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General Precautions

1. Prohibits position loop control In the position control when servo is OFF pulse will still remains Therefore when power is on again S ON pulse signals have to be cleared or clear position move automatically when Servo is OFF by setting user constant Pn005 Name amp descriptions Setting range Default 0 S OFF clear pulse 0 1 1 S OFF not clear pulse ESTUN 40 EDB series AC servo system User s manual V 2 01 a Position reference one rank filter wave Position reference one rank filter wave entitle the improvement of pulse reference form designated by the system thus enhance the stability of position control But if position reference position one rack filter time constant Pn024 set too high dynamic function of the system might be decreased Pn024 Position reference 0 1mS 0 32767 one rank filter wave time constant 4 2 3 Encoder signal output Encoder output signals divided inside the Servo drive can be output externally These signals can be used to form a position control loop in the host controller cero drive Host controller 20H 1CH Servo motor encoder Phase resep ac iE The output circuit is for line driver output Connect each signal line according to the following circuit diagram Servo drive Host controller Line receiver b Mile E Phase renal eo mg JD o 2 a la a 1CN 32 1 PBO R 6 i a Phase B NE peo n ll I I
2. OFF H level PI control FFI changeover ll How To Use Proportional Control Proportional control can be used in the following two ways e When operation is performed by sending speed references from the host controller to the Servodrive the host controller can selectively use P control mode for particular conditions only This method can prevent the occurrence of overshoot and also shorten settling time e f PI control mode is used when the speed reference has a reference offset the motor may rotate at a very slow speed and fail to stop even if 0 is specified as a speed reference In this case use P control mode to stop the motor 4 7 3 Setting Speed Bias The settling time for positioning can be reduced by assigning bias to the speed reference output part in the Servodrive To assign bias use the following constant i i Contact input This parameter is set to assign an offset to a pons speed reference in the Servodrive In Pn016 a Error pulse position control mode Use this constant to reduce the settling time t Set this parameter according to machine conditions ESTUN 38 EDB series AC servo system User s manual V 2 01 Chapter 5 Using the digital operator 5 1 Basic operator 5 1 1 Digital Operator Functions The Digital Operator allows the user to set parameters send commands and display operating status This section describes the key names and functions of the Digital Operator in th
3. Set the electronic gear ratio according to machine specifications Electronic gear ratio B A Pn022 Pn023 fl Examples of Setting an Electronic Gear Ratio Examples for Different Load Mechanisms are as follows Edi 5 Pulley Reterence unt 0 001 Om 0 025dmm Travel balance per 31416 x Ain 13566 avoluion af bad sh ll gaga Load shat EE 0 001 Din Gear ratio fo a Z41 Pulley damelan fie 01 Eri Bectronic gaar ratio KA s 290 x 4 xe En zz Y 12566 Pnte3 Incremental encoder ng 34000 191 2500 pulses par revolutian NG 17566 100 Preset Pn 22 1 1 vives ri i09 ESTUN 49 EDB series AC servo system User s manual V 2 01 TEHE Bal Scores Travel distance per _ Al Relerence uni 0 00004in 0 0001 men revolution af had shet i O00 lam Load shaft EKHM TI 1 a a Elect T Pru 2204 x dx Eni eror gear rio Incremental encoder Bell screw pich 074n rn Ve GOOD rer 7 Fi n iiem E Enga Prasad Pni22 Cizo Table Reference unk 01 Traveldisteneeper 360 3600 resaktion of load shaft Die w Cer ralio 31 Load shaft f 2500 x dX gt Foote heremerfal encode Electronic gaar ralio E MUT na Scias mica 1500 g ud 3600 Pros Prema aurs ll Control Block Diagram for Position Control Servo drive in position control Pn 17 Pn 23 Pn zb Pn l8 Differen Feed B primary tiation forward A lag filter so Pnp22 Ei iCOIN n
4. The brief introduction as follows 6 3 1 Code meaning ASCII mode Every 8 bit datum is consisted by two ASCII characters For instance One 1 byte datum 64 p Hex expression is expressed as ASCII code 64 It contains 6 as ASCII code 36p and 4 as ASCII code 344 ASCII code for Number Oto 9 character A to F are as follows Relevant ASCII code Relevant ASCIIcode RTU mode Every 8 bit datum is consisted by two 4 bit hex datum That is to say a normal hex number For instance algorism 100 can be expressed into 1 byteRTU datum as 64 5 Datum structure 10bit character form apply in 7 bit datum P1062 0 7 N 2 Modbus ASCII Tho pi bogs bags bo purge 7 data bits 9 It bits character frame gt Pn 062 1 7 E 1 Modbus ASCII Berta 1 A T T E Even Stop S Fo bt N2 gs Pa gs l fl na aa ann 7 data bits VP i i bits character frame 8 ESTUN 104 EDB series AC servo system User s manual V 2 01 Pn062 2 7 O 1 Modbus ASCII T 77 r T7 7 7 r 73 7 7r amp Odd E 0 x 1012 p 31 4 s I 6 Varig i i 7 data bis Pj e bits character frame 8 11bit character form apply in 8 bit datum 8 N 2 Modbus ASCII RTU D cee Iria LE RE DN LM aa bit 24 3l14 516 7 P p is ITI cheese pedes J 8 data bits t
5. ref Io 6 Press ENTER to return to function number display 7 This is the end of reference offset automatic adjustment 5 2 5 Reference Offset Manual Adjustment Mode Speed reference offset manual adjustment is very convenient in the following situations e If a loop is formed with the host controller and the error is zeroed when servo lock is stopped To deliberately set the offset to some value Offset Adjustment Range and Setting Units are as follows Reference Speed or Reference Torque Offset Adjustment Range Offset units a Speed Reference Input Voltage Ps I 1 Offset Adjustment Range 51 51 The following is procedures of adjusting reference offset manually 1 Press MODE to select assistant function mode 2 Press INC or DEC to select reference offset manual adjustment function number el a 3 Select ON signal S ON ON it displays as follows I IL 4 Press ENTER key for a second to display speed reference offset LL Press INC or DEC to adjust the offset O Oo Press ENTER for a second to display the interface on step 4 7 Press ENTER again to go back to function display This ends the procedure ESTUN 98 EDB series AC servo system User s manual V 2 01 5 2 6 Motor Current Detection Offset Adjustment Current detection offset adjustment is performed at Estun before shipping Basically the customer need not perform this adjustment Perform this adjustment only if
6. 2 ww E ci Ci ci 9 GND 775 HAHA GND 775 p jas bi ee Instructions 1 The cable length is less than 100 meters when in a less disturbed environment However if transmission speed is above 38 4Kbps it s strongly recommended that the cable length is less than 15 meters to ensure the accuracy of transmission 2 Its available for up to 32 PCS servo drives to work togeter when RS422 or RS485 is applied In case more servo drives control needed relay stations are required ESTUN 102 EDB series AC servo system User s manual V 2 01 6 2 RS 485 RS 232 RS 422 communication parameter Para No Name and description Unit Range Pn210 Communication address setting 1 255 Communication speed options 0 4800bps Pn211 1 9600 bps vm 0 2 2 19200bps Communication protocol form 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCII 2 7 O 1 Modbus ASCII OE 3 8 N 2 Modbus ASCII u bga 4 8 E 1 Modbus ASCII 5 8 O 1 Modbus ASCII 6 8 N 2 Modbus RTU 7 8 E 1 Modbus RTU 8 8 O 1 Modbus RTU Communication protocol options buaya 0 Self definition protocol RS 232 Communication u E 1 MODBUS Protocol RS 422 232 Communication 2 MODBUS Protocol RS 485 Communication Pn214 Not Used Pn215 Not Used Communication bit control This parameter is designated through bit to decide input aG source of digital input port BitO bit7 represent input port u De 0 7 respectively Bit definition represents
7. In the Servodrive a speed reference is multiplied by the preset acceleration or deceleration value to provide speed control When a progressive speed reference is input or contact input speed control is used smooth speed control can be performed For normal speed control set O in each parameter Set the following value in each parameter B 2n019 Time interval from the time the motor starts until it reaches 1000r min ll Pn020 Time interval from the time the motor is running at 1000r min until it stops Operating by Contact Input Speed Control Function speed reference 1000r min contact Input TAM en gg Is reference ik Pn0 0 cemopack ESTUN 52 EDB series AC servo system User s manual V 2 01 Start Stop Select the speed by using following input signals Speed Selection 1 For Speed Torque Control gt Input PCL 1CN 16 Forward External Torque Limit Input and Position Control Speed Selection 2 For Speed Torque Control gt Input NCL 1CN 17 7 Reverse External Torque Limit Input and Position Control When Contact Input Speed Control is used and Pn041 3 4 5 6 PLC NLC are specified as internal speed selection When Pn041 12 under parameter reference position control mode PCL and NCL are specified as switches to look for the reference point Besides mentioned above Input signals are used as external torque limit input Contact Signal Selected Speed P CON IPCL INCL Stoppe
8. PCL or NCL 0 incremental 1 absolute 46 signals The signal will be valid when drive output reach to desired And when changing the signals valid then be by consequence from start point to end position signals of steps will changed point Incremental relative moving distance distance from current point to next point programming Absolute distance distance absolute moving between the reference point programming operating platform and EDB series AC servo system User s manual V 2 01 fl Wirings and connections in points control mode Three phase AC 200 2307 iom Ro 2A 23 50 60Hz Noise filter eiee mr IRy PE SEE NET im B ous d 1MC IRy Surge suppressur ae J bb A4 Servo motor mAy m 2 B2 B3 U w te Yu e i fe EDB Servo drive i Photo encoder S je LC NENNEN Toraue reference 107 Rated torque EP represents multi tyvisted pait Power supply for collector open reference Pel FL2 24VIN STOIN CO IN Servo ON when ON Servo function enabled 247 Step changing fTGON when OL P control acts TGON Forward rotation prohibited hen OFF forward rotation ZS EDY prohibited S RDY Reverse rotation prohibited hen OFF reverse fCLT rotation prohibited ZCLT Alarm reset hen OM alarms reset BK BR Clear signal input Chen OM displacement clears Looking for reference point in
9. 4 5 8 Using Regenerative Resistor Units When servo motor is driven by dynamotor the electric power goes back to servo amplifier this is called regenerative power Regenerative power is absorbed by smoothing capacitor If the power exceeds capacity of the capacitor then the regenerative resistor is applied to consume rest electric power Situations that will lead to dynamotor regenerative mode are shown as follows During deceleration time Load on the vertical axis Continuous running of servomotor caused by load minus load Note The capacity of regenerative resistor in Servodrive is the short time rated specification used in deceleration and can t be used to load running When the capacity of the built in regenerative resistor is too small external register could be applied Bhe standard connection diagram for a regenerative resistor unit is shown below cerva drive Regenerative resistor unit ll Regenerative circuit alarm A regenerative resistor unit becomes very hot under some regenerative operation conditions of the servo system Therefore please choose appropriate regenerative resistor otherwise the regenerative circuit might have problems and triggers A 16 alarm ESTUN 84 EDB series AC servo system User s manual V 2 01 4 6 Running the Motor Smoothly 4 6 1 Using Smoothing function In the Servodrive some reference pulse of certain frequency could be filtered Position reference filter 0 32767 o
10. Blue Black V Shield FG EMG EML Motor 22 EDB series AC servo system User s manual V 2 01 3 5 Typical wiring example 4 10 50 60 Hz 2 FEIN Noise Filter ac IRY PL OFF AMG IRY _ p SER MEA Sure Suppressor IMC Bi B2 Boe l Motor ie Lu ve Bus IMC 1 L3 W M 1 LIG ps 1 EDBEGMESS Jib im sk EDB Servo Drives NE grin Da 2CN PG u II T I EE ITE m nce 1CN Pinasa hands connectors of X 10v sip LPF PAO ad de SE car pei AID 35 pag Torque Reference 10V PEGS TOM en LPF Rated Torque PERI Ps m P 45 PBO oat PULSI 25 100 i 3 peo PG PG Frequency Ding Ovga apresenls 77x Mutimmstetpar PULS JP 24 EG res PULS 30 PCO sian gt SIGN gm e t an Peo tma o ka IF I 26 Th Posilion Relerencs SIGN 36 SG 23 2K 18 Power Supply for fub PL i Collector pen tani PL cg 2K Reference ca a 244 24VIN 8 33K mug B BARE WE Saro ON Eon E IH I 7 N CMP emisti H Speed Coincidence Output CON BIRTE cR I8 ON io IT pow Jus 4 CO IN zi fir Sz BP When speed coincident ON ass Hard IN CMP CIEL Et A ON Positioning Compinta CON BEA HEBES IP CON p ACOIN CE f r Se BEBE 25 ON M When positioning complete ON Whan GNP control encabind f ITGON BELE MCN HI TOON Output S LE ES Forward rotation prohibited 4 4 MENT 6 OFF ISIE pi in h gi qi ion 4 T diode EE
11. For instance servo drive addressed at03 p write in06 into parameter Pn002 however because both the maximum and minimum value of parameter Pn002 are zero therefore the datum will not be adapted servo drive will return a fault frame The fault code is 03 Frame is as follows Host controller datum frame fos f06p ooo2p 00069 Servo drive feedback fault frame Ha code 10 03 Lt Besides if the datum from host controller indicated servo drives address as 00 n it represents this datum is broadcasting datum servo dries will not return any frames ESTUN 109 EDB series AC servo system User s manual V 2 01 6 3 3 Servo state data communication address Please refer to the following list for all of communication parameter address of this servo Communication datum l l l meaning instruction address hex Parameter area Relevant to parameter in 0 00DE h the parameter list 07F1h 07FAh 10 previous alarms 07FE h Iv zero offset Read only operation Read write Read only Read write Read write Read only Monitor data in accordance to Read only 0806 p 0814 displayed data 0806 h unit r min Read only 0807 h unit r min Read only Input torgue instruction Relevant to rated torgue Read only ah percentage Inside torgue instruction Relevant to rated torgue Read only coven percentage 080 Pulse setting 080F h Unit 1instruction pulse Read only present position high bits U
12. forward direction Jhen OM looking for reference point starts ALM Looking for reference point in reverse direction nen OM looking for reference point starts Connector Frame FG Sheild wires connect to the connetor frame 47 ESTUN Please handle connector of shield wires properly PG frequency dividing output Positioning complete hen positioning completed ON TEON output When value exceeds setting ON Servo Ready output hen servo ready ON Torque limit output When value exceeds setting ON Brake interlock output When OM brake release 2dv py Alarm output e ct Chen Alarm triggered OFF Photocoupler output Max applicable Voltage 30v Dic Max applicable Current S0Om DC Specific pins output can be defined EDB series AC servo system User s manual V 2 01 4 2 6 Electronic gear The electronic gear function enables the motor travel distance per input reference pulse to be set to any value It allows the host controller to perform control without having to consider the machine gear ratio and the number of encoder pulses When Electronic Gear Function When Electronic Gear Function is Not Used is Used Reference unit 1 Lim a ad pen Workplece Mumber of encoder pulses 2500 Ball screw pitch 6 mm Machine conditions and reference unit must he defined for the electronic gear function Number of encoder Ball screw pitch 6 mm beforehand pulse
13. the maximum speed value is used This parameter is used to set a motor speed when the motor is operated using a Digital Operator Refer to 5 2 3 for details 4 3 2 Selecting the control modes Select different control modes by setting following parameters Para Name and description Setting Default range O speed control analog reference 0 13 1 Position control pulse array reference 2 torque control analog reference 3 speed control I O contact reference speed control Zero reference 4 speed control I O contact reference speed control analog reference 5 speed control I O contact reference Position control Pulse reference 6 speed control I O contact reference 4 gt torque control analog reference 7 Position control Pulse reference 4 8 speed control analog reference 8 Position control Pulse reference lt torque control analog reference 9 torque control analog reference 8 speed control analog reference 10 speed control analog reference lt Zero clamp control 11 Position control Pulse reference lt Position control pulse inhibited 12 Position control parameter reference 13 speed control parameter reference fl Control mode introduction Control modes mentioned above are described as follows O speed control analog reference Speed control mode used for analog voltage reference input Please refer to 4 2 1 Speed reference 1 position control pulse ar
14. 01 Speed control mode contact reference lt gt analog ca dia reference Speed reference Y REF Switching between contact control and analog reference control Inputs analog from V REF 1CN 19 Internally set speed reference PCL 1CN 16 and NCL 1CN 17 selection con ma wa P PI control reference control switching oromard 0 SPEEDY amor 1 sem 1 Reverse 1 SPEED3 rotation 5 Speed control contact reference lt gt Position control e Select control mold and internal speed by cerva drive Pulse reference Switching position control between contact reference Bastian and pulse reference reference SIGN Select control mode or internal speed by PCL 1CN 16 and NCL 1CN 17 con ra ma P PI control control pulse reference switching Internal oromard o 1 SPEED tom s r wan 1 fa seen 1 Reverse 1 SPEED3 mm Pr Speed control contact reference lt gt Torque control Sawo drive analog reference Switching between Speed control contact reference GG a and Torque control analog reference Input T REF Select control mode or internal speed by using PCL 1CN 16 and NCL 1CN 17 signals Note PCL 1CN 16 and NCL 1CN 17 can not use as external torque output any more in torque control herein Internal PCL speed con PCL met len Analog reference HCL Torque control oromo sem ESTUN s EDB
15. 10 d Phase 1CN 30 PCO a p i wsh eco o B fa Choke coll ov Li Smoothing capacitor Connect to frame chielded j R 220 to 4700 iP Represents twisted pair cables C 0 1uF decoupling capacitor Note dividing means converting an input pulse train from the encoder mounted on the motor according to the preset pulse density and outputting the converted pulse The unit is pulses per revolution ESTUN EDB series AC servo system User s manual V 2 01 lloutput signal Output gt PCO 1CN 30 For Speed Torque Control and Position Control Output gt PCO 1CN 31 Encoder Output Phase C For Speed Torque Control and Position Control Always connect these signal terminals when a position loop is formed in the host controller to perform position control Connect SG to host controller OV The output signals forms are shown in the following diagram Forward Gm Reverse _ Phase A Phase A Ll Phase B _ L Phase B lj Setting the Pulse Dividing Ratio Set the pulse dividing ratio in the following parameter Pn021 PG Dividing Ratio Setting 1 2500 2500 Sets the number of output pulses for PG output signals PAO PAO PBO and PBO Output terminals PAO 1CN 34 PAMA CHESS PROMCK 32 IFBOUX C 3 3 Servo drive Seno matar encoder Pulses from motor encoder PG are divided by the preset number of pulses before being output The number of output pulses per r
16. 16 Rotating speed Torque Torque limit Rotating Pood Reverse speed Torque FULL Torgue limit 1 N 17 PnO28 Rotating speed ESTUN 30 EDB series AC servo system User s manual V 2 01 gt Input PCL 1CN 16 input external forward torque Speed torque control position control limit gt Input NCL 1CN 17 input external forward torque Speed torque control position control limit ia OFF Internal torque limits valid when forward rotation Limit Pn026 ON External torque limits valid when reverse rotation Limit Pn029 ius OFF Internal torque limits valid when forward rotation Limit Pn027 Set or use torque limit according to external contact input CLT signal will output if exceeding torque limit Please refer to 42 70 Torque Limiting Using an Analog Voltage Reference for limiting torque using analog voltage output Note Donot set the torque limit higher than Max torque of motor Too small a torque limit setting will result in insufficient torque during acceleration and deceleration Note Please select proper mode for allocating PCL NCL signals as torque limit input Pn041 control mode selection 043 0 Speed torque control position control IPCL NCL can t be allocated as torque limit input in internally set speed control mode Pn041 setting Possible input signal 0 1 2 7 8 9 10 Does not use P CON CN1 11 PI control P control switch 11 12 13
