Sinee EA180 Series Manuel utilisateur

EA180 Series Servo Drive Users Manual

Introduction

Thank you for choosing EA180 Series Servo Drives!

File No.: 31010184

Release Date: 2020/06

Version: 100

EA180 series servo drives are high-performance medium and small power AC servo units

developed by SINEE. This series of products adopt advanced DSP chips for motor control, large-scale

field programmable gate array (CPLD/FPGA) and PIM power module, and features high integration,

small size, perfect protection and high reliability. The optimized PID control algorithm enables

accurate full-digital control of torque, position and speed to achieve high precision and fast response. It

provides advanced functions such as rigid selection, real-time automatic gain setting, automatic

resonance suppression, etc. In addition, the products have rich digital and analog interfaces and

support MODBUS communication protocol to facilitate networking. The two sub-series respectively

support motors using 2500 PPR incremental pulse encoders or 17-bit incremental magnetic encoders,

Tamagawa's 17-bit incremental photoelectric encoders and 23-bit absolute photoelectric encoders to

meet different requirements on cost and performance. The products can be widely used in automation

fields such as numerical control machine tools, printing and packaging machinery, textile machinery,

robots, automatic production lines, etc.

The EA180 series servo drives are also available in three models supporting EtherCAT bus

(EA180E), CANopen bus (EA180C) and PROFINET bus (EA180P).

We have been committed to the continuous improvement of products and product

information. Therefore, the information provided by us is subject to change without prior notice.

For the latest changes and more information, please visit www.sineedrive.com.

EA180 Series Servo Drive Users Manual

Safety Precautions

Safety definitions: In this Manual, safety precautions include the following two types:

Danger: Danger caused by failure to operate as required, which may lead to

serious injuries and even death;

Attention: Danger caused by failure to operate as required, which may lead to

moderate or minor injuries and equipment damage;

Please read this chapter carefully when installing, debugging and repairing this system, and be sure

to operate according to the safety precautions required herein. We bear no liability for any injury

and loss caused by illegal operation.

Safety Precautions

Before installation:

Danger

1. If it is found that the package is flooded, any parts are missing or damaged after unpacking,

please do not install the device!

2. If the mark on the outer package does not match the name of the physical product, please do

not install the device!

Attention

1. Please handle the device gently, otherwise it may be damaged!

2. Do not use damaged servo drives or servo drives with missing parts, otherwise there is a

risk of injury!

3. Do not touch any component of the control system with your hands, otherwise electrostatic

damage may be caused!

During installation:

Danger

1. Please install the device on metal or other flame retardant objects and keep it away from

combustible materials, otherwise a fire may be caused!

Attention

1. Please prevent any lead end or screw from falling into the servo drive, otherwise the device

will be damaged!

2. Please install the servo drive in a place with less vibration and no direct sunlight.

3. When the servo drive is placed in a relatively closed cabinet or space, please reserve the

installation gap to ensure the cooling effect.

When wiring:

Danger

1. The instructions in this Manual must be followed and used by professional electrical

engineers, otherwise unexpected risks will occur!

2. There must be a circuit breaker between the servo drive and the power supply, otherwise a

fire may occur!

3. Please make sure the power supply is in zero energy state before wiring, otherwise electric

shock may be caused! The servo drive must be grounded correctly according to the

standard, otherwise electric shock may be caused!

4. The grounding terminal must be grounded reliably, otherwise electric shock or a fire may be

caused.

EA180 Series Servo Drive Users Manual

Attention

1. Never connect the input power supply to the output terminals (U, V, W) of the servo drive.

Pay attention to the marking on the wiring terminals to ensure correct wiring! Otherwise,

the servo drive will be damaged!

2. Please ensure that the power lines comply with EMC requirements and local safety

standards. Please refer to the recommendations for the preferred wire diameter, otherwise

accidents may occur!

3. Never connect the braking resistor directly between the DC bus P + and - terminals!

Otherwise, it will cause a fire!

4. Please fasten the terminals with a screwdriver with the specified torque, otherwise a fire

may be caused.

5. Never connect a phase-shift capacitor and LC/RC noise filter to the output circuit.

6. Never connect an electromagnetic switch or magnetic contactor to the output circuit.

Otherwise, the overcurrent protection circuit of the servo drive will operate, which will

cause internal damage to the servo drive in serious cases.

