring
� 电气控制柜内的安装 install the control cubicle.

1
第 8 章规格 Chapter 8 Specifications
电气控制柜内部电气设备的发热以及控制柜内的散热条件，伺服驱动器周围的温度
将会不断升高，所以在考虑驱动器的冷却以及控制柜内的配置情况，长期安全工作
温度在 40°C 以下。
Due to the heat given out by the internal devices in the control cubicle and the heat
dissipation condition, the temperature around servo drive will keep rising. Considerning
the cooling of drive and the configuration in control cubicle, it should keep less than
40℃ for long-term trouble-free service.
� 伺服驱动器附近有发热设备 there are heat generating devices near the servo drive
伺服驱动器在高温条件下工作，会使其寿命明显缩短，并会产生故障。所以应保证
伺服驱动器在热对流和热辐射的条件下周围温度在 40°C 以下。
If servo drive woring with high terperature, the service life of it will be shortened, and
faults will arise. So make sure that the surrounding temperature less than 40℃ under the
condition of servo drive heat convection and heat radiation.
� 伺服驱动器附近有振动设备 there are vibration devices nearby
采用各种防振措施，保证伺服驱动器不受振动影响，振动保证在 0.5G(4.9m/S2)以下。
To adopt all kinds of antivibration mearsures, make sure the servo drive get rid of
vibration. Keep the vibration under 0.5G(4.9m/S2).
� 伺服驱动器在恶劣环境使用 used under severe conditions
伺服驱动器在恶劣环境使用时，接触腐蚀性气体、潮湿、金属粉尘、水以及加工液
体，会使驱动器发生故障。所以在安装时，必须保证驱动器的工作环境。
When the servo drive work under the severe conditions, for example, contacting
corrosive gas, humid, metal dust, water or processing liquid
� 伺服驱动器附近有干扰设备 there is interferential equipment nearby
伺服驱动器附近有干扰设备时，对伺服驱动器的电源线以及控制线有很大的干扰影
响，使驱动器产生误动作。可以加入噪声滤波器以及其它各种抗干扰措施，保证驱
动器的正常工作。注意加入噪声滤波器后，漏电流会增大，为了避免这个毛病，可
以使用隔离变压器。特别注意驱动器的控制信号线很容易受到干扰，要有合理的走
线和屏蔽措施。
� If there is disturbance from interferential equipment nearby along the wirings to the servo
driver can make the servo driver misoperation. Using noise filters as well as other
antijamming measure guarantee normal work of the servo driver. However, the noise filter
can increase current leakage, therefore should install an insulating transformer in the input
terminals of power supply. Pay special attention to that the control signal wire could be
disturbed easily. So reasonable wire layout and shield measures are needed.
2
1.3 安装方法 The method of installation
� 安装方向 install direction

伺服驱动器的正常安装方向是垂直直立方向。
The installation direction of servo driver should normally mount in vertical direction
� 安装固定 install fasten
安装时，上紧伺服驱动器后部的 4 个 M5 固定螺丝。
For installing the servo driver, fasten the backboard of the servo driver with four M5
screw bolt.
� 安装间隔 install interval
伺服驱动器之间以及与其它设备间的安装间隔距离，请参考图 2.1，注意图上标明
的是最小尺寸，为了保证驱动器的使用性能和寿命，请尽可能地留有充分的安装间
隔。
Reserve enough space around the servo drivers as shown in the reference diagram 2.1.
Please note that what mark in the diagram is the minimum size. In order to guarantee the
performance of the servo driver and the lifetime, please make the space as full as
possible.
� 散热 heat dissipation
伺服驱动器采用自然冷却方式，在电气控制柜内必须安装散热风扇，保证有垂直方
向的风对伺服驱动器的散热器散热。
Servo drive adopts natural cooling. To provide vertical wind to the heat sink of the servo
driver should install ventilating fans in the control cubicle
� 安装注意事项 install Precautions
安装电气控制柜时，防止粉尘或铁屑进入伺服驱动器内部。
Prevent the dust or the iron filings entering the servo driver when install the control
cubicle.
3
>100mm
>25mm >25mm >100mm
伺伺伺
服服服
驱驱驱
动动动
器器器
>100mm
通风方向通风方向
图 1.1 伺服驱动器安装图
>1 0 0 m m
>2 5 m m >2 5 m m >1 0 0 m m
伺服驱动器伺服驱动器伺服驱动器

Servo drive Servo drive Servo drive
>1 0 0 m m
通风方向通风方向
Ventilating Direction Ventilating Direction
4
Picture1.1 installation diagram for servo drive
5
1.4 伺服电机安装 Servo motor installation
1.4.1 安装环境条件 The environmental conditions for

installation
� 工作环境温度：0～40℃；工作环境湿度：80%以下(无结露)。
� Ambient temperature: 0 to 40℃; Ambient humidity: less than 80 %( no dew).
� 贮存环境温度：-40～50℃；贮存环境湿度：80%以下(无结露)。
� Storage temperature: -40 to 50℃; Storage humidity: less than 93 %( no dew).
� 振动：0.5G以下。
� Vibration: less than 0.5G.
� 通风良好、少湿气及灰尘的场所。
� Install the servo motor in well-ventilated place with less moisture and a few dusts.
� 无腐蚀性、引火性气体、油气、切削液、切削粉、铁粉等环境。
� Install the servo motor in a place without corrosive liquid, flammable gas, oil vapor, cutting
cooling liquid, cutting chips, iron powder and so on.
� 无水汽及阳光直射的场所。
Install the servomotor in a place without water vapor and direct sunlight
1.4.2 安装方法 The method of installation
� 水平安装：为避免水、油等液体自电机出线端流入电机内部，请将电缆出口置于下方。
� For horizontal installation: In order to prevent water, oil, etc. from entering inside of the
servomotor, please put the cable connector downward.
� 垂直安装：若电机轴朝上安装且附有减速机时，须注意并防止减速机内的油渍经由电
机轴渗入电机内部。
� For vertical installation: if the shaft of the servo motor is in upward direction with a speed
reducer, some prevention measure shall be taken against entering inside of the servo motor
by oil come from the speed reducer.
� 电机轴的伸出量需充分，若伸出量不足时将容易使电机运动时产生振动。
� Motor shaft extension should be long enough, or may cause vibration while motor is in
running.
� 安装及拆卸电机时，请勿用榔头敲击电机，否则容易造成电机轴及编码器损坏。
� In case of installation or removing the servomotor, please do not hit the servo motor with a
hammer, otherwise the shaft and the encoder can be damaged.
6
1.5 电机旋转方向定义 The definition of rotating

direction for servo motor
本手册描述的电机旋转方向定义：面对电机轴伸，转动轴逆时针旋转(CCW)为正转，
转动轴顺时针旋转(CW)为反转。
The motor rotating direction description in this handbook is defined as facing the shaft of
the servo motor, if the rotating shaft is in counterclockwise direction will be called as positive
direction, or in clockwise as reversal direction.
正转反转
逆时针 (C C W ) 顺时针 (C W )
Positive R otation R eversal R otation
(C C W ) (C W )
图 1.2 电机旋转方向定义
Picture1.2 The definition of rotating direction for servo motor
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第 2 章接线
Chapter 2 Wiring
2.1 配线规格 wring specification
� 线径：R、S、T、PE、U、V、W 端子线径≥1.5mm2(AWG14-16)，r、t 端子线径≥

0.75mm2(AWG18)；
� Wire diameter: the wire diameter of trminals R 、 S 、 T 、 PE 、 U 、 V 、 W ≥
1.5mm2(AWG14-16), the wire diameter of trminals r、t ≥0.75mm2(AWG18)；
� 端子采用预绝缘冷压端子，务必连接牢固；
� Terminals adopt pre-insulation cold-pressed terminal, make sure the connection is
fastness.
� 建议采用三相隔离变压器供电；
� We suggest adopting three phase isolation transformer for power supplying.
2.2 配线方法 wring methods
� 输入输出信号线和编码器信号线，请使用推荐的电缆或相似的屏蔽线，配线长度为：
输入输出信号线 3m 以下，编码器信号线 20m 以下。接线时按最短距离连接，越短
越好，主电路接线与信号线要分离。
� For the input and output signal wire and encoder signal wire, please choose the
recommended cable or similar shield wire. The length of wiring is: The input and output
signal wire length should be less than 3 meters and the encoder signal wire length should
be less than 20 meters. Please connect wire according to the shortest distance, the shorter
the diatance, the better it will. Separate the mian circuit wiring and signal wire.
� 接地线要粗壮，做成一点接地，伺服电机的接地端子与伺服驱动器的接地端子 PE
务必相连。
� Earthed wiring must be reliable with a single-point connection. The ground terminal of
servo motor must be linked with the ground terminal PE of servo drive.
� 为防止干扰引起误动作，建议安装噪声滤波器，并注意：
� In order to protect the servo driver from noise interference that can cause malfunction,
please use a noise filter on the power lines. Pleasse note:
1) 噪声滤波器、伺服驱动器和上位控制器尽量近距离安装。
2) 继电器、电磁接触器、制动器等线圈中务必安装浪涌抑制器。
3) 主电路和信号线不要在同一管道中通过同时不要扎在一起。
8
1) Nosie filter, servo drive and host controller should install as closely as possible.
2) Must install surge soppression in relay, electromagnetic contactor, brake and other
coils
3) main circuit and signal wire can not pass through the same channel or tie up together.
� 在附近用强烈干扰源时(如电焊机、电火花机床等)，输入电源上使用隔离变压器可
以防止干扰引起误动作。
� When using intensity interference sources (such as electric welding machine, EDM
machine tool etc. ), using isolation transformer in the input power supply can protect it
from the malfunction caused by interference.
� 请安装非熔断型断路器(NFB)使驱动器故障时能及时切断外部电源。
� Install a non-fuse circuit breaker that can shut off the external power supply immediately
for in case of the servo driver fault.
� 正确连接电缆屏蔽层。
� Connect cable shield layer corretly.
2.3 注意事项 notes
� 驱动器 U、V、W 的接线端子必须与电机端子 U、V、W 一一对应，注意不能用调

换三相端子的方法来使电机反转，这一点与异步电动机完全不同。
� The servo drive ground terminals (U, V, W) must be connected with the servo motor
connections (U, V, W) correspondently. By exchanging three-phase terminal cannot cause
the motor to reverse; this point is different from an asynchronous motor.
� 由于伺服电机流过高频开关电流，因此漏电流相对较大，电机接地端子必须与伺服
驱动器接地端子 PE 连接一起并良好接地。
� As servo motor flows through high-frequency switch, the leak current is relative large.
Motor ground terminals must be connect with servo drive ground terminal PE, and well-
earthed connection.
� 因为伺服驱动器内部有大容量的电解电容，所以即使切断了电源，内部电路中仍有
高电压。在电源被切断后，最少等待 5 分钟以上，才能接触驱动器和电机。
� Because there is large amount of electrolytic capacitor in servo drive, it still exist high
voltage in the interior circuit even if trun off the power supply. Waiting for at least five
minutes after turning off power supply can people contact drive and motor.
� 接通电源后，操作者应与驱动器和电机保持一定的距离。
� Operator should keep a certain distance from drive and motor after turning on power
supply.
� 长时间不使用，请将电源切断。
� Please trun off the power supply if you do not use it for long time.
� 本接线图针对武汉华大伺服电机。
� This wiring diagram is drawn for wuhan
9
2.4 标准连接 Standard wiring
2.4.1 位置控制 Position control
S ta r 系列
M a x sine
伺服电机
E P 100伺服驱动器
PE
U 2
V 3
R 4
三相
W
S
AC 2 2 0 V PE 1
T
NFB M C CN2 电机 4芯插头
r 14 5V
t 15 5V
CN1
16 5V
DC COM + 18
17 5V
1 2 ~2 4 V
4.7k
18 0V
伺服使能 SO N 10
19 0V
报警清除 A LR S 11
20 0V 2
C C W (逆时针 )驱动禁止 F ST P 12
21 0V 3
C W (顺时针 )驱动禁止 R ST P 13
1 A+ 4
偏差计数器清零 C LE 14
26LS32 2 A- 7
指令脉冲禁止 IN H 15 接收器
3 B+ 5
CCW 转矩限制 F IL 16
4 B- 8
C W 转矩限制 R IL 17
5 Z+ 6
光电编码器
CN1 6 Z- 9 15芯插头
SR D Y + 8
7 U+ 10
伺服准备好
SR D Y - 25 8 U- 13
A LM + 26 9 V+ 11
伺服报警
A LM - 27
10 V- 14
C O IN + 28
11 W+ 12
定位完成
C O IN - 29
12 W- 15
BR K + 30
机械制动器 22 0V 1
释放 BR K - 31 23 0V
CN1 26 FG
P U LS + 32
位置指令
PU LS P U LS - 33 CN1
220
S IG N + 34 1 OA+ A
位置指令 A
S IG N S IG N - 35 2 OA- A
220
3 OB+ B
FG 36 B 编码器
4 OB- B 信号输出
26LS31
驱动器 5 OZ+ Z
Z
6 ZA- Z
机壳地
9 GND GND 编码器信号地
编码器 Z信号
7 CZ Z 集电极开路输出
图 2.1 位置控制的标准接线
10
M a x sine SER VOM OT OR

E P 1 0 0 (B) SERVO DRIVER
PE
U 2
V 3
R 4
3 Phase W
A C 220 V S
PE 1
T
CN2 4 Pins C onnector
NFB M C For M otor Pow er
r 14 5V
t 15 5V
CN1
16 5V
DC C OM+ 18
17 5V
1 2 ~2 4 V
4.7k
18 0V
S erv o O N (E nabled ) SON 10
19 0V
Alarm Clear A LR S 11
20 0V 2
CCW Drive Inhibition F ST P 12
21 0V 3
CW Drive Inhibition R ST P 13
1 A+ 4
Deviation Counter Clear C LE 14
26 LS 32 2 A- 7
Command Pulse Inhibition IN H 15 R eceiver
3 B+ 5
CCW Torque Limit F IL 16

4 B- 8
CW Torque Limit R IL 17
5 Z+ 6
CN1 6 Z- 9
SR D Y + 8
7 U+ 10
Servo Ready
SR D Y - 25 8 U- 13
A LM + 26 9 V+ 11
S erv o A larm
A LM - 27
10 V- 14
C O IN + 28
11 W+ 12
Positioning Completed
C O IN - 29
12 W- 15
BR K + 30
22 0V 1
Mechanical Brake Release
BR K - 31
23 0V
15 Pins C onnector
CN1 26 FG For Optical Encoder
P U LS + 32
Position Command
PU LS E P U LS - 33 CN1
220
S IG N + 34 1 OA+ A
Position Command A
S IG N S IG N - 35 2 OA- A
220
3 OB+ B
FG 36 B Output Signals
4 OB- B of Encoder
26 LS 31
D river 5 OZ+ Z
Z
G round of 6 OZ- Z
M etal C ase
9 GND GND Ground of

Encoder Signal
7 CZ Z Z Signal of Encoder
( OC Output)
Picture 2.1 Standard wiring for position control
11
2.4.2 速度控制 speed control
M a x sine S tar 系列
伺服电机
E P 1 0 0伺服驱动器
PE
U 2
V 3
R 4
三相
W
S PE 1
AC 2 2 0 V
T
r 14 5V
t 15 5V
CN1
16 5V
DC COM + 18
17 5V
1 2 ~2 4 V
4.7k
18 0V
伺服使能 SON 10
19 0V
20 0V 2
C C W (逆时针 )驱动禁止 FSTP 12
21 0V 3
C W (顺时针 )驱动禁止 R ST P 13
1 A+ 4
S C 1/ZE R O S
速度选择 1/零速箝位 PD
14
26LS32 2 A- 7
速度选择 2 SC 2 15 接收器
3 B+ 5
CCW转矩限制 F IL 16
4 B- 8
5 Z+ 6
光电编码器
CN1 6 Z- 9 15芯插头
SR D Y+ 8
7 U+ 10
伺服准备好
SR D Y- 25
8 U- 13
ALM + 26 9 V+ 11
伺服报警
ALM - 27
10 V- 14
C O IN + 28
11 W+ 12
速度到达
C O IN - 29
12 W- 15
BR K+ 30
释放 BR K- 31 23 0V
CN1 26 FG
速度模拟指令 + AS + 19 -
（-1 0 V~+1 0 V） - AS - 20 + CN1
10 K
AG N D 23 1 OA+ A
A
2 OA- A
3 OB+ B
编码器
B
5 OZ+ Z
26LS31 Z
驱动器 6 ZA- Z
FG 36 9 GND GND 编码器信号地
编码器 Z信号
7 CZ Z
集电极开路输出
机壳地
图 2.2 速度控制的标准接线
Picture 2.2 standard wiring for speed control
12
S ta r 系列
伺服电机
Maxsine Star series
E P 1 0 0伺服驱动器 servomotor
PE E P 100 Servo driver U 2
三相 V 3
AC 2 2 0 V R
W 4
Three S
PE 1
phase T 电机 4芯插头
A C 2 2 0V NFB M C CN2 4 cores
connector for
r 14 5V servom otor
t 15 5V
CN1 16 5V
DC COM + 18
17 5V
1 2 ~2 4 V
4.7k
18 0V
伺服使能 S ervo O N SON 10
19 0V
报警清除 Alarm clear A LR S 11
20 0V 2
C C W (逆时针 )驱动禁止
F ST P 12
CCW drive inhibition 21 0V 3
C W (顺时针 )驱动禁止 C W drive inhibition R ST P 13
1 A+ 4
速度选择 1/零速箝位 S C 1/ZE R O S 26LS32
PD 14
Speed 1/ zero speed clamp 接收器 2 A- 7
速度选择 2 s peed 2 SC 2 15 26LS32
3 B+ 5
F IL 16
receiver 光电编码器
CCW转矩限制 CCW torque limit 4 B- 8 1 5芯插头
C W 转矩限制 CW torque limit R IL 17
5 Z+ 6 1 5 cores
connector
CN1 6 Z- 9 for optical
SR D Y+ 8
7 U+ 10 encoder
伺服准备好 Servo ready
SR D Y- 25
8 U- 13
A LM + 26
9 V+ 11
伺服报警 Se rvo a la rm A LM - 27
10 V- 14
C O IN + 28
11 W+ 12
速度到达 reach speed
C O IN - 29
12 W- 15
BR K + 30
机械制动器释放 22 0V 1
Mechanical brake release BR K - 31
23 0V
CN1 26 FG
速度模拟指令 + AS + 19 -
Speed analog command
（ -1 0 V~+1 0 V） - AS - 20 + CN1
10 K
AG N D 23 1 OA+ A
A
2 OA- A
3 OB+ B 编码器信号输出
B Output signal of
4 OB- B encoder
5 OZ+ Z
26LS 31 Z
驱动器 6 ZA - Z
d r iv e 编码器信号地
FG 36 9 GND GND
Ground of
encoder signal
7 CZ Z 编码器 Z信号
集电极开路输出
机壳地 Open collector output of
Ground of Z signal of encoder
m etal case
13
2.4.3 转矩控制 torque control
M a x sin e S ta r 系列
伺服电机
E P 1 0 0伺服驱动器
PE
U 2
V 3
R 4
三相
W
S
AC 2 2 0 V PE 1
T
NFB M C CN 2 电机 4芯插头
r 14 5V
t 15 5V
CN1
16 5V
DC COM + 18
17 5V
1 2 ~2 4 V
4 .7k
18 0V
伺服使能 SON 10
19 0V
20 0V 2
C C W (逆时针 )驱动禁止 FSTP 12
21 0V 3
C W (顺时针 )驱动禁止 R STP 13
1 A+ 4
S C 1/ZE R O S
P D
14
26LS32 2 A- 7
SC 2 15 接收器
3 B+ 5
CCW转矩限制 F IL 16
4 B- 8
5 Z+ 6
光电编码器
CN1 6 Z- 9 15芯插头
SR D Y + 8
7 U+ 10
伺服准备好
SR D Y - 25 8 U- 13
ALM + 26 9 V+ 11
伺服报警
ALM - 27
10 V- 14
C O IN + 28
11 W+ 12
速度到达
C O IN - 29
12 W- 15
BR K + 30
释放 BR K- 31 23 0V
CN 1 26 FG
CN 1
1 OA+ A
A
2 OA- A
转矩模拟指令 + AT+ 21 - 3 OB+ B
编码器
（-1 0 V~ +1 0 V ） - AT- 22 + B
10 K
AG N D 24 Z
5 OZ+
2 6L S 3 1 Z
驱动器 6 ZA- Z
FG 36 9 GND GND 编码器信号地
编码器 Z信号
注：当软件版本使用 7 CZ Z 集电极开路输出
V 2.0 以上时，转矩模拟
指令输入端口 2 1 .2 2 改机壳地
选用输入端口 1 9 .2 0
图 2.3 转矩控制的标准接线
14
Maxsine ar系列伺服电机
S t ar
E P 1 0 0伺服驱动器 Star series servomotor
E P 100 Servo driver
PE
U 2
V 3
三相
AC 2 2 0 V R 4
W
Three S
PE 1
phase T 电机 4芯插头
A C 220V NFB M C CN 2 4 cores
connector for
r 14 5V servom otor
t 15 5V
CN1
16 5V
DC COM + 18
17 5V
1 2 ~2 4 V
4.7k
18 0V
伺服使能 S er vo ON SON 10
19 0V
报警清除 Alarm clear A LR S 11
20 0V 2
C C W (逆时针 )驱动禁止
FSTP 12
CCW drive inhibition 21 0V 3
C W (顺时针 )驱动禁止 R STP 13
C W drive inhibition 1 A+ 4
S C 1/ZE R O S
P D
14 26LS32 2 A- 7
接收器
SC 2 15
26LS 32 3 B+ 5
CCW 转矩限制 receiver
F IL 16
CCW torque limit 4 B- 8 光电编码器
C W 转矩限制 R IL 17 15芯插头
5 Z+ 6
CW torque limit 1 5 cores
CN1 6 Z- 9 connector
SR D Y + 8 for optical
伺服准备好 7 U+ 10
encoder
Servo ready SR D Y - 25
8 U- 13
A LM + 26
伺服报警 9 V+ 11
Servo alarm A LM - 27
10 V- 14
C O IN + 28
11 W+ 12
速度到达 reac h s peed
C O IN - 29
12 W- 15
机械制动器释放 BR K+ 30
22 0V 1
Mechanical brake
BR K- 31
r elease 23 0V
CN 1 26 FG
CN1
1 OA+ A
A
2 OA- A
转矩模拟指令编码器
Torque analog + AT+ 21 - 3 OB+ B 信号输出
com m and - AT- 22 + B Output
（-1 0 V~+1 0 V ） 10 K 4 OB- B signal
AGN D 24 of encoder
5 OZ+ Z
26 LS31
Z
驱动器 6 ZA- Z
26 LS31
注：当软件版本使用 d riv e 编码器信号地
FG 36 9 GND GND
V2 .0 以上时，转矩模拟
Ground of encoder signal
指令输入端口 2 1 .2 2 改
选用输入端口 1 9 .2 0 7 CZ Z 编码器 Z信号
N o te
te:: when the 集电极开路输出
software edition is 机壳地 Open collector output of Z
ab o ve V 2 .0, the input Ground of signal of encoder
port 2 1 .2 2 of torque mental case
analog command
should change to use
input port 1 9 .2 0
picture 2.3 standard wiring for torque control
15
第 3 章接口 connector
3.1 EP100-2A/3A 驱动器电源端子 TB EP100-2A/3A

servo drive power supply terminals TB
表 3.1 电源端子 TB
table 3.1 power supply TB
端子号端子记号信号名称功能
Terminal Terminal Dignal name functions
number maik
1 PE 系统接地接地端子
System ground Ground terminal
2 R 主回路电源输入主回路电源输入端子
3 S 三相 AC220V AC220V 50Hz
4 T Main circuit power 注意:不要同电机输出端子 U、V、W 连接。
supply input Main circuit power supply input terminal
Three phase AC220V 50Hz
ACA220v Note: do not connect to output terminal U、V、
W of servo drive
5 U 伺服电机电源输出输出到伺服电机的电源，
6 V Servo motor power 必须与电机 U、V、W 端子一一对应连接。
7 W supply output Power supply outputted to servo motor
8 PE 接地接地端子，接电机的外壳地
Ground connection Ground terminal, connect to the outer cover
ground of drive
9 r 控制电源输入控制回路电源输入端子
10 t 单相 AC220V AC 220V 50Hz
Control power Control circuit power supply input terminal
supply input
Single phase
16
3.2 控制信号输入
控制信号输入//输出端子 CN1
Control signal input/output terminal CN1
控制方式简称：P 代表位置控制方式； S 代表速度控制方式；T 代表转矩控制方式。

Control mode abbreviation: P stands for position control mode; S stands for speed control
mode; T stands for torque control mode.
表 3.2 控制信号输入/输出端子 CN1
Table 3.2 control signal input/output terminal CN1
端子号信号名称记号 I/O 方式功能
Terminal Dignal name mark way functions
number
18 输入端子的 COM＋ Type1 输入端子的电源正极，用来驱动输入端子的光
电源正极电耦合器，DC12～24V，电流≥100mA。
Power supply The power supply anode of input terminal is
anode of used for drive the photoelectric coupler of input
Input terminal terminal, DC12～24V，current≥100mA
10 伺服使能 SON Type1 伺服使能输入端子。
Servo on SON ON：允许驱动器工作；
SON OFF：驱动器关闭，停止工作，
电机处于自由状态。
注 1：当从 SON OFF 打到 SON ON 前，
电机必须是静止的。
注 2：打到 SON ON 后，至少等待 50ms
再输入命令。
Servo on input terminal.
SON ON: allow drive to work;
SON OFF: trun off drive, stop working, servo
motor is in the free state.
Note 1: when SON OFF hits in front of SON
ON, the motor must be static.
Note 2: when hit to SON ON, wait for at least
50ms can input command.
17
11 报警清除 ALRS Type1 报警清除输入端子。
alarm Clear ALRS ON：清除系统报警；
ALRS OFF：保持系统报警。
注 1：对于故障代码大于 8 的报警，无法
用此方法清除，需要断电检修，
然后再次通电。
Alarm clear input terminal.
ALRS ON: clear system alarm;
ALRS OFF: keep system alarm.
Note 1: for the alarm with fault code more than
8, can not clear by this method. It needs to turn
off the power supply and exam and repair. And
then turn on again.
12 CCW 驱动禁 FSTP Type1 CCW（逆时针方向）驱动禁止输入端子。
止 FSTP ON ：CCW 驱动允许，电机可以逆时针
CCW drive 方向旋转；
forbid FSTP OFF：CCW 驱动禁止，电机禁止逆时针
方向旋转。
注 1：用于机械超限，当开关 OFF 时，CCW
方向转矩保持为 0。
注 2：可以通过设置参数 PA20＝1 屏蔽此功
能，用户不用连接此端子，也能使 CCW
驱动允许。
CCW(counter-clockwise derection) drive forbid
input terminal.
FSTP ON: CCW drive allow, motor can rotate in
CCW direction.
FSTP OFF: CCW drive forbid, motor forbid
rotating in CCW direction.
Note 1: It used for machine overrun. When swith
off, CCW direction torque keeps 0.
Note 2: through setting parameter PA20=1 to
shield this function. The user can make
CCW drive allowable without connect
this terminal.
18

Terminal Signal mark way functions
number number
13 CW 驱动禁止 RSTP Type1 CW（顺时针方向）驱动禁止输入端子。
CW drive RSTP ON ：CW 驱动允许，电机可以顺时针
forbid 方向旋转；
RSTP OFF：CW 驱动禁止，电机禁止顺时针方
向旋转。
注 1：用于机械超限，当开关 OFF 时，CW
方向转矩保持为 0。
注 2：可以通过设置参数 PA20＝1 屏蔽此功
能，用户不用连接此端子，也能使 CW
驱动允许。
CW (clockwise) drive forbid input terminal.
RSTP ON: CW drive allow, motor can rotate in
CW direction.
PSTP OFF: CW drive forbid, motor forbid
rotating in CW direction.
Note 1: it is used for machine overrun. When
switch OFF, CW direction torque keep 0.
Note 2: through setting parameter PA20=1 to
shield this function. User can make CW
drive allowable without connect this
terminal.
14 偏差计数器 CLE Type1 P 位置控制方式下（参数 PA4=0）,位置偏差计数
清零器清零输入端子。
Deviation CLE ON：位置控制时，位置偏差计数器
counter zero 清零。
clearing Under the position control (parameter PA 4=4),
deviation counter zero clearing intput terminal.
CLE ON: when in the position sontrol, position
deviation counter zero clear.
19
速度选择 1 SC1 Type1 S 速度控制方式下参数(PA4=1)，选择内部速度
Speed choose 时（参数 No22=0）速度选择 1 输入端子，
1 在速度控制方式下，SC1 和 SC2 的组合用来选
择不同的内部速度。
SC1 OFF，SC2 OFF ：内部速度 1；
SC1 ON，SC2 OFF ：内部速度 2；
SC1 OFF，SC2 ON ：内部速度 3；
SC1 ON，SC2 ON ：内部速度 4。
注：内部速度 1~4 的数值可以通过参数修改。
Under the speed control parameter (PA=1), when
choosing internal speed (parameter No22=0)
speed choose 1 input terminal. In the way of
speed control, the combination of SC1 and SC2
is used for choose different internal speed.
SC1 OFF，SC2 OFF ：internal speed 1；
SC1 ON，SC2 OFF ：internal speed 2；
SC1 OFF，SC2 ON ：internal speed 3；
SC1 ON，SC2 ON ：internal speed 4.
Note : internal speed 1~4 value can be changed
through modify parameter.
零速箝位 ZEROSP Type1 S 速度控制方式下参数(PA4=1)，选择外部模拟
Zero-speed D 速度时（参数 PA22=1，缺省值）
。
clamping ZEROSPD ON：不管模拟输入是多少，强迫
速度指令为零；
ZEROSPD OFF：速度指令为模拟输入数值。
Under the Speed control parameter (PA4=1),
when choose external analog speed(parameter
PA22=1, default value).
ZEROSPD ON ： no matter how much the
analog input is, impel speed command is zero.
ZEROSPD OFF ： the speed command is the
analog input value.
20

