该页无缩略图
Safety Caution
Before product storage, installation, wiring, operation, inspection or maintenance, the user must be
familiar and comply with the following important matters to ensure to use the product safely .
Danger
Application
⚫ Forbidden to use the product when it is exposed to water gas, corrosive gas and
combustible gas. Or it could cause an electric shock or a fire.
⚫ Forbidden to use products in places with more direct sunlight, dust, salt and metal powder.
⚫ Forbidden to use products in places where water, oil and medicine are dripping.
Caution
Wiring
⚫ Please ground the grounding terminal reliably. Poor grounding may cause electric shock or
fire.
⚫ Please do not connect 380V power supply to 220 V servo drives, otherwise it will cause
equipment damage and electric shock or fire.
⚫ The U、V、W motor output terminal and the motor wiring terminal must be connected
one-to-one correspondence, otherwise the motor may cause equipment losing and
casualties caused by the over speed vehicle.
⚫ Please fasten the power supply and motor output terminals, otherwise it may cause fire.
Operation
⚫ When the mechanical equipment starts operation, it must match proper parameters. If it
does not adjust to the appropriate setting values, it may cause the mechanical equipment to
lose controlling.
⚫ Before starting operation, please confirm if you can start emergency switch shutdown at
any time.
⚫ Please test whether the servo motor is running normally without load firstly, and then
connect the load to avoid unnecessary loss.
⚫ Do not switch on and off power frequently, otherwise it will cause drive overheating.
Prohibition
Working
⚫ When the motor is running, it is forbidden to touch any parts in rotation, otherwise it will
cause casualties.
⚫ When the equipment is in operation, it is forbidden to move connecting cables, otherwise it
will cause injury to the person or damage to the equipment.
Version: V1.0.0
Table of Content
Chapter 1 Product Inspection And Installation .............................................................................. 1
1.1 Product Inspection ........................................................................................................... 1
1.2 Product Front Panel ......................................................................................................... 1
1.3 Product Installation.......................................................................................................... 3
Chapter 2 Servo Specifications...................................................................................................... 6
2.1 Servo Drive Specification................................................................................................ 6
2.2 Servo Drive Naming Rule ............................................................................................... 7
2.3 Servo Motor Naming Rule............................................................................................... 7
2.4 Servo Motor And Matched Servo Drive List ................................................................... 8
Chapter 3 Drive and Motor Dimension ......................................................................................... 9
3.1 Drive Dimension.............................................................................................................. 9
3.2 Motor Dimension........................................................................................................... 10
Chapter 4 Wiring and Introduction .............................................................................................. 12
4.1 Servo System Wiring ..................................................................................................... 12
4.2 Servo driver terminals Introduction............................................................................... 14
4.3 Main Circuit Terminal ................................................................................................... 15
4.4 CN1 Control Signal Terminal ........................................................................................ 16
4.5 CN2 Encoder Signal Terminal....................................................................................... 28
4.6 CN3 And CN4 Terminal Definition ............................................................................... 30
4.7 Anti-jamming Countermeasures of Power Wiring......................................................... 33
Chapter 5 Running Mode and Wiring.......................................................................................... 37
5.1 Position Control Mode................................................................................................... 37
5.2 Speed Control Mode Wiring .......................................................................................... 43
5.3 Torque Control Mode..................................................................................................... 46
5.4 Origin Regression Function And Relevant Parameters Introduction ............................. 48
5.5 Pre-operational Inspection ............................................................................................. 50
Chapter 6 Operation And Display................................................................................................ 52
6.1 Drive Panel Introduction................................................................................................ 52
6.2 Main Menu .................................................................................................................... 52
6.3 Steps To Set Parameters................................................................................................. 53
6.4 Status Monitoring .......................................................................................................... 53
6.5 Analog Quantity Zeroing Adjustment............................................................................ 55
6.6 Encoder Selection.......................................................................................................... 55
6.7 How To Reset Default Parameters................................................................................. 55
Chapter 7 Parameters................................................................................................................... 56
7.1 PA Group ....................................................................................................................... 56
7.2 P3 Group Parameters For Multifunctional Terminals.................................................... 71
7.3 P4 Group Parameters For Internal Position Command.................................................. 78
Chapter 8 Fault and Troubleshooting........................................................................................... 84
EMSD5 AC Servo Manual Chapter 1 Product Inspection And Installation
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Chapter 1 Product Inspection And Installation
1.1 Product Inspection
This product has made the complete function test before delivery, please check below points
After unpacking. (for prevented the product to be abnormal owing to shipping process, please
make detail inspection as the following items after breaking the seal:)
⚫ (Inspect the types of servo driver and servo motor and ensure that are the same types in the
order form.) The purchased product is identical with your desired.
⚫ Please do not power it on if there is any damage on the product appearance.
⚫ Inspect the parts of servo driver and servo motor to see any loosen parts such as loosened or
fallen off screw.
⚫ Rotate the servo motor shaft by hand and should be smooth rotation. But the servo motor
with holding brake is unable to rotate directly.
If there is any break down item or abnormal phenomenon mentioned above, please contact with
the dealer immediately.
1.2 Product Front Panel
Fig.1-1 EMSD5-A Front Panel Introduction
Chapter 1 Product Inspection And Installation EMSD5 AC Servo Manual
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Fig.1-2 EMSD5-B Front Panel Introduction
Item
Terminal Introduction
A B
① ① CN3、CN4 Communication terminal
② ② CN1 Input and output control signal terminal
③ - CN2 Encoder signal terminal
④ L1,L2 Power supply terminal
- ③ CN2A Encoder signal terminal for 2500ppr incremental encoder
- ④ CN2B Encoder signal terminal for 17 bits absolute encoder
⑤ L1, L2, L3 Power supply terminal for 3 phases 220VAC
⑤ ⑥ CHARGE
Bus voltage indicator. It is used to indicate the bus capacitance in a
charged state. When the indicator lights on, even if the power
supply is off, the internal capacitor of the servo unit may still have
a charge. Therefore, do not touch the power terminal when the
lights on to avoid electric shock.
