DORNA EPS BS User Manual V1.3

AC SERVO SYSTEM
EPS-BS SERIES
User Manual
(V1.3)
1
Table of Contents
SAFETY PRECAUTIONS ................................................................................................................................................ 5
★★★ QUICK START GUIDE ......................................................................................................................................... 9
★ BASIC WIRING ............................................................................................................................................................. 9

★ BASIC PARAMETERS .................................................................................................................................................. 10
CHAPTER 1 PRODUCT OVERVIEW ..............................................................................................................................12
1.1 PRODUCT INSPECTION ............................................................................................................................................. 12

1.2 PRODUCT MODEL .................................................................................................................................................... 12
1.2.1 Nameplate description .................................................................................................................................... 12
1.2.2 Model descriptions .......................................................................................................................................... 13
1.3 NAME OF EACH PART OF SERVO DRIVE ..................................................................................................................... 14
1.4 MAINTENANCE & INSPECTION ................................................................................................................................ 14
CHAPTER 2 INSTALLATION ..........................................................................................................................................15
2.1 INSTALLATION DIRECTION AND SPACE ..................................................................................................................... 15

2.2 SERVO DRIVE DIMENSIONS ....................................................................................................................................... 16
2.3 RECOMMENDED SPECIFICATIONS FOR CIRCUIT BREAKERS AND FUSES ..................................................................... 17
2.4 COUNTERING NOISE INTERFERENCE AND HIGHER HARMONICS ................................................................................ 17
2.4.1 Installation of EMI filter ................................................................................................................................... 18
2.4.2 Installation of AC/DC reactor ........................................................................................................................... 18
2.5 SELECTION OF REGENERATIVE RESISTORS ............................................................................................................... 18
CHAPTER 3 WIRING ...................................................................................................................................................20
3.1 SYSTEM STRUCTURE & WIRING ............................................................................................................................... 20

3.1.2 Wiring of the main circuit ................................................................................................................................ 20
3.2 CN1 WIRING ............................................................................................................................................................ 22
3.2.1 Arrangement of connector CN1 terminal ........................................................................................................ 22
3.2.2 I/O Signal allocations ....................................................................................................................................... 23
3.2.3 Examples of connection to the host device ...................................................................................................... 25
3.3 CN2 WIRING ............................................................................................................................................................ 29
3.4 STANDARD WIRING DIAGRAM .................................................................................................................................. 30
CHAPTER 4 PANEL OPERATIONS .................................................................................................................................31
4.1 PANEL OPERATOR..................................................................................................................................................... 31

4.2 FUNCTION SWITCHING ............................................................................................................................................. 32
4.3 PARAMETER SETTING METHOD ................................................................................................................................ 32
4.4 OPERATION EXAMPLE OF PARAMETER MANAGEMENT FUNCTION (EEPOP) ............................................................. 33
4.4.1 Parameter storage function (EE - 0) example .................................................................................................. 33
4.4.2 Parameter Factory Reset Function (EE - 1) operation example ....................................................................... 34
CHAPTER 5 MONITOR DISPLAY ..................................................................................................................................34
5.1 MONITOR DISPLAY LIST ........................................................................................................................................... 34

2
5.2 OPERATION EXAMPLE OF MONITOR DISPLAY ............................................................................................................ 36
5.3 INPUT SIGNAL MONITORING DP12 ........................................................................................................................... 37
5.3.1 DP12 operation procedures ............................................................................................................................. 37
5.3.2 DP12 display explanations ............................................................................................................................... 37
5.4 OUTPUT SIGNAL MONITORING DP13 ........................................................................................................................ 38
5.4.1 DP13 operation procedures ............................................................................................................................. 38
5.4.2 DP13 display explanations ............................................................................................................................... 38
5.5 MONITORING DISPLAY WHEN POWER IS TURNED ON ................................................................................................ 39
CHAPTER 6 JOG RUN ..................................................................................................................................................40
6.1 PREPARATIONS BEFORE JOG RUN ............................................................................................................................ 40

6.2 JOG RUN BY PANEL OPERATIONS ............................................................................................................................. 40
6.3 JOG RUN OF THE SERVO MOTOR ALONE BY HOST COMMAND ................................................................................... 41
6.3.1 Input signal circuit wiring and confirmation .................................................................................................... 41
6.3.2 JOG run of position control .............................................................................................................................. 42
6.4 JOG RUN AFTER CONNECTING THE SERVO MOTOR TO THE MACHINE........................................................................ 42
6.5 JOG RUN OF SERVO MOTOR WITH BRAKE................................................................................................................. 43
CHAPTER 7 OPERATIONS ............................................................................................................................................43
7.1 CONTROL MODE SELECTION .................................................................................................................................... 43

7.2 SETTING OF GENERAL BASIC FUNCTIONS ................................................................................................................. 44
7.2.1 SERVO ON setting ............................................................................................................................................ 44
7.2.2 Motor over travel prohibitation....................................................................................................................... 44
7.2.3 Overtravel settings .......................................................................................................................................... 45
7.2.4 Holing brake settings ....................................................................................................................................... 45
7.3 POSITION CONTROL OPERATIONS ............................................................................................................................. 47
7.3.1 User parameter settings .................................................................................................................................. 47
7.3.2 Electronic gear setting ..................................................................................................................................... 47
7.3.3 Position instructions ........................................................................................................................................ 48
7.3.4 Positioning completed signal (COIN) ............................................................................................................... 49
7.3.5 ZSP (zero speed) signal setting ........................................................................................................................ 49
7.3.6 Pulse instruction inhibition function (INH) ....................................................................................................... 50
7.4 INTERNAL SPEED CONTROL ...................................................................................................................................... 50
CHAPTER 8 TROUBLESHOOTING ................................................................................................................................52
8.1 LIST OF ALARMS ...................................................................................................................................................... 52

8.2 ALARM TROUBLESHOOTING ..................................................................................................................................... 53
CHAPTER 9 PRODUCT SPECIFICATIONS.......................................................................................................................56
9.1 SERVO DRIVE SPECIFICATIONS ................................................................................................................................. 56

9.2 SERVO MOTOR SPECIFICATIONS ................................................................................................................................ 56
9.3 MOTOR PARAMETER PA9 ......................................................................................................................................... 59
9.4 EPS-BS SERVO MOTOR AND SERVO DRIVE MATCHING TABLE .................................................................................. 59
CHAPTER 10 APPENDIX ..............................................................................................................................................61
10.1 PARAMETERS ......................................................................................................................................................... 61

10.2 MODBUS COMMUNICATION ................................................................................................................................ 67
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10.2.1 Communication modes .................................................................................................................................. 67
10.2.2 Byte structure ................................................................................................................................................ 67
10.2.3 Communication data structure ...................................................................................................................... 68
10.2.4 Communication troubleshooting ................................................................................................................... 74
10.2.5 Communication parameters .......................................................................................................................... 75
10.2.6 Servo drive parameter address ...................................................................................................................... 75
4
Safety Precautions
This section explains important items that users must observe when confirming, storing, moving, installing, wiring,
operating, inspecting, and disposing of products when they arrive.
Risk
◼Input power.
The input power of this driver is AC220V .
◼ When installing on a machine and starting operation, please put the motor in a state that can be
stopped immediately at any time.
Failure to do so could result in personal injury or mechanical damage.
◼ In the power-on state, be sure to install the cover of the power terminal block.
Otherwise it may cause electric shock.
◼ After turning off the power or performing a withstand voltage test, do not touch the power terminals
while the charging indicator is on.
Otherwise, it may cause electric shock due to residual voltage.
◼Please carry out trial operation according to the steps and instructions described in the user manual
corresponding to the product.
If the servo motor is installed in a mechanical state, if an operation error occurs, it will not only cause
mechanical damage, but may also cause personal injury.
◼ Never modify this product, and do not set up, disassemble or repair it unless specified.
Failure to do so could result in personal injury, mechanical damage, or fire.
◼Please install a stop device on the machine side to ensure safety.
The holding brake of a servo motor with a brake is not a stopping device to ensure safety.
Failure to do so could result in injury.
◼ Be sure to connect the ground terminal of the servo driver to the ground electrode (the ground
resistance of the power input servo driver is 100 Ω or less) .
Doing so may cause electric shock or fire.
5
Storage & Handling
◼ Do not store or install in the following environment.
Failure to do so may cause fire, electric shock, or machine damage.
➢ Places exposed to direct sunlight
➢ Use the place where the ambient temperature exceeds the storage and setting temperature conditions
➢ Places where relative humidity exceeds storage and humidity conditions
➢ Places with corrosive gas and flammable gas
➢ Places with a lot of dust, dust, salt and metal powder
➢ Places subject to splashing with water, oil and drugs
➢ Vibration or shock will be transmitted to the subject's place
◼ Do not hold the cable, motor shaft or detector for transportation.
Doing so may cause injury or malfunction.
Installation
◼Do not block the air inlet and air outlet. Also do not allow foreign matter to enter the product.
Failure to do so may cause malfunction or fire due to aging of internal components.
◼ Be sure to observe the requirements of the installation direction.
Doing so may cause a malfunction.
◼ When installing, please ensure that there is a prescribed interval between the servo driver and the
inner surface of the control cabinet and other machines.
Doing so may cause fire or malfunction.
◼ Do not apply excessive impact.
6
Wiring
◼ Make wiring correctly and reliably.
Failure to do so could result in loss of motor control, personal injury, or machine failure.
◼ Do not connect commercial power to the servo motor connection terminals U , V , W of the servo
driver .
Failure to do so could result in injury or fire.
◼Please connect the power terminal and the motor connection terminal securely.
Doing so may cause fire.
◼ Do not use the same sleeve for the main circuit cable, the input and output signal cables, and the
encoder cable, and do not bundle them together. When wiring, the main circuit cable and the input
and output signal cables should be more than 30cm away .
◼ Please use double-stranded or multi-core double-stranded overall shielded cable for input and output
signal cables and encoder cables.
◼The wiring length of the input and output signal cables: up to 3 m ; encoder cables: up to 30 m .
◼ Even if the power is turned off, high voltage may remain in the servo drive. Therefore, do not touch
the power terminal while the charging indicator is on.
After confirming that the charging indicator is off, perform wiring and inspection.
◼ Please install a safety device such as a circuit breaker to prevent external wiring from being
shorted.
Doing so may cause fire.
◼When using in the following places, please take appropriate shielding measures.
➢ When interference occurs due to static electricity, etc.
➢ Places producing strong electric or magnetic fields
➢ Places where there may be radiation radiation
Doing so may cause damage to the machine.
◼ Pay attention to polarity when connecting batteries.
Otherwise, the battery, servo driver and servo motor will be damaged and exploded.
7
Operations
◼ To prevent accidents, perform a trial operation on the servo motor alone (with the machine not
connected to the drive shaft of the servo motor).
After the test run is correct, connect the machine to run. Failure to do so could result in injury.
◼ When installing on the supporting machinery and starting operation, please set the parameters in
accordance with the machinery in advance.
If you start running without parameter setting, it will cause the machine to run out of control or
malfunction.
◼ Do not turn the power on / off frequently .
Since the power supply portion of the servo drive with a capacitor, so the power ON time, will flow
through a large charging current. Therefore, if the power is turned on and off frequently, the performance
of the main circuit components inside the servo drive will be reduced.
◼When using the servo motor on the vertical axis, please install a safety device to prevent the workpiece
from falling in the state of alarm, overtravel, etc. When overtravel occurs, set a fixed stop with zero
position.
Failure to do so may cause the workpiece to fall under overtravel.
◼ Extreme parameter adjustment and setting changes will cause the operation of the servo system to
become unstable. Do not perform such operations.
Failure to do so may result in personal injury or machine damage.
◼ When an alarm occurs, reset the alarm after removing the cause and ensuring safety, and restart the
operation.
Failure to do so may cause machine damage, fire, or injury.
◼ Do not use the brake of a servo motor with a holding brake for braking.
◼ Use the servo motor and servo driver in the specified combination.
Doing so may cause fire or malfunction.
Maintenance Note Italian

