MiniECO MiniECO PLUS Installation Manual Rev 5.0 en

miniECO
&
miniECO Plus
standard / UL version
Installation manual
 Monari Sardè, 3 - Bentivoglio (BO) - Italy

 +39 0516640464 - Fax +39 0516640784 - www.esa-automation.com
INDEX
Chapter
1 Safety Information Page 2
2 General Description Page 3
3 Technical Characteristics Page 4
4 Models and Options Page 8

4.4 Controllable Motors Page 10
5 Mechanical Installation Page 11

5.1 Mechanical Installation and Size Page 11
5.2 Braking resistance Page 12
6 Electrical Installation Page 12

6.1 Description of Electrical Connections Page 12
6.2 Connection Diagrams Page 14
6.3 Sizing of the supply circuit Page 23
7 Electrical Safety and Electromagnetic Compatibility , Emergency circuit, Page 24

criteria wiring, EMC Components
7.1 Electrical Safety Page 24
7.2 Electromagnetic Compatibility Page 24
7.3 Emergency Circuit Page 25
7.4 Criteria of wiring Page 27
7.5 EMC Components Page 28
8 Initial Start-up service & Maintenance Page 29
9 Parameters & Operation from Local keyboard Page 33
10 Diagnostics & Alarms Page 41
11 AppendixA Label description Page 46
12 Appendix B Tables motors Page 47
13 MiniECO Plus series Page 49

STO Function Page 50
Fielbus on RJ45 connectors Page 51
DC BUS Page 52
Management parking brake Page 52
UL prescriptions Page 54
Manual rev. REV. 5.1 Cod. Man.: 01MTMECO20613GB

Cod. catalog: 06 06 2014
1
miniECO/miniECO plus Cap. 2: General Description
1 SAFETY INFORMATION
This manual contains the information necessary for a proper installation, and
maintenance of the product, and it is addressed to staff technically qualified having
appropriate knowledge concerning the technology applied to automation and appropriate
knowledge concerning security in automation. For a correct use of the product refer to
the " Additional Information " , " Field Buses Information " and "
Mechatronics Functions ".
WARRANTY
At the time of purchase, the product meets the conditions of warranty/sale provided by
ESA Automation This warranty expires in the event of damage due to negligence, and
any manumission or incorrect installation or application of the product itself.
IMPORTANT: The Drive is a component of the kinematic system and it is the
user/installer's responsibility to assess the suitability of the product in its specific
application.
The manufacturer reserves the right to change even without previous notice the content of
this manual and/or specifications of the product without any liability deriving from its
incorrect use.
Terminology and symbols
By analogy with the English language, the word drive identifying the miniECO and miniECO
plus product has been replaced inside this manual with the word "drive": the meaning must
be considered exactly the same. In this manual, some special terms are used to highlight
the essential information on which it would be appropriate to focus one’s attention, and they
serve both for greater safety on the job and to prevent damage to the system.
The terms and the symbols used are the following ones:
DANGER High Voltage

The PARAGRAPHS that are marked in this way show where you can have
serious risk conditions to the safety of the personnel in the event of failure to
comply with the safety regulations
WARNING : Read carefully.

This term highlights some important instructions to be followed carefully to
avoid damaging to the product
NOTE
Notes contain some useful information and tips for the proper functioning of
the system
CONNECTION POINT FOR THE GROUND CONDUCTOR
WARNING: FILTERS
 The filters on power supply c.a must have a permanent ground, also the
operation of ground fault interrupters can be compromised by filter
dispersions.
2
miniECO/miniECO plus Cap. 2: General Description
DANGER HIGH VOLTAGE

Different parts of the product have high voltages that can be a
serious danger for staff safety . Do not touch any open
connections when the power is switched on, always remove
voltage and wait 3 minutes before carrying out any operation
on the connections or access to component parts.
The installation must be performed by technically qualified
personnel that has considerable familiarity with the sources of risk
DANGER involved and the related rules of safety and accident prevention to
HIGH VOLTAGE comply with.
It is the user's responsibility to ensure that the installation complies
with the safety rules.
 The apparatus must be connected to a suitable grounding point.
The lack of this connection may cause a risk of electric shock.
WARNING: Degrees of protection

The product is in accordance with IP20 protection requirements; for safe
and reliable operation one must consider the environmental conditions of
installation.
 Unusual conditions of service must be specified by the purchaser,
because it may require construction characteristics or special protective
ones .
WARNING: MARKETING
 For non-restricted marketing: "Not suitable for use on public low-voltage
supply network that fuels domestic settlements, because it could cause
“Radio Frequency Interference".
2.1 GENERAL DESCRIPTION
miniECO develops on 6 models: 09ECO2M0306E, 09ECO2S0408, 09ECO20409, 09ECO2M0306U,

09ECO20408U e 09ECO20409U.
09ECO2M0306E drive represents the line entry level, 09ECO2S0408 and 09ECO20409 implements all
functions of the previous line by adding a further increase of the current , more software functions, RJ45
connectors for networks , the function STO , the DC external BUS , automatic management of the
parking brake , the digital feedback with absolute encoder BiSS.
The 09ECO2M0306U, 09ECO20408U and 09ECO20409U have UL certification.
Given the extremely high number of functions and parameters, it is essential to use software
Drive Watcher suite for programming and tuning, while the change of the individual
parameters can be carried out in a simple and interactive way also through the local keyboard
that can be found on the edge of the drive. The local display also provides some information
on the status of operation and any occurring alarms.
This manual covers in a comprehensive manner only the chapters concerning the
installation of the product, its electrical connections, the safety requirements and the
set-up of motors. With reference to the other features, the latter are sketched out for
quick access
The details of all of the functions are treated in the form detailed in the following manual :
Additional Information , Field Buses Information and Mechatronics Functions
3
miniECO/miniECO plus Cap. 3: Technical Characteristics
3 TECHNICAL CHARACTERISTICS
Refer to the following tables for proper storage and use of the drive, the drive MUST operate within the
operating conditions indicated in the tables. The non-respect of the data listed below can lead to
malfunctions or to shorten the operating life (M.T. B. F. ) of the drive
Power Supply 230Vac  RMS phase  10 %, 50/60Hz three phase or mono-phase.
Power control section and Isolated +24 Vdc  15 %;

digital Inputs / digital outputs 0.5 + 250 mA if coupled to vector motors with fan
+10mA but each digital input used + load absorpition
connected to each output.
Voltage dissymmetry,
impedance of the power supply,
harmonics voltage, Complying with the CEI EN 61800-2: 1999-09.
commutation notches
3A RMS / 6Arms / 0,8 kW for 09ECO2M0306E 09ECO2M0306U
Rated output current /
rated output power 4A RMS / 8Arms / 1,05 kW for 09ECO2S0408 09ECO2S0408U
4A RMS / 9Arms / 1,05 kW for 09ECO2S0409 09ECO2S0409U
Design features of the short miniECO2M = 15 A

circuit on power outputs
miniECO2S = 20 A
Output Frequency
From 0 to 300 Hz.
Frequency of switching 8 Khz PWM
Leakage current of the Drive Max 3 mA
Table 3.1 Power - Electrical Conditions of Service.
Inputs Analog NO. 2, resolution 1:5000 ,

- REF, REF\ differential  10V Impedance  47 k  .
- EXTREF 0  10V Impedance  15 k  .
Inputs isolated digital NO. 2 blocks DIR , PULSE Impedance = 10 k 
Input
0V24
Reference Circuit digital inputs,

Protected against the inversion.
Input Signal to +24 V dc  input to logic level 1.
Input signal to 0 V or disconnected  input to logic level 0.
Table 3.2 Features Analog and Digital Inputs

4
Digital Outputs NO. 3 isolated OK , EOJ , BRAKE : PNP type 0.5 A/

each output
The sum of all outputs may not exceed 1A
+24V
Output
Reference Circuit digital outputs.

.
Table 3.3 Features Digital Outputs
Encoder inputs motor The inputs are of type line differential 5V receivers to be connected
to a 5 V encoder line driver (inputs have an impedance of 1 k  )
Encoder Outputs CMOS Line drive Outputs differential 0 - 5V.

(Only present with motors with Impedance = 100  (max = 1k  );
encoders) Resolution: the same as the Encoder on the motor.
Outputs Encoder CMOS Line driver Outputs differential 0 - 5V.

Impedance = 10 
Resolution: the same as the Encoder on the motor.
Port Serial no.1 full duplex RS 422/RS485
Positioner Input Pulse Pulse: active high from 12 to 24 Vdc, impedance 2.2 k  ,
Preferably to be used with PNP open drain or push-pull commands
Port CAN In accordance with standard CAN Fisical Layer CIA-DS 303-1
Table 3.4 Features Inputs/Outputs special.
5
Protection - Motor temperature rise: it depends on the motor thermal resistor

- Overtemperature radiator: 75  C  5 °C.
- Overtemperature IGBT: TJ = 105 °C  5 °C.
- Short circuit between phases.
- Short circuit to ground.
- Overcurrent motor: according to model.
- Power supply overvoltage: 400 Vdc on internal DC BUS
( + /- 3 % ).
- Power supply undervoltage: 180 Vdc, on internal DC BUS
( + /- 3 % ).
Braking Circuit Dissipative on external resistence reponse thresholds = 390 Vdc ( +

/- 3 %) on internal DC BUS .
The dissipation on braking resistance depends exclusively on
application, the resistance supplied as standard is designed for
typical applications.
For applications with particularly exacting cycles please, refer to
the calculations of section 5.2 .
Table 3.5 Protections and Braking Circuit.
Operating Temperature From 0 °C to +40  C, max 0 ÷ 55 °C; 40 to 55 °C derate.

at 55 °C consider derating drive’s rated I by 50% hence set
d5 parameter at 50
Relative Humidity From 5% to 85% non-condensing.

Altitude, Up to 1,000 meters above sea level.
Storage Temperature From -25 °C to +85  C.
Relative Humidity From 5% to 95% non-condensing.
Table 3.6 Climatic conditions of service and storage.
Climatic conditions, during transport In accordance with paragraph 4.3 of the CEI EN 61800-2:
1999-09.
Mechanical Condition Complying with CEI EN 61800-2: 1999-09.
Protection Degree IP 20.
Table 3.7 Conditions of carriage and mechanical .
Power loss
09ECO2M0306E 09ECO2M0306U 45 W
09ECO2S0408 09ECO2S0408U 09ECO2S0409 09ECO2S0409U 55 W
Table 3.8 Losses due to the joule effect calculated at the rated current, Ta 25 C° .
6
Electromagnetic Compatibility The product complies with the international technological standard:
CEI EN 61800-3 2005-04 "electric drives at variable speed"; Part 3:
"electromagnetic compatibility requirements and specific test
methods";
Therefore it complies with the European
Directive on electromagnetic compatibility [
89/336/EEC and subsequent amendments
92/31/EEC and 93/68/ ].
The conformity of the product is ensured only if installed
strictly following all the measures shown in the chapter
"Electrical Installation" of this manual .
Low Voltage and Safety In terms of security and functionality, the product complies with
the requirements of the following International Standards:
 CEI EN 61800-2 1999-09 "electric drives at variable speed,
Part 2: General requirements and specific ratings for low voltage
drives with ac motors";
 CEI EN 61800-5-1 of 2005-03 "electrical drives at variable
speed - Part 5-1: Special safety requirements - electrical, thermal
and energy safety";
Therefore it complies with the European
Directive 73/23/EEC Low Voltage and subsequent
amendment 93/68/ .
Table 3.9 Normative References.
CE Marking The product shown in this manual complies with the European
directives of Low Voltage and Electromagnetic Compatibility
illustrated and specified in this table and therefore it fulfils all
conditions necessary for CE marking.
Table 3.10 Normative References and CE marking
WARNING: EMC
If a system electric drive (PDS " P ower D rive S ystem") constitutes a component of an
apparatus, subject to a different standard of EMC product, the rule applies EMC on the full
equipment.
The drive is used together with other components such as motor, transformer, filter, circuits
for assistance to switching, control circuits, electrical protection and auxiliary, forming a
complete final product with all of them . It is the responsibility of the assembler to ensure
that the system or product is in compliance with all current regulations in the country of
use of the system or the product itself.
7
miniECO/miniECOplus Cap. 4: Models and Installation
4 Models and Options
miniECO drive is provided in different models, the base with option encoder divider with current of
3A nominal RMS 6 TO RMS peak (1 to 5 sec) the other called miniECO Plus with 4 A rating and 8/9 to
RMS peak(from 1 to 5 sec) 230 Vac, and despite its compact dimensions inside there are the cooling
fan, which is activated when the temperature of the radiator reaches 50 °C is turned off at 40 °C, the
resistance of clamp to download the excess voltage during dynamic braking motor , the circuit of soft-
start and the management of the parking brake of the motor and the miniECO drive has the following
operation modes: analog input with set-point + / -10V , positioner pulses, MODBUS RTU RS 485, S-
NET (network owner ESA Automation RS422/ RS485) , S-CAN (network owner ESA Automation
having the layer1 and 2 in accordance with the CAN standard ISO 11898) , PROFIBUS implementable
with GATEWAY outside, CANOpen ( Device Profile DS 402 ). In the different operating modes (
analog, pulse, Modbus RTU ,CAN etc…) some inputs take different functions dependent on mode choice
via the parameter C9 . The management of these inputs is defined by the parameter C8 (see chapter
7 parameter description (C8).
miniECO Plus drive implements all functions of the line described previously by adding more software
functions , the RJ45 connectors for the connection Deasy chain in networks , safety features STO , the
DC BUS external for a management of energy regeneration duloop the phases of the motors are braked ,
automatic parking brake control the feedback absolute digital sine/cosine with protocol BiSS.
Tables 4.1 and 4.2 allow you to choose the product and the related options .
Table 4.1 allows you to choose the Drive depending on the Current and Voltage. The table 4.2 allows you
to make the choice on the basis of the desired functions, the type of Feedback mounted on the motor, the
type of command : analog , with network of field, pulse .
miniECO Models Current and Voltage