Terminal Signal name mark way functions
number
15 指令脉冲禁 INH Type1 P 位置控制方式下（参数 PA4=0），位置指令脉
止冲禁止输入端子。
Command INH ON ：指令脉冲输入禁止；
pulse forbid INH OFF：指令脉冲输入有效。
Under the position control (parameter PA 4=0),
position command pulse forbid input terminal.
INH ON ：command pulse input forbid;
INH OFF：command pulse input valid.
速度选择 2 SC2 Type1 S 速度控制方式下参数(PA4=1)，选择内部速度
Speed choose 时（参数 PA22=0）速度选择 2 输入端子，
2 在速度控制方式下，SC1 和 SC2 的组合用来选
择不同的内部速度。
SC1 OFF，SC2 OFF ：内部速度 1；
SC1 ON， SC2 OFF ：内部速度 2；
SC1 OFF，SC2 ON ：内部速度 3；
SC1 ON， SC2 ON ：内部速度 4。
Under the Speed control parameter (PA4=1),
when choosing internal speed (parameter
PA22=0) speed choose 2 input terminal. In the
way of speed control, the combination of SC1
and SC2 is ued for choose different internal
speed.
21
16 CCW 转矩限 FIL Type1 CCW（逆时针方向）转矩限制输入端子。
制 FIL ON ：CCW 转矩限制在参数 PA36 范围
CCW torque 内；
limitation FIL OFF：CCW 转矩限制不受参数 PA36 限制。
注 1：不管 FIL 有效还是无效， CCW 转矩
还受参数 PA34 限制，一般参数 PA34>
参数 PA36。
CCW (counter-clock direction) torque limitation
input terminal.
FIL ON ：CCW torque limitation is in the range
of PA36;
FIL OFF ： CCW torque limitation is out of
parameter PA36 limitation.
Note 1: despite FLL is valid or invalid, CCW
torque is still limited by parameter PA
34. usually, parameter PA 34 >
parameter PA36.
17 CW 转矩限制 RIL Type1 CW（顺时针方向）转矩限制输入端子。
CW torque RIL ON ：CW 转矩限制在参数 PA37 范围
limitation 内；
RIL OFF：CW 转矩限制不受参数 PA37 限制。
注 1 ：不管 RIL 有效还是无效， CW 转矩
还受参数 PA35 限制，一般 | 参数
PA35|>|参数 PA37|。
CW(clock-wise direction) torque limitation input
terminal.
RIL ON ：CW torque limitation is in the range of
parameter PA37.
RIL OFF：CW torque limitation is out of control
of parameter PA37
Note 1: despite PIL is valid or invalid, CW
torque is still limited by parameter
PA35. usually,
|parameterPA35|>|parameterPA37|
22
8 伺服准备好 SRDY＋ Type2 伺服准备好输出端子。
输出 SRDY ON：控制电源和主电源正常，驱动器
Servo is ready 没有报警，伺服准备好输出 ON
to output （输出导通）
；
25 SRDY－ SRDY OFF：主电源未合或驱动器有报警，伺
服准备好输出 OFF（输出截止）。
Servo is ready to output terminal.
SRDY ON ： control power supply and main
power supply are normal, drive
doesn’t alarm, servo is ready to
output ON (output breakover );
SRDY OFF：the main power supply doesn’t trun
on or drive alarm, servo is ready to
output OFF (output close).
26 伺服报警输 ALM＋ Type2 伺服报警输出端子。
出 ALM ON：伺服驱动器无报警，伺服报警输出
Servo alarm ON（输出导通）；
output ALM OFF：伺服驱动器有报警，伺服报警输
27 ALM－出 OFF（输出截止）。
Servo alarm output terminal.
ALM ON：servo drive doesn’t alarm, servo alarm
output ON(output breakover).
ALM OFF ： servo drive alarm, servo alarm
23

Terminal Signal name mark way functions
number
28 定位完成输 COIN＋ Type2 P 定位完成输出端子。
出；（位置控 S COIN ON：当位置偏差计数器数值在设定的定
制方式下）位范围时，定位完成输出 ON（输出
速度到达输导通）
，否则输出 OFF（输出截止）。
出；（速度控速度到达输出端子。
制方式下） COIN ON：当速度到达或超过设定的速度时，
Location 速度到达输出 ON（输出导通），否
completed 则输出 OFF（输出截止）。
output; (under Location completed output terminal.
the position COIN ON：when the position deviation counter
control) speed value in the settin glocation range,
arrive output; location completed ouput ON(output
(under the breakover), otherwise output OFF
speed control) (output close). Speed gets to output
29 COIN－ P terminal.
S COIN ON：when the speed gets to or exceed th
esettin gspeed, speed gets to output
ON (output breakover), otherwise
30 机械制动器 BRK＋ Type2 当电机具有机械制动器（失电保持器）时，可
释放以用此端口控制制动器。
Mechanical BRK ON：制动器通电，制动无效，电机可以
brake release 运行；
31 BRK－ BRK OFF：制动器截止，制动有效，电机被锁
死，不能运行。
注：BRK 功能是由驱动器内部控制。
When the motor equips with mechanical brake
(power-lossing retainer), using this connector
can control brake.
BRK ON ： power on brake, braking is invalid,
motor can work.
BRK OFF：brake close, braking is valid, motor is
locked, and can not work.
Note: BPK function is internal controlled by
drive.
24
32 指令脉冲 PULS＋ Type3 P 外部指令脉冲输入端子。
PLUS 输入注 1：由参数 PA14 设定脉冲输入方式，
Command � （缺省状
PA14=0，指令脉冲＋符号方式；
pulse PLUS 态）；
input � PA14=1，CCW/CW 指令脉冲方式；
33 PULS－ � PA14=2，2 相指令脉冲方式。
External command pulse input terminal.
34 指令脉冲 SIGN＋ Type3 P Note 1: it is parameter PA14 that set pulse input
SIGN 输入 mode.
Command PA14=0，command pulse +mark mode; (default
pulse SIGN state);
input PA14=1, CCW/CW command pulse mode;
35 SIGN－ PA14=2 two phase command pulse mode.
19 模拟速度指 AS＋ Type4 S 外部模拟速度指令输入端子，差分方式，输入

令输入阻抗 10kΩ，输入范围－10V～＋10V。
Analog speed External analog speed command input terminal,
command differential mode, input impedance 10kΩ, the
input input range is －10V～＋10V.
20 AS－
23 模拟地 AGND 模拟输入的地线。

Analog Analog input ground wire.
ground
21 模拟转矩指 AT＋ Type4 T 外部模拟转矩指令输入端子，差分方式，输入
令输入阻抗 10kΩ，输入范围－10V～＋10V。
Analog torque 注1：当软件版本使用V2.0以上时，转矩模拟
command
指令输入端口21.22改选用输入端口19.20
input
External analog torque command input terminal,
22 AT－
differential mode, input impedance 10kΩ, the
input range is －10V～＋10V.
Note: when software type uses over V2.0, torque
analog command input port 21.22 will change to
use connector 19.20.
24 模拟地 AGND 模拟输入的地线。
Analog Analog input ground wire.
ground
25

Terminal Signal name mark mode functions
number
1 编码器 A 相 OA＋ Type5 � 编码器 ABZ 信号差分驱动输出（26LS31
信号输出，相当于 RS422）；
Encoder A � 非隔离输出（非绝缘）。
phase signal � Encoder ABZ signal difference drive
2 OA－ output （ 26LS31 output, equivalent to
RS422）;
3 编码器 B 相 OB＋ Type5 � Non-isolated output(noninsulated)
信号
Encoder B
phase signal
4 OB－
5 编码器 Z 相 OZ＋ Type5

信号
Encoder Z
phase signal
6 OZ－
7 编码器 Z 相 CZ Type6 � 编码器 Z 相信号由集电极开路输出，编

集电极开路码器 Z 相信号出现时，输出 ON（输出导
输出通），否则输出 OFF（输出截止）；
Encoder Z � 非隔离输出（非绝缘）；
phase � 在上位机，通常 Z 相信号脉冲很窄，故
collector open 请用高速光电耦合器接收。
circuit output � Encoder Z phase signal collector open
circuit output, when encoder Z phase
signal appears, output ON (output
breakover ), otherwise output OFF(output
close);
� Non-isolated output(noninsulated);
� In the host, usually Z phase signal pulse is
very narrow, so please use high speed
photoelectric coupler to receive.
26
9 编码器公共 GND 编码器公共地线。
地线 Encoder common ground wire
Encoder
common
ground wire
36 屏蔽地线 FG 屏蔽地线端子。
Shield ground Shield ground wire terminal.
wire
27
3.3 编码器信号输入端子 CN2 encoder signal input

terminal CN2
表 3.3 编码器信号输入端子 CN2

Table 3.3 encoder signal terminal CN2
端子号信号名称功能 functions
Terminal Signal name 记号 I/O 描述
number mark description
14 5V 电源 +5V 伺服电机光电编码器用+5V 电源和公共
15 5V power supply 地；电缆长度较长时，应使用多根芯线并
16 联，减小线路压降。
17 Servo motor optical-electricity encoder
18 电源公共地 0V adopts +5V power supply and common
19 Power supply ground; when the cable has longer length,
20 common ground please put several core wire in parallel, and
21 decrease the circuit.
22
23
1 编码器 A＋输入 A＋ Type7 与光电编码器 A＋相连接。
Encoder A+ input Connect with optical-electricity encoder A+
2 编码器 A－输入 A－与光电编码器 A－相连接。
Encoder A- input Connect with optical-electricity encoder A
－
3 编码器 B＋输入 B＋ Type7 与光电编码器 B＋相连接。
Encoder B+ input Connect with optical-electricity encoder B+
4 编码器 B－输入 B－与光电编码器 B-相连接。
Encoder B- input Connect with optical-electricity encoder B
－
5 编码器 Z＋输入 Z＋ Type7 与光电编码器 Z＋相连接。
Encoder Z+ input Connect with optical-electricity encoder Z+
6 编码器 Z-输入 Z- 与光电编码器 Z-相连接。
Encoder Z- input Connect with optical-electricity encoder Z
－
7 编码器 U＋输入 U＋ Type7 与光电编码器 U＋相连接。
Encoder U+ input Connect with optical-electricity encoder U+
28
8 编码器 U-输入 U- 与光电编码器 U-相连接。
Encoder U- input Connect with optical-electricity encoder U
－
9 编码器 V＋输入 V＋ Type7 与光电编码器 V＋相连接。
Encoder V+ input Connect with optical-electricity encoder V+
10 编码器 V-输入 V- 与光电编码器 V-相连接。
Encoder V- input Connect with optical-electricity encoder V
－
11 编码器 W＋输入 W＋ Type7 与光电编码器 W＋相连接。
Encoder AW+ input Connect with optical-electricity encoder
W+
12 编码器 W-输入 W- 与光电编码器 W-相连接。
Encoder W- input Connect with optical-electricity encoder W
－
26 屏蔽地线 FG 屏蔽地线端子。
Shield ground wire Shield ground wire terminal
29
3.4 接口端子配置 Terminal disposition for interface
图 3.1 为伺服驱动器接口端子 CN1 配置图。CN1 为 36 芯接插件。图 3.2 为伺服驱

动器接口端子 CN2 配置图，CN2 为 26 芯接插件。
公司在 2008 年 6 月后生产的 EP100 驱动器控制插头 CN1、CN2 进行更换，S361/S261
插头芯簧片及焊片全部镀金处理，接触更可靠、焊接更方便，符合环保要求，插头芯由
3M 在日本生产。
Figure 3.1 is the disposition chart of terminal connector CN1 for the servo driver. CN1 is
the connector with 36 cores. Figure 3.2 is the disposition chart of terminal connector CN2 for
the servo driver. CN2 is the connector with 26 cores.
18 16 14 12 10 8 6 4 2
17 15 13 11 9 7 5 3 1
36 34 32 30 28 26 24 22 20
35 33 31 29 27 25 23 21 19
图 3.1 CN1 插头焊片（S361，面对插头的焊片看）
Figure 3.1 the soldering lug of the CN1 plug（face to lug）
12 10 8 6 4 2
13 11 9 7 5 3 1
25 23 21 19 17 15
26 24 22 20 18 16 14
图 3.2 CN2 插头焊片（S261，面对插头的焊片看）

Figure 3.2 the soldering lug of the CN2 plug（face to lug）
30
3.5 输入
输入//输出接口类型 input and output interface modes
3.5.1 开关量输入接口 switch value input interface
servo amplifier
COM+
12~24V 4.7K
SW
图 3.3 Type1 开关量输入接口

Picture 3.3 Typel switch value inout interface
� 由用户提供电源，DC12~24V，电流≥100mA；
� 注意，如果电流极性接反，会使伺服驱动器不能工作。
� The user offer power supply, DC12~24V，current≥100mA;
� Note: if connect current polarity in reverse, it will make servo drive unable to work.
3.5.2 开关量输出接口 switch value output interface
servo amplifier
max 50mA
max 25V
a. 继电器连接
a. relay connection
VCC
max 25V
max 50mA
servo amplifier
b. 光电耦合器连接
b. photoelectric coupler connection
31
图 3.4 Type2 开关量输出接口
Picture 3.4 Type 2 switch value output interface
� 输出为达林顿晶体管，与继电器或光电耦合器连接；
� The output is Darlington Tansistor, connect with relay or photoelectric coupler;
� 外部电源由用户提供，但是必需注意，如果电源的极性接反，会使伺服驱动器损坏；
� External power supply is provided by user. But note that if connect the polarity of power
supply in reverse, which will damage servo drive.
� 输出为集电极开路形式，最大电流 50mA，外部电源最大电压 25V。因此，开关量
输出信号的负载必须满足这个限定要求。如果超过限定要求或输出直接与电源连接，
会使伺服驱动器损坏；
� The output is ollector open circuit type, the max current is 50mA, and the max voltage of
external power supply is 25V. Therefore, the load of switch value output signal must meet
that limited requirement. If it exceeds the limited requirement or output connect with
power supply directly, which will damage the servo drive.
� 如果负载是继电器等电感性负载，必须在负载两端反并联续流二极管。如果续流二
极管接反，会使伺服驱动器损坏。
� If the load is inductive load such as relay, must antiparallel freewheel diode in the two
sides of load. If connect freewheel diode in reverse, which will damage the servo drive.
� 输出晶体管是达林顿晶体管，导通时，集电极和发射集之间的压降 Vce 约有 1V 左右，
不能满足 TTL 低电平要求，因此不能和 TTL 集成电路直接连接。
� The output transistor is Darlington Tansistor. When breakover, the voltage drop Vce
between collector and launch collectis about 1V, which can not meet TTL low level
requirement. So it can not connect with TTL intergrated circuit directly.
3.5.33 脉冲量输入接口 pulse value input interface

3.5.
Servo amplifier
32
P U LS +
P U LS - 33 22 0
S IG N + 3 4
35 220
S IG N -
图 3.5 Type3 脉冲量输入接口的差分驱动方式

Picture 3.5 Type 3 the difference drive mode of pulse value input interface
32
VC C Servo amplifier
P U LS + 3 2
R P U LS - 3 3 220
S IG N + 3 4
R S IG N - 3 5 220
图 3.6 Type3 脉冲量输入接口的单端驱动方式

Picture 3.6 Type 3 the single-ended drive mode of pulse value input interface
� 为了正确地传送脉冲量数据，建议采用差分驱动方式；
� In order to transmit pulse value data correctly, we suggest adopting difference drove
mode.
� 差分驱动方式下，采用 AM26LS31、MC3487 或类似的 RS422 线驱动器；
� Under the difference drive, use AM26LS31、MC348 or drive similar to RS422 wire drive.
� 采用单端驱动方式，会使动作频率降低，最高脉冲频率 200kHz。根据脉冲量输入电
路，驱动电流 10～15mA，限定外部电源最大电压 25V 的条件，确定电阻 R 的数值。
经验数据：VCC=24V，R=1.3~2k；VCC=12V，R＝510～820Ω；VCC=5V，R=82~120
Ω 。
� using singingle-ended drive mode will decrease motion frequency,the highest
pulse frequency is 200kHz. According to pulse quantity input circuit, drive
current 10 ～ 15mA and under the condition of limited external power supply max
voltage 25V to confirm the value of resistance R. empirical data: VCC=24V，R=1.3~2k；
VCC=12V，R＝510～820Ω；VCC=5V，R=82~120Ω .
� 采用单端驱动方式时，外部电源由用户提供。但必需注意，如果电源极性接反，会
使伺服驱动器损坏。
� When using the single-ended drive mode, the external power supply is provided by user.
But note that if the polarity of power supply is conneted in reverse, which will damage
sservo drive.
� 脉冲输入形式详见表 3.4，箭头表示计数沿，表 3.5 是脉冲输入时序及参数。当使用
2 相输入形式时，其 4 倍频脉冲频率≤500kHz。
� The pulse input mode please refers to table 3.4 for detailed information. The arrows mean
counting edge. Table 3.5 is pulse input timing and parameter. When using two phase
input mode, the four times pulse frequency ≤500kHz.
33
表 3.4 脉冲输入形式
Table 3.4 pulse input form
脉冲指令形式 CCW CW 参数设定值
脉冲列 PULS 0
指令脉冲＋符号
符号 SIGN
CCW脉冲列 PULS
1
CW脉冲列 C C W 脉冲 /C W 脉冲
SIGN
A相脉冲列 2
PULS
2相指令脉冲
B相脉冲列 SIGN
脉冲指令形式参数设定值
Pulse command CCW CW Setting value of
fo r m parameter
脉冲列 0
pulse train PULS 指令脉冲＋符号
Command pulse
符号 s ig n SIGN + s ig n
CCW脉冲列 1
PULS C C W 脉冲 /C W 脉冲
pulse train
C C W pulse/
CW脉冲列
SIGN C W pulse
CW pulse train
A相脉冲列
A phase pulse
2
PULS 2相指令脉冲
t ra in
B相脉冲列
SIGN Two phase
B phasepulse command pulse
t ra in
表 3.5 脉冲输入时序参数
Table 3.5 pulse input timing parameter
参数差分驱动输入单端驱动输入
34
Parameter Difference drive Single-ended drive input
input
tck >2μS >5μS
th >1μS >2.5μS
tl >1μS >2.5μS
trh <0.2μS <0.3μS
trl <0.2μS <0.3μS
ts >1μS >2.5μS
tqck >8μS >10μS
tqh >4μS >5μS
tql >4μS >5μS
tqrh <0.2μS <0.3μS
tqrl <0.2μS <0.3μS
tqs >1μS >2.5μS
35
th tck
90%
PULS
10%
ts tl ts
trh trl
90%
SIGN
10%
CW trh CCW trl CW
图 3.7 脉冲+符号输入接口时序图(最高脉冲频率 500kHz)

Picture 3.7 pulse + sign input connector timing diagram (the highest pulse frenquency 500
kHz)
tck
th
90%
PULS tl
10%
trh trl ts
90%
SIGN
10%
trh trl
CCW CW
图 3.8 CCW 脉冲/CW 脉冲输入接口时序图(最高脉冲频率 500kHz)

Picture 3.8 CCW pulse/CW pulse input connector timing diagram(the highest pulse
frenquency 500kHz)
tqh tqck
90%
PULS tql
10%
tqs
tqrh tqrl tqs
90%
SIGN
10%
tqrl tqrh
CCW CW
36
图 3.9 2 相指令脉冲输入接口时序图(最高脉冲频率 125kHz)
Picture 3.9 two phase command pulse input interface timing ddiagram (the highest pulse
frenquency 500 kHz)
3.5.4 模拟输入接口 analog input interface
servo amplifier
Controller
- AS+ or AT+
+
-
10k
+
AS- or AT-
AGND
图 3.10 a 模拟差分输入接口（type4）
Picture 3.10a analog difference input connector（type4）
Controller servo amplifier

- AS+ or AT+
+
-
10k
+
AS- or AT-
AGND
图 3.10 b 模拟单端输入接口（type4）
Picture 3.10b analog single-ended input connector（type4）
37
Controller
R servo amplifier
200(1/2W)
12V AS+ or AT+
VR
2K(1/2W)
12V
R -
10k
200(1/2W) +
AS- or AT-
AGND
图 3.10 c 模拟差分电位器输入接口（type4）
Picture 3.10c analog difference potentiometer input connector（type4）
Controller
R servo amplifier
200(1/2W)
12V AS+ or AT+
VR
2K(1/2W)
12V
R -
10k
200(1/2W) +
AS- or AT-
AGND
图 3.10 d 模拟单端电位器输入接口（type4）
Picture 3.10d analog single-ended input connector（type4）
� 模拟输入接口是差分方式，根据接法不同，可接成差分和单端两种形式，输入阻抗
为 10kΩ。输入电压范围是－10V～＋10V；
� 在差分接法中，模拟地线和输入负端在控制器侧相连，控制器到驱动器需要三根线
连接；
� 在单端接法中，模拟地线和输入负端在驱动器侧相连，控制器到驱动器需要两根线
连接；
� 差分接法比单端接法性能优秀，它能抑制共模干扰；
� 输入电压不能超出－10V～＋10V 范围，否则可能损坏驱动器；
� 建议采用屏蔽电缆连接，减小噪声干扰；
� 模拟输入接口存在零偏是正常的，可通过调整参数 PA45 对零偏进行补偿；
� 模拟接口是非隔离的（非绝缘）。
38
3.5.55 编码器信号输出接口 encoder signal output interface

3.5.
Controller servo amplifier
OA+
A
OA-
OB+
B
OB-
OZ+
Z
OZ-
AM26LS32 GND AM26LS31
图 3.11 a 光电编码器输出接口（Type5）
Picture 3.11a optical-electricity encoder output interface（Type5）
� 编码器信号经差分驱动器（AM26LS31）输出。
� Encoder signal output through difference drive（AM26LS31）.
� 控制器输入端可采用 AM26LS32 接收器，必须接终端电阻，约 330Ω左右。
� Controller input terminal can adopt AM26LS32 receiver, and must connect
terminal resistance with about 330Ω.
� 控制器地线与驱动器地线必须可靠连接。
� Controller ground wire must connect reliable with drive ground wire.
� 非隔离输出。
� Non-isolated output
� 控制器输入端也可采用光电耦合器接受，但必须采用高速光电耦合器（例如 6N137）。
� Controller input terminal can also adopt photoekectic coupler to receive, but it must be
high speed photoelectric coupler. (such as 6N137)
39
Controller
servo amplifier
1N4148
220
OA+
A
OA-
1N4148
200
OB+
B
OB-
1N4148
220
OZ+
Z
OZ-
6N137 AM26LS31
图 3.11 b 光电编码器输出接口（Type5）
3.5.66 编码器 Z 信号集电极开路输出接口
3.5. encoder Z signal
collector open circuit output intreface
VCC
max 25V
max 50mA
servo amplifier
CZ
GND
图 3.12 光电编码器输出接口（Type6）
� 编码器 Z 相信号由集电极开路输出，编码器 Z 相信号出现时，输出 ON（输出导通），
否则输出 OFF（输出截止）；
� Encoder Z phase signal is outputted by collector open circuit. When encoder Z phase
signal appears, output ON (output breakover), otherwise output OFF(output close)
� 非隔离输出（非绝缘）；
� Non-isolated output(noninsulated)
� 在上位机，通常 Z 相信号脉冲很窄，故请用高速光电耦合器接收（例如 6N137）
� In the host, usually Z phase signal pulse is very narrow, so please use high speed
photoelectric coupler to receive (such as 6N137).
40
3.5.77 伺服电机光电编码器输入接口
3.5. servo motor
optical-electricty encoder inout interface
servo motor servo amplifier
X+
X-
AM26LS32
X=A,B,Z,U,V,W
图 3.13 伺服电机光电编码器输入接口
Picture 3.13 servo motor optical-electricty encoder input interface
3.
3.66 EP100-5A 驱动器电源端子 TB EP100-5A drive
power supply terminal TB
R
S 3相 AC220V
T
B
外接制动电阻
P (可选 )
U
U
V
V 电机
W
W
接地线
PE
r
t
图 3.14 EP100-5A 驱动器电源端子 TB
41
R 3相A C 2 2 0 V
S three phase AC 2 2 0 V
T
B 外接制动电阻 (可选 )
P External brake
U resistor(optional)
U
V 电机
V
W m otor
W
接地线 ground w ire
PE
r
t
Picture 3.14 EP100-5A drive power supply terminal TB
特别注意，与 EP100-2A/3A 驱动器相比，增加了外接制动电阻端子 B、P，一般情

况下，B、P 端子悬空，不需要外接电阻。当出现因减速时再生能量过大，内部制动电阻
不能完全吸收，导致出现 Err-2 过压报警或 Err-14 制动报警，可以酌情增加减速时间，
如果还出现报警，就需要通过 B、P 端子外接制动电阻，增强制动效果。外接制动电阻
阻值范围 40~200 欧姆，功率 100~50W，阻值越小，制动电流越大，所需制动电阻功率
越大，制动能量越大，但阻值太小会可能造成损坏驱动器，试验方法是阻值由大到小，
直到驱动器不再出现报警即可。外接制动电阻和内部制动电阻(约 40 欧姆)是并联连接。
外接制动电阻必须在驱动器下电 5 分钟后，等内部高压泄放完毕后才能操作。
Pay special attention to that compared with EP100-2A/3A drive, it adds external brake
resistor terminal B, P. For the general condition, leave terminals B 、 P alone, and without
external resistance. When the regeneration energy is too large because of speed reducing and
internal brake resistor can not absorb completely, thus lead to Err-2 overvoltage alarm or
Err-14 brake alarm appear. For this case, user can increase speed reducing time appropriately.
If alarm still exsits, it needs to increase brake effect through connect terminal B、P to external
brake resistor. The value range of external brake resistor is from 40 to 200 Ω and power
range is from 100 to 500W. The smaller the resistor value is, the bigger brake current is, and
the bigger brake resistor power needed, the bigger brake energy is. But it may damage the
drive because the resistor value is too small. The test method is that resistor value from big to
small, until drive no longer alarm. External brake resistor parallel connects with with internal
brake resistor. External brake resistor can only operate after power off drive for five minutes
42
and the internal high voltage release completely.
B、P 端子由于和内部高压电路相连，在上电及刚下电 5 分钟内下不能触摸 B、P 端
子，防止触电，B、P 端子不能和其它端子相碰，防止出现短路，损坏驱动器。
Because connecting with internal high voltage, the terminal B、P can not be touched within
five minutes after power on or off in order to avoid getting an electric shock. terminals B、P
can not collide with other terminals in order to avoid short circuit and damage drive.
43
第 4 章参数
Chapter 4 Parameter
4.1 参数一览表
4.1 Parameter table
下表中的出厂值以 110ST-M02030（配 2A 驱动器）为例，带“*”标志的参数在其它

型号中可能不一样。
The default value in the next table take 110ST-M02030 (matches the EP100-2A drivers the
example. the parameter “*” symbol is possibly dissimilar in other models.
Table 4.1 User parameter table
序号名称适用方式参数范围出厂值单位
0 密码 P，S，T 0~9999 315
1 型号代码 P，S，T 0~51 30*
2 软件版本(只读) P，S，T * *
3 初始显示状态 P，S，T 0~21 0
4 控制方式选择 P，S，T 0~6 0
5 速度比例增益 P，S 5~2000 150* Hz
6 速度积分时间常数 P，S 1~1000 20* ms
7 转矩滤波器 P，S，T 20~500 100 %
8 速度检测滤波器 P，S 20~500 100 %
9 位置比例增益 P 1~1000 40 1/s
10 位置前馈增益 P 0~100 0 %
11 位置前馈滤波器截止频率 P 1~1200 300 Hz
12 位置指令脉冲分频分子 P 1~32767 1
13 位置指令脉冲分频分母 P 1~32767 1
14 位置指令脉冲输入方式 P 0~2 0
15 位置指令脉冲方向取反 P 0~1 0
16 定位完成范围 P 0~30000 20 脉冲
17 位置超差检测范围 P 0~30000 400 ×100 脉冲
18 位置超差错误无效 P 0~1 0
19 位置指令平滑滤波器 P 0~30000 0 0.1ms
44
20 驱动禁止输入无效 P，S，T 0~1 0
21 JOG 运行速度 S -3000~3000 120 r/min
22 内外速度指令选择 S 0~1 1
23 最高速度限制 P，S，T 0~4000 3600 r/min
24 内部速度 1 S -3000~3000 0 r/min
25 内部速度 2 S -3000~3000 100 r/min
26 内部速度 3 S -3000~3000 300 r/min
27 内部速度 4 S -3000~3000 -100 r/min
28 到达速度 S 0~3000 500 r/min
29 模拟量转矩指令输入增益 T 10~100 30 0.1V/100%
30 用户转矩过载报警值 P，S，T 1~300 300 %
31 用户转矩过载报警检测时间 P，S，T 0~32767 0 ms
32 控制方式切换允许 P，S，T 0~1 0
33 模拟量转矩指令输入方向取反 T 0~1 0
34 内部 CCW 转矩限制 P，S，T 0~300 300* %
35 内部 CW 转矩限制 P，S，T -300~0 -300* %
36 外部 CCW 转矩限制 P，S，T 0~300 100 %
37 外部 CW 转矩限制 P，S，T -300~0 -100 %
38 速度试运行、JOG 运行转矩限制 S 0~300 100 %
39 模拟量转矩指令零偏补偿 T -2000~2000 0
40 加速时间常数 S 1~10000 0 ms
41 减速时间常数 S 1~10000 0 ms
42 S 型加减速时间常数 S 1~1000 0 ms
43 模拟速度指令增益 S 10~3000 300 (r/min) / V
44 模拟速度指令方向取反 S 0~1 0
45 模拟速度指令零偏补偿 S -5000~5000 0
46 模拟速度指令滤波器 S 0~1000 300 Hz
47 电机停止时机械制动器动作设定 P，S，T 0~200 0 ×10ms
48 电机运转时机械制动器动作设定 P，S，T 0~200 50 ×10ms
49 电机运转时机械制动器动作速度 P，S，T 0~3000 100 r/min
50 转矩控制时速度限制 T 0~5000 3600* r/min
51 动态电子齿轮有效 P 0~1 0
52 第二位置指令脉冲分频分子 P 1~32767 1
53 低 4 位输入端子强制 ON 控制字 P，S，T 0000~1111 0000 二进制
54 高 4 位输入端子强制 ON 控制字 P，S，T 0000~1111 0000 二进制
55 低 4 位输入端子取反控制字 P，S，T 0000~1111 0000 二进制
56 高 4 位输入端子取反控制字 P，S，T 0000~1111 0000 二进制
45
57 输出端子取反控制字 P，S，T 0000~1111 0000 二进制
58 输入端子去抖动时间常数 P，S，T 1~1000 16 0.1ms
59 演示运行 P，S 0~1 0
编码器输出脉冲分频分子 P，S，T
60 Encoder putput pulse fractional 1～31 1
frequency numerator
编码器输出脉冲分频分母 P，S，T
61 Encoder putput pulse fractional 1～31 1
frequency denominator
编码器输出 B 脉冲相位 P，S，T
62 0～1 0
Encoder output B pulse phase
编码器输出 Z 脉冲相位 P，S，T
63 0～1 0
Encoder output Z pulse phase
编码器输出 Z 脉冲宽度 P，S，T
64 0～15 0
Encoder output Z pulse width
模拟速度指令死区 1
68 Dead zone 1 of analog speed S 0～13000 0 mv
command
模拟速度指令死区 2
69 Dead zone 2 of analog speed S -13000～0 0 mv
command
Ordinal Name Usage Range Default Unit