17. 9999 ce pulse 1reference Pn082 Moving distance 11 9999 9999 pulse ESTUN T EDB series AC servo system User s manual V 2 01 l Setting Parameter Name and description Unit Default range remarks cose Pf Pn084 1reference Moving distance 12 9999 9999 pulse 10 referen Pn085 Moving distance 13 9999 9999 ce pulse 1reference Pn086 Moving distance 13 9999 9999 pulse 10 referen Pn087 Moving distance 14 9999 9999 ce pulse 1reference Pn088 Moving distance 14 9999 9999 pulse 10 referen Pn089 Moving distance 15 9999 9999 ce pulse 1reference Pn090 Moving distance 15 pulse Speed loop setting curve form 0 slope Pn100 1 S curve 2 primary filter 3 secondary filter 0 10000 0 10000 5 ms Pn102 Primary and secondary filter time ms Pn103 S form selection Position reference primary and secondary filter P o Qo Pn104 l selection ESTUN 12 Parameter Pn112 Pn113 Pn114 Pn115 Pn116 Pn117 Pn118 Pn119 Pn120 Pn121 Pn122 Pn123 Pn124 Pn125 Pn126 Pn127 Pn128 Pn129 Pn130 Pn131 Pn132 Pn133 Pn134 Pn135 Pn136 Pn137 Pn138 Pn139 Pn140 Pn141 Pn142 Pn143 Pn144 Pn145 Pn146 Pn147 Pn148 Pn149 Pn150 EDB series AC servo system User s manual V 2 01 Name and description Speed forward feedback percentage Load inertia P PI switching condition Torque switching percentage 0 fixed PI 1 torque switch Not used Not used Not used N
18. BR 24 PULS Reference pulse input BR ALM Alarm output PULS Reference pulse input ALM Alarm output SIGN Reference sign input 24VIN I O power supply input SIGN Reference sign input Open collector reference Servo ON input 28 PL2 l input power supply IP CON P control input Ca l PG Frequency dividing P OT Forward overtravel input 30 PCO output l PG Frequency dividing N OT Reverse overtravel input 31 PCO output PG Frequency dividing Alarm reset output 32 PBO output PG Frequency dividing Clear input 33 PBO output Forward external torque PG Frequency dividing 34 PAO limit output Reverse external torque PG Frequency dividing INCL 35 PAO limit output Note 1 Do not use vacant pins for relay or other purposes Nas 10 S ON 11 NO QD 14 ALM RST 15 CLR 6 7 Co 2 3 o r O O CD lt 2 Connect the shielded twisted pairs of I O signals to connector frame 3 Allocate and define function for pin 1CN 1 2 1CN 5 6 1CN 7 8 according to parameter Pn053 Pn054 Pn055 EDB series AC servo system User s manual V 2 01 3 2 3 I O signal names and functions B Input signal Signal Pin Function Reference name number 4 2 4 24VIN Control power supply input for sequence signals Users must provide the 24 V power supply Allowable Voltage range 11V 25V S ON Servo ON Servo power on P CON Function differs with control modes me Forward
19. If a position control loop is formed in the host controller do not use automatic adjustment and always use manual adjustment 4 4 2 Using Dynamic Brake To stop the servomotor by applying dynamic brake DB set desired values in the following memory switch If dynamic brake is not used the servomotor will stop naturally due to machine friction Operation to Be Performed When Motor Stops After Pn004 0 5 Servo is Turned OFF ESTUN 70 EDB series AC servo system User s manual V 2 01 0 Stops the motor by dynamic brake and release after motor stops 1 Coast to a stop 2 Performs DB when S off apply plug braking when overtravel S off after motor stops 3 Motor coasts to stop when S off apply plug braking when overtravel S off after motor stops 4 Performs DB when S off apply plug braking when overtravel zero clamp after motor stops 5 Motor coasts to stop when S off apply plug braking when overtravel zero clamp after motor stops The Servodrive enters servo OFF status when Servo ON input signal S ON 1CN 10 is turned OFF e Servo alarm arises Power is turned OFF Note Dynamic brake is a performance that forces motor to stop Don t use Power ON OFF or Servo ON signal S ON to stop and restart servo motor frequently Otherwise service life of internal elements of servo drive will be shortened Dynamic brake DB Servopack Servomotor One of the general methods to cause a motor sudden
20. M REN ALLEN Whee OM forward rotation prohibited ng F DE S ADY aR AE ih Serv Ready Output Eb 2 E Fitvarse rotation prohibited EA S RD Y ORE RUSBIS ON When servo read ON COFFRE NOT 13 IT FOLT HER EH Torque Limil Oupa When OM reverse rotation prohibited ACLT CHET oL EON M When value exceeds setting ON ML Alam raset maga 5 BA HAGN Break Interiock Output ON FERGA O YALM RST 14 if Fa 100 s l R Om Kiki When ON break release When DN alam real Faen MLE Car signal inpul har CON HARRER CLA 15 Ba 24V When ON dispacenant car t EIE aa ic fet RENS PERSE T PCL 15 dd a ieee ig SS OV gapiin Alarm Output ik ei ARP OFF M es NCL 17 1i j innb CON ASI PUN CHER nati JG Photo Coupler Output m To RB E DC30V Magmum working voltage DC3IV BATAS DCS0mA PRESS SER L Macmum working current DC50ma Shield wines aro conreciad ka ha connector hare SPR FG LES TAR x Specialic pin oulpul Gan be defined EM EDB 08 10 15 37683 1 62 6 H7 FEM Notes EDB 08 10 15 there are no terminals B3 41 62 5 no need of any connection ESTUN 23 EDB series AC servo system User s manual V 2 01 3 5 1 Position control mode 10 pe Bs AC 200V Hisu 50 60 Hz deine BEI Noise Filter amp ON MO OFF IMC IRY 1 BEHEER Suge Supper IMG ie Bi 1 52 ba Hil Motor amp 1 f i 3 LI Uu i IMG I 12 gd i IMG o 1
21. Pulse Form ESTUN EDB series AC servo system User s manual V 2 01 input PULS 1CN 24 Reference Pulse Input input SIGN 1CN 27 Reference Sign Input input SIGN 1CN 26 Reference Sign Input The motor only rotates at an angle proportional to the input pulse Select reference pulse status with the following parameters Pn008 and Pn009 Reference pulse form 0 Sign Pulse 1 CW CCW 2 A phase B phase x1 multiplication 3 A phase B phase x2 multiplication 4 A B x4 multiplication Input signals 0 does not invert PULS reference pulse logic does not invert SIGN reference pulse logic 1 does not invert PULS reference pulse logic inverts SIGN reference pulse logic 2 inverts PULS reference pulse logic does not invert SIGN reference pulse logic 3 inverts PULS reference pulse logic inverts SIGN reference pulse logic Reference Input Motor Forward Run Motor reverse Run pulse form Pulse Reference Reference Multiplier HE cares SUL 1CN 25 ASUL 1CN 25 SIGN mm SIGN ep 1CN 2T H 1CN 2T ch aee LT 1CN 25 1CN 25 SIGN SIGN ap y 1CN 27 1CH 27 Two phase PULS TN PULS 1CN 25j 1CN Pulse train an with 90 SIGN 1 B SIGN 1CN 27T 1CN 27 difference ESTUN 39 EDB series AC servo system User s manual V 2 01 Time for reference pulse Input Reference Pulse signal Form Electrical Specifications Sign pulse
22. Select signal 1CN 7 8 functions o JE Pn054 Select signal 1CN 1 2 functions o og 101 Pn055 Select signal 1CN 5 6 functions o 2 ESTUN 79 EDB series AC servo system User s manual V 2 01 Pn053 Pn054 and Pn055 functions are as follows 0 COIN V CMP output TGON running signal output S RDY servo ready output CLT torque limit output BK brake interlock output Set the number of error pulses in the following parameter to adjust output timing of COIN positioning complete output Para Setting range Default Application Pn035 Positioning Complete Reference 0 500 10 For Position Range Unit Control Only This parameter is used to set output timing of positioning complete signal to be output when motor operation is complete after a position reference pulse has been input Set the number of error pulses in terms of reference unit the number of input pulses that is defined using the electronic gear function Note COIN is a signal for position control For speed control V CMP speed coincidence output is used instead For torque control COIN is always ON 4 5 4 Using Speed Coincidence Output Signal This section describes how to wire and use contact output signal speed coincidence output V CMP This signal is output to indicate that actual motor speed matches a reference speed The host controller uses this signal as an interlock The connections and applications are shown as follow
23. Uses forward rotation prohibited input P OT or not 0 Uses forward rotation prohibited input P OT 1 Does not use forward rotation prohibited input P OT Uses reverse rotation prohibited input signal N OT or not 0 Uses reverse rotation input N OT 1 Does not use reverse rotation prohibited input N OT Operation performed at recovery from power loss 0 Resets servo alarm status at power recovery ALM 1 Remains in servo alarm status at power recovery from its momentary power loss from momentary power loss CALM How to stop when Servo OFF or overtravel occurs 0 Stops the motor by applying dynamic brake DB and then release the brake 1 2 Coast to a stop Performs DB when S off apply plug braking when overtravel S off after motor stops 3 Motor coasts to stop when S off apply plug braking when overtravel S off after motor stops 4 Performs DB when S off apply plug braking when overtravel zero clamp after motor stops Motor coasts to stop when S off apply plug braking when overtravel zero clamp after motor stops if the error counter cleared when S OFF 0 clear the error counter when S OFF 1 does not clear the error counter when S OFF 116 Appendix A Parameter list Setting Unit Default range remarks Parameter Pn006 Pn007 Pn008 Pn009 Pn010 Pn011 Pn012 Pn013 Pn014 Pn015 Pn016 Pn017 Pn018 Pn019 Pn020 Pn021 Pn022 EDB series AC
24. When value exceads setting ON ames Alam reset Ke H t BR W XDERUESE LH Break interieek Output Nae PALM AST m fa 100 EF 3 pea AA a L de 14 Ain Ir E NN BA COM Bree ela When OM break release CON MARE CLA 15 Bak oM When ON dian acermant car t poo d pen EE me TEENS 4 DALM S Rudd Forward external m s 2 oni pi Pa ON BB gt Pek 8 TNI west o OV When ON imi enabled io m ae Ai 4 38 SEA Alarm Output Ia B R OFF er sat el LINE Ma IYA ER emesis mat CON PE od dui GE Photo Coupler Output FARGE DCIOV Magmum working voltage DC3IV BATAS DCSOMA F de Maxmum working current DES0Ma Shield wires ire connected ko fa connector frame MRS TAE Speciafic pin oulpul can be defined EM EDB 08 10 15 3683 1 62 6 abr FORE Notes EDB 08 10 15 there are no terminals B3 41 62 5 no need of any connection ESTUN 24 EDB series AC servo system User s manual V 2 01 3 5 2 Speed control mode l Three phase AC 200 2307 Er 50 60Hz N Moise filter Ooo S D IRy PL OFF 1 ON Pas IM 1Ry Surge suppressor Eg o KA MT Servo motor 5 LHC Bl B2 B3 U PA INC Y Lo w LMC L3 amp X EDB Servo drive Photo encoder Please handle connector of speed reference 107 F shield wires properly Rated speed SG s lt FAO T EEF amp PAO Toraue reference 107 NP p APRU PG frequency dividing output lt FEO F represents multi ty
25. address 0000 is the read write operation to Pn000 if the input datum is out of the parameter range the datum shall be abnegated and servo drive will return an operation unsuccessful signal If the parameter is modified successfully the parameter shall be memorized when power off 2 alarm information storage area 07F14 07FAp Previous alarm l l Communication instruction number address 3 monitor data area 0806 0814p These monitor data are relevant to servo drive display panel Un000 Un014 For instance read address 0807 p speed setting through communication as FB16 p therefore the speed setting is 1258RPM 4 ModBus communication IO signal Use communication to control input number IO signal This datum won t be reserved after power off 5 drive state 0901p This 1 word represents the current state of the system Meaning of each bit as follows ESTUN 14 EDB series AC servo system User s manual V 2 01 HIL BIT 4 BITS BITE EIT BITE BLITS ET BITE BIT HIT ET soy WAIT COIN ESN Pa 1 TOOK NAI pi miam unma d pprassnis alim OGGE Goan use nnoz ian overs hat PROT sabi Pa id Ma molor spa m Ng Pear ain SA a rn aj apie I ai ETA ra el sen waling Sma malaris nal pn Tisa wali rg on caniral T represents alarm Cia signal Alk RET pil pi COTE i apaia ear Lorum ues plz pasion cantral ep aa pisilin sating complete 1 rated bong pS ey Oe es ce a Iral far ba ech Iis dg Spa pasion cani T
26. and NCL 1CN 17 are used to REF switch between torque control and speed control Note In this status PCL 1CN 16 and INCL 1CN 17 could no longer be used as external torque limit output PCON fict met tema speed PCL selection reference HCL control 1 reverse 1 SPEED3 rotation Position control pulse reference lt gt Torque Analog voltage control Analog reference torque reference Use P CON 1CN 11 to switch between Input T REF Position control pulse reference and Torque Position control Analog reference reference SIGN 1CN 11 OFF position control ON torque control Control mode Switching Torque control Analog reference lt gt Speed Reference analog reference Speed reference sServodrive Torque reference Switch between Torque control Analog reference and Speed Reference analog reference Inputs speed reference or speed limit from V REF 1CN 19 e T REF 1CN 21 inputs a torque reference torque feed forward reference or torque limit value depending on the control mode used P CON 1CN 11 is used to switch between torque control and speed control 1CN 11 OFF torque control ON speed control EDB series AC servo system User s manual V 2 01 In the Torque Control mode P CON is OFF T REF reference controls torque e V REF can be used to limit motor speed when Pn007 1 V REF voltage limits motor speed during forward or reverse rotation Parameter Pn0
27. circuit through a line receiver circuit at the host controller fl Sequence output circuit Output signals of Servo alarm Servo ready and other sequences are consist of photocoupler output circuit please connect to relays Hesse Relay Serwo drive ipu Note MAS allowable voltage and current are shon as follows Voltage D C30 v MA Current OCS0 Ma ESTUN 20 EDB series AC servo system User s manual V 2 01 3 3 wiring encoders 3 3 1 Connecting an Encoder 2CN and Output Signals from the servodrive Incremental encoder Servo drive m i us Output line dri ver re XE AM2ELS2 7 manufactured by Texas 13 Instruments or the PREFEKT F AG equivalent SN75175 Connector shell Shell Shield vire l3 L Customer s side TE represents multi twisted shielded wires 3 3 2 Encoder Connector CN2 Terminal Layout 2CN terminals layout is as follows Color Color Name Description Name Description a et alee at ee ae 3 verw Pa PGhputpnasee 13 Geen PV PGhputpnasev e usse ee Po nptonase 0 16 Garrone Pw PO atomo MEN EN PG power supply black orange ESTUN 3 4 Wiring servo motor EDB series AC servo system User s manual V 2 01 1 Wiring of motor encoder connetor terminal o o A Blue Black O langa tt k 8 O 9S Yellow Black Cu 4 v 2 wil 3 B ESTUN EMG EML Motor
28. does not exceed 55 C 131 F Installation Near a Heating Unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the servo drive does not exceed 55 C 131 F Installation Near a Source of Vibration Install a vibration isolator on the servo dirve to avoid subjecting it to vibration Installation at a Site Exposed to Corrosive Gas Corrosive gas does not have an immediate effect on the servo drive but will eventually cause the electronic components and contactor related devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the servo drive in hot humid locations or locations subject to excessive dust or iron powder in the air 2 2 3 Installation orientation Install the SERVODRIVE perpendicular to the wall as shown in the figure The Servo drive must be oriented this way because it is designed to be cooled by natural convection or a cooling fan 2 2 4 Installation method When installing multiple Servo drives side by side in a control panel observe the following installation method Ventilatinn ESTUN 10 EDB series AC servo system User s manual V 2 01 ll Servo drive orientation Cooling fan Cooling fan KN 7 71 KN a 50 mm 1 97 in min mime m 990090 SOGO o m a Do no Deo Do no Do no Do boo Doo ooo ooo H ki 1 18in min 0 39 in min
29. error pulse has exceeded the value Position error pulse has exceeded the value set in parameter Pn 036 overflow At least one of PA PB or PC is disconnected At least one of PUPV or PW is disconnected An overcurrent flowed through the IPM module Voltage supply for the main motor circuit exceeds rating Voltage supply for the main motor circuit is too low Bleeder resistor is broken Regenerative circuit error One phase is not connected in the main power supply A power interruption exceeding one cycle occurred in AC power supply Encoder type error Motor type error Electric knife error Normal operation status X Output transistor is ON alarm on
30. for details Signal Status m l Input voltage Description Setting name ON toner level 16 L level Set Set torque limit on forward rotation limit on forward rotation Limitvalue T REF value value T REF value PCL Doesn t set torque limit on forward rotation 1CN 16 H level Normal run 1CN 17 L level Settorgue imiton reverse roiaton Settorgue imiton reverse roiaton limit on reverse rotation ume TREF vae value ume TREF vae value NCL Doesn t set torque limit on reverse rotation 1CN 17 H level Normal run Bl Setting Set torque reference gain in parameter Pn031 wwe ont Pn031 Torque reference gain 0 1V 100 10 100 ESTUN 61 EDB series AC servo system User s manual V 2 01 4 2 11 Using the Reference Pulse Inhibit Function INHIBIT This function causes the Servo drive to stop counting input reference pulses in position control mode While this function is being used the motor remains in servo locked clamped status The P CON signal is used to enable or prohibit this function Pulse reference i Disparity counter P CON P CON lodi INHIBIT Pulse feedback ll How to Use Reference Pulse Inhibit Function INHIBIT To use the INHIBIT function set parameters as follows Setting Para No Description Default Function KO Pm Control Mode Selection Mode Selection oag o For For speeditorgue and position control and positio
31. highly accurate adjustment is required when the Digital Operator is combined with a specific motor This section will describe the operation of automatic offset and manual offset Note Current detection offset manual adjustment could only be performed when the Servo is OFF Any accidentally activation of this function especially the manual adjustment deteriorated situations might occur If the torque pulse is obviously too high compared with other Servodrives Please adjust the offset automatically motor current detection offset automatic adjustment Follow the procedure below to perform current detection offset automatic adjustment 1 Press MODE key to select assistant function mode 2 Press INC key or DEC key to select function number of motor current detection offset automatic adjustment FABIO 3 Press ENTER to enter motor current detection offset automatic adjustment LlolcLlo 4 Press MODE key and the adjustment will be finished after it flashes for a second n N 7 Ielolnle PP NN LlolcLlo 5 Press ENTER to return function number display F DE This ends the operation of adjusting the motor current detection offset automatic adjustment ESTUN 99 EDB series AC servo system User s manual V 2 01 m motor current detection offset manual adjustment Follow the procedure below to perform current detection offset manual adjustment 1 Press MODE key and select assistant function mode 2 Pr
32. internal speed e switch control mode selection Switch to zero clamp valid invalid Switch INHIBIT valid invalid Step changing output PCL CN1 12 e Forward external torque limit output looking for reference point INCL CN1 13 reverse external torque limit output looking for reference point Use internal speed P CON PCL INCL Speed setting selection Direction o 0 Control mode switch selection 00 ot SPEED 1 Pn038 0 forward SPEED2 Pn039 Note 0 OFF H level 1 ON L level ESTUN 31 EDB series AC servo system User s manual V 2 01 Application of CLT signal The application of output signal CLT is as follows 24V power SUPPLY T tY Ser Drive iti d EN dl o 1 1CN 3 ALM ALI Fhotocoupier output hax apolicable Voltage 30v00 hex applicable Current 5OmADC Output CLT Torque limit detection output Speed torque control position control Indicates the output torque current of motor is limited CLT when ON L level Motor output torque under limit internal torque reference is higher than setting value CLT when OFF H level No torque limit internal torque reference is lower than setting value Please use the following user constants to define output signals and pins when using CLT signal Pn 53 3 1CN T7 8 Pni5d 3 1CN 1 2 Pn055 3 1CN 5 6 ICLT torque limit output Output terminal The pin