◼ Do not change the wiring while the power is on.
Failure to do so may result in electric shock or injury.
◼ When replacing the servo driver, please copy the parameters of the driver to be replaced to the new
driver, and then restart the operation.
Doing so may cause damage to the machine.
8
Others
◼ For detailed explanation, some illustrations in this manual have been removed from the cover or safety
protection. In actual operation, please be sure to install the cover or safety protection body to the original
position according to the regulations, and then operate according to the instructions in the user manual.
◼ The illustrations in this manual are representative examples and may differ from the product you
received.
◼ Please set up relevant protection and safety devices during driver debugging. The company is not
responsible for special damage, indirect losses, and other related losses caused by our products.
◼ The information contained in this manual is a general description or feature introduction, which is not
always completely consistent with the description in actual applications, or may not be completely
suitable due to further development of the product.
★★★ Quick start guide

★ Basic wiring
1. Power cord: L1 , L2 , L3 (see section 3.1 for details )

It can be connected to three-phase AC 220V ; or any two terminals can be connected to single-phase AC 220V .
2. the motor power line: U, V, W
These three wires need to be connected to U, V, W marked on the driver one by one. Connect the PE wires to the
driver's wiring screws .
3. Encoder line (see section 3.3 for signal definition )
Motor flange Motor Power Power line model Encoder line model
60/80/90 - DA-002 BD -031
0.8 ～1.0KW DB-002
1.2 ～1.5KW DC-002
110/130 BC -031
1.8 ～2.0KW DD-002
2.2 ～3.0KW DE-002
4. Braking resistor (braking resistor) wiring
1) 400W and below power driver has no internal braking resistor. If necessary, an external braking resistor is
required. Connect the two ends of the external braking resistor to the P + and C terminals respectively.
2) 750W and above power drivers, standard internal braking resistor ( P + , D terminals are equipped with a short
wiring). If the internal braking resistor is too small, an external braking resistor is required. First , remove the
short wires at terminals P+ and D , and connect the two ends of the external braking resistor
to terminals P+ and C respectively .
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5. I/O signals (see section 3.2 and 3.4 for details )
Pin Symbol Definition Description
1 DGND Digital ground
2 RS + 485 communication positive Communication terminal
3 RS- 485 communication negative
4 PL 24V common terminal

1, Differential input : connect to P+ P- S+S-;
5 P+ Pulse positive (5V) 2, Open collector (24V, NPN): PL connects to 24V,
the pulse output (e.g. Y0) connects to the P- , direction
6 P- Pulse negative output (e.g. Yl) connected S-;
3 , Siemens PLC (PNP) : P-, S- connect to 0V, pulse
7 S+ Sign positive (5V) output (Y0) serial 2K resistor connects to P+, direction
output (Yl) serial 2K resistor connects to S+ .
8 S- Sign negative
Switching value common

9 COM + Switching power supply 12V ~ 24V
terminal positive (12V ~ 24V)
10 DI1 Digital input 1 Default: S-ON (PA145 can be redefined)
11 DI2 Digital input 2 Default: Alarm clear (PA146 can be redefined)
12 DI3 Digital input 3 Default: Deviation clear (PA147 can be redefined)

13 COM- Switching power 0V
terminal negative (0V)
14 DO1 Digital output 1 Default: Servo alarm ( PA148 can be redefined)
15 DO2 Digital output 2 Default: holding brake ( PA149 can be redefined)
16 DO3 Digital output 3 Default: position reached ( PA150 can be redefined)
★ Basic parameters
1. Setting method of these following parameters (PA2, PA8, PA9)

⚫ Set PA0 into 1234 ;
⚫ Modify the relevant parameters in turn according to the following instructions and confirm;
⚫ Restore factory settings (EEPOP → EE-1);
⚫ Power on again.
10
2. Set the matching parameters according to the motor nameplate: PA2, PA8, PA9
⚫ Check whether the motor pole pair number PA2 is consistent with the motor nameplate.
PA2 = 4 : four pairs of pole motors
PA2 = 5 : five pairs of pole motors
⚫ Check whether the motor encoder type parameter PA8 is consistent with the motor nameplate (the brackets
are the encoder identification in the motor model) .
PA8 = 0 : (H) Magnetic encoder 1024 line
PA8 = 1 : (P) Magnetic encoder 2500 line
PA8 = 2 : (E) Line-saving incremental 2500 line
PA8 = 3 : (K) Line-saving incremental 5000 line, ( Q ) Magnetic encoder 5000 line
⚫ Check whether the motor current parameter PA9 is consistent with the motor nameplate.
PA9 Motor rated PA9 Motor rated
parameter current parameter current
0 - 20 10A
1 0.5A 21 11A
2 1.0A 22 12A
3 1.5A 23 13A
4 2.0A 24 14A
5 2.5A 25 15A
6 3.0A 26 16A
7 3.5A 27 17A
8 4.0A 28 18A
9 4.5A 29 19A
10 5.0A 30 20A
11 5.5A 31 21A
12 6.0A 32 22A
13 6.5A 33 23A
14 7.0A 34 24A
15 7.5A 35 25A
16 8.0A
17 8.5A
18 9.0A
19 9.5A
3. Does the motor and driver capacity match?
If the rated current of the motor is more than 1A than the rated current of the driver , please consider
replacing with a higher power driver! The current is marked on the nameplate.
11
Chapter 1 Product Overview
1.1 Product inspection
In order to avoid various problems during the purchase and shipping of this product, please check the items listed
in the table below in detail.
Items Reference
Does the product match the Check the product models on the motor and drive nameplates
model you ordered?
Is the motor shaft normal? Rotate the motor shaft by hand. If it can run smoothly, it
means that the motor shaft is normal. However, a motor with
an electromagnetic brake cannot run by hand!
Is the appearance damaged? Check visually for any damage.
Are there loose screws? Use a screwdriver to check whether the screws of the servo
drive are locked.
If you encounter any of the above situations, please contact the agent or manufacturer for a proper solution.
A complete servo system should include the following items:

Items Reference
1 Servo driver and matching servo motor.
2 Motor power cable
3 Motor encoder cable

4 Servo control line
5 An instruction manual
1.2 Product Model
1.2.1 Nameplate description

■ EPS-BS series servo driver nameplate
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1.2.2 Model descriptions
■ EPS-BS series servo drive model description
EPS – BS – 0D75 A A – □□□□
[1] [2] [3][4] [5]
[ 1 ] Servo driver series [ 2 ] Driver power [ 3 ] Rated input voltage

Symbol Specifications Symbol Specifications Symbol Specifications
BS BS series 0D20 200W A 220V
0D40 400W
0D75 750W
0001 1.0KW
[ 4 ] Hardware version 01D5 1.5KW [ 5 ] factory code
Symbol Specifications 02D2 2.2KW Symbol Specifications
A 0003 3.0KW 0000 General 1
1000 General 2
■ Servo motor model description

130 DN MA 2– 0D75 D K A M
【1】【2】【3】【4】【5】【6】【7】【8】【9】
【１】Flange 【2】Name 【3】Inertia

60 60 flange DN MA Medium 220V
80 80 flange HA High 220V
130 130 flange
180 180 flange
【4】Pole pair 【5】Rated power 【6】Rated speed

1 4 pole pairs 0D20 200W A 1000rpm
2 5 pole pairs 0D40 400W B 1500rpm
0D75 750W C 2000rpm
0001 1.0KW D 3000rpm
01D2 1.2KW
01D5 1.5KW
0002 2KW
0003 3.0KW
【7】Encoder type 【8】Brake 【9】Shaft

E 2500 line A No brake K Key, no oil seal
H Magnetic 1024 line B With brake Y No key, oil seal
K 5000 line M Key, oil seal
P Magnetic 2500 line N No key, no oil seal
Q Magnetic 5000 line
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1.3 Name of each part of servo drive
Power lamp Display
Main power input
I/O terminal
Regenerative resistor terminals

1、Internal: P & D
2、External: P & C
Motor encoder signal
Motor UVW terminal
Grounding
1.4 Maintenance & Inspection
Please perform regular maintenance & inspection on the driver & motor to ensure safe & normal use. Routine
inspections and regular inspections should be implemented according to the following items .
Types Cycle Check item
·Ambient temperature, humidity, dust and foreign matter
·Is there abnormal vibration, abnormal sound
·The INPUT power supply voltage is normal
·Is there a smell?
Daily
daily ·Are the vents sticky fiber thread
inspection
·Clean situation drives the front of the connector
·The control device, the device motor connector portion for
loose & core leg departing
·Load section whether the foreign body embedded
·Fastening parts for loose
Periodic
1 year ·Are there signs of overheating
inspection
·Whether the terminals are damaged or loose
14
Chapter 2 Installation
2.1 Installation direction and space
The installation direction must be in accordance with the regulations, otherwise it will cause malfunctions. In
order to make a good cooling effect, the upper and lower, left and right with the adjacent items and baffle (wall)
must have enough space, otherwise it will cause malfunctions. The AC servo drive’s suction, exhaust hole cannot
be sealed, nor placed upside down, otherwise it will cause malfunctions.
In order to lower the wind resistance to the radiator fan and let heat discharge effectively, users shall follow the
recommended installation spacing distance of one or several AC servo drivers (see the figure below).2.2 EPS-BS
15
2.2 Servo drive dimensions
(Unit: mm)
(1) A type case: EPS-BS-0D20AA, EPS-BS-0D40AA
(2) B type case: EPS-BS-0D75AA, EPS-BS-0D75AA -****-G, EPS-BS-0001AA,

EPS-BS-01D5AA
(3) C type case: EPS-BS-01D5AA-****-G, EPS-BS-02D2AA, EPS-BS-02D2AA-****-G,

EPS-BS-0003AA
16
2.3 Recommended specifications for circuit breakers and fuses
■ 220V class
Drive type Power breaker Fuse (Class T)
Type A 400W or less 10A 20A
Type B 750W ~ 1.5KW 20A 40A
Type C 2.2KW ~ 3KW 30A 80A
Note:
1. Strongly recommended: the fuse and circuit-breaker must comply with UL/CSA standards.
2. When an earth leakage circuit breaker (ELCB) is added for leakage protections, please choose ELCB with
sensitivity current over 200mA and action time over 0.1s
2.4 Countering noise interference and higher harmonics
The main circuit of servo drive uses a high-speed switching device, so the peripheral wiring and earthing of servo
drive may be affected by the noise of the switching device. In order to prevent noise, the following measures can
be taken:
◆ Please install EMI filter on the main power supply side;

