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Estun EDC Users Manual 2.21

1. 99 Appendix A Parameter list Fe Name and Meaning Unit Setting range Default Remarks Enable Disable Servo On input signal C S ON Pn000 0 Enable Servo ON input signal S ON G M 1 Enable internal servo ON S ON Enable Disable input signal prohibited P OT When 1CN is set as P OT signal limiting direction and enable are selected Pn001 according to this parameter 0 1 0 0 Enable forward run input signal prohibited 1 Disable forward run input signal prohibited Enable Disable input signal prohibited N OT When 1CN is set as N OT signal limiting direction and enabling are selected Pn002 according to this parameter O 1 0 0 Enable reverse run input signal prohibited 1 Disable reverse run input signal prohibited Select operation upon momentary power interruption Pn003 0 Servo alarm output is not available 0 1 0 D CALM 1 Servo alarm output is available ALM Stopping method for servomotor after Servo OFF or alarm occurrence 0 Stop the motor by applying DB dynamic brake 1 Stop the motor by coasting e SE 2 Stop the motor by applying DB _ one o dynamic brake then the motor coasts to a stop 3 Stop the
2. 0 z ZE Ki 0 ER S oO 4 EN ra ra eh B 0 oO EN W F H KR DACH e OAn LF RTU mode 01 Reference information 03h Response information 04 Ofn 00 high 03h 02 high Bin low 00 low 1F high 00 02 40 low C5 low B3 high A3 low D3B high Reference code 06H write in one word For instance write 100 0064H into 01H servo at the address of 0200H 87 ASCII mode Reference information Response information STX Sn STX Ss ADR ADR RH D 0 DH DH 0 3 MD CMD e C T D 0 DH DH 0 3 Start address of 2 Start address of 2 information 0 information 0 D 0 DH DH 0 3 D 0 DH DH 0 3 on Start address of ra 0 0 Information SE information Le 6 0200 n 4 H 4 H d 9 o EN LRC verify iq LRC verify ER End 1 OD CR End 1 ODn CR End 0 OAn LF End 0 OAn LF RTU mode Reference information Response information ADR 01 ADR 011 CMD 06 CMD 06 Start information 02 high Start information 02 high address 00 low address 00 low 00 high 00 high Information 64 low Information 64 low CRC verify 89 low CRC verify 89 low CRC verify 99 high CRC verify 99 high
3. In above table H it means input signal is at high level L input signal is at low level 0 setting value in Pn054 0 means input signal low is active 1 setting value in Pn054 1 means input signal high is active N input signal is inactive Y input signal is active For example if CLR is set high and all other signals are set at a low level are to become active then it is expressed as 000100 in a binary system it will be 4 if converted into decimal system that is Pn054 must be set as 4 Take similar operation steps to set Output signal BIT2 BIT1 BITO De BRK COIN ALM eaning 34 Signal Release braking arrive Not arrive alarm No alarm meaning braking Pn055 0 1 0 1 0 1 0 1 0 1 0 1 ae low high high low low high high low high low low high Note When ALM is in normal status Output level is high inverts other two signals For example If output level is required to meet following conditions high when braking signal releases braking low when COIN signal is active ALM output is high when alarm occurs then it will be expressed as 100 in binary system if it is converted into decimal system it would be 4 that is Pn055 should be set as 4 Note The validity of I O signals mentioned in this manual are referring to a normal situation that is active when inp
4. The encoder signals by motor feedback as shown in above diagrams are the PA PA PB PB signals from PG output of servo drive m Set REV mode Rotation direction of motor is selected by setting the parameter as follows SE Name amp Comments Unit Range Default Select rotation direction 0 view from side of motor load CCW direction represents forward direction Pn006 standard mode 0 1 0 1 view from side of motor load CW direction represents forward direction CREV mode Note The change only takes effect when motor power is shut down and re powered on Eve AR 4 1 2 Overtravel The overtravel limit function stops movable machine parts when they exceed the allowable range of motion m Overtravel function setting Before using overtravel function please connect correctly the input signals of following overtravel limit switch to the corresponding pin numbers of servo drive s 1CN connector Input P OT 1CN 6 Pn001 0 Pn051 3 Forward direction rotation is prohibited input N OT 1CN 7 Pn002 0 Pn052 4 Reverse direction rotation is prohibited EDC servo drive have only one overtravel input signal 1CN 6 so users can only select overtravel limit in a single direction Please be aware that when you are running the system for the first time it s required to identify forward and reverse direction before making settings i