⑥ ⑦ P,D,C,N Regeneration resistance terminal
⑦ ⑧ U,V,W Servo motor UVW connection terminal
⑧ ⑨ PE Ground terminal
EMSD5 AC Servo Manual Chapter 1 Product Inspection And Installation
3
1.3 Product Installation
1.3.1 Servo Drive Installation
⚫ Installation direction
The normal mounting direction of the servo drive is vertical and upright..
⚫ Fixed installation
During installation, please tighten the 2pcs M4 fixing screws at the back of the servo drive.
⚫ Grounding
Be sure to ground the driver grounding terminal, otherwise there may be a risk of electric
shock or interference to produce wrong action.
⚫ Wiring requirement
When connecting the drive, please wire the cable down (refer to the below picture) to avoid
any liquid attached on the cable and then it flows into the drive along with the cable.
Fig.1-3 Wring Direction Requirement
⚫ Installation interval
Refer to Fig.1-4 for the distance between drives and installation intervals with other
devices,and please note that the picture indicates the smallest size, in order to ensure the
performance and life of the drives, please leave the full installation interval as far as
possible.
⚫ Cooling
The servo drive adopts natural cooling mode and forced heat dissipation mode.
⚫ Installation considerations
Prevent dust or iron chips from entering the servo drive when installing the electrical
controlling cabinet.
Chapter 1 Product Inspection And Installation EMSD5 AC Servo Manual
4
Fig.1-4 Installation Interval
1.3.2 Environment Condition For Installation
Since the environment conditions for servo driver installation have the direct influence to the
normal function and service life of the servo driver, therefore the environment conditions must be
conformed to the following conditions:
⚫ Ambient temperature: 0 to 40℃; Ambient humidity: less than 80% (no condense).
⚫ Storage temperature: -40 to 50℃; Storage humidity: less than 93% (no condense).
⚫ Vibration: less than 0.5G.
⚫ Preventive measure shall be taken against raindrop or moist environment.
⚫ Avoid direct sunlight.
⚫ Preventive measure shall be taken against corrosion by oil mist and salinity.
⚫ Keep away from radioactive and inflammable substances.
⚫ Free from corrosive liquid and gas.
1.3.3 Servo Motor Installation
⚫ For horizontal installation:In order to prevent water, oil, etc. From entering inside of the
servo motor, please put the cable connector downward.
⚫ For vertical installation: if the shaft of the servo motor is in upward direction with a speed
reducer, some prevention measure shall be taken43 against entering inside of the servo
motor by oil come from the speed reducer.
⚫ In case of installation or removing the servomotor, please do not hit the servo motor with a
EMSD5 AC Servo Manual Chapter 1 Product Inspection And Installation
5
hammer, otherwise the shaft and the encoder can be damaged.
1.3.4 Motor Rotation Direction Definition
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.
Fig.1-5 Motor Rotation Direction
Chapter 2 Servo Specifications EMSD5 AC Servo Manual
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Chapter 2 Servo Specifications
2.1 Servo Drive Specification
Model EMSD5-A EMSD5-B
Power 0.05KW~1KW 1KW~3KW
Main Circuit 1 phase AC220V-15%~10%
50/60Hz
1 phase/3 phases AC220V-15%~10%
50/60Hz
Control Mode
0:Position.
1:Speed.
2:Torque.
3:Position and speed.
4:Position and torque.
5:Speed and torque
Protection
Function
Over speed, Over voltage, Under voltage,Overload, Abnormal of main
power, Abnormal encoder, Out of position error etc.
Monitor Function Speed, Current position, Command pulse accumulation, Position deviation,
Motor torque, Motor current, Running state etc.
Control Input
1:Servo on
2:Alarm clearance
3:CCW drive inhibition
4:CW drive inhibition
5:Deviation counter clearance
6:Command pulse inhibition
7:CCW torque limit
8:CW torque limit
Control Output Servo ready/Servo alarm/Positioning completion/Mechanical braking
Regeneration
Braking Built-in/ Built-out
Load Less than 3 times of motor torque
Display 5 LED digital display and 4 keys
Communication RS485
Position Control
Mode
Input
Mode
0:pulse+direction
1:CCW/CW pulse
2:A/B phase orthogonal pulse
3:Internal position control
Electronic gear ratio 1-32767/1-32767
EMSD5 AC Servo Manual Chapter 2 Servo Specifications
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2.2 Servo Drive Naming Rule
EMSD5 - A S 040
Serial No. Definition
EMSD5 series ac servo drive.
A and B frame
S: Simple load pulse
H: Heavy load pulse
E: Ether CAT
The branch power range: 040: 400W; 075: 750W.
2.3 Servo Motor Naming Rule
EM-60S 024N30S22
Serial No. Definition
EMHEATER Servo Motor
Flange: 60(mm),80(mm), 110(mm),130(mm)
Rated voltage: 220V(S)
Rated torque(×0.1N.m): 048=4.8N.m.
Rated speed(×100rpm): 30=3000rpm.
Encoder resolution:
S: 17 bit absolute encoder
I: 2500ppr incremental encoder
W: with battery
R: resolver
1: No
2: with oil seal
3: with brake
4: with oil seal and brake
1: Flat without keys.
