EPS-BS SERIES AC SERVO SYSTEM USER MANUAL

Contents
STANDARD WIRING DIAGRAM........................................................................................................................... 1
SPECIAL PARAMETERS......................................................................................................................................... 2
DISPLAY PARAMETERS.........................................................................................................................................2
STANDARD PARAMETERS....................................................................................................................................2
ALARMS....................................................................................................................................................................8
MODBUS COMMUNICATION................................................................................................................................8

STANDARD WIRING DIAGRAM

1
SPECIAL PARAMETERS
 EEPOPEE-0(press and hold SET button): save parameter changes
 EEPOPEE-1(press and hold SET button): reset parameters to factory default
 PA064/PA066:
PA64  b15  215  b14  214     b2  22  b1  2  b0
PA66  b6  26  b5  25     b2  22  b1  2  b0
DISPLAY PARAMETERS
Display
Display content Unit Communication address
Parameter
dP 00 Motor speed 【r/min】 0X0600
dP 01 Encoder feedback 1 pulse 0X0601
dP 02 Encoder feedback 10000 pulses 0X0602
dP 03 Input pulse count 1 pulse 0X0603
dP 04 Input pulse count 10000 pulses 0X0604
dP 05 Pulse deviation 1 pulse 0X0605
dP 06 Pulse deviation 10000 pulses 0X0606
dP 07 Reserved 【0.0025V】 0X0607
dP 08 Internal speed instruction 【r/min】 0X0608
dP 09 Reserved 【0.0025V】 0X0609
dP 10 Internal torque instruction 【%】 0X060A
dP 11 Internal torque feedback 【%】 0X060B
dP 12 Input signal monitor ―― 0X060C
dP 13 Output signal monitor ―― 0X060D
dP 14 Input pulse frequency 【Khz】 0X060E
dP 15 Load current 【A】 0X060F
dp16 DC bus voltage V 0X0610
dp17 Motor rotational angle deg 0X0611
dP 19 Z signal count ―― 0X0613
dP 21 Servo drive capacity 0X0615
dP 25 Alarm 1 log (latest) ―― 0X0619
dP 26 Alarm 2 log ―― 0X061A
dP 27 Alarm 3 log ―― 0X061B
dP 28 Alarm 4 log ―― 0X061C
STANDARD PARAMETERS
Parameter Function Range Unit Default Effective

Password setting
PA000 0~9999 - 58 Immediate
Set this parameter to 58 before editing parameters
PA001 Carrier wave frequency 5~15 KHz 12 Restart
PA002 Motor pole pair selection 4~5 - 5 Restart
4 pole pair motor, PA2=4; 5 pole pair motor, PA2=5.
Initial display selection
To select what is shown after power-on:
0: DP0
PA003 0~80 0 Restart
1: DP1
2: DP2
……etc.
Control mode selection
PA004 0: Position control mode 0~7 0 Restart
7: Internal speed control mode

2
Parameter Function Range Unit Default Effective

Function selection parameter:

bit0: CWL & CCWL signal (0: valid; 1: invalid)
bit1: PULSE signal negation (0: invalid; 1: valid)
bit2: SIGN signal negation (0: invalid; 1: valid)
bit 3: Power failure parameter storage (0: invalid; 1: valid)
bit 4: Parameter edit real-time saving (0: invalid; 1: valid)
bit 5: DP0 negation (0: invalid; 1: valid)
bit 6: ZEROSPD signal (0: invalid; 1: valid)
bit 7: INH signal (0: invalid; 1: valid)
PA006 0~65535 0 Restart
bit 8: -
bit 9: ZEROSPD edge selection
bit A: Dividing machine (0: zero torque; 1: rated torque)
bit B: Position control & internal torque control switch (0:
normal output; 1: not output position control)
bit C: Position & torque control switch (0: internal torque 1
only; 1: switch to 4 internal torques)
bit D: Internal speed control reciprocate movement (0:
electrical level; 1: rising edge)
PA007 Servo drive capacity selection 0~6 0 Restart
Motor encoder type selection:
0: Magnetic 1024*4 ppr (H)
PA008 1: Magnetic2500*4 ppr (P) 0~3 3 Restart
2: Incremental 2500*4 ppr (E)
3: Incremental 5000*4 ppr (K) or Magnetic 5000*4 ppr (Q)
PA009 Servo motor capacity parameter 0～35 10 Restart
To change PA2, PA7~9, first set PA0=1234, then edit parameters and set EEPOP→EE-1, then restart.
Parameter management
0: parameter saving (same as EE-00)
PA010 0~2 2 Restart
1: parameter reset (same as EE-01)
2: no operation
PA011 Position loop gain 100～9900 2000 Immediate
PA 012 Speed feedforward gain 0～100 % 0 Immediate
PA 013 Speed feedforward filter 0～8150 0.1ms 0 Immediate
PA014 Speed loop gain 300～8000 1000 Immediate
PA015 First speed loop time integral constant 0～1000 0.1 ms 200 Immediate
Parameter function selection:
bit0: Restart without full discharge except PA2, PA4, PA6,
PA7, PA8, PA9.
(0: Cannot restart; 1: Can restart).
bit1: -
bit2: Electronic gear ratio swtich
(0: Can switch; 1: Cannot switch)
PA019 0~65535 0 Immediate
bit3:
bit4: CLE signal function
(0: Clear DP5~DP6; 1: Clear DP1~DP6)
bit5: -
bit6: Internal position loop run (0: Invalid; 1: Valid)
bit7: -
bit8: -
Acceleration/deceleration type selection
PA020 0: linear 0~1 0 Immediate
1: S-curve
PA021 S-curve coefficient 1~100 1 Immediate