5. Take following steps to calculate value of LRC ASCII mode and CRC RTU mode LRC calculation in ASCII mode In ASCII mode LRC Longitudinal Redundancy Check is used LRC value is calculated according to following way first make a sum result of the values from ADR to contents of a finishing stroke then the result is divided by 256 later on take away the part that goes beyond after that calculate its fill in number final result will be the LRC value Following example shows the steps to read a word from 01H servo drive at the address of 0201H Sum ADR s data from beginning to the last data 01H 03H 02H 01H 00H01H 08H Take fill in number of 2 from 08H therefore LRC is F 8 88 STX SZ ADR H 0 MD C ER 07 2 Start info address ER 4 DH 07 Info quantity by AR word 0 WW 3 LRC verify L End 1 OD CR End 0 OA n LF CRC calculation in RTU mode CRC Cyclical Redundancy Check error detection value is used in RTU mode Take following steps to calculate CRC error detection value Step 1 Load in a 16 bit register whose content is FFFFH which is called CRC register Step 2 Make OR calculation of the 17 bit bit0 of reference information and the low bit LSB of 16 bit CRC register then save the result into CRC register Step 3 Check lowest LSB of CRC register if this bit is 0 then move the value to th
6. 103 Para Name and Meaning Unit Setting range Default Remarks No search is done X 0 forward run origin search ZPS as origin X 1 reverse run origin search ZPS as origin Pn072 Start point of program 0 7 0 Pn073 End point of program 0 7 1 Speed 1 when searching reference point l i Pn074 chit STROKE travel distance switch SR E 1009 Speed 3 when searching reference point Pn075 away from STRKE travel distance r min 0 300 5 switch Pn076 reserved 0 4 Pn077 Cycle number of origin search offset 10 EE 0 9999 0 pulse Pn078 Pulse number of origin search offset 1 pulse 0 9999 0 Pn079 _ Reserved a 0 0 4 Pn080 moving distance O revolutions EEN pulse Pn081 moving distance 0 Helene 9999 9999 0 pulse 4 Pn082 moving distance 1 revolution 10 E 32767 32767 2 pulse Pn083 moving distance 1 low l er 9999 9999 0 4 Pn084 moving distance 2 revolutions 10 oe 32767 32767 3 pulse Pn085 moving distance 2 low Geen 9999 9999 0 4 Pn086 moving distance 3 revolutions 10 re 32767 32767 4 pulse Pn087 moving distance 3 low pei 9999 9999 0 4 Pn088 moving distance 4 revolutions 10 SE 32767 32767 5 pulse Pn089 moving distance 4 low EE 9999 9999 0 4 Pn090 moving distance 5 revolutions 10 eo 32767 32767 6 pulse Pn091 moving distance 5 low l GH 9999 9999 0 4 Pn092 moving d
7. 2 when pulse is difference input servo receiving pulse frequencys100K Pn059 RS232 COM input IO contact control 0 15 Pn060 RS232 COM address 1 254 Pn061 RS232 COM baud rate 0 4800bit s 1 9600bit s 2 19200bit s bit s Pn062 Pn063 Pn064 RS232 COM protocol 0 7 N 2 Modbus ASCII 7 1 Modbus ASCII 7 O 1 Modbus ASCII 8 N 2 Modbus ASCII 8 E 1 Modbus ASCII 8 O 1 Modbus ASCII 8 N 2 Modbus RTU 8 E 1 Modbus RTU 8 O 1 Modbus RTU CAN COM address CAN COM baud rate 50K 100K 125K 250K 500K 1M Pe O E ae TA mzomzom anwWwN AO Kbit s 1 127 Pn065 CAN COM selection O disable 1 enable Pn066 Reserved Pn067 Power Supply input selection 0 Use AC 220V Power Supply input 1 Use DC 310V Power Supply input Pn068 Select cycle run O multi point cycle run 1 multi point single run Pn069 Enable disable P CON signal as step change signal 0 Enable delay step change 1 use P CON signal as step changing signal Pn070 Programming method OJincremental 1 absolute Pn071 Origin searching method Z 0 turn off origin search function Z 1 Power on after the 17 SON start origin search function automatically Z 2 start origin search function automatically every time after S ON Y 0 Search Pulse C after origin search is done Y 1 don t search Pulse C after origin 0 211
