Maxsine

EP3E Series
EtherCAT bus
AC servo drive
User manual
(The third edition)

GL1A0/GL1A8/GL3A0/GL5A5/GL7A5/GL120/GL160/GL190/GL240
Servo drive
GH2A0/GH3A5/GH5A4/GH8A5/GH130/GH170/GH210

Wuhan Maxsine Electric Co., Ltd

 DECLARATION

Wuhan Maxsine Electric Co., Ltd 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.

! Danger Indicates a disoperation possibly can cause danger and physical injure or death.

! Caution Indicates a disoperation possibly can cause danger and physical injure, and may

result in damage to the product.

Indicates a prohibited actions, otherwise can cause damage, malfunction to the

Stop
product.

1. Service conditions

危险
 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

危险
 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 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.

I
3. Operations

注意

 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
禁止
 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

禁止
 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.
 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.

II
6. Service ranges

注意
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
 CONTENTS
Safety Precautions..................................................................................................................................... I
Chapter 1 Product inspection and installment ...................................................................................... 1
1.1 Product inspection ......................................................................................................................... 1
1.2 Product nameplate ......................................................................................................................... 1
1.3 Product front panel ........................................................................................................................ 2
1.4 Servo driver installation................................................................................................................. 8
1.4.1 The environmental conditions for installation .................................................................... 8
1.4.2 The method of installation .................................................................................................. 8
1.5 Servo motor installation................................................................................................................. 9
1.5.1 The environmental conditions for installation .................................................................... 9
1.5.2 The method of installation .................................................................................................. 9
1.6 The definition of rotating direction for servomotor ..................................................................... 10
Chapter 2 Wiring ..................................................................................................................................... 11
2.1 System construction and wiring .................................................................................................. 11
2.1.1 Servo driver wiring diagram ............................................................................................. 11
2.1.2 Wiring explanations .......................................................................................................... 14
2.1.3 Electric wire specifications ............................................................................................... 14
Connect terminal ....................................................................................................................... 14
symbol ....................................................................................................................................... 14
Wire specification ...................................................................................................................... 14
2.1.4 Main circuit terminal explanation ..................................................................................... 15
Terminal name ........................................................................................................................... 15
Symbol....................................................................................................................................... 15
Model......................................................................................................................................... 15
Detailed explanation .................................................................................................................. 15
Main power supply .................................................................................................................... 15
2.1.5 Main circuit wiring diagram ............................................................................................. 17
2.2 Adaptation of brake resistance ..................................................................................................... 21
2.3 The connection of reactor ............................................................................................................ 22
2.4 X1 Control signal terminal .......................................................................................................... 23
2.4.1 X1 terminal connector ...................................................................................................... 23
2.4.2 X1 terminal signal explanation ......................................................................................... 24
2.4.3 X1 terminal interface type ................................................................................................ 24
2.5 X2、X3 Encoder signal terminal ................................................................................................ 27
2.5.1 X2 terminal connector ...................................................................................................... 27
2.5.2 X2 Terminal signal description ......................................................................................... 28
2.5.3 X3 terminal ....................................................................................................................... 28
2.6 X5、X6 EtherCAT port ............................................................................................................... 29

IV
 2.6.1 X5、X6 terminal socket ................................................................................................... 29
2.6.2 X5、X6 terminal signal description ................................................................................. 29
2.7 Standard wiring diagram ............................................................................................................. 30
2.7.1 Standard wiring diagram .................................................................................................. 30
Chapter 3 Front panel operation .......................................................................................................... 31
3.1 Explanation of the front panel of servo driver ............................................................................. 31
3.1.1 Front panel compositions ................................................................................................. 31
3.1.2 Front panel explanations................................................................................................... 31
3.1.3 Data display ...................................................................................................................... 33
3.2 Main menu................................................................................................................................... 33
3.3 Status monitor.............................................................................................................................. 34
3.4 Parameters setting........................................................................................................................ 39
3.5 Parameter management ............................................................................................................... 40
3.6 Auxiliary functions ...................................................................................................................... 42
3.6.1 Special functions☆ .......................................................................................................... 42
3.7 Parameter default recovery .......................................................................................................... 44
Chapter 4 Running ................................................................................................................................. 45
4.1 Trial running with no load ........................................................................................................... 45
4.1.1 Wiring and inspection ....................................................................................................... 45
4.1.2 Trial running in JOG mode ............................................................................................... 45
4.2 Position control............................................................................................................................ 46
4.2.2 Position control related gain ............................................................................................. 46
4.3 Speed control ............................................................................................................................... 47
4.3.1 Parameter setting of speed control.................................................................................... 47
4.3.2 Speed instruction source ................................................................................................... 48
4.3.3 Acceleration and deceleration........................................................................................... 48
4.3.4 Speed control related gain ................................................................................................ 49
4.4 Torque control ............................................................................................................................. 51
4.5 Gain adjustment........................................................................................................................... 51
4.5.2 Gain adjustment step ........................................................................................................ 54
4.6 Resonance suppressions .............................................................................................................. 56
4.6.1 Low pass filters ................................................................................................................ 58
4.6.2 Notch filters ...................................................................................................................... 58
4.7 Setting of absolute value encoder ................................................................................................ 59
4.7.1 The preservation of the multi loop information of the absolute encoder .......................... 59
4.7.2 The initialization of the absolute encoder ......................................................................... 59
4.8 overrange protection .................................................................................................................... 60
4.9 Torque limit ................................................................................................................................. 61
4.9.1 Torque limiting parameter ................................................................................................ 61
4.9.2 Torque restriction mode .................................................................................................... 61