◆ Connection of AC/DC reactor for suppression of higher harmonic;
◆ Please install the command input equipment (such as PLC) and EMI filter as close as possible to the servo
drive;
◆ The power line (cable for power supply from servo drive to servo motor) shall be over 30cm from the
input-output signal cable. Do not house them in the same bushing or tie them together.
◆ Do not use the same power supply with a welding machine or electro spark machine.
17
◆ When there is a high frequency generating device nearby, an EMI filter shall be connected to the input side of
the main circuit cable.
◆ Ensure the earthing is appropriate.
2.4.1 Installation of EMI filter

In order to ensure the EMI filter can fully suppress the interference, please note:
Item Reference
1 Servo drives and EMI filters must be installed on the same metal surface.
2 The wiring has to be as short as possible.
3 The metal surface shall be well grounded.
The metal housing or earthing of both servo drive and EMI filter shall be reliably
4
fixed to the metal surface, with the contact area as big as possible.
5 The motor power line shall have shielded (double shielding layer is preferred) .
6 Ground shielding copper with the shortest distance and maximum contact.
2.4.2 Installation of AC/DC reactor

An AC/DC reactor can be connected to the servo drive for suppression of higher harmonic. Please
connect the reactor according to the figure below:
AC Reactor DC Reactor
Power Servo drive Servo drive

AC Reactor
DC reactor
L1
L2
1
L3
2
2.5 Selection of regenerative resistors
When the motor is outputting torque opposite to the rotating direction, energy is regenerated from the load to the
drive. DC bus voltage will rise and at a certain level, the regenerated energy can only be consumed by the
regenerative resistor. The drive contains an internal regenerative resistor, and users can also connect an external
regenerative resistor. The table below shows the specifications of regenerative resistor contained in EPS-B1 series
servo drives.
Drive enclosure Internal regenerative resistor specifications Minimum allowable
resistance (Ohm)
Resistance (Ohm) Capacity (Watt)
Type A - - 30
Type B 30 60 20
Type C 30 (220V) 80 13 (220V)
18
When the regenerative capacity exceeds the disposable capacity of the internal regenerative resistor, an
external regenerative resistor shall be connected. Please note:
Item Reference
1 Please set the external resistor value and capacity correctly.
The external resistance value shall not be smaller than the minimum allowable resistance value. If
2 parallel connection is to be used to increase the power, please confirm whether the resistance value
satisfies the limiting conditions.
In natural environment, when the disposable regenerated capacity (mean value) of regenerative
resistor is used within the limit of nominal capacity, the temperature of resistor will rise to be above
3
120℃ (under continual regeneration). In order to ensure safety, it is suggested to use a regenerative
resistor with a thermo-switch.
When external regenerative resistor is used, the resistor shall be connected to P, C end, and P, D end
4 shall be open. External regenerative resistor shall follow the resistance value suggested in the table
above.
19
Chapter 3 Wiring
3.1 System structure & wiring
3.1.1 Connectors and terminals of the driver

Terminal symbol name
L1, L2, L3 Power input terminal
P, D, C External regeneration resistor connection terminal
DC bus negative terminal
U, V, W Servo motor connection terminal
Ground terminal
CN1 Communication port, I / O connector

CN2 Encoder connector
3.1.2 Wiring of the main circuit

1) Wire size of servo drive main circuit
External Terminal Wire diameter mm2 (AWG)
terminal name symbol EPS-BS (A type chassis ) EPS-BS (B type chassis ) EPS-BS (C type chassis )
0D02A 0D04A 0D75A 0001A 01D5A 02D2A 0003A
Main circuit L1 , L2 , L3 1.25 (AWG-16) 2.0 (AWG-14) 3.0 (AWG-14)

power cable
Motor power U,V,W 1.25 (AWG-16) 2.0 (AWG-14) 3.0 (AWG-14)
line
External P, D, C 1.25 (AWG-16)
regeneration
resistance line
Ground wire 2.0 (AWG-14) or more
2) Typical main circuit wiring example

◆ When the signal of ALM is active, power supply of the main circuit shall be OFF.
◆ Main circuit & control circuit shall be powered on at the same time, or the control circuit first.
◆ The main circuit shall be powered off before the control circuit.
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◼ 1PH AC220V input
R T
1PH 200~230VAC +10%
(50/60 Hz) -15%
EMI Filter
1 Ry PL
OFF 1 MC
ON
1 MC 1 Ry Peak voltage suppressor
1 MC 2
U Motor
L1 3
L2 V M
1 MC W 4
L3 1
L1C Encoder
L2C
P
CN2 G
1 Ry +24V
4 ALM
~ 3 0V
COM
-
◼ 3PH AC220V input
R S T
1PH 200~230VAC +10%
(50/60 Hz) -15%
EMI Filter
1 Ry PL
OFF 1 MC
ON
1 MC 1 Ry Peak voltage suppressor
1 MC U 2 Motor
L1 3
1 MC
L2 V M
1 MC W 4
L3 1
L1C Encoder
L2C
P
CN2 G
1 Ry +24V
4 ALM
~ 3 0V
COM
-
21
3.2 CN1 wiring
3.2.1 Arrangement of connector CN1 terminal
Pin Symbol Definition Description
1 DGND Digital ground
2 RS + 485 communication positive Communication terminal
3 RS- 485 communication negative
4 PL 24V common terminal

1, Differential input : connect to P+ P- S+S-;
5 P+ Pulse positive (5V) 2, Open collector (24V, NPN): PL connects to 24V,
the pulse output (e.g. Y0) connects to the P- , direction
6 P- Pulse negative output (e.g. Yl) connected S-;
3 , Siemens PLC (PNP) : P-, S- connect to 0V, pulse
7 S+ Sign positive (5V) output (Y0) serial 2K resistor connects to P+, direction
output (Yl) serial 2K resistor connects to S+ .
8 S- Sign negative

9 COM + Switching power supply 12V ~ 24V
terminal positive (12V ~ 24V)
10 DI1 Digital input 1 Default: S-ON (PA145 can be redefined)
11 DI2 Digital input 2 Default: Alarm clear (PA146 can be redefined)
12 DI3 Digital input 3 Default: Deviation clear (PA147 can be redefined)

13 COM- Switching power 0V
terminal negative (0V)
14 DO1 Digital output 1 Default: Servo alarm ( PA148 can be redefined)
15 DO2 Digital output 2 Default: holding brake ( PA149 can be redefined)
16 DO3 Digital output 3 Default: position reached ( PA150 can be redefined)
Note
◆ Do not use empty terminals.
◆ Connect the shield of the cable to the connector housing.
◆ All input signals can parameter be configured by parameters.
22
3.2.2 I/O Signal allocations
I. Input signal settings

■ PA145 ~ PA147.
PA Name Default Effective
Control terminal DI1 input signal function selection
[ 0 ] Control mode switching (C-MODE)
[ 1 ] Forward rotation prohibited (CWL) / internal torque selection 1
[ 2 ] Negative rotation prohibited (CCWL) / Internal torque selection 2
[ 3 ] Deviation Clear (CLE) / Internal position reset / Internal multi-step speed 1
[ 4 ] Alarm Clear (A-CLR) / Internal Multi-speed 3
[ 5 ] Pulse input inhibit (INH) / Internal position stop / Internal multi-step speed 2
[ 6 ] Servo enable (S-ON)
PA145 [ 7 ] Zero speed clamp (ZEROSPD) / internal position pause 6 Immediate
[ 8 ] Jog positive direction
[ 9 ] Jog negative direction / internal position selection 1
[ 10 ] Position start in internal position mode
[ 11 ] Finding the mechanical zero start signal
[ 12 ] Mechanical zero input signal / torque signal negation
[ 13 ] Internal position selection 2
[ 14 ] Gear ratio switching / internal position signal negation
[ 15 ] Internal position selection 3
PA146 Control terminal DI2 input signal function selection 4 Immediate
PA147 Control terminal DI3 input signal function selection 3 Immediate
(2) Description of input signal form selection
PA64 bit number b7 b6 b5 b4 b3 b2 b1 b0
Corresponding function
【7 】【6 】【5 】【4 】【3 】【2 】【1 】【0 】
number
Input signal polarity selection 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1
PA64 bit number b15 b14 b13 b12 b11 b10 b9 b8

Corresponding function
【15 】【14 】【13 】【12 】【11 】【10 】【9 】【8 】
number
Input signal polarity
0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1
selection
Calculation method (by converting binary number into decimal number):
PA64 = b15  215 + b14  214 +   + b2  22 + b1  2 + b0
(3) When used after changing the input signal assignment
When signals like S-ON, CWL, CCWL are used through "polarity inversion”, if there are abnormal states
like breakage of signal line, it will cause movement deviating from the safety direction. If such setting has to
be adopted, please confirm the action and ensure there are no safety problems. The typical circuit of input
23
signal is as follows:
Servo drive Servo drive
DC24 V DC24 V
+ 24VIN Above 50 mA 3.3K Ω
Above 50 mA 3.3K Ω PC + 24VIN PC
/S- ON etc. /S- ON etc.
Take the above figure as an example. When the optocoupler is conductive, S-ON signal is L level; when the
optocoupler is not conductive, S-ON signal is H level.
(4) Confirmation of input signal states
Input signal states can be monitored in DP12.
II. Output signal settings

(1) Description of output signal form selection
PA Name Defaults Effective
Control terminal DO1 input signal function selection
[ 0 ] Servo ready (S_RDY)
[ 1 ]Alarm (ALM)
[ 2 ] Motor holding brake (BRK)
PA148 1 Immediate
[ 3 ] Position reached (COIN)
[ 4 ] Torque reached (TLC)
[ 5 ] Zero speed (ZSP)
* [ 6 ] Z signal (Restart to take effect)
PA149 Control terminal DO2 input signal function selection 2 Immediate
PA150 Control terminal DO3 input signal function selection 3 Immediate
(2) Description of output signal form selection
PA66 digit number * b6 b5 b4 b3 b2 b1 b0
Corresponding function 【6 】【5 】【4 】【3 】【2 】【1 】【0 】
number Z ZSP TLC COIN BRK ALM S_RDY
Output signal polarity
0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1
selection
Calculation method (by converting binary number into decimal number):
PA66 = b6  26 + b5  25 +  + b2  22 + b1  2 + b0
(3) Use of output signal
If an output signal is not detected, then it is regarded as invalid.The output signal typical circuit is shown below :
24
DC 5V~ 24V
Relay
Servo drive
Opticalcoupler S-RDY+
S-RDY-
0V
Maximum allowable voltage: DC 30V