8. 4 1 1 Servomotor rotation direction Select With the servo drive a motor can rotate in one direction which is called REV mode without any need to make changes in motor wiring The standard setting for forward rotation is the counterclockwise as viewed from motor load REV mode only changes motor s rotation direction in this condition the travel direction of shaft rotation no other changes are made Standard mode Reverse mode sero Encoder signal mg Encoder signal mle feedbacked from mS feedbacked form BC motor vi motor wel Fall Bug I an i Eh SS g FWD Run Ref LLA cow TEN nose Se ow cl Phase A C K TL EE ell ic 0 elt HIN A g Phase B i IN Phase B mmm Encoder signal le feedbacked from ER mere Encoder signal nema ale feedbacked from bal a Dain rend H g REV Run Ref AR cw ATE ze S Ja LP U m lt IT gt gt TH C ro IS g ol GEMS ccw if J Phase A ZS L Ce we wH C aC P e fi ga II A Phase B 4 D
9. O position control Pn041 1 internal speed control 0 2 0 2 reference speed control m General information of above control methods are introduced as follows 0 position control pulse train reference Servo drive accepts pulse train generated by host controller and speed and positioning are behaving according to host control s demand 1 position contact control internal position reference Enable speed control by contact reference Please refer to 4 2 7 internal speed control of the manual 2 parameter speed control parameter reference Run at constant speed as specified in Pn048 The following table shows the meaning of some input signals in different modes Pn041 Control modes Servo drive se PULS position control pulse train reference Position 0 Normally position control input reference reference sign refers to pulse train Internal position control internal position reference 1 No external input signal is required Run according to value in internal position register parameter speed control parameter reference Servo motor rotates according to speed and status specified in Pn048 setting 47 4 4 Stop function settings 4 4 1 Dynamic brake Set the value of Pn004 to select stop mode of servo motor DB braking or coast stop If dynamic brake is not used motor stops naturally with no brake by using the friction resistance of the motor
10. Brake waiting time Pn046 For running a brake motor if S OFF is caused by variation of S ON or alarm occurrence it s required to set brake waiting speed of servomotor or brake waiting time Brake waiting time Pn046 refers to the period of time delay between motor stops S OFF and brake active is implemented This parameter should be adjusted while observing mechanical movements When servo motor is running if any of following conditions is true the output signal of BRK will be ON 1 After servo OFF motor speed is lower than setting value of Pn045 2 After servo OFF motor speed is higher than setting value of Pn046 51 4 5 Protection design 4 5 1 Servo alarm output The following diagram shows the right way to connect Alarm Output IO Power suppl Servo drive rav OV Optocoupler output Each output node Max output voltage 30V Max output current 50mA External 24V I O power supply is required since there is no 24V power supply available inside servo drive Output gt ALM 1CN A Servo alarm output COM 1CN 5 Servo alarm output uses grounding signal Normally the external circuit consists of ALM should be able to switch off power of servo drive Servo drive Be detected abnormal gt ALM Output Cut off the main circuit power Signal Status Output level Comments ON 1CN 4 L level Normal state output signal is high when alarm ALM occur
11. co 4 Linear drive output equivalent with AM26LS31 Connector Shell Output signal Represent multi twisted cable R 220 470 Output encoder signal after frequency is divided Output PAO 1CN 8 Output PAO 1CN 18 A phase pulse differential Output 31 Output PBO 1CN 9 Output PBO 1CN 19 tput P 1CN 1 Opi ERCO e L C phase pulse differential Output B phase pulse differential Output Output PCO 1CN 20 The following illustration shows the style of perpendicular pulse output of Phase A and Phase B Parameter Pn011 0 CCW gt a 2 CW dr 90 Phase A ee als Phase A Te ae Ne Parameter Pn011 1 CCW CW 90 90 Phase A Deran Phase A DETSE Phase B JEE Phase B m Set pulse dividing frequency ratio Set pulse dividing frequency ratio with following parameters Parameter Meaning Unit Range Default Pn010 PE dividing 2500P R 1 2500 2500 frequency ratio Inverts dividing Pn011 frequency output 0 1 0 phase Set output pulse numbers of PG output signal PAO PAO PBO PBO which is transmitted outward subject to servomotor running for one revolution Servo drive Linear drive output Servo motor encoder Phase A 1CN 8 1CN 18 a as Frequency Phase B 1CN 9 1CN 19 PG Dividing Phase C 1CN 10 1CN 20 Divides pulse frequency of servomotor encoder PG and output according to pulse number