2: Flat with keys and screw thread
Chapter 2 Servo Specifications EMSD5 AC Servo Manual
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2.4 Servo Motor and Matched Servo Drive List
Table 2-1
Flange Model Power
(W)
Speed
(RPM) Matched Drive Encoder
60mm
EM-60S006N30S22 200 3000
EMSD5-A 17-bit
absolute
encoder
EM-60S013N30S22 400 3000
80mm
EM-80S024N30S22 750 3000
EMSD5-A
EM-80S032N30S22 1000 3000
110mm
EM-110S020N30I22 600 3000
EMSD5-B
2500ppr
incremental
encoder
EM-110S040N20I22 800 2000
EM-110S040N30I22 1200 3000
EM-110S050N30I22 1500 3000
EM-110S060N20I22 1200 2000
EM-110S060N30I22 1800 3000
130mm
EM-130S040N25S22 1000 2500
17-bit
absolute
encoder
EM-130S050N25S22 1300 2500
EM-130S060N25S22 1500 2500
EM-130S077N25S22 2000 2500
EM-130S100N10S22 1000 1000
EM-130S100N15S22 1500 1500
EM-130S100N25S22 2600 2500
EM-130S150N15S22 2300 1500
EM-130S150N25S22 3800 2500
1. The code 02430 means the motor rated toque is 2.4N.m and rated speed is
3000rpm.
2. The rated power: P=0.1047×N×T=0.1047×2.4×3000=753.84W≈0.75KW.
T=rated torque, N=rated speed.
EMSD5 AC Servo Manual Chapter 3 Drive and Motor Dimension
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Chapter 3 Drive and Motor Dimension
3.1 Drive Dimension
The user can install the servo drive with the bottom plate and the installed direction is
perpendicular to the installation facing. Recommended to cool the servo drive with fan or natural
cooling.
Fig.3-1 EMSD5-A dimension
Fig.3-2 EMSD5-B dimension
Chapter 3 Drive and Motor Dimension EMSD5 AC Servo Manual
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3.2 Motor Dimension
● Flange 60mm
Fig.3-3 Flange 60mm And Table 3-2
Model W L LE S LA LB LC LD M
EM-60S006N30S22 60 72 70 14 50 25 5 30 4
EM-60S013N30S22 60 90 70 14 50 25 5 30 4
● Flange 80mm
Fig.3-4 Flange 80mm And Table 3-3
Model W L LE S LA LB LC LD M
EM-80S024N30S22 80 96 90 19 70 25 6 38 6
EM-80S032N30S22 80 113.5 90 19 70 25 6 38 6
EM-80S040N25S22 80 191 90 19 70 25 6 35 6
◆ EMSD5-AS040 doesn’t have the heat sink with a fan.
EMSD5 AC Servo Manual Chapter 3 Drive and Motor Dimension
11
● Flange 130mm
Fig.3-5 Flange 130mm And Table 3-2
Model W L LE S LA LB LC LD M
EM-130S040N25S22 130 166 145 22 110 42 6 57 6
EM-130S050N25S22 130 171 145 22 110 42 6 57 6
EM-130S060N25S22 130 179 145 22 110 42 6 57 6
EM-130S077N25S22 130 192 145 22 110 42 6 57 6
EM-130S100N10S22 130 213 145 22 110 42 6 57 6
EM-130S100N15S22 130 213 145 22 110 42 6 57 6
EM-130S100N25S22 130 209 145 22 110 42 6 57 6
EM-130S150N15S22 130 241 145 22 110 42 6 57 6
EM-130S150N25S22 130 231 145 22 110 42 6 57 6
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
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Chapter 4 Wiring and Introduction
4.1 Servo System Wiring
4.1.1 Servo Drive Wiring
Fig.4-1 Servo System Wiring
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
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4.1.2 Wiring Introduction
Wiring Notes:
⚫ The control cable length should be less than 3 meters and the encoder cable length 20
meters.
⚫ Check that the power supply and wiring of L1,L2 or L1,L2,L3 are correct.
⚫ Please do not connect to 380V power supply.
⚫ The output terminals(U,V,W ) must be connected with the servo motor connections(U,V,W )
correspondently, otherwise the servo motor will stop or over speed. However, by
exchanging three-phase terminal cannot cause the motor to reverse; this point is different
with asynchronous motor.
⚫ Earthed wiring must be reliable with a single-point connection.
⚫ Pay attention to the correct direction of freewheel diode which is connected with the delay
at the output terminal, other can cause the output circuit breakdown.
⚫ In order to protect the servo driver from noise interference that can cause malfunction,
please use an insulation transformer and noise filter on the power lines.
⚫ Wiring the power cables(power supply , main circuit ,etc) at a distance over 30cm away
from the control signal cables, do not lay them together.
⚫ Install a non-fuse circuit breaker that can shut off the external power supply immediately
for in case of the servo driver fault.
4.1.3 Electric Wire Specifications
Connect Terminal Symbol Wire Specification
Main Power Supply L1, L2, [L3] 1.5~4mm2
Servo Motor U, V, W 1.5~4mm2
Ground 1.5~4mm2
Control Signals CN1 ≧0.14mm2(AWG26), Shielded.
Encoder Signals CN2 ≧0.14mm2(AWG26), Shielded.
Regenerative
Resistors Terminals
P、D/P、C 1.5~4mm2
◆ Must use a twisted pair wire cable for the encoder signal wiring. If the encoder
signal cable is too long(＞20m), in which the encoder power supply can be
insufficient, may use multi wires or thick wire for the power supply wiring.