33. output signals Encoder interface 2CN To connect the terminals of encoder installed in servomotor Power supply terminals and servomotor terminals Terminals used for power supply and to connect the servomotor industrial wire ESTUN 8 EDB series AC servo system User s manual V 2 01 Chapter 2 Installation 2 1 Servodrive EDB Series Servo drive is a base mounted type servo controller Incorrect installation will cause problems Always observe the installation instructions described below N Caution Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe this caution may result in electric shock or fire Do not step on or place a heavy object on the product Failure to observe this caution may result in injury Do not cover the inlet or outlet parts and prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVO DRIVE and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction 2 2 1 Storage When the S
34. series AC servo system User s manual V 2 01 Servo Drive When S ON is not used this short circuit wiring can be omitted 4 5 3 Using Positioning Complete Signal This section describes how to wire and use contact output signal positioning complete output COIN This signal is output to indicate that servomotor operation is complete The wiring and connections are shown as follows Jd wv Power supply sero Dre i T 17 mn an Photocoupler output Per output Maximum operation voltage SU YUL Maximum output current 50 mADC Output COIN Positioning Complete Output Position control Output COIN Positioning Complete Output Grounding signal Position control This output signal indicates that motor operation is complete during position control The host controller uses this signal as an interlock to confirm that positioning is complete reference Motor Speed i Ne Error Un011 error pulse counter monitor 16 bits lower ulse l Un012 error pulse counter monitor 16 bits higher Un012 IDI COIN Positioning Completed ON status COIN L level N the position error range is below preset value Positioning does not complete OFF status COIN H level Nu the position error range is below preset value Define output signals and output pins by setting following parameters and according to actual needs in using COIN Name and description Setting range Default Pn053
35. signal Reference Prizi servomotor pulses Smoot B i hing 4 Error E o ng Speed Current counter PI loop loop Pts signal output Frequency dividing Note In the reference pulse mode when set the number of actual position pulse consider if pulse input multiplication function is selected besides electronic gear ratio ESTUN 50 EDB series AC servo system User s manual V 2 01 4 2 7 Using Contact Input Speed Control The contact input speed control function provides easy to use speed control It allows the user to initially set three different motor speeds in user constants select one of the speeds externally by contact input and run the motor Servo drive P CON o Cntaep PCL sn input NCL Ma external speed setting device or pulse generator Is required gE REE The motor is operated at SPEED the speed set in the user SPEED3 constant a Use the contact input speed control function To use the contact input speed control function perform Steps 1 to 3 1 Set Pn41 parameter correctly to enable contact input control function Name and description Setting range Default Application Speed Torque and Position Pn041 Control mode 0 13 Control If the contact input speed control function is used the contents of the input signals shown below will be changed Pn04 Setting Possible Input Signal meaning 0 1 2 7 Does not use the P CON CN1 11 Switch between P control and PI contro
36. signal cable is connected to the connector shell Note 1 Pin numbers in parentheses indicate signal grounds ESTUN 19 10v EDB series AC servo system User s manual V 2 01 3 2 4 Interface Circuit This section shows examples of Servo drive connection to the host controller I Interface for Analog reference Input Circuits Analog signals are either speed or torque reference signals The reference input resistor is about 40kQ and Max Allowable voltage of input signals is 10V Speed reference input circuit Torque reference input circuit Servo drive Servo drive aOR nie OF MORE aOR L OF More eat 31015 SG ll Sequence Input Circuit The sequence input circuit interface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result With bidirectional diode photocoupler servo driver can receive both PNP NPN signals Serva drive Servo dine Ocet S m or more Ocet 80M or more Amode Cathode Cathode Anode Emitter Collector RB i I Line Driver Output Circuit Encoder serial data converted to two phase phases A and B pulse output signals PAO PAO PBO PBO zero point pulse signals PCO PCO are output via line driver output circuits Normally the Servo drive uses this output circuit in speed control to comprise the position control system at the host controller Connect the line driver output
37. system User s manual V 2 01 Chapter 6 Communication functions 6 1 RS 485 RS 232 RS 422 Communication hardware interface EDB A Servo drives have RS 485 RS 232 RS 422communication functions With the help of these functions it can achieve reference modification and monitor servo drive status etc However RS 485 RS 232and RS 422 can not be applied at the same time It s selective for RS 485 RS 232 RS 422 through the options of parameter Pn213 The instruction as follows RS 232 Its a must to use ESTUN special RS232 cable of BSC CC24A Instructions The cable length is less than 15 meters when in a less disturbed environment However if transmission speed is above 38 4Kbps it s strongly recommended that the cable length is less than 3 meters to ensure the accuracy of transmission RS 485 RS422 Communication cable wring diagram ESTUN 101 EDB series AC servo system User s manual V 2 01 RS 485 RS 422 Servo drive I COM interface Servo drive I COM interface RS422 R X4 CI m o c 5 Im PI EN Fa D Ae I C 2 ro Hi Ka o Na LRS422 RX ee a p A R8422 TX NAAT 5 A RS 2 TX cm lt 1 6 RXD 2 5 4 9 GND 5 Servo drive 2 COM interface 1 1 6 6 RXD 2 RXD4 2 ae OL IXD 3 TXD 8 45V 4 4 d ce GND 5 GND 5 Servo drive 254 COM T 1 1 6 6 RXD 2 RXD 2 AF TXD 3 TXD 8 dl al 5V 4 pe Pa 5V 4
38. the capacity of the internal regenerative resistor is insufficient Bian 2 If a countermeasure against power supply DC suppression terminal reactor for harmonic Normally short harmonic waves is needed connect a DC reactor between 1 and m Main circuit minus terminal Normally not connected 14 EDB series AC servo system User s manual V 2 01 3 1 2 Typical main circuit wiring example 10 add og Three phase 200 230 WAC cg 21 Ho 50 60Hz Phase to phase E IRy SPE OFF Lan Pia GIS o MC IMC IEv Surge suppressor ETT RETT ry mmm PT ALI TRV 34 ny Leam oam cat ALM ESTUN 15 3 2 Input and output signal EDB series AC servo system User s manual V 2 01 3 2 1 Connection of input and output signals EDB Servo drive V REF 19 LPF peed reference 107 P Rated speed sis 20 I REK 21 Varen MD Torque reference 1 07 p Rated torque SG ae F represents PULS PULS 26 als ET UE muti twisted pair Ap L 1 i PULS 94 SE Tas Dv Si HEN SERE uo 5 3 SIGN L 5 EN SIGN 26 ag ol Position reference 8 HOW Power supply for 23 150 collector open PLI 3 E reference PL 28 LE 24VIN Ig 3 3K amp 4 HE pe Servo ON 24v T When ON Servo io de S ON 10 4 function enabled er a P control 11 mE d 4 When ON P control I enabled e Forvvard rotation prohibited hen OFF forward rotation prohibited Reverse rotation prohibited When OFF reverse ro
39. the data for the monitor number selected at step 2 LLIBIGIU 4 Press ENTER once more to display the monitor number HE TAI LPEN 5 Above is the procedure for display 1500 in monitor number Un001 fl Monitor Mode Displays Monitor Content number Un000 Actual motor speed Units r min Un001 Input speed reference Units r min ESTUN 93 EDB series AC servo system User s manual V 2 01 Input torque reference Units with respect to Un002 rated torque Internal torque reference Units with respect Un003 to rated torgue internal status bit display Hy Received pulse counter high digit x10 Note 1 the current setting is Un010 10000 Un009 reference pulse 2 When Un011 between 9999 and 9999 Un011 displays as algorism Otherwise it deplays as hex 3 Received pulse number displays as algorism Un014x104 Un013 When it reaches 99999999 it shall not be able to increse anymore Bit data S ON input 1CN 10 S ON Un005 PCON input 1CN 11 PCON P OT input 1CN 12 P OT N OT input 1CN 13 N OT ALM RST input 1CN 14 ALMRST CLR input 1CN 15 CLR 6 PCL input 1CN 16 PCL NCL input 1CN 17 NCL 1 5 Related I O Signal Parameter Bit No icis 20N 180PM 2013P ZONTAUPV INA PU 20N 12PU 4 v IN SC 2CNA PG Un006 20NPD 20N44PD s Amm 2ONA PA 20NAPA ESTUN 94 2 EDB series AC servo system User s manual V 2 01 Wins Bino conen Road VO Sat Par
40. the equipment not only damage the equipment but may also cause an accident resulting in death or injury Do not remove the front cover cables connectors or optional items while the power is ON Failure to observe this warning may result in electric shock Do not damage press exert excessive force or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or burning e Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensuring safety Failure to observe this warning may result in injury Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury Connect the ground terminal to electrical codes ground resistance 100 or less Improper grounding may result in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury Do not modify the product Failure to observe this warning may result in injury or damage to the product Always use the servomotor and SERVO DRIVE in one of the specified combinations Failure to observe this caution may result in fir
41. 0 Note D After changing the setting always turn the power OFF then ON This makes the new setting valid Q Valid even in the zero clamp mode 3 To use soft start function always set both Pn 012 and Pn 013 4 this parameter s input source is decided by digital input port control through bit setting bitO bit7 are relevant to input port 0 7 bit setting as follows 0 input pins are controlled by outside terminal 1 input pins set as communication control ESTUN 126 Alarm display on digital operator A 20 A 21 A 41 A 42 A 70 A 99 Output transistor is OFF ESTUN EDB series AC servo system User s manual V 2 01 Alarm Name Parameter breakdown A D breakdown Overspeed Overloaded X Position error pulse overflow Position error pulse has exceeded the value X Encoder PA disconnected Encoder PU PV or PW disconnected x PB or PC X X Overcurrent Overvoltage Undervoltage Bleeder resistor damaged Regenerative error X X Power lines open phase power loss error Encoder type error Motor type error Electric knife error a Not an error 127 Appendix B List of Alarm Displays Meaning Checksum results of parameters are abnormal ADS8322 chip breakdown Rotation speed of the motor has exceeded 2000r min The motor was running for several seconds to several tens of seconds under a torque largely exceeding ratings Position
42. 00 1 65535 Default fo w o o remarks Parameter Pn023 Pn024 Pn025 Pn026 Pn027 Pn028 Pn029 Pn030 Pn031 Pn032 Pn033 Pn034 Pn035 Pn036 Pn037 Pn038 Pn039 Pn040 Pn041 EDB series AC servo system User s manual V 2 01 Zero clamp speed 0 2000 Speed Coincidence Signal Output Width 0 100 Reference Positioning Complete Range i 0 500 uni error counter overflow Control mode selection 0 Speed control analog reference 1 Position control pulse train reference 2 Torque control analog reference 3 Speed control contact reference Speed control 0 reference 4 Speed control contact reference Speed control analog reference 5 Speed control contact reference Position control pulse train reference 6 Speed control contact reference Torque control analog reference 7 Position control pulse train reference Speed control analog reference 8 Position control pulse train reference Torque control analog reference 9 Torque control analog reference Speed control analog reference 10 Speed control analog reference Zero clamp control ESTUN 118 Setting Name and description Unit Default remarks range 0 1V 100 Torque reference gain 33 100 po ra m Bo CN CN ex lago em f CSS 7 ra d b d wold a O OD R O O O reference 1 32767 1024 unit EDB series AC servo system User s manual V 2 01 l Setting Param
43. 107 F shield wires properly Rated speed SG s lt FAO T EEF amp PAO Toraue reference 107 NP p APRU PG frequency dividing output lt FEO F represents multi tyvyisted pair ka e pco ILL pco 3B kal 18 5G 24VIN g j N CMPA Speed coincidence output Servo ON 747 V CMP hen ON Servo 2 B When Speed coin OM function enabled P control TSON output when ON P control TGONT nen value enabled TGON exceeds setting OM Forward rotation prohibited When OFF forward rotation 5 EDY Servo Ready output prohibited S RIY when servo ready OM Reverse rotation prohibited when OFF reverse rotation prohibited Alarm reset When OM alarms reset Torque limit output When value exceeds setting OM CLT CLT BE Brake interlock output BR Chen ON brake release 1Ry 24V Forward external torque limit OY Alarm output When OM limit enabled Kena E amp When Alarm Reverse external torque limit triggered OFF Chen OM limit enabled Photocoupler output Max applicable Voltage 3OV Dc Connector Frame Max applicable Current 5O0mMADC FG sheild wires connect to the connetor frame x Specific pins output can be defined ESTUN 26 EDB series AC servo system User s manual V 2 01 Chapter 4 Parameter Setting and function description 4 1 Setting Parameters according to mechanical features 4 1 1 Changing the Direction of Motor Rotation
44. 2 it sets internal limit value of motor speed in torque control mode m l Setting l Para No Description Unit Default Function range Speed limit in torque l Pn042 r min 1 2500 2500 For speed torque control control mode ESTUN 58 EDB series AC servo system User s manual V 2 01 External speed limit Set Pn007 1 to use external speed limit Use Speed reference V REF analog as external speed limit output Usually value of V REF should be smaller than Pn042 max speed limit to entitle the external speed limit meaningful Speed reference l Pn012 l l r min V 0 2500 150 For Speed torque control input gain According to status of host controller and external circuit use Pn012 to set speed reference input gain and determine external limit value Principle of Speed Restriction When the speed exceeds the speed Motor speed limit negative feedback of torque proportional to the difference between the current speed and the limit speed is performed to return the speed to within d Speed limit range the normal speed range Therefore the T actual motor speed limit value has a certain range depending on the load V REE conditions 4 2 9 Using Torque Feed forward Function For speed control analog reference only The torque feed forward function reduces positioning time It differentiates a speed reference at the host controller to generate a torque feed forward reference and then sends this torque feed forward referenc
45. 200 Kpps collector Control signal CLEAR ESTUN 113 EDB series AC servo system User s manual V 2 01 Offset setting 0 300r min set resolution as 1r min NN Feed forward compensation 0 100 set resolution as 1 Tn position error setting 0 500 reference unit set resolution as 1 reference unit Position Output signal Phase A phase B and phase C line driving output l Servo On Proportional control or control mode switch forward run I O signals Sequence control input prohibited reverse run prohibited alarm reset FWD torque external limit REV torque external limit zero clamp signal Servo Alarm servo ready positioning complete speed coincidence Sequence control output uu brake release limiting torque motor run detection With RS232 interface for communication with host controller s special software Parameter setting Run operation and Status display COM function mE l l can be done in Windows mode Compatible with Modbus COM protocol and CANOpen protocol l Charge Power five 7 segment LEDs and 4 pushbuttons on Built in LED display handheld operator function Dynamic brake overtravel protection l Overcurrent overload overspeed under voltage overvoltage Protection encoder error parameter error Regenerative treatment function Built in regenerative resistance Zero clamp with 16 internal position nodes ESTUN 114 EDB series AC servo system User s manual V 2 01 7 2 Servo Drive
46. 42 can be used to limit the maximum motor speed In the Speed Control mode P CON is ON Values of parameter Pn010 and Pn011 are determined as following Speed input reference Torque input reference Remarks Pn010 Pn011 V REF 1CN 19 T REF 1CN 21 Simple speed control Speed control with torque limit by analog Refer to 4 2 10 for details voltage reference 1 Speed control with torque feed forward Any value can be set in Pn010 refer to 4 2 9 for details Speed reference Torque feed forward Speed reference Torque limit value B Input signal The following input signals perform torque control Servo drive Torque reference input Analog voltage input Speed limit input Analog voltage input tp Represents twisted pair cables Torgue reference input Input T REF 1CN 21 Torgue Reference Input Input SG 1CN 22 Signal Ground for Torgue Reference Input These signals are used when torgue control is selected Motor torque is controlled so that it is proportional to the input voltage between T REF and SG ESTUN 56 EDB series AC servo system User s manual V 2 01 Standard setting Standard foa 8 12 setting 100 Input voltage Vi wg Pn 031 Torque reference gain 0 1V 100 10 100 Set the voltage range of torque reference input signal T REF 1CN 21 Check and set the output status of host controller and external circuit For example Set Pn031 30 3 V input Rated torq
47. 46 Note When alarm triggers motor will instantly turn OFF Due to gravity and other reasons machine might move until brake stops ESTUN 75 EDB series AC servo system User s manual V 2 01 lj Setting Set the following parameters to adjust brake ON timing so that holding brake is applied when the motor stops Name and description Setting range Default Speed Level at which Brake Signal Is Output Pn045 R min 10 100 100 during Motor Operation Ko Output Timing of Brake Signal during Pn046 10ms 10 100 Motor Operation Power OFF by S ON input sero ON Servo OFF 1CN 10 or alarm occurrence Stop by dynamic brake or coasting to stop Motor speed r min Pn 45 Felease brake BE output Holding NRS p Pn 48 Pn045 and Pn046 are used for servomotors with brake Use these parameters to set brake timing used when the servo is turned OFF by input signal S ON or alarm occurrence during motor rotation Brakes for servomotors are designed as holding brakes Therefore brake ON timing when the motor stops must be appropriate And after this period of time motor rotating speed will no longer affect the brake performance Adjust the parameter settings while observing machine operation Conditions for BK signal output during motor operation The circuit is opened in either of the following situations 1 Motor speed drops below the value set in Pn045 after servo OFF oc
48. 5 Operation in Parameter Setting Mode Select or adjust the functions by setting parameters The parameter list is in the appendix E Parameter changing procedures are described below The constant settings allow setting of a constant Check the permitted range of the constant in Appendix List of Parameters before changing the data The example below shows how to change user setting Pn012 100 to 85 1 Press MODE to select parameter setting mode ol I 2 Press INC key or DEC key to select parameter number 92 EDB series AC servo system User s manual V 2 01 3 Press ENTER key to display parameter data in step 2 LI AGE EIE NN 4 Press INC or DEC to change the data to the desired number 00085 Hold the button to accelerate the change of value When the data reaches the max or Min the value will remain unchanged if press INC DEC UU UI5 5 LEE 5 Press ENTER to store the value n NN Is 7 Ar E LINSE sf INN 6 Press ENTER again to go back to parameter display Polo le 5 1 6 Operation in Monitor Mode The monitor mode allows the reference values input into the SERVODRIVE I O signal status and Servodrive internal status to be monitored The monitor mode can be set during motor operation fl Using the Monitor Mode The example below shows how to display 1500 the contents of monitor number Un 001 1 Press MODE to select monitor mode Lil omm LIPS EET IN Ti Tm LPEN 3 Press ENTER to display
49. 50 mm 1 97 in min Install the Servo drive perpendicular to the wall so the front panel containing connectors faces outward ll Cooling As shomn in the figure above allow sufficient space around each Servo drive for cooling by cooling fans or natural convection ll Side by side Installation When installing Servo drives side by side as shown in the figure above allow at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each Servo drive Install cooling fans above the Servo drives to avoid excessive temperature rise and to maintain even temperature inside the control panel ll Environmental Conditions in the Control Panel 1 Ambient Temperature 0 to 55 C 32 to 131 F 2 Humidity 90 RH or less 3 Vibration 4 9 m s2 4 Condensation and Freezing None 5 Ambient Temperature for Long term Reliability 45 C 113 F or less ESTUN T EDB series AC servo system User s manual V 2 01 ll Operation Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction Forward run prohibited P OT and reverse run prohibited N OT signals are not effe