0 Password P，S，T 0~9999 315
1 Identity code of servo driver P，S，T 0~51 30*
2 Software version (read only) P，S，T * *
3 Status of initial display P，S，T 0~21 0
4 Control mode selection P，S，T 0~6 0
5 Proportional gain of speed loop P，S 5~2000 150* Hz
6 Integral time constant of speed loop P，S 1~1000 20* ms
7 Filter of torque P，S，T 20~500 100 %
8 Filter for speed detection P，S 20~500 100 %
9 Proportional gain of position loop P 1~1000 40 1/s
10 Feed forward gain of position loop P 0~100 0 %
46
11 Cut-off frequency of feed forward P 1~1200 300 Hz
filter for position loop
12 Numerator of frequency divider for P 1~32767 1
position command pulse
13 Denominator of frequency divider P 1~32767 1
for position command pulse
14 Input mode of position command P 0~2 0
pulse
15 Reversing direction of position P 0~1 0
command pulse
16 Positioning completed range P 0~30000 20 pulse
17 Position deviation limit for error P 0~30000 400 ×100
detection pulse
18 Neglect excessive position deviation P 0~1 0
19 Smooth filter for position command P 0~30000 0 0.1ms
20 Neglect drive inhibition inputs P，S，T 0~1 0
21 JOG running speed S -3000~3000 120 r/min
22 Internal/external speed command S 0~2 1
selection
23 Maximum speed limit P，S，T 0~4000 3600 r/min
24 Internal speed 1 S -3000~3000 0 r/min
27 Internal speed 4 S -3000~3000 -100 r/min
28 Arrival speed S 0~3000 500 r/min
29 Input gain of analog torque T 10~100 30 0.1V/100
command %
30 Alarm level of torque overload P，S，T 1~300 300 %
31 Detection time for torque overload P，S，T 0~32767 0 ms
alarm
32 Permission of control mode P，S，T 0~1 0
exchange
33 Inversing direction of analog torque T 0~1 0
command
34 Internal torque limit in CCW P，S，T 0~300 300* %
direction
35 Internal torque limit in CW direction P，S，T -300~0 -300* %
47
36 External torque limit in CCW P，S，T 0~300 100 %
direction
37 External torque limit in CW P，S，T -300~0 -100 %
direction
38 Trial running in speed mode; Torque S 0~300 100 %
limit in JOG operation
39 Zero offset compensation of analog T -2000~2000 0
torque command
40 Acceleration time constant S 1~10000 0 ms
41 Deceleration time constant S 1~10000 0 ms
42 S-curve acceleration/deceleration S 1~1000 0 ms
time constant
43 Gain of analog speed command S 10~3000 300 (r/min) /
V
44 Reversing direction of analog speed S 0~1 0
command
45 Zero offset compensation of analog S -5000~5000 0
speed command
46 Time constant of filter for analog S 0~1000 300 Hz
speed command
47 Action setting for electromagnetic P，S，T 0~200 0 ×10ms
brake when servomotor is in
standstill
48 Action setting for electromagnetic P，S，T 0~200 50 ×10ms
brake when servomotor is in motion
49 Action speed for electromagnetic P，S，T 0~3000 100 r/min
brake when servomotor is in motion
50 Speed limit in torque control T 0~5000 3600* r/min
51 Electronic gear is available in P 0~1 0
dynamic
52 Second numerator of frequency P 1~32767 1
divider for position command pulse
53 Bottom four bits control word for P，S，T 0000~1111 0000 Binary
forcing the input terminal to be ON
54 Top four bits control word for P，S，T 0000~1111 0000 Binary
forcing the input terminal to be ON
55 Bottom four bits control word for P，S，T 0000~1111 0000 Binary
inversing the terminal input signal
48
56 Top four bits control word for P，S，T 0000~1111 0000 Binary
inversing the terminal input signal
57 Control word for inversing the P，S，T 0000~1111 0000 Binary
terminal output signal
58 Time constant of input terminal for P，S，T 1~1000 16 0.1ms
removing the effect of vibrating
contact
59 Demonstration operation P，S 0~1 0
4.2 参数详解 detailed explanation for parameter
表 4.2 用户参数内容详解
Table 4.2 detailed explanation for user parameter contents
序号名称功能参数范围
numb name functions
er Parameter
range
0 密码 � 用于防止参数被误修改。一般情况下，需要设置参数时，先 0~9999
password 将本参数设置为所需密码，然后设置参数。调试完后，最后
再将本参数设置为 0，确保以后参数不会被误修改。
� It is used for prevent parameter from wrong modification.
� 密码分级别，对应用户参数、系统参数和全部参数。
� The password is divided by grades, which are corresponding to
user parameter, system parameter and entire parameter.
� 修改型号代码参数(PA1)必须使用型号代码密码，其他密码不
能修改该参数。
� To modify the mode code parameter (PA1), must use mode code
password, and other passwords can not modify this parameter.
� 用户密码为 315。 The user password is 315.
� 型号代码密码为 385。 Mode code password is 385.
49
numb name functions
er Parameter
range
1 型号代码 � 对应同一系列不同功率级别的驱动器和电机。
Mode � Corresponding to the drive and motor of same series with 0~51
code different grades.