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
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4.2 Servo driver terminals Introduction
Fig.4-2 EMSD5-A Drive Terminals
Fig.4-3 EMSD5-B Drive Terminals
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
15
4.3 Main Circuit Terminal
4.3.1 Main Circuit Terminal Introduction
Fig.4-4 Main Circuit Terminal
Terminal Name Symbol Detailed Explanation
Main Power Supply
L1、L2 Connect to external AC power supply ,1 phase
220VAC -15%~+10%,50/60Hz.
L1、L2、L3 Connect to external AC power supply ,3 phases
220VAC -15%~+10%,50/60Hz.
NC Null
Regenerative Resistance
P、D When use the built-in resistor, please connect P and D.
P、C
When the external regeneration resistance is required,
please disconnect P and D and crossover it to terminal
P and C. Leaving N disconnected.
Servo Motor
U、V、W UVW phase output to servo motor.
Ground with servo motor and power supply.
4.3.2 Regeneration Resistance Connection
If use the built-in resistor, please connect P and D( a 4 pins connector for built-in resistor has
◆ The above picture shows the pins arrangement of the drive.
◆ The built-in resistor has been set as default by factory: P and D connector
are in short-cut condition.
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
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been set by factory, so you can insert it to the terminal directly), as picture A showed.
When an external regeneration resistance is connected to the servo drive, the short circuit
between terminal P and D must be disconnected. Then the external regeneration resistance could
be connected between P and C, and leave N alone,as picture B showed.
Pic A Pic B
4.4 CN1 Control Signal Terminal
4.4.1 CN1 Terminal Introduction
The CN1 connector DB44 plug provides the signals interfaced with the host-controller. The
signal includes:
⚫ 8 programmable input terminals
⚫ 6 programmable output terminals
⚫ Analog command inputs
⚫ Pulse command inputs
◆ Do not connect the external brake resistance to the positive and negative
poles of the bus P、N, otherwise it will cause explosion and fire.
◆ Must be over minimum resistance value at 25Ω. Otherwise it would cause
drive alarm or damage.
◆ Please install external brake resistance on non-combustible materials such as
metal.
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
17
4.4.2 CN1 terminal pin distribution
Fig.4-5 EMSD5-A[B]S Series CN1 Terminal Pin Distribution
Fig.4-6 EMSD5-A[B]S Series CN1 Terminal
◆ A 24-26 AWG cable is recommended.
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
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Fig.4-7 EMSD5-A[B]H Series CN1 Terminal Pin Distribution
Fig.4-8 EMSD5-A[B]H Series CN1 Terminal
◆ A 24-26 AWG cable is recommended.
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
19
4.4.3 Position Instruction Input Signal
Signal Name Pin No. Function
Position
Pulse
Instruction
PULS+ 5 High speed photo isolation input.
Working mode is set by parameter PA-14:
⚫ Pulse+direction.
⚫ CCW/CW pulse.
⚫ A、B orthogonal pulse.
⚫ Input of internal position control.
PULS- 21
SIGN+ 6
SIGN- 22
PULLHI 7
External 24V power input interface of the instruction
pulse.
GND 11/12 Internal digital signal ground.
The output circuit of instruction pulse of the upper device side can be selected from the
differential output or collector open circuit output . Its maximum input frequency and minimum
pulse width are shown in the following table:
Pulse mode Maximun-frequency (pps) Minimum pulse width(us)
Differential output 500k 1
Collector open circuit 200k 2.5
Input Circuit Of Pulse Instruction Diagram
1） When it is differential mode:
◆ If the output pulse width of the upper device is less than the minimum pulse
width, it will cause the drive to receive error pulses.
◆ The terminal between PULS+ and PULS-/SIGN+ and SIGN- only support
below 5V signal. If over than 5V, it needs to connect external resistances.
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
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2）When it is collector open mode:
A） For internal 24V power sources:
⚫ Common Anode Connection, for example: Mitsubishi PLC.
⚫ Common Cathode Connection, for example: Siemens PLC.
B）For external power supply:
Case 1: To use internal resistance of the drive (recommended ).
⚫ Common Anode Connection:
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
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⚫ Common Cathode Connection:
Case 2: To use external resistance of the drive.
⚫ Common Anode Connection:
⚫ Common Cathode Connection:
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
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4.4.4 Digital Quantity Input And Output Signal
Signal Name
Pin No.
Function Introduction
S H
Digital
Input
DI1 20 20 Servo enable
Optocoupler input and function can
be programmable. Defined by
parameter P3 group( P3-0~P3-17).
The input voltage of COM is both of
common positive and negative
terminal. And input signal voltage is
12~24V.
In position mode (internal position
mode) and non-position mode,
please connect 24 V to pin 7, DI5 to
pin21, DI6 to pin 22. Or to connect
0 V to pin7, DI5 to 5 pin, DI6 to pin
6.
DI2 4 4 Alarm clearance
DI3 19 19 CW drive inhibition
DI4 3 3 CCW drive inhibition
DI5 - 18
Forward external torque
limit
DI6 - 2
Reverse external torque
limit
DI7 - 17 Zero-speed clamp
DI8 - 1 Zero instruction
PULS- 21 21
In position mode (internal
position mode) and
non-position mode
SIGN- 22 22
PULS+ 5 5
SIGN+ 6 6
PULLHI 7 7
COM 16 16
Common end of digital input
signals
Digital
Output
DO1+ 31 31 S: Z signal output
H: Servo ready
Photo isolation output. Function can
be programmable.
Defined by parameter P3 group
( P3-20~P3-23).