7. Do not remove the connection cables inside the servo drive, otherwise it may cause internal

damage to the servo drive.

Before power-on:

Attention

1. Please confirm whether the voltage level of the input power supply is consistent with the

rated voltage level of the servo drive and whether the wiring positions on the power input

terminals (L1, L2, L3) and output terminals (U, V, W) are correct; and pay attention to

check whether there is any short circuit in the peripheral circuit connected with the servo

drive and ensure the wire connections are reliable, otherwise the servo drive may be

damaged!

2. Withstand voltage test has been performed for the product before delivery from the factory,

and it's not necessary to do it again for any part. Otherwise, an accident may be caused!

Attention

1、The servo drive must be covered with the cover plate before being powered on, otherwise it

may cause electric shock!

2、The wiring of all peripheral fittings must be performed correctly according to the

instructions and circuit connection method in this Manual. Otherwise, an accident may be

caused!

After power-on:

Danger

1. Do not touch the servo drive and peripheral circuits with wet hands, otherwise an electric

shock may be caused!

2. After power-on, if the indicator light is not on or the keypad displays nothing, please

disconnect the power switch immediately. Do not touch the servo drives L1, L2, L3 or any

connection terminals by hand or screwdriver, otherwise an electric shock may be caused.

After disconnecting the power switch, contact our customer service personnel

immediately.

3. At the beginning of power-on, the servo drive will automatically carry out safety detection

on the external strong current circuit. At this time, never touch the U, V, W connection

terminals of the servo drive or the motor connection terminals, otherwise an electric shock

may be caused!

EA180 Series Servo Drive Users Manual

Attention

1. If parameter identification is required, please pay attention to the danger of injury caused by

motor rotation, otherwise accidents may occur!

2. Do not change the default parameters of the servo drive, otherwise it may cause damage to

the device!

During operation:

Danger

1. Do not test the temperature by touching the cooling fan, radiator, servo motor or discharge

resistor, otherwise it may cause burns!

2. Non-professional technicians are not allowed to detect signals during operation, otherwise

personal injury or equipment damage may be caused!

Attention

1. Please prevent anything from falling into the servo drive during its operation, otherwise the

device may be damaged!

2. Do not control the start and stop of servo drive by switching on or off the contactor,

otherwise the device may be damaged!

3. Do not touch the rotating shaft of a running motor, otherwise it may cause injury!

During maintenance:

Danger

1. Please do not repair or maintain the device when powered on, otherwise an electric shock

may occur!

2. Cut off the power supply of the main circuit and confirm that the CHARGE indicator light

is off before maintenance or repair of the servo drive, otherwise personal injury may be

caused by the residual charge on the capacitor!

3. Personnel without professional training is not allowed to repair and maintain the servo

drive, otherwise personal injury or equipment damage may be caused!

4. After replacing a variable servo drive, the parameters must be set, and power must be cut

before plugging or unplugging of any pluggable component!

Precautions

If there is any voltage-sensitive component or capacitor to improve the power factor on the

output side:

The servo drive outputs PWM waves. If there is any capacitor or voltage-sensitive component to

improve the power factor or capacitor for lightning protection on the output side, instantaneous

overcurrent of or even damage to the servo drive may be easily caused. Please do not use it.

Lightning shock protection

This series of servo drives are equipped with lightning overcurrent protection unit, which have

certain self-protection capability for induced lightning. For areas with frequent lightning, lightning

protection device should also be installed before the servo drive.

Altitude and derating

In areas with an altitude of more than 1,000m, the servo drive will have a poor cooling effect due

to thin air, so it is necessary to derate the device. Please consult us for technical advice in such a

case.

Attention for servo drive scrapping

The electrolytic capacitor in the main circuit and the one on the PCB may explode during

incineration, and toxic gases will be generated during incineration of plastic parts. Please treat

them as industrial waste.

EA180 Series Servo Drive Users Manual

Maintenance and Inspection

Please carry out regular maintenance and inspection on the drive and motor for safe use.

Notes for maintenance and inspection

1) The operator should first cut off the power supply. Do not approach the motor and the machine

it drives when wrong actions occur during power-on.