� 不同的型号代码对应的参数缺省值不同，在使用恢复缺省参
数功能时，必须保证本参数的正确性。
� Different mode codes are corresponding to different parameter
default value.
� 当出现 EEPROM 报警(编号 20)，经修复后，必须重新设置本
参数，然后再恢复缺省参数。否则将会导致驱动器不正常或
损坏。
� For the EEPROM alarm (number 20), after repairing, it must be
set this parameter again, and then recover the default parameter.
Otherwisw, it will damage the drive.
� 修改本参数时，先将密码 PA0 设置为 385，才能修改本参数。
� For the modification of this parameter, set password PA0 to 385
firstly, and then modify this parameter.
� 参数的详细意义见 8.4 章节。
� The detailed meaning for parameter please refer to chapter 8.4
� 恢复出厂缺省参数的操作参见 7.13.1 章节。
� The operation for recover facotory default parameter please refer
to chapter 7.13.1
2 软件版本可以查看软件版本号，但不能修改。 *
Soft Can check the software edition number, but can not modify.
edition
50
numb name functions
er Parameter
range
3 初始显示选择驱动器上电后显示器的显示状态。 0~20
状态 Choose the display state of displayer after power on the drive
Initial 0：显示电机转速； display the rotating speed of motor
display 1：显示当前位置低 5 位；display the current position low 5 digits
state 2：显示当前位置高 5 位； display current position high 5 digits
3：显示位置指令(指令脉冲积累量)低 5 位；
Display position command (command pulse accumulation) low 5
digits
4：显示位置指令(指令脉冲积累量)高 5 位；
Display position command (command pulse accumulation) high 5
digits
5：显示位置偏差低 5 位； display position difference low 5 digits
6：显示位置偏差高 5 位；display position difference high 5 digits
7：显示电机转矩； display motor torque
8：显示电机电流； display motor current
9：显示直线速度； display straight line speed
10：显示控制方式； display control mode
11 ：显示位置指令脉冲频率； display position command pulse
frenquency
12：显示速度指令； display speed command
13：显示转矩指令； display torque command
14：显示一转中转子绝对位置；display the absolute positioin of rotor
for one rev
15：显示输入端子状态； display input terminal state
16：显示输出端子状态； display output terminal state
17：显示编码器输入信号；display encoder input signal
18：显示运行状态； display operating state
19：显示报警代码; display alarm code
20：保留。 reserve
51
numb name functions
er Parameter
range
4 控制方式 � 通过此参数可设置驱动器的控制方式： 0~6
选择 � Through this parameter can set the control mode of drive
Choose 0：位置控制方式； position control mode
control 1：速度控制方式； speed control mode
code 2：试运行控制方式； trial operation control mode
3：JOG 控制方式； JOG control mode
4：编码器调零方式。 Encoder zero setting mode
5：开环运行方式(用于测试电机及编码器)。
Open loop operate mode(used for test motor and encoder)
6：转矩控制方式。Torque control mdoe
� 位置控制方式，位置指令从脉冲输入口输入。
� Position control mode, position command is inputed from pulse
input port.
� 速度控制方式，速度指令从输入端子输入或模拟量输入，由
参数[内外速度指令选择](PA22)决定。使用内部速度时，SC1
和 SC2 的组合用来选择不同的内部速度：
SC1 OFF，SC2 OFF ：内部速度 1
SC1 ON，SC2 OFF ：内部速度 2
SC1 OFF，SC2 ON ：内部速度 3
SC1 ON，SC2 ON ：内部速度 4
Speed control mode, speed command is inputed from input terminal or
analog quantity, and it is decided by parameter [internal and external
speed command choose] (PA22). When using internal speed, the
combination of SC1 and SC2 is used for choose different internal
speed.
SC1 OFF，SC2 OFF ：internal speed 1
SC1 ON，SC2 OFF ：internal speed 2
SC1 OFF，SC2 ON ：internal speed 3
SC1 ON，SC2 ON ：internal speed 4
� 试运行控制方式，速度指令从键盘输入，用于测试驱动器和
电机。
� Trial operate control mode, speed command is inputed through
keyboard and used for testing drive and motor.
JOG 控制方式，即点动方式，进入 JOG 操作后，按下↑键并保持，
电机按 JOG 速度运行，松开按键，电机停转，保持零速；按下↓
键并保持，电机按 JOG 速度反向运行，松开按键，电机停转，保
52
numb name functions
er Parameter
range
5 速度比例 � 设定速度环调节器的比例增益。 5~2000H
增益 � Set the ratio gain of speed loop adjuster. z
Speed � 设置值越大，增益越高，刚度越大。参数数值根据具体的伺
ratio gain 服驱动系统型号和负载情况确定。一般情况下，负载惯量越
大，设定值越大。
� The gain and stiffness increase with the setting value increase.
The parameter in confirmed according to specicific servo drive
system mode and load condition. Usually, the bigger load
inertness is, the bigger setting value is.
� 在系统不产生振荡的条件下，尽量设定的较大。
� To make the setting value as big as possible if the system doesn’t
vibrate.
6 速度积分 � 设定速度环调节器的积分时间常数。 1~1000m
时间常数 � To set the integration time constant of speed loop adjuster. s
Speed � 设置值越小，积分速度越快，系统抵抗偏差越强，即刚度越
intrgration 大，但太小容易产生超调。
time � The smaller setting value is, the faster intergration speed is.
constant
7 转矩滤波 � 设定转矩指令滤波器特性； 20~500%
器 � To set the features of torque command filter
Torque � 用来抑制由转矩产生的谐振；
filter � It is used for restrain the resonance produced by torque
� 数值越小，截止频率越低，电机产生的振动和噪声越小。如
果负载惯量很大，可以适当减小设定值。数值太小，造成响
应变慢，可能会引起振荡。
� The smaller value is, the lower cut-off frequency is and the
lower vibration and noise the motor generate.
� 数值越大，截止频率越高，响应越快。如果需要较高的转矩
响应，可以适当增加设定值。
� The bigger value is, the higher cut-off frequency is and the faster
it responds. If user need a higher torque response, the user can
increase the setting value appropriately.
53
numb name functions
er Parameter
range
8 速度检测 � 设定速度检测滤波器特性。 20~500%
滤波器 � To set speed testing filter features
Speed � 数值越小，截止频率越低，电机产生的噪音越小。如果负载
check 惯量很大，可以适当减小设定值。数值太小，造成响应变慢，
filter 可能会引起振荡。
The smaller value is, the lower cut-off frequency is and the lower
vibration and noise the motor generate. If the load moment of inertia is
very big, user can reduce the value appropriately. If value is too small,
it will result in slow response and may cause oscillation
� 数值越大，截止频率越高，速度反馈响应越快。如果需要较
高的速度响应，可以适当增加设定值。
The higher the value is, the greater the cut-off frequency is, and speed
feedback response more quickly. If you need higher response speed,
you can increase value appropriately.
9 位置比例 � 设定位置环调节器的比例增益。 1~1000 /s
增益 Set the proportional gain of position loop regulator.
Positon � 设置值越大，增益越高，刚度越大，相同频率指令脉冲条件
ratio gain 下，位置滞后量越小。但数值太大可能会引起振荡或超调。
The bigger setting value is, the greater the gain is, and the greater
the stiffness is, and under the same frequency instruction pulse
condition, the position hysteresis is smaller. But if the value is too big,
which may cause oscillation over overshoot.
� 参数数值根据具体的伺服驱动系统型号和负载情况确定。
� Parameter value is confirmed based on the specific system
model and load conditions of servo drive.
54
numb name functions
er Parameter
range
10 位置前馈 � 设定位置环的前馈增益。 0~100％
增益 Setting feedforward gain of the position loop.
Position � 设定为 100％时，表示在任何频率的指令脉冲下，位置滞后
feedforwo 量总是为 0。
rd gain � Set to 100%, which means that in command pulse at any
frequency, the position lag is always zero.
� 位置环的前馈增益增大，控制系统的高速响应特性提高，但
会使系统的位置环不稳定，容易产生振荡。
When Position loop feedforward gain increases, the
high-speed response of control system will enhance, but it will
make the position loop of system unstable and prone to
oscillation.
� 除非需要很高的响应特性，位置环的前馈增益通常为 0。
Unless required by high response characteristics, the
feedforward gain of position loop usually is 0.
11 位置前馈 � 设定位置环前馈量的低通滤波器截止频率。 1~1200H
滤波器截 set the low-pass filter cutoff frequency of position loop z
止频率 feedforward value.
Position � 本滤波器的作用是增加复合位置控制的稳定性。
feedforw This filter's role is to increase the stability of composite
ard filter position control.
cutoff
frequenc
y
55
numb name functions
er Parameter
range
12 位置指令 � 设置位置指令脉冲的分倍频（电子齿轮）。 1~32767
脉冲分频 Set the frequency doubling (electronic gear) of position command
分子 pulse.
Position � 在位置控制方式下，通过对 PA12,PA13 参数的设置，可以很
command 方便地与各种脉冲源相匹配，以达到用户理想的控制分辨率
pulse （角度/脉冲）
。
frequency in position control mode, through set parameter PA12, PA13 , you
numerator can easily match with all kinds of pulse source in order to achieve the
ideal control resolution (Angle /pulse).
� P ×G = N ×C × 4
P：输入指令的脉冲数； The pulses number of input command
G：电子齿轮比；electronic gear ratio
分频分子
G=
分频分母
N：电机旋转圈数； Motor rotation truns number
C：光电编码器线数/转，本系统 C＝2500。
The Line/RPM of photoelectric encoder, this system C = 2500
� 〖例〗输入指令脉冲为 6000 时，伺服电机旋转 1 圈
� 〖example〗when input command pulse is 6000, servo motor
rotates for one turn.
N × C × 4 1 × 2500 × 4 5
G= = =
P 6000 3
则参数 PA12 设为 5，PA13 设为 3。
Then set parameter PA12 to 5, and PA13 to 3
� 电子齿轮比推荐范围为 the recommend range of electronic
gear is
1
≤ G ≤ 50
50
56
numb name functions
er Parameter
range
13 位置指令见参数 PA12 1~32767
脉冲分频 Refer to parameter PA12
分母
Position
command
pulse
fractional
frequency
denominat
or
14 位置指令 � 设置位置指令脉冲的输入形式。 0~2
脉冲输入 � Set the input form of position command pulse.
方式 � 通过参数设定为 3 种输入方式之一：
Position 0：脉冲＋符号；
command 1：CCW 脉冲/CW 脉冲；
pulse 2：两相正交脉冲输入；
input To set one of the three kinds of input mode through parameters:
mode 0: pulse + mark;
1: the CCW pulse/the CW pulse;
2: two phase orthogonal pulse input;
� CCW 是从伺服电机的轴向观察，反时针方向旋转，定义为正
向。
� CCW is from the axial direction to observe servo motor, rotating
in counterclockwise, defined as positive.
� CW 是从伺服电机的轴向观察，顺时针方向旋转，定
义为反向。
CW is from the axial direction of the servo motor to
observe, rotating in clockwise, defined as the reverse.
57
numb name functions
er Parameter
range
15 位置指令设置为 0~1
脉冲方向 0：正常；
取反 1：位置指令脉冲方向反向。
Position Set to:
command 0: normal;
pulse 1: Position command pulse direction in reverse
direction
in reverse
16 定位完成 � 设定位置控制下定位完成脉冲范围。 0~30000
范围 � Set positioning completing pulse range under position control. 脉冲
Positionin � 本参数提供了位置控制方式下驱动器判断是否完成定位的依 0~30000
g 据。当位置偏差计数器内的剩余脉冲数小于或等于本参数设 pulse
completin 定值时，驱动器认为定位已完成，定位完成信号 COIN ON，
g range 否则 COIN OFF。
� This parameter provides evidence for drive judging whether
completing localization under position control mode. When the
rest pulse number of the position deviation counter is less than or
equal to this parameter setting value, drive will judge that the
positioning has been completed, positioning completing signal is
COIN ON, otherwise COIN OFF.
� 在位置控制方式时，输出定位完成信号 COIN，在其它控制
方式时，输出速度达到信号 SCMP。
� When in position control mode, it will output positioning
completing signal COIN, and in other control mode, the output
speed gets to the signal SCMP.
17 位置超差 � 设置位置超差报警检测范围。 0~30000
检测范围 Set position out-of-tolerance alarm detection range. × 100 脉
Position � 在位置控制方式下，当位置偏差计数器的计数值超过本参数冲
out-of-tole 值时，伺服驱动器给出位置超差报警。 0~30000
rance In position control mode, when the position deviation counter count × 100
detection more than this parameter value, the servo drive will give alarm of pulse
range position out-of-tolerance.
58
numb name functions
er Parameter
range
18 位置超差设置为 setting 0~1
错误无效 0：位置超差报警检测有效；
Position 1：位置超差报警检测无效，停止检测位置超差错误。
out-of-tole 0: out-of-tolerance alarm detection is valid;
rance 1: position out-of-tolerance alarm detection is invalid, stopping
error is detecting position out-of-tolerance error.
invalid
19 位置指令 � 对指令脉冲进行平滑滤波，具有指数形式的加减速，数值表 0~30000×
平滑滤波示时间常数； 0.1ms
器 � Handling command pulse with smoothing filtering, with
Place acceleration and deceleration of exponential form, the value
command stands for time constant;
smoothing � 滤波器不会丢失输入脉冲，但会出现指令延迟现象；
filter Filter will not lose input pulse, but will appear delay phenomenon;
� 此滤波器用于
1) 上位控制器无加减速功能；
2) 电子齿轮分倍频较大（>10）
；
3) 指令频率较低；
this filter is used for
1) the upper controller without acceleration and deceleration function;
2) electronic gear frequency doubling is bigger (> 10);
3) low command frequency;
� 电机运行时出现步进跳跃、不平稳现象。
The phenomenon of stepper jump and unstable appear when motor
working.
� 当设置为 0 时，滤波器不起作用。
When set to 0, the filter didn't work
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numb name functions
er Parameter
range
20 驱动禁止设置为 set to 0~1
输入无效 0： CCW、CW 输入禁止有效。当 CCW 驱动禁止开关（FSTP）
Driving ON 时，CCW 驱动允许；当 CCW 驱动禁止开关（FSTP）OFF
forbiding 时，CCW 方向转矩保持为 0；CW 同理。如果 CCW、CW 驱动
input is 禁止都 OFF，则会产生驱动禁止输入错误报警。
invalid 0: CCW, CW input forbiding is valid. When CCW driving forbiding
switch (FSTP) ON, the CCW drivers allow; When CCW driving
forbiding switch (FSTP) OFF, CCW direction torque remains 0; The
same goes to CW. If CCW and CW driving forbidding are all OFF,
then an error alarm of driving forbidding input will be given.
1：取消 CCW、CW 输入禁止。不管 CCW、CW 驱动禁止开关状
态如何，CCW、CW 驱动都允许。同时，如果 CCW、CW 驱动
禁止都 OFF，也不会产生驱动禁止输入错误报警。
1: cancel CCW, CW input prohibiting. Regardless of CCW, and CW
driving forbiding switch state, CCW and CW driving allowe. At the
same time, if CCW and CW driving forbidding are all OFF, it won't
produce driving foebiding input error alarm.
21 JOG 运行设置 JOG 操作的运行速度。 -3000~30
速度 To set the running speed of JOG operation. 00
JOG r/min
running
speed
22 内外速度设置为 set to 0~1
指令选择 0：速度指令取自内部速度；
The 0: speed commands come from internal speed;
internal 1：速度指令取自外部模拟量输入；
and 带有模拟量功能的驱动器可设置为“0”或“1”，不带有模拟
external 量功能的驱动器只可设置为“0”
。
command 1: the speed commands come from external analog input;
choose The drive with the function of analog can be set to "0" or "1",
while drive without the function of analog can only be set to "0".
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23 最高速度 � 设置伺服电机的最高限速。 0~3000
限制 � set the highest limited speed of servo motor. r/min
Maximum � 与旋转方向无关。
speed have nothing to do with the direction of rotation.
limit � 如果设置值超过额定转速，则实际最高限速为额定转速。
If setting value exceeds rated rotating speed, the actual maximum
limited speed is the rated speed.
24 内部速度 � 设置内部速度 1 -3000~30
1 � Set internal speed 1 00 r/min
Internal � 速度控制方式下，当 SC1 OFF，SC2 OFF 时，选择内部速度
speed 1 1 作为速度指令。
� under the speed control mode, when SC1 OFF，SC2 OFF, choose
internal speed 1 as the speed command.
25 内部速度 � 设置内部速度 2 -3000~30
Internal � 速度控制方式下，当 SC1 ON，SC2 OFF 时，选择内部速度
speed 2 2 作为速度指令。
� under the speed control mode, when SC1 ON，SC2 OFF, choose
26 内部速度 � 设置内部速度 3 -3000~30
Internal � 速度控制方式下，当 SC1 OFF，SC2 ON 时，选择内部速度 3
speed 3 作为速度指令。
� under the speed control mode, when SC1 OFF，SC2 ON, choose
27 内部速度 � 设置内部速度 4 -3000~30
Internal � 速度控制方式下，当 SC1 ON，SC2 ON 时，选择内部速度 4
speed 4 作为速度指令。
� under the speed control mode, when SC1 ON，SC2 ON, choose
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numb name functions
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range
28 到达速度 � 设置到达速度。 0~3000
Reached � Set the reached speed. r/min
speed � 在非位置控制方式下，如果电机速度超过本设定值，则 SCMP
ON，否则 SCMP OFF。
In the non-position control mode, if the speed of motor exceeds this
setting value, then SCMP ON, otherwise SCMP OFF.
� 在位置控制方式下，不用此参数。
in position control mode, do not use this parameter.
� 与旋转方向无关。
� It has nothing to do with the direction of rotation.
� 比较器具有迟滞特性。
Comparator has hysteresis feature.
29 模拟量转 � 设定模拟量转矩输入电压和电机实际运行转矩之间的比例关 10~100
矩指令输系； (0.1V/100
入增益 � set the ratio between analog input voltage and motor actural %)
Analog running torque;
torque � 设定值的单位是 0.1V/100%；
command The unit of setting value is 0.1 V / 100%;
input gain � 缺省值为 30，对应 3V/100%，即输入 3V 电压产生 100%的
额定转矩。
The default is 30, corresponding to 3 v / 100%, namely input voltage
3 v to produce 100% rated torque.
30 用户转矩 � 设置用户转矩过载值，该值为额定转矩的百分率，转矩限制 1~300
过载报警值不分方向，正向反向都有保护；
值 set user torque overload value, this value is the percentage of rated
User torque, torque limit value regardless of direction, forward and reverse
torque direction are all in protection;
overload � 在 PA31>0 情况下，当电机转矩>PA30，持续时间>PA31
alarm 情况下，驱动器报警，报警号为 Err-29，电机停转。报警产
value 生后，驱动器必须重新上电清除报警。
in the case of PA31 > 0, when the motor torque > PA30,
duration time > PA31, the driver alarm, alarm number is Err -
29, motor stalling. After the alarm prodeced, drive must
re-power on to clear alarm.
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numb name functions
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range
31 用户转矩 � 用户转矩过载检测时间，单位毫秒； 0~32767
过载报警 � users torque overload detection time, the unit is millisecond
检测时间 � 设置为 0 时，用户转矩过载报警功能禁止；
User set to 0, forbid the function of user torque overload alarm;
torque � 一般情况下，该参数设置为 0。
overload Normally, this parameter set to 0
alarm
detection
time
32 控制方式 0：不允许切换。 0~1
切换允许 0: do not allow switching
Control 1：允许切换。采用 ALRS(报警清除)输入做切换，原报警清除功
mode 能失效：
switch 1: allow switching. Adopting ALRS (alarm clearing) input to swith,
allow the original alarm clearing function becomes invalid.
PA4 ALRS 控制方式
Control mode
0 OFF 位置
position
ON 速度
speed
1 OFF 速度
speed
ON 转矩
torque
6 OFF 转矩
torque
ON 位置
position
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numb name functions
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33 模拟量转 � 对模拟量转矩输入的极性反向。 0~1
矩指令输 Take reverse to the input polarity of analog torque.
入方向取 � 设置为 0 时，模拟量转矩指令为正时，转矩方向为 CCW；设
反置为 1 时，模拟量速度指令为正时，转矩方向为 CW；
The input When set to 0, analog torque command is positive, the direction of
direction torque is CCW. when set to 1, analog speed command is positive, the
of analog direction of torque is CW.
torque
command
take in
reverse
direction
34 内部 � 设置伺服电机 CCW 方向的内部转矩限制值。 0~300%
CCW 转 � set internal torque limitation value of servo motor CCW
矩限制 direction.
Internal � 设置值是额定转矩的百分比，例如设定为额定转矩的 2 倍，
CCW 则设置值为 200。
torque The setting value is the percentage of rated torque. For example, if
limitation set to two times of the rated torque, the setting value is 200.
� 任何时候，这个限制都有效。
This restriction is valid at any time.
� 如果设置值超过系统允许的最大过载能力，则实际转矩限制
为系统允许的最大过载能力。
If setting value exceeds the maximum overload capacity that system
allows, the actual torque limit is the maximum overload ability that the
system allows.
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numb name functions
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35 内部 CW � 设置伺服电机 CW 方向的内部转矩限制值。 -300~0%
转矩限制 � set internal torque limitation value of servo motor CW direction.
Internal � 设置值是额定转矩的百分比，例如设定为额定转矩的 2 倍，
CW 则设置值为－200。
torque � The setting value is the percentage of rated torque. For example,
limitation if set to two times of the rated torque, the setting value is -200
� 任何时候，这个限制都有效。
� This restriction is valid at any time.
� 如果设置值超过系统允许的最大过载能力，则实际转矩限制
为系统允许的最大过载能力。
� If setting value exceeds the maximum overload capacity that
system allows, the actual torque limit is the maximum overload
ability that the system allows.
36 外部 � 设置伺服电机 CCW 方向的外部转矩限制值。 0~300%
CCW 转 � set external torque limitation value of servo motor CCW
矩限制 direction
External � 设置值是额定转矩的百分比，例如设定为额定转矩的 1 倍，
CCW 则设置值为 100。
limitation if set to one time of the rated torque, the setting value is 100
� 仅在 CCW 转矩限制输入端子（FIL）ON 时，这个限制才有
效。
� Only when CCW torque limit inputing terminal（FIL）ON, this
limitation is valid.
� 当限制有效时，实际转矩限制为系统允许的最大过载能力、
内部 CCW 转矩限制、外部 CCW 转矩限制三者中的最小值。
� When the limitation is valid, the actual torque limitation is the
minimum value among the maximum overload capacity that
system allows, internal CCW torque limitation, and external
CCW torque limitation.
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numb name functions
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37 外部 CW � 设置伺服电机 CW 方向的外部转矩限制值。 -300~0%
转矩限制 � set external torque limitation value of servo motor CW direction.
External � 设置值是额定转矩的百分比，例如设定为额定转矩的 1 倍，
CW 则设置值为－100。
limit if set to one time of the rated torque, the setting value is -100
� 仅在 CW 转矩限制输入端子（RIL）ON 时，这个限制才有效。
� Only when CW torque limit inputing terminal（RIL）ON, this
limitation is valid.
� 当限制有效时，实际转矩限制为系统允许的最大过载能力、
内部 CW 转矩限制、外部 CW 转矩限制三者中的绝对值的最
小值。
� When the limitation is valid, the actual torque limitation is the
minimum value among the maximum overload capacity that
system allows, internal CW torque limitation, and external CW
torque limitation.
38 速度试运 � 设置在速度试运行、JOG 运行方式下的转矩限制值。 0~300%
行、 JOG � Set the torque limitation value under speed trial running and
运行转矩 JOG operation mode.
限制 � 与旋转方向无关，双向有效。
Speed trial � It has nothing to do with the direction of rotation, both directions
running、 are valid.
JOG � 设置值是额定转矩的百分比，例如设定为额定转矩的 1 倍，
operating 则设置值为 100。
limitation if set to one time of the rated torque, the setting value is 100
� 内外部转矩限制仍然有效。
Internal and external torque limitation is still valid.
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numb name functions
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range
39 模拟量转对模拟量转矩输入的零偏补偿量 -2000~20
矩指令零 The zero deviation compensation amount for analog torque input. 00
偏补偿
Analog
torque
command
zero
deviation
compensat
ion
40 加速时间 � 设置值是表示电机从 0~1000r/min 的加速时间。 1~10000
常数 Setting value stands for acceleration time of motor from 0 ~ 1000 ms
Accelerati r/min.
on time � 加减速特性是线性的。
constant The acceleration and deceleration features are linear.
� 仅用于速度控制方式，位置控制方式无效；
� it only used for speed control mode, position control mode is
invalid;
� 如果驱动器与外部位置环组合使用，此参数应设置为 0。
� If combinate drive and external position loop to use, this
parameter should be set to zero.
41 减速时间 � 设置值是表示电机从 1000~0r/min 的减速时间。 1~10000
常数 � Setting value stands for deceleration time of motor from 0 ~ ms
Decleratio 1000 r/min
n time � 加减速特性是线性的。
constant � The acceleration and deceleration features are linear.
� 仅用于速度控制方式，位置控制方式无效；
� it only used for speed control mode, position control mode is
invalid;
� 如果驱动器与外部位置环组合使用，此参数应设置为 0。
� If combinate drive and external position loop to use, this
parameter should be set to zero.
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numb name functions
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42 S 型加减使电机平稳启动和停止，设定 S 型加减速曲线部分时间。 1~1000m
速时间常 Make motor start and stop steady, set the time of S type acceleration s
数 and deceleration curve part.
S type
accelerati
on and
decelerati
on time
constant
43 模拟量速设定模拟量速度输入电压和电机实际运转速度之间的比例关系。 10~3000
度指令输 Set the ratio of analog speed input voltage and the actual running r/min/V
入增益 speed of motor.
Analog
input
gain
speed
instructio
n
44 模拟量速 � 对模拟量速度输入的极性反向。 0~1
度指令方 Take reverse for the analog speed input polarity.
向取反 � 设置为 0 时，模拟量速度指令为正时，速度方向为 CCW；
Take the When set to 0, analog speed command is positive, speed direction is
analog CCW;
speed � 设置为 1 时，模拟量速度指令为正时，速度方向为 CW；
reference � when set to 1, analog speed command is positive, speed
direction direction is CW;
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numb name functions
er Parameter
range
45 模拟量速对模拟量速度输入的零偏补偿量。 -5000~50
度指令零 the zero deviation compensation amounts for analog speed input. 00
偏补偿
Analog
speed
command
zero
deviation
compensat
ion
46 模拟量速 � 对模拟量速度输入的低通滤波器。 0~1000H
度指令滤 low pass filter for analog speed input. z
波器 � 设置越大，对速度输入模拟量响应速度越快，信号噪声影响
Analog 越大；设置越小，响应速度越慢，信号噪声影响越小。
speed The bigger value to be set, the faster response speed is for the speed
command input analog, and the bigger signal noise impact is; The smaller value
filter to be set, the slower response speed is for the speed input analog, and
the smaller signal noise impact is.
47 电机停止 � 定义电机停转期间从机械制动器动作(输出端子 BRK 由 ON 0~200
时机械制变成 OFF)到电机电流切断的延时时间； ×10ms
动器动作 Define the delay time from the mechanical brake action(output
设定 terminal BRK change from ON to OFF) to cutting the motor current
Mechanic during motor stalling;
al brake � 此参数不应小于机械制动的延迟时间(Tb)，以避免电机的微
action set 小位移或工件跌落；
when this parameter should not be less than the mechanical brake delay time
motor (Tb), in order to avoid tiny displacement of motor or workpiece
stops falling;
� 相应时序参见图 7.5。
Corresponding timing refers to as diagram 7.5
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numb name functions
er Parameter
range
48 电机运转 � 定义电机运转期间从电机电流切断到机械制动器动作 (输出 0~200
时机械制端子 BRK 由 ON 变成 OFF)的延时时间； ×10ms
动器动作 � Define the delay time from cutting the motor current to the
设定 mechanical brake action (output terminal BRK change from ON
mechanica to OFF);
l brake � 此参数是为了使电机从高速旋转状态减速为低速后，再使机
action 械制动器动作，避免损坏制动器；
setting this parameter is to make mechanical brake action and avoid
during damaging the brake when the motor decreases to low speed from high
motor rotating state.
running � 实际动作时间是 PA48 或电机减速到 PA49 数值所需时间，取
两者中的最小值。
The actual action time is PA48 or the needed time that motor
decreases to PA49 numerical value. Taking the minimum value of
them.
� 相应时序参见图 7.6。
Corresponding timing refers to diagram 7.6
49 电机运转 � 定义电机运转期间从电机电流切断到机械制动器动作 (输出 0~3000r/
时机械制端子 BRK 由 ON 变成 OFF)的速度数值。 min
动器动作 � Define the speed numerical value from cutting the motor current
速度 to the mechanical brake action (output terminal BRK change
The from ON to OFF);
mechanica � 实际动作时间是 PA48 或电机减速到 PA49 数值所需时间，取
l brake 两者中的最小值。
action The actual action time is PA48 or the needed time that motor
speed decreases to PA49 numerical value. Taking the minimum value of
while the them.
machine � 相应时序参见图 7.5。
running � Corresponding timing refers to diagram 7.5
70
numb name functions
er Parameter
range
50 转矩控制 � 在转矩控制时，电机运行速度限制在本参数以内； 0~5000r/
时速度限 � the motor running speed is limited within this parameter when min
制 torque control;
the speed � 可防止轻载出现超速现象。
limitation Can prevent the light load from over-speeding.
when
Torque
control
51 动态电子 � 设置为 0，动态电子齿轮无效，输入端子 INH 的功能是指令 0~1
齿轮有效脉冲禁止。
Dynamic � When set to 0, the dynamic electronic gear is invalid, the
electronic function of the input terminals INH is command pulse
gear is prohibition.
valid � 设置为 1，动态电子齿轮有效，输入端子 INH 的功能是电子
齿轮切换。当 INH 端子 OFF 时，输入电子齿轮为 No.12/No.13；
当 INH 端子 ON 时，输入电子齿轮为 No.52/No.13；通过控制
INH 端子，改变电子齿轮比例数值。
When set to 1, the dynamic electronic gear is valid, the function of
input terminal INH is electronic gear switch. When INH terminal is
OFF, the input electronic gear is No. 12/ No. 13; when INH terminal is
ON, the input electronic gear is No. 52 / No. 13; By controlling INH
terminals, to change the electronic gear ratio value.
71
numb name functions
er Parameter
range
52 第二位置 � 设置第二位置指令脉冲的分倍频（电子齿轮）。 1~32767
指令脉冲 � Set the frequency doubling of the second position command
分频分子 pulse (electronic gear).
The � 使用动态电子齿轮必须设置参数 PA51=1，此时输入端子 INH
second （指令脉冲禁止）功能转变为电子齿轮切换输入控制端子；
position � When using dynamic electronic gear, user must set the
command parameter PA51 = 1. At that time, the function of input terminals
pulse INH (command pulse forbid) changes to electronic gear switch
fractional input control terminal;
frequency � 当 INH 端子 OFF 时，输入电子齿轮为 PA12/PA13；当 INH 端
numerator 子 ON 时，输入电子齿轮为 PA52/PA13；通过控制 INH 端子，
改变电子齿轮比例数值。
� When INH terminal is OFF, the input electronic gear is PA12 /
PA13; when INH terminal is ON, the input electronic gear is
PA52 / PA13; By controlling the INH terminals, to change
electronic gear ratio value.
� 注意第一、第二电子齿轮分频分母是一样的。
� Pay attention to that the frequency division denominator of first
and second electronic gear is the same.
72
numb name functions
er Parameter
range
53 低 4 位输 � 设置输入端子内部强制 ON 有效。未强制 ON 的端子，需要 0000~111
入端子强在外部连线控制 ON/OFF，已强制 ON 的端子，不需要在外 1
制 ON 控部连线，驱动器内部自动置 ON
制字 Set the internal forced ON of input terminals is valid. The terminals
Low four without forced ON need to wire in the external to control ON/OFF,
digits while the terminals with forced ON need not external wiring, the drive
input sets to ON automatically inside.
terminal � 用 4 位二进制数表示，该位为 0 表示代表的输入端子不强制
forced ON ON，1 表示代表的输入端子强制 ON。二进制数代表的输入
control 端子如下：
word To display with 4 bit binary number, if this bit is 0 that means the
representative input terminal is not forced, 1 means that the
representative input terminal is forced ON. The input terminals that
binary number represents is as below:
3 2 1 0
RSTP FSTP ALRS SON
SON：伺服使能； servo on
ALRS：报警清除；alarm clear
FSTP：CCW 驱动禁止；CCW drive forbid
RSTP：CW 驱动禁止； CW drive forbid
73
numb name functions
er Parameter
range
54 高 4 位输 � 设置输入端子内部强制 ON 有效。未强制 ON 的端子，需要 0000~111
入端子强在外部连线控制 ON/OFF，已强制 ON 的端子，不需要在外 1
制 ON 控部连线，驱动器内部自动置 ON
制字 Set the internal forced ON of input terminals is valid. The terminals
High 4 without forced ON need to wire in the external to control ON/OFF,
didgit while the terminals with forced ON need not external wiring, the drive
input sets to ON automatically inside.
terminal � 用 4 位二进制数表示，该位为 0 表示代表的输入端子不强制
forced ON ON，1 表示代表的输入端子强制 ON。二进制数代表的输入
control 端子如下：
� To display with 4 bit binary number, if this bit is 0 that means
the representative input terminal is not forced ON, 1 means that
the representative input terminal is forced ON. The input
terminals that binary number represents is as below:
3 2 1 0
RIL FIL INH/SC2 CLE/SC1/ZEROSPD
CLE/SC1/ZEROSPD：偏差计数器清零/速度选择 1/零速箝位；
CLE/SC1/ZEROSPD：Deviation counter zero clearing / speed choose
1/zero speed clamping
INH/SC2：指令脉冲禁止/速度选择 2；command pulse forbid/ speed
choose 2
FIL：CCW 转矩限制； CCW torque limitation
RIL：CW 转矩限制。CW torque limitation
74
numb name functions
er Parameter
range
55 低 4 位输 � 设置输入端子取反。不取反的端子，在开关闭合时有效，开 0000~111
入端子取关断开时无效；取反的端子，在开关闭合时无效，开关断开 1
反控制字时有效。
Low 4 � Set the input terminals in reverse. For the terminals do not take
digit input in reverse, they are valid when swithing on, and invalid when
terminal switching off; for the terminals taking in reverse, they are invalid
take the when switching on, and valid when swithing off.
reverse � 用 4 位二进制数表示，该位为 0 表示代表的输入端子不取反，
control 为 1 表示代表的输入端子取反。二进制数代表的输入端子如
word 下：
To display with 4 bit binary number, when the bit is 0, it means that
the representative input terminal do not take in reverse, and 1 meas
that the representative input terminal take in reverse. The input
terminals that binary number represents is as below:
3 2 1 0
RSTP FSTP ALRS SON
SON：伺服使能； servo on
ALRS：报警清除； alarm clear
FSTP：CCW 驱动禁止； CCW drive forbid
RSTP：CW 驱动禁止； CW drive forbid
75
numb name functions
er Parameter
range
56 高 4 位输 � 设置输入端子取反。不取反的端子，在开关闭合时有效，开 0000~111
入端子取关断开时无效；取反的端子，在开关闭合时无效，开关断开 1
反控制字时有效。
High 4 � Set the input terminals in reverse. For the terminals do not take
digit input in reverse, they are valid when swithing on, and invalid when
terminal switching off; for the terminals taking in reverse, they are invalid
take when switching on, and valid when swithing off.
reverse � 用 4 位二进制数表示，该位为 0 表示代表的输入端子不取反，
control 为 1 表示代表的输入端子取反。二进制数代表的输入端子如
word 下：
� To display with 4 bit binary number, when the bit is 0, it means
that the representative input terminal do not take in reverse, and
1 meas that the representative input terminal take in reverse. The
input terminals that binary number represents is as below:
3 2 1 0
RIL FIL INH/SC2 CLE/SC1/ZEROSPD
CLE/SC1/ZEROSPD：偏差计数器清零/速度选择 1/零速箝位；
CLE/SC1/ZEROSPD：Deviation counter zero clearing / speed choose
1/zero speed clamping
INH/SC2：指令脉冲禁止/速度选择 2； command pulse forbid/ speed
choose 2
FIL：CCW 转矩限制； CCW torque limitation
RIL：CW 转矩限制。 CW torque limitation
76
numb name functions
er Parameter
range
57 输出端子 � 设置输出端子取反。取反的端子，导通和截止的定义正好和 0000~111
取反控制标准定义相反； 1
字 � Set the input terminals in reverse. For the terminals take in
Input reverese, the definition of breakover and close is opposite to that
terminal of standard definations.
take � 用 4 位二进制数表示，该位为 0 表示代表的输出端子不取反，
reverse 为 1 表示代表的输出端子取反。二进制数代表的输入端子如
control 下：
word � To display with 4 bit binary number, when the bit is 0, it means
that the representative input terminal do not take in reverse, and
1 meas that the representative input terminal take in reverse. The
input terminals that binary number represents is as below:
3 2 1 0
BRK COIN ALM SRDY
SRDY：伺服准备好； servo ready
ALM：伺服报警； servo alarm
COIN：定位完成/速度到达；location completed/ speed reach
BRK：机械制动释放。Mechanical braking release
58 Io 输入端 � 对输入端子去抖动滤波时间； 1~1000×0
子去抖动 � the filtering time of input terminals flutter-free ; .1ms
时间常数 � 数值越小，端子输入响应越快；
Io input � The smaller value is, the faster terminal input responds;
terminals � 数值越大，端子输入抗干扰性能越好，但响应变慢。
flutter-fre � The bigger value is, the greater terminal input anti-jamming is,
e time but the response becomes slower.
constant
59 演示运行测试专用。 0~1
Demonstr exclusive use for testing
ating
running
77
numb name functions
er Parameter
range
60 编码器输 � 编码器输出电子齿轮，用于对编码器脉冲进行分频，改变送 1～31
出脉冲分到上位机的脉冲分辨率。
频分子 � Encoder output electronic gear, which is used for divide
Encoder frenquency to the encoder pulse, and change pulse resolution
output that send to the upper machine.
pulse � 只能分频，不能倍频，必须设置参数 60 ≤ 参数 61。
fractional � Can only divide frenquency, not double frenquency, and must set
frequency parameter 60 ≤ parameter 61.
numerator � 如果设置为参数 60=1 及参数 61=1，则分频功能将被取消，
AB 信号直通。
� If set to parameter 60=1 and parameter 61=1. then the divide
frenquency will be cancelled, and AB signal connect directly.
� 分频能改变输出的编码器线数(只能小于电机编码器线数)，
方便和上位装置连接。特别在上位装置接收脉冲最高频率有
限时，分频设置后能减小编码器脉冲频率。
� Divide frequency can change the line number of encoder (can
only less than the line number of motor encoder), which is
convenient to connect with the host device. Especially when the
received pulse maximum frequency of host device is limited, it
can reduce the encoder pulse frequency after frequency division
setting.
� 如果电机编码器使用 C 线编码器，则输出编码器线数为
� If motor encoder adopts line C encoder, the line number of
output encoder is
参数60
×C
参数61
例如，使用 2500 线编码器，则输出编码器线数为
For example, when adopting 2500 line encoder, the line number
of output encoder is
参数 60
× 2500
参数 61
� 输出编码器线数可以是分数。
� The output encoder line number can be fraction.
伺服驱动器
CN 1 CN 2
A 反馈 A
参数 60
78 — — 反馈 B
参数 61
B
上位装置
参数 62 电机编码器
脉冲反馈 Z
Z 展宽
numb name functions
er Parameter
range
61 编码器输 � 参考参数 60 的说明 1～31
出脉冲分 � Refer to the explanation of parameter 60
频分母
The
encoder
output
pulse
frequency
division
denominat
or
79
numb name functions
er Parameter
range
62 编码器输 � 参数意义： the meaning of parameters 0～1
出 B 脉冲 0：同相 in-phase
相位 1：反相 phse reversal
Encoder � 此参数可以调整 B 相信号和 A 相信号的相位关系：
output B � This parameter can adjust the phase relation between B phase
pulse signal and A phase signal.
phase 62 正转(CCW) 反转(CW)
counter-clockwise clockwise
0 A 相滞后 B 相 90° A 相超前 B 相 90°
A phase lags B phase A phase exceeds B
for 90° phase for 90°
1 A 相超前 B 相 90° A 相滞后 B 相 90°
A phase exceeds B A phase lags B phase
phase for 90° for 90°
90 ° 90 °
A相 A相
B相 B相
(参数 6 2 =0) (参数 6 2 =0)
B相 B相
(参数 6 2 =1) (参数 6 2 =1)
正转 (C C W ) 反转 (C W )
90 ° 90 °
A相 A相
A phase A phase
B相
B相 (参数 6 2 =0)
(参数 6 2 =0) B phase
B phase (param eter 6 2 =0) (param eter 6 2 =0)
B相 B相
(参数 6 2 =1) (参数 6 2 =1)
B phase (param eter 6 2 =1) B phase
(param eter 6 2 =1)
正转 (C C W ) 反转 (C W )
positive rotation (C C W ) Reversal rotation (C W )
80
numb name functions
er Parameter
range
63 编码器输 � 参数意义： the meaning of parameters 0～1
出 Z 脉冲 0：同相 in-phase
相位 1：反相 phse reversal
Encoder
output Z
pulse
phase
81
numb name functions
er Parameter
range
64 编码器输 � 当上位设备不能捕获较窄的 Z 脉冲，可对 Z 脉冲进行展宽， 0～15
出 Z 脉冲参数意义：
宽度 When the host device can't capture a narrower Z pulse, user can
Encoder broaden Z pulse , the meaning of parameters
output Z 64 Z 脉冲宽度
pulse Z pulse width
width 0 直通，编码器原始 Z 脉冲宽度
Direct connection, encoder original Z pulse
width.
1～15 参数值乘以输出 A(或 B)信号的两倍宽度
Parameter value multiply the double width of
output A(or B) signal
A相
B相
Z脉冲
参数 6 3 =0,参数 6 4 =0
Z脉冲
参数 6 3 =1,参数 6 4 =0
Z脉冲
参数 6 3 =0,参数 6 4 =1
Z脉冲
参数 6 3 =1,参数 6 4 =1
A相
A phase
B相
B phase
Z脉冲参数 6 3 =0,参数 6 4 =0
Z pulse parameter 6 3 =0, parameter 6 4 =0
Z脉冲参数 6 3 =1,参数 6 4 =0
Z脉冲参数 6 3 =0,参数 6 4 =1
Z脉冲参数 6 3 =1,参数 6 4 =1
82
numb name functions
er Parameter
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68 模拟速度 � 输入电压位于死区 2(参数 69)～死区 1(参数 68)之间时指令强 0～13000
指令死区制为 0。
1 � When the input voltage is between dead zone 2 (parameter 69)
Analog and dead 1 (parameter 68), the command forces to 0.
speed 注意 note
command 参数 68 和参数 69 不适用于 EP100B 系列。
dead zone Parameter 68 and parameter 69 are not
速度指令
1 suitable for EP100B series.
死区 2
0死区 1
输入电压
速度指令
Speed
command
死区 2
Dead zone 2
0 输入电压
死区 1 Input voltage
Dead
zone 1
83
numb name functions
er Parameter
range
69 模拟速度 � 参考参数 68 的说明。－
指令死区 Refer to the explanation of parameter 68 13000～0
2
Analog
speed
command
dead zone
2
84
第 5 章保护功能
Chapter 5 Protection function
5.1 报警一览表 Alarm table
表 5.1 报警一览表
报警代码报警名称内容
-- 正常
1 超速伺服电机速度超过设定值
2 主电路过压主电路电源电压过高
3 主电路欠压主电路电源电压过低
4 位置超差位置偏差计数器的数值超过设定值
5 电机过热电机温度过高
6 速度放大器饱和故障速度调节器长时间饱和
7 驱动禁止异常 CCW、CW 驱动禁止输入都 OFF
8 位置偏差计数器溢出位置偏差计数器的数值的绝对值超过 230
9 编码器故障编码器信号错误
10 控制电源欠压控制电源偏低
11 IPM 模块故障 IPM 智能模块故障
12 过电流电机电流过大
13 过负载伺服驱动器及电机过负载(瞬时过热)
14 制动故障制动电路故障
15 编码器计数错误编码器计数异常
16 电机热过载电机电热值超过设定值(I2t 检测)
17 制动平均功率过载制动长时间平均负载过大
19 热复位系统被热复位
20 EEPROM 错误 EEPROM 错误
21 U4 错误 U4 错误
22 保留
23 U6 芯片错误 U6 芯片或电流传感器错误
29 用户转矩过载报警电机负载超过用户设定的数值和持续时间
30 编码器 Z 脉冲丢失编码器 Z 脉冲错
31 编码器 UVW 信号错误编码器 UVW 信号错误或与编码器不匹配
32 编码器 UVW 信号非法 UVW 信号存在全高电平或全低电平
编码
85
33 省线式编码器信号错上电时序中无高阻态
Saving-line encoder There is no high resistance state in power on timing
signal error
Alarm code Alarm name Alarm content

-- Normal
1 Over speed Servomotor speed exceeds the speed limit.
2 Over voltage of the The voltage of the main power supply exceeds the
main power supply specified value.
3 Under voltage of the The voltage of the main power supply exceeds the
main power supply specified value.
4 Position deviation The counter of position deviation exceeds the
exceeds the limit value setting limit value.
5 Servomotor over heat The temperature of servomotor is too high
6 Saturation fault of the The speed regulator is in saturation status for a long
speed amplifier time
7 Drive inhibition is CCWL 、 CWL the inputs of drive inhibition are
abnormal OFF.
8 Overflow of position The absolute value of position deviation counter
deviation counter exceeds 230
9 Encoder signal fault Lack of the signals of encoder
10 Under voltage of The voltage of control power supply is too low.
control power supply
11 IPM model fault IPM intelligent model fault
12 Over current Over-current of servomotor
13 Overload Overload of servomotor and servo driver
(instantaneous over heat)
14 Brake fault Fault occurs in brake circuit
15 Encoder counter error Encoder counter is abnormal.
16 Over-heat of The heat load of servomotor exceeds the setting
servomotor value (I2t detection)
17 Speed response fault Speed deviation is too big for a long time
19 Over heat reset System was reset by over heat fault
20 EEPROM error EEPROM is in error
21 U4 error U4 is in error
22 Reserved
23 U6 chip error U6 chip or current sensor is in error
86
29 Over torque alarm The torque of servomotor exceeds the setting value
and sustained time
30 Lost Z signal of encoder Z signal of encoder is loss.
31 UVW signals error of The UVW Signals error or pole number does not
encoder match with the servomotor
32 Illegal code of encoder UVW signals are all high level or low level
UVW signals
5.2 报警处理方法 the handling methods for alarm
表 5.2 报警处理方法
Table 5.2 the handling methods for alarm
报警代码报警名称运行状态原因处理方法
Alarm code Alarm Running reasons Handling methods
name state
1 超速接通控制 � 控制电路板故障。 � 换伺服驱动器。
Over-speed 电源时出 � Control circuit board � Replace servo drive
现 fault � 换伺服电机。
Appear � 编码器故障。 � Replace servo
when � Encoder fault motor.
connect the
control
power
supply
电机运行输入指令脉冲频率过高。正确设定输入指令脉冲。
过程中出 Input command pulse frequency Set the input command pulse
现 over high correctly
Appears in 加/减速时间常数太小，使速度增大加/减速时间常数。
the process 超调量过大。 Acceleration or deceleration
of motor Acceleration or deceleration time time constant
running constant is too small, which
makes the speed overshoot is over
big.
输入电子齿轮比太大。正确设置。
The input electronic gear Cottect set
ratio is too big.
87
name state
编码器故障。换伺服电机。
Encoder fault Replace servo motor
编码器电缆不良。换编码器电缆。
Encoder cable is not so good Replace encoder cable
伺服系统不稳定，引起超调。 � 重新设定有关增益。
The servo system is unstable, � Re-set the related
so causes overshoot. gain.
� 如果增益不能设置到
合适值，则减小负载
转动惯量比率。
If the gain can not be
set to a suitable value,
then reduce the load
rotating inertia ratio.
电机刚启负载惯量过大。 � 减小负载惯量。
动时出现 The load inertia ratio is over � Reduce the load
Appears large. inertia
when the � 更换大功率的驱动器
motor just 和电机。
starts � Replace drive and
motor with larger
power.
编码器零点错误。 � 换伺服电机。
Encoder zero point fault � Replace servo
motor.
� 请厂家重调编码器零
点。
� Ask the
manufacturer to
re-adjust encoder
zero point.
88
name state
� 电机 U、V、W 引线接错。 � 正确接线。
� Motor U、V、W leading line � Correct wiring.
is wrong connected.
� 编码器电缆引线接错。
� Encoder cable leading
line is wrong connected.
89

name state
2 主电路过接通控制电路板故障。换伺服驱动器。
压电源时出 Circuit board fault Replace servo drive.
The main 现
circuit is Appears
over when
voltage connect the
control
power
supply
接通主电电源电压过高。检查供电电源。
源时出现电源电压波形不正常。 Check power supply.
Appears The power supply voltage is
when over-high.
connect the The power supply voltage is
main power unnormal.
supply
电机运行制动电阻接线断开。重新接线。
过程中出 The wiring of brake resistor rewiring
现 is disconnected
Appears in 制动晶体管损坏。换伺服驱动器。
the process Brake transistor is damaged. Replace servo drive
of motor 内部制动电阻损坏。
running The internal brake resistor
is damaged.
90
制动回路容量不够。 � 降低起停频率。
Brake circuit capacity is not � Lower the start and
enough stop frequency.
� 增加加/减速时间常
数。
� Increase the
acceleration and
deceleration time
constant.
� 减小转矩限制值。
� Decrease torque
limitation value.
� 减小负载惯量。
� Decrease load
inertia
� 更换大功率的驱动器
和电机。
� Replace drive and
motor with larger
power.
3 主电路欠接通主电 � 电路板故障。换伺服驱动器。
压源时出现 � The circuit board fault Replace servo drive
The main Appears � 电源保险损坏。
circuit when � Power supply insurance is
undervoltag connect the damaged.
e main power � 软启动电路故障。
supply � Soft start circuit fault
� 整流器损坏。
� Rectifier is damaged.
� 电源电压低。检查电源。
� Power supply voltage is Check the power supply.
low
� 临时停电 20ms 以上。
� Temporary power failure
for above20ms.
91
电机运行 � 电源容量不够检查电源。
过程中出 � The power supply Check power supply
现 capacity is not enough.
Appears in � 瞬时掉电。
the process � Power off in instant
of motor 散热器过热。检查负载情况。
running Radiator is over heat Check load information
92

name state
4 位置超差接通控制电路板故障。换伺服驱动器。
Position 电源时出 Circuit board fault Replace servo drive
out-of-toler 现
ance Appears
when
connect the
control
power
supply
接通主电电机 U、V、W 引线接错。正确接线。
源及控制编码器电缆引线接错。 Correct wiring
线，输入指 Motor U、V、W leading line is
令脉冲，电 wrong connected.
机不转动 Encoder cable leading line is
或反转 wrong connected.
switch on � 编码器零点变动 � 重新调整换编码器零
the main � Encoder zero point 点；
power alteration � Re-adjust the
supply and � 编码器故障。 encoder zero point
control � Encoder fault � 更换伺服电机。
line, � Replace servo
input motor.
command
pulse, the
motor does
not rotate
or rotate in
reverse
电机运行设定位置超差检测范围太小。增加位置超差检测范围。
过程中出 The setting position Increase the position
现 out-of-torelence detection out-of-torelence
Appears range is too small. detection range
when the 位置比例增益太小。 ①增加增益。Increase gain
motor Position ratio gain is too small.
93
running 转矩不足。 � 检查转矩限制值。
Torque is not enough � Check torque
limitation value.
� 减小负载容量。
� Decrease the load
capacity.
和电机。
� Replace the drive
and motor with
larger power.
指令脉冲频率太高。降低频率。
Command pulse frequency is Reduce frequency
too high
编码器零点变动。重新调整换编码器零点。
Encoder zero point alteration Re-adjust change encoder
zero point.
5 电机过热接通控制 � 电路板故障。换伺服驱动器。
Motor is 电源时出 � Circuit board fault Replace servo drive.
over heat 现 � 电缆断线。 � 检查电缆。
Appears � Cable disconnection � Check cable
when � 电机内部温度继电器损 � 检查电机。
switch on 坏。 � Check motor
the control � Motor internal
power temperature relay is
supply damaged.
94
电机运行电机过负载。 � 减小负载。
过程中出 Motor is overload � Decrease the load
现 � 降低起停频率。
Appears � Reduce the start and
when stop frequency
motor � 减小转矩限制值。
running � Decrease torque
limitation value.
� 减小有关增益。
� Decrease the related
gain.
和电机。
and motor with
larger power.
电机内部故障。换伺服电机。
Motor internal fault. Replace servo motor.
6 速度放大电机运行电机被机械卡死。检查负载机械部分。
器饱和故过程中出 The motor gets stuck by Check load machine.
障现 machine
Speed Appears 负载过大。 � 减小负载。
amplifier when the overload � Lower the load.
saturation motor � 更换大功率的驱动器
fault running 和电机。
and motor with
larger power.
7 驱动禁止 CCW、CW 驱动禁止输入端子都检查接线
异常断开。 Check the wiring.
Drive CCW、CW drive inhibition input
inhibition terminals are all disconnected.
is abnormal
95