V
 4.10 Working time sequence.............................................................................................................. 62
4.10.1 Power switching time sequence ...................................................................................... 62
4.10.2 Alarm timing in servo ON .............................................................................................. 62
4.10.3 Servo ON/OFF action timing of motor at rest ................................................................ 63
4.10.4 Servo ON/OFF action timing of motor operation ........................................................... 63
4.11 Electromagnetic brake ............................................................................................................... 64
4.13.2 Use of electromagnetic brake ......................................................................................... 64
Chapter 5 Parameters ............................................................................................................................ 66
5.1 Parameter table ............................................................................................................................ 66
5.1.1 Parameters of section 0 ..................................................................................................... 66
5.1.2 Parameters of section 1 ..................................................................................................... 69
5.1.3 Parameters of section 2 ..................................................................................................... 70
5.1.4 Parameters of section 3 ..................................................................................................... 71
5.2 DI Functional list ......................................................................................................................... 72
5.3 DO Functional list ....................................................................................................................... 72
5.4 Parameter detailed solution ......................................................................................................... 73
5.4.1 Parameters of section 0 ..................................................................................................... 73
5.4.2 Parameters of section 1 ..................................................................................................... 83
5.4.3 Parameters of section 2 .................................................................................................. 90
5.4.4 Parameters of section 3 ..................................................................................................... 96
5.5 DI function explanation in details................................................................................................ 97
5.6 DO function description in detail ................................................................................................ 99
Chapter 6 Communication functions.................................................................................................. 100
6.1 Common object description ....................................................................................................... 100
6.2.1 CANopen over EtherCAT structure ................................................................................ 104
6.2.2 EtherCAT state machine ................................................................................................. 105
6.2.3 LED status ...................................................................................................................... 106
6.2.4 Data Type ........................................................................................................................ 108
6.2.5 PDO mapping ................................................................................................................. 108
6.2.6 According to the synchronization of DC (Distributed Clock) ........................................ 110
6.3 Drive mode ................................................................................................................................ 111
6.3.1 Servo state machine ........................................................................................................ 111
6.3.2 Control word 6040h ........................................................................................................ 113
6.3.3 Control word 6041h ........................................................................................................ 115
6.4 Operation mode ......................................................................................................................... 117
6.4.1 Periodic synchronous position mode .............................................................................. 120
6.4.2 Periodic synchronization velocity mode ......................................................................... 121
6.4.3 Periodic synchronous torque mode ................................................................................. 122
6.4.4 HM mode ........................................................................................................................ 123
6.5 Pattern common function........................................................................................................... 133

VI
 6.5.1 Touch Probe function...................................................................................................... 133
6.5.2 Stop function .................................................................................................................. 140
6.5.3 Digital input / digital output ........................................................................................... 145
6.5.4 Position information ....................................................................................................... 147
Position Demand Value ×Electronic gear ratio ＝Position Demand Internal Value ................................ 147
Chapter 7 Alarm .................................................................................................................................... 157
7.1 Alarm list ................................................................................................................................... 157
7.2 The reason and handling of alarm ............................................................................................. 160
Chapter 8 Specifications ...................................................................................................................... 174
8.1 Types of servo driver ................................................................................................................. 174
8.2 Dimensions of servo driver ....................................................................................................... 175
8.3 Specifications of servo driver .................................................................................................... 176
8.4 Adaptive table for servo motor selections ................................................................................. 177
8.5 Types of servo motor .............................................................................................................. 178
8.6 Servo motor wiring .................................................................................................................... 179
8.6.1 Winding wiring ............................................................................................................... 179
8.6.2 Wiring for brakes ............................................................................................................ 179
8.6.3 Encoder........................................................................................................................... 180

VII
 Chapter 1 Product inspection and
installment
1.1 Product inspection
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：
 Inspect the types of servo driver and servomotor and ensure that are the same types in
the order form.
 Inspect the outward appearance of servo driver and servomotor to see any abrasion or
damage; if so please do not wire to the power supply.
 Inspect the parts of servo driver and servomotor to see any loosen parts such as
loosened or fallen off screw.
 Rotate the servomotor shaft by hand and should be smooth rotation. However, the
servomotor 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 nameplate

Product Name
Brand Logo Logo and Date of Inspection before Delivery

Product Type

Product Maxsine RN05 50019

Specification EP3E AC Servo Drive
! 注意 安装前须阅读说明书。
Model GL3A0 检验 CAUTION
Read manual before installing

Main circuit SPEC E3S0EC PASSED 断电5分钟内，请勿打开机盖或

input power
2018.01 警告 触碰接线端子，以免电击！
Input 1ΦAC220V/50-60Hz a b c d WARNING Turn off power and wait 5 min. before
servicing,or cause electric shock!