Models Current rating Peak Current Voltage
(Amp RMS) (Amp RMS for 2 sec) ( Vac RMS)
09ECO2M0306E
09ECO2M0306U 3 Ampere 6 Ampere 230 Vac
09ECO2S0408
09ECO2S0408U 4 Ampere 8 Ampere 230 Vac
09ECO2S0409
09ECO2S0409U 4 Ampere 9 Ampere 230 Vac
Table 4.1 Models in according to current and voltage
8
miniECO: 09ECO2M0306E and 09ECO2M0306U

Model Available Functions Motor Feedback
Analog Pulse Electronic Field Buses Incr. Resolv. Absolute
Input gearbox Encoder Encoders
& CANOpen 2048 pulses
Speed & ElectronicCAM SCAN or
Torque & MODBUS 5000 pulses
& External or
Torque Encoder 4096 pulses
Limit
basis Yes Yes --- Yes Yes --- ---
Optional hardware boards

Option Activates the simulation output encoder with 128 - 256 - 512 - 1024 of pulses per
09DIVENC revolution mechanical
Yes Yes --- Yes Yes ---
---
Table 4.2 Models as a function of optional hardware boards on miniECO
miniECO Plus: 09ECO2S0408, 09ECO2S0408U, 09ECO2S0409 e 09ECO2S0409U

Model Available Functions Motor Feedback
Analog Pulse Electronic Field Buses Incr. Resolv. Absolute
Input gearbox Encoder Encoders
& CANOpen 2048 pulses
Speed & ElectronicCAM SCAN or BiSS
Torque & MODBUS 5000 pulses
& External or
Torque Encoder 4096 pulses
Limit
PLUS Yes Yes Yes Yes Whit optional
--- --- board
Optional hardware boards

Option Activates the simulation output encoder with 128 - 256 - 512 - 1024 of pulses per
09 DIVENC revolution mechanical
Yes Yes --- Yes Yes --- ---
Option Active Feedback from the absolute encoder BiSS
09BiSS --- --- Yes --- --- BiSS
Table 4.3 Models as a function of optional hardware boards on miniECO Plus
9
4.4 CONTROLLABLE MOTORS
miniECO drive is full digital and uses some internal algorithms predetermining the exact
parameterization with which the motor is controlled in order to optimize its performance without
any need to set up countless parameters. This feature greatly facilitates the installation of the Drive
significantly reducing the time in setting up the dynamic of the axis.
The drive is only necessary to pairwith the motor for which it was foreseen the use. Every drive
model was parameterized for use with different motors in the factory.
Strictly adhere to the table motor
The motor actually used is selectable via the " d8 " parameter of the configuration file or via local
keyboard.
For some requirements, it is possible to use other motors or the same motors, but with a
different mapping for this purpose: using a specific program called " Motor SET-UP" the
mapping can be customised up to a maximum of 10 motors or 10 mappings.
MiniECO controllable motors are Brushless AC Synchronous, Vector AC,

Torque Synchronous AC, Linear,Tubular
NOTE: TABLE MOTORS

The complete motor table is given in Appendix B .
10
miniECO/miniECOplus Cap. 5: Mechanical Installation and Size
5.1 MECHANICAL INSTALLATION & SIZE
WARNING
All the mechanical dimensions of miniECO series (Standard or Plus ) are the
same.
Check that the packaging is intact in the original box. Check that the Drive, its Kit
connectors and possible resistance to recovery have not suffered any visible damage during
transport. Otherwise DO NOT connect the Drive and DO NOT use the other components.
ECO2M/ECO2S Drives is planned to be used in fixed installations and on surfaces which are
not in motion. If one needs to mount it on surfaces with strong vibrations, one should take
appropriate measures such as vibration dampers.
ECO2M/ECO2S Drives is mechanically arranged to be assembled to the board of an electrical
panel by means of suitable fastening holes provided on the outer container.
The mechanical dimensions are shown in figure 5.1

To allow proper ventilation, it must be positioned vertically so as to facilitate the natural circulation of air
between the fins on the heatsink, and, if for reasons of space, it is necessary to install it in a horizontal
position (mounting panel horizontal), it will be necessary to provide forced ventilation or declass
performance
ELECTRICAL SAFETY
In order to prevent failures of the drive, the installation must carefully follow the following steps related
to its mechanical positioning inside the electrical panel:
1. Install it in a clean, dust-free or corrosive agents with limited moisture.

2. Do not install it near heat sources such as transformers etc. , and not place it above these sources
in order to avoid overheating.
3. Make sure the slots of ventilation (under the Drive) and ventilation (above the Drive) are not in
any way blocked.
4. Maintain a space of at least 20 mm free from components all around.
5. Install it on assembly plan composed of a single metal plate.
68 126
34
141
151
161 (4.5 )
Figure 5.1 Mechanical dimensions miniECO code ECO2M0306 & code ECO2S0408
11
miniECO/miniECOplus Cap. 6: Electrical Intallation
5.2 BRAKING RESISTOR

All models of the drive miniECO2M are equipped with a resistance of internal
braking , miniECO2S (Plus) is also equipped with a resistance of internal
braking but it is however possible to connect an external resistor to the terminal
block M2 The braking resistors supplied to the drive are from 100Ω 100W.
There may be applications with particularly heavy cycles that, together with
strong load inertia, do not enable the resistance supplied to dissipate all the
required energy. When this happens, it is necessary to provide an external
resistance of suitable power to connect to M2 terminal bloc pin 1 and 2 .
The braking resistor can reach very high temperatures owing to inertial load and machine
cycle, which is why it is essential segregate the braking resistor in a part of the electrical panel
that is not dangerous for the nearby equipment or for the wiring. In some cases, when a high
inertial load and a very short machine cycle are associated, mechanical segregation with
thermal protection alarm are indispensable. With the following formula the dissipated power can be
calculated P= (0.5 × J t × ω 2 × (f) - PL where Jt = total inertia [in Kg m 2 ] ω = angular speed max
[rad/sec], f = frequency of repetition of work cycle [no cycles to sec] PL = Power required to
overcome friction
6 ELECTRICAL INSTALLATION
ECO2M/ECOS drive, having digital control, must necessarily be coupled with a motor which has been
configured; thus, it is essential that this must be carefully done . To this purpose, please check the correct
combination of d8 parameter in table motors.
If coupled with a motor of a different model the drive can show several drawbacks, such as instability,
overheating and deterioration in its performance
WARNING
 Do not open the drive enclosure unless authorised by ESA Automation; in any
case, always wait for three minutes after switching off before attempting to
access product.
6.1 DESCRIPTION ELECTRICAL CONNECTIONS
miniECO drive has terminal blocks and connectors located on the front of the comtainer. These
connections are highlighted in the figure 6.1. The version miniECO Plus has the same terminal
blocks and connectors in the series miniECO Standard and therefore the common connections
described below are used for all models, the additional features hardware relating to miniECO Plus
have additional connectors that are explained in the appendices at the end of this manual
12
miniECO/miniECOplus Cap. 6: Electrical Intallation
CN6:
Serial Interface
Modbus
CN1:
CANopen
Digital Drive Command
S-Can
Analog Reference
S-Net
Input Pulse
CN5:
Encoder Out
CN1: or
Brake Simulated Encoder
M1
LINE 230 Vac &
Motor Phases CN4 :
Motor Feedback
Encoder
Figure 6.1.1 Connections of drive miniECO.
CN7 / CN8
Serial Interface
CN1: Modbus
Digital Drive CANopen
Command S-Can
Analog Reference S-Net
Input Pulse
CN5:
CN1: Encoder Out
Brake or
Simulated Encoder
M1
LINE 230 Vac & CN4 :
Motor Phases Motor Feedback
Encoder
Figure 6.1..2 Connections of drive miniECO PLUS
13
miniECO/miniECOplus Cap. 7: Electrical Safety
6.2 CONNECTION DIAGRAMS
The informations necessary to make the electrical connections of the drive miniECO2M Standard /S
( PLUS ) are provided in this paragraph; in particular in the tables is made a description of all the terminal
blocks and connectors on the drive and in the figures are reported as their links.
Terminal block M1 for miniECO and miniECO Plus
Connections of the power supply and motor
Connector Type Terminal Block to 7 way plug.
N  pin Signal Signal Description
1 L1 Phase L1, power supply drive.
4 SH Motor ground reference
5 U Phase motor. For a correct connection motor side refer to the table
6 V Phase motor.
7 W Phase motor.
Table 6.2.1 Description Terminal blok signals M1 on miniECO/miniECO Plus
MAINS SWITCHBOARD WIRING MACHINE

4 Panel Metal Frame Machine NOTE
L1
L2 to the other The connection to the
L3 users inside of the electrical
panel with the symbol
Ground Bar of ground
indicates a direct
Transformer connection to the
Connection to ground
on the metal panel
metallic panel of the
back panel.
Fuses
PE L1 L2 L3
LINE NOTE
miniECO2M.S NETWORK
For the transformer,
Filter
SSground CNW207 refer to section 6.3.
LOAD xx
d PE' L1' L2' L3'
M1
SH Motor Cable shielded

U
U
V
V MOTOR
W
W
M2
NOTE
Resistance
1
of External
Panel Metal Rear For information on
(Ground)
2
Braking cable, grounding, and
the cable shield must be connected
to ground via a metal cable gland EMC components,
(connection to 360 ° ), the panel must
Max 10 cm
be bare in the underlying zone. refer to paragraphs
This has to be done as close as possible to the two
shield of the cable ends of the cable. 7.2 )
If it is not possible to connect
WARNING sheath of the cable the cable gland close to the drive you can
If the connections bloop the wire of the sock to the
to ground are not made in the manner ground terminal
i indicated the immunity is not possible
Figure 6.2.1 Connection diagrams of the power signals.
14
Terminal Blok M2 for miniECO minieco Plus: Brake Resistor

Type of connector 3-way terminal block, on drive undersise
Motor side terminal block/connector connections
The connections on terminal blocks of the motor have different classifications depending on the types of
motors used The Table 6.2.6 shows the different classifications and associates the name of the signal of
the Drive to the terminal of the motor.
Connections MOTOR PHASE

miniECO2M Types MOTORS
miniECO2S C= Connector M= Terminal bolck
M2 ST SC HS HS DSM DSM with SMST &
HYPERTAC with Encoder SMSN
Resolver Plug
Molex Plug MIL 4 poles
MIL 4 poles
No. Signal M C MIL Plug 3 poles 6 poles

pin 4 + + 6 poles
poles GND GND
7 W 3 C B 3 3 6 4 3 C B W
6 V 2 B C 2 2 2 2 2 B C V
5 U 1 A A 1 1 1 1 1 A A U
4 SH 6 D D 4 GND GND 5 4 D D GND
x Brake + 4 6 ---
x Brake - 5 3 ---
Table 6.2.2 Description blocks signals Motors ST, DSM, HS, SMST, SMSN
 NOTE: For links to motors not provided in table 6.2.2, refer to the documentation
ESA Automation:
" MOTOR and FEEDBACK connections for miniECO2M & miniECO2S line "
15
CN1 Terminal block