DO1- 32 32
DO2+ 33 33
Servo Alarm output
DO2- 34 34
DO3+ 35 35 S: Positioning completion
DO3- 36 36 H: Zero speed output
DO4+ 37 37 S: Magnetic brake
DO4- 38 38 H: Position arrival
DO5+ 26 39 S: Z signal differential output
DO5- 10 40 H: Speed arrival
DO6+ - 41
Torque arrival
DO6- - 42
◆ How to calculate the value of resistanceR1：
VCC-1.5
R1+240
Table 4-1 R1 Recommendation
VCC Voltage R1 Power
24V 2.4KΩ 0.5W
12V 1.5KΩ 0.5W
=10mA
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
23
Internal
Power
Output
0V 23 23 Internal 0V Internal 5V power output and the
5V 8 8 Internal 5V max output current 200ma。
Internal
Isolated
Power
Output
E0V 43 43 Internal 0V
Internal isolated 24V power
output and the voltage range is
20V~28V and max output current
100ma。
E24V 44 44 Internal 24V
⚫ Input Circuit Of Digital Quantity Diagram
For DI1 as an example( the DI1~DI8(S: DI1~DI4) interface circuit is the same):
1） When the upper device is relay output:
A) For internal 24V power supply:
B) For external 24V power supply:
2）When the upper device is collector open output:
A) For internal 24V power supply:
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
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B) For external 24V power supply:
⚫ Output Circuit Of Digital Quantity Diagram
For DO1 as an example( the DO1~DO6(S: DO1~DO4) interface circuit is the same):
1) When the upper device is relay input:
Note：
◆ Do not support PNP mixed with NPN input.
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
25
2) When the upper device is optocoupler input:
4.4.5 Analog instruction signal
Signal Name Pin No. Function
Analog
instruction
input
AS+、AT+ 24
AS-、AT- 9 Analog velocity/torque input, range: -10V~+10V.
AGND 25
◆ Be sure to connect a continuation diode when the upper device is a relay,
otherwise it may damage DO ports or cause strong signal interference.
◆ The maximum allowable voltage and current capacity of the optocoupler
output circuit in the servo drive are as follows:
◼ Voltage：DC30V
◼ Current：DC50mA
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
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Pulse Instruction Input Interface Diagram
Two input types: differential (recommended) and single-end. Speed and torque share one analog
input at range from -10V to +10V with resistance approximately at 10 KΩ. The existence of zero
bias in the analog input is normal and can be compensated by parameters.
1）When it is analog differential input:
2）When it is analog single-end input:
4.4.6 Output Signal Of Encoder Frequency Division [EMSD5-A/BH]
Signal Name Pin No. Function
General
AO+ 28
A phase frequency division output signal
AO- 13
BO+ 29
B phase frequency division output signal
BO- 14
ZO+ 30
Z phase frequency division output signal
ZO- 15
CZ-OUT 27 Z signal collector open circuit output
GND 11,12 Internal digital signal ground
5V 8 Internal 5V power and the max current output is
0V 23 200ma.
Servo Drive
Servo Drive
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
27
PEL Metal Cover
The output circuit of the encoder frequency division outputs a differential signal. Usually, it
feedbacks signal when the position control system is formed for the upper device. At the upper
device side, please use a differential or optocoupler to receive it and the maximum output current
is 20 ma.
The output circuit of encoder Z phase division can realize through an open circuit signal of
collector. Usually, it feedbacks signal when the position control system is formed for the upper
device. On the upper device side, please use the photocoupler circuit, relay circuit or bus receiver
circuit to receive it.
4.4.7 Motor Brake Connection
The brake lock is the mechanism that prevents the servo motor shaft from moving when the
servo drive is in non-enabled state, so that the motor keeps the position locked and the moving
◆ Please connect the 5V ground of the upper device to the GND of the drive
and use the twisted pair shield wire to reduce the noise interference.
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
28
part of the machinery will not move because of itself or external force.
Brake Signal Circuit Diagram
The brake connection of the input signal without polarity, but it needs users to prepare a 24V
power supply. An example of the standard connection between the brake signal BK and the 24V
power supply is shown below:
Fig.4-9 Brake Signal Connection
4.5 CN2 Encoder Signal Terminal
4.5.1 CN2A Signal Introduction
The encoder signal connector CN2 connects with the servo motor encoder. A 15 pins plug is used.
◆ The brake mechanism built into the servo motor is a fixed special mechanism
of non-electric action type, which can not be used for braking purposes. Only when
the servo motor is kept in a stop state can it work.
◆ The brake coil has no polarity.
◆ After the servo motor stops, the servo signal (Servo On) should be cut off.
◆ When the motor with the built-in brake is running, the brake may make a
“click” sound, which has no effect on its function.
When the brake coil is electrified (open state of the brake), flux leakage may occur
at the shaft end and other parts. Therefore the nearby devices might be interfered..
◆ It is forbidden to share the power supply with other electrical appliances,
which is to prevent the voltage or current from decreasing resulting to the wrong
work due to other electrical appliances.
◆ Above 0.5 mm² cable is recommended.
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
29
The pin chart is:
Fig.4-10 CN2A Incremental Encoder Signal Terminal
Signal Name Pin No. Introduction
Encoder Signal Power
Supply
5V 5 Use 5V power supply (Provided by servo driver).
If the cable is longer than 20m and prevent
encoder from voltage dropping down, it is better
to use multi wires or thick wires for power line
and ground line.
GND
10
15
Encoder A Phase Input A+ 6
Connect with A phase output of encoder.
A- 1
Encoder B Phase Input B+ 7
Connect with B phase output of encoder.
B- 2
Encoder Z Phase Input Z+ 8
Connect with Z phase output of encoder.