50. 9999 9999 ce pulse l 1reference Pn060 Moving distance 0 pulse AT i HEN I AN HEN HEN 1 65535 1 O l 9999 9999 10 referen Pn061 Moving distance 1 9999 9999 ce pulse mos Moving stance t rf ESTUN s 9999 9999 EDB series AC servo system User s manual V 2 01 Setting Parameter Name and description Unit Default remarks range 0 pulso 10 referen Pn063 Moving distance 2 9999 9999 ce pulse 1reference Pn064 Moving distance 2 9999 9999 pulse 10 referen Pn065 Moving distance 3 9999 9999 ce pulse 1reference Pn066 Moving distance 3 9999 9999 pulse 10 referen Pn067 Moving distance 4 9999 9999 ce pulse 1reference Pn068 Moving distance 4 9999 9999 pulse 10 referen Pn069 Moving distance 5 9999 9999 ce pulse 1reference Pn070 Moving distance 5 9999 9999 pulse 10 referen Pn071 Moving distance 6 9999 9999 ce pulse 1reference Pn072 Moving distance 6 9999 9999 pulse 10 referen Pn073 Moving distance 7 9999 9999 ce pulse 1reference Pn074 Moving distance 7 9999 9999 pulse 10 referen Pn075 Moving distance 8 9999 9999 ce pulse 1reference Pn076 Moving distance 8 9999 9999 pulse 10 referen Pn077 Moving distance 9 9999 9999 ce pulse 1reference Pn078 Moving distance 9 9999 9999 pulse 10 referen Pn079 Moving distance 10 9999 9999 ce pulse 1reference Pn080 Moving distance 10 9999 9999 pulse 10 referen Pn081 Moving distance 11 9999
51. EDB series AC servo system User s manual V 2 01 EDB series AC servo system User s Manual V 2 01 Estun Limited Warranty This manual does not entitle you to any rights Estun reserves the right to change this manual without prior notice All rights reserved The copyright is held by Estun No part of this publication may be copied or reproduced without written permission from Estun ESTUN 1 EDB series AC servo system User s manual V 2 01 General Precautions Read this manual thoroughly before checking products on delivery storage and transportation installation wiring operation and inspection and disposal of the AC servodrive SWARNING Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury Never touch the inside of the SERVO DRIVES Failure to observe this warning may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Do not touch terminals for five minutes after voltage resistance test Residual voltage may cause electric shock e Follow the procedures and instructions for trial operation precisely as described in this manual Malfunctions that occur after the servomotor is connected to
52. I bits character frame gt 8 E I Modbus ASCII RTU Start Iria T UY talet Even ar 1 2431445 I 6 pariy I kA uA ET EA Mel Ka NAL J 8 data bits D I bits character frame t 8 O 1 Modbus ASCII RTU D TT Tale TUT 7 Tat ler aa 243 bays I 6 pariy iv aa PEB ES E alt GEL J 8 data bits KH I bits character frame t Communication protocol structure Communication protocol datum structure ASCII mode Start character lt gt 3Ap Communication address gt 1 byte contains 2 ASCII codes Instruction code gt 1 byte contains 2 ASCII codes DATA n 1 Datum content gt n word 2n byte contain n ASCII codes n lt 12 End Endcode1 gt OD CO End code 0 gt 0A 4 LF ESTUN 105 EDB series AC servo system User s manual V 2 01 RTU Mode Sleep interval no pulse of transmission time which equals to four bytes at present transmission speed Communication address gt 1 byte Instruction code gt 1 byte DATA n 1 Datum content gt n word 2n byte n lt 12 DATA 0 CRC Verifying code gt I byte End 1 Sleep interval no pulse of transmission time which equals to four bytes at present transmission speed Communication protocol datum structure instruction as follows STX communication start ASCII mode character RTU mode Sleep interval no pulse of transmission time which equals to four bytes at present tr
53. L3 W i M 1 EDB sake Jt uE pow EDB Servo Drives IAS Encoder Sa 2CN PG D hi aa s V REF ICN j Peasa iiiv F 19 F 3d Braided wines property 104 3p LPF PAD mtn MENG Fe AD lt s Ira Torque Reference 10V HERE FR TOV CUNG LPF e kah an 22 5 23 8 FBO IPRTERRAN naal Eo eu lt aa I ppo gt PG SHIR PG Frequency Diving Oupa P Regeesents gt j i mutit isted Par PULS P 24 tka Wires PULS Pes 30 gt PCO SIGN b SIGN af es H nG 3 PCO Egit VP l LT WI Pasilion Relerenas SIGN Er ag a a K 18 Power Supply for fub PL a Collector Open THEM PL cg 2K Reference i a 424v 4 24VIN 8 43K r 1 B E BARE HE Senco R 7 Hu 7 C N CMP mmt HH Speed Coincidence Output CON HERSKET 8 ON io LT I Hg 198 COIN EEE When speed coincidert ON REALI Na gb KE IN CMP CIELA R 39 ON Posting Campi CON BEA HSE IP CON Eg COIN CE fir Se Bt Bt 9 OIN H When positioning complete ON Whan ON P control encabind t tt TGON BLE NS TOON Output HELL IE MG Forward rotation prohibibad preg E i ru 1 COFFEE I Hr s fT di 108 4 i ak Ter EEA halal re When OM forward rotation prohibited mg Aa tae S ADY THERE da SER Servo Ready Output BE IF f d Reverse rotation probibited EBERT S ADY CHE BUSES ON When servo ready ON COFFEE MOTO 13 ba CLT SHERE Tome Limit Guipa When ON reverse rotation prohibited Tara ACLT ERA bi ON N
54. Mounting dimension fl EDB series servodrive mounting dimension e A T g tie Q SERVODRIVE 60 NANA NANA MODE ING DEC ENTER CHARGE POWER COM 077 zip nese 95 o Pt all I o pg SERVODRIVE a ra PL MODEL EDA 05SD H o9 fo MD AC 200 230V 50 60HZ J i os INPUT PHASE 10A O Fog AC 0 230V l F panned OUTPUT PHASE 10A I 1CN oe EE d S N D000001Y20040101 S c FJ LAL AB KA RA I PAT Ci EVASNANASNANANINANANA NANANA I eA I Ta d v UN 2CN NG N NA WU VW ht N VW Oo j EE X Is d Zu FA AA YAAA AA S N ji y pore w IGS 7 4 oe yt pe PIN Amik ol 1 ae i Pa ae if U pn BS if ESTUN gs ES I Haba Z m h i bd ESTUN 115 Name and description Pn000 Pn001 Pn002 Pn003 Pn004 Pn005 ESTUN EDB series AC servo system User s manual V 2 01 Uses servo ON input signal S ON or not 0 Uses servo ON input S ON 1 Does not use servo ON input SON
55. ON following two conditions are met OFF Turns zero clamp function OFF 1 P CON is ON 2 Motor speed is below the value set Pn033 input P CON 1CN 11 Proportional Control etc The following table shows zero clamp status when P CON is turned ON and OFF ECON 1CN 11 L level Zero clamp function is ON 1CN 11 H level Zero clamp function is OFF Name and description Setting range Default Pn033 Zero clamp speed 0 2500 If zero clamp speed control is selected set the motor speed level at which zero clamp is to be performed If a value higher than the maximum motor speed is set the maximum speed value is used ESTUN 72 EDB series AC servo system User s manual V 2 01 Conditions for Zero clamp Zero clamp is performed when all the following conditions are met Zero clamp speed control is selected Parameter Pn041 10 P CON 1CN 11 is turned ON 0 V Motor speed drops below the preset value Speed V REF speed reference Preset value for zero clamp n 4 4 4 Using Holding Brake Eq r2 I Zero clamp being gt lt gt performed AE l Holding brake is useful when a servo drive is used to control a vertical axis A servomotor with brake prevents the movable part from dropping due to gravitation when the system power is turned OFF Servodrive brake interlock outputs BK signals to control if the holding brake function is turned on or not in a servomotor with brake artical axis Axis wit
56. Primary lag filter 0 640 Adjust these parameters to change the smoothing feature of position control Serva drive in position control Fn17 Pn 23 Pnil 5 Feed forvard Reference pulses PG signal i output Encoder Frequency dividing 4 6 2 Using the Soft Start Function The soft start function adjusts progressive speed reference input inside the Servodrive so that acceleration and deceleration can be as constant as possible To use this function set the following parameters Pn019 Soft Start Time Acceleration 0 10000 o Pn020 Soft Start Time Deceleration 0 10000 E Pn019 Time interval from stop time and the motor speed reaches to 1000r min E Pn020 Time interval from the time the motor is running at the maximum speed until it stops Speed reference 1O000r min internal speed 5 reference m h Fr 5 n ESTUN as EDB series AC servo system User s manual V 2 01 In the SERVODRIVE a speed reference is multiplied by the acceleration or deceleration value to provide speed control Smooth speed control can be achieved when progressive speed references are input or when contact input speed control is used Normally set these to 0 4 6 3 Setting the Torque Reference Filter Time Constant If the machine causes vibration possibly resulting from the servo drive adjust the following filter time constant Vibration may stop Torque Reference Filter Pn018 0 1ms 0 250 4 Time Con
57. Reverse rotation is prohibited when 1CN 13 is open Reverse rotation is allowed when 1CN 13 is at 0 V 1 Does not use the N OT input signal for prohibiting reverse rotation Reverse rotation is always allowed This has the same effect as shorting 1CN 13 to 0 V Note When the servomotor stops due to overtravel during position control the position error pulses are held A clear signal input is required to clear the error pulses ESTUN 28 EDB series AC servo system User s manual V 2 01 When P OT and N OT are not used short wiring could be as easy as shown Servo drive 4CN 12 POT 1CN 13 H OT BStop motor when overtravel occurs Please set user constant according to the method of stopping the motor when overtravel function is enabled Pn004 Stop the mode when Servo OFF alarm or overtravel occurs o5 0 0 DB stops the motor and then brake released 1 Coast to a stop 2 Enable DB when Servo off apply plug braking when OT occurs Servo off after stop 3 Coast to stop when Servo off apply plug braking when OT occurs Servo off after stop 4 Enable DB when Servo off apply plug braking when OT occurs and put at zero clamp after stop 5 Coast to stop when Servo off apply plug braking when OT occurs and put at zero clamp after stop Note Refer to 4 4 2 Dynamic brake about details of DB lj Selecting the Motor Stop Method when Servo is OFF The servo drive will disenable all the ser
58. This Servo drive provides a reverse rotation mode in which the direction of rotation can be reversed without altering the servomotor wiring With the standard setting forward rotation is defined as counterclockwise ccw rotation viewed from the drive end If reverse rotation mode is selected the direction of motor rotation can be reversed without other conditions being changed The direction of axial motion is reversed and others remain unchanged Encoder output from Encoder output from Servo drive Servo drive Encoder output from Encoder output from Servo drive Servo drive PEO Phase B PBO Phase B lj Setting Reverse Rotation Mode Select the rotating direction by setting parameters below Unit Setting Parameter No Name and description Default range Pn006 Rotation Direction Selection 0 1 0 Forward rotation is defined as counterclockwise rotation when viewed from the load side Standard setting 1 Forward rotation is defined as clockwise rotation when viewed from the load side Reverse rotation mode Note After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings ESTUN 27 EDB series AC servo system User s manual V 2 01 4 1 2 Setting overtravel limit The overtravel limit function forces the moving part of the machine to stop when it exceeds the movable range ll Using the Overtravel Limit Function To use the over
59. W Woman 17 3 2 3 I O signal names and functions oom Wa 18 322 Interta Ce GA eee 20 GE ng eno AA EE 21 3 3 1 Connecting an Encoder 2CN and Output Signals from the servodrive 21 3 3 2 Encoder Connector CN2 Terminal Layout ooooWoWW Woo WWW maa 21 OE WING Servo MON ROM E Rm aaa 22 55 Typical Wirmo SAP Pee 23 352 Speed CONFOL MOTE NN ERR 25 353 Forgue COMMON MOTE oo onta ow calum enl onis deu sin MS Ka Ana At 26 ae AHA 27 Parameter Setting and function descriptiOn Woo oo Wc Wa 2f 4 1 Setting Parameters according to mechanical features X a 27 4 1 1 Changing the Direction of Motor Rotation oooooWoWmmm 2f Select the rotating direction by setting parameters belowi oo W oo oom 27 4 1 2 Setting overtravel NIMit oooWoWco Wo Wo WWW mma 28 4 1 3 Ming ke Ke YA AA 29 4 2 Setting Parameters According to Host Controller 2 oo oWoWoWo WWW 32 4 2 1 Speed Reference W Wo W Wo man 32 12 2 PAIN 3 42 9 Encoder signal OUND UM rccctseverstrevetcaddessatdl en accanseasensrevatcesiwateadsee lt ssddeecvearsdocesesees 40 4 2 4 Sone O SIGIR AA AA 43 ESTUN 3 EDB series AC servo system User s manual V 2 01 4 2 5 Position control parameter reference oooo W Woo 44 4 2 7 Using Contact Input Speed Control oooW W Waah 51 4 2 8 U
60. ame 0 ALM 1CN 3 ALM 1CN 4 ALM Pn054 preset status 1CN 1 1CN 2 Un007 Pn055 preset status 1CN 5 1CN 6 Pn053 preset status 1CN 7 1CN 8 Operation Using the Digital Operator If it is in the assistant function mode some operations could be select in digital operator The detailed functions are shown as below FuncionNo SSS rrooo Display istrcalalamdata Foo Tumtodefautvewe OO nor soemo SSS EOS Set speca reference ofset auiomatcaiy Fnoos Setspeed reference menuay FnoOS automaticaly adjustment of ost detected by molor curent EOS Manvaly adjusment of offset detected by motor curent NOT Servo sofware version dspey 5 2 1 Alarm Trace back Data In alarm trace back data latest ten times alarms could be displayed The following shows the procedure to display the historical record 1 Press MODE to select assistant function mode 2 Press INC or DEC to select function number of alarm historical record Eau 3 Press ENTER to display the latest alarm code Alarm number alarm code j mn UAL 4 Press INC or DEC to display other recent occurred alarm code H 90 EFE aj 5 Press ENTER to return to function number display ESTUN 95 EDB series AC servo system User s manual V 2 01 5 2 2 Operation of recovering to default value The follows are procedures to recovery of default value 1 Press MODE to select assistant mode 2 Press INC or DEC to select funct
61. and could be used as interlock to external 24 power supply Servo Drive Photocoupler Output Per output Maximum operation voltage 30 WDE 3 Maximum output current 50 m amp Dc Output TGON Running output grounding signal Output TGON Running Output Motor is running ON ITGON L level TGON Motor speed is greater than the preset value Motor is stopped ITGON H level Motor speed is below the preset value Motor Speed Un000 TGON Prosa Selectouputsignals 1on 7atuncion oa o Pn053 Pn054 and Pn055 meanings and functions are shown as follows 0 ICOIN V CMP output TGON running position output 1 S RDY servo ready output CLT torque limit output BK brake interlock output Use the following parameter to specify the output conditions for TGON running output signal Name and description Setting range Default Pn032 Zero Speed Level 0 2500 When the motor is running its output speed is detected If the speed level is above the rotating speed of preset value TGON will be output ESTUN 32 EDB series AC servo system User s manual V 2 01 4 5 6 Using Servo Ready Output Signal Servo ready means servodrive is not in servo alarm state when the main circuit is turned ON and could receive servo ON signals The application and wirings are shown as follows HEV panser supple Ser Denis 24Y pj l Photo nun caput Per ouput hii
62. ansmission speed ADR communication address Acceptable communication addresses range from 1 to 254 For instance to communicate with servo address as 32 hexas 20 ASCII mode ADR 2 0 gt 2 32 0 30 RTU mode ADR 20 5 CMD order instruction and DATA datum Datum structure is formed by order code Regular order code as follows Order code 034 read N words N is not more than 20 For instance read 2 words from address 0200 5 from servo addressed at 011 ESTUN 106 EDB series AC servo system User s manual V 2 01 ASCII mode Order information s e ADR data start UI 3 TE TE mis count as ford DID CR End 0 RTU mode Order information om CMD 03H Data start 00Hflow bits Data number Count as Word CSH low bits B3Hkhigh bits Order code 06 write in one character word response information start adress Cotent of O201H a Response information data number data start adress OOH high bits ontent of 0201H 40H low bits For instance write 100 0064p in address 0200 5 of servo addressed 01 p ESTUN 107 EDB series AC servo system User s manual V 2 01 ASCII mode Order information Response information STA ADR CMD O datum l address P al datum start address datum address content of 0200H Lec verifving 3 ODHNCR End 0 GAHNXLF datum conten
63. as follows 0 input bit is controled by outside interface 1 input bit is controled by communication Note 1 After change the communication address through communication that is to say after change the value of Parameter Pn210 the servo drive will still response data with previous communication address It takes 40ms for the servo drive to change into new communication adress 2 After change the communication speed through communication that is to say after change the value of Parameter Pn211 the servo drive will still response data with previous communication speed It takes 40ms for the servo drive to change into new communication adress 3 After change the communication protocol through communication that is to say after change the value of Parameter Pn212 the servo drive will still response data with previous communication protocol It takes 40ms for the servo drive to change into new communication adress 4 If change the communication parameter Pn210 Pn212 through key boards of the panel turn off the power before turn on it again to enable the change effective ESTUN 103 Default value 1 EDB series AC servo system User s manual V 2 01 6 3 MODBUS communication protocol Only when Pn213 is set as 1 or 2 can communication be put into operation with MODBUS protocol There are two modes for MODBUS communication They are ASCII American Standard Code for information interchange mode or RTU Remote Terminal Unit mode
64. ation Pn158 0 1ms 0 32767 and deceleration Moving distance 4 time constant for acceleration Pn159 0 1ms 0 32767 and deceleration Moving distance 5 time constant for acceleration Pn160 0 1ms 0 32767 and deceleration Moving distance 6 time constant for acceleration Pn161 0 1ms 0 32767 and deceleration Moving distance 7 time constant for acceleration Pn162 0 1ms 0 32767 and deceleration Moving distance 8 time constant for acceleration Pn163 0 1ms 0 32767 and deceleration Moving distance 9 time constant for acceleration Pn164 0 1ms 0 32767 and deceleration Moving distance 10 time constant for acceleration Pn165 0 1ms 0 32767 and deceleration Moving distance 11 time constant for acceleration Pn166 0 1ms 0 32767 and deceleration Moving distance 12 time constant for acceleration Pn167 0 1ms 0 32767 and deceleration Moving distance 13 time constant for acceleration Pn168 0 1ms 0 32767 and deceleration Moving distance 14 time constant for acceleration Pn169 0 1ms 0 32767 and deceleration Moving distance 15 time constant for acceleration Pn170 0 32767 and deceleration a 5 a O mm wm pp pf mm noe pp mm wma pp pf ESTUN 123 EDB series AC servo system User s manual V 2 01 l Setting Parameter Name and description Unit Default remarks range Pm76 Notused 0 o 0 0 PT notused 00000000 0 0 Pnt78 Notused pp 0 S o Paz Noued pp o o Pm80 Noued pp Pp Pm Notused
65. atus display mode is displayed when the power is turned ON If the status display mode is not displayed select the mode by using Mode Key to switch E Keys to the status display are shown below The display varies in different modes For Speed and torque Control Speed coincidence Base block Control Power ON Power ready Speed Reference Input Torque Reference Input It is highlighted when in torque control mode ESTUN 3 EDB series AC servo system User s manual V 2 01 Bit displays Control Power ON Lit when SERVODRIVE control power ON Lit for base block Base Block Not lit at servo ON Lit if motor speed reaches speed reference Otherwise not lit Speed Coincidence l l l l Preset value Set in Pn034 10 min 1 is default setting Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn032 20 min 1 is default setting Lit if input speed reference exceeds preset value Speed Reference Input Not lit if input speed reference is below preset value Specified value Set in Pn032 20 min 1 is default setting Lit if input torque reference exceeds preset value Torque Reference Input Not lit if input torque reference is below preset value Preset value 10 rated torque is standard setting p DE Lit when main power supply circuit is normal ower Rea d Not lit when power is OFF or main power supply circuit is faulty Code displays Base block Servo OFF motor p