2) For a short period of time after the power supply is cut off, the internal circuit still maintains a

high voltage charging state. Before inspection, the power supply must be cut off; wait for 10

minutes, and make sure that the charging light is completely off.

3) If it is necessary to test the insulation resistance of the drive, all connections to the drive must

be cut off. Insulation resistance test on the drive connected with wires or a motor will damage

the device.

4) Do not use gasoline, diluents, acidic or alkaline detergents to clean the device, otherwise

discoloration or damage to the case may occur.

Inspection items and frequencies

Normal use conditions

Daily inspections and regular inspections shall be carried out according to the following list

below.

Inspection

Frequency

Items

Daily

inspection

Daily

Confirm the use environment (temperature and humidity,

dust, foreign matters)

Check for any abnormal vibration or sounds

Check whether the power supply voltage is in the normal

range

Check for peculiar odors

Check for fiber adhesion at the vents

Check whether connections are clean and tight

Check for wire damage

Check whether any connection with the device is loose or

eccentricity occurs

Check whether any foreign matter has entered the

mechanical transmission part

Regular

inspection

Yearly

Check whether any fastening part is loose

Check for signs of overheating

Check whether there is any oil leakage in the transmission

mechanism and whether the shaft extension of the motor

has been polluted.

Check whether the terminals are intact

Check whether any connection between wires and the

drive is loose

The environmental conditions are as follows: the annual average temperature is 30 ℃,

the average load rate is below 80%, and the daily operation time is below 20 hours.

EA180 Series Servo Drive Users Manual

Table of Contents

CHAPTER 1 PRODUCT INFORMATION..........................................................................................................................8

1.1 CONFIRMATION UPON UNPACKING...............................................................................................................................8

1.2 EA180 SERVO DRIVE ...................................................................................................................................................8

1.3 SERVO MOTOR...........................................................................................................................................................12

1.4 CONFIRM SERVO DRIVE AND MOTOR MODELS............................................................................................................13

CHAPTER 2 INSTALLATION ......................................................................................................................................... 14

CHAPTER 2..........................................................................................................................................................................14

2.1 NOTES FOR INSTALLATION.........................................................................................................................................14

2.2 ENVIRONMENTAL CONDITIONS FOR STORAGE............................................................................................................14

2.3 ENVIRONMENT CONDITIONS FOR INSTALLATION........................................................................................................14

2.4 INSTALLATION DIRECTION AND SPACE OF SERVO DRIVE.............................................................................................15

2.5INSTALLATION DIRECTION AND SPACE OF SERVO MOTOR ...........................................................................................15

2.6 SUGGESTIONS FOR CIRCUIT BREAKERS AND FUSES....................................................................................................17

2.7 SELECTION OF BRAKING RESISTOR ............................................................................................................................17

2.8 EMI FILTERS .............................................................................................................................................................18

CHAPTER 3 WIRING................................................................................................................................................... 19

CHAPTER 3..........................................................................................................................................................................19

3.1 PERIPHERALS CONNECTION.......................................................................................................................................19

3.2 MAIN CIRCUIT TERMINAL CONNECTION.....................................................................................................................20

3.3 CN5 ENCODER SIGNAL TERMINAL.............................................................................................................................24

3.4 CN4 CONTROL SIGNALTERMINAL .............................................................................................................................26

3.5 CN2AND CN3 COMMUNICATION TERMINAL WIRING.................................................................................................36

3.6 CN1ANALOG OUTPUT TERMINAL..............................................................................................................................37

3.7 BRAKE ......................................................................................................................................................................37

3.8 STANDARD WIRING DIAGRAM OF CONTROL CIRCUIT..................................................................................................40

3.9 NOTES FOR CONTROL CIRCUIT WIRING ......................................................................................................................41

CHAPTER 4 DISPLAY AND OPERATION ....................................................................................................................... 42

CHAPTER 4..........................................................................................................................................................................42

4.1 APPEARANCE OF DISPLAY AND BUTTONS...................................................................................................................42

4.2 OVERVIEW OF DRIVE OPERATING MODES...................................................................................................................43

4.3 INITIALIZATION MODE

........................................................................................................................................43

4.4 STATUS MONITORING MODE

...............................................................................................................................43

4.5 PARAMETER MONITORING MODE

........................................................................................................................45

4.6 PARAMETER SETTING MODE

...............................................................................................................................46