Rated output Output 3.0A/400W 请妥善接地。

Make proper ground connections.
current/power Number 3A0L18888888
Wuhan Maxsine Electric Co.,Ltd.
Serial Number www.maxsine.com
Warning Logo

1
Chapter 1 Product inspection and installment

1.3 Product front panel

Applicable models: GL1A0、GL1A8、GL3A0、GL5A5、GL7A5、GL120

Cover Opened

USB Interface
5 Digit Display LED

4 Operation Buttons 2 LED Lamps

（POW、RUN）

Display And
Mounting Hole Operation Buttons
(Open the cover for
operating)

Main Power Input

Terminals
（L1、L2、L3） Connector X3 For
Servo motor Encoder

Control Power
Input Terminals
Nameplate And
（L1C、L2C） Warning Logo
(Right side)
Built-out brake
resistor Terminals
(P、B1、B2)
Connector X1 For Input
Servo motor And Output Signals
Connection
terminals
（U、V、W）
Connector X2 For
Servo motor Encoder
Ground Terminals

2
 1.3 Product front panel
Applicable models: GL160

Cover Opened

USB interface
5 Digit Display LED

4 Operation Buttons
2 LED Lamps
（POWER、RUN）

Display And Operation Buttons

Mounting Hole (Open the cover for operating)

Main Power Input Terminals

（L1、L2、L3）

Connector X3 For Servo motor Encoder

Control Power Input Terminals

（L1C、L2C）
Nameplate And Warning Logo
(Right side)

Built-out brake resistor Terminals

(Choosing from NC,P or B) Connector X1 For Input And Output
Signals

Connector X2 For Servo motor

Encoder

Servo motor Connection terminals

（U、V、W）

Ground Terminals

3
Chapter 1 Product inspection and installment

Applicable models: GL190、GL240

The Opened Cover

USB interface

5 bits digital tube display screen

2 Indicator light
4 Operation Buttons （POW、RUN）

Back Mounting Hole Display Screen and Operation

Buttons（Operating at opened
cover )

Charging Indicator

Connector X3 for communication

Main Power Source Connecting interface
Terminals（L1、L2、L3）

Nameplate And Warning Logo

(Side)

Built-out brake resistor Terminals

（NC、P、B）

Connector X1 for Input and Output

Signals
DC reactor connection terminal
（N1、N2）

Servomotor Connection
Terminals（U、V、W） Connector X2 For Encoder

Control Power Source

Connecting Terminals
（L1C、L2C）

Ground Terminals

4
 1.3 Product front panel
Applicable models: GH2A0、GH3A5、GH5A4

The Opened Cover

5 bits digital tube Mini USB interface

display screen

2 LED Indicators
4 Operation Buttons （POW、RUN）

Display Screen And

Back Mounting Hole
Operation Buttons
（Open the cover for
Main Power Source operating)
Connecting Terminals
（L1、L2、L3）
Charging indicator

Control Power Source

X3 connector for
Connecting Terminals
（24V、0V） communication
interface

External Brake Resistor Nameplate And

(Option) Terminals Warning Logo
（P、B1、B2）
(Right side)

DC Reactor(option)
Terminals（N1、N2） Connector X1 For Input
And Output Signals

Servomotor Connection
terminals（U、V、W）
Connector X2 For
Servomotor Encoder

Ground Terminal

5
Chapter 1 Product inspection and installment
Applicable models: GH8A5

The Opened Cover

Mini USB interface

5 bits digital tube display screen

4 Operation Buttons
2 LED Indicators（POW、
RUN）

Display Screen And Operation

Back Mounting Hole Buttons（Open the cover for
operating)

Charging indicator

Main Power Source

Connecting Terminals
X3 connector for communication
（L1、L2、L3） interface

Control Power Source

Connecting Terminals Nameplate And Warning Logo
（24V、0V） (Right side)

External Brake Resistor (Option)

Terminals
Connector X1 For Input And Output
(P、B1、B2)
Signals

DC Reactor(option) Terminals
（N1、N2）

Connector X2 For Servomotor

Encoder

Servomotor Connection
terminals（U、V、W）

Ground Terminal

6
 1.3 Product front panel
Applicable models: GH130、GH170、GH210

The Opened Cover

Mini USB interface

5 bits digital tube display screen

2 LED Indicators
4 Operation Buttons （POW、RUN）

Back Mounting Hole Display Screen And Operation

Buttons
（Open the cover for operating)

Charging indicator

Main Power Source Connecting

Terminals X3 connector for communication
（L1、L2、L3） interface

Nameplate And Warning Logo

External Brake Resistor Terminals (Right side)
（P、B1、B2）

Connector X1 For Input And Output Signals

DC Reactor(option) Terminals
（N1、N2）

Connector X2 For Servomotor

Servomotor Connection terminals Encoder
（U、V、W）

Control Power Source Connecting

Terminals
（24V、0V）

Ground Terminal

7
Chapter 1 Product inspection and installment

1.4 Servo driver installation

1.4.1 The environmental conditions 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 dew).
 Storage temperature: -40 to 50℃; Storage humidity: less than 93% (no dew).
 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.
 Free from corrosive liquid and gas.
 Preventive measure shall be taken against entering the servo driver by dust, cotton fiber and
metal tiny particle.
 Keep away from radioactive and inflammable substances.
 When several driver installments in a control cubicle, for good ventilation please reserve
enough space around each driver, install fans to provide effective cooling, keep less than
40℃ for long-term trouble-free service.
 If there are vibration sources nearby (punch press for example) and no way to avoid it, please
use absorber or antivibration rubber filling piece.
 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.