66. ctive in JOG mode When using the servomotor for a vertical axis install the safety devices to prevent workpieces to fall off due to occurrence of alarm or overtravel Set the servomotor so that it will stop in the zero clamp state at occurrence of overtravel Failure to observe this caution may cause workpieces to fall off due to overtravel Do not touch the SERVO DRIVE heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in injury Do not use the servo brake of the servomotor for ordinary braking Failure to observe this caution may result in malfunction ESTUN 12 EDB series AC servo system User s manual V 2 01 Chapter 3 Wirings and connections 3 1 Wirings and connections for main circuit Always observe the following notes when wire or connects the circuit CAUTION Do not connect a three phase power supply to the U V or W output terminals Failure to observe this caution may result in injury or fire e Securely connect the power supply terminals and motor output terminals Fai
67. curs 2 The time set in Pn046 has elapsed since servo OFF occurred If a value higher than the maximum speed is set the maximum speed value is used ESTUN 76 EDB series AC servo system User s manual V 2 01 4 5 Forming a Protective Sequence 4 5 1 Using Servo Alarm Output and Alarm Code Output Basic Wiring for Alarm Output Signals Servo drive VO Power suppl 24 T OV Photocoupler Output Per output Maximum operation voltage 30 YDC Maximum output current 50 mADC Provide an external 24V I O power supply separately There is no DC power available from servo drive for output signals Output ALMt 1CN 4 Servo alarm output Output ALM 1CN 3 Signal Ground for Servo Alarm Output Signal ALM is output when the Servo drive detects an alarm Servo drive Alarm detection ALM output Turns the main circuit power OFF Design the external circuit so that the main circuit power to the servo drive is turned OFF by this alarm output signal AU 1CN 4 L level Normal state 1CN 4 H Level Alarm state When the servo alarm ALM is output eliminate the cause of the alarm and the turn ON the following ALM RST input signal to reset the alarm state ALM RST 1CN 14 L level Clears alarm state 1CN 14 H level Does not clear alarm state Form an external circuit so that the main circuit power supply is turned OFF when servo alarm is output Alarm state is automatically reset whe
68. d Please refer to 4 2 7 Internally set speed selection 7 position control pulse reference gt speed control analog reference Mode that could switch between position control and speed control by P CON signal 8 position control Pulse reference gt torque control analog reference Mode that could switch between position control and torque control by P CON signal 9 torque control analog reference 4 speed control analog reference Mode that could switch between torque control and speed control by P CON signal Please refer to 4 2 8 Torque control 10 speed control analog reference zero clamp control Speed control mode that allow zero clamp function setting when servo drive stops Zero clamp acts after P CON signal is ON L level Please refer to 4 4 3 zero clamp 11 position control pulse reference gt position control pulse prohibit Position control mode that use P CON signal to stop reference pulse stop prohibit Please refer to 4 2 11 reference pulse inhibits function 12 position control parameter reference Servodrive could perform position control without host controller Please refer to 4 2 5 contact control 13 speed control parameter reference Servodrive performs according to the speed and rotation direction set by Pn048 and Pn049 please refer to 4 2 1 Meanings of some parameters under various control modes are as follows Control mode Speed contro
69. d by internal speed reference 0 4 Analog speed reference 5 Pulse reference input E position control Analog torque reference op o 1 0 Direction of rotation Common to 3 4 5 SPEED1 Pn038 SPEED2 Pn039 SPEED3 Pn040 O Forward rotation 1 Reverse rotation Note 1 0 OFF High level 1 ON LOW level 2 means not used Rotation direction selection Input signal P CON is used to specify the direction of motor rotation Input P CON CN1 11 Proportional Control etc For Speed Torque Control and Position Control When Contact Input Speed Control is used Use input signal P CON to specify the direction of motor rotation 0 OFF Forward rotation Modes Other Than Contact Input Speed Control P CON signal is used for proportional control zero clamp and torque speed control changeover a example for contact input speed control operation The figure below illustrates an example of operation in contact input speed control mode Using the soft start function reduces physical shock at speed changeover Pn041 3 ESTUN 53 EDB series AC servo system User s manual V 2 01 Motor speed ard speed Set acceleration and deceleration values in Pnois and Pn 020 soft start time SPEED3 2nd speed SPEED2 iat speed jf SPEED SPEED I SPEED 4 2 8 SPEED3 ard speed l Using Torgue P CON Control The Servodrive can provide the follow
70. definitions of Pn053 Pn054 and Pn055 parameter settings are as follows 0 ICOIN V CMP output TGON rotation detection output S RDY servo ready output CLT torque limit output BK brake interlock output ESTUN 32 EDB series AC servo system User s manual V 2 01 4 2 Setting Parameters According to Host Controller 4 2 1 Speed Reference Analog reference Input a speed reference by using the following input signal speed reference input Servo drive PE Ts Speed reference speed reference input Analog voltage input gt ir indicate twisted pairs Input V REF 1CN 19 Speed reference input Input SG 1CN 20 Signal ground Use when in speed control analog reference Pn041 0 4 7 9 10 For general speed control always wire the VREF and SG terminals Motor speed is controlled in proportion to the input voltage between V REF and SG Reference Speed 10 Standard Input voltage rM setting 1000 97 2000 Set slope rate on F 1 3000 ll Standard Example Changing Pn 012 may modify range of speed reference Pn 012 150 This setting means that 10 V is equal to rated speed 1500r min Specific example is as follows Speed reference input Rotation direction Rotation speed 1 10 Rated speed 150r min 3V 3 10 Rated speed 450r min ll Example of input circuit For noise control always use multi twisted cables ESTUN 33 EDB series AC servo system Use
71. drive prohibited 4 1 2 N OT Reverse drive prohibited ALM RST Alarm reset Releases the servo alarm state 16 Forward external torque limit ON Open collector reference power supply Pull up power is supplied when PULS and SIGN reference signals are open collector outputs 5 24 VDC power supply is built into the Servo drive Input mode is set from the following pulses signals pulse string CCW CW pulse e Two phase pulse 90 Reference pulse input line driver or open collector phase differential Note 1 Pin numbers in parentheses indicate signal grounds ESTUN 18 EDB series AC servo system User s manual V 2 01 ll Output signal Signal name Pin Function Reference number 0 COIN Positioning completed signal output COIN V CMP V CMP ITGON TGON S RDY S RDY CLT CLT BR BR Speed coincidence output Detection during servomotor rotation Servo ready Torque limit detection Brake interlock output Customer constant Pn053 sets output of CN1 7 8 Customer constant Pn054 sets output of CN1 1 2 Customer constant Pn055 sets output of CN1 5 6 ALM Servo alarm Turns OFF when an error is detected ALM Phase A Converted two phase pulse phases signal A and B encoder output signal and zero point pulse phase C signal Phase B RS 422 or the equivalent signal Phase C signal Connected to frame ground if the shield wire of the I O
72. e and the speed reference to the SERVODRIVE Too high a torque feed forward value will result in overshoot or undershoot To prevent this set the optimum value while observing system response Connect a speed reference signal line and torque feed forward reference signal line from the host controller to V REF 1CN 19 20 and T REF 1CN 21 22 respectively Host controller Servo drive Position reference differential coetficien Servo motor calculation Frequency Encoder dividing KP Position loop gain KFF Feed forward gain ESTUN 59 EDB series AC servo system User s manual V 2 01 B How to Use Torque Feed forward Function To use the torque feed forward function set the following memory switch to 1 This function cannot be used with the function for torque restriction by analog voltage reference To use the torque feed forward function input a speed reference to the V REF terminal and a torque feed forward reference to the T REF terminal The host controller must generate a torque feed forward reference a Setting The value of torque feed forward value is determined by Pn031 set according to Host controller The factory setting is Pn031 30 If for example the torque feed forward value is 3 V torque is restricted to 100 rated torque Setting range Detaui Pn031 Torque Reference gain 0 1V 100 10 100 4 2 10 Using Torque Restriction by Analog Voltage Reference For speed con
73. e initial display status Function Press to display the parameter settings and set values Press INC key to increment the set value Press DEC key to decrement the set value Press to select the status display mode setting mode monitor mode or MODE key error traceback mode Press to cancel setting when set the parameters ENTER key Press to display the parameter settings and set values 5 1 2 Resetting Servo Alarms Press ENTER key to reset servo alarm in state monitor mode The alarm state could also be cleared by using 1CN 14 ALM RST input signal The alarm state can be cleared by turning the main power supply OFF then turning the control power supply OFF Note After an alarm occurs remove the cause of the alarm before resetting it ESTUN T EDB series AC servo system User s manual V 2 01 5 1 3 Basic Functions and Mode Selection Digital Operator operation allows status display parameter setting operating reference and auto tuning operations Basic Mode Selection The four basic modes are listed below Each time the mode key is pressed the next mode in the sequence is selected Power ON Status display mode HIHI H hlb Parameter setting mode I Monitor mode I Alarm Trace back Mode Assistant function mode 0 1 4 Operation in Status Display Mode The status display mode displays the Servodrive status as bit data and codes lj Selecting Status Display Mode The st
74. e input reference sign input and error counter clear input There are various applications please set the best input reference in the system established Servo drive Photo coupler fl Move Reference by Pulse Input Inputs a move reference by pulse input Reference pulse input IPUL Position reference can correspond KA SIGN to the following three types of output form e Line driver output t P Represents twisted pair cables e 12V 5V Open collector output Connection Example 1 Line Driver Output Host controller Servo drive Line Driver Used Photo coupler Line driver AM26LS31 SN75174 manufactured by Texas Instruments Inc or MC3487 or equivalent ESTUN 37 EDB series AC servo system User s manual V 2 01 Connection Example 2 Host controller is Open Collector Output with 24VDC power supply Host controller Servo drive Fhoto coupler AGNESS 180 ue 1CN 24 BEF ICN 23 28 am IK ICN 27 elu 10N 26 150 iv 4j Grounding Connect to the shell for shielding Connection Example 3 Host controller is Open Collector Output with 12VDC or 5VDC power supply Host controller Servo drive Fhoto coupler PULS M iCN 25 PULS Pj 1CN 24 SIGN SIGN for shielding Sets the value of limiting resistor R1 according to following reguirement Input current 1 10 15mA When Vcc is 12 V R1 510 kO e When Vcc is 5 V R1 180 Q fl Selecting the Reference
75. e or malfunction When replacing the SERVO DRIVE transfer the previous SERVO DRIVE parameters to the new SERVO DRIVE before resuming operation Failure to observe this caution may result in damage to the product Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury Do not disassemble the servomotor Failure to observe this caution may result in electric shock or injury When disposing of the products treat them as ordinary industrial waste ESTUN 2 EDB series AC servo system User s manual V 2 01 Content MT 6 Checking products and parts names 2 0 2 2 enne nena nnne n nna ns snn sine sre a nnne nnne nnn ans 6 Te CICC ae AR TL ana 6 ia Ea OIG AA 7 1 2 Product Pants NN 8 1 2 1 SVO OVO EEE E E E 8 TNA 9 GSE iiio p EEE E Nan Obi Nolan 9 VAN Wes TNA 9 2A OW AGC REPRE m 9 2 22 GU Ce AA 10 2 2 9 Installation orientation aasam 10 2 2 4 Installation frielTiO0 uu posit sco or maa aa Aa ana aan ra nisa 11 ae AA 13 Midi S and Connie ba ea ana ER 13 3 1 Wirings and connections for main CIrCUIt oooo Woo 13 3 1 1 Names and Functions of Main Circuit Terminals on 14 3 1 2 Typical main circuit wiring example Woo 15 3 2 1 Connection of input and output signals oo oo oWoWoW oo WoWoW Wo Wan 16 3 2 2 Terminal layout of connector 1CN o oo WW
76. er the error pulse level at which a position error pulse overflow alarm alarm A 06 is detected TE Alarm 06 ce onm RTT U Pn 38 Mormal control Error pulse 1 Alarm 4 06 If the machine permits only a small position loop gain value to be set in Pn 036 an overflow alarm A 06 may arise during high speed operation fl Using Feed forward Control Feed forward control shortens positioning time To use feed forward control set the following parameter Pn036 Eseddorward Cain 0 100 08 Use this parameter to shorten positioning time Too high a value may cause the machine to vibrate For ordinary machines set 80 or less in this constant Reference ntiation pulse 4 7 2 Using Proportional Control If parameter Pn041 is set to 0 or 1 as shown below input signal P CON serves as a PI P control changeover switch ll P Control Proportional Integral control ll Control Proportional control ESTUN 87 EDB series AC servo system User s manual V 2 01 Control mode Speed control analog reference Servodrive normal speed control e V REF 1CN 19 input speed reference es i P PI T Signal P CON CN1 11 is used to switch Changes CON between P control and PI control 1CN 11 OFF PI control ON Poontrol Position control pulse train reference See Normal speed control P CON CN1 11 is used to switch between P control and PI control reference SIGN CN1 11 ON L level P control
77. erence Speed or Reference Reference Speed or Reference Torque Torque After completion of offset automatic adjustment the amount of offset is stored in the Servodrive The amount of offset can be checked in the speed reference offset manual adjustment mode Refer to Reference Offset Manual Adjustment Mode for details The reference offset automatic adjustment mode cannot be used where a position loop is formed with the host controller and the error pulses are zeroed when servo lock is stopped In this case use the speed reference offset manual adjustment mode Refer to Reference Offset Manual Adjustment Mode for details Zero clamp speed control is available to force the motor to stop during zero speed reference Refer to Using Zero Clamp for details Follow the procedure below to automatically adjust the reference offset 1 Input the intended O V reference voltage from the host controller or external circuit 0V speed 5Servomotor reference pert Slow rotation Servo ON Servo OFF Servodrive 2 Press Mode to select assistant function mode 3 Press INC or DEC key to select function number of speed reference offset 4 Press ENTER to enter mode that automatically adjust the reference offset ESTUN 97 ref Io EDB series AC servo system User s manual V 2 01 5 Press MODE When the flashing lasts for one minute the speed offset is adjusted automatically NM 7 ololnlt 4 406 NN
78. ervo drive is to be stored with the power cable disconnected store it in the following temperature range Between 20 C and 85 C Do not store or install the product in the following places Locations subject to direct sunlight e Locations subject to temperatures outside the range specified in the storage or installation temperature conditions Locations subject to humidity outside the range specified in the storage or installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Failure to observe this caution may result in fire electric shock or damage to the product Do not hold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction ESTUN 9 EDB series AC servo system User s manual V 2 01 2 2 2 Installation sites Notes of operation installation are described as follows Condition Safety notes Installation in a Control Panel Design the control panel size unit layout and cooling method so the temperature around the servo drive
79. ess INC key or DEC key to select function number of motor current detection offset manual adjustment 3 Press ENTER key to enter into motor current detection offset manual adjustment Col lo 4 Press MODE key to switch U phase Cu1 o and V phase Cu2 o current detection offset adjustment mode Col lo LlolcLlo 5 Hold ENTER key for a second current phase current detection data will be displayed ulel Io bb f LI Li LN 6 Press INC key or DEC key to adjust the offset JODIO HA 0 7 f gt K ET OU 7 Hold ENTER key for a second to return the display of step 3 or step 4 8 Press ENTER again to go back to function number display This ends the operation of the motor current detection offset manual adjustment Note motor current detection offset manual adjustment range 102 102 5 2 7 Checking Software Version Use the following procedure to check the software version 1 Press MODE key and select assistant function mode 2 Press INC key or DEC to select the function number for servo software version 3 Press ENTER to display software version D is displayed at the highest position 4 Press Mode key to display FPGA CPLD software version P is displayed at the highest position Repress Mode key and switch back to display the DSP software version Press ENTER key to return to display the function number ESTUN 100 EDB series AC servo
80. eter Name and description Unit Default remarks range 11 Position control pulse train reference Position control inhibit 12 position control parameter reference 13 speed control parameter reference 14 electric knife frame function Pn042 Speed limit in torque control mode 0 6000 1500 BENE Time delay from servo ON signal till Servo actually Pn043 ms 0 20 200 ON Time delay from the time a brake signal is Pn044 10ms 0 500 output until servo OFF status occurs Pn045 Speed level for brake signal output during operation 0 2000 1001 Pn046 Time delay from brake signal until servo OFF 10 100 soo uu 0 500 2000 Position error pulse overflow alarm Pn047 0 no alarm output 1 alarm output Pnoag Speed when parameter speed reference functions min Rotation direction when parameter speed reference function 0 Forward 1 Reverse Pn049 Select cycle run Pn050 0 multi points cycle run 1 multi points single run Use P CON signal as step changing signal or not Pn051 0 delay step changing 1 use P CON as step changing signal Program method Pn052 0 incremental 1 absolute Pn053 Select output signals 1CN 7 8 functions Pn054 Select output signals 1CN 1 2 functions 4 pros Select ouput sionals ONA functions pra The second electronic gear numerator B2 HOST Dyramicelectonicgearon pnosd Dyramicelectonc gear sting 10 referen Pn059 Moving distance 0
81. evolution is set in this parameter Set this value according to the reference unit of the machine or controller to be used The setting range varies according to the encoder used Note After changing the parameter setting always turn the power OFF then ON ESTUN 42 EDB series AC servo system User s manual V 2 01 4 2 4 Contact I O Signals Please wiring contact I O signals that controls servo drive properly E Contact Input Signal Terminal Connections 24VIN 8 3 3K Connect these signal terminals as necessary Note Provide an external I O power supply separately There are no power terminals available from the servo drive outputs signals externally External power supply DC24V 1V 50mA or more It is recommended that this external power supply be the So same type as for the output circuit na And the sequence input circuit operation voltage of 424V om ranges from 11V 25V 12V power supply could also n be applied but bad contact will occur when the contacts are mechanical and in small current om minal Connections Input 24VIN 1CN 9 External I O power supply input Servo drive NO power SUE Photocoupler sero output each output point Max operating voltage SUYDC Max output current S0mMA amp DC Note Provide an external I O power supply separately There are no power terminals available from the servo drive outputs signals externally It is recomme