12. setting Setting value means the individual output of pulse numbers for PAO PAO PBO and PBO signal when servomotor runs for one revolution If Pn010 is set as 1000 it means output of PAO signal is 1000 pulses subject to motor runs for one revolution so do the PAO PBO and 32 PBO signal output Please make setting according to the machine and reference the units of the controller Note After parameter changes turn power OFF and then turn power ON again 4 2 3 Sequence I O signal To control sequence input and output signal of the servo drive s please connect according to your application requirements Connect sequence input signal Following illustration shows how to connect the sequence input signal EDC Servo drive 24VIN 16 t SON 15 ALM RST l 6 CLR 7 ZPS 17 Notes 24V I O power supply is required since there is no internal power supply servo drive External power supply specification DC24V 1V 500mA higher It s suggested that input circuit and output circuit use the same power supply Voltage range of input circuit is 11V 25V If power voltage is low and relays are used low value current switches or relay are required to avoid bad contact Always check and confirm the electrical specification of the relay or relevant parts before use input 24VIN 1CN 16 External I O power input Connect contact point of output signal 33
13. 3 Comments When zero adjustment method is selected according to practical requirements set Pn071 zero adjustment will be implemented according to this setting When zero adjustment is made the servomotor will run at the set speed of Pn074 When ZPS 1CN 17 signal is active if the parameter setting requires the servo motor to return and search Pulse C then motor will run reverse at the set speed of Pn075 otherwise motor will run forward at the set speed of Pn075 When ZPS signal is inactive after first Pulse of motor encoder is detected calculation of zero balance offset pulse is started motor stops after offset pulse completes Zero adjustment operation is completed Motor will not return and search Pulse C after it detects the zero adjustment position limit switch Back zero switch speed Motor spee Pn074 rpm Leave back to zero switch speed Pn075 l No return to search Z pulse IZPS Offset distance of back to zero zero signal t___ Pn077x10000 Pn078 j Encoder cpuse Itt I Leave back to zero swith after the first C pulse start to calculate offset distance ido Corresponding position mm eme Mechanical movement no return to find C pulse Leave back to zero switch after Motor el the first C pulse start to calculate deceleration offset distance Encoder C pulse I ZPS signal En Ret
14. If mechanical vibration caused by servo occurs when standard setting is used adjust this parameter to a larger value the vibration can also be restricted effectively The reason of vibration may be by incorrect gain adjustment or machine problems 4 7 High speed positioning 4 7 1 Servo gain settings m Setting speed loop gain Parameter Select speed loop control method 0 speed control method 1 speed control method Please note when this parameter is changed corresponding Pn013 and Pn014 will change too Generally when Pn007 1 value of Pn013 and Pn014 need to be reduced Pn007 Speed feed forward Parameter name Unit Setting range Default 0 1 Pn012 Speed feed forward 0 0 Disable speed feed forward 1 Enable speed feed forward Inertia inspection is required before using this function With this function speed response is enhanced and setting time is reduced 59 Setting speed loop gain Parameter name Unit Setting range Default Pn013 Speed loop gain Kv Hz 1 3000 160 Pn014 Speed loop integral time me 1 2000 250 constant T i The above information shows internal speed loop gain and integral time constant of servo drive The larger the speed loop gain is set or the smaller the speed loop integral time constant is set the easier to have fast response speed control and this is limited by mechanical features The larger the speed loop integral time constant is set servo has better