1.4.2 The method of installation

 In order to get good cooling the servo driver should normally mount in vertical direction with
the topside upward.
 For installing the servo driver, fasten the backboard of the servo driver with M5 screw bolt.
 Reserve enough space around the servo drivers as shown in the reference diagram. In order
to guarantee the performance of the servo driver and the lifetime, please make the space as
full as possible.
 To provide vertical wind to the heat sink of the servo driver should install ventilating fans in
the control cubicle.
 Prevent the dust or the iron filings entering the servo driver when install the control cubicle.

8
 1.5 Servo motor installation

>100mm >50mm >50mm >100mm

X3 X3 X3

X1 X1 X1

X2 X2 X2
>100mm

通风气流方向

1.5 Servo motor installation

1.5.1 The environmental conditions for installation
 Ambient temperature: 0 to 40℃; Ambient humidity: less than 80 %( no dew).
 Storage temperature: -40 to 50℃; Storage humidity: less than 93 %( no dew).
 Vibration: less than 0.5G.
 Install the servomotor in well-ventilated place with less moisture and a few dusts.
 Install the servomotor in a place without corrosive liquid, flammable gas, oil vapor, cutting
cooling liquid, cutting chips, iron powder and so on.
 Install the servomotor in a place without water vapor and direct sunlight.

1.5.2 The method of installation

 For horizontal installation: In order to prevent water, oil, etc. from entering inside of the
servomotor, 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 taken against entering inside of the servomotor by
oil come from the speed reducer.
 Motor shaft extension should be long enough, or may cause vibration while motor is in
running
 In case of installation or removing the servomotor, please do not hit the servomotor with a
hammer, otherwise the shaft and the encoder can be damaged.

9
Chapter 1 Product inspection and installment

1.6 The definition of rotating direction for servomotor

The motor rotating direction description in this handbook is defined as facing the shaft
of the servomotor, if the rotating shaft is in counter clockwise direction will be called as
positive direction, or in clockwise as reversal direction.

Positive Reversal
Rotation Rotation
(CCW) (CW)

10
 Chapter 2 Wiring
2.1 System construction and wiring
2.1.1 Servo driver wiring diagram
1 EP3E-GL series Servo driver wiring
Applicable models: GL1A0、GL1A8、GL3A0
Input Power Supply 3
Phase AC220V
R S

Circuit Breaker

Over Current Protection EP3E Servo Drive

EtherCAT Controller

Filter
Prevent external noise
from interfering the
Servo drive USB computer
connected cable （PC）

Magnetic Contactor

Need to install a
surge suppressor

Input / output
Signal cable
The control power of
the driver is single-
phase AC220V.
Please connect it to
the front of the
electromagnetic
contactor.
Servo Motor
The main circuit of Encoder Cable
the driver is single
phase AC220V ,
connecting to L1 and
L2 terminals.

4 lines of the servo Ground Terminals Servo motor

motor power cable power cable
are connected to the
corresponding U/V/W
terminals , Please
DO NOT connect
wrongly.

AC servo motor

11
Chapter 2 Wiring
Applicable models: GL5A5、GL7A5、GL120、GL160
Input Power
Supply 3 Phase Normally，a transformer is Input 3 phase
AC220V needed for transforming to AC380V
R S T get 3-phase 220V power
supply.

3 phase
isolating
transformer
380V-380V

Circuit Breaker
Output 3 phase
Over Current Protection AC380V

EP3E Servo Drive

Filter EtherCAT Controller

Prevent external noise

from interfering the
Servo drive
USB computer (PC）
Magnetic connected cable
Contactor

Need to install
a surge
suppressor

The control power of the

driver is single-phase Input / output
AC220V. Please Signal cable
connect it to the front of
the electromagnetic
contactor.

The main circuit of the

driver is single phase
AC220V , connecting to Servo Motor
L1 L2 L3 terminals. Encoder Cable

4 lines of the servo Ground Terminals

motor power cable are Servo motor
connected to the power cable
corresponding U/V/W
terminals , Please DO
NOT connect wrongly.

AC servo
motor

Note: GL190 and GL240, please refer to chapter 2.1.5.

12
 2.1 System construction and wiring

2 EP3E-GH series Servo driver wiring

Input Power Input 3 phase
Supply 3 Phase AC380V
R S T
AC380V

3 phase
isolating
transformer
380V-380V

Circuit Breaker
Over Current Protection Output 3 phase
AC380V

Filter
EP3E Servo Drive
Prevent external noise
EtherCAT
from interfering the
controller
Servo drive

Magnetic
Contactor （PC）
USB computer
Need to connected cable
install a
surge
suppressor

The control power of

the driver is DC 24V,
Input / output
and the current is
Signal cable
more than 1.5A.