82. h external force applied Servomotor Holding brake External force Servomotor Prevents movable part fram shitting due to gravitation when power is turned OFF Before connection please make sure the servo motor is detached with the machine and confirm the performance of servomotor and holding brake action If both works normal then connect the servomotor and machine and test fl Connecting example Use Servodrive contact output signal BK and brake power supply to form a brake ON OFF circuit An example of standard wiring is shown below ESTUN 73 EDB series AC servo system User s manual V 2 01 Servo drive Servo motor with brake Power supply EK EY Brake control relay ICN Number of terminals allocated by PnO053 Pn054 PnO055 Output BK Brake Interlock Output For Speed Torque and Position Control This output signal controls the brake when a motor with brake is used This signal terminal need not be connected when a motor without brake is used ON L level Releases the brake OFF H level Applies the brake Set the following parameter to specify the 1CN pin to which the BK signal is output Para No Name and description Setting range Pn053 Select output signals 1CN 7 8 functions Pn054 Select output signals 1CN 1 2 functions Pn055 Select output signals 1CN 5 6 functions Pn053 4 BK brake is SENE interlack Pn 5d 4 1CN 1 2 output Pn 55 4 1CN 5 6 output signals Pn053 Pn054 and P
83. ing torque control e Level 1 To restrict the maximum output torque to protect the machine or workpiece internal Torque restriction refer to 4 1 3 Level 2 To restrict torque after the motor moves the machine to a specified position external Torque restriction refer to 4 1 3 e Level 3 To always control output torque not speed Level 4 To switch between torque control and other control This section describes how to use levels 3 and 4 of the torque control function fl Selecting Torque control Use the following parameter to select level 3 or level 4 torque control For Speed Torque Control Pn041 Control Mode Selection 0 13 and position Control A motor torque reference value is externally input into the Servodrive to control torque Control Mode Torque Control analog reference This is a dedicated torque control mode Analog voltage speed Sewopack limit reference input A torque reference is input from T REF 1CN v REF 21 Analog voltage torque e P CON is not used reference input T REF Speed reference input V REF 1CN 19 can be used as speed limit when Pn007 is set to be 1 ESTUN 54 EDB series AC servo system User s manual V 2 01 Parameter Pn042 can be used for maximum speed control Speed control Contact reference lt gt Torque control analog reference Servopack Torque control and speed control can be Analog voltage switched speed limit reference input PCL 1CN 16
84. ion Is there any screw loose Check with the screwdriver ESTUN 6 EDB series AC servo system User s manual V 2 01 1 1 1 Servo drive B Appearance and nameplate Servo drive model SERVO DRIVE AC 200 230V 50 60Hz INPUT 4 PHASE 4 BA QUTPUT AC 0 230V 0 BK ADA D1004650 BOGADOT Estun Automation Technology Co Lig Serial number Applicable motor capacity Applicable power supply B Check the model EDB 08 A M A ESTUN Servo drive EDE type LT 42 3 4 5 1 2 JRated power 3 Voltage 5 Design sequence 200VAC A Design sequence L D 4oowac 4 Control Type Fosition speed and M torque control RES Position Control ESTUN 7 EDB series AC servo system User s manual V 2 01 1 2 Product Parts names 1 2 1 Servo drive The part names of servo drive are shown as below Panel display FOE E NG Display the status alarms and parameter entering ud 2 hir ag Eee En Panel keys Vd PP Use these buttons to set the parameters Power on LED sERVONRWE Lights when the power is on Charging LED The indicator is highlighted when the power of main circuit is ON Don t touch servo since there will still be residual electric charge remains in the capacitor inside the Servo drive Computer communication interface COM Communicate with computer Input and output signal interface 1CN Tie ins for reference entering or sequence input and
85. ion number of recovering to default value 3 Press ENTER to enter parameter default recovery mode Lb 4 Hold ENTER key for one second to recover the parameter to default setting Hb 5 Release ENTER key to return to function number display fale A 5 2 3 Operation in JOG mode The following is steps in JOG mode 1 Press MODE to select assistant mode 2 Press INC or DEC to select Function number of JOG mode dr 3 Press ENTER to enter JOG mode 5 Press MODE to switch between servo ON and Servo OFF If motor running is required servo must be ON 6 Press INC or DEC motor runs when press the keys Moter forward rotation Motor reverse rotation ESTUN T EDB series AC servo system User s manual V 2 01 7 Press ENTER to return to function number display Servo is OFF 5 2 4 Reference Offset Automatic Adjustment The motor may rotate slowly when the reference voltage is intended to be 0 V This occurs when the host controller or external circuit has a small offset measured in mV in the reference voltage The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage It adjusts both speed and torque references The following diagram illustrates automatic adjustment of an offset in the reference voltage from the host controller or external circuit Reference voltage Reference voltage Automatically Adjusted in Servopack Offset Ref
86. l 8 9 10 11 contact input Switch between control modes 12 13 speed control switch zero clamp status between valid function invalid e Switch INHIBIT between valid and invalid echange step output PCL CN1 16 forward external current limit input looking for reference point forwardly NCL CN1 17 reverse external current limit input looking for reference point reversely input speed control Direction 0 0 Control modes switch function of rotation 0 1 SPEED1 Pn038 0 Forward reverse 1 o _SPEEDS Pn040 ESTUN 51 EDB series AC servo system User s manual V 2 01 2 Set three motor speeds in the following user constants SPEED1 Setting Range Default Speed control 1st Speed Contact 0 2500 100 Input Speed Control SPEED2 Setting Default Speed control 2nd Speed Contact Range 200 Input Speed Control 0 2500 SPEED3 Setting Default Speed control 3rd Speed Contact Range 300 Input Speed Control 0 2500 Use these parameters to set motor speeds when the contact input speed control function is used If a value higher than the maximum speed is set the maximum speed value is used Speed selection input signals PCL 1CN 16 and NCL 1CN 17 and rotation direction selection signal P CON 1CN 11 enable the motor to run at the preset speeds 3 Set the soft start time Pn019 Soft Start Time Acceleration 0 10000 Pn020 Soft Start Time Deceleration 0 10000
87. l mode analog reference common speed control Analog voltage speed Convo drive e V REF 1CN 19 inputs speed reference EAR nz e P CON CN1 11 signal is used to switch between P control and PI control PLP control P CON 1CN 11 OFF Pl control ON P control ESTUN 65 EDB series AC servo system User s manual V 2 01 1 Position control mode pulse train reference Song drive 1 Common position reference P CON 1CN 11 is used to switch between P control and PI control pasak 1CN 11 ON L level P control reference SIGN OFF H level PI control Switching betweeer P control and FI control 2 Torque control analog reference Analog voltage speed Servo drive limit reference input 2 Exclusive for torque control 4 BEF Inputs torque reference from T REF 1CN 21 Analog voltage torque Does not use P CON reference input When Pn007 is set to be 1 and speed reference SAT inputs V REF 1CN 19 It could be used as maximum external speed limit Set user constant Pn042 value as internal maximum speed limit 3 Speed control Contact reference lt gt zero reference patahan disetan Servo drive Switching speed control between contact reference selection and zero reference Switching internally set speed by P CON 1CN Internally 11 PCL 1CN 16 and NCL 1CN 17 SE Anecd Zero PP me 0 Forward 1 SPEED aa oem 1 Reverse SPEED rotation SPEED ESTUN 66 EDB series AC servo system User s manual V 2
88. lse Pn060x1 reference pulse 100x10000 reference pulse 100 x1 reference pulse 999900 reference pulse With the same principle we can conclude in order to get the same results we also can set Pn059 99 and Pn060 9900 Thus we can see when the two parameters are not zero we can get same result by two ways one is to set the two parameters both negative or both positive or one negative the other positive It is no doubt that setting the parameter could be realized by communication In computer corresponding offset value could be set according to above mentioned method and one also can set the value directly choose independent position running in the operation menu then set the value without considering sum of two parameter Refer to PC communication application software SP Windows help documents for detailed steps m Speed Speed mention here refers to the steady speed during motor running which is similar to the pulse frequency given from external in ordinary position control However this speed has nothing to do with electronic gear it is just actual speed of the motor m One rank filter time constant Same as position reference one rank filter time constant Pn024 during ordinary position control refer to 4 2 2 for details m Time for change steps after desired position reached Apply internally delay of changing steps to valid this parameter that is to set Pn051 0 ESTUN V EDB series AC servo s
89. lure to observe this caution may result in fire Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30 cm 11 81 in Failure to observe this caution may result in malfunction Use twisted pair shielded wires or multi core twisted pair shielded wires for signal and encoder PG feedback lines The maximum length is 3 m 118 11 in for reference input lines and is 20 m 787 40 in for PG feedback lines Do not touch the power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVO DRIVE Make sure the charge indicator is turned OFF first before starting an inspection e Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute Since the SERVO DRIVE has a capacitor in the power supply a high charging current flows for 0 2 seconds when power is turned ON Frequently turning power ON and OFF Causes main power devices such as capacitors and fuses to deteriorate resulting in unexpected problems Observe the following precautions when wiring main circuit terminal blocks Remove the terminal block from the SERVO DRIVE prior to wiring Insert only one wire per terminal on the terminal block Make sure that the core wire is not electrically shorted to adjacent core wires Do not connect the SERVO DRIVE for 200 V directly to a voltage of 400 V The SERVO DRIVE will be dest
90. n 83 4 6 2 Using the Soft Start Function Woo Wa 84 4 6 3 Setting the Torque Reference Filter Time Constant 85 4 7 MINIMIZING Positioning TiIme rrranarnanrernnnnrranernanrnrnnnnrnnrnrnanennnrnnannennasennasennunennnsen 85 4 7 1 Setting Servo GAM no ane os ed nba Na aa aa 85 4 7 2 Using Proportional Control oom Wa 86 A7 3 Setting Speed BASRI able iunior odi aa 87 TNT acest airs AA PAF Using NE digital PAET 2 MTP NNN AA 5 1 1 Digital Operator Functions oo ooW oo oo Wa 88 5 1 2 Resetting Servo Alarms rrnannnnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnnrennnnnnnnnnnnnnennnnnnnnnennnnennn 88 5 1 3 Basic Functions and Mode Selection ooo oWoWoWooWoW WWW 89 5 1 4 Operation in Status Display Mode WWW oWoWoW Wo WWW Wa 89 5 1 5 Operation in Parameter Setting Mode oo ooW Wo Woo 92 5 1 6 Operation in Monitor Mode oo maa 92 Operation Using the Digital Operator oooW WoWooWoWoWooWo Wa 5 2 1 Alarm kracte bacK DAA Lande 94 5 2 2 Operation of recovering to default value WoooWoW oom 95 5 2 3 Operation in JOG mode mm mm 95 ESTUN EDB series AC servo system User s manual V 2 01 5 2 4 Reference Offset Automatic Adjustment X a 96 5 2 5 Reference Offset Manual Adjustment Mode oo WooWoWoWX 97 5 2 6 Motor Current Detection Offset Adjustment
91. n control Pn041 Control mode Position control reference pulse lt oero drive gt pulse prohibited position control with pulse inhibit function P CON 1CN 11 signal is used to Position reference STGH enable or prohibit the INHIBIT function T Switching the 1CN 11 ON pulse inhibit enabled status of pulse OFF pulse inhibit prohibited inhibit ESTUN 62 EDB series AC servo system User s manual V 2 01 Relationship between INHIBIT Signal and Reference Pulse INHIBIT signal ON UP CON OFF ON tl t2 0 5rns Input reference pulses are not counted during this period How to use P CON signal Servo drive Switching between P control and Pl control ri switching between zera clamp enabled P mode and zera clamp prohibited mode 7 Switching between INHIBIT enabled mode d and INHIBIT prohibited mode PIS Switching the control made Ka Changing the direction of rotation Step changing signal Setting of Pn041 Meaning of P CON Switching between P control and PI control not use 6 Switching the direction of rotation when contact input speed control mode is selected 1 ESTUN eru gt Not used 63 EDB series AC servo system User s manual V 2 01 4 3 Setting up the parameter 4 3 1 Setting the Jog Speed Use the following parameter to set or modify a motor speed Name and description Setting range Default Pn037 JOG speed 0 2500 500 Ifa value higher than the maximum speed is set
92. n control power supply is turned OFF Thus no alarm reset signal necessary Alarm state can be reset using the Digital Operator When an alarm occurs always eliminate the cause before resetting the alarm state ESTUN 7 EDB series AC servo system User s manual V 2 01 4 5 2 Using Servo ON Input Signal This section describes how to wire and use contact input signal servo ON S ON Use this signal to forcibly turn the servomotor OFF from the host controller Serve drive This signal is used to turn the motor ON or OFF 1CN 10 L level Servo ON Motor is ON Motor is operated according to input signals 1CN 10 H level Servo OFF Motor is OFF Motor cannot run ON son LON Use Pn043 to set servo ON timing that is time from relay acts till motor excited Name and description Setting range Default Note Do not use the S ON signal to start or stop the motor Always use an input reference to start and stop the motor Otherwise service life of the servo drive will be shortened This memory switch is used to enable or disable the servo ON input signal Unit Setting Para No Name and description Default range Pn000 Enable disenable servo ON input signal S ON 0 1 0 Uses servo ON signal S ON When 1CN 10 is open servo is OFF When 1CN 10 is at 0 V servo is ON 1 Does not use servo ON signal S ON Servo is always ON Equivalent to short circuiting 1CN 10 to 0 V ESTUN 78 EDB
93. n055 signal functions are shown as follows 0 COIN IN CMP output TGON complete position detection output S RDY servo ready output CLT torque limit output BR brake interlock output EDB series AC servo system User s manual V 2 01 Related parameters Unit Setting Para No Name and description Default range Time delay from servo ON signal till Servo Pn043 ms 0 2000 actually ON Time delay from the time a brake signal is Pn044 10ms 0 500 output until servo OFF status occurs Speed level for brake signal output during Pn045 l r min 10 100 100 operation Time delay from brake signal until servo Pn046 Ber 10ms 10 100 50 fl Brake ON and OFF Timing If the machine moves slightly due to gravity when the brake is applied set the following parameter to adjust brake ON timing Name and description Setting range Default Time delay from servo ON signal till Servo Pn043 ms 0 2000 actually ON Time delay from the time a brake signal is Pn044 10ms 0 500 output until servo OFF status occurs This parameter is used to set output timing of brake control signal BK and servo OFF operation motor output stop when servomotor with brake is used Servo ON 8 ON input 1C N 10 mas AT po B K input Release the brake motor ON status Pan Time delay from the time a brake signal is output until serva OFF status occurs For brake ON timing during motor operation use Pn045 and Pn0
94. nded that external power supply be the same type as for the output circuit ESTUN 43 EDB series AC servo system User s manual V 2 01 4 2 5 Position control parameter reference Position control under parameter reference parameter Pn041 12 In this mode servo drive could position with a single axes without host controller There are 16 position control points with each could set move distance running speed constants for acceleration and deceleration and the stop time when positioning completed Two speeds 1 speed moving towards distance switch speed of looking for reference point 2 Speed moving away from distance switch moving speed of reference points could be set as Two position modes 1 Absolute position mode 2 Relative position mode Two running modes 1 Circling mode 2 Non circling mode Two step switching method 1 Delay step switching 2 P CON signal switching Method of looking for reference points 1 Forward direction 2 Reverse direction I Adjusting offset Offset of each points has two correspondent parameters one unit of the parameter is x 10000 reference pulse and the other is x 1 reference pulse Setting range of both parameters is 9999 9999 while offset value equals sum of those two values For example No 0 offset correspond to parameter Pn059 x 10000 reference pulse and Pn060 x 1 reference pulse Set Pn059 100 Pn060 100 No 0 offset value Pn059x10000 reference pu
95. nication speed options 0 4800bps 1 9600 bps 2 19200bps Pn211 T T 8 8 8 8 8 8 Pn212 0 Pn213 Pn216 ESTUN input source of digital Communication protocol form N 2 Modbus ASCII E 1 Modbus ASCII O 1 Modbus ASCII N 2 Modbus ASCII E 1 Modbus ASCII O 1 Modbus ASCII N 2 Modbus RTU E 1 Modbus RTU O 1 Modbus RTU Communication protocol options Self definition protocol RS 232 Communication MODBUS Protocol Communication 2 MODBUS Protocol RS 485 Communication Pn214 Not Used Pn215 Not Used Communication bit control This parameter is designated through bit to decide represent input port 0 7 respectively Bit definition represents as follows 0 input bit is controled by outside interface 1 input bit is controled by communication Pn217 Reverse the output port Pn218 Suitable motor type parameter input port EDB series AC servo system User s manual V 2 01 Setting Default remarks range 0 15000 2000 0 32767 1700 1 255 RS 422 232 BitO bit7 0 255 olo ES old 125 EDB series AC servo system User s manual V 2 01 l Setting Parameter Name and description Unit Default remarks range Pn219 Start point for program Pn220 End point for program 1500 30 speed of looking for reference point bump the limit Pn221 r min 0 2000 switch 0 Pn222 Moving speed move away from limit switch r min 200
96. nit 10000 instruction Read only 0810 h ule Deviation pulse counter low 16 Read only Ae bits Deviation pulse counter high VIR bits 0813 h Setting pulse counter low bits Unit 1 instruction pulse Read only Setting pulse counter high bits Unit 10000 instruction Read only 0814 h buas ModBus communication IO No conservation when Read write 0900 a signal power off 0901 p Drive state Read only 0902 h Relevant phase value 0903 h Inertia inspection value ESTUN 110 Read only Read only Read only Read only Read only Read only Read only Read only EDB series AC servo system User s manual V 2 01 0904p drive rumningtime Unitas minute Read only 0 En DSP software edition represent by number Read only 090Fp PLD software edition represent by number Read only 1021 Eliminate previous alarm record 01 eliminate Read write 2022 Eliminate presentalam Ot eliminate Readwite 01 elimi 01 servoon 1023 h JOG servo on Read write 00 doesn t use servo on l 01 forward rotation 1024 p JOG forward rotation Read write 00 stop 01 reverse rotation l 1025 JOG reverse rotation Read write 00 stop Instruction 1 parameter area communication address 0000p OODE p is relevant to parameters in the parameter list For instance parameter Pn000 is relevant to communication address 0000 p parameter Pn101 is relevant to communication address 0065 p read write operation to
97. nput invalid ESTUN 69 Refere to 4 2 10 Torque limit value Analog voltage speed sera drive reference input v REF Zero calmp switch P COH Zero clamp acts when meet following items 1 P CON is ON 2 Motor speed is under Pn033 preset value ero drive Position reference SIGN Pulse prohibit function switch Step changing Seno drive input T CUN look for PCL reference point F HCL EDB series AC servo system User s manual V 2 01 4 4 Setting Stop Mode 4 4 1 Adjusting Offset Why Does not the Motor Stop When 0 V is specified as reference voltage for speed torgue control analog reference the motor may rotate at a very slow speed and fail to stop This happens when reference voltage from the host controller or external circuit has a slight offset equal to reference offset in mV units If this offset is adjusted to 0 V the motor will stop Reference Offset Offset is voltage corrected by the cervadrve a Adjusting the Reference Offset The following two methods can be used to adjust the reference offset to 0 V Automatic adjustment of reference offset Reference offset is automatically adjusted to 0 V Manual adjustment of reference offset Reference offset can be intentionally set to a specified value Please refer to 5 2 4 automatic adjustment of speed reference offset and 5 2 5 manual adjustment of speed reference offset for detailed procedures Note