Main ontrol signals main analogue inputs
Connector Type Terminal Block to 12 way plug.
Pin no. Signal Signal Description
1 +V24 +24 Vdc. Power supply
2 0V 24 0V reference of +24 Vdc and 0V reference for TEN, IEN isolated inputs
3 OK DRIVE OK (100 mA ).
Relay output indicating the status of the drive.
- +24 V dc close contact under normal operating conditions.
- Open contact when in state of alarm
4 TEN TORQUE ENABLE, torque enable signal.
Digital Input isolated, active at + 24Vdc.
Active signal enables drive to supply torque to motor.
In the absence of this signal, the motor immediately frees itself.
5 IEN With the parameter C8 you can assign to pin different functions such as:
HOME SWITCH , FAST INPUT , START MOVE.
Digital Input isolated, active at +24Vdc
In function IEN (INPUT ENABLE), the signal represents the enabling of the
speed reference.. With the active signal the drive enables the reading of the set
point of speed/torque. In the absence of the signal is disabled the reading of the
setpoint and attributed to the same value 0V. With the motor in motion, the lack
of signal IEN causes the stop of the motor as a function of the ramp set; when
the ramp is held stationary in torque is in position. In the function HOME
SWITCHES with the active signal the drive enables zero research methods 3
and 4 . In the function FAST INPUT with the active signal the drive enables
the capture of the current position of the axis. In the function START MOVE
with the active signal the drive enables the start moving
6 REF ± 10V speed/torque external analogue reference signal
Non-inverting input
7 REF/ ± 10 V speed/torque external analogue reference signal
Inverting Input.
8 0V Reference ground of signals REF\, REF & EXTREF.
9 EXTREF EXTERNAL TORQUE REFERENCE.
Analog Input (0÷10 V ) limiting peak torque deliverable to the motor:
input tat 0 V  zero torque.
Input disconnected or +10V  maximum torque.
10 PULSE With the parameter C8 you can assign to pin different functions such as:
PULSE , LIMIT SWITCHES ; HOME SWITCH .
Opto-isolated input active at +24V, impedance 2K2Ω.
Function PULSE : Input pulses, each time you activate this signal, the
positioner advances of a certain space equal to what has been programd in the
parameters P1 and P2 of the menu PL.
In the function LIMIT SWITCH with the active signal the drive enables zero
research methods 1 and 2 .
In the function HOME SWITCHES with the active signal the drive enables
enables zero research
16
11 DIR With the parameter C8 you can assign to pin different functions such as:
DIR , LIMIT SWITCHES ; HOME SWITCH .
Opto-isolated input active at +24V, impedance 2K2Ω.
With DIR function : Input direction of motion, the direction of motion during
the positioning pulse is defined by the state of this signal.
Input DIR a 0V  Clockwise (side view crankshaft).
Input DIR a +24 Vdc  counter clockwise (side view side crankshaft).
In the function LIMIT SWITCH with the active signal the drive enables zero
In the function HOME SWITCH with the active signal the drive enables zero
12 EOJ End of job output signal
This signal is significant (active at +24V) when the positioning system has
completed the command
Table 6.2.3 Description of signals of the CN1 from 11 to 12
SWITCHBOARD
Power supply
0V24 Metal Panel NOTE
Bar of earth
+24V
The signal EXTREF of
+24V
limitation of the pair, if
connection to earth not used, must be left
of the metallic panel
ECO2D/ free of any connection.
4D CN1
+24V CNC
+24V
0V24 or For information on cable,
0V24
OK
OK
PLC and EMC components,
TEN refer to paragraphs 7.2 "
TEN
IEN
IEN
REF
REF
REF/
REF/
0V
EXTREF
PULSE
DIR
CONCLR
Table 6.2.2 Connection diagrams of the CN1 of the enable signals and control and analog mode.
17
NOTE
0V24
Power supply Bar of ground
The signal EXTREF of
+24V +24V
limitation of the torque, if
connection to ground not used, must be left free
miniECO of the metal panel of any connection.
CN1
+24V
+24V For information on cable,
0V24 and EMC components,
0V24 CNC
OK
OK refer to paragraphs 7.2
TEN
TEN o
IEN
IEN PLC
REF
REF/
0V
EXTREF PULSE
PULSE
DIR
DIR
EOJ
EOJ
Figure 6.2.3 Wiring Diagrams of CN1 of the enable signals and control in the version with pulse
positioning
The inputs PULSE, DIR accept inputs of the PNP type or PUSH-PULL 12  24 Vdc .
Terminal block CN1 Brake
Type of connector terminal block to graft a 2 pole.

1 BRK+ Brake 24 V positive terminal 0.7 A max.
2 BRK- Brake 24 V negative terminal 0.7 A max.
Tabella 6.2.4 Description of signals of the CN1 Brake

In CN1 connector should be connected the parking brake of the motor if you want to that is the Drive to
occupasi in an automatic way of its management to enable the management of the parking brake is
necessary to activate the E4 parameter.
E4 Management parking brake Number
Management parking brake (available from version 2.01 or > ).

0: No brake management
1: Managing automatic brake.
2..15: reserved
16: emergency stop the release of the control TEN
17..31: Reserved
32: Drive Ready & axis in pair
33: Drive Ready & axis torque management + brake auto
48: Drive Ready & axis in couple + emergency stop off on the TEN or intervention Alarm that
provides stop in ramp
18
CN4 connector
Connections are made when using
BRUSHLESS MOTOR with an ENCODER
Connector CN4: Signals Encoder

Connector Type Connector 26 poles, female type "HD-3file" (a socket).
1 A Phase A Encoder .
2 A\ Phase A\ Encoder .
3 B Phase B Encoder .
4 B\ Phase B\ Encoder .
5 EU Phase EU Encoder .
6 M Marker Encoder .
11 EW Phase EW Encoder .
12 EV Phase EV Encoder .
15 M\ Marker\ Encoder .
19 +5ENC Supply +5Vdc, Encoder .
20 05ENC Power supply reference +5Vdc, Encoder .
25 +24V Supply +24Vdc.
Isolated Input THERMAL MOTOR RESISTOR
26 TMOT
Signal coming from PTC thermal placed inside of the motor.
7, 8, 9, 10, 13, 14,
N. C. These pin must NOT be connected
16, 17, 18, 21, 23, 24
Table 6.2.5 Description of signals of the CN4

SWITCHBOARD WIRING MACHINE
Panel Metal Frame Machine
miniECO
CN4 Cable Encoder
A A
1
A
A\ O
A/
2 O
B B
3
B\ B\
4
M\ M\
5
M
ENCODER
M
6
EU EU
7 EV
EV
8 EW
EW
9 +5ENC +5ENC
10 05ENC 05ENC
11
12
13 +24V
14 M\
15
16 PTC
17
TMOT
Motor
18 +5ENC
19
05ENC
20
NOTE NOTE
21
22
0VECC
THE Vector motors do For information on cables
23 not use the signals and components EMC,
24
25
+24V referred to as "EU", refer to paragraphs 7.2
TMOT
26 "EV", "EW".
Figure 6.2.4 Connection diagrams of Encoder signals.
19
miniECO / miniECO Plus drives can be connected to different types of motors having different electrical
performance and different mechanical dimensions, hence the type of connector and terminal block differs
for each type of motor.
Description of Encoder connection between CN4 side Drive and ENCODER connector side
MOTOR
miniECO2M - S Types MOTORS
Connector CN4 ST SC SC DSM DSM SMST HYPER Line
Conn. Conn. Plug Conn Conn SMSN
MIL MIL connector MIL Hipertac Conn. Plug Hipertac
Pin no. Signal 19 poles 14 15 poles 14 poles 17 poles MIL Conn. 17 poles
poles 19 12 poles
poles
1 A G E 1 E 12 G 10 12
2 A\ H D 2 D 11 H 2 11
3 B P F 3 F 1 P 8 1
4 B\ N L 4 L 2 N 9 2
6 M J H 5 H 3 J 11 3
15 M\ K M 6 M 13 K 7 13
20 0VENC B A 14 A 7 B 3 7
19 +5VENC A B 13 B 10 A 1 10
5 EU M N 7 N 4 M 6 4
12 EV E P 9 P 16 E 4 16
11 EW C R 11 R 5 C 5 5
26 +24V R J -- J 9 R Jump 9
with 25
on CN4
25 TMOT V K -- K 8 V Jump 8
with 26
on CN4
Shielding
Table 6.2.6. Description connector signals encoder side Drive connectors and motor side types ST, DSM,
SC SMST, SMSN & Hyper line
 NOTE: For links to motors not provided in the table 6.2.5 (example Torque Motors,
Linear Motors) or links to different sensors from the ones shown in this manual, refer
to documentation ESA Automation: MOTOR and FEEDBACK connections .
20
Connector CN5
miniECO2M, miniECO2S drives via CN5 connector is able to provide information of position on
the transducer used on the motor. When using an incremental encoder, output pulses are strictly the
same as the transducer is in electrical characteristics in the number of pulses per revolution
mechanical crankshaft. However, if using a resolver output, pulses are simulated and therefore the
number of pulses per revolution is selectable, with output characteristics similar to an incremental
Encoder.
Connector CN5: Encoder or Encoder simulated outputs

connector Type Connector 9 poles, female type "D" (socket).
N Signal Signal Description
pin
1 N. C. Pin NOT CONNECTED
2 N. C. Pin NOT CONNECTED
3 A\ Output Phase A\
4 A Output Phase A
5 GND Output Signal reference ground signals of Encoder.
6 B Output Phase B
7 B\ Output Phase B\
8 M Output Marker
9 6.2.7 M\ Description
Table Outputof
Marker\
signals of the CN5
Feedback used on the motor: Incremental Encoder

The encoder outputs are physically related to the encoder input coming from the motor and therefore can
connect loads that have total minimum impendance of 120 OHM. The operation of the incremental
encoder is illustrated in fig . 2.6.12 . Pulse M (markers) is active only once each mechanical turn and
has a duration of one half of the phase A . You can request encoders that have M signal of different
duration, A and B signals are out of phase with each other respectively of 90 electrical degrees
PHASE A
PHASE B
M (zero pulse)
PHASE A\
PHASE B\
M\ (zero pulse)
Figure 6.2.6
21
WARNING: Encoder output
THE Encoder output is provided with a current limitation that helps maintain the output
even against overload or short circuit. This protection however causes a voltage drop on
the outputs as a function of the applied load. With an external load of  1 k  and
present a voltage of 3.2 V between one step and its denied (Es A and A\ ), with 100  the
voltage drops to  2V .These values still conform to the specifications RS 422 typical of
the differential outputs.
Feedback used on the motor: Absolute Encoders BISS

MiniECO Plus can support absolute encoder with protocol BiSS-b.refer to the documentation ESA
Automation " ECO2/ECO4 Additional Information " for detailed information.
Connector CN6
The connector CN6 of miniECO standard is the output connector of the signals of Network of field
Connector CN6: signals for Serial Interface

Connector Type 8-pin connector, female type "DIN" (circular).
1 RX Receive date high, receive signal side non-inverting.
2 RX\ Receive date low, receive signal inverting side.
3 TX Transmit Data high, transmission signal side non-inverting.
4 GND Signal of 0V referred to supply +5 Vdc.
5 VCC Power supply +5Vdc.
6 TX\ Transmit Data low, signal transmission inverting side.
7 CANL CANBUS Signal Low.
Only available in version with options S-CAN, CANopen.
8 CANH CANBUS Signal High.
Only available in version with options S-CAN, CANopen.
Table 6.2.8 Description of signals of the CN6.