Main power supply is

3 phase AC380V,
connecting to L1, L2
and L3 terminals.
Servo Motor
Encoder Cable

4 lines of the servo

motor power cable
are connected to the Ground Terminals
Servo motor
corresponding U/V/W
power cable
terminals , Please
DO NOT connect
wrongly.

AC servo
motor

Note: This wiring method is only suitable for GH2A0、GH3A5 and GH5A4，For
GH8A5、GH130、GH170、GH210 please refer to chapter 2.1.5

13
Chapter 2 Wiring

2.1.2 Wiring explanations

Wiring Notes：
 According to electric wire specification, use the wiring materials.
 The control cable length should be less than 3 meters and the encoder cable length 20 meters.
 EP3-GL series: check that the power supply and wiring of L1, L2, L3 and L1C, L2C
terminals are correct. Please do not connect to 380V power supply.
 EP3-GH series: check that the power supply and wiring of L1, L2, L3 and 0V, 24V
terminals are correct.
 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 from an
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 relay at
the output terminal, otherwise 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 lines (power supply line, main circuit lines, etc.) at a distance above 30cm
from the control signal wires, do not lay them in one conduit.
 Install a non-fuse circuit breaker that can shut off the external power supply immediately for
in case of the servo driver fault.

2.1.3 Electric wire specifications

Connect terminal symbol Wire specification
Main power supply L1、L2、L3 1.5～4mm2
Control GL series L1C、L2C 0.75～1.0mm2
Power GH series 24V、0V 0.75～1.0mm2
supply
Servo motor connection U、V、W 0.75～4mm2
terminal
Ground terminal 0.75～4mm2
Control signals terminal X1 ≥0.14mm2（AWG26），shielded
Encoder signal terminal X2 ≥0.14mm2（AWG26），shielded
brake resistor terminal P、B1/P、B 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-wire or thick wire for the power supply wiring.

14
 2.1 System construction and wiring

2.1.4 Main circuit terminal explanation

Terminal name Symbol Model Detailed explanation
1 phase 220VAC
L1、L2 GL1A0、GL1A8、GL3A0
-15%～+10% 50/60Hz
Main power
GL5A5、GL7A5、GL120、 3 phase 220VAC
supply
L1、L2、 GL160、GL190、GL240 -15%～+10% 50/60Hz
L3 3 phase 380VAC
GH series
-15%～+10% 50/60Hz
1 phase 220VAC
Control power L1C、L2C GL series
-15%～+10% 50/60Hz
supply
24V、0V GH series Connect DC 24V externally
When the external brake
resistor is needed, disconnect
GL1A0【Note 1】、GL1A8、
the short wires between B1
GL3A0、GL5A5、GL7A5、
P、B1、B2 and B2 [note 2] and crossover
GL120、GL160、GH2A0、
the external brake resistor to
GH3A5、GH5A4
terminals P and B1. Leave B2
unconnected.。
When the external brake
Brake resistor
resistor is needed, it must
disconnect the internal brake
GL190、GL240【Note 1】、 resistor wire between
NC、P、B GH8A5、GH130、GH170、 terminals P and B firstly,
GH210 connect those two wires to NC
at the same time, and then
crossover the external brake
resistor to terminals P and B.
When the power supply higher
Power supply
order harmonics needs to be
higher order GL190、GL240、
N1、N2 restrained, connect the DC
harmonics GH series
reactor between N1 and
restrain-use
N2[note 2]
Output to U phase of servo
U
DC reactor motor
connection EP3E series Output to V phase of servo
V
terminals motor
W Output to W phase of servo

15
Chapter 2 Wiring

motor
Ground terminal of
servomotor
Ground EP3E series
Ground terminal of servo
driver
Note 1: There is no internal brake resistor in GL1A0 and GL240. It is no necessary to connect
brake resistor for GL1A0 normally. But for GL240, it is necessary to connect built-out brake
resistor, please connect to the terminal P and B, leave the NC alone.
Note 2: The factory default connection of internal brake resistor: B1 and B2 are in the state of
short-circuited; N1 and N2 are in the state of short-circuited.

16
 2.1 System construction and wiring

2.1.5 Main circuit wiring diagram

1. The power supply for the servo driver GL series is a three-phase AC 220V which generally
come from three-phase AC380V power supply through a transformer.
Applicable models: GL1A0【Note】
Single phase
AC 220V
S R

1QF Servo Drive

Servo Motor
FIL

L1 U U

L2 V V M
1KM L3 W W

L1C
L2C
Main Power Main Power
OFF ON P
1RY 1KM
B1

B2 X2 ENC

1KM
PRT
D
Servo Alarm X1 1QF: Circuit Breaker
ALM DO 2 17 FIL: Noise Filter
1KM: Magnetic Contactor
DO
1RY 18 1RY: Relay
COM
DC24V DO public PRT: Surge Absorber
D: Free-wheeling Diode
interface

Note: There is no internal brake resistor of GL1A0, which does not need to connect
the brake resistor generally.