15. Servo drive Powel Supply 24V ov Pn049 0 BK 1 COIN 2 CLT 3 S RDY 4 C Pulse Pn050 0 BK 1 COIN 2 CLT Optocoupler output each 3 S RDY 4 C Pulse output node 7 e Max output voltage 30V Max output current 50mA ALM Handling of I O signals Input signals are smoothed with filters to the servo drive Set filter time with parameter Pn053 Active power level of input signal is controlled by Pn054 and active power level of output signal is controlled by Pn055 Following signals are I O signals subject to default parameters oe Name and meaning Unit Setting range Default Pn053_ input signal filter time ms 0 1000 100 Pn054 Inverts input signal 0 15 0 Pn055_ Inverts output signal 0 7 0 During filter time of input signal if signal spikes occur input signal will not be received by servo drive Input signal will be received by the drive only after it keeps stable for the set time that is signal need to keep on a constant level within period of Pn053 before it can be accepted by the servo drive Drive estimates signal validity according to Pn054 Following table shows operations to invert input signal Pn054 Digit BIT3 BIT2 BIT1 BITO input signal ZPS CLR ALM RST S ON Signal level H L H L H L H L Pn054 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0J1 Signal active N Y YININ Y Y ININ Y Y IN IN JY Y N
16. Take following operation steps to make JOG operation 1 Press MODE key to select auxiliary function mode 2 Press INC or DEC key to select JOG Function number Fiola 3 Press ENTER key to enter JOG mode meanwhile servo is OFF motor power is OFF CT olo 4 Press MODE key to enable Servo ON S ON oloo 5 Press MODE key to turn servo ON and OFF If user wants to run motor Servo On has to be used 6 Press INC or DEC key motor runs when pressing the keys The servomotor will rotate at the present setting speed as below AE AE wes TA A SS ana D b lech UL Moter forward rotation e reverse rotation During motor s FWD or REV direction LED display is as below TV Forward direction LILI IL OO Reverse direction ONT 7 Press ENTER to return to function number display At this moment servo motor is turned OFF CA 6 2 4 Automatic offset signals adjustment of motor current detection The servo drive will check motor current detection signals every time the servo is initializing upon power on and will adjust automatically if required therefore the user needn t do any manual adjustment in normal situations If the user thinks the torque is a bit too large by judging from motor current offset user may manually adjust motor current to lower down the torque further or to get higher running accuracy This section gives a know how instruction on the operation steps to make offset signal auto
17. 220VAC connection wire while use external regeneration resistance Before connection and installation please refer carefully to all the precautions in the instruction of the regenerative unit which is to be used R C Short circuit connection 1MC Please remove short 57 4 6 Smooth running 4 6 1 Smoothing Servo drive can perform smoothing filtering on reference pulse input of certain frequency Parameter name unit Gu Default number range Pn024 position reference 1st filter ms 0 1000 0 Pn025 Feed forward filtering ms 0 1000 0 position reference Pn033 smoothing filter time ms 0 1000 0 constant By adjusting the parameters the smoothing performance of position control can be changed 4 6 2 Acceleration deceleration time Servo drive can perform acceleration and deceleration on speed reference to have soft start function Para NO Name SA Setting Default range Pn019 Soft start acceleration time ms 0 10000 100 Pn020 Soft start deceleration time ms 0 10000 100 Pn021 S shape acceleration and CR 0 1000 0 deceleration time gt Pn019 time from halted status to speed of 1000r min gt Pn020 time from speed of 1000r min to halted status Pn019 and Pn020 are linear acceleration deceleration time When large impact happens because linear acceleration deceleration is used to start stop the machine Pn021 can be set to have s