5
8
2
7
1 4
3 6
Front View on the Drive
CN6 connector is used for debugging with "Drive Watcher" software on the installation of the Drive or
for connecting to a field network. Connecting to multiple devices on the field network you pipeline
signals of communication. When connecting many drives, an isolated connection should be implemented
to increase the immunity of the communication to electromagnetic disturbances.
 To facilitate the wiring from the connector in the configuration field area network, if
it is necessary to connect more than one drive, it is recommended that you use the
most produced ESA Automation cable " Network Box Module TO ".
 Code to order the product: " 09BM06NETA".
NOTE
 It not necessary on the miniECO PLUS
22
6.3 SIZE OF THE POWER SUPPLY CIRCUITS
MinECO2M miniECO2S 230 Vac power supply. If you connect to a three-phase at 400Vac should
interpose a transformer.
miniECO
Below, you can find the size of the transformer and the fuses for protection put in series with the power
supply to the drive.
The connection to 400Vac network must be carried out via an appropriately sized transformer, possibly
with screen between the primary and secondary windings and with primary configuration to triangle. This
is secondary to a star centre to comply with electrical safety standards. This configuration, MUST have
the star centre connected to ground.
If it is not necessary to ground the secondary of the transformer, configurations can also be used with
transformers having the secondary to a triangle, This configuration minimizes the harmonic current and
each drive must be protected by a group of fuses.
FOR UL DRIVE:
EXTERNAL (RECOMMENDED) SEMICONDUCTOR PROTECTION FUSES
Recognized Semiconductor Fuses (JFHR2,JFHR8).
See table below for the manufacturers, model number and electrical ratings of the Fuses analyzed and/or
tested.
SIBA GMBH 50 179 06 200 kAac A.I.C. 16A 156A2sec 500 A 700Vac
SIBA GMBH 50 199 06 30 kAac A.I.C., 16A 320A2sec 500 A 1000Vac
SIEMENS AG 3NC1016 200 kARMS Symm. A.I.C. 16A 150A2sec 500 A 600Vac
3 fuses for 3 phase AC-INPUT
1 fuse for 1 phase AC-INPUT (Only for Line, not for Neutral connection.)
FOR NON UL DRIVE:

Use 12A delayed-type fuses.
The choice of the transformer must be made on the basis of the power required by the motor with which
the drive should be connected, hence we recommend to consult the motor tables. For very heavy uses, it
may be necessary to increase the power of the transformer (20÷30).
With a single transformer you can feed more than one drive in parallel to determine the size we need to
consider whether their operation takes place in contemporary or less and then add up the corresponding
powers.
If more than three drives are used fed with a single transformer, it is appropriate to provide for a soft-start
circuit.
NOTE: - Depending on the connected motor, the drive can also be powered by single-
phase voltage supplied only to L1-L2 terminals .
- If you want to use this opportunity of connecting them directly to 230 V ac , because
on internal drive has the soft start circuit
23
7. 1 ELECTRICAL SAFETY
Connection to ground
The ground of the drive has the function of ELECTRICAL SAFETY and
ELECTROMAGNETIC COMPATIBILITY. You MUST follow the points listed
under the title ELECTRICAL SAFETY and we strongly recommended you follow
the indications for the conformity of the installation to EMC regulations under the
title ELECTROMAGNETIC COMPATIBILITY
ELECTRICAL SAFETY
1. The section of the ground conductor of the plant MUST be greater than
10 mm² or, if less than this, check that the minimum size is consistent
with local regulations on the safety of your equipment with leakage
currents.
2. The section of the wire from the Drive to the ground point of the electric
panel or to terminal anchored to the bottom panel of the electric panel
MUST be a minimum 2.5 mm².
3. The ground point of the plant must have a maximum impedance of 0.1
Ohm.
4. The ground wire must be connected to the Drive by the screw near the
symbol of the electrical ground.
5. Do not switch on the Drive without first having connected the ground
conductor to Drive and system ground point
6. If you dismantle the Drive from the electrical, the ground conductor
MUST be the last connection to be disconnected
7. 2 COMPATIBILITY' ELECTROMAGNETIC
ELECTROMAGNETIC COMPATIBILITY
. The correct setting and realization of the land circuit of a drive-motor system minimizes the emission of
EMI noise, and thus ensures a conformity to EMC regulations relating to the specific plant. Here you'll
find the solutions used to carry out the grounding as a function of Electromagnetic Compatibility (EMC).
If necessary, you can find some further information referring to the "Filtering Solutions " guide issued
by ESA Automation.
24
1.- In the case of a drive mounted on panel inside the electrical cabinet, it is necessary to carry out the
assembly with a good RF contact to ground. For this it is convenient to exploit large surfaces and/or
connect the metal parts to the ground using to low impedance conductors for high frequencies, for
example by using cables with a rectangular cross-section, as copper braids.
2.- Good grounding of the metal housing of the drive is not only for safety reasons, but also to EMC. If
necessary, remove layers of rust or paint or connect a good low impedance ground point (0.1 Ω) to the
electrical panel, for example copper bar.
3.- The motor casing must necessarily possess a low impedance to ground to RF (excluding the reference
drive/motor made by the cable motor), for which we cannot stick to only mechanical fastening or the one
provided by cable motor, but sometimes a good additional electrical connection should be supplied .
4.- Connect the ground terminal (screw on drive) to the metal plate on which the Drive is placed with a
connection that is as short as possible.
5.- The shield external cable must be connected to ground at both ends by using the largest possible
contact surface, using "clamp" metallic nickel plated brass or equivalent connections .
7 .3 EMERGENCY CIRCUIT
EMERGENCY
MiniECO Plus drive series have STO SIL 2 safety circuit and
therefore it is thus ensured that the motor will have no rotation,
even in the absence of a failure of the drive; current certification is
"Pending"
If you do not use the function STO follow the procedures below:
To ensure the safety of the operator and the machine itself, the
international regulations in this regard expect to remove power to the Drive
and disable it.
In relation to the "risk analysis" carried out by the manufacturer of the machine or
plant, for what concerns the Drive miniECO/miniECO Plus you can operate in two
different modes described below.
1 ° Mode Immediately cut off power supply connections and switch off signal TEN.
In this way, it is immediately free the axis of the motor. If you choose this mode
is recommended that you install an emergency brake on the motor.
2 ° Mode instantly stop the signal IEN as shown in figure "Enabling Ramp Emergency" and
aftermax 0.5 sec power connections (dependent on the type of machine and after 'risk
analysis" ).
This mode can be used for motor braking with a ramp of emergency regardless of the
signal present on pin REF and REF\.
25
Drive miniECO +24Vdc
CN1 Button of
+24Vdc
+24V Emergency
0V24
OK
TEN
TEN
IEN
IEN
REF
REF
REF\
REF/
0V
EXTREF
Other Emergency contacts (doors, limit swiches, etc. )
PULSE
DIR
CONCLR
Figure 7.3.1 Enabling emergency ramp.
This feature is especially designed to allow, under emergency conditions to stop the
machine, which means to stop the motor or, at least, to slow down the speed with a
dynamic suited to the mechanical systems on which it is installed.
To achieve this, the connection of the IEN signal to the +24Vdc must be severed when
the machine is put in emergency, leaving feeding to +24Vdc input TEN.
During the emergency ramp, supply +24Vdc auxiliary must also be maintained, while the
power supply can be removed at the same time as the IEN signal or after 0.5 seconds
depending on the application.
The ramp that is obtained with IEN disabled keeping TEN enabled, is set by acting on the
parameter " F3 " Emergency ramp.
The functional diagram shown in Figure 7.3.1 is mererly indicative of
the functionality of the IEN input and is not meant to replace any
other equipment devised to protect either the machinery or the
operator.
26
7. 4 Wiring criteria
For the correct wiring of the drive, the technical information below must be carefully followed.
Power conductors , motor cable

For power is meant primarily the power supply circuit of three-phase of the drive and the motor power
cable.
In the table, the sections of the recommended conductors model and there is also the ESA Automation
code motor cable available .
MiniECO Cable section ESA Automation motor cable

(Trailing)
miniECO2M miniECO2S 1.5 mm² Code 09CP15 S
Table 7.4.1 Characteristics of the motor cable
NOTE: Motor Cable

- For the motor cable, a model with 4 poles and with external stranded copper -
shielding screening is needed.
- A good ground connection is indispensable for the correct operation of the
product, to meet EMC regulations as well as safety standards.
- Connect the shield of the cable motor to ground from both ends by exploiting
the greatest possible surface contact, using 360°metal clamp ( nickel-plated brass
press wires).
- Use trailing cables in installations where the motor is mounted to a moving part
Conductors control / signals
 Conductors control / signal

Unless otherwise indicated,the recommended size is 0.5 mm² with screw terminals.
 Cable analog signal (if using of REF\, REF)

The cable must be the screened twisted-pair (0.22 mm² or greater).
Encoder Cable
The cable that connects the encoder signals must necessarily be shielded with screen connected as shown
in figure 2.6.11 . Aalternatively, you can use a shielded cable with 7 twisted pairs of wires.
Serial Cable
The cable must necessarily be an 8-way shielded model (0.22 mm² or more).
27
WARNING: Cables
 Provide paths spaced between the power cables and those of signal.
 The length of the encoder and the motor cable must not exceed the length of 50 m
for not create malfunctions due to their excessive inductance and stray capacitance;
for lengths greater than refer to the Customer Care of ESA Automation
7. 5 COMPONENTS EMC
Here below, the filter components that we recommend, depending on the different sizes of miniECO drive
are briefly reported. They allow to solve some of the EMC problems . For more information refer to our
guide " Filtering Solutions " in which the topic is treated in detail.
 LINE FILTER
To meet the EMC requirements (conducted emissions) the installation must be fitted with a filter
network immediately upstream of miniECO drive, between the drive and the optional transformer.
The filter network must be sized in order to be able to correctly withstand the current drawn from the
drive.
WARNING: FILTERS LINE

 An indispensable requirement is to comply with the EMC regulations with
the drive and use the filters of the family 09CNW207xx as a function of the
application or other filters of equivalent characteristics. Please pay great
attention to the ability to filter attenuation in relation to the range of
frequencies and also control the leakage current i.e. the dispersion on the
ground conductor from the filter.
NOTE: FILTERS LINE

 Location of the filters required should be carefully considered, but it is clear
that individually filtering all PDS is not convenient.
 As a function of the layout of the electrical panel a single filter for more drives
can be used. In this case, the currents must be added in the contemporary
drive.
For the indications and the choice of filters refer to the guide " Filtering Solutions
" issued by ESA Automation
28
miniECO/miniECOplus Cap. 8: Initial Start-Up Service
FERRITE CORES
To meet EMC requirements relating to immunity and emissions, it can be indispensable to fix one or
more ferrite clamps to reduce the movement of EMI through cables. Cables requiring core and type of
core recommended are listed below
Cable Type ESA Automation core Positioning
Power Cables L1, L2, L3. Core model SCK2 Position the core in the immediate vicinity of
(Φ inside = 9mm, Z=80 Ω). the terminal strip CN1 including all
converging cables.
Position the core in the immediate vicinity of
Connection Cable signals Core model SCK3
the terminal strip CN1 including all
and I/O. (Φ inside = 13mm, Z=80 Ω).
converging cables.
Table 7.5.1 Ferrite cores.
In the case where the serial cable is located in the proximity of sources of disturbance (transmission
problems), also place a ferrite of proper id on this cable.
8.1 SWITCH-ON /SWITCH-OFF PROCEDURE
Here below, the steps required for a correct switch-on and switch-off of miniECO drive are described in
sequence.
SWITCH -ON
1. Supply the logic supply and +24Vdc (on the display of the drive, the writing " In " and
subsequently ’UL’ will appear one after the other
1. Switch on power (it will display ' Fr ' ).
2. Enable the Drive (signal TEN activated).
WARNING: Switch-on
When switching on the drive power supply +24Vdc, any auxiliary power
supply must always be on. Failure to comply with this procedure can cause
damage to the drive.
Where there are more than 200 ms between the logic supply and the supply of power, or in the
absence of the latter, the drive signals an alarm of too low voltage; the alarm itself is automatically
reset by restoring the correct supply.
SWITCH-OFF
1. Disable miniECO (signal TEN disabled).
2. Disconnect power supply (L1,L2,L3).
3. Disconnect power supply +24Vdc.
These three phases of sleep may also occur at the same time, but not in a different sequence from
the specified one
29
8.2 INITIAL START-UP COMMISSIONING
The drafting of the following paragraph is made on the assumption that the operator has already included
the operation of the product in its every part. The starting procedure given here assumes that it is the
simple function of track indicative of the preliminary checks and the main operations to perform
NOTE
 It is extremely useful and easy to control the installation of the drive with the
software "Drive Watcher" that in some of its features allows the set-up of the
parameters and start-up in a simple and easy way
PRELIMINARY CHECKS
a) Check that the mechanical installation follows closely the instructions in the chapter "Mechanical
Installation".
b) Check that the electrical connections comply with the ones indicated in the chapter "Electrical
Installation" and make sure of the perfect tightness of all the connectors and terminal strips.
c) Mechanically disconnect the shaft of the motor from the load (no-load motor).
DANGER
- The motor during the tests will be able to take speed and very high acceleration so it
is essential that the body of the motor is perfectly stuck in position to avoid danger to
the safety of the personnel.
- The spline MUST be kept on the drive shaft but fixed in such a way as to prevent its
release at high speeds (use the spline cover).
PROCEDURE
The following steps must be performed individually on each drive.