3
Parameter Function Range Unit Default Effective

Pulse input filter time constant

PA022 Filter frequency (KHz)
20 200
40 100
PA022 1~127 1
60 67
80 50
100 40
120 33
PA023 Second speed loop integral time constant 0～1000 0.1 ms 10 Immediate
Pulse input logic negation
PA027 0~1 0 Immediate
Can use this parameter to change motor rotation direction.
Pulse input form selection
0: Pulse + Sign
PA028 0~2 0 Restart
1: CW/CCW
2: A+B
CLE signal trigger selection
PA029 0 Immediate
0: by electric level; 1: by edge
Z Pulse output width
PA030 Z Pulse width (ms)
500 4
PA030 1000 8 1~6500 4000 Restart
2000 16
4000 32
6000 48
PA031 First electronic gear ratio numerator 1~65535 1 Immediate
PA032 First electronic gear ratio denominator 1~65535 1 Immediate
PA035 Pulse input filter 1~1000 1 Restart
PA038 Current loop gain 100~9000 1000 Immediate
PA039 Acceleration time constant 1~9000 ms 200 Immediate
PA040 Deceleration time constant 1~9000 ms 200 Immediate
PA041 Current integral constant 0~100 30 Restart
PA044 Speed instruction input logic negation 0~1 0 Immediate
PA047 Torque instruction input logic negation 0~1 0 Immediate
Torque limit constant
PA048 This parameter is to limit the maximum torque output 0~300 250 Immediate
compared to motor rated torque.
COIN signal threshold
PA050 When position deviation is less than this parameter, COIN 0~9000 pulse 50 Immediate
signal will output.
PA051 ZSP (zero speed) signal setting 0~3000 rpm 50 Immediate
PA052 ZSP (zero speed) signal time setting 0~9000 0.1ms 50 Immediate
0.01*enc
PA053 Position deviation alarm threshold at S-ON 0~500 300 Immediate
oder ppr
Position deviation alarm
0: ERR09 will output if deviation is larger than PA053
PA054 0~1 0 Immediate
1: No alarm will output even if deviation is larger than
PA053
1% rated
PA055 TLC (torque reached) signal threshold 0~300 50 Immediate
torque
PA056 TLC (torque reached) signal time setting 0~9000 ms 50 Immediate
PA058 Internal position start delay time (PA200=12) PA117 Immediate
PA060 Time from BRK signal to motor free run 0~9000 ms 150 Immediate
PA061 Motor speed at BRK 0~100 rpm 10 Immediate
PA062 Internal position stop delay time (PA200=12) PA117 Immediate