Maximum allowable current: DC 50mA
4) Confirmation of output signal

Output signal states can be monitored in DP13.
(5) Relevant matters needing attention
Brake signal is a differential signal, others are single-ended output signals (open-collector).
3.2.3 Examples of connection to the host device
Servodrive input, output signals and their connection examples with the host device are shown below .
I. Instruction input loop
1) Position instruction input loop
■ Linear driver output
25
■ Open-collector output
When the host device is with open collector output and provides VCC = 24VDC signal power, connection
method 1
When the host device is with an open collector output and provides 5VDC, 12VDC, 24VDC signal power,
connection method 2
26
Set the resistance R according to the input current range required below.
Input current i = 10~15mA:
When VCC is 24V, R = 2.0KΩ
When VCC is 12V, R = 510Ω
When VCC is 5V, R = 180Ω
2) Sequential input loop

Connected by a relay or an open collector transistor circuit. When using relay connections, select the micro
current relay. If you do not use small current relay, it will cause bad contact.
Servo drive Servo drive
24VDC 24VDC
+24VIN 3.3KΩ
Above 50mA 3.3KΩ Above 50mA +24VIN
/S-ON etc. /S-ON etc.
Relay Open collector transistor
27
II. output circuit
1) Sequence output circuit
Servo alarm, brake output and other sequence output signals are composed of photocoupler output
circuits. Please use relay connections.
DC 5V～24V
Relay
Servo drive
0V
Maximum DC voltage: 30VDC

Maximum DC current: 50mA
28
3.3 CN2 wiring
Quick Plug Encoder Cable
9P CODE DESCRIPTION DESCRIPTION

CABLE CODE DESCRIPTION DESCRIPTION 1 PA PD+
1 +5V +5V 2 PB
2 0V 0V 3 PZ
3 PA PD+ 4
4 /PA PD- 5 +5V +5V
5 PB BAT+ 6 /PA PD-
6 /PB BAT- 7 /PB
7 PZ 8 /PZ
8 /PZ 9 0V 0V
9 FG FG FG FG
Encoder cable for aviation plug
9P CODE DESCRIPTION DESCRIPTION

1 PA PD+
2 PB
3 PZ
4
CABLE CODE DESCRIPTION DESCRIPTION 5 +5V +5V
1 FG FG 6 /PA PD-
2 +5V +5V 7 /PB
3 0V 0V 8 /PZ
4 PA PD+ 9 0V 0V
5 PB BAT+ FG FG
6 PZ
7 /PA PD-
8 /PB BAT-
9 /PZ
29
3.4 Standard wiring diagram
30
Chapter 4 Panel Operations
4.1 Panel operator
The panel operator consists of panel operator display & panel operator keys . The panel operator can display
status, perform auxiliary functions, set parameters, and monitor the operation of the servo driver. The names and
functions of the panel operator keys are shown below .
MOD SET
button Function Description

MOD Switch between modes or exit as a cancel button
← Cyclic shift left
↑ Cyclic increase. If the data is the sign value, it shifts between + and -.
SET Enter parameter and display menu, equivalent to ENTER
Hold & press ↑ & ← keys together can clear servo drive alarms. BUT please find out the cause of
alarms first.
31
4.2 Function switching
4.3 Parameter setting method
Below is an example to illustrate modify parameter PA100 value from 40 to 200.
Step Panel display Keys Operations

Press MOD key to select parameter
1
MOD SET setting interface.
Press the SET key to enter

2
MOD SET the parameter setting function .
Press "↑" or "←" to

3
MOD SET display "PA100".
Press SET to enter the parameter edit

4 screen, displaying as left , indicating
MOD SET
the current value of 40.
32
Press the "←" key to move the
decimal point corresponding to the
flashing display, so that the decimal
5
MOD SET point corresponding to 4 flashes .
(The flashing digit indicates the digit
that can be changed .)
By pressing 6 times "↑" key, the

6
MOD SET displayed value is changed to "00."
Press the "←" key, to move the

7 blinking digit display, so the display is
MOD SET
as left .
Press 2 times "↑" key , the displayed

8
MOD SET value is changed to "200."
Press SET key , i.e. the PA100 value

is modified to 200. If the value set in
9 this parameter within the setting
MOD SET
range, the display will be shown as
left.
4.4 Operation example of parameter management function (EEPOP)
Parameter management features include parameter storage in EEPROM & parameter initialization.
4.4.1 Parameter storage function (EE - 0) example
Method 1:
Press MOD key to enter parameter management
1
MOD SET function (EEPOP);
2 Press the SET key once;

MOD SET
Hold and press SET key, until no display,

3
MOD SET then release the SET key ;
When the left figure is displayed , the operation

4
is complete .
Press the MOD key to exit this

5
MOD SET function and return to the display of step 2 .
33
Method 2: Set PA10 to 0, press the SET button (note PA10 will automatically change back to 2, so when you
view again PA10 becomes 2. It does not matter ), and parameter has been saved.
4.4.2 Parameter Factory Reset Function (EE - 1) operation example
Method 1: First change PA0 to 1234, and then perform the following factory reset operations.
1 Press MOD key to enter EEPOP;

MOD SET
2 Press the SET key once ;

MOD SET
3 Press the "↑" key once ;

MOD SET
Hold and press SET key, until no display,

4
MOD SET then release the SET key ;
When the left figure is displayed ,

5
the operation is complete .
Press the MOD key to exit this

6
MOD SET function and return to the display of step 2 .
Method 2: Set PA10 to 1, press the SET button (note PA10 will automatically change back to 2, so when you
view again PA10 becomes 2. It does not matter ), and then restart power to finish.
Chapter 5 Monitor Display

5.1 Monitor display list
Monitor display means to set the servo drive instruction value, input output signal internal state and the state of
the servo drive function to display .
PA Display content Unit Address
dP 00 motor speed 【R / min 】 0X0600

dP 01 Motor feedback pulse number ( Encoder Unit, lower 4 bits ) 【1 Encoder Pulse 】 0X0601
34
Display Motor Encoder feedback Pulse low 4 bit .

Motor feedback pulse number (Encoder Unit, upper 4 digits) 【10000 Encoder
dP 02 0X0602
Display Motor Encoder feedback Pulse high 4 bit . Pulse 】
Input pulse number before electronic gear (lower 4 digits)
dP 03 In position control , the lower 4 digits of total pulse input quantity 【1 instruction Pulse 】 0X0603
is displayed.
Input pulse number before electronic gear (upper 4 digits)
【10000 instruction
dP 04 In position control , the upper 4 digits of total pulse input quantity 0X0604
Pulse 】
is displayed.
Deviation Pulse Number ( Encoder Unit, lower 4 bits )
dP 05 In position control , the lower 4 digits of total deviation pulse 【1 Encoder Pulse 】 0X0605
quantity is displayed.
Deviation Pulse Number ( Encoder Unit, upper 4 bits )
【10000 Encoder
dP 06 In position control , the upper 4 digits of total deviation pulse 0X0606
Pulse 】
quantity is displayed.
dP 07 Analog input speed instruction (not available) 【0.0025V 】 0X0607
dP 08 Internal speed instruction . 【R / min 】 0X0608
dP 09 Analog input torque instruction (not available) 【0.0025V 】 0X0609
dP 10 Internal torque instruction . 【% 】 0X060A
dP 11 Internal torque feedback 【% 】 0X060B
dP 12 Input signal monitoring - 0X060C
dP 13 Output signal monitoring - 0X060D
dP 14 Instruction Pulse input frequency 【Khz 】 0X060E
dP 15 Load current 【A 】 0X060F
dp16 Bus voltage V 0X0610
dp17 Motor rotation angle deg 0X0611
Encoder rotation (Z signal)
dP19 - 0X0613
Display Motor Encoder number of revolutions .
Drive power:
dP21 Drive model
2 EPS-BS-0D20AA-****
4 EPS-BS-0D75AA-****-G
dP21 4 EPS-BS-0001AA-**** 0X0615
6 EPS-BS-0003AA-****
15 EPS-BS-01D5AA-****-GS
35
15 EPS-BS-02D2AA-****-S
16 EPS-BS-02D2AA-****-GS
16 EPS-BS-0003AA-****-S
dP 25 Displays the latest alarm log of the drive. - 0X0619
dP 26 Displays the second alarm log of the drive. - 0X061A
dP 27 Displays the third alarm log of the drive. - 0X061B
dP 28 Displays the fourth alarm log of the drive. - 0X061C
dP 34 Encoder Z signal capture position - 0X0622
dP 35 Encoder Z signal capture total - 0X0623
dP 36 CPLD software version - 0X0624
dP 37 DSP software version - 0X0625
dP48 Current alarm number 0X0630
5.2 Operation example of monitor display
Take dP0 as an example , the operation example of the monitoring display is shown below.
The following is an example of the display when the servo motor speed is 1600 rpm.
Press MOD key to select monitor display

1
MOD SET function ( dISP );
2 Press the SET key once ;

MOD SET
If the display is not DP0, press "↑" key &

3
MOD SET "←" key to display DP0;
Press SET to enter the monitoring screen, as

4 displayed on the left which shows that
MOD SET
the motor speed is 1600rpm.
Press the SET or MOD key to return to the

5
MOD SET display of step 2 .
36
5.3 Input signal monitoring dP12
5.3.1 DP12 operation procedures
The display steps of the input signal are shown below .
Press MOD key to select monitor display

1
MOD SET function (dISP);

MOD SET
If the display is not DP12, press "↑" key &

3
MOD SET "←" key to display DP 12;

4 the input signal monitoring interface , and
MOD SET
the left picture is displayed;
Press SET or MOD key to returns to the

5
MOD SET step 3.
5.3.2 DP12 display explanations
The assigned input signal is displayed by the lighting status of the segment (LED) of the panel operator.
The corresponding relationship of input pin & LED number is shown in the table below .
◆ When the input signal is valid, the upper segment (LED) lights up .
◆ When the input signal is L level (input optocoupler is on), the lower segment (LED) lights up .
Display LED number input pin signal name (Default)
1 DI1 Servo enable
2 DI2 Alarm Clear
3 DI3 Deviation clear
[Note] Without external input, modifying parameter PA64 will also make corresponding input signal effective .
37
5.4 Output signal monitoring dP13
5.4.1 DP13 operation procedures
The display steps for the display signal output are shown below.
Press MOD key to select monitor

1
MOD SET display function (dISP);

MOD SET
If the display is
3 not DP13, press "↑" key & "←" key to
MOD SET
display DP 13;
4 the input signal monitoring interface ,
MOD SET
and the left picture is displayed;
Press SET or MOD key to returns to

5
MOD SET the step 3.
5.4.2 DP13 display explanations
The assigned output signal is displayed by the lighting status of the segment (LED) of the panel operator.
When the output signal is valid, the upper segment (LED) lights up .
When the output signal is L level (the output optocoupler is on), the lower segment (LED) lights up .
The corresponding relationship of input pin & LED number is shown in the table below .
Display LED number Output pin signal name (Default)
1 DO1 Alarm
2 DO2 Brake
3 DO3 Position reached
[Note] Without external input, modifying parameter PA66 will also make corresponding output signal effective .
38
5.5 Monitoring display when power is turned on
PA03 setting determines the display on the operation panel when the power is turned on.
PA Name Range Unit Defaults Effective
Initial display selection.
Turn on the
PA03 For example, if set to 0, when power is turn on, the 0 to 40 0
power again
display shows motor speed.
39
Chapter 6 JOG Run
6.1 Preparations before JOG run
Please check the following items before JOG run:
Item What to check

Whether the motor has been released from load?
Whether the wiring and connection are correct?
Servo motor Whether the fastening parts are loose?
If the servo motor has a holding brake, whether the brake has been
released (by separate 24VDC) in advance?
Whether the wirings and connections are correct?
Servo driver
Whether the input voltage to the servo drive is stable?
6.2 JOG run by panel operations
JOG run is the function to confirm the servo motor action through speed control without connecting
to the upper controller. During JOG run, the overtravel prevention function (CWL, CCWL) is
inactive. User shall pay close attention to mechanical movement of the machinery caused by JOG
run.
1) Preparing for JOG run
Before JOG run, the following settings are necessary.
▪ When S-ON input signal is ON, please switch it to OFF.
▪ Please take necessary safety measures and ensure it can stop at any emergency.
In order to ensure safety, a stop device shall be set on the machine side.
2) JOG run operation procedures

1 Press MOD until shows as left.

MOD SET
2 Press SET.
MOD SET
3 Press SET again.