If you encounter any alarms or abnormal operations duloop the procedure (see the Alarms chapter).
1. Perform the procedure as mentioned in the previous paragraph, without enabling miniECO Drive
(TEN and IEN at 0V or disconnected).
On the display " In " (initialization) will appear and, after 1 second, signalling " UL “, later (after
having fed the power) the letters " Fr " will indicate the lack of both entitlements.
2. Check that the drive is not in torque (shaft, free).
3. Check that " d8 " parameter is selected in the correct motor. Check the correct combination drive -
motor in the tables in Appendix B.
4. Check that " F1 ", " F2 ", " d1 " " d2 ", " d5 ", " d6 ", " d7 "parameters are set to their default
NOTE
 In the case of the drive with the options "CANopen", "S-CAN", Networks of
field MODBUS or S-NET
30
5. Enable signal TEN. Check that the written " LO" appears on the display and at the same time in motor
torque.
The motor must remain under locked rotor condition, without any vibration or speed offset, otherwise
check the wiring carefully.
NOTE
 In the case of Drive with set point analog continue from next point (6) up to the
point 10.
 In the case of Drive in "Positioning Pulse" continue from the point 11 up to the
point 18.
6 Provide to the heads of REF\ and REF a set-point of speed of +0.5V (positive side in REF) via CN or
control board or potentiometer.
Enable the signal IEN, making sure that the display shows the writing " En "  the motor must
rotate clockwise (viewed crankshaft) to 1/20 of the rated motor speed selected.
Test the operation even at maximum speed  set-point to +10V.
7 To calibrate the offset change parameter " d4 ", see section "Description Parameters".
8 Turn off the miniECO drive and apply the load to the motor.
9 Repeat the steps 1 and 2, and then check the remaining calibrations of the drive miniECO
depending on the application and the actual load, as indicated in the paragraph "Description Parameters".
10 Test the machine cycle even in the worst conditions of operation and check that no alarm function I²T
intervenes (Test to be performed by connecting the drive to a PC to Drive WATCHER software).
In the case of Drive option with positioning pulse continue up to point 18.
11 Set the parameters menu of IP and PL as a function of the application.

12 Enable the signal IEN by verifying that the display you see the writing " En ". The motor must
remain stationary.
13 With pulse is defined as a transition from 0V to 24V and the following transition from 24V to 0V.
provide a pulse on the input PULSE and check that the motor rotates the programd step on parameters "
P1 " and " P2 " PL menu .
With DIR = 0V, the motor rotates in a clockwise direction (view on the side of the crankshaft).
If you perform only a transition motor moves only ½ step.
14 With the input DIR to +24Vdc, check that the direction of rotation of the motor is not counter
(counter clockwise) to that occurred in the previous point (point 13).
15 Activate the input CONCLR and verify that even in the presence of pulse the motor does not execute
any rotation.
16 Turn off the drive, and the load is applied to the motor.
17. Repeat the steps 1 and 2, and then check the remaining calibrations of the drive in the application as
well as the real load, as indicated in paragraph " Parameter Description " .
18. Test the machine cycle even under the worst conditions of operation and check that no alarm
function I²T intervenes (Test to be performed by connecting the drive to a PC with Drive WATCHER
software).
In the case of Drive with option electrical axis ( only on family ECO is not available on
miniECO) continue up to point 25 .
31
19. Set the parameters menu of IP and P as a function of the application
20. Enable the signal IEN by verifying that the display you see the writing " En ". The motor must
remain stationary.
21. Enable the signal IN0 (pin 1 terminal CN1 ), active input to +24Vdc.
22. Move the Master Encoder and check that the electrical axis repeats the movements of the Master
23. Turn off miniECO drive and apply the load to the motor.
24. Repeat the steps 1 and 2, and then check the remaining calibrations of miniECO drive depending on
the application and the actual load, as indicated in "Description Parameters". paragraph
25. Test the machine cycle even under the worst conditions of operation and check that no alarm
function I²T intervenes (for this purpose monitor OP variables on the keypad or connect the drive to a PC
with Drive Watcher software).
In the case of Drive with; with the options "CANopen", "S-CAN", "MODBUS", "S-NET"
"Electrical Axis" in network mode of field, continue up to point 28.
26. Set the parameters of the loops of space and the logs of the speed and acceleration.
27. Activate the signal TEN, enable the drive through the commands from the mains and then check
that the axis of the motor remains in torque without vibration.
28 ctivate IEN signal and start the system through by sending over the network (CANopen, S-CAN, S-
NET, MODBUS) of the appropriate commands.
NOTE
 The functions related to networks of field MODBUS and S-NET require the
calibration of the axis before the use of the network itself, since the commands of the
field network and the program of analysis of the drive using the same serial port . It is
therefore extremely useful utility of AXIS Test Drive Watcher program. There are also
some more complex programs devoted to the functioning of the mechatronics features,
such as SAP for the function Stand Alone Positioner and CAM BUILDER for the
Electronic CAM. ( the latter are not available on miniECO, miniECO Plus line).
8.3 MAINTENANCE
miniECO / miniECO PLUS drive does not contain any components requirng maintenance. If you need to
replace the Drive and send it back to ESA Automation boxing should be in the same manner as the
original packaging.
If for any reason we need to intervene on nearby components to Drive pay attention, some parts
of the drive can be hot .
If you need to replace the drive you must remove the power supply and disconnect the
connectors see chapter 6.2 , even after removing the power supply DO NOT open the drive for any
reason.
32
miniECO/miniECO plus Cap. 9: Parameters
9 PARAMETERS
The Drive has several internal functions, some relatively simple other decidedly complex ones, whose
setting is implemented by PARAMETERS and REGISTERS . The simpler functions will rely
exclusively on parameters while the more complex ones also require the setting of specific REGISTERS
. The local keypad serves to carry out the setting only on the parameters: the display of the alarms for
complex applications or for the use of field networks and the mechatronics functions that make extensive
use of the registers in addition to parameters are essential to the use of the " Drive Watcher " program.
The Drive has two keys in front of a keyboard + ENTER
) and a two-digit display It is necessary to
install the "Drive Watcher" program on your PC, for a comprehensive programming of all the
features, but you can still enter the parameters of the standard functions by the local keyboard. The
display shows the status of operation, the alarms and the parameters with their values.
Views at POWER ON
When you turn on the Drive, it displays the status of operation. The initialization of the internal software
is recognizable from the view " In " ( Initialisation, that appears for a few seconds); then the message "
Fr " (Free ) indicates that the drive is powered up and ready to receive commands or " UL " (Under
Level ) if there is no power supply.
By activating TEN signal, the motor is supplied, the performed function depends on the IEN signal. If
IEN is also active, the display shows "En" ( Enable ), the drive provides torque to the motor and is
enabled to follow the analog signal (if the parameter c9 = 0 ) present on pin REF and REF/" If IEN is
disabled the display shows "Lo" ( Lock ) and the drive provides torque to the motor, but remains in
position.
Parameters
The Drive parameters listed below are all modifiable from keypad . Their functions are described in detail
in 'Instruction Manual' in paragraph 9.
d1 Speed loop proportional gain, KP . %

d2 Integral Gain the speed loop, KI . %
d3 Maximum speed of the motor, V max . %
d4 Speed offset regulation %
d5 Maximum current of the motor. %
d6 Ratio peak current /Rated current %
d7 Function I²T . %
d8 Motor Selection. Pure Number
Table 9.1.1 d Parameters
E1 Maximum rated speed. %

E2 Filter on input reference %
E3 Parameter Exceptions. Number
E4 Brake Number
Table 9.1.2 E Parameters
F1 Acceleration ramp %
F2 Deceleration ramp %
F3 Emergency ramp %
F4 Reserved Number
Table 9.1.3 F Parameters

33
C1 Select output pulse RTE. Pure Number

C2 Motor direction of rotation Pure Number
C3 Select type of control (speed/torque). Pure Number
C4 Resolver pole pair selection Pure Number
C5 Encoder pulses/ revolution selection Pure Number
C6 Select type of transducer Pure Number
C7 Network mode number Pure Number
C8 NOT USED. --
C9 Feature Selection inputs Pure Number
Table 9.1.4 C Parameters
I1 Loop proportional gain of space. %

I2 Integral Gain of the loop of space. %
I3 Derivative gain of the loop of space. %
I4 Compensation Value of inertia. %
I5 Derivative gain of the loop of space. Number
I6 Mode Selection external encoder Number
I7 Reserved Number
Table 9.1.5 I Parameters with option " Positioning pulse or Electrical axis "
P1 Drive shaft pulses/revolution (most significant part). Number

P2 Drive shaft pulses/revolution (less significant part). Number
P3 Maximum following error (degrees) (most significant part). Number
P4 Maximum following error (degrees) (less significant part). Number
P5 Acceleration ramp (in ms/100 RPM). Number
P6 Deceleration ramp (in ms/100 RPM). Number
P7 Maximum Speed (RPM/ 100). Number
Table 9.1.6 P Parameters with option " Positioning pulse "
H1 Homing method Pure Number

H2 Switch homing speed as % of the rated speed. %
H3 Index pulse homing speed in thousandths %
H4 Time of acceleration/deceleration ramp (in ms/100 RPM). Number
H5 Position offset sign. Number
H6 Master encoder position offset in pulses (hi), tens of thousands. Number
H7 Master encoder position offset in pulses (mid), hundreds. Number
H8 Master encoder position offset in pulses (lo), units. Number
H9 Utility to manually calibrate the offset of spac Number
Table 9.1.7 H Parameters (Homing) with option ' Electrical Axis "
N1 CANbus Baud rate. Pure Number

Table 1.9.8 N Parameters with options " CANopen " , " S-CAN " .
34
O1 Instantaneous current. Number

O2 RMS current. Number
O3 Overload (% of the 2 T) . Number
O4 Internal Temperature Drive Number
Table 9.1.9 O Parameters
Below C9 parameter is shown that is extremely important to choose the mode of operation of the
Drive and the parameter of the network node .The details of the other parameters are described in
"Instruction Manual" or "Additional Information"
C9 Select mode of operation Pure Number
Select Mode of operation (analog input or positioning of field networks ). This is the
fundamental parameter of the Drive
(00  09): 00 = analog input, the setpoint of speed or torque and acquired by the
inputs REF and REF\. ( 00 = default value ).
01 = Input Positioning pulse, if provided as an option .
02 = Input electrical axis, if provided as an option .
03 = Network MODBUS & S-NET, if provided as an option .
04 = Network S-CAN, if provided as an option .
05 = CANopen Network, if provided as an option .
.
09 = CUSTOM - used only for changes special software
PARAMETERS
This menu is only present with the options " CANopen " and " S-CAN ".
N1 CANbus Baud rate Number
The parameter Baud rate is coded as follows:
Parameter value: 1 2 3 4 5 6 7 8
Baud rate (kbaud): 10 20 50 125 250 500 800 1000
This parameter is read only when you turn on the drive.