name state
8 位置偏差 � 电机被机械卡死。 � 检查负载机械部分。
计数器溢 � The motor gets stuck by � Check load machine
出 machine � 检查指令脉冲。
Position � 输入指令脉冲异常。 � Check command pulse.
deviation � Input command pulse is � 检查电机是否按指令
counter abnormal 脉冲转动。
overflow � Check whether the
motor rotates
according to command
pulse
9 编码器故编码器接线错误。检查接线。
障 Encoder wiring fault Check the wiring
Encoder 编码器损坏。更换电机。
fault Encoder is damaged Replace the motor
编码器电缆不良。换电缆。
The cable is broken. Replace cable
编码器电缆过长，造成编码器供缩短电缆。采用多芯并联供
电电压偏低。电。
The cable of encoder is so long Shorten cable. To power
that the encoder power supply supply with multi-core
voltage is low. parallel
10 控制电源输入控制电源偏低。检查控制电源。
欠压 The input power supply is low Check control power supply
The control � 驱动器内部接插件不良。 � 更换驱动器。
power � the internal connector of � Replace drive
supply is drive is bad. � 检查接插件。
undervoltag � 开关电源异常。 � Check the connector
e � The switch power supply is � 检查开关电源。
abnormal. � Check switch power
� 芯片损坏。 supply.
� Chip is damaged.
96
11 IPM 模块接通控制电路板故障。换伺服驱动器。
故障电源时出 Circuit board fault Replace servo drive
IPM 现
modulde Appears
fault when
switch on
the control
power
supply
电机运行 � 供电电压偏低。 � 检查驱动器。
过程中出 � 过热。 � 重新上电。
现 � The supply voltage is low � 更换驱驱动器。
Appears � Over heat � Check the drive
when � Re-power on
motor � Replace drive
running 驱动器 U、V、W 之间短路检查接线。
Short circuit happens between Check the wiring.
drive U、V、W
接地不良。正确接地。
Poor grounding. Correct grounding
电机绝缘损坏。更换电机。
Motor isolation is damaged. Replace motor.
受到干扰。 � 增加线路滤波器。
Get disturbed. � 远离干扰源。
� Add line filter
� Get away from
disturbance source.
12 过电流驱动器 U、V、W 之间短路检查接线。
overcurrent Short circuit happends between Check the wiring
drive U、V、W
接地不良。正确接地。
Poor grounding Correct grounding
电机绝缘损坏。更换电机。
Motor isolation is damaged Replace motor
驱动器损坏。更换驱动器。
The drive is damaged Replace drive
97

name state
13 过负载接通控制电路板故障。换伺服驱动器。
overload 电源时出 Circuit board fault Replace servo drive
现
Appears
when
switch on
the control
power
supply
电机运行超过额定转矩运行。 � 检查负载。
过程中出 Exceed rated torque running � Check load
现 � 降低起停频率。
Appears � Lower the start and
when stop frequency
running � Lower the torque
limitation value
和电机
� Replace the drive and
motor with larger
power.
保持制动器没有打开。检查保持制动器。
keep the brake closed. Check keep brake
电机不稳定振荡。 � 调整增益。
Motor vibration unstably � 增加加/减速时间。
� Adjust gain
� Increase
acceleration/decelerati
on time.
� Decrease the load
inertia.
98
� U、V、W 有一相断线。检查接线。
� One phase of U、V、W is Check wiring
disconnection.
� 编码器接线错误。
� Encoder wiring fault
14 制动故障接通控制电路板故障。更换伺服驱动器。
Braking 电源时出 Circuit board fault Replace servo drive
fault 现
Appears
when
switch on
the control
power
supply
电机运行制动电阻接线断开。重新接线。
过程中出 Brake resistor wiring is Re-wiring
现 disconnected.
Appears � 制动晶体管损坏。换伺服驱动器。
when � Braking transistor is Replace servo drive.
motor damaged
running � 内部制动电阻损坏。
� Internal brake resistor is
damaged.
99
制动回路容量不够。 � 降低起停频率。
The capacity of braking circuit is � Lower the start and
not enough. stop frequency.
� 增加加/减速时间常
数。
� Increase the
acceleration
/deceleration
time.
� Decrease the torque
limitation value.
� Reduce the load
inertia.
和电机。
motor with larger
power.
主电路电源过高。检查主电源。
The power supply of main circuit Check the mian power
is over high. supply.
100

name state
15 编码器计 � 编码器损坏。更换编码器。
数错误 � Encoder is damaged Replace encoder
Encoder � 编码器线数不对
counting � The line number of encoder
fault is wrong.
� 编码器盘片损伤
� Encoder disc is damaged.
� 编码器存在虚假 Z 信号(一
转中有多个 Z 脉冲)
� False Z signal exists in
encoder
编码器接线错误。检查接线。
Encoder wiring fault Check wiring
接地不良。 � 正确接地。
Poor grounding � Correct grounding
� 检查屏蔽地线是否接
好。
� Check whether the
shield ground wire
connect correctly.
16 电机热过接通控制电路板故障。换伺服驱动器。
载电源时出 Circuit board fault Replace servo drive
Motor heat 现参数设置错误正确设置有关参数。
overload Appears Parameter setting fault Setting the related parameter
when correctly.
switch on
the control
power
supply
101
电机运行长期超过额定转矩运行。 � 检查负载。
过程中出 Run at over rated torque for a � Check load
现 long time � 降低起停频率。
Appears � Lower the start and
when stop frequency
running � Decrease the torque
limitation value.
和电机
motor with larger
power.
机械传动不良。检查机械部分。
Poor mechanical transmition Check the machine
制动平均输入交流电源偏高检查电源电压
17 功率过载 Th einput alternating current Check the supply voltage
Brake power supply is high
average 再生制动能量过大 � 降低起停频率。
power is Regenerative braking energy is � Lower the start and
overload. too large. stop frequency
� 增加加/减速时间。
� Increase the
acceleration/decelerati
on time
� Decrease the torque
limitation value.
� 减小负载惯量
� Reduce the load inertia
� 更换更大功率驱动器
和电机
motor with larger
power.
19 热复位输入控制电源不稳定。检查控制电源。
Heat The input control power supply is Check the control power
resetting unstable supply
102
受到干扰。 � 增加线路滤波器。
Get disturbed. � 远离干扰源。
� Add line filter
� Get away from
disturbance source.
20 EEPROM 芯片或电路板损坏。 � 更换伺服驱动器。
错误 Chip or circuit board is damaged. � Replace servo drive.
EEPROM � 经修复后，必须重新
error 设置驱动器型号(参数
PA1)，然后再恢复缺
省参数。
� After repairing, must
re-set the drive mode
(parameter PA1), and
then recover default
parameter.
21 U4 错误芯片或电路板损坏。更换伺服驱动器。
U4 error Chip or circuit board is damaged. Replace servo drive
23 U6 芯片错 � 芯片或电路板损坏。更换伺服驱动器。
误 � Chip or circuit board is Replace servo drive
U6 chip damaged.
error � 电流传感器损坏。
� Current sensor is damaged.
alarm code Alarm Running reasons Handling methods
nanme state
29 用户转矩 � PA30、PA31 参数不合理 � 修改参数
过载报警 � 意外的大负载发生 � 检修机械
User torque � PA30、PA31 parameters are � Modify parameter
overload unreasonable � Check and repair
alarm machine
103
30 编码器 Z � Z 脉冲不存在，编码器损坏 � 更换编码器
脉冲丢失 � Z pulse doesn’t exist, � Replace encoder
Encoder Z encoder is damaged. � 检查编码器接口电路
pulse loses � 电缆不良 � Check encoder
� Poor cable connector circuit.
� 电缆屏蔽不良
� Poor cable shield
� 屏蔽地线未联好
� Shield ground wire doesn’t
connect well
� 编码器接口电路故障
� Encoder connector circuit
fault
31 编码器 � 编码器 UVW 信号损坏 � 更换编码器
UVW 信号 � Encoder UVW signal is � Replace encoder
错误 damaged � 检查编码器接口电路
Encoder � 编码器 Z 信号损坏 � Check encoder
UVW � Encoder Z signal is connector circuit
signal fault damaged.
� 电缆不良
� Poor cable
� 电缆屏蔽不良
� Poor cable shield
� 屏蔽地线未联好
connect well
fault
104
32 编码器 � 编码器 UVW 信号损坏 � 更换编码器
UVW 信号 � Encoder UVW signal is � Replace encoder
非法编码 damaged � 检查编码器接口电路
Encoder � 电缆不良 � Check encoder
UVW � Poor cable connector circuit
signal � 电缆屏蔽不良
illegal � Poor cable shield
coding � 屏蔽地线未联好
connect well
fault
33 省线式编 � 编码器问题 � 更换编码器
码器信号 � The problem of encoder � Replace encoder
错 � 电机型号未正确设置 � 检查接线
Line-saving � Do not set motor mode � Check wiring
encoder correctly � 重新设置电机型号
signal error � Re-set the motor mode
105
第 6 章显示与键盘操作
Chapter 6 Display and button operation
面板由 6 个 LED 数码管显示器和 4 个按键↑、↓、←、Enter 组成，用来显示系统各

种状态、设置参数等。操作是分层操作，←、Enter 键表示层次的后退和前进，Enter 键有
进入、确定的意义，←键有退出、取消的意义；↑、↓键表示增加、减少序号或数值大小。
如果按下↑、↓键并保持，则具有重复效果，并且保持时间越长，重复速率越高。
如果 6 个数码管或最右边数码管的小数点显示闪烁，表示发生报警。POWER 指示灯
点亮表示主电源已上电，RUN 指示灯点亮表示电机正在运转。
The front panel consists of the display (6-digit, 7-segment LED) and four switching buttons
( ↑、↓、←、Enter ). It is used for display the system status, parameter setting and so on. Operation
is executed in layer. ← and Enter button expresses the layer going backward and forward
respectively; The Enter button has the meaning of enter, confirm. The ← button has the
meaning of exit, cancel. The ↑ and ↓ button expresses increase and decrease of serial
number or value size respectively; if press down and hold the ↑ or ↓ button，then has the
effect of repeat for doing so; And the longer of holding the higher of repeat rate.
If 6 LED digit or decimal point of the most right side LED digit is twinkling, shows that
any alarm occurs. If the POWER lamp lit indicates that the main power supply is on. If the RUN
lamp has lit, indicates that the servomotor is in motion.
Maxsine
图 6.0 面板
106
EP100 Series
AC Servo Amplifier Power
Picture 6.0 Front panel
107
6.1 第 1 层 First layer
第 1 层用来选择操作方式，共有 7 种方式，用↑、↓键改变方式，按 Enter 键进入选

定的方式的第 2 层，按←键从第 2 层退回第 1 层。
Use the first layer to select the operation mode, There are seven operation mode can be
selected by using ↑ or ↓ button，Then press down the Enter button for entering the second
layer that has selected. After that if press down the ← button, then return to the first layer
again.
dp- 监视方式
pa- 参数设置
ee- 参数管理
En ter
sr- 速度试运行
第2层
jr- JOG运行
au- 自动增益调整
[0- 编码器调零
ol- 开环运行
第1层
图 6.1 方式选择操作框图
108
dp- Monitor Mode
Parameter
pa- S e ttin g
Parameter
ee- Management
En ter
Trial Running
sr- o f Sp e e d Second
La y e r
JOG
jr- R unning
Automatic Gain
au- Adjustment
Encoder Zero
[0- Adjustment
Open Loop
ol- Operation
First Layer
Picture 6.1 Diagram of operation mode selection
6.2 第 2 层 6.2 Second layer
6.2.1 监视方式 6.2.1 Monitor mode
在第 1 层中选择“dP-@@@”，并按 Enter 键进入监视方式。共有 21 种显示状态，用户

用↑、↓键选择需要的显示模式，再按 Enter 键，就进入具体的显示状态了。
If has chosen the monitor mode “dP-@@@” in the first layer, Press the Enter button to enter
the monitor mode. There is twenty one monitor’s status. Use ↑ and or ↓ button to select the
needing monitor's status; Press the Enter button again to enter the concrete display condition.
109
d p -s p d 电机速度 (r/m i n ) r 1000 电机速度 1 0 0 0 r/m i n

d p -p o s 当前位置低 5位(脉冲 ) p4 5 8 0 6
当前位置 1245806脉冲
d p -p o s . 当前位置高 5位(×100000 脉冲 ) p. 12
d p -[p o 位置指令低 5位(脉冲 ) [4 5 8 1 0
位置指令 1245810脉冲
d p -[p o . 位置指令高 5位(×100000 脉冲 ) [. 12
d p -e p o 位置偏差低 5位(脉冲 ) e 4
位置偏差 4脉冲
d p -e p o . 位置偏差高 5位(×100000 脉冲 ) e. 0
d p -t r q 电机转矩 (%) t 70 电机转矩 70%
dp- I 电机电流 (A) I 2.3 电机电流 2 .3A
En ter
d p -l s p 直线速度 (m/m i n ) l 5.0 0 0 直线速度 5.0 0 0 m/m i n
d p -[n t 当前控制方式 [n t 0 控制方式 0
d p -f r q 位置指令脉冲频率 (k H z ) f 1 2 .6 位置指令脉冲频率 1 2 .6k H z
d p - [s 速度指令 (r/m i n ) r. -3 5 速度指令 -3 5 r/m i n
d p - [t 转矩指令 (%) t. -2 0 转矩指令 -2 0 %
一转中转子绝对位置 (脉
d p -a p o a 3265 转子绝对位置 3265
冲)
dp- In 输入端子状态 I n !!!! 输入端子
d p -o u t 输出端子状态 out ! ! 输出端子
d p -[o d 编码器输入信号 [o d ! ! ! 编码器信号
dp- rn 运行状态 rn- on 运行状态：正在运行
d p -e r r 报警代码 err 9 9号报警
d p -r e s 保留 u 0
图 6.2 监视方式操作框图
110
d p -s p d Motor speed (r/m in ) r 1000 Motor speed 1 0 0 0r/m in
d p -p o s Bottom 5 digits of current position (p u ls e) p4 5 8 0 6 Current position 1245806

Top 5 digits of current position pulses
d p -p o s . (x100000 p u ls e) p. 12
d p -[p o Bottom 5 digits of current command (P u ls e) [4 5 8 1 0 Position command 1245810
Top 5 digits of current command pulses
d p -[p o . (x100000P u ls e) [. 12
d p -e p o Bottom 5 digits of current deviation (P u ls e) e 4
Position deviation 4 pulses
Top 5 digits of current deviation
d p -e p o . (x100000P u ls e)
e. 0
d p -t r q Motor torque (% ) t 70 Motor torque 7 0 %
dp- i Motor current(A) i 2.3 Motor current 2.3A

En ter
d p -l s p Linear velocity(m/m in ) l 5.0 0 0 Linear velocity 5.0 0 0 m/m in
d p -[n t Current control mode [n t 0 Control mode 0

Pulse frequency of position
d p -f r q Pulse frequency of position command(k H z ) f 1 2 .6 command 1 2 .6k H z
d p - [s Speed command(r/m in ) r. -3 5 Speed command -3 5 r/m in
d p - [t Torque command(% ) t. -2 0 Torque command -2 0 %
d p -a p o Absolute position of rotor in one turn(P u ls e) a 3265 Absolute position of rotor 3 2 6 5
dp- in Status of input terminal I n !!!! Input terminal
d p -o u t Status of output terminal out ! ! Output terminal
d p -[o d Input signals of encoder [o d ! ! ! Input signals of encoder
dp- rn Operation status rn- on Operation status : in running
d p -e r r Alarm code err 9 Number 9 a la r m
d p -r e s Factory re se rve u 0 Factory re se rve
Picture 6.2 Diagram of monitor mode operation
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[注 1] 输入脉冲量为经过输入电子齿轮放大后的脉冲。 Note 1: the input pulse amount is

the pulse that magnify by inputting electronic gear
[注 2] 脉冲量单位是系统内部脉冲单位，在本系统中 10000 脉冲/转。脉冲量用高 5 位
＋低 5 位表示，计算方法为： note 2: the unit of pulse amount is the internal pulse unit
of system, its calculate method is:
脉冲量＝高5位数值 × 100000＋低5位数值
[注 3] 控制方式：0-位置控制；1-速度控制；2-速度试运行；3-JOG 运行；4-编码器调
零；5-开环运行。 Note 3: control mode: 0-position ccotrol; 1-speed control; 2-speed
trial running; 3-JOG running; 4-encoder zero setting; 5-open loop running
[注 4] 如果显示数字达到 6 位(如显示-12345)，则不再显示提示字符。 Note 4: if the
display figures get to six digits (such as -12345), then it will no longer display prompt
characters.
[注 5] 位置指令脉冲频率是在输入电子齿轮放大之前实际的脉冲频率，最小单位
0.1kHz，正转方向显示正数，反转方向显示负数。 Note 5: the pulse frequency of
position command is the actual pulse frequency before magnifying by input electronic
gear. the minimum unit is 0.1 kHz, forward direction displays positive number and
reverse direction displays negative number.
[注 6] 表示相电流有效值，电流 I 的计算方法是： note 6 : it means that phase current is
valid, the calculate method of current I is:
1 2
I= ( IU + IV2 + IW2 )
3
[注 7] 一转中转子绝对位置表示转子在一转中相对定子所处的位置，以一转为一个周
期，范围是 0～9999，该数值与电子齿轮比无关。note 7: the absolute position of rotor
in one rev stands for position of rotor relative to stator’s position in one rev, one cycle is
one rev, and the range is 0~9999. This numerical value has nothing to do with electronic
gear.
[注 8] 输入端子显示如图 6.3 所示，输出端子显示如图 6.4 所示，编码器信号显示如图

6.5 所示。 Note 8: the input terminal shows as picture 6.3, output terminal shows as
picture 6.4 and encoder signal shows as 6.5
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I N H (指令脉冲禁止 )
S C 2(速度选择 2)
C L E (偏差计数器清零 )
S C 1(速度选择 1)
F I L (C C W 转矩限制 )
ZEROSPD (零速箝位 )
R S T P (C W 驱动禁止 )
R I L (C W 转矩限制 ) F S T P (C C W 驱动禁止 )
A L R S (报警清除 )
S O N (伺服使能 )
图 6.3 输入端子显示(笔划点亮表示 ON，熄灭表示 OFF)
IN H (指令脉冲禁止 ) IN H (command pulse inhibition)

S C 2(速度选择 2) S C 2(speed 2)
C L E (偏差计数器清零 ) C LE (deviation counter zero clear )
F IL (C C W 转矩限制 ) S C 1(速度选择 1) S C 1 (speed 1)
F IL (CCW torque inhibition) ZE R OS P D (零速箝位 ) ZEROSPD (zero speed clamp )
R S T P(C W 驱动禁止 )R S T P(CW drive inhibition)
R I L (C W 转矩限制 ) F S T P (C C W 驱动禁止 ) F S T P (CCW drive inhibition)
R IL (CW torque inhibition) A L R S (报警清除 ) ALRS (alarm clear)
S O N (伺服使能 )
S O N (servo on )
Picture 6.3 input terminal display (when stroke is lit means ON, while not lit means OFF)
C O I N (定位完成 )
保留 S C M P (速度到达 )
A L M (伺服报警 )
S R D Y (伺服准备好 )
图 6.4 输出端子显示(笔划点亮表示 ON，熄灭表示 OFF)
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C O IN (定位完成 ) ( orientation completed )
保留 S C M P (速度到达 ) ( reach speed )
reserve A L M (伺服报警 ) ( s erv o alarm )
S R D Y (伺服准备好 )
(servo ready )
Picture 6.4 output terminal display (when stroke is lit means ON, while not lit means OFF)
编码器 V相
编码器 W相
编码器 U相编码器 Z相
编码器 B相
编码器 A相
编码器 V相 Vphase of encoder
编码器 W相 W phase of encoder
编码器 U相编码器 Z相 Z phase of encoder
U phase of encoder
编码器 B相 B phase of encoder
编码器 A相
A phase of
encoder
图 6.5 编码器信号显示(笔划点亮表示 ON，熄灭表示 OFF)

Picture 6.5 encoder signal display (when stroke is lit means ON, while not lit means OFF)
[注 9] 运行状态表示为： note 9: the running states are represented as:

“cn-@oFF”：主电路未充电，伺服系统没有运行；The main circuit has not been charged,
servo system des not work.
“cn-@Ck”：主电路已充电，伺服系统没有运行(伺服没有使能或存在报警)； The mian
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circuit has been charged, servo system des not work (servo does not on or alarm exists);
“cn-@on”：主电路已充电，伺服系统正在运行。 The mian circuit has been charged, and
servo system is woring.
[注 10] 报警显示“Err@--”表示正常，无报警。If alarm displays “Err@--” that means
normal, no alarm.
6.2.2 参数设置 Parameter setting
在第 1 层中选择“PA-@@@”，并按 Enter 键进入参数设置方式。用 ↑、↓键选择参数

号，按 Enter 键，显示该参数的数值，用↑、↓键可以修改参数值。按↑或↓键一次，参
数增加或减少 1，按下并保持↑或↓键，参数能连续增加或减少。参数值被修改时，最右
边的 LED 数码管小数点点亮，按 Enter 键确定修改数值有效，此时右边的 LED 数码管小
数点熄灭，修改后的数值将立刻反映到控制中，此后按↑或↓键还可以继续修改参数，修
改完毕按←键退回到参数选择状态。如果对正在修改的数值不满意，不要按 Enter 键确定，
可按←键取消，参数恢复原值，并退回到参数选择状态。
If has chosen the parameter setting mode “PA-@@@” in the first layer, Press the Enter
button to enter the parameter setting mode. Use ↑ and or ↓ button to select the number of
parameter. Press the Enter button to display the value of selected parameter. Use ↑ and ↓
button to be able to modify the parameter value. Press ↑ (or ↓ ) button once to increase ( or
decrease) the parameter value by one. Pressing down and hold the ↑ ( or ↓ ) button, the
parameter can increase ( or decrease) continuously. When the parameter value is modified, the
decimal point on the most right sides LED is lit. Press Enter to confirm the parameter value to
be effective, meanwhile the decimal point is turned off. The modified parameter value is
immediately active to influence on the control. Hereafter pressing ↑ or ↓ button can
continue to modify the parameter. After finishing modification of parameter, press the ←
button to return to the parameter number selection. If the value of the parameter is not satisfied,
do not press the Enter button and can press ← button to cancel and to resume the original
parameter value and to return to the parameter number selection.
p a -@ @ 0 参数 PA0
p a -@ @ 1 参数 PA1
E nter
: : @ @ 1000. E nter
: :
p a -@ @ 9 8 参数 PA98
p a -@ @ 9 9 参数 PA99
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Parameter
pa- 0 PA0
Parameter
pa- 1 PA1 En ter
: : 1000. En ter
: :
Parameter
pa- 98 P A 98
Parameter
pa- 99 P A 99
图 6.6 参数设置操作框图
Picture 6.6 Diagram of parameter setting operation
6.2.3 参数管理 6.2.3 Parameter management
参数管理主要处理参数表与 EEPROM 之间操作，在第 1 层中选择“EE-@@@”，并按

Enter 键进入参数管理方式。首先需要选择操作模式，共有 3 种模式，用↑、↓键来选择。
以“参数写入”为例，选择“EE-Set”，然后按下 Enter 键并保持 3 秒以上，显示器显示
“StArt@”，表示参数正在写入 EEPROM，大约等待 1~2 秒的时间后，如果写操作成功，
显示器显示“FInISk”，如果失败，则显示“Error@”。再可按←键退回到操作模式选择
状态。
Choose the parameter management mode “EE-@@@” in the first layer. Press the Enter
button for entering the parameter management mode in which operation is performed between
the parameter list and the EEPROM.
There are five operation modes. First use ↑ and or ↓ button to select an operation
mode. Take “parameter write in” as the example, select “EE-Set” and then pressing down and
hold the Enter button at least three seconds to active the writing operation mode. The
“StArt@” is displayed in the front panel indicating that the parameter is writing into EEPROM.
Waiting for about 1 to two second, if the writing operation is successful, then the“ FInISH”
will display, if it is fail the “Error@” will display. After finished the operation and then press
the ← button for returning to the operation mode selection
特别注意，修改电机型号代码时，必须用 EE
EE— dEF 来保存，用户其它参数用
EE SET 保存。
EE—SET
Pay special attention to that when modify the code of motor mode, you
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must save it with EE Def

Def,, and other user parameters are saved with EE
EE—Def SET
EE—SET
� EE-SEt 参数写入，表示将参数表中的参数写入 EEPROM 的参数区。用户修改了

参数，仅使参数表中参数值改变了，下次上电又会恢复成原来的数值。如果想永久
改变参数值，就需要执行参数写入操作，将参数表中参数写入到 EEPROM 的参数
区中，以后上电就会使用修改后的参数。
� EE-SEt Parameter write. This operation indicates that the parameter in parameter list
will write to EEPROM. The user has made change to a parameter. This only change the
value of the parameter in parameter list, but in the next time when the power supply is on
the parameter will restore its original value. Making permanent change to a parameter
value, it is the need to carry out the parameter write operation and write the parameter to
EEPROM, in later when the power supply is on and will be able to use the parameter.
� EE-@rd 参数读取， Read and fetch parameters

� 表示将 EEPROM 的参数区的数据读到参数表中。这个过程在上电时会自动执行一
次，开始时，参数表的参数值与 EEPROM 的参数区中是一样的。但用户修改了参
数，就会改变参数表中参数值，当用户对修改后的参数不满意或参数被调乱时，执
行参数读取操作，可将 EEPROM 的参数区中数据再次读到参数表中，恢复成刚上
电的参数。
� This operation indicates that all the parameters will be read from the EEPROM to the parameter list.
This process will carry out automatically one time when power supply is on. At the beginning, the value
of each parameter in the parameter list is the same as the parameter in the EEPROM. After making
change to a parameter value, the value in the parameter list will also change. When the parameter value
is not satisfied or comes to confusion, carries out the parameter read operation to read back the original
parameter value from the EEPROM to the parameter list.
� EE-dEF 恢复缺省值，表示将所有参数的缺省值（出厂值）读到参数表中，并写入
到 EEPROM 的参数区中，下次电将使用缺省参数。当用户将参数调乱，无法正常
工作时，使用这个操作，可将所有参数恢复成出厂状态。因为不同的驱动器和电机
型号对应的参数缺省值不同，在使用恢复缺省参数时，必须先保证型号代码 (参数
PA1)的正确性，请参考 8.4 章节。
� EE-dEF Resume default value
This operation indicates that each default value of all the parameters will read and write
to the parameter list and EEPROM. For the next time when power supply is on the default
parameters will be used by now. When many parameters become confusion and cause
abnormal operation, it is necessary to carry out this operation for resuming the default
parameters. There are different default parameters for different servo driver model and the
servomotor model. Therefore, before doing this operation the servo driver code (Parameter
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P001) and the servomotor code (Parameter P002) must be selected correctly.
e E -S e t 参数写入操作成功
按下并保持 3秒 Finish
e E -r d 参数读取
E nter
Start
e E -d e f 恢复缺省值操作中
Error
操作失败
图 6.7 参数管理操作框图
操作成功
e E -S e t 参数写入 Parameters write in Operation success
按下并保持 3秒
参数读取 Finish
e E -r d @ Parameters
Press down and hold for 3 s ec ond s
read out
E nter
Start
Resume Under operation Error
default value
操作失败
Operation fail
Picture 6.7 Diagram of parameter management operation
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系统上电： EEPROM参数区参数表
e e -s e t 参数写入：参数表 EEPROM参数区
ee- rd 参数读取： EEPROM参数区参数表
e e -d e f 恢复缺省值：参数缺省值参数表， EEPROM参数区
图 6.8 参数管理操作意义
系统上电： EEPROM参数区参数表