4
Parameter Function Range Unit Default Effective

Motor stop mode after servo off

PA063 0: decelerate to PA61, then power off after PA060 0~1 0 Immediate
1: coast to stop
PA064 Input signal electrical level logic selection 0~65535 0 Immediate
PA065 Delay time between S-ON and BRK off. 0~9000 ms 150 Immediate
PA066 Output signal electrical level logic selection 0~65535 0 Immediate
RS485 communication standard
PA070 0: RTU 0~1 0 Restart
1: ASCII
PA072 RS485 communication address 1～31 1 Restart
RS485 bit rate
0: 2400bps
1: 4800bps
2: 9600bps
PA073 0~6 5 Restart
3: 19200bps
4: 38400bps
5: 57600bps
6: 115200bps
RS485 protocol:
0: 7, N, 2
1: 7, E, 1
2: 7, O, 1
PA074 0~6 5 Restart
3: 8, N, 2
4: 8, E, 1
5: 8, O, 1
6: 8, N, 1
Dynamic brake selection
PA075 0: Brake to stop when speed is below PA76 after PA77; 0~1 0 Immediate
1: coast to stop
PA076 Dynamic brake speed 0~3000 rpm 1000 Immediate
PA077 Dynamic brake delay time 0~9000 ms 10 Immediate
COIN signal threshold
PA078 Immediate
Valid when speed is below this parameter in speed control
PA081 Overload alarm threshold 1 (ERR 01) 1~300 % 130 Immediate
PA082 Overload alarm time 1 (ERR 01) 1~120 S 30 Immediate
PA083 Internal position 0: number of turns -9999~9999 turn 1 Immediate
PA084 Internal position 0: number of pulses -9999~9999 pulse 0 Immediate
PA085 Internal position 1: number of turns -9999~9999 turn 1 Immediate
PA086 Internal position 1: number of pulses -9999~9999 pulse 0 Immediate
PA087 Internal position 2: number of turns -9999~9999 turn 1 Immediate
PA088 Internal position 2: number of pulses -9999~9999 pulse 0 Immediate
PA089 Internal position 3: number of turns -9999~9999 turn 1 Immediate
PA090 Internal position 3: number of pulses -9999~9999 pulse 0 Immediate
PA091 Internal position 4: number of turns -9999~9999 turn 1 Immediate
PA092 Internal position 4: number of pulses -9999~9999 pulse 0 Immediate
PA093 Internal position 5: number of turns -9999~9999 turn 1 Immediate
PA094 Internal position 5: number of pulses -9999~9999 pulse 0 Immediate
PA095 Internal position 6: number of turns -9999~9999 turn 1 Immediate
PA096 Internal position 6: number of pulses -9999~9999 pulse 0 Immediate
PA097 Internal position 7: number of turns -9999~9999 turn 1 Immediate
PA098 Internal position 7: number of pulses -9999~9999 pulse 0 Immediate
PA099 Valid internal positions 1~8 1 Immediate
PA100 Internal parameter 0~2 0 Immediate

5
Parameter Function Range Unit Default Effective

Internal position settings

0: turns, pulses (incremental)
1: negative turns, negative pulses (incremental)
2: low 16-bits, high 16-bits (incremental)
PA101 3: negative low 16-bits, negative high 16-bits (incremental) 0~7 0 Immediate
4: low 16-bits, high 16-bits (absolute)
5: negative low 16-bits, negative high 16-bits (absolute)
6: turns, pulses (absolute)
7: negative turns, negative pulses (absolute)
PA102 Internal position 0 speed 0~5000 rpm 120 Immediate
PA103 Internal position 1 speed 0~5000 rpm 130 Immediate
PA104 Internal position 2 speed 0~5000 rpm 140 Immediate
PA105 Internal position 3 speed 0~5000 rpm 150 Immediate
PA106 Internal position 4 speed 0~5000 rpm 160 Immediate
PA107 Internal position 5 speed 0~5000 rpm 170 Immediate
PA108 Internal position 6 speed 0~5000 rpm 180 Immediate
PA109 Internal position 7 speed 0~5000 rpm 190 Immediate
Position control selections (PA004=0)
0: external position control (pulse train)
PA110 0~4 0 Immediate
2: switch between internal position control & external JOG
4: switch between position control & internal torque control
PA111 Stall alarm threshold (ERR 08) 0~9000 rpm 600 Immediate
PA112 Stall alarm time (ERR 08) 0~9000 0.1S 10 Immediate
PA113 Internal parameter 0~65535 12288 Immediate
PA115 I/O terminal input filter 0~2000 1 Immediate
PA116 Internal position completion waiting time 1~9000 ms 1 Immediate
PA117 Internal position start/stop delay time 1~9000 ms 1 Immediate
PA118 Top seed coefficient (compared to rated speed) 50~300 % 150 Restart
PA119 Over-speed alarm threshold 1 (ERR 05) 50~300 % 150 Restart
PA120 Overload alarm threshold2 (ERR 06) 1~300 % 160
PA121 Overload alarm time 2 (ERR 06) 1~60 S 10 Immediate
PA122 Overload alarm threshold 3 (ERR 07) 1~300 % 200 Immediate
PA123 Overload alarm time 3 (ERR 07) 1~30 S 5 Immediate
PA128 Torque control 1 0~300 0 Immediate
PA129 Torque control 2 0~300 0 Immediate
PA130 Torque control 3 0~300 0
Internal speed 0 -5000~
PA131 rpm 100 Immediate
External JOG speed at internal position mode 5000
Internal speed 1 -5000~
PA132 rpm 200 Immediate
Homing speed at internal position mode 5000
-5000~
PA133 Internal speed 2 rpm 300 Immediate
5000
-5000~
PA134 Internal speed 3 rpm 400 Immediate
5000
-5000~
PA135 Internal speed 4 rpm 500 Immediate
5000
-5000~
PA136 Internal speed 5 rpm 600 Immediate
5000
-5000~
PA137 Internal speed 6 rpm 700
5000
-5000~
PA138 Internal speed 7 rpm 0 Immediate
5000
PA139 Automatic saving parameter 1 at power failure 0~249 0 Immediate
PA140 Automatic saving parameter 2 at power failure 0~249 0 Immediate
PA141 Second electronic gear ratio numerator 1~65535 1 Immediate
PA142 Second electronic gear ratio denominator 1~65535 1 Immediate
PA143 IGBT alarm temperature threshold (over 2.2kw model) 0~120 100 Immediate