All changes (of course complete the save on non-volatile memory) will be then implemented
only at the next turn.
(01  08): 08 = default value.
35
9.2 MENU and operation from LOCAL KEYBOARD
The display shows the status of the Drive ( "In", "Fr", "UL", "En", "Lo" ), to access to the main
menu of the parameters you must press any one of the keys; within these menus, if you do not press
any key to 4÷5 seconds back to view the status of the Drive.
WARNING! When modified all parameters will remain in the volatile
memory (RAM) of the Drive; if you want to make the modification of
the parameters permanent, you need to save it in the flash drive with the
menu "EP” procedure.
MAIN MENU
The main menu of the miniECO differs according to the options requested by the user.
 The main menu of the BASE MODEL is formed by several distinct menu, to move from one menu
to another you must press the button [ +] , the last menu takes you back to the first with cyclic
sequence (Figure 9.1.1 ).
 The main menu of the product with the option " pulsed positioning " (c9 = 1) provides for two other
menu on most ' IP ' and ' PL ', to jump from one menu to another you must press the button [ +] , the
last menu takes you back to the first with cyclic sequence .
 The main menu of the product with the option " CANopen " (c9 = 5) and " S-CAN " (c9 = 4) also
provides for the menu " nP ". To go from one menu to another you must press the button [ +] , the
last menu takes you back to the first with cyclic sequence .
By pressing the [ENTER] you access the menu displayed on the display at that moment.
36
Main Menu of the miniECO
In the figure to the side and was shown the main menu of the
ENTER
d r minieco with Modbus, S-NET, (c9 = 3) and the menu that appears
"CANopen" or "S-CAN" (c9 =4 or 5). The following describes
+ the additional menus.
..............................
+ ENTER
c n
+
ENTER Menu of network parameters CANopen or S-CAN:
n P Network Parameters.
I P
+ Present with "CANopen" or "S-CAN
+
c9 = 4 o c9 = 5
+
ENTER
c9 = 3 n P
ENTER
O P
+
ENTER
S E
+
ENTER
A b
..............................
Figure 9.2.1 Main menu miniECO / miniECO PLUS
.
NOTE
The menu "SE", of alignment of the resolver, appears in the main menu only
when the parameter c9 = 0.
37
SPECIAL MENU
The menus listed below differ in some details from general rules described above
SA " SAVE " - save Menu parameters

This menu saves parameters (stored in RAM) on non-volatile memory (flash memory).
This command allows you to permanently store the entire set of parameters in use at the time of the
rescue, which means that in the successive firings of the drive, parameters will assume the saved values .
To activate the selection of a new motor (changing " d8 " parameter ), you must first switch off the drive
and then switch it back on.
By pressing the [ENTER] key when display is ' SA ', " y? " appears for further confirmation of the
saving data in flash.
If you made a mistake and do not want to save the parameters you should hold only one of two keys,
the display will highlight the message " no " for a few seconds, but if you want to continue with the
procedure, you must press simultaneously both keys for at least 3 seconds, In this case, the following
two messages " YE " and " - - " will be highlighted in sequence
Since this operation is only allowed when drive is disabled, if TEN signal is active (drive enabled), the
writing " YE " flashes to indicate the abnormal condition, once off TEN signal, the writing stops
flashing and the operation is completed. At the end, you will return to the condition " Fr ".
SE " Sensor " - Menu of alignment Resolver/Encoder
With " SE "menu you can check the alignment of the resolver or Encoder: the value represents the phase shift in
electrical degrees of the resolver or Encoder with relation to the electric field of the magnets. Thus, if the phase shift
is important disconnect mechanically the Resolver or Encoder and rearrange the mechanical position with relation to
the motor shaft and can carry out the alignment. The two procedures are slightly different for the Resolver or the
Encoder: please carefully follow the instructions shown in Figure 7.1.9 .
"SE" menu appears only when the parameter c9 = 0 .
To enter this menu you must press the [ENTER] key when “SE” is on the display and present.
The message " ?? " is thus displayed to indicate a password request.
For the next steps refer to the following explanatory figure.
ENTER + The status of the drive is thus displayed, you will

S E ? ? return to the homepage.
ENTER
ENTER
0 0 It displays the status of the drive, you will return to
the homepage
+
It is necessary to press the button [ +] up to the
0 1 achievement of the numeric value of the password.
Once you have reached the value of the password
+
you have to press the button [ENTER].
Resolver
.. .. Enable TEN
the shaft of the motor is brought on the electrical zero.
ENTER Password Value appears the value of the misalignment.
Encoder
X X DOES NOT enable the TEN
+ . Rotate the crankshaft manually at least two revolutions
mechanical
displays the value of the alignment
38
A value of "XX = 00-99", indicates the value of the misalignment in electrical

degrees (absolute value).
Negative values are displayed with the point of separation units-tens.
x. x. A flashing indicates that the measure is not yet valid.
It must rotate the crankshaft two revolutions mechanical. After activating
signal TEN appears misalignment.
Misalignment values greater than 99 degrees are designated with the symbol
"-" flashing.
 The use of the password (and the relative alignment function resolver/Encoder) is reserved for
technicians to service, the service technician must know the password, if you do not know the
password please read the manual "ECO2/ECO4 additional Informations".
WARNING
 Duloop the alignment step Resolver should ensure that the shaft is
completely free to move; for safety reasons it should also lock the motor and
do not touch the shaft duloop this procedure since the same expected
movements of the drive shaft.
 Misalignment values ranging between -08 and +08 =with vane ], are to be
considered correct.
 Misalignment values higher than 99 degrees are marked with the symbol
“--” flashing.
EP " E2PROM " - Menu the default parameters
This menu should be used if they are changed all the values of the parameters in a manner not correct and
it is desired to return to a certain condition, This menu allows you to load the parameters with default
values, the following is schematically shown as this is carried out.
E P
ENTER
d E
ENTER
y ?
ENTER or + ENTER +
an
d
n o Y E
r
- -
Menu Main
39
Pressing [ENTER] when the display shows " EP "menu will appear on the " dE" so if you want to load
the default values of the parameters you have to press still [ENTER]"
At this point appears on the display " y? " for a further confirmation of the loading of the default values.
If you made a mistake and do not want to load the default parameters should hold only one of two keys,
the display will be highlighted the message " no " for a few seconds, but if you want to continue with the
procedure, you must press for at least 3 seconds simultaneously both keys, In which case they will be
pointed to in sequence the following two messages " YE " and " - - ".
Since this operation is only allowed to drive disabled, if the signal TEN is active (drive enabled), the
writing " YE " flashes to indicate the abnormal condition, once off the signal TEN, the Written stops
flashing and the operation is completed.
The conclusion, you can return to the condition " Fr ".
Ab " Alarm buffer " Menu of the Buffer of Alarms
The menu of the Buffer of alarms allow the display of the last four alarms occurred by the lighting of the
drive.
To enter in this menu you must press the button [ENTER] when the display is this " Ab ". is thus
displayed the last alarm detected Further pressures of key [ +] allow you to perform a full scan of the last
alarms encountered (in chronological order).
Arrived at the last, pressing [ +] , it will return to the main menu in " Ab " .
ENTER By pressing the [ENTER] when the display is

A b A L n. all. present "Ab" are displayed in order the last
alarms that occurred from the ignition.
+ is displayed, with flash before the writing " TO "
then the code for the corresponding alarm, for
A L n. all. example: "AL" " 15 ")
+ ENTER by pressing the [ +] and [ENTER] key is erased
+
all the alarms present in the buffer up to that
n. all. time.
A L
If you do not have presented alarms, appears
+
the code no to = 0 0
A L n. all.
+ NOTE :
n. = number or alarm code (see paragraph 7.1 ).
Figure 9.2.2 Menu "Ab"
40
miniECO/miniECO plus Cap. 10: Diagnostics
10 DIAGNOSTICS and Alarms
The Drive signals its operating condition on the display and also with a feedback contact called OK
(CN2). In the absence of abnormal conditions the signal OK is active and the display shows the
"STATUS" In the presence of alarms, the display shows the number of the alarm.
State of the Drive
" In" ( Initialisation ) , appears for a few seconds when you turn on the Drive
" UL " ( U nder L evel ) only to power up the Drive after the status "In"
Conditions inputs: 1. L1, L2, L3. NOT energised
2. TEN disabled
3. IEN not importance
Signal OK: Active
Motor Conditions: Free Shaft
" Fr " ( Free )

Conditions inputs: 1. L1, L2, L3. energised
2. TEN disabled
3. IEN not importance
Signal OK: Active
Motor Conditions: Free Shaft
" Lo " ( Lock)

Conditions inputs: 1. L1, L2, L3. energised
2. TEN activated
3. IEN disabled
Signal OK: Active
Motor Conditions: Shaft locked, motor in locked rotor condition, the Drive provides the motor
with torque but maintains the position regardless of the setpoint.
" En " ( Enable )

Conditions inputs: 1. L1 , L2 , L3. energised
2. TEN activated
3. IEN activated
Signal OK: Active
Motor Conditions: Drive shaft moves in accordance with the set-point (analog or digital
depending on the value of C9).
41
10.1 ALARMS
The Drive continuously monitors the state of its operation and if an abnormal situation occurs, the code of
the corresponding alarm appears on the display: it is deactivated the signal to DRIVE OK and as a
function of the type of alarm the motor is turned off with different modes. The alarm displayed on the
display is carried out by signalling alternatively " AL " and the code of the corresponding alarm .
The drive can store up to a sequence of 4 alarms. Therefore, the menu of the buffer of the alarms allows
the display of the last four alarms occurred by the lighting of the drive. How to access the menu is
indicated in the paragraph " Operation from local keyboard".
The following table lists the alarms that may occur, the code for this is the Action Drive
Code Description alarms Action Drive

AL 01 Problem on IGBT . Immediately free axis.
AL 02 Thermal motor. Brakes with set of emergency ramp and frees axis.
AL 03 Motor Overcurrent .
Immediately free axis
AL 04 DC bus . Overvoltage
Immediately free axis
AL 05 Undervoltage . Brakes with set of emergency ramp and free axis
AL 06 Thermal drive . Brakes with set of emergency ramp and free axis
AL 07 DSP processor Fault .
Axis free the Drive does not end the POWER-ON
AL 08 Resolver/ Encoder Alarm Immediately free axis
AL 09 Flash Memory Alarm Immediately free axis
AL 10 Excessive intervention braking Brakes with a ramp of emergency and then axis
resistor free.
AL 11 Network Communication Error Brakes with set of emergency ramp and free axis.
AL 12 Homing operation error Immediately free axis
AL 13 Error on comunicazione Can Brakes with a ramp of emergency and then axis
free.
AL 14 Procedure of Homing not terminated Immediately free axis
correctly
AL 15 Overflow Alarm Immediately free axis
AL 16 Following Error Immediately free axis
AL 20 LS1 Alarm Braking with the ramp of emergency and allows the
movement only in the opposite direction
AL 21 LS2 Alarm Braking with the ramp of emergency and allows the
movement only in the opposite direction
AL 23 NO Alignment absolute encoder Immediately free axis
AL 24 Absolute Encoder does not Immediately free axis
communicate
AL 25 Absolute Encoder: axis error in Immediately free axis
motion when you turn on
AL 26 Alarm mode is not allowed Immediately free axis
Figure 10.1 Description alarms
42
How to reset alarms:
The alarm condition can be reset, obviously after removing the cause of a malfunction , acting in two
ways:
1. Turn off and on the Drive;
2. Disable and re-enable the signal TEN ( if the alarm is caused by incorrect parameters etc. )
The following are some possible causes for abnormal operating conditions of the drive, identified by the
flashing alarm code, and then provides some solutions to remove the causes of malfunction.
ALARM 01: Current, over-temperature or short circuit in the IGBT.

IT intervened the hardware protection of the IGBTS, indicating overtemperature or a short circuit
or a high current circulating in the power stages.
 Remove tension and make sure that the steps U, V, W are not shorted together or shorted or loss
toward the ground signal. if so check if this is due to a wiloop problem.
ALARM 02 : Thermal motor.
Motor overheating, intervention PTC thermal motor.
 In case of first starting, check the correct execution of the harness on the thermal motor.
 Otherwise, check if the motor is at a temperature close to 120 °C with the motor at a
temperature that is certainly lower, check for the presence of +24Vdc terminal in TMOT(pin 26 of CN4 ).
ALARM 03: Overcurrent on the motor .
The motor current is greater than that set in table motors
 Verify that the selected motor actually corresponds to that used ( check parameter " d8 " in
tables motors ).
Check that the wiloop from the motor cables and resolver corresponds to that indicated in the
schemes of figures present in the paragraph " CONNECTION DIAGRAMS "; check for proper
alignment of the resolver or Encoder (Menu SE or AA of the keypad). If you perform this procedure for
the first time and certainly useful to read the manual " Additional Informations".
 Check that there is no strong sources of disturbance impulsive in the immediate vicinity of the
cables and/or product (for example, relays, contactors, solenoid valves, ... ).
Check the correct segregation of the power cables from signal cables (especially when using the
cable Resolver).
ALARM 04: Overvoltage on the DC bus power.