Z- 3
Encoder U Phase Input U+ 9
Connect with U phase output of encoder.
U- 4
Encoder V Phase Input V+ 11
Connect with V phase output of encoder.
V- 12
Encoder W Phase Input W+ 13 Connect with W phase output of encoder. W- 14
Shielded Ground Metal Cover Connect with the shielded layer of the ecoder
cable
4.5.2 CN2/CN2B Signal Introduction
The encoder signal connector CN2 connects with the servo motor encoder. A 6 pins plug is used.
The pin chart is:
Fig.4-11 CN2/CN2B Encoder Signal Terminal
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Signal Name Pin No. Function
Encoder Power Supply
5V 5 Use 5V power supply (Provided by servo
driver). If the cable is longer than 20m, in
order to prevent encoder from voltage
dropping down, it is better to use multi wires
or thick wires for power line and ground line.
0V 6
Absolute encoder
communication positive
end
SD+ 1 Absolute encoder communication positive end
Absolute encoder
communication negative
end
SD- 2 Absolute encoder communication negative end
Null NC 3 Reserve
Null NC 4 Reserve
Shielded layer Metal cover Connect to the shielded layer of the encoder cable
4.6 CN3 And CN4 Terminal Definition
4.6.1 Communication Terminal Wiring Diagram
Fig.4-12 Communication Terminal Wiring
4.6.2 Communication port definition
Through the CN3 and CN4 ports on the drive, the communication can be established between the
drive and PC、PLC and other drives. The CN3 and CN4 pins are defined as follows:
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
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Terminal CN3 Name CN4 Name Picture
1 NC Null NC Null
2 E0V CAN ground E0V CAN ground
3 CAN H
CAN Bus
communication
CAN H
CAN Bus
communication
4 RS485 - RS485
communication
RS485 - RS485
5 RS485+ RS485+ communication
6 CAN L CAN Bus CAN L CAN Bus
7 GND 485 ground GND 485 ground
8 NC Null NC Null
4.6.3 RS485 Communication Connection Introduction
1.Connection With RS485 of A PLC
A connection cable between the driver and the PLC is as follows:
AB
Fig.4-13 The Communication Cable Of Servo Drive With PLC
Table 4-2 Connection Between Servo Drive And PLC Communication Cable
Drive RJ45( A end) PLC（B end）
Signal Name Pin No. Signal Name Pin No.
RS485+ 5 RS485+ 5
RS485- 4 RS485- 4
◆ It can connect PC or the upper controllers through a special serial port cable,
and it is forbidden to plug with electric.
◆ It is recommended to use twisted pair or shielded wire, the length of the wire
is less than 2 meters.
◆ Multi-drives series connected, CN3 connect with last CN4, and CN4 connect
with next CN3.
◆ When using RS485 bus communication and RS485 ground signal of the
upper controller is connected to the earth (PE), please connect PE terminal of the
upper controller with the drive terminal properly. In this case, it is forbidden to
connect RS485 ground signal of the upper controller with the drive RS485 ground
signal (GND), otherwise the driver may be damaged.
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GND 7 GND 7
PE（shielded layer） Cover PE（shielded layer） Cover
2. RS485 Communication Parallel Connection Of Multi Drives
When using 485 communication network, the parallel connection of multi drives is as
follows:
AB
Fig.4-14 Parallel Cable Diagram Of Multi Drives
Table 4-3 Connection Between Multi Drives
Drive RJ45( A end) PLC（B end）
Signal Name Pin No. Signal Name Pin No.
RS485+ 5 RS485+ 5
RS485- 4 RS485- 4
GND 7 GND 7
PE（shielded layer） Cover PE（shielded layer） Cover
3. RS485 Communication Grounding Precaution
When using RS485 communication, the GND terminal of the upper device is connected with the
GND terminal of the servo drive as shown in the following picture:
Fig.4-15 RS485 Communication Diagram
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33
As shown in the picture below, when using RS485 communications, the ground signal of the
upper device is connected with the earth:
4.7 Anti-jamming Countermeasures of Power Wiring
To suppress interference, please take the following measures:
⚫ Instruction input cable length should be less than 3 meters,and encoder cable should be less
than 20 meters.
⚫ Recommend grounding cable over 2.0 mm²
⚫ Please install a noise filter on the input side of the power cable to prevent radio frequency
interference.
⚫ To avoid electromagnetic interfering, the followingmethods can be used:
1) Install the upper device and a noise filter near the servo drive.
2) Install a surge suppressors on coils of relays, solenoids, electromagnetic contacts.
3) Separate high and low voltage cables away minimum at 30 cm.
4) Do not share a power supply with welding devices, discharge processing devices, etc.
When there is a high frequency generator nearby, please install a noise filter on the
input side of the power cable.
4.7.1 Wiring Examples Of Anti-Jamming And Ground Handling
1. Examples of anti-jamming wiring
◆ PLC is built in RS485 communication terminal resistor.
◆ It is suggested that the shield layer should be ground at one end.
◆ Never connect the GND terminal of the upper device with the servo drive E0V
terminal, otherwise the machine will be damaged.
Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual
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Fig.4-16 A Example Of Anti-Jamming Wiring
2. Ground handling
To avoid electromagnetic interference problems, please ground as below.
1) Grounding of servo motor housing
Please connect the grounding terminal of the servo motor with the grounding terminal PE
of the servo driver and ground the PE terminal reliably to reduce the potential
electromagnetic interference problem.
2) Encoder Cable Shield Grounding
Please ground both ends of shield layer of motor encoder cable.