6
Parameter Function Range Unit Default Effective

DI1 function selection

【0】Control mode switch (C-MODE)
【1】 Positive rotation prohibited (CWL) / Internal torque
selection 1
【 2 】 Negative rotation prohibited (CCWL) / Internal
torque selection 2
【 3 】 Deviation Clearance (CLE) / Internal position
homing / Internal speed selection 1
【4 】Alarm Clearance (A-CLR) / Internal speed selection
3
【5】Pulse input prohibited (INH) / Internal position stop/
PA145 Internal speed selection 2 6 Immediate
【6】Servo enabled (S-ON)
【 7 】 Zero speed clamp (ZEROSPD) / Internal position
pause
【8】Forward JOG
【9】Reverse JOG / Internal position selection 1
【10】Internal position start
【11】Homing start signal
【12】Home signal input signal / torque signal negation
【13】Internal position selection 2
【14】Gear ratio switch / Internal position signal negation
【15】Internal position selection 3
PA146 DI2 function selection 4 Immediate
PA147 DI3 function selection 3 Immediate
DO1 signal selection
【0】Servo ready (S_RDY)
【1】Alarm (ALM)
【2】Holding brake signal (BRK)
PA148 1 Restart
【3】Position reached (COIN)
【4】Torque reached (TLC)
【5】Zero speed (ZSP)
【6】Z signal (need restart)
PA149 DO2 signal selection 2 Restart
PA150 DO2 signal selection 3 Restart
PA151 Regenerative circuit duty cycle 0~100 50 Immediate
PA152 Regenerative threshold compensation -20~25 V 0 Immediate
PA153 Control circuit under-voltage alarm time 1~2000 ms 40 Immediate
PA154 Control circuit under-voltage alarm time threshold 0~9000 - 2000 Immediate
PA155 Alarm parameter 1 - - - -
PA156 Alarm parameter 2 - - - -
PA157 Alarm parameter 3 - - -
PA158 Alarm parameter 4 - - - -
PA160 Waiting time after internal position 0 1~9000 PA116 100 Immediate
PA161 Waiting time after internal position 1 1~9000 PA116 100 Immediate
PA162 Waiting time after internal position 2 1~9000 PA116 100
PA163 Waiting time after internal position 3 1~9000 PA116 100 Immediate
PA164 Waiting time after internal position 4 1~9000 PA116 100 Immediate
PA165 Waiting time after internal position 5 1~9000 PA116 100 Immediate
PA166 Waiting time after internal position 6 1~9000 PA116 100 Immediate
PA167 Waiting time after internal position 7 1~9000 PA116 100 Immediate

7
ALARMS
Error code Name Remarks Can clear
ERR.01 Overload 1 Refer to PA081, PA082 Yes
ERR.02 Under voltage No
ERR.03 Over voltage No
ERR.04 AC detection error Input phase loss -
ERR.05 Over speed Refer to PA119 Yes
ERR.06 Overload 2 Refer to PA120, PA121 Yes
ERR.07 Overload 3 Refer to PA122, PA123 Yes
ERR.08 Motor stall Yes
ERR.09 Position deviation 1 Refer to PA053 Yes
ERR.12 Extremely overload Motor current is over 250% rated current Yes
ERR.16 Parameter error Yes
ERR.20 IGBT alarm Caused by over-current No
ERR.21 Current detection abnormity 1 Internal circuit error No
ERR.22 Current detection abnormity 2 Internal circuit error No
ERR.26 Encoder AB Pulse loss No
ERR.27 Encoder UVW error No
ERR.28 Encoder UVW broken cable No
ERR.29 Encoder ABZ broken cable No
ERR.30 Encoder Z Pulse loss No
ERR.31 Encoder status error Magnetic encoder wrong initial position No
ERR.32 Electronic gear protection Gear ratio too large Yes
ERR.33 Input signal error Input pin duplicate or meaningless Yes
ERR.34 Output signal error Output pin duplicate or meaningless Yes
ERR.36 Servo drive wrong capacity Yes
ERR.37 Matching error Servo drive & motor do not match Yes

MODBUS COMMUNICATION
 COMMUNICATION ADDRESS

PA0 address: 0x0000（HEX）... PA31 address: 0x001F（ HEX ）

 INSTRUCTIONS

INSTRUCTION CONTENT

03H Read N words, N<=29

06H Write 1 word

10H Write N words, N<=29