18. 30VDC and maximum current should be no more than 50mA II 3 3 Encoder wiring 3 3 1 Encoder wiring 2CN Incremental encoder EDC Servo drive Host controller 2CN 1CN SECH Encoder A pul AN gt 5 TP TPA Ge ncoder A pulse 2 8 PAO P 6 PB 24 2 18 PAO P i E 2 2 Encoder B pulse 2 9 l PBO 28 219 leo P 9 t P IPC 29 Encoder C pulse 2 10 J PCO Aes a 220 co Ip gt PG p Output line drive Equivalent product of Line receiver e AM26LS31 equivalent product of sy SN75175 I S E DESS GND 214 paoy 1 H 77 J et AS FG Connector shell Shield wire Connector gef L P Represent multi twisted shield wire Note ao The sequence No of encoder pin s corresponding relation with signal will change because of different types of motors 3 3 2 Signal list of connectors 2CN See following list for description of 2CN terminals Pin No Name Comments Pin No Name Comments 1 pE WEEK 8 PC Encoder C input Input 2 jpa Encoder p 9 IPC Encoder C input input 3 PA Encoder A 10 E input 4 ek ER 11 s i input 5 12 6 13 7 PG5V Encoder power 44 GND Encoder power supply supply 5V grounding Connect shielded wires FG to shell of connectors Note Large diameter wires or multi core wires are used for
19. Run at regulated speed of Pn048 Note 1 OFF Cinput signal is inactive 0 ON input signal is active 2 Set Pn048 to wanted speed value Value of Pn048 can be changed manually or via communication to make motor run at specified speed If the speed is set over maximum rotation speed then motor will run at maximum speed instead 3 Set soft start time Para NO Name Unit Setting range Default Pn019 Soft start acceleration time ms 0 10000 100 Pn020 Soft start deceleration time ms 0 10000 100 Pn021 S shape acceleration ms 0 1000 0 deceleration time gt Servo drive sets internal acceleration and deceleration time and implements control of speed acceleration and deceleration according to these parameters gt Soft start function is available when control mode is internal speed control parameter speed control and JOG running In position control mode soft start function is unavailable gt When input speed reference is stair stepping smooth speed control can be implemented by setting Soft start time Normally speed control is set to 0 Explanation of the parameter is described below gt Pn019 the period of time from stop status to a speed of 1000r min gt Pn020 the period of time from the speed of 1000r min to stop status Pn019 and Pn020 are linear acceleration deceleration time In the event of rather large jolt which may occur because linear acceleration deceleration time a
20. Set parameter To make reduction of B A to get A and B and select the most proximal whole number which is lower than 32767 Thus setting of electronic gear ratio is completed Par NO Name Unit Range Default Pn022 electronic gear B 8 1 32767 1 numerator Pn023 electronic gear A 1 32767 1 denominator Electronic gear ratio B A Pn022 Pn023 36 B Encoder pulse number x 4 x rotation speed of motor shaft A reference pulse number of each unit load movement when load shaft finishes one revolution x rotation speed of load shaft m Example of an electronic gear The following illustrations show the settings for different mechanical structures Belt Pulley 3 14x100mm Reference unit 0 2mm Load movement amount of bearing shaft s one round rotation ____ 15700 0 2mm Bearing shaft B 2500x4x2 Pn022 Electrical gear ratio CC 45700x1 Pn023 200 Redution ratio EES 2 4 157 Pulley diameter 100mm Setting Pn022 200 value Pn023 157 Incremental encoder 2500P R 6mm Ball screw Load movement amount of bearing shaft one round rotation 6000 Reference unit 0 001mm 0 001mm Bearing shaft CC B 2500x4x1 Pn022 A Electrical gear ratio L A 6000 Pn023 Incremental encoder Ball screw pitch 6mm 2500P R Setting Pn022 5 SE Pn023 3 Pl
21. default value and check if the data is correct replace chip U3 I O data error such as ALM ATI WO data error BRK COIN Relay LED Chip U7 fault or chip U15 fault lamps etc error Re WEE Check if the voltage of servo drive inlet wire A 21 Power loss error exceeding one cycle is normal occurred in AC power supply A 25 Watchdog reset system reset by watchdog EE 2 Serial peripheral abnormal 66 Item Alarm name Possible reason Method A 26 Program P Please check the interference of drive i rogram running error A 28 running error motor The type of motor iS NOtIThe type of motor set in A 42 match the typejPn042 is not match the type Get Pn042 is 0 of the sero of the servo drive drive CAN CAN communication is error Sri A 60 ay Se because of Interference or 1 Check communication cables Communication ec f 2 Check the trace of communication A 66 communication connection cables error abnormal 5 3 Clearing alarms E Clearing current alarm When an alarm occurs press ENTER for a few seconds in hand held panel operator s status display mode then current alarm is deleted Besides the alarm can also be reset by using 1CN 6 ALM_RST input signal Notes e Only current alarms with sign in 5 2 can be deleted Eliminate alarm cause first then input 1CN 6 ALM_RST signal current alarm is removed immediately During effective period of 1CN 6 ALM_RST si