98. oooooo Woo 98 5 2 7 Checking Software Version Wo Wo WWW mm 100 CHADE On ETNE 6 1 RS 485 RS 232 RS 422 Communication hardware interface 6 2 RS 485 RS 232 RS 422 communication parameter Xa 6 3 MODBUS communication protocol Wo Wan 6 3 1 Gode IC ANG MER 104 6 3 2 Communication fault disposal Wooo Woo Wan 108 6 3 3 Servo state data communication address ooWooWoo 110 NTT Technical Specifications and Features 7 1 Servomotor Technical specifications and Types 7 2 Servo Drive Mounting dimension o o Woo Wan 115 Appendix A Parameter list Appendix B ESTUN 5 EDB series AC servo system User s manual V 2 01 Chapter 1 Checking products and parts names 1 1 Check products Check the following items after receiving EDB Series AC servo drive products Whether the models are the same as Check the model numbers marked on the what were ordered nameplates on the servo motor and Servo drive Refer to the descriptions of model numbers in the following section Does the servomotor shaft rotate The servomotor shaft is normal if it can be turned smoothly smoothly by hand Servomotors with brakes however cannot be turned manually Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during transportat
99. operation sobie 30 VIT Kemen cut cute 50 mos Dc Output S RDY Servo ready output Output S RDY Servo ready output grounding signals S RDY ON S RDY L level Servo ready state OFF S RDY H level Not in servo ready state This parameter is used to specify a function signal as the 1PN output signal Pros Selectouputsignals 1on7 8tuncton oa O Pn053 Pn054 and Pn055 meanings and functions are shown as follows o cowvowjapa 0 4 5 Handling of Power Loss Use the following memory switch to specify whether to output a servo alarm when power loss occurs Name and description Setting range Default Operation to Be Performed at Recovery 0 1 from Power Loss 0 Does not output a servo alarm after recovery from power loss ALM 1 Outputs a servo alarm after recovery from power loss ALM ESTUN 83 EDB series AC servo system User s manual V 2 01 If the Servodrive detects instantaneous voltage drop in power supply more than 20mS it can shut the servo to prevent a hazardous situation This memory switch is used to specify whether to output this alarm Power loss z200 S supply voltage d FnO003 0 ALM 1CH 4 Fn l3 1 Normally set this memory switch to O If the S RDY signal is not to be used set the memory switch to 1 The S RDY signal remains OFF while the main power supply is OFF regardless of the memory switch setting
100. ot used Not used Not used Not used Moving distance Ospeed Moving distance 1speed Moving distance 2speed Moving distance 3speed Moving distance 4speed Moving distance 5speed Moving distance 6speed Moving distance speed Moving distance 8speed Moving distance 9speed Moving distance 10speed Moving distance 11speed Moving distance 12speed Moving distance 13speed Moving distance 14speed Moving distance 15speed Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used ESTUN 122 Unit Kg cm2 r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min r min Setting range 0 100 0 10000 0 300 0 1 0 2000 0 2000 0 2000 0 2000 0 2000 0 2000 0 2000 0 2000 0 2000 0 0 0 0 0 0 0 2000 2000 2000 2000 2000 2000 2000 Default 9 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 remarks EDB series AC servo system User s manual V 2 01 l Setting Parameter Name and description Unit Default remarks range Cw Num pp Ca pp ME ES SE SS A Moving distance 0 time constant for acceleration Pn155 0 32767 and deceleration Moving distance 1 time constant for acceleration Pn156 0 1ms 0 32767 and deceleration Moving distance 2 time constant for acceleration Pn157 0 1ms 0 32767 and deceleration Moving distance 3 time constant for acceler
101. ower OFF Servo ON motor power ON Forward Rotation Prohibited P OT 1CN 12 P OT OFF Reverse Rotation Prohibited N OT 1CN 13 N OT OFF Alarm Status Displays the alarm number For position control Positioning Complete A Base block ITGON Control power ON Power Ready Reference Pulse Input Error Counter Clear Input Bit data displays ESTUN ot EDB series AC servo system User s manual V 2 01 Control Power ON Lit when Servodrive control power ON Lit for base block Base Block Not lit at servo ON Lit if error between position reference and actual motor position Positioning Complete is below preset value Preset value Set in Pn035 10 pulse is standard setting Lit if motor speed exceeds preset value TGON Not lit if motor speed is below preset value Preset value Set in Pn032 20 min 1 is standard setting Lit if reference pulse is input Reference Pulse Input o Not lit if no reference pulse is input Lit when error counter clear signal is input Error Counter Clear Input l l l Not lit when error counter clear signal is not input Lit when main power supply circuit is normal Power Ready l l l EM Not lit when power is OFF or main power supply circuit is faulty Code displays b5b Base block Servo OFF power OFF Run Servo ON power ON Forward Rotation Prohibited 1CN 12 P OT OFF Reverse Rotation Prohibited 1CN 13 N OT OFF r1 Alarm Status d Displays the alarm number 5 1
102. pp pp Pm82 Notued pp 0 o PmB8 Notused pp S SoS 0 300 Moving distance 0 Stop time after reaching desired Pn187 position Moving distance 1 Stop time after reaching desired Pn188 position Moving distance 2 Stop time after reaching desired Pn189 position Moving distance 3 Stop time after reaching desired Pn190 7 0 300 position aon Moving distance 4 Stop time after reaching desired n position Moving distance 5 Stop time after reaching desired Pn192 position 0 300 Moving distance 6 Stop time after reaching desired Pn193 l position Ba o fo NENNEN NENNEN o fo CS CS CS CS po ao fa po am Ja pa am fr po fm Ja po aa fr pa am fa CS 0 300 Moving distance 7 Stop time after reaching desired Pn194 position Moving distance 8 Stop time after reaching desired Pn195 position Moving distance9 Stop time after reaching desired Pn196 position Moving distance 10 Stop time after reaching desired Pn197 position Moving distance 11 Stop time after reaching desired Pn198 position Moving distance12 Stop time after reaching desired Pn199 position Moving distance 13 Stop time after reaching desired Pn200 7 position Moving distance 14 Stop time after reaching desired Pn201 position ESTUN 124 Parameter Name and description Unit Moving distance 15 Stop time after reaching desired Pn202 position Motor reverse turnaround time electric knife frame Pn203 function Commu
103. pulse reference lt gt Speed control cerva drive Analog voltage analog reference torque reference Inputs speed reference from V REF 1CN 19 Input V REF e Switching control mode by using signal P BEGGE CON 1CN 11 reference SIGN 1CN 11 OFF Position control pulse reference Control mode ON Speed control analog reference switching Note P CON 1CN 11 is no longer used to switching modes of P PI in speed control and position control mode Torgue control Analog reference lt gt Speed control Analog reference Switch between Torgue control analog reference and speed control analog reference Inputs speed reference or speed limit from V REF 1CN 19 evo drive a Speed reference V REF 1Cx 15 Torque reference ontrol mode switching 1CH11 P CON Inputs one of the following torque reference Torque feed forward reference or torque limit from T REF 1CN 21 Switching torque control and speed control By P CON 1CN 11 1CN 11 OFF torque control ON speed control Torque control when P CON is OFF Torque controls according to T REF e V REF may provide speed control when Pn007 1 limit forward and reverse rotating speed accordi EDB series AC servo system User s manual V 2 01 ng to V REF Limit Max speed from user constant Pn042 Speed control when P CON is ON user constant Pn010 Pn011is set as follows User constant Speed input reference Torque input reference Obse
104. r s manual V 2 01 4702 1 2w or more Servo Drive 10V Connect V REF and SG to speed reference output terminal when host controller is used for position control Host controller Servo dri Speed reference Lis Output terminals Feedback PAO pulse Input terminal P indicates twisted pair Now please refer to the specification of output voltage to adjust Pn012 Adjust the input gain of speed reference by setting the following parameter Name and description Setting range Default Pn012 Speed reference gain r min V 0 2500 Speed reference is input from V REF 1CN 19 Set the parameters according to the output of host controller or external circuit The default setting is adjusted to be allowed by output voltage 10V rated speed Reference speed Set slope Crimin Reference voltage Note Max allowable voltage is 10VDC speed reference input end between 1CN 19 and 20 Select one of the following four control modes Pn041 Control mode selection 043 0 Speed torque control position control ESTUN 34 EDB series AC servo system User s manual V 2 01 Pn041 Control mode Speed control analog reference Analog voltage Devo drive speed reference input v REF Normal speed control e V REF 1CN 19 input speed reference i FIF Switching P PI control mode using signal P Control P COH CON CN1 11 1CN 11 OFF PI control ON P control Position control
105. ray reference Position control mode for pulse array input reference Please refer to 4 2 2 Position reference 2 Torque control analog reference Torque control mode for analog voltage input reference Please refer to 4 4 8 Torque control ESTUN 64 EDB series AC servo system User s manual V 2 01 3 speed control I O contact reference peed control zero reference Control mode for internally set speed selection and zero reference Please refer to 4 2 7 Internally set speed selection 4 speed control I O contact reference peed control analog reference Mode that could switch contact reference speed control and analog voltage reference speed control When signal PCL and NCL are OFF H level the analog reference speed control is enabled Please refer to 4 2 7 internally set speed selection 5 jspeed control I O contact reference Position control pulse instruction Mode that could switch between contact reference speed control and pulse train reference position control When signal PCL and NCL are OFF H level pulse train reference position control is enabled Please refer to 4 2 7 Internally set speed selection 6 speed control I O contact reference orque control analog reference Mode that could switch between contact reference speed control and analog voltage input torque control When PCL and NCL signals are OFF H level Analog voltage reference torque control is enable
106. represents thes signal is inpayiiney power suppk signal 1 ra prs oa nis fiat bane hava power supp al drea R amp Tienminats span ETE sl maa 3 pad kad Sedang NG De PT ad RU 6 software edition 090E p It represents drive s software edition by number E g if the number is 0D300 p it means the software edition is d 3 00 ESTUN 112 EDB series AC servo system User s manual V 2 01 Chapter 7 Technical Specifications and Features 1 Servomotor Technical specifications and Types B X Technical specification and model Basic data Speed control Position control mode Feedback incremental type encoder 2500P R Operating storage 0 55 C 20 85 C temperature Working l Operating storage Below 90 RH non condensing Conditio humidity n Shock vibration 4 9m s2 19 6 m s resistance Base mounted 1 5000 a 0 100 0 01 L F at rated speed kona Rated speed 10 O at rated speed 25t25C below 0 1 at rated speed 250Hz when J 2Jy 0 10s set acceleration and deceleration individually Speed ref 40KQ Loop 47us Reverse rotation Use P CON signal Node speed reference Speed selection Use FWD REV current limit signal select speed 1 3 when a both not OFF select Stop or other control mode Type SIGN PULSE train sin Pulse phase A and phase B CCW CW Reference pulse train Pulse Pulse Buffer Line driving 5V level open collector Pulse Frequency Maxi 500Kpps difference
107. royed Always use the specified power supply voltage An incorrect voltage may result in burning Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may result in damage to the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire ESTUN 13 EDB series AC servo system User s manual V 2 01 3 1 1 Names and Functions of Main Circuit Terminals Terminal symbol L1 L2 L3 L1C L2C B1 B2 B3 EDB 08 EDB 10 and EDB 15 don t have B3 terminal Q4 um EDB 08 And EDB 15 don t have EDB 10 those two terminals 5 EDB 08 EDB 10 And EDB 15 doesnt have this terminal ESTUN Main circuit power supply input 10 159 Three phase 200 230VAC 50 60HZ terminal Control circuit power supply input 109 1 596 i Single phase 200 230VAC 50 60HZ terminal Servo Motor connection terminals Connects to servo motor Ground terminals Connects to the power supply ground terminals and servo motor ground terminal Regenerative resistor connection Normally short B2 and B3 for an internal terminal regenerative resistor Remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2 if
108. rvation Simple speed control speed control with torque feed forward Set Pn010 Torque limit speed control offered by analog voltage reference Refer to Speed reference Torque limit 4 2 10 For details Speed control Analog reference lt gt zero clamp Analog voltage speed gt v0 drive reference v REF speed control with zero clamp function Inputs V REF 1CN 19 from speed control SLE SUD F CUN Select zero clamp by P CON 1CN 11 1CN 11 ON zero clamp valid OFF zero clamp invalid Zero clamp acting when the following condition fulfilled 1 P CON is ON 2 motor speed is below Pn033 setting value B P CON signal application Servo drive dtc Rotation direction switch direction switch Step changing signal Pn041 setting Meaning of P CON ot used ESTUN 36 EDB series AC servo system User s manual V 2 01 3 4 5 6 change the rotation direction of internally setting speed chosen ee ee Switch between INHIBIT valid and invalid rated Parameter speed reference Servo motor rotates constantly according to set speed and direction of Pn048 and Pn049 under parameter speed control mode parameter reference Pn041 13 Name and description Setting range Default Pn048 Speed level when parameter speed reference function 0 2500 Pn049 Rotation direction when parameter speed reference function 0 1 O Forward 1 Reverse 4 2 2 Position reference Position reference includes reference puls
109. s 24V power pph Seno drive T t247 Output V CMP Speed Coincidence Output For speed control Output V CMP Speed coincidence grounding signal output For speed control Actual motor speed matches the speed reference ON status V CMP L level speed difference is below the preset value Actual motor speed does not match the speed reference OFF status V CMP H level speed difference is greater than the preset value ESTUN 30 EDB series AC servo system User s manual V 2 01 Pr 34 Reference speed M CMP is output within this range This parameter is used to specify a function signal as the 1CN output signal 0 ICOIN V CMP output TGON running signal output S RDY servo ready output BK brake interlock output CLT torque limit output Speed Coincidence Signal ict 0 100 10 For Speed min Output Width Control Only V CMP signal is output when the difference between the reference speed and actual motor speed is not greater than the preset value Note V CMP is a signal for speed control For position control COIN position complete output is used instead For torque control V CMP is always ON ESTUN 31 EDB series AC servo system User s manual V 2 01 4 5 5 Using Running Output Signal This section describes how to wire and use photocoupler output a running output signal TGON This signal indicates that a servomotor is currently running
110. s 2500 To move a workpiece 10 mm ll Setting the Electronic Gear To move workpiece 10 mm One revolution is equivalent to B mm so Reference unit iz 1 um so 10 8 1 6666 revolutions 2500 x 4 pulses is equivalent to one revolution 10mm 10000 pulses 0 1 6666 x 2500 x 4 16666 pulses A total of 16666 pulses must be input as reference the host controller needs to make this calculation Calculate the electronic gear ratio B A according to the procedure below and set the value in Pn022 and Pn023 1 Check the machine specifications Items related to electronic gear Gear ratio Ball screw pitch Pulley diameter 2 Check the number of encoder pulses for the Servomotor 3 Determine the reference unit to be used Reference unit is the minimum unit of position data used for moving the load Minimum unit of reference from host controller Examples 0 01 mm 0 001 mm 0 1 0 01 inch Reference input of one pulse moves the load by one reference unit Example When reference unit is 1 um If a reference of 50 000 pulses is input the load moves 50 mm 50 000 x 1 um ESTUN 48 To move a table in 0 001 mm units Reference unit 0 001 mm Reference unit 0 001 mm PP LH Determine the reference unit according to machine specifications and positioning accuracy EDB series AC servo system User s manual V 2 01 4 Determine the load travel distance per revolution of load shaft in reference
111. series AC servo system User s manual V 2 01 rotation SPEED2 1 Reverse SPEED3 rotation Position control Pulse reference lt gt Speed control Servo drive Canalog reference Analog voltage i torgue reference Inputs speed reference from V REF 1CN 19 input V REF e Switching control modes by using P CON 1CN 11 1CN 11 OFF position control pulse reference Position reference SIGH ON speed control analog reference Note In this position control and speed control P Switching CON 1CN 11 is no longer used to switch between Spas P control and PI control Position control Pulse reference lt gt Torque control Sarno drive Analog voltage torque input analog reference Switching Position control Pulse reference and T REF Torque control analog reference by using P CON 1CN 11 1CN 11 OFF Position control Position reference 315N Switching Control modes Torque control analog reference x 5 Speed control analog reference Switching between Torque control analog reference and Speed Servo drive Speed control analog reference reference Inputs speed reference or speed limit value from V REF 1CN TET i 19 Torque Inputs torque reference torque feed forward reference and reference torque limit from T REF 1CN 21 Speed reference torque switching Switches torque control and speed control by P CON 1CN 11 5 1CN 11 OFF torgue control ON speed con
112. servo system User s manual V 2 01 Name and description Rotation Direction Selection 0 Forward rotation is defined as counterclockwise rotation when viewed from the drive end Standard setting 1 Forward rotation is defined as clockwise rotation when viewed from the drive end Reverse rotation mode Doesn t or does use analog speed limit function 0 Does not use analog speed limit function 1 Uses analog speed limit function Reference pulse form 0 Sign Pulse 1 CW CCW 2 A phase B phase x1 multiplication 3 A phase B phase x2 multiplication 4 A B x4 multiplication Reference pulse form 0 does not invert PULS reference pulse logic does not invert SIGN reference pulse logic 1 does not invert PULS reference pulse logic inverts SIGN reference pulse logic 2 inverts PULS reference pulse logic does not invert SIGN reference pulse logic 3 inverts PULS reference pulse logic inverts SIGN reference pulse logic uses analog current limit function or not 0 Does not use analog current limit function 1 Uses analog current limit function use torque feed forward function or not 0 Does not use torque feed forward function 1 Uses torque feed forward function ESTUN 117 Unit r min r min 0 NV Hz ms 1 s Yo 0 1ms ms ms P R Setting range O Ti Bao 0 3 0 1 O l 0 2000 1 2000 1 5120 1 1000 0 300 0 100 0 250 0 10000 0 10000 1 25
113. sing Torque Control Wo Wc W mm mma 54 4 2 9 Using Torque Feed forward Function Wo Wan 59 4 2 10 Using Torque Restriction by Analog Voltage Reference 60 4 2 11 Using the Reference Pulse Inhibit Function INHIBIT 61 4 3 Setting up the parameter Wo Woo Wo Wo WWW WWW mna 4 3 1 Setting the Jog Speed o Wo Wo Wo Woo WWW mma 63 4 3 2 Selecting the control modes W oWoW Wo Wo Woo WWW mma 63 AA Dering SP NE 4 4 1 Adjusting OS AA 68 4 4 2 Using Dynamic Brake oo Woo oom Wo Wo mmm 69 4 4 3 Using PA E I Lem os mna lee san Rasa Pan 70 4 4 4 Using Holding Brake WWW man 71 4 5 Forming a Protective Seguence Wooo Wo WWW W om mma 4 5 1 Using Servo Alarm Output and Alarm Code Output 16 4 5 2 Using Servo ON Input Signal oooo WWW WWW 11 4 5 3 Using Positioning Complete Signal oo oooW oo W Woman 18 4 5 4 Using Speed Coincidence Output Signal oooooWoW oom 19 4 5 5 Using Running Output Signal Woo Wa 80 4 5 6 Using Servo Ready Output Signal ooo W WoWoWoW Woman 81 4 5 7 Handling of Power LOSS WWW mom mba 82 4 5 8 Using Regenerative Resistor Units Wo Woo 83 4 6 Running the Motor SMOoothIYy o oo W WWW Wa 4 6 1 Using Smoothing function ooooW oo Wo