MOD SET
40
Press ↑ to increase positive
4 direction speed; press ← to
MOD SET
decrease negative direction speed.
5 Press MOD to exit to Step 2.

MOD SET
6.3 JOG run of the servo motor alone by host command
When JOG run servo motor by upper command, confirm the following items:
Item Content
Check whether the servo motor movement command and input / output signal input from the
1
host device to the servo driver are set correctly.
Check whether the wiring between the host device and the servo driver is correct and the
2
polarity setting is correct.
3 Check if the operation setting of the servo driver is correct.
6.3.1 Input signal circuit wiring and confirmation
For the test run of position control by the host command, the connection confirmation shown in step 1 below
is required. Follow the steps below to confirm the connection and status of the input signals.
Step Operation
Please connect the input signal circuit required for trial operation to CN1. The following
conditions must be met when connecting.
1
·Servo ON input signal ( S-ON ) is enabled
·CWL, CCWL signals are valid
2 Connect the connector of the host device to CN1
Turn on the power of the servo driver.

3
Check the status of the input signal with input monitor (dP012).
4 Input S-ON signal to enable the servo
5 At this point, the trial run preparation is complete.
41
6.3.2 JOG run of position control
The following describes the trial operation method for position control. This section describes the trial operation
procedures after the position control input signal wiring is completed.
Step Operation
Check the power supply and input signal circuit again, and then turn on the
1
control power of the servo driver.
According to the pulse output form of the host device, PA28 is used to set the
2
command pulse form.
Set the command unit, and set the electronic gear
3
ratio through PA31 and PA32 according to the host device .
Power on again. Make the parameter change in step 3 effective. Turn on the
4
main circuit power of the servo driver.
5 Set the servo enable ( S-ON ) input signal to ON .
A low-speed pulse command is output from the host device with an
6
easy-to-check motor rotation amount (example: 1 turn).
According to the input command pulse counter (dP03 , dP04), monitor the
7 pulse change amount before and after the command is issued to confirm the
number of command pulses input to the servo driver.
According to the feedback pulse counter (dP0 1, dP02), monitor the pulse
8 change amount before and after the command is issued to confirm the actual
rotation amount of the motor.
9 Check if the servo motor rotates in the direction specified.
10 Stop the pulse command and turn the servo off .
6.4 JOG run after connecting the servo motor to the machine
After the test run of the unit is correct, connect the servo motor and the machine and perform the test run after
connecting the machine.
Step Item Content
Turn on the control power and main circuit power, and make settings
1 Parameter setting 1 related to safety functions, overtravel, braking, and other protective
functions.
2 Parameter setting 2 Set the necessary parameters according to the control method used.
When the power is off , connect the servo motor and the machine
3 Installation
through a coupling or the like.
After turning on the power of the host device and setting the servo
4 Examination driver to servo off, check whether the protection function set
in step 1 works normally.
5 Run Perform the trial operation and confirm that the trial operation result
42
is the same as the trial operation of the servo motor alone. Make sure
that the setting of the command unit is in accordance with the
machine.
Adjust the servo gain as needed to improve the response
characteristics of the servo motor.
6 Adjustment
(Note) During the trial operation, the servo motor and the machine
may not adapt well. Please fully run in.
S-ON At this point, the trial operation operation ends.
7
signal input
6.5 JOG run of servo motor with brake
Please observe the following precautions for the trial operation of the servo motor with brake.
Item Content
When performing a trial operation of a servo motor with a brake, be sure to take measures to
1 prevent the machine from falling or vibration due to external forces before confirming the operation
of the brake.
When performing a trial operation of a servo motor with a brake, check the operation of the servo
2 motor and the holding brake before the servo motor and the machine are disconnected. After no
problem, connect the servo motor to the machine and perform trial operation again.
3 Use the BRK signal of the servo driver to control the holding brake operation.
Chapter 7 Operations
7.1 Control mode selection
The following describes the control modes that the EPS-BS series servo driver can perform.
User parameters Control method ( control mode )
Switch between position control ( pulse train command ) and external JOG
control.
Use the pulse train position command to control the position of the servo
0
motor. The position is controlled by the number of input pulses, and the speed
PA04 [Factory
is controlled by the frequency of input pulses. Used in situations where
setting]
positioning action is required.
Use the input signal BIT8 and BIT9 a total of 2 input signals to achieve the
external JOG function, the speed is set in PA131.
43
Internal speed control
Using the input signals BIT3, BIT4 and BIT5 to select among 8 preset
7
speeds. When this control mode is selected, no analog command is required.
7.2 Setting of general basic functions
7.2.1 SERVO ON setting
A servo motor enters energized state by S-ON instruction signal.

(1) Servo ON signal (S-ON)
Type Signal Status Input level Description
ON " L " level Servo motor energized state ( Servo ON state ).
Enter S-ON
OFF " H " level Non-energized state servo motor ( servo OFF state ).
(2) Input level selection of servo ON signal

The input level can be selected through user parameters. That is , the effective level of the servo ON signal is set.
User parameters Said Ming
The S-ON signal input from the input terminal CN1 is active low. (factory
0
PA64 setting)
64 The S-ON signal input from input terminal CN 1 is active high.
7.2.2 Motor over travel prohibitation
The standard setting of forward rotation direction is counterclockwise rotation when viewed from the load side of
the servo motor .
Instruction Overtravel (OT)

■ Operation during forward rotation
Speed
Encoder pulse output
PAO When turning forward:

Time Stop by CCWL
PBO
CCW
44
■ Operation when the command is reversed
Speed
Encoder pulse output
When reversing:
PAO
Stop by CWL
Time
PBO
CW
7.2.3 Overtravel settings
Overtravel refers to the safety function which can make the limit switch function (ON) and force the servo motor
to stop when the moving parts of a machine go beyond the movable area.
Attention
Installation of limit switches
Limit switches must be installed in applications such as linear motions. When the
limit switch has bad contacts or broken wires, please use ‘normally closed nods’
to ensure the motor moves to the safer side.
Use of servo motors in vertical axis
Work piece might fall when overtravel. To prevent this, please set the servo into
zero-speed clamp when overtravel.
Connection of overtravel signals

To use the overtravel function, make sure the following overtravel signals are being correctly connected to
the servo drive CN1.
Type Signal name Set up Significance
ON = L level Prohibition of forward
Input CCWL drive (forward overtravel)
OFF = H level Forward drive (normal operation )
ON = L level Reverse side drive
Input CWL prohibited (reverse side overtravel)
OFF = H level Reverse drive (normal operation)
7.2.4 Holing brake settings
The holding brake is often used when the motor is used in the vertical axis. When the power of servo drive is OFF,
the servo motor with a brake can keep the moving parts from moving due to gravity
45
Vertical axis Horizontal axis
Servo motor
Mechanical
moving part
Holding brake Holding brake
External
To prevent force
movement due to
gravity at power off
Mechanical
moving part
To prevent movement due to external
force at power off
⚫ The holding brake can only be used to maintain the halt state, not braking, of the servo motor. The brake
torque is 70% or above of the rated torque of servo motor.
⚫ If only the speed loop is used to activate the servo motor, when the brake functions, set the servo OFF and
input instruction to be "0V".
⚫ When setting the position loop, because the servo motor is under servo locked state at stop, the
mechanical brake shall not function.
(1) Example of connection

The sequential output signal of servo drive (BK) and brake power supply forms the ON/OFF of the
brake. Standard connection of a circuit is illustrated as follows.
Servo motor
Servo drive with brake
电机
U
U
L1C V
V M
W
L2C W
FG
FG
+24V
+24V BK-RY 0V BK
BK+ 25
BK- 26
Encoder
2CN PG
Switching
power supply BK-RY
+24V
AC DC
0V
Notes:
1. BK-RY: the relay for brake control
2. The current provided by switching power supply shall be determined by the brake;
different brakes have different working currents. Normally, the DC24V of switching power
supply shall be provide the current >1A;
3. DC24V input of the brake is not restricted by direction
46
7.3 Position control operations
7.3.1 User parameter settings
(1) Control mode selection

Parameter Meaning
PA4 0 Control mode: postion control
(2) Pulse form selection
Parameter Pulse form Forward instruction Reverse instruction
PULS PULS
PULS+SIGN
0 SIGN H Level SIGN L Level
(default)
PULS L Level PULS

CW+CCW (positive
PA28 1 SIGN SIGN L Level
logic)
90 degrees 90 degrees
A phase +B phase PULS PULS

2
(positive logic) SIGN SIGN
To negate logic, user can change PA06 bit1 & bit2.
7.3.2 Electronic gear setting
(1) Encoder resolution

Encoder lines Encoder resolution (4 times)
1024 4096
2500 10000
5000 20000
Remarks: encoder resolution is 4 times (quadruple frequency) of physical encoder pulses per revolution.
(2) Electronic gear
The function of electronic gear is for setting the work-piece moving distance by 1 pulse instruction (1
instruction unit).
(3) User parameters

First electronic gear ratio numerator
PA31 Range Unit Default Effective
1～65535 — 1 Immediate
47
First electronic gear ratio denominator
1～65535 — 1 Immediate
Electronic gear ratio = B/A = PA31/PA32
Suggested range: 0.01≤ (B/A) ≤ 100
7.3.3 Position instructions
Upper controller's output forms include the following:

⚫ Field-bus output
⚫ +24V open-collector output
In case of open-collector pulse input, the interference tolerance for input signal will decrease. In
case of deviation due to interference, changes should be made in the following user parameters.
(1) Input/output signal time sequence