22. identify requested function 02H given data address in the request does not exist in servo drive 03H given data in the request is not allowed in servo drive higher than maximum value or lower than minimum value of the parameter 04H servo drive has started processing the request but unable to finish this request For example Let s suppose the axis number of servo drive is 03H and we want to write data 06H into Parameter Pn002 Because maximum and minimum value of Pn002 are both zero 0 the data which is to be written in will not be accepted instead servo drive will feedback an error frame with error code 03 The frame is as below 90 Data frame of host controller Slave station Data address start command checkout address references etc 03H 06H 0002H 0006H Servo drive s feedback error frame start Slave alon Response Error code checkout address code 03H 86H 03H Plus if the slave station address of data frame transmitted by Host controller is OOH it means this frame of data is broadcasting data and servo drive will not feedback a frame 91 8 3 3 Parameters servo status data communication address In MODBUS communication mode all the communication parameters of EDC servo are shown in the following table Data e S dares Meaning Comments Operation P
23. in operation Para No Function Range Default Pn004 Stop mode of servomotor when servo OFF or 0 3 0 alarm occurs Para No Description 0 When servo OFF or alarm occurs DB braking active 1 When servo OFF or alarm occurs coasts to a stop 2 When servo OFF or alarm occurs DB braking active and is released Pn004 after motor stops 3 When servo OFF or alarm occurs coasts to a stop DB active after motor stops In following situation the servo drive will switch off the supply to the servomotor gt When GON 1CN 15 signal is OFF gt When servo alarm occurs gt When power supply is OFF Note Dynamic brake DB forces servomotor to stop immediately upon emergency therefore following notes must be considered e Do not start stop servomotor frequently with power On OFF switch this will cause fast aging and reduced performance of the internal elements in the servo drive e Do not start stop servomotor frequently with S ON 1CN 15 otherwise built in energy consumption resistor is damaged easily Dynamic brake DB is one way to force servomotor to stop immediately upon emergency By shorting power cable of servo motor to achieve emergency stop of servo motor This circuit is already built in EDC servo drive Servo drive Servo motor 48 4 4 2 Holding brake Servo motor with brake active Holding brake is required on the condition that perpendicular axis the axis which with
24. power supply and grounding 18 3 4 Motor wiring 3 4 1 Motor encoder terminals Shell 172169 1 AMP Pin 170359 3 AMP Incremental type Pin No Signal Color 1 A Blue EN 2 B Green 1 3 C Yellow 4 4 A Blue Black 8 j7 5 B Green Black Se 6 C Yellow Black 7 PG5V Red View from cable side 8 PGOV Black 9 FG Shield Note The corresponding relations between pin number of encoder and signal may be different for different types of motors Please refer to the motor instructions 3 4 2 Motor power terminal Shell 172167 1 AMP Pin 170360 1 AMP Pin NO Signal Color 1 U Red 2 V Blue 3 W White 4 FG Green Yellow View from cable side Note The corresponding relations between pin number of motor s power wire and signal may be different for different models of motors Please refer to the motor instructions 19 3 5 Standard connection example Single Phase AC220 10 15 50 60Hz A Non fuse circuit breaker F Surge Lightning protect t suppresser Noise filter