4.7.2 How To Use A Noise Filter
In order to prevent the interference of the power cable and weaken the influence of the servo
driver on other sensitive devices, please select a corresponding noise filter at the input end of
power supply according to the input current. Meanwhile, please install the noise filter at the
power cable of peripheral device if needed. Please observe the following precautions when
installing and wiring the noise filter so as not to weaken the actual use effect of the filter.
⚫ Please separate the input and output cables of the noise filter, and do not put both into the
same pipe or tie them together.
◆ The cable of the outer box connection used for grounding should be more
than 3.5 mm² of coarse wire, and braided copper cables are recommended
EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction
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Fig.4-17 Example Diagram Of Noise Filter Input And Output Cables
⚫ The ground wire of the noise filter is separated from its output power cord.
Fig.4-18 Diagram Of Separating Cables Between Ground And Output Line Of Noise Filter
⚫ Noise filters need to use a thick cable as short as possible to ground separately, and do not
share a ground wire with other grounding equipment.
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Fig.4-19 Single Point Grounding Diagram
⚫ The ground handling of a noise filter installed in the control cabinet.
When the noise filter and servo driver are installed in the same control cabinet, it is
recommended that the filter and servo driver are fixed on the same metal plate. To ensure
the contact part is conductive and lapped well, and the metal plate is grounded.
Fig.4-20 Ground Connection Handling Of Noise Filter
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37
Chapter 5 Running Mode and Wiring
According to the command mode and operation characteristics of a servo drive, it can be divided
into three operation modes: position control operation mode, speed control operation mode and
torque control operation mode.
⚫ The position control mode usually determines the displacement of the movement by the
number of pulses, and the pulse frequency of the external input determines rotation speed.
Because the position mode can strictly control the position and speed, it is generally used in
the positioning device. It is the most popular control mode and mainly used in robot, table
placement machine, carving and milling, CNC machines and so on.
⚫ The speed control mode controls rotation speed through the given analog quantity, the
given digital quantity and the given communication speed. It is mainly used in the
constant-speed applications. For example, the upper computer adopts position control mode
and the servo drive adopts speed control mode in application of carving and milling
machines.
⚫ The torque control mode controls torque through the given analog quantity, the given
digital quantity and the given communication speed. It is mainly used in winding and
unwinding devices which have strict requirements on the force of material, such as winding
device or drawing fiber equipment and other tension control applications. The setting of
torque should be changed at any time according to the radius of winding to ensure that the
force of material will not change with the change of winding radius.
5.1 Position Control Mode
5.1.1 Position Mode Introduction
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38
Fig.5-1 Position Mode Diagram
The main steps for position mode are as follows:
1) Correctly connect the main circuit and the power supply , as well as the motor power cable
and encoder cable. After powering on, the drive panel displays \"r 0\" ,which means that
the drive power supply and encoder wiring are correct.
2) Pressing the keys for servo JOG trial operation to confirm whether the motor can run
normally.
3) To connect the pulse direction input and pulse instruction input of the CN1 terminal as well
as the required DI/DO signals, such as servo enable, alarm clearance, location completion
signal, etc based on the figure Fig.5-2 as a reference.
4) Then to make some setting operations. DI/DO can be set according to actual situation.
5) For servo enable, the servo motor rotation is controlled by the position instruction from the
upper computer. Firstly make the motor rotate at low speed, and confirm whether the
rotation direction and electronic gear ratio are normal, then make the gain adjustment.
5.1.2 Position Mode Wiring
EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring
39
Fig.5-2 Position Mode Wiring
5.1.3 Parameter Settings In Position Mode
⚫ Gain And Smooth Filter
Parameter Introduction Range Default
PA-4 Control mode 0 0
PA-9 Position Proportional Gain 1-1000 80
PA-19 Position Command Smooth Filter 0-1000×0.1ms 100
PA-100 Command Filter Selection 0-1 0
◆ The voltage of the internal 24V power supply ranges 20V~28V, and
maximum operating current 100mA. If use a external 24V power supply, please
connect the external 24V+ to pin16(COM) and the external 0V to pin43(E0V).
◆ A power supply for DO output should be prepared by customers. The power
ranges 5V~24V. The maximum allowable voltage is DC30V and current is 50mA.
Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual
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⚫ Digital Input
Parameter Introduction Range Default
PA-11 Command pulses for each rotation 0-30000 10000
PA-12
1
st numerator of electronic gear for position
command pulse
1-32767 0
PA-13
Denominator of electronic gear for position
command pulse
1-32767 10000
PA-14 Input mode of position command pulse 0-3 0
PA-15 Reverse direction of position command pulse 0-1 0
PA-59 The effective edge of command pulse 0-1 0
PA-77
2
nd numerator of electronic gear for position
pulse
1-32767 0
PA-78
3
rd numerator of electronic gear for position
pulse
1-32767 0
PA-79
4
th numerator of electronic gear for position
pulse
1-32767 0
PA-80 Effective level of command direction signal 0-1 0
PA-81 Command pulse(PULS)signal filter 0-15 4
PA-82 Command pulse(SIGN)signal filter 0-15 4
⚫ Digital Output(DO)
Parameter Introduction Range Default
PA-16 Range of positioning completion 0-3000 pulses 130
PA-17 Position deviation limit 0-30000×100 pulses 6000
PA-18 Position deviation error 0-1 0
PA-83 CWL,CCWL prohibited mode 0-1 0
PA-84 Hysteresis for position completion 0-32767 65
PA-85 Range for approach positioning 0-32767 6500
PA-86 Hysteresis for approach positioning 0-32767 650
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⚫ Input And Output Terminals
Parameter Introduction Range Default
PA-55
Effective level control word for input
terminals
0000-1111 0000
PA-57 Effective level control word for output 0000-1111 0000
PA-58
Time constant of removing jitter for IO input
terminal
1-20ms 2
P3-0 Digital Input DI1 function 0-99 1
P3-1 Digital Input DI2 function 0-99 2
P3-2 Digital Input DI3 function 0-99 3
P3-3 Digital Input DI4 function 0-99 4
P3-4 Digital Input DI5 function 0-99 5
P3-5 Digital Input DI6 function 0-99 6
P3-6 Digital Input DI7 function 0-99 7
P3-7 Digital Input DI8 function 0-99 8
P3-15 Force digital input valid1 00000000-11111111 00000000
P3-16 Force digital input valid2 00000000-11111111 00000000
P3-17 Force digital input valid3 00000000-11111111 00000000
P3-20 Digital Output DO1 function 0-99 18
P3-21 Digital Output DO2 function 0-99 3
P3-22 Digital Output DO3 function 0-99 5
P3-23 Digital Output DO4 function 0-99 8
P3-24 Digital Output DO5 function 0-99 6
P3-25 Digital Output DO6 function 0-99 7
⚫ Position Command Introduction Of Internal Position Pr Mode
Pr position command source creates position command. Register takes the 8 groups of
parameters （P4-2,P4-3)-(P4-23,P4-24). And then can choose one of 8 groups to be position
command to match with 1/O(CN1、POS0-POS2 and CTRG). As below table shows:
Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual
42
CMD POS2 POS1 POS0 CTRG Parm Induction
Moving Speed
Register
P1 0 0 0 ↑
P4-2 Circle(+/-30000) P4-4
P4-3 Pulse(+/-max cnt) （V1）
P2 0 0 1 ↑
P4-5 Circle(+/-30000) P4-7
P4- 6 Pulse(+/-max cnt) （V2）
P3 0 1 0 ↑
P4-8 Circle(+/-30000) P4-10
P4-9 Pulse(+/-max cnt) （V3）
P4 0 1 1 ↑
P4-11 Circle(+/-30000) P4-13
P4-12 Pulse(+/-max cnt) （V4）
P5 1 0 0 ↑
P4-14 Circle(+/-30000) P4-16
P4-15 Pulse(+/-max cnt) （V5）
P6 1 0 1 ↑
P4-17 Circle(+/-30000) P4-19
P4-18 Pulse(+/-max cnt) （V6）
P7 1 1 0 ↑
P4-20 Circle(+/-30000) P4-22
P4-21 Pulse(+/-max cnt) （V7）
P8 1 1 1 ↑
P4-23 Circle(+/-30000) P4-25
P4-24 Pulse(+/-max cnt) （V8）
Note:
The state of POS0-2:
0: contact break (open)
1: contact close
CTRG↑: the moment from open (0) to close (1)
Max: the command pulses of the motor in one revolution
Absolute position register is broadly applied. User can easily complete
Periodicity actions by the above table. For example, the position command
P1=10 revolution, P2=20 revolution. P1 should be followed by P2.
Differences between P1 and P2 as below:
EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring
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5.2 Speed Control Mode Wiring
5.2.1 Introduction
Fig.5-3 Speed Control Mode
The main steps to use the speed control mode are as follows:
1) correctly connect the servo main circuit and the power supply of the controller, as well as the
motor cable and encoder cable. The servo panel displays”r 0” after powering on which
means that the servo power supply and encoder connection are correct.
2) Operate the servo JOG trial running mode through the panel keys to confirm whether the
motor can run normally.
3) To connect the required DI/DO signals in CN1 terminal, such as servo enable, alarm
clearance, positioning completion signal, etc referring Fig.5-4.
4) To operate speed mode related setting. DI/DO are used to set according to your application.
Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual
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5) To make the servo enabled and the servo motor rotation is controlled by the position
instruction issued by the upper computer. First make the motor rotate at low speed, and
confirm whether the rotation direction and electronic gear ratio are normal, then make the
gain adjustment.
5.2.2 Speed Mode Wiring
Fig.5-4 Speed Mode Wiring
5.2.3 Parameter Settings In Speed Mode
Parameter Introduction Range Default
PA-4 Control Mode 1 0
PA-5 Speed Proportional Gain 5-2000Hz 150
PA-6 Speed Integral Constant 1-1000ms 75
EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring
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Parameter Introduction Range Default
PA-22
Internal And External Speed Instruction
Selection
0-5 0
PA-24 Internal Speed 1 -6000-6000r/min 100
PA-25 Internal Speed 2 -6000-6000r/min 500
PA-26 Internal Speed 3 -6000-6000r/min 1000
PA-27 Internal Speed4 -6000-6000r/min 2000
PA-28 Arrival Speed 0-3000r/min 3000
PA-40 Acceleration Time Constant 1-10000ms 100
PA-41 Deceleration Time Constant 1-10000ms 100
PA-42
S Type Acceleration And Deceleration Time
Constant
0-1000ms 0
PA-43 Gain Of Analog Speed Command 10-3000r/min/v 300
PA-44 Direction Of Analog Speed Command 0-1 0
PA-45
Zero Offset Compensation Of Analog Speed
Command
-5000-5000 0
PA-46 Filter Of Analog Speed Command 1-300Hz 300
PA-75 Zero-speed Detection Point 0-1000r/min 10
PA-76 The Setting Value For Speed Consistent 0-1000r/min 10
PA-87 Hysteresis Of Arrival Speed 0-5000r/min 30
PA-88 Polarity Of Arrival Speed 0-1 0
PA-92 Hysteresis For Zero Speed Detection 0-1000r/min 5