System power on : EEPROM parameter area parameter table
e e -s e t 参数写入：参数表 EEPROM参数区
Parameter write -in parameter table EEPROM parameter area
e e -@r d 参数读取： EEPR OM 参数区参数表
Parameter read : EEPROM parameter area parameter table
e e -d e f 恢复缺省值：参数缺省值参数表， EEPROM参数区
Recover default value
parameter default value
parameter table,
EEPROM parameter area
Picture6.8 Diagram of parameter management operation meanings
119
6.2.4 模拟量自动调零 Zeroing for analog quantity
使用该操作后，驱动器自动检测速度模拟量零偏（或转矩模拟量零偏），将零偏值
写入 PA45(或 PA39)，并保存到 EEPROM 中。在第 1 层中选择“AU-@”，并按 Enter 键进
入调零操作方式。
Using this operation, the servo driver automatically examines speed analog zero-bias (or torque analog
zero-bias ) and writes in the zero-bias value to parameter PA45 (or PA39), and save it to EEPROM. To choose
“AU-@” in the first layer, and press button Enter to enter zeroing operation mode.
自动调零后，用户还可以继续修改 PA45(或 PA39)，进行手动调零。
After automatical zeroing, the user can continue modifying PA45 (or PA39) to manual zeroing.
操作成功
a u -s p d 速度模拟量 En ter
Start
操作中
a u -t r q 转矩模拟量 Error
操作失败
图 6.9 模拟量自动调零操作框图
操作成功
按下并保持 3秒 Operation success
Press down and hold
fo r 3 seconds Finish
速度模拟量
a u -s p d Speed analog En ter Start
quantity
操作中
a u -t r q 转矩模拟量
Under Error
operation
Torque analog 操作失败
quantity Operation fail
Picture 6.9 Diagram of automatical zeroing operation for analog quantity
120
第 7 章运行
Chapter 7 Operation
7.1 接地 grounding
将伺服驱动器和电机可靠地接地，为了避免触电，伺服驱动器的保护性接地端子与
控制箱的保护性接地始终接通。由于伺服驱动器使用 PWM 技术通过功率管给伺服电机
供电，驱动器和连接线可能受到开关噪声的影响，为了符合 EMC 标准，因此接地线尽
可能的粗大，接地电阻尽可能的小。
To ground the the servo drive and motor reliably, and in order to avoid electric shock, switch on
the protective grounding terminal of the servo drives and protective grounding of control cabinet
all the time. Because servo driver uses the PWM technology to supply power to servo motor
through power tube, drive and connection wires may be affected by the switching noise. In order
to comply with the EMC standards, thus grounding line should be as thick and big as possible
and grounding resistance as small as possible.
7.2 工作时序 Work Timing
7.2.1 电源接通次序 Timing chart when power supply switch on
1. 通过电磁接触器将电源接入主电路电源输入端子。
Connect power supply to the input terminal of the main circuit power supply through
electromagnetic contactor.
2. 控制电路的电源 r、t 与主电路电源同时或先于主电路电源接通。如果仅接通了控制
电路的电源，伺服准备好信号(SRDY) OFF。
The power supply r、t of control circuit truns on at the same time or ahead of the main
circuit power supply. If only switch on the power supply of control circuit, the servo ready
signal (SRDY) is OFF.
3. 主电路电源接通后，约延时 1.5 秒，伺服准备好信号(SRDY ) ON，此时可以接受伺
服使能（SON）信号，检测到伺服使能有效，基极电路开启，电机激励，处于运行
状态。检测到伺服使能无效或有报警，基极电路关闭，电机处于自由状态。
After the main power supply turn on, at about 1.5 seconds later the servo ready signal is
on (RDY), from now can accept the servo enable signal (SON). The servo driver examines
that the SON is effective, and then the base circuit and the servomotor are active. The
servomotor is in running status. If the SON is invalid or an alarm occurs, base circuit shut
121
down and the servomotor is in free running state.
4. 当伺服使能与电源一起接通时，基极电路大约在 1.5 秒后接通。
频繁接通断开电源，可能损坏软启动电路和能耗制动电路，接通断开的频率最好限
制在每小时 5 次，每天 30 次以下。如果因为驱动器或电机过热，在将故障原因排除后，
还要经过 30 分钟冷却，才能再次接通电源。
When the servo on truns on at the same time when the power supply turns on, the base
circuit will turn on after about 1.5 seconds.
Frequently power on and power off may damage the soft start circuit and energy
consumption braking circuit. The frequency of power on and power off had better limit to 5
times per hour, and 30 times a day. If the drive or motor overheats, after exclude the causes of
problem, it can be switched on again provided that cooling for 30 minutes.
紧急
停止 OFF RA ON
MC
MC
SK
NFB
MC
噪声 R
三相滤波
S
AC 2 2 0 V 器
T
r
t
RA ALM
DG
24V 伺服驱动器
图 7.1 电源接线图
紧急停止
emergency
ON
s to p O FF RA
MC
MC
SK
N FB
三相 MC
噪声 R
AC 2 2 0 V 滤波 S
Three phase 器
T
AC 2 2 0 V
r
t
RA ALM
DG
24V 伺服驱动器
Servo drive
122
Picture 7.1 wiring diagram for power supply
7.2.2 时序图 timing chart
控制电路电源断电通电
<1S
伺服报警输出报警不报警
（ ALM)
断电通电
主电路电源 <1.5S
伺服准备好输出未准备好准备好

(SRDY)
10mS内响应
伺服使能输入
OFF ON OFF ON
(SON)
<10mS <10mS
电机电流自由 (不通电）通电自由 (不通电）通电
图 7.2 电源接通时序图
断电
控制电路电源 pow er
Power supply of control fa ilu re 通电 pow er on
circuit <1S
伺服报警输出（A L M ) 报警不报警
Servo alarm output a la rm n o t a la rm
(A L M ) 断电
主电路电源 pow er failure <1.5S 通电 pow er on
Power supply of main circuit
伺服准备好输出 (S R D Y ) 未准备好准备好
Servo ready to output (S P D Y ) N ot ready re a d y
1 0 m S 内响应 Respond within 1 0 m s
伺服使能输入 (S O N ) ON ON
OFF OFF
Servo on input (S O N )
<1 0 m S <1 0 m S
通电通电
电机电流自由 (不通电） pow er on 自由 (不通电） pow er on
Motor current Freedom (n o t Free (not power
pow er on) on)
Picture 7.2 timing chart for turning on power supply
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伺服报警输出不报警报警
（ ALM)
伺服准备好输出
(SRDY) 准备好未准备好
电机电流通电不通电(自由)
ON
OFF
伺服使能输入
(SON) 报警后必须
可靠地关断
图 7.3 报警时序图
不报警
伺服报警输出（A L M ) N o a la rm 报警 a la rm
Servo alarm output (A L M )
伺服准备好输出 (S R D Y ) 准备好
Servo ready to re a d y 未准备好
output (S P D Y) not ready
通电
电机电流 P ow er on 不通电 (自由 )
Motor current not power on (fre e )
ON
伺服使能输入 OFF
(S O N ) 报警后必须可靠地
Servo on input
关断
(S O N )
Must turn off safety
a fte r a la rm
Picture 7.3 timing chart for alarm
7.3 机械制动器使用 make use of mechanical brake
机械制动器（保持制动器）用于锁住与电机相连的垂直或倾斜工作台，防止伺服电源
失去后工作台跌落。实现这个功能，需选购带保持制动器的电机。制动器只能用来保持工
作台，绝不能用于减速和停止机器运动。
Mechanical brake (maintain brake) is used to lock the vertical or tilting workbench that
connects to the motor, to prevent the workbench from falling when the servo power supply
losing. To realize this function, user need to buy the motor with maintain brake. Brake can only
be used to maintain the workbench, but can not be used to slow down or stop the machine
working.
图 7.4 是制动器接线图，使用从驱动器来的机械制动释放信号 BRK 控制制动器。注意
制动器电源应由用户提供，并且具有足够容量。建议安装浪涌吸收器来抑制继电器通/断动
作造成的浪涌电压。也可用二极管作浪涌吸收器，要注意会造成少许制动延时。
124
Picture 7.4 shows the wiring diagram of brake, using mechanical brake release signal BRK
control brake from drive. Pay attention to that the brake power supply shall be provided by the
user, and with enough capacity. We suggest that install surge absorber to suppress surge voltage
that caused by relay on/off action. It can also use diode as surge absorber, but note that it will
cause a little brake time delay.
图 7.5 是正常情况下，电机停稳后的机械制动器动作时序，这时电机继续通电以保
持位置，制动器从释放到制动，稳定一段时间后(时间由参数 PA47 确定)，撤除电机供电。
Picture 7.5 shows the mechanical brake action timing when the motor stops steady under
normal circumstances. At that time, continue to power on motor in order to maintain its position,
and brake begins braking from release. After steadying for some time (the time is decided by
parameter PA47), and then power off motor.
图 7.6 是在电机运行中，速度大于 30r/min，这时电机电流切断，制动器继续呈释放
状态，延时一段时间后，制动器制动。这是为了使电机从高速旋转状态减速为低速后，
再使机械制动器动作，避免损坏制动器。延时时间是参数 PA48 或电机速度减速到参数
PA49 数值所需时间，取两者中的最小值。
Picture 7.6 is that when the motor working and the speed is more than 30 r/min, the
motor current is cut off; the brake is still in the state of release, after delay for some time, the
brake begins to brake, which is in order to avoid damaging the brake when the motor turns to a
low speed rotation state from high speed rotation state, and then to make mechanical brake
action. The delay time is the needed time that parameters PA48 or motor speed reduction to
PA49 numerical value time, and take the minimum value of them.
电机
浪涌吸收器继电器
EP100伺服驱动器
制动器线圈
CN1
B RK + 30
B RK - 31
VDC
制动器电源 1 2 ～ 24V
DC24V
图 7.4 机械制动器接线图
125
电机继电器
E P 100 伺服驱动
m otor 浪涌吸收器器
r e la y
surge absorber E P 100 servo
driv e
制动器线圈
The coil of CN1
b ra ke
BR K + 30
BR K - 31
制动器电源 VDC
D C24V 1 2 ～2 4 V
Power supply of
b ra k e
D C24V
Picture 7.4 mechanicl brake wiring diagram
<10ms
伺服使能
(SON) ON
OFF OFF
机械制动器释放 ON(制动释放)
OFF(制动保持) OFF(制动保持)
(BRK)
电机电流
通电不通电(自由)
不通电(自由)
PA47参
数设定
图 7.5 电机停止时机械制动器动作时序(电机速度<30r/min)
<1 0 m s
伺服使能
servo on ON
(S O N ) OFF OFF
机械制动器释放
O N (制动释放 )
Mechanical brake O F F (制动保持 ) (brake release) O F F (制动保持 )
releas e
(B R K )
(brake hold) (brake hold )
电机电流
不通电 (自由 ) 通电 pow er on 不通电 (自由 )
Motor current
Not power on Not power on
(fre e ) (fre e )
PA47参数设定
P A 4 7 parameter setting
126
Picture 7.5 the mechanical brake action timing when motor stops
伺服使能 ON
(SON) OFF
电机电流通电不通电(自由)
机械制动器释放 ON(制动释放) OFF(制动保持)

(BRK)
PA48
电机速度(r/min)
PA49 0r/min
图 7.6 电机运转时机械制动器动作时序
伺服使能
ON OFF
servo on
(S O N )
电机电流通电
P ow er on 不通电 (自由 )
Motor current Not power on (fre e )
机械制动器释放 O N (制动释放 )
(B R K ) O N (brake release ) O F F (制动保持 )
Mechanical OFF (brak e hold )
brake release PA48
电机速度 (r/m i n )
Speed of motor
(r/m in )
PA49 0r/m i n
Picture 7.5 the mechanical brake action timing when motor works
127
7.4 注意事项 notes
用于启动、停止频率高的场合，要事先确认是否在允许的频率范围内。允许的频率
范围随电机种类、容量、负载惯量、电机转速的不同而不同。首先设置加减速时间防止
过大的再生能量（在位置控制方式下，设置上位控制器输出脉冲的加减速时间或设置驱
动器参数 PA19；在速度控制方式下，设置驱动器参数 PA40 和 PA41）。在负载惯量为 m
倍电机惯量的条件下，伺服电机所允许的启停频率如下：
For the situation of start and stop with high frequency, user must confirm in advance
whether the frequency is in the allowed frequency range. The allowed range of frequency varied
with the motor modes, capacity, load inertia, rotational speed. Firstly, to set the acceleration and
deceleration time to avoid over large renewable energy (in the position control mode, set the
acceleration and deceleration time of upper controller output pulse, or set drive parameters PA19;
in speed control mode, set the drive parameter PA40 and PA41). When load inertia is m times to
the motor inertia, the allowed start-stop frequency of servo motor is as follows:
负载惯量倍数允许的启停频率
Times of load inertia allowed start-stop frequency
m≤3 >100 次/分钟；加减速时间 60ms 或更少
>100 time/minute; acceleration and
deceleration time is 60ms or even less
m≤5 60~100 次/分钟；加减速时间 150ms 或更少
60~100 time/minute; acceleration and
deceleration time is 150 ms or even less
m>5 <60 次/分钟；加减速时间 150ms 以上
<60 time/minute; acceleration and deceleration
time is above 150ms
如果还不能满足要求，可以采用减小内部转矩限制(参数 PA34,PA35)，降低电机最高转
速(参数 PA23)的方法。
If it still can't meet the requirements, user can reduce the internal torque limitation (parameter
PA34, PA35), and reduce the highest rotating speed of motor (parameters PA23).
伺服电机所允许的启停频率随负载条件、运行时间等因素而不同。一般负载惯量倍
数在 5 倍以内，在大负载惯量下使用，可能会经常发生在减速时主电路过电压或制动异
常，这时可以采用下面方法处理：
The allowed start-stop frequency of servo motor varies with the factors such as load
conditions, operation time. General load inertia ratio time is within five times, when used under
large load inertia, it may often occur main circuit overvoltage or abnormal braking during
deceleration. For that case, user can adopt the following methods:
1. 减小内部转矩限制(参数 PA34,PA35)；
2. 降低电机最高转速(参数 PA23)；
128
3. 安装外加的再生装置。
伺服驱动器内装有编码器的供电电源，为了保证编码器正常工作，必须维持其输出电
压 5V±5%。当用户使用很长的电缆线时，可能会造成电压损失，在这种情况下，请使
用多芯线对编码器供电，以减少电缆线上的压降。
1. Reduce the internal torque limitation (parameter PA34, PA35);
2. Reduce the highest rotating speed of motor (parameters PA23);
3. Install additional regeneration device.
Servo drive is equipped with power supply of encoder inside, in order to guarantee the
encoder work normally, user must maintain the output voltage 5V±5%. When users use a long
cable, it may cause voltage lossing, for this case, please use the multicore wire to power on
encoder so as to reduce the pressure drop on the cable.
7.5 试运行 Trial running
7.5.1 运行前的检查 inspection before running
在安装和连线完毕之后，在开机之前先检查以下几项：
After the installation and wiring, check the following items before you turn on
� 连线是否正确？尤其是 R、S、T 和 U、V、W，是否有松动的现象？
� The wirings are correct or not. In particular, whether R、S、T and U, V, W loose or not.
� 输入电压是否正确？
� The input voltage is correct or not.
� 电机连接电缆有无短路或接地？
� Whether the short circuit or grounding exists in motor connect cable or not.
� 编码器电缆连接是否正确？
� The encoder cable connection is correct or not.
7.5.2 通电试运行 power on to trial running
1. 在通电之前 before power on

� 电机空载，电机轴上不要加负载。
� The servomotor has no loading on the shaft.
� 由于电机加减速有冲击，必须固定电机。
� Because the servomotor has an impact during acceleration or deceleration, therefore the servomotor
must be fixed
2. 接线 wiring
� 按图 7.7 接线，主电路端子，三相 AC 220V 接 R、S、T 端子。
� Wiring according to picture 7.7, connect the main circuit terminal, three phase AC 220V
129
to R、S、T terminals.
� 控制电压端子 r、t 接单相 AC 220V。
� Connect control voltage terminals r、t to single phase 220V.
� 编码器信号接插件 CN2 与伺服电机连接好。
� Connet the encoder signal connector CN2 to servo motor well.
� 控制信号接插件 CN1 按图示连接。
� The connection method of control signal connector CN1 shows as below.
伺服电机
(ST A R 系列 )
P
E 电机
R U 2
三相 AC 220 V S 伺服驱动器 V 3
T W
P 4
N FB MC 1
r E
t
14 5V
15 5V
DC CO M + 18 16 5V
1 2 ~2 4 V 4.7k 17 5V 2
伺服使能 18 0V 编码器
SO N 10
19 0V
CN 1 20 0V
21 0V 3
1 A+ 4
2 A- 7
CN 2 3 B+ 5
4 B- 8
5 Z+ 6
26 L S32 6 Z- 9
接收器 7 U+ 10
8 U- 13
9 V+ 11
10 V- 14
11 W+ 12
12 W- 15
22 0V
23 0V
26 FG 1
图 7.7 试运行接线图
伺服电机
(ST A R 系列 )
Servo motor
P (STAR series )
E 电机 m otor
三相 AC 220 V R 伺服驱动器 U 2
S V 3
Three phase AC 2 2 0 V Servo drive W 4
MC T P 1
N FB r E
t
14 5V
15 5V
DC 16 5V
CO M + 18
1 2 ~2 4 V 4.7k 17 5V 2 编码器
伺服使能
SO N 10 18 0V encoder
Se rvo on
19 0V
CN 1 20 0V
21 0V 3
1 A+ 4
2 A- 7
CN 2 3 B+ 5
4 B- 8
26 L S32 5 Z+ 6
接收器 6 Z- 9
26 L S32 7 U+ 10
receiver 8 U- 13
9 V+ 11
10 V- 14
11 W+ 12
12 W- 15
22 0V
23 0V
26 FG 1
130
Picture 7.7 wiring diagram for trail running
3. JOG 操作 JOG Operation

� 接通控制电路电源(主电路电源暂时不接)，驱动器的显示器点亮，如果有报警出现，
请检查连线。
� Turn on the control power supply (while the main power supply temporarily turned off). The display of
drive is lit. If any error appears, please inspect the wirings.
� 接通主电路电源，POWER 指示灯点亮。
� turn on the main power supply, the POWER indicating LED is lit.
� 按下表设置参数值
� Setting the parameter value according to the table below
参数号意义参数值出厂缺省值
Parameter Meaning Parameter Factory default
number value value
PA4 控制方式选择 3 0
Control mode
choose
PA20 驱动禁止输入无效 1 0
Drive inhibition
inout in invalid
� 确认没有报警和任何异常情况后，使伺服使能(SON) ON，RUN 指示灯点亮，这时
电机激励，处于零速状态。
� Confirming that there is no alarm and any unusual situation, turn on the servo enable (SON), the RUN
indicating LED lit and the servomotor is active at zero speed.
� 通过按键操作，在第 1 层中选择“Jr-@@@” ，并按 Enter 键进入 JOG 运行方式，进
入 JOG 运行操作状态时提示符为 “J 0”，数值单位是 r/min，系统处于速度
控制方式，速度指令由按键提供。按下↑键并保持，电机按 JOG 速度运行，松开按
键，电机停转，保持零速；按下↓键并保持，电机按 JOG 速度反向运行，松开按键，
电机停转，保持零速。JOG 速度由参数 PA21 设置，缺省是 120r/min 。
� To choose “Jr-@@@” in the first layer through button operation, and press button Enter
to enter JOG operation mode. The prompt of entering JOG running operation is “ J
0 ”， and the numerical value unit is r/min, th system is under aped control mode, and
speed command is provided by buttons. Pressing down and hold the ↑ button, the servomotor
will rotate in counterclockwise direction with the JOG speed. Loosen the pressed button, the servomotor
stops and keeps zero speed. The JOG speed is set by parameter PA21, and default is 120r/min.
131
按
p re s s
j@ @ 1 2 0
图 7.8 JOG 运行操作框图

Picture 7.8 JOG running operation diagram
� 如果外部控制伺服使能(SON)不方便，可以设置参数 PA53 为 0001，强制伺服使能
(SON)ON 有效，不需要外部接线控制 SON。
� If it is not convenience for the external control to servo on (SON), user can set parameter
PA53 to 0001, and force servo on (SON)ON to be valid, the external wiring control SON
is not needed.
4. 手动调速操作 manual speed adjustment control

� 接通控制电路电源(主电路电源暂时不接)，驱动器的显示器点亮，如果有报警出现，
请检查连线。
� Turn on the control power supply (while the main power supply temporarily turned off). The display of
drive is lit. If any error appears, please inspect the wirings
� 接通主电路电源，POWER 指示灯点亮。
� turn on the main power supply, the POWER indicating LED is lit.
� 按下表设置参数值 Setting the parameter value according to the table below
Parameter meaning Parameter Factory
number value default value
Control mode choose
Drive inhibition inout
in invalid
� 确认没有报警和任何异常情况后，使伺服使能(SON) ON，RUN 指示灯点亮，这时
电机激励，处于零速状态。
� Confirming that there is no alarm and unusual situation, turn on the servo enable (SON), the RUN
indicating LED lit and the servomotor is active at zero speed.
� 通过按键操作，在第 1 层中选择“Sr-@@@” ，并按 Enter 键就进入试运行方式，进
入速度试运行操作状态时提示符为“S 0”，数值单位是 r/min，系统处于速度控
制方式，速度指令由按键提供，用↑、↓键改变速度指令，电机应按给定的速度运
转。
� To choose “Jr-@@@” in the first layer through button operation, and press button Enter
to enter trial running mode. The prompt of entering speed trial running operation is “S
0”，and the numerical value unit is r/min, th system is under aped control mode, and
132
speed command is provided by buttons. Using buttons ↑、↓ to change speed command, and
the motor runs with the given speed.
按
p re s s
s@ @ 8 0 0
图 7.9 速度试运行操作框图
Picture 7.9 speed trial running operation diagram
� 如果外部控制伺服使能(SON)不方便，可以设置参数 PA53 为 0001，强制伺服使能
(SON)ON 有效，不需要外部接线控制 SON。
� If it is not convenience for the external control to servo on (SON), user can set parameter
PA53 to 0001, and force servo on (SON)ON to be valid, the external wiring control SON
is not needed.
133
7.6 位置控制模式的简单接线运行
7.6 Operation of position control mode with simple wiring
1．接线 Wiring
According to the picture 7.8 make the wiring carefully.
� The main circuit terminal R、S and T connect with three phase AC 220V power supply.
� The terminal ‘r’ and‘t’ of control power supply connect with single phase AC 220V power
supply.
� Using the encoder connector CN2 connect the servo driver with the servomotor.
� Using the control signal connector CN1 connect other wiring according to the drawing.
134
伺服电机
P (ST A R 系列 )
E 电机
R U 2
三相 AC 220 V S 伺服驱动器 V 3
T W
P 4
N FB MC 1
r E
t
14 5V
15 5V
DC CO M + 18 16 5V
1 2 ~2 4 V 4.7k 17 5V 2
SO N 10
19 0V
20 0V
21 0V 3
1 A+ 4
2 A- 7
CN 1 CN 2 3 B+ 5
4 B- 8
5 Z+ 6
26L S32 6 Z- 9
接收器 7 U+ 10
SR D Y + 8 8 U- 13
伺服准备好 SR D Y - 2 5 9 V+ 11
10 V- 14
11 W+ 12
12 W- 15
22 0V
23 0V
26 FG 1
PU L S+ 3 2
位置指令 PU L S PU L S- 3 3 220
SIG N+ 3 4
位置指令 SIG N
SIG N- 3 5
220
Z
7 CZ Z相集电集开路输
9 GND 出
FG 36 机壳地
图 7.10 位置控制模式的简单接线图
135
伺服电机 (ST A R 系列 )
P Servo motor (SRA R series )
E 电机 m otor
三相 AC 220V R U 2
S 伺服驱动器 V 3
Three phase AV 2 2 0 V Se rvo drive W 4
T P 1
N FB MC r E
t 14 5V
15 5V
DC CO M + 18 16 5V
1 2 ~2 4 V 4.7 k 17 5V 2 编码器
伺服使能 SO N 10 18 0V encoder
Se rvo on 19 0V
20 0V
21 0V 3
1 A+ 4
2 A- 7
CN 2
CN 1 3 B+ 5
4 B- 8
26LS32 5 Z+ 6
接收器 6 Z- 9
26LS32 7 U+ 10
伺服准备好 SR D Y + 8 receiver 8 U- 13
Servo ready SR D Y - 2 5 9 V+ 11
10 V- 14
11 W+ 12
12 W- 15
22 0V
23 0V
26 FG 1
位置指令 PU L S PU L S + 3 2
Position command PU L S - 3 3 220
PU L S
位置指令 SIG N
SIG N + 3 4
Position SIG N - 3 5
c omma nd SIG N 220 7 CZ Z相集电集开路输出
机壳地 Z
9 GND Open collector output of
FG 36 Ground of Z pha se
metal case
Picture 7.8 Simple wiring diagram of position control mode
136
2．操作 operation
� 接通控制电路电源和主电源，显示器有显示，POWER 指示灯点亮。
� Turn on the control circuit power supply and main power supply. The display has display, and the
POWER indicating LED is lit.
� 按下表设置参数值： setting parameter value according to the table below
参数号意义 meaning 参数值出厂缺省值
Number of Parameter Factory
parameter value default value
Control mode
selection
PA12 电子齿轮分子用户设置 1
Numerator of By user
electronic gear setting
PA13 电子齿轮分母用户设置 1
Denominator of By user
electronic gear setting
PA19 位置指令平滑滤波器 0 0
Smooth filter for
position command
Drive inhibition input
is invalid
� 没有报警和任何异常情况后，使伺服使能(SON) ON，RUN 指示灯点亮；从控制器
送低频脉冲信号到驱动器，使电机运行在低速。
� Confirming that there is no alarm and any unusual situation, turn on the servo enable
(SON), the RUN indicating LED lit; deliver the low frequency pulse signal to drive from
controller, and make the servomotor running under low speed.
137
3．电子齿轮设置 electronic gear setting

驱动器安装的编码器是 10000 脉冲/每转，通过设置电子齿轮参数 PA12、PA13
可得到任意的脉冲当量。注意：你可以给分子和分母设定任意值而得到任何比值，
但最好不要超出 1/50~50 范围。
The encoder that installs to drive is 10000 pulses per turn, by setting the electronic gear
parameters PA12, PA13, arbitrary pulse equivalent can be obtained. Note: you can set any values for
numerator and denominator to get any ratio, but you had better not exceed the range of 1/50 ~ 50 .
表 7-1 输入脉冲个数与旋转圈数的关系
Table 7-1the relation between input pulse number and rotating truns
输入脉冲数电机旋转圈数电子齿轮分子电子齿轮分
Number of truns of motor rotating PA12 子 PA13
Input pulse Electronic gear Electronic
numerator PA12 gear
numerator
PA13
Pules pules × PA12 PA12 PA13
10000 × PA13
10000 1 1 1
5000 1 2 1
3000 1 10 3
800 1 25 2
20000 1 1 2
1000 2/3 20 3
4000 3 30 4
表 7-2 输入脉冲频率与旋转速度的关系
Table 7-2 the relation between input pulse frequency and rotating speed
输入脉冲频率电机转速（r/min）电子齿轮分子电子齿轮分
（Hz） Rotating speed of motor PA12 子 PA13
Input pulse （r/min） Electronic gear Electronic
frequency (Hz) numerator gear
PA12 numerator
PA13
Frequency Frequency × 60 × PA12 PA12 PA13
10000 × PA13
300k 1800 1 1
500k 3000 1 1
100k 1200 2 1
138
100k 1800 3 1
50k 1000 10 3
200k 800 2 3
100k 300 1 2
139
7.7 速度控制模式的简单接线运行 Operation of speed

control mode with simple wiring
1.接线 wiring
� 如果仅作调速控制，可不需连接编码器输出信号；如果外部控制器是位置控制器，
需要连接编码器输出信号。
According to the picture 7.11 make the wiring carefully.
� The main circuit terminal R、S and T connect with three phase AC 220V power supply.
� The terminal ‘r’ and‘t’ of control voltage connect with single phase AC 220V power
supply.
� If it is only used for speed regulation control, user do not need to connect the encoder
output signal; if the external controller is position controller, then need to connect the
encoder output signal.
140
伺服电机
P (ST A R 系列 )
E 电机
R U 2
三相 AC 220V S 伺服驱动器 V 3
T W
P 4
N FB MC 1
r E
t
14 5V
15 5V
DC CO M +18 16 5V
1 2 ~2 4 V 4.7k 17 5V 2
SO N 10
19 0V
CN 2 20 0V
21 0V 3
零速箝位 Z E RO SPD 1 4 1 A+ 4
2 A- 7
CN 1 3 B+ 5
4 B- 8
5 Z+ 6
6 Z- 9
7 U+ 10
SR D Y + 8 8 U- 13
伺服准备好 SR D Y - 2 5 9 V+ 11
10 V- 14
11 W+ 12
12 W- 15
22 0V
23 0V
26 FG 1
1 O A+ A
速度模拟指令 A
（－ + A S+ 19 - 2 O A- A
- A S- 20 + 26L S31
B
3 O B+ B
1 0 V~+1 0 V） AGND 23
1 0k
驱动器 4 O B- 编码器信号
B
Z
5 O Z+ Z
6 O Z- Z
7 CZ Z相集电集开路输
9 GND 出
FG 36
机壳地
图 7.11 速度控制模式的简单接线图
141
伺服电机
(ST A R 系列 )
Servo motor
P (STAR series)
E 电机 motor
三相 AC 220V R U 2
T P 1
N FB MC
r E
t 14 5V
15 5V
DC
CO M + 18 16 5V
1 2 ~2 4 V 4 .7k 17 5V 2 编码器
Se rvo on 19 0V
CN 2 20 0V
零速箝位 21 0V 3
Zero speed Z E RO SPD 1 4 1 A+ 4
c la m p 2 A- 7
CN 1 3 B+ 5
4 B- 8
5 Z+ 6
6 Z- 9
7 U+ 10
伺服准备好 SR D Y + 8 8 U- 13
10 V- 14
11 W+ 12
12 W- 15
22 0V
23 0V
26 FG 1
速度模拟指令
（－
1 O A+ A
1 0 V~+1 0 V） 26LS 31 A
Speed analog + A S+ 19 - 2 O A- A
- A S- 20 + 驱动器 3 O B+ B 编码器信号
c omma nd 1 0k
2 6 L S 31
B
AGND 2 3 4 O B- B Encoder signal
（－ d r iv e Z Z
5 O Z+
1 0 V~+1 0 V） 6 O Z- Z
7 CZ Z相集电集开路输出
9 GND
Open collector
FG 36 机壳地 output of Z phase
ground of
mental case
Picture 7.11 simple wiring diagram for speed control mode
142
2. 操作 Operation
� 按下表设置参数值：
� Turn on the control circuit power supply and main power supply. The display has display, and the
POWER indicating LED is lit.
� Set parameters according to the table below：
Number of explanation Parameter Factory
Control mode selection
Drive inhibition input is
invalid
PA22 内外速度指令选择 1 1
Internal and external
speed command choose
PA40 加速时间常数 0 0
Acceleration time
constant
PA41 减速时间常数 0 0
Deceleration time
constant
PA43 模拟速度指令增益按需要设置 300
Analog speed command Set according
gain to need
PA44 模拟速度指令方向取反 0 0
Analog speed command
takes reverse direction
PA45 模拟速度指令零偏补偿 0 0
Analog speed command
zero-bias compensation
� 没有报警和任何异常情况后，使伺服使能(SON) ON，RUN 指示灯点亮。

indicating LED lit.
� 加一个可调直流电压到模拟速度输入端口，从 0 开始逐渐增加此电压，确保电机转
143
速随指令作相应变化；加负电压，电机应反转。
� Add an adjustable direct voltage to the analog speed input terminal, starting from 0 to
gradually increase the voltage to ensure motor rotating speed varies with instruction
accordingly; add the negative voltage, the motor rotates in reversed.
� 闭合零速箝位开关 ZEROSPD，电机应停止保持为零速。
Turn off the switch ZEROSPD of zero-speed clamping, motor should stop and keep zero speed.
� 如果给定的模拟指令电压为零速电压（0V）时，因为上位控制器和驱动器存在零偏
电压，电机可能会低速运转，可调整参数 PA45，补偿零偏，使电机为零速。
If the given analog command voltage is zero speed voltage (0 v), because there exsits zero
bias voltage in the host controller and driver, the motor may run at a low speed. For that case,
user can adjust parammeter PA45 to compensate the zero bias and make the motor zero speed.
� 调节参数 PA43、PA44 来改变输入增益和方向。
� Adjust parameter PA43、PA44 to change the input gain and direction.
144
7.8 转矩控制方式的简单接线运行 Operation of speed control mode with simple
wiring
1. 接线 wiring
� According to the picture 7.12 make the wiring carefully, the main circuit terminal R、S and
T connect with three phase AC 220V power supply.
supply.
145
M a x sine S tar 系列
伺服电机
PE
U 2
V 3
R 4
三相
W
S
AC 2 2 0 V PE 1
T
r 14 5V
t 15 5V
CN1
16 5V
DC COM + 18
17 5V
1 2 ~2 4 V
4. 7k
18 0V
伺服使能 SO N 10
19 0V
A LR S 11
20 0V 2
FSTP 12
21 0V 3
R ST P 13
1 A+ 4
S C 1/ZE R O S
P D
14
26LS32 2 A- 7
SC 2 15 接收器
3 B+ 5
F IL 16
4 B- 8
R IL 17
5 Z+ 6
光电编码器
CN1 6 Z- 9 1 5芯插头
SR D Y + 8
7 U+ 10
伺服准备好
SR D Y - 25 8 U- 13
ALM + 26 9 V+ 11
ALM - 27
10 V- 14
C O IN + 28
11 W+ 12
C O IN - 29
12 W- 15
BR K + 30 22 0V 1
BR K- 31 23 0V
CN1 26 FG
CN1
1 OA+
A
2 OA-
转矩模拟指令 + AT+ 21 - 3 OB+