S-ON
ON
Excited t1 30ms
Motor t1 t2 t2 6ms
excitation
H
S+\S- t3 40ms
H
Puls+Sign t3
P+\P- L
OFF
COIN t4 t5 ON t6 ON
CLR
t7
▪ The interval between S-ON signal and input pulse instructions should be above 40ms. If this
interval is less than 40ms, servo drive may fail to receive the pulse instructions.
▪ Please set CLR signal to be above 20 μs.
Pulse Maximum
Specifications
forms frequency
t1,t2 0.1us
SIGN t1 t2
t3 t7 t3,t7 0.1us
SIGN+ 500Kbps. PULS
t4 t t4,t5,t6>3us
PULS Open-collector: t5 t6
t 1.0us
T
200Kbps Forward Reverse 50%<(t/T) 100%
48
t1
T
t1,t2 0.1us
500Kbps. CCW t3 ＞ 3us
CW+ t
t2
Open-collector: CW
t 1.0us
CCW t3
200Kbps Forward Reverse 50%<(t/T) 100%
t1 t2
t1,t2 0.1us
A phase
t 1.0us
200Kbps. B phase
t
A phase+ 50%<(t/T) 100%
Open-collector:
B phase T
150Kbps
Forward Reverse
B phase ahead of A phase by π/2 A phase ahead of B phase by π/2
7.3.4 Positioning completed signal (COIN)
This signal means that servo motor positioning is completed at position control.
Type Signal Level Name

Output COIN ON= L level Positioning completed
OFF=H level Positioning not completed
Position control:
COIN signal threhold

0～100 Pulse 50 Immediate
⚫ If the difference between the upper controller’s instruction pulse input count and the servo
motor’s movement amount (deviation pulse) is lower than the set value of this use parameter,
then the COIN signal will output; this also depends on the electronic gear setting.
⚫ If the set value of PA50 is too high and servo is running in low speed, COIN signal may still
output even though positioning is not completed. Please pay close attention to this.
⚫ Setting of this user parameter does not affect the final positioning precision.
7.3.5 ZSP (zero speed) signal setting
ZSP signal will output when servo motor is less than setting speed.
ON=L level Speed reached.
Output ZSP
OFF=H level Speed not reached.
49
ZSP signal width
0～3000 rpm 50 Immediate
7.3.6 Pulse instruction inhibition function (INH)
This is a function that stops (inhibits) instruction pulse input counting in case of position control. It
is in servo locking (clamping) state when this function is used.
OFF +
Pulse
instruction Deviation
ON – counter
INHIBIT
Pulse
feedback

ON=L level INH function is ON
Input INH
OFF=H level INH function is OFF
7.4 Internal speed control
Internal speed control is to set 8 speeds beforehand through parameters inside servo drive and to
select among them by using external input signals INSPD2, INSPD1 and INSPD0.
It’s unnecessary to configure speed generator or pulse generator outside.
Servo drive
Internal speed register

DI1 SPEED0 PA131
SPEED1 PA132
SPEED2 PA133 Speed
DI2 SPEED3 PA134 instruction
SPEED4 PA135
SPEED5 PA136
DI3 SPEED6 PA137
SPEED7 PA138
50
User parameter Meaning
PA004 7 Control mode selection: internal speed control
PA145 3 Use DI1 as internal speed selection 1
51
Chapter 8 Troubleshooting
8.1 List of alarms
Error Name Remarks Can clear

code
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.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 initital 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
52
8.2 Alarm troubleshooting
No Alarm name Cause of issue Action

1, check motor U, V, W Connection;
2, check motor parameters
The motor was continuously
PA2, PA7, PA8, PA9 are correct;
running with a
ERR.01 Overload 1 3, check the mechanical structure;
torque exceeding 130% of
4, the actual operating load of the
the rated value .
machine is too large, and it needs to be
replaced with a higher power servo.
DC voltage of main circuit is
ERR.02 Main circuit undervoltage Check the input power voltage
insufficient
DC voltage of main circuit is 1, check the input supply voltage
ERR.03 Main circuit overvoltage
abnormally high 2, check regenerative resistor
ERR.04 AC detection abnormal AC input phase loss Check input power
2, check the servo parameters. If the
Motor speed
load inertia is large, and if the system
ERR.05 Overspeed exceeds 1.5 times of its rated
gain parameter setting is small, there
speed
will be a greater overshoot causing this
alarm .
running with a
torque exceeding 160% of
the rated value
operated with a
torque exceeding 200% of the
rated value
Motor speed time does not
ERR.08 Motor stall 3, check the mechanical structure;
match the given speed
53
1, check if the servo can do JOG run
without load;
Position deviation exceeds the 2, check the electronic gear setting;
ERR.09 Out of position setting value 3, check the mechanical structure;
of user parameter PA53 . 4, the actual operating load of the
Current exceeds 250% of
ERR.12 Extreme Overload 3, check the mechanical structure;
rated value
ERR.16 Parameter error Parameter check exception Perform factory reset operation (EE--1)
1, check the driver & motor matching
is correct;
ERR.20 Power module alarm Power module alarm
2, reduce the driver's overload multiple;
3, increase the torque filter time;
Power failure, over 1 Minutes on
Current detection 1st channel
ERR.21 Internal circuit abnormal again ; if the power is still on the
abnormal
police , you need to Depot Repair .
Power off and power on again after 1
Current
ERR.22 Internal circuit abnormal minute. If this alarm still persists,
detection channel 2 abnormal
contact the manufacturer.
Incremental Encoder AB
ERR.26 Encoder AB Pulse is missing Check Encoder wiring
Pulse is lost
Incremental Encoder
ERR.27 Encoder UVW error Check Encoder wiring
UVW error
1, check Encoder wiring
ERR.28 Encoder UVW disconnected Encoder signal line is broken
2, check PA8 setting
1, check Encoder wiring
ERR.29 Encoder ABZ disconnected Encoder signal line is broken
2, check PA8 setting
ERR.30 Encoder ZPulse is missing Encoder Z-Pulse is missing Check Encoder wiring
Magnetic Encoder initial state 1,check encoder parameter;
ERR.31 Encoder status error
error 2 , check Encoder wiring ;
Modify electronic gear
Electronic gear ratio setting is
ERR.32 Electronic gear protection ratio parameter PA31
too large
& PA32 or PA141 & PA142
Duplicate or Modify input parameters PA145, PA146
Input signal configuration
ERR.33 meaningless input signal pin & PA147
error
configuration
54
Duplicate or Modify
Output signal configuration
ERR.34 meaningless output signal pin output parameters PA148, PA149 &
error
configuration PA150
1, view DP21, determine the drive
ERR.36 Drive power error Reset PA7 parameter power is correct. Then set
correctly PA7 value.
1, view DP21, determine the drive
The motor current PA9 set by power is correct. Then set correctly PA7
ERR.37 Match alarm the driver is much larger than value;
the rated current of the driver 2, set the correct PA9 matching value;
3, replace with a higher capacity drive.
55
Chapter 9 Product Specifications
9.1 Servo drive specifications
Input voltage 220VAC Singe/Three Phase 220VAC -15%~+10%, 50/60Hz

Single/Three phase full wave rectification. IGBT
Control mechanism PWM control, sine-wave current control
▪ 2500/5000-LINE OPTICAL
Feedback devices
▪ 1024-LINE MAGNETIC
▪ Use temperature: 0~+45℃

Ambient temperature
▪ Storage temperature: -20~55℃
Humidity Below 90%RH (no freezing or condensing)

Use Vibration 4.9 m/s2~19.6 m/s2
conditions Protection class: IP10; Cleanness: 2. But should
be:With no corrosive or combustible gas; With no
Protection class/cleanness
water, oil or drug splashing; With little dust, ash, salt
or metallic powder
Altitude Below 1000m
Speed control precision 1:5000
Load
0 ~100% load: below ±0.01% (at rated speed)
fluctuation
Speed
Voltage
fluctuation Rated voltage ±10%：0.001% (at rated speed)
fluctuation
rate
Temperature
25 ±25℃: below ±0.1% (at rated speed)
Performance fluctuation
Torque control precision ±3% (repeatable)
Soft start time 0~10s (acceleration or deceleration)
Pin number 3
Sequential input signals
Functions S-ON, C-MODE, etc.
Pin number 3
Sequential output signals
Functions ALM, COIN, etc.
1: N With relay, maximum N=31
Communicati
RS485 Address By parameter setting
on functions
Devices PC, upper controller
Display/keypad 7 LED X 5 bit, 4 buttons
Regenerative functions Internal or external
Over-current, over-voltage, under-voltage, over-load,
Protection functions
regenerative fault, etc.
9.2 Servo motor specifications
Working system: S1 continuous Heat resistance class: B
Vibration: 5G Insulation voltage class: AC1500V, 1 minute
Insulation resistance: DC500V, above 10MΩ Installation mode: Flange
56
Working temperature: 0~40℃ (no freezing) Operating humidity: 20%~80% (no dewing)
Altitude: Below 1000m Protections: Full-enclosed IP65 (except the shaft-through part)
60/80 Series
Servo Motor series 60 series 80 Series
Servo Motor model 60DNMA2-0D20 60DNMA2-0D40 80DNMA2-0D75 80DNMA2-0001
Input voltage 220VAC

220VAC
Inertia High High 220VAC
High Medium
Rated power (W) 200 400 220VAC 750 1000
Rated torque (N*m) 0.64 1.27 2.39 3.18
Rated current (A) 1.4 2.5 3.7 5.1
Maximum current (A) 4.2 7.5 11.1 15.3
Rated speed (rpm) 3000 3000 3000 3000
Maximum speed (rpm) 5000 5000 5000 5000
Torque constant (N*m/Amp) 0.45 0.508 0.64 0.62
Back EMF constant (V/Krpm) 29 33 43 41
Rotary inertia (with brake) (10-4Kg*m2) 0.14 (0.16) 0.67 (0.68) 1.5 (1.53) 1.12 (1.15)
Resistance (line-line) (Ω) 8.4 4.28 1.5 1.2

Inductance (line-line) (mH) 26.5 15.4 7.9 6.1
Mass (with brake) (kg) 1.03 (1.53) 1.59 (2.05) 2.93 (4.03) 3.12 (4.12)
LL (with brake) (mm) 105(140) 140(175) 144.7(183.9) 144.7(183.9)
LR (mm) 30 30 35 35
LE (mm) 3 3 3 3
LG (mm) 8 8 8 8
S (mm) 14 14 19 19
LJ1 (mm) 0 0 0 0
LJ (mm) 11 11 15.5 15.5
J (mm) 20 20 25 25
LF1 (mm) 5 5 6 6
LF2 (mm) 5 5 6 6
LM (mm) M4 deep 15 M4 deep 15 M5 deep 20 M5 deep 20
LA (mm) 70 70 90 90
LB (mm) 50 50 70 70
LC (mm) 60 60 80 80
LZ (mm) 5.5 5.5 6.5 6.5
57
130 Series (220V class)
Servo Motor series 130 Series
Servo Motor model 130DNMA2-0001C 130DNMA2-01D5C 130DNMA2-0002C 130DNMA2-0003C
Input voltage 220VAC 220VAC 220VAC 220VAC
Inertia Medium
Rated power (W) 1000 1500 2000 3000
Rated torque (N*m) 4.77 7.16 9.55 14.33
Rated current (A) 5 8.4 10.3 13.5
Maximum current (A) 15 25.2 30.1 40.5
Rated speed (rpm) 2000 2000 2000 2000
Maximum speed (rpm) 3000 3000 3000 3000
Torque constant (N*m/Amp) 0.95N.m/Arms 0.85N.m/Arms 0.93N.m/Arms 1.07N.m/Arms
Back EMF constant(V/Krpm) 66V/Krpm 59.8V/Krpm 72.6V/Krpm 76V/Krpm
-4 2
Rotary inertia (with brake) (10 Kg*m ) 7.1 (7.5) 10.6 (11.1) 13.8 (14.3) 20.4 (20.9)
Resistance (line-line) (Ω) 1.08 0.543 0.52 0.32
Inductance (line-line) (mH) 12.8 6.3 6.8 4.7
Mass (with brake) (kg) 6.5 (8.8) 8 (10.5) 9.6 (11.9) 12.6 (14.9)
LL (with brake) (mm) 154 (198) 173 (217) 192 (236) 230 (274)
LR (mm) 58 58 58 58
LE (mm) 6 6 6 6
LG (mm) 12 12 12 12
S (mm) 22 22 22 22
LJ1 (mm) 0 0 0 0
LJ (mm) 18 18 18 18
J (mm) 36 36 36 36
LF1 (mm) 7 7 7 7
LF2 (mm) 8 8 8 8
LM (mm) M6 deep 15 M6 deep 15 M6 deep 15 M6 deep 15
LA (mm) 145 145 145 145
LB (mm) 110 110 110 110
LC (mm) 130 130 130 130
LZ (mm) 9.5 9.5 9.5 9.5
58
9.3 Motor parameter PA9
Motor rated Motor rated