The voltage on the DC BUS is above the maximum levels
Check that the wiloop and the sizing of the supply circuit complies with the indicated in chapter 5
and that the supply voltage is not out of the allowable tolerance is that is in the range mentioned in
paragraph 3.1 .
 In the event of an alarm duloop the operating cycle make sure of the connection of the braking
resistance, motor with regenerative braking resistance NOT CONNECTED.
 The persistence of condition highlights an inertia of the load than the braking capacity of the
resistance. Repeat the calculations of the kinetic energy to dissipate and choose a braking module more
suitable, if this problem persists contact the "Customer Service" of ESA Automation .
ALARM 05: Undervoltage

Power supply voltage too low or below the permitted limit.
Check that the wiloop and the sizing of the power supply circuit conform carefully followthe
instructions given in chapter 5 and that the supply voltage is included within the values of targa (chapter
3), and that is values within the allowable tolerance.
In the event of an alarm duloop the operating cycle, make sure in a special way of the proper
sizing of the power transformer for the Drive to 230V powered by an isolation transformer or by an
autotransformer
43
ALARM 06: Thermal drive
Overtemperature radiator.
 Make sure you've followed all of the information concerning the mechanical installation of
chapter 5.
ALARM 07: DSP processor in Fault.

The alarm is too high a noise level in line, from which the block hardware of the
processor or Updating firmware does not correct
 Carefully check that the wiloop and the electrical sizing complies with the specified in chapter 5,
in particular with regard to earth connections, screens and filters rfi.
ALARM 08: Alarm Feedback on the motor

Alarm resolver or encoder or digital feedback connected incorrectly or
With high noise.
 Make sure of the correct cable harness resolver /encoder.
In applications with absolute encoder BiSS this alarm is only exceeded the Start-up phase duloop the
operation customary when making digital readings of the position are mutually inconsistent. In encoder
applications outside this alarm is used to indicate that you have exceeded the threshold specified in
parameter 7
ALARM 09: Alarm Flash Memory
Data not congruent on Flash Memory.
 Turn off and on the Drive and repeat the programming operations.
If this problem persists contact your "Customer Service" of ESA Automation .
ALARM 10: Excessive intervention braking resistor
Operation time greater than 10 sec.
 THE intervention of this alarm is to indicate that the kinetic energy of the system is too large to
be disposed of by drive or that the supply voltage is higher than the data plate of the power supply, this
involves the continuous insertion of the brake resistor. Attention DOES NOT reset the alarm before you
have checked the power supply voltage worth the damage of the braking resistance.
ALARM 13: Alarm communication error in the network.

Verify that the selection of the parameter C9 is correct
Check the paramerto the network node, and the Baud rate
Check the connections for the network of field and the correct positioning and value of
Termination resistors .
Verify that the path of the cables of the field bus is not near and parallel to the power cables and
that the shields are carried out correctly and that are not interrupted if a connector sections the cable.
ALARM 14: Alarm Homing error
Procedure of homing is not finished .
 Check for any problems on the mechanics or errors on the parameters of Homing.
Acceleration, deceleration or set speeds are incompatible with the dynamics of the system, check
the related configuration parameters.
ALARM 15: Positionig system overflow error alarm system

The system uses variables to 32 bits for the representation of the positions where a single command
involves an excessive linear displacement (about 40 minutes with the axis to 3000 r.p.m. ), there is a
danger of send in the overflow internal counts.
44
ALARM 16: Following error alarm
This alarm is signaled when the theoretical position in the movement differs from the actual
position measured, to a value greater than the maximum following error allowed (for example parameters
" P3 " and " P4 " menu PL, or parameters, " A5 " and " A6 " menu AP) and for a time greater than when
indicated in the appropriate parameter (for example " I5 " the menu IP) .
 Check for possible mechanical problems or errors on the above mentioned .parameters
 Acceleration or deceleration set are incompatible with the system dynamics.
ALARM 20: LS1 Signal enabled

ALARM 21: LS2 Signal enabled
ALARM 22: Not used
ALARM 23: Electric field alignment with absolute encoder procedure not implemented
ALARM 24: Serial communication toward absolute encoder is not working correctly
ALARM 25: Error of absolute position ready by serial interface due to excessive axis
movement during switch-on
ALARM 26: This alarm indicates that the selected mode is not compatible with the options
configured in drive. The alarm will reset only by turning the Drive
Here below some more abnormal operating conditions and their possible solutions are listed.
1. The motor turns over jerkily or vibrates excessively.

1a) Check that the wiring of the motor cable and the cable resolver match the one indicated in the.
figures of paragraph 6.2 " CONNECTION DIAGRAMS ", screenings including
1b) Check the correct programming of the parameters of the motor.
2. The motor remains in torque, but does not follow the analogue speed set point.
2a)Check the enable signal of IEN.
2b)Check for the presence of the actual set point desired speed at the heads of these terminals REF
. and REF\ of CN1
3. The motor follows the analogue speed setpoint irregularly.
Verify that the 0V terminal (pin 8 of CN1 ) is connected to the reference mass of the setpoint of
speed.
4. The motor vibrates slightly whilst under “ locked rotor” rotor.

Check that the motor wiring and the resolver or encoder match as indicated in the schemes of
figures present in paragraph 5.2, including screening.
5. The motor occasionally shows performance loss.
Check the intervention or not of the function I²T displaying it via the program on your PC or the
parameters O 1-2-3
45
miniECO/miniECO plus Appendix A
APPENDIX A LABEL DESCRIPTION
In this Appendix the fields on the label of the product miniECO are described that allow you to trace all
the data on the drive.
Made in Italy
Cod. 09ECO2M0306E Date 24/01/09
S/N 137 REV. 2.0 102 RM 1.0 MT A001
Sp. Opt.
AC-INPUT AC-OUTPUT
230V +/-10% 50/60 Hz 215V 3 PHASE
1 or 3 PHASE - 3,3 AMPS 1,0 KW A 3,0
Cod. = Commercial Code of sale of the product (see chap. 4 Models and Options).
Dates = Date of manufacture of the product.
S/N = Serial Number sequential number of construction.
Rev. = It identifies the hardware and software revision so divided:
- The first two numbers identify the release hardware ,
- The next two or three numbers identify the release software .
Example: Rev. 10102 is equivalent to hardware revisions 1.0 and software 10.2 .
RM = It identifies the revision of the Instruction Manual supplied with the product.
MT = It identifies the revision of the table motor
Sp. This field is used for:
= - Software Versions custom (Vsx)
- Gauging special hardware (non standard)
Opt. = It dentifies the type of option (see chap. 4 Models and Options)
AT = It identifies the current nominal effective deliverable to drive.
AC-INPUT = Description input characteristics
AC- = Features Description of outputs
OUTPUT
46
miniECO/miniECO plus Appendix B
APPENDIX B MOTORS TABLES
It is essential therefore to couple the Drive only with the motor for which it was provided for use.
Each model has been parameterized for use with different motors. Adhere strictly to the
table motors .
The motor actually used is selectable via "d8 " parameter of the configuration file or via local
keyboard. "d8 " parameter is acquired from the Drive only at start-up, it follows that when you
edit the parameter to make it active you must save the data (see "EP"menu ), turn off is on the
Drive.
Warning !! Always refer to the” Reference Manual MotorTables " to know how to map the latest
motors or to the site www.esa-automation.com (look at the download area)
Motor Table Review A0 17 for drive 09ECO2M0306

Motors Review Notes Nominal Nominal Peak Nominal Peak
D8 selectable Speed Current Current Torque Torque
A RMS A RMS Nm Nm
0 Factory used
1 DSM5 31 1 x 4 1 or next Enc. 2048 C5 =01 3000 1.6 6 1.4 4.8
2 DSM5 32 1 x 4 1 or next Enc. 2048 C5 =01 3000 2.7 6 2.4 5
DSM6 32 1 x 8
3 DSM5 33 1 x 4 1 or next Enc. 2048C5 =01 3000 3 6 2.7 5.1
4 DSM5 34 1 x 4 1 or next Enc.2048 C5 =01 3000 3 6 2.7 5.1
5 DSM5 30 1 x 4 2 or next Enc.2048 C5 =01 3000 1.5 6 0.9 3.5
6 DSM5 13 1 x 4 2 or next Enc.2048 C5 =01 5000 1.6 6 0.7 2.6
7 DSM5 03 1 x 4 2 or next Enc. 1024 C5 =02 6000 1 6 0.16 0.95
8 DSM5 40 1 x 4 3 or next Enc.2048 C5 =01 3000 2.8 6 1.8 3.8
9 DSM5 12 1X4 5 or next Enc.2048 C5 =01 5000 0.8 4 0.4 2
10 DSM5 40 1X4 6 or next Enc.2048C5 =01 4500 2.8 6 1.8 3.8
11 DSM5321x4HP 7 or next Enc.2048C5 =01 3000 3.1 6 2.75 5
DSM6321x8HP
12 B100C507 13 or next Enc.2048C5 =01 3000 3.0 6 2.6 5.2
20 Factory used
21 Factory used
22 B60 C582 4 or next Enc.2048C5 =01 3000 0.7 2.4 0.5 1.5
23 S0602B587 4 or next Enc.2048C5 =01 3000 2 5.5 1.35 3.7
24 S060XE 6 or next Enc.2048C5 =01 3000 1.13 4.12 0.8 2.9
25 S0402B 8 or next Enc.2048C5 =01 3000 0.46 1.5 0.31 1
26 S0601B302 9 or next Enc.2048C5 =01 4000 1.42 4.7 0.8 2.6
27 S0601B302 10 or next Enc.2048C5 =01 3000 1.42 4.7 0.8 2.6
28 S0602B304 10 or next Enc.2048C5 =01 4000 2.35 6 1.35 3.4
29 S0602B304 10 or next Enc.2048C5 =01 3000 2.35 6 1.35 3.4
30 DSM521 11 or next Enc.2048C5 =01 3000 1.6 6 0.7 2.7
31 DSM522 11 or next Enc.2048C5 =01 3000 2.8 6 1.4 3
32 S0802B375 12 or next Enc.2048C5 =01 3000 2.75 6 2.39 5.2
33 --- --- --- --- --- --- --- ---
34 S0802B375 15 or next Enc.2048C5 =01 3000 3.22 6 2.8 5.2
2.8 Nm nom
35 S0801B373 16 Or next Enc.2048C5 =01 3000 1.65 5.2 1.23 4.2
36 S0402B351 17 or next Enc.2048C5 =01 3000 0.6 1.5
37 S0602B301 17 or next Enc.2048C5 =01 3000 1.8 5.5
47
miniECO/miniECO plus Appendix B
Motor Table Review A0 15 for drive 09ECO2S0408
Motors Review Notes Nominal Nominal Peak Nominal Peak