（-1 0 V~+1 0 V） - AT- 22 + B
10K 4 OB-
AG N D 24
5 OZ+
26LS31 Z
驱动器 6 ZA-
FG 36 9 GND
7 CZ
注：当软件版本使用
V2.0以上时，转矩模拟机壳地
指令输入端口 2 1 .2 2 改
选用输入端口 1 9 .2 0
图 7.12 转矩控制方式的简单接线图
146
S ta r 系列
伺服电机
Maxsine Star series servo
E P 1 0 0伺服驱动器 m otor
PE E P 100 servo drive

U 2
三相 V 3
R
AC 2 2 0 V W 4
T hree S 1
PE
phase AC T
220 v 电机 4芯插头
NFB M C CN2 4 cores connector for
r 14 5V servomotor
t 15 5V
CN1 16 5V
DC COM + 18
17 5V
1 2 ~2 4 V
4.7k
18 0V
伺服使能
SON 10
Serv o on 19 0V
A LR S 11
20 0V 2
FSTP 12
21 0V 3
R ST P 13
1 A+ 4
S C 1/ZE R O S
PD 14 26LS32 2 A- 7
接收器
SC 2 15 receiver 3 B+ 5
F IL 16
4 B- 8 光电编码器
R IL 17 1 5芯插头
5 Z+ 6
15 cores
CN1 6 Z- 9 connector
SR D Y+ 8 for optical
伺服准备好 7 U+ 10
Serv o ready
encoder
SR D Y- 25
8 U- 13
A LM + 26
9 V+ 11
A LM - 27 10 V- 14
C O IN + 28
11 W+ 12
C O IN - 29
12 W- 15
BR K+ 30
22 0V 1
BR K- 31
23 0V
CN1 26 FG
CN1
1 OA+
A
2 OA -
转矩模拟指令
（- 1 0 V~+1 0 V） + AT+ 21 - 3 OB+
Torque analog - B
AT- 22 + 4 OB -
command (- 10K
1 0 V~+1 0 V ) AGN D 24 26LS31 5 OZ+
驱动器 Z
26LS31 6 ZA-
dr iv e
注：当软件版本使用 FG 36 9 GND
V2.0以上时，转矩模拟
指令输入端口 2 1 .2 2 改选用输入端
口1 9 .2 0 7 CZ
N o te
te:: when using the software
ed itio n ab o ve V 2.0 , th e 机壳地
command input port 2 1 .22 Ground of
should change to use input port
1 9 .2 0 m etal case
Picture 7.12 simple wiring diagram for torque control mode
147
2. 操作 operation
� 按下表设置参数值：
� Turn on the control power supply and then the main power supply. The display of the
front panel is lit. The POWER indicating LED is lit.
� Set parameters according to the table below：
参数号意义参数值出厂缺省
Number of meaning Parameter 值
parameter value Factory
Default
value
Drive inhibition is invalid
PA29 模拟量转矩指令输入增益按需要设置 30
Analog quantity torque command Setting by
input gain need
PA33 模拟量转矩指令输入方向取反 0 0
Analog quantity torque command
input direction take in reverse
PA39 模拟量转矩指令零偏补偿 0 0
zero-bias compensation for
analog quantity torque command
PA50 转矩控制时速度限制按需要设置额定速度
The speed limitation when torque Setting by Rated
control need speed
� 电机轴上加合适的负载；
� Add an suitable load in the motor shaft
� 没有报警和任何异常情况后，使伺服使能(SON) ON，RUN 指示灯点亮；
indicating LED lit
� 加一个可调直流电压到模拟转矩输入端口，从 0 开始逐渐增加此电压，电机输出相
应转矩；加负电压，电机输出反向转矩；
� Add an adjustable direct voltage to the analog torque input terminal, starting from 0 to
gradually increase this voltage, the motor outputs corresponding torque; add the negative
voltage, the motor outputs torque in reverse.
� 如果模拟指令电压为 0 时，电机还有转矩输出，可调整参数 PA39，使其为零转矩；
� If the analog command voltage is zero and motor still outputs torque, user can adjust
148
parammeter PA39 to make it zero torque.
� 调节参数 PA29、PA33 来改变输入增益和方向；
� Adjust parameter PA29、PA33 to change input gain and direction.
� 请特别注意，负载太轻时，电机容易过速。参数 PA50 可对电机进行限速，防止轻
载时电机超速；
� Please pay special attention to that, when the load is too light, the motor is easy to
overspeed. Parameter PA 50 can limit the speed of motor and prevent the motor from
overspeeding when it is light load.
� 超过额定转矩时系统处于过载状态，只能持续较短时间，其特性请参考系统的过载
特性；
� The system is in the state of overload when it exceeds the rated torque, it can only last for a
short time, for the features please refer to the overload features of system..
149
7.
7.99 动态电子齿轮使用 the use of dynamic electronic gear
动态电子齿轮功能是指在驱动系统运行中，通过输入控制信号，动态切换电子齿轮
比例。该功能的作用是：上位机最大输出脉冲频率较低，当电子齿轮比例设置较小时，
位置分辨率高，但最大速度较低；当电子齿轮比例设置较大时，位置分辨率低，但最高
速度较高。为了在使用中，即要获得较高的位置分辨率，又要求较高的最大速度，设置
了两个电子齿轮比例，通过上位机输出的控制信号，动态进行切换。
The function of dynamic electronic gear refers to that when the drive system is running,
through inputting control signal to switch the electronic gear ratio dynamically. And the function
is: the maximum output pulse frequency of host machine is lower, when the ratio of electronic
gear set small, the position resolution is high, but the maximum speed is low; when the ratio of
electronic gear set large, position resolutionis low, but the maximum speed is high. When using
it, in order to get a higher position resolution as well as a higher speed, we set two electronic
gear ratios, through the control signal output by host to switch dynamically.
例如，在数控机床应用中，设置第一电子齿轮比例较小，第二电子齿轮比例较大，
在切削加工时，速度一般不是很高，上位机输出的控制信号选择第一电子齿轮比例，可
得到较高的位置分辨率；在快速移动时，上位机输出的控制信号选择第二电子齿轮比例，
可得到较高的移动速度。
For example, in the applications of CNC machine tool, to set the first electronic gear ratio
small, and the second electronic gear ratio large, when do the cut machining, generally the
speed is not very high, the control signal output by host chooses the first electronic gear ratio
to get a higher position resolution; when moving fastly, the control signal output by host
chooses the second electronic gear ratio to get a higher speed of movement.
7.9.1 简要接线 sample wiring

� According to the picture 7.13 make the wiring carefully, the main circuit terminal R、S and
T connect with three phase AC 220V power supply.
supply.
150
伺服电机
(ST A R 系列 )
P
E 电机
三相 AC 220 V R U 2
T W
P 4
N FB MC 1
r E
t 14 5V
15 5V
DC CO M + 18 16 5V
1 2 ~2 4 V 4 .7k 17 5V 2
编码器
伺服使能 SO N 10 18 0V
19 0V
20 0V
21 0V 3
1 A+ 4
电子齿轮切换 IN H 15 2 A- 7
CN 2 3 B+ 5
CN 1
4 B- 8
5 Z+ 6
26LS 32
6 Z- 9
接收器 7 U+ 10
SR D Y + 8 8 U- 13
伺服准备好
SR D Y - 2 5 9 V+ 11
10 V- 14
11 W+ 12
12 W- 15
22 0V
23 0V
26 FG 1
A
1 O A+ A
PU L S + 3 2 2 O A- A
位置指令 PU L S PU L S - 3 3 26 L S31 B
B 3 O B +
220
驱动器 4 O B - B 编码器信号
Z
5 O Z+ Z
SIG N + 3 4 6 O Z- Z
位置指令 SIG N SIG N - 3 5
220 7 CZ Z相集电集开路输
9 GND 出
FG 36 机壳地
图 7.13 动态电子齿轮使用接线图
151
伺服电机
(ST A R 系列 )
Servo motor
P (STAR series)
E 电机 m otor
三相 AC 220 V R U 2
T P 1
N FB MC r E
t 14 5V
15 5V
DC CO M + 18 16 5V
1 2 ~2 4 V 4.7k 17 5V 2 编码器
Se rvo on 19 0V
20 0V
21 0V 3
电子齿轮切换 1 A+ 4
Electronic gear IN H 15 2 A- 7
CN 2
switch CN 1 3 B+ 5
4 B- 8
26 L S32 5 Z+ 6
接收器 6 Z- 9
26 L S32 7 U+ 10
伺服准备好 SR D Y + 8 receiver 8 U- 13
10 V- 14
11 W+ 12
12 W- 15
22 0V
23 0V
26 FG 1
1 O A+ A
位置指令 PU L S PU L S + 3 2 26 L S31 A
2 O A-
Position A
PU L S - 3 3 驱动器 3 O B+ B 编码器信号
command PULS 220
26 L S31
B
4 O B- Encoder
B
d r iv e 5 O Z+ Z signal
位置指令 SIG N Z
SIG N + 3 4 6 O Z- Z
Position SIG N - 3 5
c omma nd SIG N 220 7 CZ Z相集电集开路输出
机壳地 9 GND Open collector output
FG 36 Ground of
mental case of Z phase
Picture 7.13 the wiring diagram for using dynamic electronic geear
7.9.2 操作 operation
� 按下表设置参数值： set the parameter value according to the table below

Number of Meaning Parameter Factory
Drive inhibition input is
invalid
PA12 第一电子齿轮分子用户设置 1
152
Numerator of first Set by user
electronic gear
PA13 电子齿轮分母用户设置 1
Denominator of Set by user
electronic gear
PA19 位置指令平滑滤波器 0 0
Smooth filter for
position command
PA51 动态电子齿轮有效 1 0
Dynamic electronic gear
is valid
PA52 第二电子齿轮分子用户设置 1
Numerator of second Set by user
electronic gear
153
� 通过控制输入端子 INH 实现电子齿轮切换。当 INH 端子 OFF 时，输入电子齿轮
为 PA12/PA13；当 INH 端子 ON 时，输入电子齿轮为 PA52/PA13；
Through econtrol input terminal INH to switch electronic gear. When INH terminal OFF, the
input electronic gear is PA12 / PA13; when INH terminal ON, the input electronic gear is PA52 /
PA13;
� 注意电子齿轮切换时，必须满足图 7.14 时序，在输入 INH 的变化点前后至少
10ms，不要发脉冲。
� Note: when switching electronic gear, it must meet the timing diagram of
picture7.14, before or after the change point of input INH points at least 10 ms, don't
send pulse.
t1 t2 t3 t4
电子齿轮切换 INH ON
OFF OFF
位置指令脉冲 PULSE
第一比例第二比例第一比例

电子齿轮比例
No.12 No.52 No.12
No.13 No.13 No.13
t1,t2,t3,t4 >10ms
图 7.14 动态电子齿轮切换时序
t1 t2 t3 t4
电子齿轮切换 IN H
Electronic gear witch INH OFF ON OFF
位置指令脉冲 PULSE
Position command pulse
PU LSE
第一比例第二比例第一比例

电子齿轮比例 first ratio Second ratio F irst ratio
Electronic gear ratio No.12 No.52 No.12
No.13 No.13 No.13
Picture 7.14 dynamic electronic gear switch timing
154
7.10 输入端子切换控制方式 input terminal switching

control mode
输入端子切换控制方式功能是指用一个输入端子的 ON/OFF 对两种控制方式进行实

时切换，可以在“位置/速度”或“速度/转矩”或“转矩/位置”之间进行控制方式的切换。
The function of input terminal switching control mode refers to using the ON/OFF of an
input terminal to do real-time switching for the two kinds of control mode, it can swith the
control modes among "position/speed" , "speed/torque" and "position/torque ”.
增加参数 PA32(控制方式切换允许)，当 PA32=0 时，控制方式不允许由外部输入端子
切换，控制方式由参数 PA4 决定， “报警清除”端子的功能就是清除报警。当 PA32=1 时，
控制方式允许由外部输入端子切换，根据 PA4 的参数值，利用“报警清除”端子可以在
“位置/速度”、 “速度/转矩”、 “转矩/位置”之间进行控制方式的切换，此时该输入端
子的清除报警功能被禁止。
Increase parameter PA32 (control mode switching allows), when PA32 = 0, the control
mode does not allow to switch by external input terminal, the control mode is decided by
parameter PA4, the function of terminal "alarm clear" is to clear the alarm. When PA32 = 1, the
control mode allows to swith by external input terminal, according to the value of parameter
PA4, using terminal "alarm clear" can switch the control modes among “position/speed”,
“speed/torque” and “torque/position”, and at that time, the function of clearing alarm of this
input ternminal will be forbidden.
155
“位置”控制方式的位置指令来自外部输入的脉冲串；“速度”控制方式的速度指令有
两个来源，参数 PA22=0 时，速度指令来自内部速度，参数 PA22=1(缺省)时，速度指令
来自外部速度模拟量输入；“转矩”控制方式的转矩指令来自外部转矩模拟量输入。
The position command of “position” control mode comes from the external input pulse
string; the speed command of “Speed” control mode has two sources, when parameters PA22
= 0, the speed command comes from internal speed, while when parameter PA22 = 1 (default),
the speed command comes from external analog input; the torque command of “Torque”
control mode comes from external torque analog quantity input.
参数 PA32 参数 PA4 “报警清除”ALRS 输入端子控制方式

Parameter PA 32 Parameter “alarm clear” ALRS input Control mode
PA4 terminal
0(缺省) 用于清除报警位置
0(缺省) 0(default) Used for clearing alarm position
0(default) 1 用于清除报警速度
Used for clearing alarm speed
6 用于清除报警转矩
Used for clearing alarm torque
0 OFF 位置
position
1 ON 速度
speed
1 OFF 速度
speed
ON 转矩
torque
6 OFF 转矩
torque
ON 位置
position
7.11 用户转矩过载报警功能 alarm function for user

torque overload
为防止在某些场合下意外事件发生时，造成电机负荷不正常升高，可能破坏某些机
械装置，设计了用户转矩过载报警功能。当该功能有效时，驱动系统检测电机转矩，当
发现转矩高于给定参数值，并持续一段时间后，驱动器报警，报警号为 Err-29，电机停
156
转。
In order to prevent the servo motor load from rising abnormally to destrory some
mechanical devices when accidents happen under some situations, we design the user torque
overload alarm function. When this function is valid, drive system tests the motor torque,
when found torque exceeds the given parameter value, and continue for some time, the driver
will alarm, the alarm number is Err - 29, and motor will stall.
需要使用用户转矩过载报警功能时，设置 PA31>0，合理设置 PA30、PA31，使其在
应用中能在意外事件发生时尽快产生报警，而在正常工作条件下不会发生误报警。
When need to use the user torque overload alarm function, setting PA31 > 0, and
reasonable setting PA30, PA31 to make it alarm as soon as possible in the application when
accidents happen, and do not false alarm under normal working conditions.
用户转矩过载报警功能(Err-29)和过负载报警(Err-13)是不同的，用户转矩过载报警
功能可由用户设定报警参数，而过负载报警由制造商设定，用户不能修改参数，不管用
户转矩过载报警功能是否有效，过负载报警总是有效的。一般情况下，用户转矩过载报
警功能设置为禁止(PA31=0)。
The user torque overload alarm function (Err - 29) is different from the exceed load
alarm (Err - 13). The user torque overload alarm function can be set alarm parameters by user,
while the exceed load alarm is set by the manufacturer and the user cannot modify parameter,
regardless of whether the user torque overload alarm function is valid or not, the exceed load
is always valid. In general, the user torque overload alarm is set to inhibition. (PA31 = 0)
157
7.12 调整 adjustment
7.12
7.12 .1 基本增益调整 basic gain adjustment
12.1
� 速度控制 speed control

1) [速度比例增益](参数 PA5)的设定值，在不发生振荡的条件下，尽量设置的较大。
一般情况下，负载惯量越大，[速度比例增益]的设定值应越大。
[speed ratio grain] the setting value of (parameter PA5) should be set bigger if the
oscillation does not occur. In general, the bigger load inertia is, the greater setting value
of [speed ratio gain] is.
2) [速度积分时间常数](参数 PA6)的设定值，在不发生振荡的条件下，尽量设置的
较小。
[speed intergration time constant] the setting value of (parameter PA6) had better set
smaller if the oscillation does not occur.
� 位置控制 position control
1) 先按上面方法，设置合适的[速度比例增益]和[速度积分时间常数]。
First according to the above method, set the appropriate] [speed ratio gain] and [speed
integration time constant]
2) [位置前馈增益](参数 PA10)设置为 0%。
[Position feedforward gain] (parameter PA10) set to 0%.
3) [位置比例增益](参数 PA9)的设定值，在稳定范围内，尽量设置的较大。 [位置
比例增益]设置的太大时，位置指令的跟踪特性好，滞后误差小，但是在停止定
位时，容易产生振荡。
[position ratio gain] the setting value of (parameter PA9) should be set bigger when
in a stable range. When [position ratio gain] set too large, the tracking performance
of position command is good, and with small hysteresis error, but prones to
oscillation when stop location.
4) 如果要求位置跟踪特性特别高时，可以增加[位置前馈增益]设定值。但如果太
大，会引起超调和过冲。
If required the position tracking performance is particularly high, user can increase
the setting value of [position feedforward gain]. But if it is too big, it will lead to
overstrike and overshoot.
[位置比例增益]的设定值可以参考下表
The setting value of [position ratio gain] can refer to the table below
刚度 [位置比例增益]
stiffness [position ratio gain]
低刚度 10~20/S
Low stiffness
158
中刚度 30~50/S
Middle stiffness
高刚度 50~70/S
High stiffness
7. 12..2 基本参数调整图 basic parameter adjustment diagram

12
7.12
PA10 PA11
前馈低
前馈
通滤波
增益
器
PA5 PA60
PA12 PA61
PA9 PA6 PA64
PA14 PA13 PA19
PA4
位置指令脉冲输 + 位置比 + 速度比电流比
电子指令 + 电流指 +
入方式齿轮平滑例增益例增益例增益
- + 令低通 M
- 积分时 - 积分时
滤波器
PA43 PA40 间常数间常数
PA22 PA41
模拟速度指令 + 速度指
+ 令增益
加减速速度
零漂补偿时间计算
PA45 内部速度1
内部速度2
内部速度3
内部速度4 四倍频 PG
图 7.15 基本参数调整图
PA 10 PA 11
前馈前馈低通
增益滤波器
F eedfor
F eedf w ard
orw ar l o w -pass
d g a in filter PA 5
PA64 PA60
PA 12 PA 6
PA9 PA61
位置指令 PA 13 PA19 速度比例
PA 14 增益积分电流指令
Position 脉冲输入
电子
指令位置比例 PA 4 时间常数低通滤波
方式平滑 + 增益 + 器
电流比例增益积分
com m and 齿轮 + Tim e +
Pulse C om m an Position 时间常数
Electroni constant C urrent
input d - ration + of spped com m an
Tim e constant of M
c gear
m ode sm ooth g a in - r atio d lo w - - current ratio gain
PA43 PA40 gain pass
integr ation
模拟速度指令速度指令 integrati filter
增益
PA 22 PA41
Analog speed + on
Speed 加减速时间速度
com m and + com m an Tim e of 计算
零漂补偿 d gain acceleration Speed
zero drift com pensation 内部速度1 and calculati
PA 45 内部速度2 deceleration on
内部速度3
内部速度4
Internal peed 1 四倍频
Internal speed 2 Four times PG
Internal speed 3
Internal speed 4 frequency
Picture 7.15 basic parameter adjustment diagram
159
7.13 常见问题 common problems
7.13.1 恢复缺省参数 recover default parameter
e E -S e t 参数写入操作成功
e E -r d 参数读取
E nter
Start
Error
操作失败
操作成功
e E -S e t 参数写入 Parameters write in Operation success
按下并保持 3秒
参数读取 Press down and hold for 3 s ec ond s Finish
e E -r d @ Parameters
read out
E nter
Start
Resume Under operation Error
default value
操作失败
Operation fail
图 7.16 恢复缺省参数操作框图
Picture 7.16 the operation diagram for recovering default parameter
在发生以下情况时，请使用恢复缺省参数（出厂参数）功能：
When the following situations happen, please use the function of recover default parameter
(factory parameter):
� 参数被调乱，系统无法正常工作；
� The parameter is adjusted disordered, and the system can not work normally.
� 保存参数时，系统恰好掉电，造成系统自动恢复缺省参数，但是型号代码（PA1）
和本驱动器及电机不匹配；
When saving parameters, the system just powers down to cause the system automatically
recover default parameters, but the model code (PA1) does not match this drive and motor.
� 驱动器需要更换原配电机，新换电机与原配电机型号不同；
� The drive needs to replace the original motor, the mode of new motor is different from
160
the original one.

恢复缺省参数的步骤如下：
The steps to recover the default parameters are as follows:
1. 检查驱动器的型号（2A、3A、5A）及适配电机的型号，根据 8.4 章节中的表 8.1
（适用于 2A 驱动器）、表 8.2（适用于 3A 驱动器）、表 8.3（适用于 5A 驱动
器）查出型号代码。特别注意驱动器的型号不要弄错，否则将会导致驱动器损
坏。以 2A 驱动器适配 110ST-M06020 电机为例，查表 8.1 得到型号代码为 33；
Check the mode of drive (2 A, 3 A, 5 A) and the mode of adaptive motor, and to find
out the mode code according to the table 8.1 (suitable for 2 A drive), table 8.2 (suitable
for 3A drive), table 8.3 (suitable for 5A drive) in chapter 8.4. Pay special attention to
that do not mix up the modes of drive, otherwise the drive will be damaged. Take 2A
drive adapter 110ST- M06020 motor as an example, look up table 8.1 can get the
mode code is 33.
2. 修改密码参数 PA0 为 385；
Modify the password parameter PA0 to 385
3. 修改型号代码参数 PA1 为选定的型号代码，本例子为 33，参数值显示为“2A-
33”，前导字符“2A”表示采用 2A 驱动器。如果前导字符为“3A”则表示采
用 3A 驱动器；
Modify the mode code parameter PA1 to the selected model code, this example is 33,
and parameter value shows as “2A – 33”, in which the front leading character “2A”
means adopting 2A drive. If the front leading character is “3A”, which means adopting
3A drive.
4. 将参数缺省值写入 EEPROM。在第 1 层中选择“EE-@@@”，按 Enter 键进入参
数管理方式。首先需要选择操作模式，共有 5 种模式，用↑、↓键来选择。选
择“EE-dEF”，然后按下 Enter 键并保持 3 秒以上，显示器显示“StArt@”，表
示参数正在写入 EEPROM，大约等待 1~2 秒的时间后，如果写操作成功，显示
器显示“FInISk”，如果失败，则显示“Error@”。
Write the default value of parameter into EEPROM. Choosing “EE-@@@” in the first
layer, and press button Enter to enter into the parameter management mode. You
should first choose the operatation mode; there are five kinds of mode in total, and
enter buttons ↑、↓ to select. Choosing “EE – dEF”, then press button Enter and
holds on for more than three seconds, the display shows “StArt @,” which means the
parameter is writing EEPROM, wait for about 1 ~ 2 seconds , if the write operation is
successful, the display shows “FInISk”, if it fails, then shows “Error@”.
5. 上一步操作成功后，关驱动器电源，然后重新上电，操作完成。
After the last step operation is successful, turn off the power supply of drive, then
turn on the power supply again, the operation is completed.
161
7.13.2 频繁出现 Err-15 、 Err-30

Err-15、 Err-30、、 Err-31
Err-31、、 Err-32 报警 alarm
Err-15
Err-15、、Err-30、Err-31
Err-30、、Err-32 appear frequently
Err-31、
这些报警说明光电编码器及其连接电缆存在问题，先从下面几个方面来解决：
These alarms reflect the photoelectric encoder and its connecting cable have problems,
they can solved from the following ways firstly.
� 连接电缆和插头是否有接触不良现象；
� Whether the cable and plug is poor connectation or not
� 连接电缆的屏蔽线是否焊好；
� Whether the shield wire of cable welds well or not.
� 驱动器的接地 PE 端子是否接地良好；
� Whether the grounding terminal PE connect well or not.
� 电机的接地端子和驱动器的接地 PE 端子是否连接良好；
� Whether the grounding terminl of motor and the grounding PE terminal of drive connect
well or not.
� 如果连接电缆较长，可能造成电源在电缆上的压降过大，请改用多个芯线连接编码
器的 5V 和 0V 电源；
� If the connection cable is longer, it may cause the pressure drop of power supply in the
cable too largely, please switch to use the multi-cores wire to connect with the power
supply with 5 V and 10V of encoder.
� 连接电缆不要和强电电缆共一个线槽，试着改变连接电缆走线；
如果以上措施不能奏效，请与销售商联系。
Don’t make the connecting cable in the same trunking with high voltage cables, try to
change the line routing of connecting cable;
If the above measures can not work, please contact the seller.
162
7.14 相关知识 related knowledge
7.14.1 位置分辨率和电子齿轮的设置 set the position resolution

and electronic gear
位置分辨率(一个脉冲行程△l)决定于伺服电机每转行程△S 与编码器每转反馈脉冲
Pt，可以用下式表示
Position resolution (a pulse travel△l) depends on the travel per rev △S of servo motor and
the feedback pulses per rev Pt of encoder, it can be displayed as the following formula
∆S
∆l =
Pt
式中，
In the formula
△l：一个脉冲行程(mm)；the travel of one pulse (mm)
△S：伺服电机每转行程(mm/转)；the travel of one rev of servo motor (mm/rev)
Pt：编码器反馈每转脉冲数(脉冲/转)。The number of pulse per rev of encoder feedback
因为，系统中有四倍频电路，所以 Pt = 4 × C ，C 为编码器每转线数。本系统中，C=2500
线/转，所以 Pt=10000 脉冲/转。
As there is quadruplicated frequency circuit in system, Pt = 4 × C , C is the line number per
rev of encoder. As for this system, C=2500 line/rev, so Pt=10000 pulse/rev.
指令脉冲要乘上电子齿轮比 G 后才转化为位置控制脉冲，所以一个指令脉冲行程△
l 表示为
*
The command pulse can transform to position control pulse only after multiply electronic
gear ratio G, so the travel od one command pulse can be displayes as
∆S
∆l * = ×G
Pt
指令脉冲分频分子
式中， G = 。
指令脉冲分频分母
In the formula,
7.14.2 位置控制时的滞后脉冲 the lag pulse of position control
用脉冲串控制伺服电机时，指令脉冲与反馈脉冲之间有一个差值，叫滞后脉冲，此
值在位置偏差计数器中积累起来，它与指令脉冲频率、电子齿轮比和位置比例增益之间
有以下关系
When using the pulse string to control servo motors, there is a different value between command
pulse and feedback pulse, it is called lag pulse, and this value will accumulate in the position
163
deviation counter. The relationship between it and the command pulse frequency, electronic gear
ratio and position ratio gain is as below:
f * ×G
ε=
Kp
式中，
In the formula,
ε：滞后脉冲(脉冲)；lag pulse (pulse)
f*：指令脉冲频率(Hz)；command pulse frequency(Hz)
Kp：位置比例增益(1/S)；position command gain (1/S)
G：电子齿轮比。Elecronic gear ratio
[注 1] 以上关系是在[位置前馈增益]为 0%条件下得到，如果[位置前馈增益]>0%，则滞
后脉冲会比上式计算值小。
[Note 1] the above relationship is get under the condition of the [position feedforward gain]
is 0%, if the [position feedforward gain] >0%, then the lag pulse will be smaller than the
calculated value of the above formula.
164
8.1 伺服驱动器规格 specification for servo drive
E P 100 X - 2A
M a xs ine
E P 100 伺服驱动器
记号输出功率k W
记号选购规格 2A 1.0
空厂家标准规格 3A 1.4
B 仅有位置控制方式 5A 2.5
E P 100 X - 2A
Maxsine
E P 100 伺服驱动器
E P 1 0 0 servo drive 记号输出功率kW
m a rk output power KW
记号选购规格
m a rk Specification for purchase 2A 1.0
厂家标准规格 factory 3A 1.4
空 null
standard specification
5A 2.5
仅有位置控制方式
B
Position control mode only
165
8.2 伺服驱动器尺寸 Dimensions of servo driver
4-Φ6 45
A
Maxsine
E P 100 Se rie s
A C Servo A mplifier Pow er
R un
Ente r
PE
C N1 Control
铭牌
S
200 T 216 230