PA9 value PA9 value
current current
0 - 20 10A
1 0.5A 21 11A
2 1.0A 22 12A
3 1.5A 23 13A
4 2.0A 24 14A
5 2.5A 25 15A
6 3.0A 26 16A
7 3.5A 27 17A
8 4.0A 28 18A
9 4.5A 29 19A
10 5.0A 30 20A
11 5.5A 31 21A
12 6.0A 32 22A
13 6.5A 33 23A
14 7.0A 34 24A
15 7.5A 35 25A
16 8.0A
17 8.5A
18 9.0A
19 9.5A
9.4 EPS-BS Servo motor and servo drive matching table
Rated Motor Motor

Rated/max
curre Power Rated pole current
Servo drive Servo motor speed
nt (KW) current/torque pairs setting
(rpm)
(A) (PA2) (PA9)
EPS-BS-0D20AA 2.0 60DNMA1-0D20D 0.2 3000/6000 1.7A/0.64N 4 4
EPS-BS-0D75AA 4.0 80DNMA1-0D75D 0.75 3000/4500 4A/2.4N 4 8

EPS-BS-0D75AA-
6.0 80DNMA1-0D75C 0.75 2000/3000 5.5A/3.5N 4 11
****-G
EPS-BS-0D75AA 4.5 80DNMA2-0D75C 0.75 2000/4000 4.5A/3.5N 5 9
EPS-BS-0001AA 6.0 80DNMA1-0001D 1.0 3000/4500 5.1A/3.2N 4 10
EPS-BS-0001AA 6.0 80DNMA2-0001D 1.0 3000/4000 4A/3.2N 5 8
EPS-BS-0D75AA 4.0 90DNMA1-0001D 1.0 3000/4500 4A/2.4N 4 8
EPS-BS-0D75AA 4.0 110DNMA1-0D80C 0.8 2000/3000 4A/3.6N 4 8

EPS-BS-0001AA 6.0 110DNMA1-0001D 1.0 3000/4000 4.5A/3.2N 4 9
59
Rated Motor Motor
Rated/max
curre Power Rated pole current
Servo drive Servo motor speed
nt (KW) current/torque pairs setting
(rpm)
(A) (PA2) (PA9)
EPS-BS-0001AA 6.0 130DNMA1-0001A 1.0 1000/1500 4.8A/10N 4 10

EPS-BS-01D5AA 7.6 130DNMA1-01D5A 1.5 1000/1500 7.9A/15N 4 16
EPS-BS-01D5AA 7.6 130DNMA2-01D5A 1.5 1000/1500 8A/14.33N 5 16
EPS-BS-0001AA 6.0 130DNMA1-0D85C 0.85 2000/3000 5A/4N 4 10
EPS-BS-0001AA 6.0 130DNMA1-0D85B 0.85 2000/3000 5.2A/5.4N 4 10
EPS-BS-0001AA 6.0 130DNMA1-0001C 1.0 2000/3000 5.1A/5N 4 10
EPS-BS-0001AA 6.0 130DNMA2-0001C 1.0 2000/3000 4.8A/4.77N 5 10
EPS-BS-01D5AA 7.6 130DNMA1-01D2C 1.2 2000/3000 6.3A/6N 4 13
EPS-BS-01D5AA 7.6 130DNMA2-01D2C 1.2 2000/3000 5.4A/6N 5 11
EPS-BS-01D5AA 7.6 130DNMA2-01D3B 1.3 1500/3000 8.4A/8.3N 5 17
EPS-BS-01D5AA 7.6 130DNMA2-01D5C 1.5 2000/3000 8A/7.2N 5 16
EPS-BS-01D5AA-
11.5 130DNMA1-01D5B 1.5 1500/2250 10.5A/10.5N 4 21
****-G (S)
EPS-BS-01D5AA-
11.5 130DNMA2-01D5B 1.5 1500/2250 10.3A/9.55N 5 21
****-G (S)
EPS-BS-01D5AA 7.6 130DNMA1-01D2D 1.2 3000/4000 6.3A/4N 4 13
EPS-BS-02D2AA 11.5 130DNMA2-0002C 2.0 2000/3000 10.3A/9.55N 5 21
EPS-BS-02D2AA-
15.5 130DNMA1-02D2B 2.2 1500/2250 16.9A/15N 4 27
****-G (S)
EPS-BS-02D2AA-
15.5 130DNMA2-0002B 2.0 1500/3000 13.8A/14.3N 5 24
****-G (S)
EPS-BS-02D2AA 11.5 130DNMA2-0002D 2.0 2000/3000 6.7A/9.55N 5 14
EPS-BS-0003AA 15.5 130DNMA1-0003C 3.0 2000/3000 16.9A/15N 4 27
EPS-BS-0003AA 15.5 130DNMA2-0003C 3.0 2000/3000 15.6A/14.33N 5 26
EPS-BS-0003AA 15.5 130DNMA2-0003D 3.0 2000/3000 10.5A/9.55N 5 21
EPS-BS-0003AA 15.5 130DNMA1-0003D 3.0 3000/4000 16.5A/9.55N 4 27
EPS-BS-0003AA 15.5 130DNMA2-0003D 3.0 3000/3300 10.5A/9.55N 5 21
60
Chapter 10 Appendix
10.1 Parameters
PA 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
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 eidit 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
61
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
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
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 threhold
PA050 When position deviation is less than this parameter, COIN 0~9000 pulse 50 Immediate
signal will output.
PA051 ZSP (zero speed) signal width 0~3000 rpm 50 Immediate
62
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
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
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 polarity selection 0~65535 0 Immediate
PA065 Delay time between S-ON and BRK off. 0~9000 ms 150 Immediate
PA066 Output signal polarity 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 fter 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
63
PA099 Valid internal positions 1~8 1 Immediate
PA100 Internal parameter 0~2 0 Immediate
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
Position control selections (PA004=0)
0: external position control (pulse train)
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
PA122 Overload alarm threshold 3 (ERR 07) 1~300 % 200 Immediate
PA128 Torque control 1 0~300 0 Immediate
PA129 Torque control 2 0~300 0 Immediate
64
PA130 Torque control 3 0~300 0
Internal speed 0
PA131 -5000~ 5000 rpm 100 Immediate
External JOG speed at internal position mode
Internal speed 1
PA132 -5000~ 5000 rpm 200 Immediate
Homing speed at internal position mode
PA133 Internal speed 2 -5000~ 5000 rpm 300 Immediate
PA137 Internal speed 6 -5000~ 5000 rpm 700
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
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 selecition 1
【4】Alarm Clearance (A-CLR) / Internal speed selecition 3
【5】Pulse input prohibited (INH) / Internal position stop/
Internal speed selecition 2
PA145 【6】Servo enabled (S-ON) 6 Immediate
【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 - - - -
PA157 Alarm parameter 3 - - -
65
PA160 Waiting time after internal position 0 1~9000 PA116 100 Immediate
PA162 Waiting time after internal position 2 1~9000 PA116 100
66
10.2 MODBUS Communication
There are two MODBUS modes: ASCII (American Standard Code for Information Interchange)
or RTU (Remote Terminal Unit).
10.2.1 Communication modes
1. ASCII mode
Every 8-bit data consists of two ASCII bytes.
Byte symbol ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCII code 30H 31H 32H 33H 34H 35H 36H 37H
Byte symbol ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCII code 38H 39H 41H 42H 43H 44H 45H 46H
2. RTU mode
Every 8-bits data consists of two 4-bits hexadecimal bytes.
10.2.2 Byte structure
10-bits byte box (used for 7-bits data)

7，N，2（Modbus，ASCII）
Start Stop Stop

0 1 2 3 4 5 6
bit bit bit
7-data bits
10- bits character frame
7，E，1（Modbus，ASCII）
Start Even Stop

0 1 2 3 4 5 6 parity
bit bit
7-data bits
67
7，O，1（Modbus，ASCII）
Start Odd Stop

0 1 2 3 4 5 6 parity
bit bit
7-data bits
11-bits byte box (used for 8-bits data)

8，N，2（Modbus，ASCII / RTU）
Start Stop Stop

0 1 2 3 4 5 6 7
bit bit bit
8-data bits
8，E，1（Modbus，ASCII / RTU）
Start Even Stop

0 1 2 3 4 5 6 7 parity
bit bit
8-data bits
8，O，1（Modbus，ASCII / RTU）
Start Odd Stop

0 1 2 3 4 5 6 7 parity
bit bit
8-data bits
10.2.3 Communication data structure
◆ ASCII mode:
STX Communication starting byte: ‘:’ (3AH)
ADR Communication address: 1-byte contains 2 ASCII codes
CMD Command code: 1-byte contains 2 ASCII codes
DATA (n-1) Data content (n≤12) :
……. Word number=n;
DATA (0) Byte number=2n;
ASCII code number=4n;
LRC Command code: 1-byte contains 2 ASCII codes
68
End 1 End code 1: (0DH) (CR)
End 0 End code 0: (0AH) (LF)
RTU mode
STX Static time exceeding 3.5 bytes
ADR Communication address: 1-byte
CMD Command code: 1-byte
DATA (n-1) Data content (n≤12) :
……. Word number=n;
DATA (0) Byte number=2n;
CRC Command code: 1-byte

End 1 Static time exceeding 3.5 bytes
Detailed explanations are as below:
Detailed explanations are as below:
➢ STX (Communication starting)
ASCII mode:’:’ byte (3AH) .
RTU mode：Static time exceeding 3.5 bytes under current communication speed.
➢ ADR (communication address)
Valid communication address is between 1 and 127. For example: to communicate with servo drive
of Axis 16 (hexadecimal: 10H) :
ASCII mode: ADR=’1’, ’0’=> ‘1’=31H, ’0’=30H
RTU mode: ADR = 10H
➢ CMD (command code) & DATA (data content)
DATA format is determined by CMD. Common CMD listed below:
Command Meaning Remarks