4.7 CHANGED PARAMETER MODE

............................................................................................................................47

4.8 WARNING AND ALARM MODE

.............................................................................................................................48

4.9 AUXILIARY FUNCTION MODE

A F

.............................................................................................................................49

4.10 AUXILIARY FUNCTION OPERATION.........................................................................................................................50

CHAPTER 5 TRIAL RUN .............................................................................................................................................. 53

CHAPTER 5..........................................................................................................................................................................53

5.1 DRIVE POWER-ON......................................................................................................................................................53

5.2TRIAL RUN.................................................................................................................................................................53

5.3 SERVO ENABLE METHOD ...........................................................................................................................................54

CHAPTER 6 ADJUSTMENT.......................................................................................................................................... 55

CHAPTER 6..........................................................................................................................................................................55

6.1POSITION CONTROL MODE BLOCK DIAGRAM .............................................................................................................55

6.2 SPEED CONTROL MODE BLOCK DIAGRAM ..................................................................................................................56

6.3 TORQUE CONTROL MODE BLOCK DIAGRAM ...............................................................................................................57

6.4 GAIN ADJUSTMENT SUMMARY...................................................................................................................................58

EA180 Series Servo Drive Users Manual

6.5 REAL-TIME AUTO GAIN ADJUSTMENT ........................................................................................................................61

6.6 OFFLINE INERTIA IDENTIFICATION .............................................................................................................................62

6.7 REAL-TIME AUTO GAIN ADJUSTMENT ........................................................................................................................62

6.8 RIGIDITYADJUSTMENT COEFFICIENT.........................................................................................................................63

6.9 MECHANICAL RESONANCE SUPPRESSION ..................................................................................................................63

6.10 MANUAL GAIN ADJUSTMENT (BASIC).....................................................................................................................65

6.11 MANUAL GAIN ADJUSTMENT (APPLICATION)..........................................................................................................68

CHAPTER 7 FUNCTION PARAMETER TABLE................................................................................................................ 72

CHAPTER 7..........................................................................................................................................................................72

7.1 FUNCTION PARAMETER DEFINITION...........................................................................................................................72

7.2 FUNCTION PARAMETER TABLE...................................................................................................................................72

CHAPTER 8 WARNING, ALARM AND TROUBLESHOOTING ......................................................................................... 99

8.1 ALARM DIAGNOSIS AND TROUBLESHOOTING.............................................................................................................99

8.2 WARNING DIAGNOSIS AND TROUBLESHOOTING.......................................................................................................105

CHAPTER 9 SPECIFICATIONS .................................................................................................................................... 107

9.1 EA180 SERVO DRIVE SPECIFICATIONS.....................................................................................................................107

9.2 DIMENSIONS OF EA180 SERVO DRIVE .....................................................................................................................108

9.3 SERVO MOTOR SPECIFICATIONS ...............................................................................................................................110

9.4 SERVO MOTOR DIMENSIONS.....................................................................................................................................113

9.5 OVERLOAD CHARACTERISTICS OF SERVO MOTOR....................................................................................................115

EA180 Series Servo Drive Users Manual

Chapter 1 Product Information

1.1 Confirmation upon unpacking

In order to check if there is negligence in the purchase and delivery of this product, please check

the items listed in the following table in detail:

Items

Content

Is it consistent with the model

you ordered?

Check the product model on the motor and drive nameplates

respectively.

If cables are ordered, check the type and length listed on the

label of the cables.

Is there any damage during

transportation?

Visually inspect the appearance for any damage or scratches

Does the motor shaft run

smoothly?

Rotate the motor shaft by hand. If it can run smoothly, it

means that the motor shaft is normal. However, the motor with

a brake cannot be rotated by hand!

1.1.1 Afully operable servo assembly shall include:

1) A servo drive and a matching servo motor.

2) An encoder signal line connecting the mother seat of the motor-side encoder and the CN5

terminal of the drive.

3) A motor power line with four core wires of U (red), V (white or blue), W (black or brown) and

PE (yellow and green) (a motor with a brake should also have two power lines for the brake).

U, V and W wires must be connected to the corresponding terminals on the drive in sequence,

and PE wire must be connected to the ground terminal of the drive.

4) The DB44 connector for CN4 can be used to make control lines according to actual needs.