Applicable models: GL1A8、GL3A0

Single phase
AC 220V
S R

1QF Servo drive

External braking Servo motor
resistance connection FIL
P
L1 U U

L2 V V M
B1
L3 W W

B2 L1C
L2C
Main Power Main Power
OFF ON P
1RY 1KM Internal
Braking
B1 resistor
connection
X2 ENC

1KM B2
PRT
D
Servo Alarm X1
1QF: Circuit Breaker
ALM DO 2 17 FIL: Noise Filter
1KM: Magnetic Contactor
DO
1RY 18 1RY: Relay
COM
DC24V DO public PRT: Surge Absorber
interface D: Free-wheeling Diode

17
Chapter 2 Wiring

Applicable models: GL5A5、GL7A5、GL120、GL160

3 phase
AC 220V
T S R

1QF Servo Drive

External braking
resistance connection Servo Motor
FIL
外 P
部
制 L1 U U
动 L2 V V M
电 B1
阻 L3 W W
B2 1KM
L1C
L2C
Main Power Main Power
OFF ON P
1RY 1KM
Internal Braking
resistor
B1 connection X2 ENC

1KM B2
PRT
D
Servo Alarm X1 1QF: Circuit Breaker
ALM FIL: Noise Filter
DO 2 17 1KM: Magnetic Contactor
DO 1RY: Relay
1RY 18 PRT: Surge Absorber
COM
DC24V DO public D: Free-wheeling Diode
interface

Applicable models: GL190

3 phase
AC 220V
T S R

External braking
1QF Servo Drive
resistance connection
External braking NC Servo Motor
resistance Internal FIL
connection braking
P resistance
connection L1 U U

L2 V V M
B L3 W W
1KM
L1C
L2C
Main PowerMain Power NC
OFF ON 1KM
1RY P
Internal
Braking X2 ENC
Resistor

1KM B
PRT
N1

D N2
Servo Alarm 1QF: Circuit Breaker

ALM X1 FIL: Noise Filter

1KM: Magnetic
DO 2 17 Contactor
1RY: Relay
DO
1RY 18 PRT: Surge Absorber
COM
DC24V DO public D: Free-wheeling Diode
interface

18
 2.1 System construction and wiring
Applicable models: GL240【Note】
3 phase
AC 220V
T S R

1QF Servo drive

Servo motor
FIL

L1 U U

L2 V V M
L3 W W
1KM
L1C
L2C
Main Power Main Power
OFF ON External
1KM braking
1RY resistance NC
connection
P X2 ENC

1KM PRT B
N1
D N2 1QF: Circuit Breaker
FIL: Noise Filter
Servo Alarm X1 1KM: Magnetic
ALM DO 2 17
Contactor
1RY: Relay
DO PRT: Surge Absorber
1RY 18
COM
DC24V DO public D: Free-wheeling Diode
interface

Note: There is no internal brake resistor of GL240, which need to connect the
brake resistor generally.

2.GH series：
Applicable models: GH2A0、GH3A5、GH5A4、GH8A5
3 phase
AC 380V
T S R

1QF Servo Drive

Servo Motor
FIL

L1 U U

L2 V V M
L3 W W
1KM
24v
0v
+ - P
External braking DC power
resistance connection Internal
supply（24V）
braking
P B1 resistor
X2 ENC
External
braking
B1 B2
resistor
N1
B2 D N2
Servo Alarm
ALM X1 1QF: Circuit Breaker
FIL: Noise Filter
DO 2 17 1KM: Magnetic Contactor
DO 1RY: Relay
1RY 18 PRT: Surge Absorber
DC24V COM
DO public D: Free-wheeling Diode
interface

19
Chapter 2 Wiring
Applicable models: GH130
3 phase
AC 380V
T S R

1QF Servo Drive

Servo Motor
FIL

L1 U U

L2 V V M
L3 W W
1KM
24V
0V
External braking + - NC
DC power
resistance
supply（24V） P
connection NC Internal
braking
resistor
X2 ENC
Internal
External P braking
resistor B
braking
resistor N1
B 1QF: Circuit
D N2 Breaker
FIL: Noise Filter
Servo Alarm X1 1KM: Magnetic
ALM DO 2 17 Contactor
1RY: Relay
DO PRT: Surge
1RY 18
COM Absorber
DC24V DO public D: Free-
interface wheeling Diode

Applicable models: GH170、GH210【Note】

Servo Drive
Servo Motor

L1 U U
3 phase L2 V V M
AC 380V
L3 W W
QF 1KM
24v
0v
+ -
DC power NC X2 ENC
supply（24V）

External P
braking
resistor B
N1
D 1QF: Circuit Breaker
N2 FIL: Noise Filter
1KM: Magnetic Contactor
Servo Alarm ALM X1 1RY: Relay
DO 2 17 PRT: Surge Absorber
DO D: Free-wheeling Diode
DC24V 1RY 18
DO public COM

interface

Note: There is no internal brake resistor of GL240, which need to connect the
brake resistor generally.