03H Read N words, N≤29 Standard command 03
06H Write 1 word Standard command 06
10H Write N words, N≤29 Standard command 10
69
1) CMD：03H (Read N words, N≤29)
For example, to continuously read 2 words from starting address 0200H of servo drive Axis 01H:
ASCII mode:
Command Response
STX ‘:’ STX ‘:’
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘3’ ‘3’
‘0’ ‘0’
Data quantity (bytes)
Starting address (high ‘2’ ‘4'
to low) ‘0’ ‘0’
‘0’ Starting address 0200H ‘0’
‘0’ (high to low) ‘B’
Data quantity ‘0’ ‘1’
(WORD) ‘0’ ‘1’
‘2’ Second address 0200H ‘F’
LRC Check (high to ‘F’ (high to low) ‘4’
low) ‘8’ ‘0’
End 1 (0DH) ‘E’
(CR) LRC Check (high to low)
End 0 (0AH) ‘8’
(LF) (0DH)
End 1
(CR)
(0AH)
End 0
(LF)
RTU mode：
Command Response
ADR 01H ADR 01H
CMD 03H CMD 03H
Starting address (high to 02H Data quantity (bytes) 04H
low) 00H Starting address 0200H (high 00H
Data byte number (high to 00H to low) B1H
low) 02H Second address 0200H (high to 1FH
CRC check low C5H low) 40H
CRC check high B3H CRC check low A3H
CRC check high D4H
70
2) CMD: 06H (write one word)
For example, write 100 (0064H) to starting address 0200H of servo drive Axis 01H:
ASCII mode:
Command Response
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘6’ ‘6’
‘0’ ‘0’
Starting address (high to ‘2’ Starting address 0200H ‘2’
low) ‘0’ (high to low) ‘0’
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
Data content (high to low) Data content (high to low)
‘6’ ‘6’
‘4’ ‘4’
‘9’ ‘9’
LRC Check (high to low) LRC Check (high to low)
‘3’ ‘3’
(0DH) (0DH)
End 1 End 1
(CR) (CR)
(0AH) (0AH)
End 0 End 0
(LF) (LF)
RTU mode:
Command Response
ADR 01H ADR 01H
CMD 06H CMD 06H
Starting address (high to 02H Starting address (high to 02H
low) 00H low) 00H
00H Data content (high to 00H
Data content (high to low)
64H low) 64H
CRC check low 89H CRC check low 89H
CRC check high 99H CRC check high 99H
71
1) CMD: 10H (write N words, N≤29)
For example, write 100 (0064H) , 102 (0066H) to starting address 0200H of servo drive Axis 01H:
ASCII mode:
Command Response
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘1’ ‘1’
CMD CMD
‘0’ ‘0’
‘0’ ‘0’
Starting address (high ‘2’ Starting address (high to ‘2'
to low) ‘0’ low) ‘0’
‘0’ ‘0’
Data word number ‘0’ ‘0’
(high place) ‘0’ Data word number (high to ‘0’
Data word number ‘0’ low) ‘0’
(low place) ‘2’ ‘2’
‘0’ ‘9’
Data byte number LRC Check (high to low)
‘4’ ‘3’
(0DH)
‘0’ End 1
(CR)
Data 1 content (high to (0AH)
‘0’ End 0
low) (LF)
‘6’
‘4’
‘0’
Data 2 content (high to ‘0’
low) ‘6’
‘6’
LRC Check (high to ‘1’
low) ‘D’
(0DH)
End 1
(CR)
(0AH)
End 0
(LF)
72
RTU mode:
Command Response
ADR 01H ADR 01H
CMD 10H CMD 10H
Starting address (high to 02H Starting address (high to 02H
low) 00H low) 00H
Data word number (high 00H Data word number (high 00H
to low) 02H to low) 02H
Data byte number 04H CRC check low 40H
00H CRC check high 70H
Data 1 content
64H
00H
Data 2 content
66H
CRC check low 50H
CRC check high 11H
➢ LRC (ASCII mode) & CRC (RTU mode) detected error value calculation
ASCII mode：
ASCII mode uses LRC (Longitudinal Redundancy Check) to detect error value. LRC detected error
value is the sum from ADR to last data content and use 256 as unit to remove excess part (for
example: sum is 128H, then only use 28H) , and then calculate supplement number of 2.
RTU mode：
RTU mode uses CRC (Cyclical Redundancy Check) detected error value.
Step 1: CRC register is a 16-bits register whose content is FFFFH;
Step 2: Exclusive OR compute first byte of command & low place byte of 16-bits CRC register and
store the result back to CRC register.
Step 3: Check lowest place (LSB) of CRC register. If this place is 0, then move to the right by 1
place；If this place is 1, then CRC register value move to the right by 1 place and Exclusive OR
compute with A001H.
Step 4: Go back to Step 3 until Step 3 has been executed 8 times; then to Step 5.
Step 5: Repeat Step 2 to Step 4 for next byte of the CMD until all bytes have been processed.
At this point, CRC register content is CRC detected error value.
Notes:
After calculated CRC detected error value, in command, shall first fill in CRC low place, then CRC
high place.
73
3) End1、End0 (communication end)
ASCII mode：
(0DH) i.e. byte as’\r’ (carriage return) & (0AH) i.e. byte as ‘\n’ (new line) , means
communication end.
RTU mode：
Static time exceeding 3.5 bytes in current communication speed.
10.2.4 Communication troubleshooting
Common error causes are:

▪ When reading-writing parameters, data address is wrong；
▪ When writing parameters, data exceeds upper/lower limit of this parameter；
▪ Communication is interfered, data transmission error or verification error.
When above communication error occurs, the servo drive will continue running, meanwhile will
send back an error frame.
Error frame format:

Upper controller data frame:
Start Slave address Command Data address Verification
Servo drive feedback error frame:

Start Slave address Response code Error code Verification
Error frame response code = command + 80H

Error code＝00H: communication normal；
＝01H: servo drive cannot recognize the request;
＝02H: data address of the request does not exist in the servo drive;
＝03H: data of the request is not allowed (exceeding upper/lower limit) ;
＝04H: servo drive started to execute the request but failed；
For example: servo drive Axis number is 03H, write data 06H to parameter PA004. As both
upper/lower limit of PA004 is 0, data cannot be written. Servo drive will send back an error frame;
error code is 03H (exceeding upper/lower limit) . Structure is as below.
Upper controller data frame:
Start Slave address Command Data address Verification
03H 06H 0004H, 0006H
Servo drive feedback error frame:
74
Start Slave address Response code Error code Verification
03H 86H 03H
If slave address is 00H, this is broadcast data and the servo drive will send no feedback.
10.2.5 Communication parameters
Related parameters:
RS485 communication mode 0~1 0 Restart
PA070 0: RTU
1: ASCII
PA072 RS485 communication address 1～31 1 Restart
RS485 baud rate setting 0~6 5 Restart
0: 2400bps
1: 4800bps
2: 9600bps
PA073
3: 19200bps
4: 38400bps
5: 57600bps
6: 115200bps
RS485 protocol 0~6 5 Restart
0: 7, N, 2
1: 7, E, 1
2: 7, O, 1
PA074
3: 8, N, 2
4: 8, E, 1
5: 8, O, 1
6: 8, N, 1
10.2.6 Servo drive parameter address
1. User parameter (PA***) address is the same as parameter number (change decimal value to hexadecimal):
For example,
PA0 communication address is 0x0000(H)
PA3 communication address is 0x0003(H)
PA31 communication address is 0x001F(H)
2. Monitor parameter (dP**) address please refer to Chapter 5.1
75

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AC SERVO SYSTEM

★★★ QUICK START GUIDE ......................................................................................................................................... 9

★ BASIC WIRING ............................................................................................................................................................. 9

CHAPTER 1 PRODUCT OVERVIEW ..............................................................................................................................12

1.1 PRODUCT INSPECTION ............................................................................................................................................. 12

CHAPTER 2 INSTALLATION ..........................................................................................................................................15

2.1 INSTALLATION DIRECTION AND SPACE ..................................................................................................................... 15

CHAPTER 3 WIRING ...................................................................................................................................................20

3.1 SYSTEM STRUCTURE & WIRING ............................................................................................................................... 20

CHAPTER 4 PANEL OPERATIONS .................................................................................................................................31

4.1 PANEL OPERATOR..................................................................................................................................................... 31

CHAPTER 5 MONITOR DISPLAY ..................................................................................................................................34

5.1 MONITOR DISPLAY LIST ........................................................................................................................................... 34

CHAPTER 6 JOG RUN ..................................................................................................................................................40

6.1 PREPARATIONS BEFORE JOG RUN ............................................................................................................................ 40

CHAPTER 7 OPERATIONS ............................................................................................................................................43

7.1 CONTROL MODE SELECTION .................................................................................................................................... 43

CHAPTER 8 TROUBLESHOOTING ................................................................................................................................52

8.1 LIST OF ALARMS ...................................................................................................................................................... 52

CHAPTER 9 PRODUCT SPECIFICATIONS.......................................................................................................................56

9.1 SERVO DRIVE SPECIFICATIONS ................................................................................................................................. 56

CHAPTER 10 APPENDIX ..............................................................................................................................................61

10.1 PARAMETERS ......................................................................................................................................................... 61

Maintenance Note Italian

★★★ Quick start guide

1. Power cord: L1 , L2 , L3 (see section 3.1 for details )

Pin Symbol Definition Description

1 DGND Digital ground

2 RS + 485 communication positive Communication terminal

3 RS- 485 communication negative

4 PL 24V common terminal

Switching value common

10 DI1 Digital input 1 Default: S-ON (PA145 can be redefined)

11 DI2 Digital input 2 Default: Alarm clear (PA146 can be redefined)

12 DI3 Digital input 3 Default: Deviation clear (PA147 can be redefined)

Switching value common

14 DO1 Digital output 1 Default: Servo alarm ( PA148 can be redefined)

15 DO2 Digital output 2 Default: holding brake ( PA149 can be redefined)

16 DO3 Digital output 3 Default: position reached ( PA150 can be redefined)

1. Setting method of these following parameters (PA2, PA8, PA9)

A complete servo system should include the following items:

1 Servo driver and matching servo motor.

2 Motor power cable

3 Motor encoder cable

1.2 Product Model

1.2.1 Nameplate description

[ 1 ] Servo driver series [ 2 ] Driver power [ 3 ] Rated input voltage

■ Servo motor model description

【１】Flange 【2】Name 【3】Inertia

【4】Pole pair 【5】Rated power 【6】Rated speed

【7】Encoder type 【8】Brake 【9】Shaft

Power lamp Display

Main power input

Regenerative resistor terminals

Motor encoder signal

Motor UVW terminal

1.4 Maintenance & Inspection

(2) B type case: EPS-BS-0D75AA, EPS-BS-0D75AA -****-G, EPS-BS-0001AA,

(3) C type case: EPS-BS-01D5AA-****-G, EPS-BS-02D2AA, EPS-BS-02D2AA-****-G,

(3) C type case: EPS-BS-01D5AA--G, EPS-BS-02D2AA, EPS-BS-02D2AA--G,