D8 selectable Speed Current Current Torque Torque
A RMS A RMS Nm Nm
0 Factory used
1 DSM5 31 1 x 4 1 or next Enc. 2048 C5 3000 1.6 6 ,6 1.4 5
=01
2 DSM5 32 1 x 4 1 or next Enc. 2048 C5 3000 2.7 8 2.4 6.6
DSM6 32 1 x 8 =01
3 DSM5 33 1 x 4 1 or next Enc. 2048 C5 3000 3.8 8 3.4 6.7
=01
4 DSM5 34 1 x 4 1 or next Enc.2048 C5 =01 3000 4 8 3.6 6.7
5 DSM5 30 1 x 4 2 or next Enc.2048 C5 =01 3000 1.5 7 0.9 4
6 DSM5 13 1 x 4 2 or next Enc.2048 C5 =01 5000 1.6 7.5 0.7 3.2
7 DSM5 03 1 x 4 2 or next Enc. 1024 C5 6000 1 6 0.16 0.95
=02
8 DSM5 40 1 x 4 3 or next Enc.2048 C5 =01 3000 2.8 8 1.8 5
9 DSM5 12 1X4 5 or next Enc.2048 C5 =01 5000 0.8 4 0.4 2
10 DSM5 40 1X4 6 or next Enc.2048C5 =01 4500 2.8 8 1.8 5
11 DSM5321x4HP 7 or next Enc.2048C5 =01 3000 3.2 8 2.8 6.6
DSM6321x8HP
12 B100C507 13 or Enc.2048C5 =01 3000 3.2 8 2.8 6.9
next
13 B100C507 S3 13 or Enc.2048C5 =01 3000 4 S3 60% 8 3.5 6.9
60% 10 min. next 10 min.
20 Factory used
21 Factory used
22 B60C582 4 or next Enc.2048C5 =01 3000 0.7 2.4 0.5 1.5
23 S0602B587 4 or next Enc.2048C5 =01 3000 2 5.5 1.35 3.7
24 S060XE 6 or next Enc.2048C5 =01 3000 1.13 4.12 0.8 2.9
25 S0402B 8 or next Enc.2048C5 =01 3000 0.46 1.5 0.31 1
26 S0601B302 9 or next Enc.2048C5 =01 4000 1.42 4.7 0.8 2.6
27 S0601B302 10 or Enc.2048C5 =01 3000 1.42 4.7 0.8 2.6
next
28 S0602B304 10 or Enc.2048C5 =01 4000 2.35 8 1.35 4.5
next
29 S0602B304 10 or Enc.2048C5 =01 3000 2.35 8 1.35 4.5
next
30 DSM521 11 or Enc.2048C5 =01 3000 1.6 6 0.7 2.7
next
31 DSM522 11 or Enc.2048C5 =01 3000 2.8 8 1.4 3.9
next
32 S0802B375 12 or Enc.2048C5 =01 3000 2.75 6 2.39 5.2
next
33 S0802B378 14 or Enc.2048C5 =01 4000 3.5 8 1.9 4.8
next
35 S0801B373 15 or Enc.2048C5 =01 3000 1.65 5.2 1.23 4.2
next
48
miniECO/miniECOplus miniECOplus Series
Functions implemented only in
MiniECO Plus
The series miniECO Plus drive differ from the standard series for the implementation of some of the
hardware features and different software features.
The hardware features implemented are described below. Refer to the "instruction manual "if in any
doubt concerning the safety circuit and STO; software functions are described in the manual "Additional
Information".
Hardware Features:
Safety STO features, Double Connector RJ45 field network to "Daisy Chain" link, DC BUS Connector,
BRAKE Connector .
Safety T orque Off Function

The series miniECO Plus drive are equipped with the safety feature STO against the restart of the
accidental motor .
WARNING
STO circuit complies with the safety regulations related to SIL CL 2 standard EN 62061,
PL d EN 13849-1, and the relevant certification is currently in the state of "pending"
To use properly the function STO Drive in accordance with the regulations connected to it is essential that
you understand well the functions of stop and Emergency . In this respect, the "Instruction Manual"
explains the functions involved, and the rules associated with them
49
Place of installation
Since the regulator is part of IP20 protection degree, the installation location should be chosen in such a
way that even the surrounding environment ensures safe operation of the Drive. The place of installation
must conform at least to IP54 protection degree.
WIRING
If the harness of STO is located on the outside of the place of installation, the cables should be routed in a
lasting way (fixed), protected from external damage (e.g., with a raceway), inserted in different sheaths or
protected one by one by connecting to the ground. If the wiring is inside the established place, installation
must be carried out in compliance with the terms indicated in EN 60204-1.
Connections signals connector CN9 STO
n. pin Signal Signal Description
1 STOA Input STO A +24V for Activate the motor

torque
2 STOB Input STO B +24V for Activate the motor

torque
3 0V 24V Reference of 0V of 24 Volts
4 +24V + 24 Volts
5 +24V + 24 Volts
STO Technical Characteristics

Input voltage 20V…. 30V
Input current of 100mA (Ieff)
Peak current 150 mA (Is)
Network and serial Debug on RJ45
Connecting to a Network ( MODBUS, S-CAN and CANOPEN) RJ45 connectors were adopted allowing
easy interconnection between various Drive modes with Daisy Chain. connector indicate the state of
activity on CAN line, below the pinout RJ45 connector CN7 and CN8 are listed.
MiniECO Plus drive has always the CANopen,S-CAN and MODBUS RTU protocols . On these
connectors, CAN signals and RS422 are present. The leds on the connector indicate the state of activity
on CAN line, Below the pinout RJ45 connector CN7 and CN8 are listed.
50
Connector Network CAN and RS232 -RS CAN-RS422
CN7/CN8 N  pin Signal Signal description
1 CAN_H CAN High signal

2 CAN_L CAN Low signal.
3 GND_CAN reference signals CAN and RS422
4 TX TX signal of the RS422
5 TX\ TX\ signal\ of the RS422
6 SHIELD Shield connected to ground.
7 RX RX signal of the RS422
8 RX\ RX signal\ of the RS422
Network ETHERNET based

The drive respects the pinout for the colors of the Ethernet EIA/TIA T568A standard fas per the table
below. The cables can be UTP( Unshielded Twisted Pair) or STP (Shielded Twisted pair) UTP, STP, can
be of different categories: the recommended ones are category 5 or greater .
Wiring for RJ-45 connector according to EIA/TIA-568A/B standard
color code
Pin Cp. T568A Cp. T568B Cond. color code T568A
T568B
green and white

1 3 2 1
white orange
2 3 2 2 green orange
green and
3 2 3 1 white orange
white
4 1 1 2 blue blue
white
5 1 1 1 white blue
blue
6 2 3 2 orange green
white
7 4 4 1 brown white
brown
8 4 4 2 brown brown
51
Colors used in direct connection

Direct Cable EIA/TIA-568A
External DC BUS
DC BUS terminal M5 allows to wire up a system allowing the use of the energy regenerated from
electronic braking motors and use it ( if the cycle allows ) for other drives, thus limiting the amount of
heat dissipation on braking resistors. This use allows to connect several drives together ( max 4) as if a
modular system is used, the drives must be of similar powers
.
The connection must be made between terminals DC+ and DC -
Alternatively, a component called ESA Automation RIG 400 can also be used
which allows a total re-use of drive energy regenerated making it also available
for the auxiliary services on machine
Connector for the management of the parking brake
Normally the motors which are mounted on the vertical axis are equipped with a parking brake.
The management of the parking brake is actually seemingly simple, but, under particular
conditions, it hides some traps.
For example, during emergency braking with consequent disconnection
of the power voltage from the drive, it is necessary to carry out
controlled braking and finally attach the parking brake with the motor
still in torque performing a sequence of timings suitable to prevent the
axis from dropping from the position in which it was brought at the end
of controlled braking. This mechanism is implemented within the drive
and is selectable by a parameter. The information for its management is
to be found in the manual "Additional Information"
52
Figure in which the layout is shown of front connectors of miniECO Plus
53
UL prescriptions
UL Prescriptions
WARNING: Risk of Electric Shock, wait No. 3 minutes before operating.
Only for drive with mark:
The wiring diagram is in section 6.2.
Use with suitable copper (CU) conductor only.
Maximum surrounding air temperature 0-40°C up to 55°C with a linear de-rating with In (at
55°C) 50% of In (at 40°C).
To be installed in a compartment able to maintain: Pollution Degree 2.

Overvoltage Category: 3 for power board, 2 for logic and control boards.
Suitable For Use On A Circuit Capable Of Delivering Not More Than 5000 Arms Symmetrical
Amperes, 240 Vac Maximum.
Use fuse only.
Integral solid state short circuit protection does not provide branch circuit protection. Branch
circuit protection fuses as indicated in this description shall be present in the end-use application
as indicated in the installation manual.
EXTERNAL (RECOMMENDED) SEMICONDUCTOR PROTECTION FUSES

Recognized Semiconductor Fuses (JFHR2,JFHR8).
See table below for the manufacturers, model number and electrical ratings of the Fuses analyzed
and/or tested.
SIBA GMBH 50 179 06 200 kAac A.I.C. 16A 156A2sec 500 A 700Vac
SIBA GMBH 50 199 06 30 kAac A.I.C., 16A 320A2sec 500 A 1000Vac
SIEMENS AG 3NC1016 200 kARMS Symm. A.I.C. 16A 150A2sec 500 A 600Vac
1 fuse for 1 phase AC-INPUT (Only for Line, not for Neutral connection.)
The Motor Drive of “miniECO” series may be protected by any equivalent UL Listed (JDDZ,
JDDZ7) or UL Recognized External Semiconductor Fuses (JFHR2, JFHR8), on condition that
these fuses have the same ratings of the above fuses evaluated during the Short Circuit Test and
in particular with I2t and Ipeak equal or lower than the tested fuses.
Values of the Field Wiring Tightening Torque:

M1 Note: PHOENIX CONTACT: 20 - 12 AWG, Cu, 5-7 lb in.
54
UL prescriptions
M1 Note: DINKLE: 20 - 12 AWG, Cu, 4.5 lb in.
M2 Note: 20 - 12 AWG, Cu, 5-7 ld in.
CN1, CN2, CN9 Note: 30 - 14 AWG, Cu, 2-4 ld in.
Motor Overload Protection is provided connecting R/C (XGPU2,XGPU8) sensing PTC/s, which
supplied at 24Vdc has/have a resistance higher than 5KΩ at the maximum value permitted by the
insulation system of the motor commanded. PTC/s shall be connected to terminal block CN4 at
pin 24, 26.
The motor out field wiring cable are able to be up to max 20AWG.
55

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miniECO

 Monari Sardè, 3 - Bentivoglio (BO) - Italy

1 Safety Information Page 2

2 General Description Page 3

3 Technical Characteristics Page 4

4 Models and Options Page 8

5 Mechanical Installation Page 11

6 Electrical Installation Page 12

7 Electrical Safety and Electromagnetic Compatibility , Emergency circuit, Page 24

8 Initial Start-up service & Maintenance Page 29

9 Parameters & Operation from Local keyboard Page 33

10 Diagnostics & Alarms Page 41

11 AppendixA Label description Page 46

12 Appendix B Tables motors Page 47

13 MiniECO Plus series Page 49

Manual rev. REV. 5.1 Cod. Man.: 01MTMECO20613GB

DANGER High Voltage

WARNING : Read carefully.

CONNECTION POINT FOR THE GROUND CONDUCTOR

DANGER HIGH VOLTAGE

WARNING: Degrees of protection

2.1 GENERAL DESCRIPTION

miniECO develops on 6 models: 09ECO2M0306E, 09ECO2S0408, 09ECO20409, 09ECO2M0306U,

Power Supply 230Vac  RMS phase  10 %, 50/60Hz three phase or mono-phase.

Power control section and Isolated +24 Vdc  15 %;

Design features of the short miniECO2M = 15 A

Frequency of switching 8 Khz PWM

Leakage current of the Drive Max 3 mA

Table 3.1 Power - Electrical Conditions of Service.

Inputs Analog NO. 2, resolution 1:5000 ,

Inputs isolated digital NO. 2 blocks DIR , PULSE Impedance = 10 k 

Reference Circuit digital inputs,

Table 3.2 Features Analog and Digital Inputs

Digital Outputs NO. 3 isolated OK , EOJ , BRAKE : PNP type 0.5 A/

Reference Circuit digital outputs.

Table 3.3 Features Digital Outputs

Encoder Outputs CMOS Line drive Outputs differential 0 - 5V.

Outputs Encoder CMOS Line driver Outputs differential 0 - 5V.

Port Serial no.1 full duplex RS 422/RS485

Preferably to be used with PNP open drain or push-pull commands

Table 3.4 Features Inputs/Outputs special.

Protection - Motor temperature rise: it depends on the motor thermal resistor

Braking Circuit Dissipative on external resistence reponse thresholds = 390 Vdc ( +

Table 3.5 Protections and Braking Circuit.

Operating Temperature From 0 °C to +40  C, max 0 ÷ 55 °C; 40 to 55 °C derate.

Relative Humidity From 5% to 85% non-condensing.

Relative Humidity From 5% to 95% non-condensing.

Table 3.6 Climatic conditions of service and storage.

Mechanical Condition Complying with CEI EN 61800-2: 1999-09.

Protection Degree IP 20.

Table 3.7 Conditions of carriage and mechanical .

09ECO2S0408 09ECO2S0408U 09ECO2S0409 09ECO2S0409U 55 W

Table 3.9 Normative References.

Table 3.10 Normative References and CE marking

4 Models and Options

miniECO Models Current and Voltage

Table 4.1 Models in according to current and voltage

miniECO: 09ECO2M0306E and 09ECO2M0306U

Optional hardware boards

Table 4.2 Models as a function of optional hardware boards on miniECO

miniECO Plus: 09ECO2S0408, 09ECO2S0408U, 09ECO2S0409 e 09ECO2S0409U

Optional hardware boards

Table 4.3 Models as a function of optional hardware boards on miniECO Plus