20
 2.2 Adaptation of brake resistance

2.2 Adaptation of brake resistance

Internal brake External brake
External brake resistor
Drive series Resistance resistor
recommendation
specification (Min. resistance)
GL1A0 N/A Min.47Ω /100W 30Ω
GL1A8 47Ω /100W Min.36Ω /200W 30Ω
GL3A0 47Ω /100W Min.36Ω /200W 30Ω
GL5A5 47Ω /100W Min.36Ω /200W 25Ω
AC220V GL7A5 47Ω /100W Min.36Ω /200W 25Ω
GL120 47Ω /100W Min.25Ω /200W 20Ω
GL160 47Ω /100W Min.25Ω /200W 20Ω
GL190 47Ω /100W Min.20Ω /500W 12Ω
GL240 N/A Min.20Ω /500W 12Ω
GH2A0 117Ω /100W Min.50Ω /500W 45Ω
GH3A5 117Ω /100W Min.50Ω /500W 45Ω
GH5A4 117Ω /100W Min.50Ω /500W 45Ω
AC380V GH8A5 47Ω /100W Min.50Ω /500W 40Ω
GH130 47Ω /100W Min.36Ω /750W 30Ω
GH170 N/A Min.36Ω /750W 30Ω
GH210 N/A Min.20Ω /1000W 15Ω
Note 1. The resistance recommended in the table can be applied to most occasions. If it can't
meet the demand in practical applications, please contact the manufacturer.
Note 2. When all the drivers are changed to the external brake resistance, the parameter
P084/P085/P086 should be modified accordingly. For specific modifications, please
refer to the corresponding parameter description in Chapter 5.4.1.

21
Chapter 2 Wiring

2.3 The connection of reactor

When it needs to be restrained to the power supply higher order harmonics, connect the
direct current reactor between N1 and N2.

reactor

Note: There is the function of connecting external reactor only in GL190、GL240、GH2A0、

GH3A5、GH5A4、GH8A5、GH130、GH170、GH210 servo drive.

22
 2.4 X1 Control signal terminal

2.4 X1 Control signal terminal

The X1 control signal terminal provides the signal which need to connect with
external IO, and uses the DB25 socket. The signal includes:：
 5 programmable inputs;；
 5 programmable outputs；
 2 way high speed latch input.。

2.4.1 X1 terminal connector

The X1 connector plug uses DB25 male head, the contour and pin disposition charts are as the
followings:
DI Power Supply 1
(COM+) 14 Digital Input 1(DI1)
Digital Input 2 (DI2) 2
15 Digital Input 3(DI3)
Digital Input 4(DI4) 3
16
Digital Input 5(DI5)
Digital Output 1(DO1) 4
17
Digital Output 2(DO2)
Digital Output 3(DO3) 5
18 DO Common Terminal
Position high speed latch 2- 6 (DOCOM)
(HDI2-) 19 Position high speed latch
Position high speed latch 1- 7 2+(HDI2+)
(HDI1-) 20 Position high speed latch
NC 8 1+(HDI1+)
21 NC
NC 9
22 NC
NC 10
23 Digital Output 4-(DO4-)
Digital Output 11
4+(DO4+) 24
Digital Output 12 Digital Output 5-(DO5-)
5+(DO5+) 25
NC
13
NC
Shiled Protection
Ground
(connector case) Servo Drive X1
Connector

13
25 1
14

Connector X1 Soldering Lug Disposition

23
 Chapter 2 Wiring

2.4.2 X1 terminal signal explanation

Name of signals pin function connect
number or
Photo isolation input; function is
DI1/DI2/DI3 14/2/15
programmable; defines by parameter
digital inputs DI4/DI5 3/16 C1
P100 to P104.
COM+ 1 DI power supply（DC12V～24V）
Photo isolation output; maximum
output: 50mA/25V; function is
DO1/DO2/DO3 4/17/5
programmable; defines by parameter C2
P130~P132.
DOCOM 18 DO common terminal
digital output
Optoelectronic isolated output,
maximum output capacity of
DO4+/DO4- 11/23
50mA/25V, function programmable,
DO5+/DO5- 12/24
digital differential output defined by
parameters

Position high HDI1+/HDI1- 20/7 High speed photoelectric isolation

speed latch HDI2+/HDI2- 19/6 input

Shield protection Metal case of Shielded wire for connection with

ground connector shielded cable.

2.4.3 X1 terminal interface type

The followings introduce the X1 various interface circuits and the wiring ways with the
host-controller.

1. Digital input interfaces (C1)

For carrying on a control, the digital input interface circuit can be constructed by switch,
relay, open-collector triode, and photo-coupler and so on. To avoid contacting problem the
relay must be chosen with low current operation. External voltage is in the range of
DC12V~24V.