114. stant With the standard setting the machine may cause vibration resulting from the servodrive In this case increase the constant setting Vibration may stop Vibration can be caused by incorrect gain adjustment machine problems and so on 4 7 Minimizing Positioning Time 4 7 1 Setting Servo Gain ll Setting Speed Loop in Kv Pn013 Speed Loop Gain Kv 1 2500 Pn014 Speed Loop Integration Time Constant Ti 1 5120 Pn 013 and Pn 014 are a speed loop gain and an integration time constant for the Servodrive respectively The higher the speed loop gains value or the smaller the speed loop integration time constant value the higher the speed control response There is however a certain limit depending on machine characteristics Speed Speed loop gain reference NE A ms opeed feedback ll Setting Position Loop Set the following parameters related to position loop as necessary Pn015 Position Loop Gain Kp 1 1000 Increasing the position loop gain value provides position control with higher response and less error However there is a certain limit depending on machine characteristics This gain is also valid for zero clamp operation ESTUN 36 EDB series AC servo system User s manual V 2 01 Position Position loop gain reference The gain is also valid in zero clamp in EDB series servodrives Position feedback 256 Pn036 Overflow 1 32767 1024 References Set in this paramet
115. stop Dynamic brake suddenly stops a servomotor by shorting its electrical circuit This dynamic brake circuit is incorporated in the servodrive 4 4 3 Using Zero Clamp The zero clamp function is used for a system in which the host controller does not form a position loop by speed reference input In other words this function is used to cause the motor to stop and enter a servo locked status when the input voltage of speed reference V REF is not 0 V When the zero clamp function is turned ON an internal position loop is temporarily formed causing the motor to be clamped within one pulse Even if the motor is forcibly rotated by external force it returns to the zero clamp position ESTUN n EDB series AC servo system User s manual V 2 01 Speed reference less than PnUS1 setting is Ingored x Servo drive V REF Host controller P CON stops instantaneously Bl Setting Set the Pn041 to 10 and select speed control analog reference zero clamp control so that input signal P CON can be used to enable or disable the zero clamp function Pn041 Control mode selection 10 Speed control Analog reference lt gt zero clamp mamaria This speed control allows the zero clamp function to aheg eee be set when the motor stops D A speed reference is input from V REF 1CN 19 P CON 1CN 11 is used to turn the zero clamp function ON or OFF Zero clamp is performed when the 1CN 11 ON Turns zero clamp function
116. t 6 4 ma 9 LRC verifying ODHNCR CATH RTU mode Order information Response information om om mi mi datum start 02H high bits 1 dahi tari O2H high bits 1 address OOH Iow bits address OOH low bits J 001 high bits 64Hilow bits 641 Iow bits CRC verifying 89HUow bits S9H ow bits 99H high bits 6 3 2 Communication fault disposal While communication faults may occur Normal faults as follows gt While read write parameter datum address is wrong gt While write in parameter the datum exceeds the maximum value of this parameter or is less than the minimum value of this parameter gt Communication is disturbed datum transmission fault or verifying code fault When above mentioned communication faults occur servo drive running won t be affected Meanwhile servo drive will feed back a faulty frame The faulty frame form as follows Host controller datum frame ESTUN 108 EDB series AC servo system User s manual V 2 01 Servo drive feedback fault frame Ha code Thereinto Fault frame response code order 80 p Fault code 00 p communication in gear 01 p servo drive cannot identify the required functions 02h the required address do not exist in the servo drive 03 p the required datum in the servo is not workable beyond maximum or minimum value of the parameter 04 p servo drive starts to execute the requirement but cannot achieve it
117. tation prohibited Alarm reset When OL alarms reset Clear signal input When ON displacement clears Forward external torque limit Chen OM limit enabled PCL 16 Eoo o Reverse external torque limit C4hen OM limit enabled NCL E ESTUN or Connector Frame FG Sheild wires connect to the connetor frame 16 PG frequency dividing output syecne Speed Coincidence JE SLET gutpu When speed COIN Coincident ON W CWp Positioning complete g COIN When positioning completes ON ATGON TSON output TGOM when value exceeds setting ON E 5 EDY Servo Ready output S RDY hen servo ready ON Torque limit output pa a hen value exceeds setting ON BE Brake interlock output BR When OM brake release DV Alarm output 3 Ayhen Alarm T ALN triggered OFF Fhotocoupler output Max applicable voltage 30vDE Max applicable Current SOm DC x Specific pins output can be defined EDB series AC servo system User s manual V 2 01 3 2 2 Terminal layout of connector 1CN Pin Pin Name Description Name Description number number pe V REF Speed reference output COIN V CMP signal output speed 1 TGON incid tput rede guy 21 T REF Torque reference input TGON 1 Run output 2 S RDY 2 Servo ready output 22 SG OV S RDY 3 Torque limit output 3 CLT 4 Holding brake interlock Open collector reference 23 PL1 CLT output input power supply 4
118. then the servo drive will probably run at the max running speed when Servo ON again PLEASE PAY ATTENTION TO THE SAFETY OF INSTRUMENT Name and description Setting range Default 0 clear the error counter when S OFF Pn005 0 1 1 not clear the error counter when S OFF m Looking for the reference point Looking for the reference point is for establishing a zero physical point of the operating platform which is used as zero point in the coordinates during point position control And users may choose to find a reference point either in forward side or reverse side How to find a reference point Mount a limit switch in the forward or reverse side find a reference point in the forward direction after connect to IPCL and in the reverse direction after connect to NCL When the operating platform bump into the limit switch motor will first stop according to the way set by Pn004 and then rotates again against limit switch When the operating platform completely departed from limit switch and put motor at the position of first photo encoder Phase C pulse Then position of operating platform is set to be zero point of coordinates ESTUN 45 EDB series AC servo system User s manual V 2 01 How to find related parameters of reference point Speed that towards limit switch is called speed of looking for reference point and the speed moving away from limit switch is called moving speed These two speeds could be set by follo
119. train input An t1 t2 0 ips sign SIGN PULS signal E o t3 t7 0 1ps H Forward reference Max reference frequency 500 kpps l YAJ LUI PX Y t4 t5 t6 gt L Reverse reference when 200kpps collector open output SUS T 1 0us COW pulse CVV pulse Maximum reference frequency 500 kpps when 200kpps collector open output Forward reference 90 different two phase pulse train H 4 tl t2 SO User constant Pr 09 e phase A phase Bj ALA is used to switch the Maximum reference frequency Phase A m is pulse multiplier x 1 multiplier 500 kpps T T mode when 2OOkpps collector open output Phase B 1 x 2 multiplier 400 kpps x 4 multiplier 200 kpps Forward reterence Reverse refere Phase B is 490 Phase B is YO forward from phase behind phase A Select if the input signal converted or not when setting parameter Pn009 according to your needs B Input Pulse Multiply Function When the reference form is two phase pulse train with 90 phase 8 ng difference the input pulse multiply function can be used Number of l l l motor move 6 The electronic gear function can also be used to convert input x2 pulses 4 pulses Allowable Voltage Level and Timing for Reference Pulse u Input reference pulse Input ll Cleaning the Error Counter Input CLR 1CN 15 Error Counter Clear Input Setting the CLR signal to L level does the following e Sets the error counter inside the Servo drive to 0
120. travel limit function connect the following overtravel limit switch input signal terminals to pins of 1CN connector correctly nput P OT 1CN 12 Forward Rotation Prohibited Forward Overrun nput N OT 1CN 13 Reverse Rotation Prohibited Reverse Overrun For linear motion connect a limit switch to prevent damage to the machine Reverse rotation Forward rotation IS Serva motor Limit switch Servo drive Input signal ON OFF status are shown as follows 1CN 12 L level Forward rotation allowed Normal operation status 1CN 12 H level Forward rotation prohibited reverse rotation allowed 1CN 13 L level Reverse rotation allowed Normal operation status Ka 1CN 13 H level Reverse rotation prohibited forward rotation allowed a Specifying whether Input Signals for Overtravel are to be Used Use the following parameters to specify whether input signals for overtravel is to be used Default value is using Uses the P OT input signal for prohibiting forward rotation or not 0 Uses the P OT input signal for prohibiting forward rotation Forward rotation is allowed when 1CN 12 is at 0 V 1 Does not use the P OT input signal for prohibiting forward rotation Forward rotation is always allowed This has the same effect as shorting 1CN 12 to 0 V Uses the N OT input signal for prohibiting reverse rotation or not 0 Uses the N OT input signal for prohibiting reverse rotation
121. trol analog reference Pn041 9 only This function restricts torque by assigning the T REF terminal 1CN 21 1CN 22 a torque limit value in terms of analog voltage Since torque reference input terminal T REF is used as an input terminal this function cannot be used for torque control When PCL signal 1CN 16 is ON the forward torque is under restriction When NCL 1CN 17 is ON the reverse torque is restricted IPCL IMCL Torque limit Fr026 value Pn0 31 Torque limit value Prize POLO pee 5 d I refernce Kk Torque reference Integration Torque limit Speed feedback value ESTUN 60 EDB series AC servo system User s manual V 2 01 d How to Use Torque Restriction by Analog Voltage Reference To use this torque restriction function set the following memory switch to 1 to enable analog voltage reference as external torque limit M na 0 External torque limit restriction prohibited 0 1 analog voltage reference 1 External torgue limit restriction enabled analog voltage reference Besides set Pn011 0 torgue feed forward function is disenabled Being rang otot E 0 torque feed forward function prohibited 0 1 n 1 torgue feed forward function enabled To use this function input a speed reference to the V REF terminal and a torgue limit value to the T REF terminal According to PCL and NCL status set forward and reverse rotation torgue limit respectively Refer to the following table
122. trol x In torque control mode when P CON is OFF e Perform torque control according to T REF reference ON torque control e Offer speed limit according to V REF when Pn007 1 determine rotation direction speed by referring voltage V REF absolute value e Limit max speed by using Pn042 In speed control mode when P CON is ON eSet Pn010 and Pn011 value as follows Parameter Speed input reference Torque input reference Remarks V REF 1CN 19 T REF 1CN 21 mee mem VU ee ee enda o afar to 420 ESTUN 68 EDB series AC servo system User s manual V 2 01 Give torque limit speed control by analog voltage reference Speed reference Speed control Analog reference lt gt zero clamp Speed control mode with zero clamp function inputs speed reference from V REF 1CN 19 Select zero clamp functions by using P CON 1CN 11 signal 1CN 11 ON zero clamp enabled OFF zero clamp prohibited Position control pulse reference lt gt pulse prohibited Position control with pulse prohibit function Switching between pulse prohibit P CON 1CN 11 enabled or not 1CN 11 ON Pulse prohibit enabled OFF Pulse prohibit disenabled Position control parameter reference If Pn051 1 P CON 1CN 11 is used as step changing signal input Use PCL 1CN 16 and NCL 1CN 17 to look for reference point Speed control parameter reference Motor rotates according to parameter preset speed and status P CON i
123. ue in forward direction 9 V input 300 of rated torque in forward direction 0 3 V input 10 of rated torque in reverse direction Example of Input Circuit See the figure below Servodrive 4706 1 2W DJ E 12V Speed limit input Input V REF 1CN 19 Speed Reference Input or Speed Limit Input Input SG 1CN 20 Signal Ground for Speed Reference Input Motor speed is controlled so that it is proportional to the input voltage between V REF and SG ESTUN 57 EDB series AC servo system User s manual V 2 01 Standard setting Reference speed 10 Standard tooo Input voltage Wi setting 1 000 Set the slope In FAO 4 5000 For example Set Pn012 250 then 6 V input 1500 r min in forward direction 1 V input 250 r min in forward direction 3 V input 750 r min in reverse direction Parameter Pn012 can be used to change the voltage input range This is also applicable to speed restriction Example of Input Circuit see the following figure e For noise control always use twisted pair cables Servo drive 4709 1244 and more inv T Speed limit function of torque control could be realized by set the following parameter with two modes available 0 no analog speed limit Ora o Pn007 l o For speed torque limit 1 with analog speed limit Internal speed limit Set Pn007 0 there s no external analog speed limit with only internal speed limit available Set Pn04
124. units Load travel distance per revolution of load shaft in reference units Load travel distance per revolution of load shaft in unit of distance Reference unit Example When ball screw pitch is 5 mm and reference unit is 0 001 mm 5 0 001 5 000 reference units 5 Determine Ball Screw Disc Table Belt amp Pulley f the electronic Load shaft gt p E Load shaft TA gear ratio Orr fre D BA P Pitch Load shaft D Pulley diameter 1 revolution mco 1 revolution 360 D If the load E j 1 revolution Reference unit Reference unit A ANT AA alas 11 5 n revolutions when the motor shaft makes m revolutions the gear ratio of motor shaft and load shaft is 77 7 Electronic gear ratio kA Number of encoder pulses x 4 NE Travel distance per revolution of load shaft in reference units Note Make sure that the electronic gear ratio meets the following condition 0 01 lt Electronic gear ratio A B lt 100 If the electronic gear ratio is outside this range the Servo drive does not work properly In this case modify the load configuration or reference unit 6 Set the electronic gear ratio in the parameters below Reduce the electronic gear ratio B A to their lowest terms so that both A and B are an integer smaller than 65535 then set A and B in the following parameters Pn022 Electronic gear ratio B numerator NN 1 765535 me Pn023 Electronic gear ratio A denominator a 1 65535
125. vo functions at following condition 1 S ON input signal 1CN 10 is OFF 2 Servo alarms triggered 3 Power OFF Setting Pn004 to select stop modes according to the demand ESTUN 29 EDB series AC servo system User s manual V 2 01 4 1 3 Limiting Torque The servo drive could use the following method to limit torque Grade 1 Limit the Max output torque to protect press and parts Limit internal torque Grade 2 Limit torque to move to desired position limit external torque Name and description Setting range Default Pn026 Forward torque internal limit O 0 300 300 Pn027 Reverse torque internal limit 0 300 300 Pn028 Forward torque external limit 0 300 Pn029 Reverse torque external limit 0 300 fl Grade 1 set the internal torque limit Adjust forward and reverse torque limit by setting Torque limit parameters Pn026 Pn027 for limiting torque After setting the limit Motor ICLT will output when reach the limit value If the torque limit is set Speed higher than the maximum torque of the servomotor the maximum torque of the Torque servomotor is used Example for mechanical protection lj Grade 2 set the external torque limit First set the torque limit of user constant Pn028 Pn029 then enable the limit with contact input signal Both forward and reverse torque could be set separately Servo drive Torque limit Rotating Pn028 Forward speed Torque mE PCL Torque limit UN _ oF Pn028 1 H
126. vyisted pair ka e pco ILL pco 3B kal 18 5G 24VIN g j N CMPA Speed coincidence output Servo ON 747 V CMP hen ON Servo 2 B When Speed coin OM function enabled P control TSON output when ON P control TGONT nen value enabled TGON exceeds setting OM Forward rotation prohibited When OFF forward rotation 5 EDY Servo Ready output prohibited S RIY when servo ready OM Reverse rotation prohibited when OFF reverse rotation prohibited Alarm reset When OM alarms reset Torque limit output When value exceeds setting OM CLT CLT BE Brake interlock output BR Chen ON brake release 1Ry 24V Forward external torque limit OY Alarm output When OM limit enabled Kena E amp When Alarm Reverse external torque limit triggered OFF Chen OM limit enabled Photocoupler output Max applicable Voltage 3OV Dc Connector Frame Max applicable Current 5OmMADC FG sheild wires connect to the connetor frame x Specific pins output can be defined ESTUN 25 EDB series AC servo system User s manual V 2 01 3 5 3 Torque control mode l Three phase AC 200 2307 Er 50 60Hz N Moise filter Ooo S D IRy PL OFF 1 ON Pas IM 1Ry Surge suppressor Eg o KA MT Servo motor 5 LHC Bl B2 B3 U PA INC Y Lo w LMC L3 amp X EDB Servo drive Photo encoder Please handle connector of speed reference
127. wing parameters Pn221 speed looking for point Cbump the limit switch reference move away from limit r min 0 2000 30 Usually set speed of looking for reference point Pn221 high and Moving speed Pn222 low Note if moving Moving speed Pn222 switch speed is too high precision of finding a reference point would be affected Besides PCL and NCL is no longer functioned to limiting external current when looking for a reference point m Related user constants Para Ta l Description Observation No Choose between cycle run and single run l l l l Changing steps will be performed till 0 cycle run PCL as start signal NCL reverse to l l the end point completed and the look for reference point l next change will start from the start Pn050 1 single run PCL as start signal NCL reverse to l l point during multi points cycle run Point change steps after the end point look for reference point control program will not 2 cycle run NCL as start signal PCL reverse to look for reference point l l l l l completed during multi points 3 single run NCL as start signal PCL reverse to single run look for reference point Change steps by external P CON Pn051 Pn052 ESTUN 0 delay changing steps no need of start signal 1 change steps by P CON no need of start signal 2 delay changing steps need start signal PCL or NCL 3 change steps by P CON need start signal
128. ystem User s manual V 2 01 Name and description Setting range Default 0 delay changing steps no need of start signal 1 change steps by P CON no need of start signal 2 delay changing steps need start signal PCL or NCL 3 change steps by P CON need start signal PCL or NCL Time for change steps outputs from positioning completed signal CON from Servo ON or from the time when reference point is found till Servo perform the program to control position of the point Such period of time depends on step changing time required by a point number among start point in program For example the start point of the program Pn219 1 then the step changing time depends on the value of No O step changing time Pn187 It could be deduced by analogy when program start points are from 2 15 But when Pn219 0 then the delay time is No 15 point changing steps time Pn202 During this time and time before when Servo is OFF the step display in monitor is the program start point minus one If Pn219 0 then the current point displays in monitor is 1 If Servo OFF after point control program has been performed then actual step will be displayed in the monitor Looking for a new reference point then the current step will display the step before program start point When running point control program if error counter is set as not clear error counter when Servo OFF then the error counter might flood If it does not flood

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