接线端子 nam eplate U
Ground V
`
terminal W
CN 2 Feedback
PE
尺寸(mm) A B
Dimension(mm)
EP100(B)-2A/3A 152 77
EP100-5A 200 108
图1-1 EP100尺寸图
Picture 1-1 dimension diagram for EP100
8.3 伺服驱动器规格 Specifications of servo driver
型号 Type EP100(B)－2A EP100(B)－3A EP100－5A

输入电源三相 AC220V
Power supply -15%～+10%
50/60Hz
使温度工作：0～40°C 存贮：-40°C～50°C
用 Temperatur Operation：0～40°C Storage：-40～50°C
环 e
境湿度 40%～80%(无结露)
Envi Humidity 40%～80% (non-condensing)
166
ron 大气压强 86~106kPa
men Atmospheri
t c pressure
控制方法 EP100 系列位置控制、速度控制、转矩控制
Control method EP100 series Position control、speed control、torque control
EP100B 系列位置控制
EP1008 series Position control
再生制动内置
Regeneration Built-in
特速度频率 ≥250Hz
性响应
Cha Frequency
ract response of
erist speed
ics 速度波动 <±0.03(负载 0～100%)；<±0.02(电源-15%～+10%)
率 (数值对应于额定速度)
Fluctuation <±0.03%(load 0～100%)；<±0.02%(power supply -15～+10%)
of speed (the numerical value is corresponding to rated speed)
调速比 1:5000
Speed
control
range
脉冲频率 ≤500kHz
Frequency
of pulse
控制输入 1 伺服使能 Servo-ON ②报警清除 Alarm clear ③CCW 驱动禁止 CCW
Control input Drive inhibition ④CW 驱动禁止 CW Drive inhibition
⑤偏差计数器清零/速度选择 1/零速箝位 deviation counter reset/ speed 1/ Zero
speed clamp⑥指令脉冲禁止/速度选择 2 command pulse inhibition/ speed 2
⑦CCW 转矩限制 CCW torque limit ⑧CW 转矩限制 CW torque limit
控制输出 1 伺服准备好输出 Servo ready to output ② 伺服报警输出 servo alarm
Control output output ③ 定位完成输出 / 速度到达输出 Finish Orientation Output/
Reach Speed output
④ 机械制动输出
位置控制输入方式 ①脉冲+符号 Pulse+Signal ②CCW 脉冲/CW 脉冲 CCW
Position control Input mode Pulse/CW Pulse
③两相 A/B 正交脉冲 two phase A/B orthogonal Pulse
电子齿轮 1~32767/1~32767
Electronic Gear
167
反馈脉冲 2500 线/转 2500 line/rev
Feedback pulse
速度控制 4 种内部速度
Speed control Four kinds of internal speed
加减速功能参数设置 1~10000ms / 1000r/min
Acceleration and Parameter setting 1~10000ms / 1000r/min
decelaration
functions
监视功能转速、当前位置、指令脉冲积累、位置偏差、电机转矩、电机电流、直线速
Surveillance 度、转子绝对位置、指令脉冲频率、运行状态、输入输出端子信号等
Function Revolving Speed、Current Position、command pulse accumulation 、
Positional Deviation 、 Motor Torque 、 Motor Current 、 straight line
speed、rotor absolute position、Instructions Pulse Frequency、operation
state、input and output terminal signal etc
保护功能超速、主电源过压欠压、过流、过载、制动异常、编码器异常、控制电源异
Defensive 常、位置超差等
function Overspeed 、 Overvoltage or undervoltage of main power supply 、
Overcurrent、Overload、Abnormal of main Power、Abnormal Encoder、
abnormalcontrol power supply、out of tolerance etc.
适用负载惯量小于电机惯量的 5 倍
Suitable load Less than 5 times of motor inertia
inertia
168
8.4 伺服电机型号 Types of servo motor
130 M S L 150 1 5 F Z
机座号：1 3 0 （m m ）配置失电制动器
F：复合式增量编码器（2 5 0 0C/T）
武汉迈信：M a x sine
F1：省线式增量编码器（2 5 0 0C/T）
E：单圈 1 7 b it总线式编码器
S:基本型 M：多圈 1 7 /3 3 b it总线式编码器
A:备选型号 1 R：一对极旋转变压器
B:备选型号 2
额定转速（×1 0 0 r p m ）
L：驱动器适配电压 A C 2 2 0 V
H：驱动器适配电压 A C 3 8 0 V 额定转矩（×0.1 N ·m ）
8.6 伺服电机接线 Servo motor wiring
60、80、90系列接线方法见各自规格介绍，110、130、150、180系列电机接线如下：
Please find the Wiring method of 60 、 80 and 90 series in related specification
introduction.
Series 110,130,150,180 wiring methods are as follows:
169
8.6.1 绕组接线 Winding wiring
端子符号端子序号端子说明

Terminal Terminal Terminal explanation
symbol number
U 2 电机U相电源输入
U phase drive input
V 3 电机V相电源输入
V phase drive input
W 4 电机W相电源输入
W phase drive input
1 电机外壳接地端子
Ground terminal of motor case
8.6.2 制动器 Holding brakes

symbol number
DC+ 1 制动器电源为直流电源
DC- 2 无极性接入要求
The brake power supply is DC, without polarity
insert requirement
3 电机外壳接地端子
Ground terminal of motor case
8.6.3 增量式标准编码器 Standard Incremental Encoder

symbol number
5V 2 编码器5V电源输入
0V 3 5V input power
A+ 4 编码器A相输出
A- 7 A phase output
170
B+ 5 编码器B相输出
B- 8 B phase output
Z+ 6 编码器Z相输出
Z- 9 Z phase output
U+ 10 编码器U相输出
U- 13 U phase output
V+ 11 编码器V相输出
V- 14 V phase output
W+ 12 编码器W相输出
W- 15 W phase output
PE 1 编码器外壳
Metal case of encoder
8.6.4 增量式省线编码器 Incremental saving wire encoder

symbol number
5V 2 编码器5V电源输入
0V 3 5V input power
A+ 4 编码器A相输出
A- 7 A phase output
B+ 5 编码器B相输出
B- 8 B phase output
Z+ 6 编码器Z相输出
Z- 9 Z phase output
PE 1 编码器外壳
Metal case of encoder
8.7 伺服电机参数 Parameters of servo motor
8.7.1 60 系列电机参数 Parameters of 60 series servo motor
电机型号 60系列
Motor Model 60 series
171
00630 01330 01930
额定功率（kW）
0.2 0.4 0.6
Rated Power（kw）
额定线电压（V）
Rated Line Voltage 220 220 220
（V）
额定线电流(A)
Rated Line 1.5 2.8 3.5
Current(A)
额定转速(rpm)
3000 3000 3000
Rated Speed(rpm)
额定力矩(N∙m)
0.637 1.27 1.91
Rated Torque(N∙m)
峰值力矩(N∙m)
1.911 3.8 5.73
Peak Torque(N∙m)
2
转子惯量(kg∙m ) -4 -4 -4
2
0.17×10 0.302×10 0.438×10
Rotor Inertia(kg∙m )
编码器线数(PPR)
Lines of 2500
Encoder(PPR)
电机绝缘等级
Motor Insulation ClassB(130℃)
Class
防护等级
IP64
Protection Level
使用环境环境温度：-20℃ ～ +50℃ 环境湿度：相对湿度<90%（不含结霜条件）
Operating Temperature：-20℃ ～ +50℃ Humidity: Relative
Environment Humidity<90%（not including condensing condition）
172
60
4-Φ4.5
A
Φ50 h7
Φ 14h 6
20
A 3 7
30 L Φ7 0
A-A
规格
5 S iz e 0.6 3 7 N · m 1.2 7 0 N · m 1.9 1 0 N · m
L(m m ) 102 122 146
11 0 -0.1
编码器线序： Line Order of Encoder

插座编号
Socket 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
No.
引线定义
Lead
PE 5V 0V B+ Z- U+ Z+ U- A+ V+ W+ V- A- B- W-
Definitio
n
电机型号 80系列 80 series

Motor Model 01330 02430 03520 04025
额定功率（kW） 0.73
0.4 0.75 1.0
Rated Power（KW）
额定线电压（V） 220
Rated Line 220 220 220
Voltage（V）
额定线电流(A) 3.0
Current(A)
额定转速(rpm) 2000
3000 3000 2500
Rated Speed(rpm)
额定力矩(N∙m) 1.27 2.39 3.5 4.0
173
Rated Torque(N∙
m)
峰值力矩(N∙m) 10.5
3.8 7.1 12
Peak Torque(N∙m)
2 -4
转子惯量(kg∙m ) 2.63×10
-4 -4 -4
Rotor Inertia(kg∙ 1.05×10 1.82×10 2.97×10
2
m)
Lines of 2500
Encoder(PPR)
电机绝缘等级
Class
防护等级
IP65
Protection Level
Operating Temperature：-20℃ ～ +50℃ Humidity：Relative Humidity<90% (not
Environment including condensing condition）
8 0 .0 0
Φ9 0
A
Φ19h6
Φ70h7
A 25
3
8
L
4-Φ4.5
35
A-A
6
规格 s iz e 1.2 7 N · m 2.3 9 N · m 3.5 0 N · m 4.0 0 N · m
15.5 L(m m ) 123 150 178 190
插座编号
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Socket
174
No.
引线定义
Lead
Definitio
n
电机型号 Motor 90系列 90 series

Model 02430 03520 04025
0.75 0.73 1.0
Rated Power（KW）
Rated Line Voltage 220 220 220
（V）
额定线电流(A)
Current(A)
额定转速(rpm)
3000 2000 2500
Rated Speed(rpm)
额定力矩(N∙m)
2.4 3.5 4.0
Rated Torque(N∙m)
峰值力矩(N∙m)
7.1 10.5 12.0
Peak Torque(N∙m)
2
转子惯量(kg∙m )
-4 -4 -4
Rotor Inertia(kg∙ 2.45×10 3.4×10 3.7×10
2
m)
Lines of 2500
Encoder(PPR)
电机绝缘等级
Class
防护等级
IP65
Protection Level
175
Operating Temperature：-20℃ ～ +50℃ Humidity： Relative Humidity<90%（not
8 6 ±0. 3
Ø1 1 3
A
Ø80h 7
Ø16h 6
A
3
25
35
L 4 -Ø6. 5
Ø1 0 0
A-A 5
规格 s iz e 2.4N · m 3.5N · m 4.0N · m
L(m m ) 149 171 181

13
0 -0.1
插座编号
Socket 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
No.
引线定义
Lead
Definitio
n
8.7.4 110 系列电机参数 Parameters of 11

1100 series servo motor
电机型号 110系列电机规格 110 series

Motor Model 02030 04020 04030 05020 05030 06020 06030
Rated Power（KW） 0.6 0.8 1.2 1.0 1.5 1.2 1.8
Rated Line 220 220 220 220 220 220 220
Voltage（V）
176
额定线电流(A)
Rated Line 2.5 3.5 5.0 5.0 6.0 4.5 6.0
Current(A)
额定转速(rpm)
Rated 3000 2000 3000 2000 3000 2000 3000
Speed(rpm)
额定力矩(N∙m)
Rated Torque(N∙ 2.0 4.0 4.0 5.0 5.0 6.0 6.0
m)
峰值力矩(N∙m)
Peak Torque(N∙ 6.0 12 12 15 15 18 18
m)
2
Rotor Inertia(kg∙ 0.31×10-3 0.54×10-3 0.54×10-3 0.71×10-3 0.63×10-3 0.76×10-3 0.76×10-3
2
m)
Lines of 2500
Encoder(PPR)
电机绝缘等级
Class
防护等级
IP65
Protection Level
使用环境环境温度：-20℃～+50℃ 环境湿度：相对湿度<90%（不含结霜条件）

Operating Temperature：-20℃ ～ +50℃ Humidity： Relative Humidity<90%（not
177
110
A
Φ9 5h7
Φ 19h6
2.5 40
A 5
12
Φ1 3 0
L
4-Φ 9
55
A-A
6
规格
s iz e 2.0N · m 4.0N · m 5.0N · m 6.0N·m
L(m m ) 159 189 204 219
15.5 0 -0.1

系列电机参数

Motor Model 04025 05025 06025 07720 07725 10010 10015 10025 15015 15025
Rated Power 1.0 1.3 1.5 1.6 2.0 1.0 1.5 2.6 2.3 3.8
（KW）
Rated Line 220 220 220 220 220 220 220 220 220 220
Voltage（V）
额定线电流 (A)
Rated Line 4.0 5.0 6.0 6.0 7.5 4.5 6.0 10 9.5 13.5
Current(A)
178
额定转速 (rpm)
Rated 2500 2500 2500 2000 2500 1000 1500 2500 1500 2500
Speed(rpm)
额定力矩(N ∙ m)
Rated 4.0 5.0 6.0 7.7 7.7 10 10 10 15 15
Torque(N∙m)
峰值力矩(N ∙ m)
Peak Torque(N 12 15 18 22 22 20 25 25 30 30
∙m)
转子惯量
2
(kg∙m ) 0.85× 1.06× 1.26× 1.58× 1.53× 1.94× 1.94× 1.94× 2.77× 2.77×
-3 -3 -3 -3 -3 -3 -3 -3 -3 -3
Rotor 10 10 10 10 10 10 10 10 10 10
2
Inertia(kg∙m )
编码器线数
Lines of
2500
Encoder(PPR)
(PPR)
电机绝缘等级
Motor
ClassB(130℃)
Insulation
Class
防护等级
Protection IP65
Level
使用环境环境温度：-20℃ ～+50℃ 环境湿度：相对湿度<90%（不含结霜条件）

Operating Temperature：-20℃ ～ +50℃ Humidity： Relative Humidity<90%（not including
Environment condensing condition）
179
130
A
Φ1 10h7
Φ 22h6
2.5 40
A
5
14
L Φ1 4 5
57 4 -Φ9
6
A-A
规格 1 0 .0N · m 1 5 .0N · m
s iz e 4.0N · m 5.0N · m 6.0N · m 7.7N · m
1000 r p m 1500r p m 2500 r p m 1500r p m 2500r p m
L(m m ) 166 171 179 192 213 213 209 241 231
18.5
8.7.6 150 系列电机参数 Parameters of 15

1500 series servo motor

Motor Model 15025 18020 23020 27020
Rated Power 3.8 3.6 4.7 5.5
（KW）
Rated Line 220 220 220 220
Voltage（V）
额定线电流(A)
18.5-
Rated Line 16.5 16.5 20.5 20.5
Current(A)
额定转速(rpm)
Rated 2500 2000 2000 2000
Speed(rpm)
180
额定力矩(N∙m)
Rated Torque(N∙ 15.0 18.0 23.0 27.0
m)
峰值力矩(N∙m)
Peak Torque(N∙ 45.0 54.0 69.0 81.0
m)
2
转子惯量 (kg ∙ m )
-3 -3 -3 -3
Rotor Inertia(kg 6.15×10 6.33×10 8.94×10 11.19×10
2
∙m )
Lines of 2500
Encoder(PPR)
电机绝缘等级
Class
防护等级
IP65
Protection Level
使用环境环境温度：-20℃ ～+50℃ 环境湿度：相对湿度<90%（不含结霜条件）

Operating Temperature：-20℃ ～ +50℃ Humidity： Relative Humidity<90%
Environment （not including condensing condition）
181
150
A
Φ13 0h7
Φ 28h6
5
55
14
L 4-Φ 1 1
Φ1 7 4
81
A-A 8 0 -0.03
规格 s iz e 1 5 .0N · m 1 8 .0N · m 2 3 .0N · m 2 7 .0N·m
L(m m ) 231 250 280 306
24 0 -0.1
电机型号 180系列 180 series

Motor Model 17215 19015 21520 27015 35015 48015
7.5
额定功率（kW）Rated
2.7 3.0 4.5 4.3 5.5
Power（KW）
Rated Line 220 220 220 220 220
Voltage（V）
额定线电流(A) 32
Rated Line 10.5 12 16 16 19
Current(A)
182
1500
额定转速(rpm)
1500 1500 1500 1500 1500
Rated Speed(rpm)
额定力矩(N∙m) 48
Rated Torque(N∙ 17.2 19 21.5 27 35

m)
96
峰值力矩(N∙m)
43 47 53 67 70
Peak Torque(N∙m)
-3
2
9.5×10
-3 -3 -3 -3 -3
Rotor Inertia(kg∙ 3.4×10 3.8×10 4.7×10 6.1×10 8.6×10
2
m)
Lines of 2500
Encoder(PPR)
电机绝缘等级
Class
防护等级
IP65
Protection Level
环境温度：-20℃ ～+50℃ 环境湿度：相对湿度<90%（不含结霜条件）

使用环境 Operating
Temperature：-20℃ ～ +50℃ Humidity：Relative Humidity<90%（not
Environment
including condensing condition）
183
180
18
A
Φ35h6
Φ11 4.3h 7
3
51
A 3.2 0
65 L 4-Φ1 3 .5
Φ2 0 0
A A
10-
规格 s iz e 1 7 .2N · m 1 9 .0N · m 2 1 .5N · m 2 7 .0N · m 3 5 .0N · m 4 8 .0N · m
L(m m ) 226 232 243 262 292 346
30
备注 remarks
184
185
附录 1 西门子数控系统连接
Appendix 1 connection for SIEMENS

CNC system
由于西门子数控系统 801、802S 的接口比较特殊，提供专用转换板来接驳西门子数

控系统。
Because of the special interface of the SIEMENS 801、802S CNC system. A special type
is provided for SIEMENS CNC system
1. 接线图 wiring diagram
M a xs ine
P1 1
迈信转换头V2
P1N 2
D1 3
D1N M a xsine
4 E P 100伺服驱动器
E1 5 J4 J1
E1N 6 连接
7 B R K 1+ 电
8
缆
B R K 1-
信号电缆 9 BER O 1
X4
P2 CN1
1
1）
P2N 2
RO
D2 3
D2N 4
BE
E2 5 J5 J2
用于
E2N
SIN U M ER IK 6
7 B R K 2+
（
801 C N C 8 B R K 2-
导线
9 BER O 2
接
M a xsine
电
缆
3
4 1
X20
导线（用于 B E R O 2） 2
3
10 4
5 J6 J3
6
7 CN1
M2 4
8
9
＋
P2 4 （＋ 2 4 V）
2 4 V dc 1
电源－ M2 4 （0V） 2 J7
186
Maxsine
迈信转换头V2
P1 1 Maxsine
P1N 2
D1 transformation Maxsine
3
D1N 4 he a d V 2 E P 100伺服驱动器
E1 E P 100 servo drive
5 J4 J1
E1N 6 连
信号电缆 7 B R K 1+ Co 接电
Signal cable 8 B R K 1-
nn e 缆
9 BER O 1 c a b c t in g
X4
le
CN1
R O r e (u s ）
P2 1
1
1) e d
P2N
fo r i n g w E R O
2
D2 3
D2N 4
于B
i
E2
E2N
5 J5 J2
SIN U M ER IK
c o n （用
6
BE
t
7 B R K 2+
du c
线
801 C N C 8 B R K 2-
连 n n e bl e
导
C o ca
接 ct
BER O 2 Maxsine
电 i ng
缆
3 E P 100 servo drive
4 1
导线（用于 B E R O 2）
X20
2
10
Conducting wire (used for 3
B E R O 2) 4
5 J6 J3
6
7 CN1
M2 4
8
9
2 4 V dc
电源 P2 4 （＋ 2 4 V）
＋ 1
2 4 V dc
pow er － M2 4 （0V） 2 J7
s upply
图中 J1、J2、J3 是 DB15 插座(母头)，与驱动器的 CN1 连接，连接电缆用 10 芯双

绞屏蔽线，BRK+、BRK-是驱动器的一组输出信号，用于电机的失电制动器的控制。
In the picture, J1 、 J2 、 J3 are DB15 socket(female), connect with CN1 of drive, the
connection cable adapts double-twisted shield wire with ten cores, BRK+、BRK- are one set
output signal of drive, which is used for control the power-off brake of motor.
转换头 3 11 1 9 2 10 8 7 6 14 15
Transforma
tion head
J1/J2/J3
定义 COM+ SON PULS+ PULS- SIGN+ SIGN- OZ+ OZ- BRK+ BRK- FG 屏蔽线
defination FG shield
wire
驱动器 CN1 18 10 32 33 34 35 5 6 30 31 36
Drive CN1
187
2. 连接电缆 connecting cable
公司提供成品连接电缆，用户也可以自制。
We provide finifshed product connection cable, but users can also made by themselves.
� 电缆：LTK SK-2464-2251 10x26AWG 10 芯
� Cable：LTK SK-2464-2251 10x26AWG 10 cores
� 插头：（驱动器端）S361 36 芯
� Plug: (drive terminal) S361 36 cores
� 插头：（转换头端）DB15 15 芯针式
� Plug: (trsnsform ) DB15 15 cores pin type
转换头端电缆颜色驱动器端驱动器端子定义
DB15 15 芯针式（10 芯） S361 36 芯 Defination for
Transformation Corlor of cable drive terminal
head terminal
1 综 brown 32 PULS+
9 棕白 Brown/white 33 PULS-
2 黑 black 34 SIGN+
10 黑白 black 35 SIGN-
/white
6 绿 30 BRK+
green
14 绿白 31 BRK-
green/white
8 黄 yellow 5 OZ+
7 黄白 yellow/white 6 OZ-
3 红 red 18 COM+
11 红白 10 SON
red /white
15 裸线（屏蔽） 36 FG
Bare wire(shield)
188
版本履历 Edition antecedents
版本号发布时间变更内容

Edition number Published time Modify content
第6版 2004年11月
sixth edition November, 2004
第7版 2008年12月
seventh edition December,2008
第8版 2012年1月
eighth edition January, 2012
第9版 2012年10月
ninth edition October, 2012
武汉迈信电气技术有限公司
地址：湖北省武汉市东湖开发区武大
科技园武大园路 7 号航域 A6 栋
邮编：430063
销售热线：027-87920040
服务热线：027-87921284，
027-87921282/3 转 831/ 832/833
传真：027-87921290
网址：www.maxsine.com
Wuhan Maxsine Electric Co.,Ltd
Address: Building No. A6, Hangyu Building, No.7,
Wuhan University Science Park Road, East Lake
Development District, Wuhan City, Hubei Province,
China.
Zip: 430223
Central office: 027-87921282/027-87921283
Sales Tel: 027-87920040/027-87923040 transfer
809/817/818
Sales Fax：86-27-87921290
After service Tel: 027-87921284/027-87921282 转
831/832/833
Company Website: www.maxsine.com
2012 年 10 月编制
严禁转载∙复制
October,2012
Published
Forbid strictly
reprint and copy

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Maxsine

EP1 00 series AC servo driver

Wuhan Maxsine Electric Co.,Ltd

Wuhan Maxsine electric technology limited company all rights reserved.

Because improves and so on the reasons, the product specification or

Indicates a disoperation possibly can cause danger and physical injure or

5. Maintenance and inspection

第 1 章 产品检查与安装 Product inspection and installation..................................................... 1

Chapter 1 Product inspection and

1.1 产品检查 Product inspection

1.2 安装与接线 installation and wiring

� 电气控制柜内的安装 install the control cubicle.

1.3 安装方法 The method of installation

� 安装方向 install direction

伺服驱动器 伺服驱动器 伺服驱动器

1.4 伺服电机安装 Servo motor installation

1.4.1 安 装 环 境 条 件 The environmental conditions for

1.4.2 安装方法 The method of installation

1.5 电 机 旋 转 方 向 定 义 The definition of rotating

2.1 配线规格 wring specification

� 线径：R、S、T、PE、U、V、W 端子线径≥1.5mm2(AWG14-16)，r、t 端子线径≥

2.2 配线方法 wring methods

2.3 注意事项 notes

� 驱动器 U、V、W 的接线端子必须与电机端子 U、V、W 一一对应，注意不能用调

2.4 标准连接 Standard wiring

2.4.1 位置控制 Position control

9 GND GND 编码器信号地

M a x sine SER VOM OT OR

CCW Torque Limit F IL 16

9 GND GND Ground of

Picture 2.1 Standard wiring for position control

2.4.2 速度控制 speed control

FG 36 9 GND GND 编码器信号地

2.4.3 转矩控制 torque control

FG 36 9 GND GND 编码器信号地

picture 2.3 standard wiring for torque control

3.1 EP100-2A/3A 驱 动 器 电 源 端 子 TB EP100-2A/3A

Control signal input/output terminal CN1

控制方式简称：P 代表位置控制方式 ； S 代表速度控制方式；T 代表转矩控制方式。

端子号 信号名称 记号 I/O 方式 功能

端子号 信号名称 记号 I/O 方式 功能

端子号 信号名称 记号 I/O 方式 功能

19 模拟速度指 AS＋ Type4 S 外部模拟速度指令输入端子，差分方式，输入

23 模拟地 AGND 模拟输入的地线。

端子号 信号名称 记号 I/O 方式 功能

5 编码器 Z 相 OZ＋ Type5

7 编码器 Z 相 CZ Type6 � 编码器 Z 相信号由集电极开路输出，编

3.3 编 码 器 信 号 输 入 端 子 CN2 encoder signal input

表 3.3 编码器信号输入端子 CN2

3.4 接口端子配置 Terminal disposition for interface

图 3.1 为伺服驱动器接口端子 CN1 配置图。CN1 为 36 芯接插件。图 3.2 为伺服驱

图 3.1 CN1 插头焊片（S361，面对插头的焊片看）

Figure 3.1 the soldering lug of the CN1 plug（face to lug）

图 3.2 CN2 插头焊片（S261，面对插头的焊片看）

3.5.1 开关量输入接口 switch value input interface

图 3.3 Type1 开关量输入接口

3.5.2 开关量输出接口 switch value output interface

3.5.33 脉冲量输入接口 pulse value input interface

图 3.5 Type3 脉冲量输入接口的差分驱动方式

图 3.6 Type3 脉冲量输入接口的单端驱动方式

脉冲指令形式 CCW CW 参数设定值

CW trh CCW trl CW

图 3.7 脉冲+符号输入接口时序图(最高脉冲频率 500kHz)

图 3.8 CCW 脉冲/CW 脉冲输入接口时序图(最高脉冲频率 500kHz)

第 1 章产品检查与安装 Product inspection and installation..................................................... 1

伺服驱动器伺服驱动器伺服驱动器

1.4.1 安装环境条件 The environmental conditions for

1.5 电机旋转方向定义 The definition of rotating

3.1 EP100-2A/3A 驱动器电源端子 TB EP100-2A/3A

控制方式简称：P 代表位置控制方式； S 代表速度控制方式；T 代表转矩控制方式。

端子号信号名称记号 I/O 方式功能

端子号信号名称记号 I/O 方式功能

端子号信号名称记号 I/O 方式功能

端子号信号名称记号 I/O 方式功能

3.3 编码器信号输入端子 CN2 encoder signal input

报警代码报警名称运行状态原因处理方法

报警代码报警名称运行状态原因处理方法

报警代码报警名称运行状态原因处理方法

报警代码报警名称运行状态原因处理方法

报警代码报警名称运行状态原因处理方法

d p -s p d 电机速度 (r/m i n ) r 1000 电机速度 1 0 0 0 r/m i n

IN H (指令脉冲禁止 ) IN H (command pulse inhibition)

系统上电： EEPROM参数区参数表

e e -s e t 参数写入：参数表 EEPROM参数区

ee- rd 参数读取： EEPROM参数区参数表

e e -d e f 恢复缺省值：参数缺省值参数表， EEPROM参数区

系统上电： EEPROM参数区参数表