24
 2.4 X1 Control signal terminal

C1-1：Switch input C1-2：Open collector triode

Servo Drive DC12V~24V Servo Driver

DC12V~24V COM+ 1 4.7KΩ COM+ 1 4.7KΩ

DI1 14 DI1 14
DI2 2 DI2 2
DI3 15 DI3 15
DI4 3 DI4 3
0V
DI5 16 DI5 16

25
Chapter 2 Wiring

2. Digital output interfaces (C2)

The digital outputs use Darlington photo-coupler. It can be connected with relay,
photo-coupler. Please notic the following:
 Inverting the polarity of DC power source, which is provided by the user, can cause the servo
driver damage.
 The maximum voltage of external DC power supply is 25V, the maximum output current is
50mA, and the total current for three channels is not in excess of 100mA.
 When using relay like inductive loads, a free-wheel diode must be connected with the
inductive load in parallel. If the diode connects in wrong direction can cause damage to the
output circuit.
 Owing to the low level of output is approximately 1V and cannot satisfy the TTL low-level
request, therefore cannot directly connect with the TTL circuit.
C2-1：Relay C2-2：Photo coupler
Servo Drive
DC5V~24V
Relay
DO1 4 Servo Drive
DC5V~24V Max. 50mA
DO2 17 output
DO3 5 DO1 4 Max. 50mA
DO2 17 Output
DO3 5
DOCOM 18

11 DOCOM 18
0V DO4+

DO4+ 11
23 0V
DO4-
12 DO4- 23
DO5+

24 DO5+ 12
DO5-

DO5- 24

 Freewheel diode must be connected.

3. Position high speed latch interface（C3）

C3：Position high speed latch interface
Servo Drive 24V Servo Drive
24V

HDI1+ 20 2kΩ R HDI1+ 20 2kΩ

R HDI1- 7 75Ω HDI1- 7 75Ω

1kΩ 1kΩ
HDI2+ 19 2kΩ R HDI2+ 19 2kΩ

R HDI2- 6 75Ω HDI2- 6 75Ω

1kΩ 1kΩ

 Maximum pulse frequency 200kHz；

26
 2.5 X2、X3 Encoder signal terminal

2.5 X2、X3 Encoder signal terminal

2.5.1 X2 terminal connector
The following diagram are the connection between X2 encoder signal terminals
and motor encoders, using double row DB9 sockets.The shape and pin distribution as
follows:

Encoder signal input(SD+) 1

6 Encoder clock
output(MA+)
Encoder signal input(SD-) 2

7 Encoder clock
output(MA-)
External battery pin(E+) 3

8 External battery pin

(E-)
Encoder power supply(5V) 4
9 Shield Protection
Ground(FG)
Encoder Power 5
Ground(0V)

X2 connctor for servo drive(absolute communication encoder)

5
9 1
6

Connector X2 Soldering
Lug Disposition

27
Chapter 2 Wiring

2.5.2 X2 Terminal signal description

Absolute communication encoder definition:
Pin number / signal line
Signal name color Function
Absolute (10 core)

Red + Red and The encoder uses a 5V power supply

5V 4
white (provided by the drive)，when the cable is
above 20m, in order to prevent the
Encoder power
encoder voltage from decreasing, the
supply Black + black and
0V 5 power supply and ground wire can be
white
connected by multiple wires or using
thick wires.
SD+ 1 Brown Connect with absolute encoder signal
Signal input
SD- 2 Brown White output
MA+ 6 Green
Clock output Connect with absolute clock input
MA- 7 Green white
E+ 3 Yellow
Outer battery pin External connection with battery pin
E- 8 Yellow and white
Connect with the shield line of the signal
Shielded line FG 9 Naked wire cable.

2.5.3 X3 terminal
Reserve

28
 2.6 X5、X6 EtherCAT port

2.6 X5、X6 EtherCAT port

X5 is EtherCAT input port，X6 is EtherCAT output port，please make sure to
connect as required.

2.6.1 X5、X6 terminal socket

1 TX+
TX- 2
3 RX+
N/C 4
5 N/C
RX- 6 7
8 N/C
N/C

2.6.2 X5、X6 terminal signal description

Signal name Pin number Function
TX+ 1 Send signal +
TX- 2 Receive signal -
RX+ 3 Receive signal +
RX- 6 Receive signal -

29
 Chapter 2 Wiring

2.7 Standard wiring diagram

2.7.1 Standard wiring diagram
Servo
Servo Drive motor
L1
3 phase U U
AC 220V L2
V V
L3
QF KM W W
L1C
L2C Servo motor
power
X1
connector
DC COM+ 1
(4 core)
12~24V 4.7kΩ
X2
CCW Drive Inhibition
DI 1 14
CCWL 4 5V
CW Drive Inhibition DI 2 2
5 0V
CWL
DI 3 15
HOME SWITCH 1 SD+ Encoder
DI 4 3 Connector
DI Input 2 SD-
User defined function DI 5 16
3 E+

X1 8 E-
magnetic brake
DO 1 4 9 FG
BRK
X2 Metal
Shell
DO 2 17
DO Output
User defined function
DO 3 5

EtherCAT controller
DO Public DO or
COM
18 X5 Last EtherCAT slave
Terminal
station
X1
DO4+ 11

DO Output DO4- 23 X6
User defined function DO5+ 12
Next
DO5- 24 EtherCAT slave
station
X1
2kΩ
HDI1+ 20 Note 1: The DI/DO port function of X1
75Ω terminal is programable by software
Position high HDI1- 7
2kΩ .This picture shows factory default
speed latch HDI2+ 19 setting, which can meet general
75Ω
HDI2- 6 purpose . Customers can change it
as required.
Note 2: The X2 terminal is the
encoder interface, which is different
FG X1 Metal Shell according to the encoder type. For
specific connection, please refer to
section 2.3.2.

Note: The above wiring diagram is an example of GL7A5.

30