Note:

1) It is strongly recommended to purchase encoder signal lines from SINEE.

2) The colors of internal core wires of your motor power line purchased may be different

from the above description. Therefore, please be sure to follow the letter marks on the core

wires rather than colors.

1.2 EA180 servo drive

1.2.1 Nameplate description

Model

Applicable

motor power

Power supply

Output

Barcode

S/N

Rated output current

EA180-8R5-3B

XXXXXX Software version

8.5A

If there is any abnormal situation, please contact the agent for a proper solution.

EA180 Series Servo Drive Users Manual

1.2.2 Product model description

8R4

EA: Servo drive

Encoder Type

A: pulse incremental

B: serial communication

Power Supply

1: Single-phase 220V

2: single/three-phase

220V

3: Three-phase 380V

Rated output current

EA 180 E-8R5-3B-XX

0110R9 2R5 4R8

11A

4.8A

2.5A0.9A

Product series

180: 180 Series

Interface

None: analog pulse

028

28A

…

Special version

E: EtherCAT

C: CANOPen

P: PROFINET

Note: 1): Products of AC220V, 4.8A - 6.2A apply to single-phase and three-phase AC220V power

supply, so there is no special single-phase AC220V product.

2): For products ofAC 220V, 11A and above, only the ones applicable to three-phase AC 220V

power supply are provided.

3): For products ofAC 220V, 2.5A and below, only the ones applicable to single-phase AC

220V power supply are provided.

1.2.3 Servo drive part names

LED display

Buttons

CHARGE Bus voltage

indicator lamp

L1C, L2C control

circuit power supply

L1, L2, L3 main circuit

power supply

P+,

P+, D, C

external braking resistor

CN5 encoder

connection terminal

PE grounding

terminal

5-bit 7-segment LED displays running state

Parameters

setting

Used to indicate whether the bus capacitance is in a charged state. When the

lamp is on, the capacitor inside the drive is charged even if the main circuit

power supply is OFF.

Refer to the nameplate

Refer to the nameplate (Size A model, i.e. 0R9, 1R6, 2R5 models have no

L3 terminal)

DC bus voltage terminal, for DC bus sharing

A short connector is installed between P+ and D by default; when using

external braking resistor, remove the short bar to create open circuit between P+

and D, and connect an external braking resistor between P+ and C. (Size A

model, i.e. 0R9, 1R6, 2R5 models have no D terminal)

Connected to servo motor U, V, W

Connected to the encoder of servo motor

Connected to power supply and servo motor ground

Connected to the upper controller

CN4 control terminal

CN2, CN3

comm terminal Two in parallel, including RS232, RS485, CAN comm. port

CN6

USB comm. port USB comm. port reserved

U, V, W

Servo motor

CN1 analog

Monitoring port Two analog outputs

CHARGE

CN4CN5 INCN3 OUTCN2 CN6

88888

SIZE A/B model part names

EA180 Series Servo Drive Users Manual

CN4CN5 INCN3 OUTCN2 CN6

CHARGE

88888

LED display

Buttons

CHARGE

Bus voltage indicator

lamp

L1C, L2C control

circuit power supply

L1, L2, L3

Main circuit power

supply

P+,

P+, D, Cexternal

braking resistor

CN5 encoder

connection terminal

PE grounding terminal

5-bit 7-segment LED displays running state

Parameters

setting

Used to indicate whether the bus capacitance is in a charged state. When the

lamp is on, the capacitor inside the drive is charged even if the main circuit

power supply is OFF.

Refer to the nameplate

P+, DC bus voltage terminal, for DC bus sharing

A short connector is installed between P+ and D by default; when using

external braking resistor, remove the short bar to create open circuit between P+

and D, and connect an external braking resistor between P+ and C. (Size D

models, i.e. 017, 022, 028 models have no D terminal)

Connected to servo motor U, V, W

Connected to the encoder of servo motor

Connected to power supply and servo motor ground

(PE terminals of SIZE D model are in the same row as other ones)

Connected to the upper controller

CN4 control terminal

CN2, CN3

comm terminal Two in parallel, including RS232, RS485, CAN comm. port

CN1 analog

Monitoring port Two analog outputs

U, V, W

Servo motor

SIZE C/D model part names

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