25. signal definition details in the following table Pitch Signification 1 VCC internal 5V power supply of servo drive 2 TX RS232 COM transmission foot 3 RX RS232 COM receiving foot 4 GND grounding of internal power supply of servo drive 5 FG connect the shield layer of COM to the earth 81 Following diagram shows how to connect a PC to EDC s COM port PC DB9 connector EDC communication connecto Notes bel Depending on different environment situations and communication speeds effective communication distance also varies When communication baud rate exceeds 38400bps a communication cable within one 1 meter long is required to ensure transmission accuracy e It s suggested shielded cables are used for communication subject to the two shield layers are connected to their own pitches e When external interface is RS422 or RS485 it s required to use external converting module for connection to servo drive 8 2 Communication relevant parameters When the value 0 is selected as the panel shaft number of EDC servo drive then servo drive is able to communicate with the panel operator and PC via the company s internal protocol which has nothing to do with the communication parameters Pn060 Pn061 or Pn062 When the values in the range of 1 E is selected as the panel shaft numbers MODBUS communication function should also be enabled then it s available for EDC servo drive to communicate with ESVI
26. steady state performance But too larger value may cause system vibration easily Speed loop gain Speed Je LA rererence S TiS Speed feedback m Setting position loop gain Parameter name Unit Setting range Default Pn015 EE O poan 1 s 1 1000 40 Kp The larger the position loop gain is set the easier to have position control with high response and small offset and this is limited by mechanical features Owing to affection of load vibration and overshoot may occur easily if the gain is set too large Position loop gain Position reference X _ Kp Position feedback Para NO Name Unit Setting range Default Pn031 overflow range of error 256 reference 41 32767 1024 counter unit This parameter is used to check offset pulse number of overflow alarm AlarmA 06 Para NO Name Unit Setting range Default Enable Disable alarm when position error pulse overflows ek Ge 0 no alarm output Oo 0 1 output alarm This parameter is used to decide whether offset overflow alarm CalarmA 06 is required or not 60 Alarm A 06 Deviation pulse 0 Regular control Alarm A 06 When Pn047 is set to 1 if the range of error counter overflow Pn031 is set too small alarm A 06 may occur when running at high speed Position feed forward With feed forward control p
27. switched OFF due to a servo alarm then alarm reset operation is not necessary Note When any alarm occurs always remove alarm fault first before performing alarm reset 68 6 1 3 Display mode selection By toggling among the different basic modes on the panel operator operations like current running status display and parameter setup can be performed The operator consists of following basic modes Status display Parameter setup Monitor mode and Auxiliary function mode Press MODE key to select a display mode in the following order Power ON Status display mode Parameter setting mode Monitor mode Assistant function mode 6 1 4 Status Display Mode In status display mode the digits and simple code are used to show the status of servo drive a Selection of Status Display Mode The status display mode is displayed when the power is turned ON If current mode is not the status display mode press MODE key to switch to required mode a Contents displayed in Status Display Mode Contents displayed in the mode are different in Position Control Mode and Speed Control Mode 69 When in Speed Control mode Bit data Code Speed coincidence f Control Power ON A Rotation detection Speed reference input Main circuit power ready Contents of digit display Torque reference input Digit da
28. 000 0 constant move distance 6 first 1st Pn110 acceleration deceleration time ms 0 1000 0 constant move distance 7 first 1st Pn111 acceleration deceleration time ms 0 1000 0 constant Pn112 Move distance 0 stop time 50ms 0 32767 10 Pn113 Move distance 1 stop time 50ms 0 32767 10 Pn114 Move distance 2 stop time 50ms 0 32767 10 Pn115 Move distance 3 stop time 50ms 0 32767 10 Pn116 Move distance 4 stop time 50ms 0 32767 10 Pn117 Move distance 5 stop time 50ms 0 32767 10 Pn118 Move distance 6 stop time 50ms 0 32767 10 Pn119 Move distance 7 stop time 50ms 0 32767 10 4 After Servo ON position contact runs Position contact control is a single contact position controller the user can use cycle run operation with this function As for Pn070 for example position reference PO Pn080x10000 Pn081 is ten revolutions position reference P1 Pn082x10000 Pn083 is thirty revolutions when running from P1 to P2 the difference between incremental type and absolute type is as below 40 pulse Pn070 0 pulse Pn070 1 A A P2 400000 P2 300000 TT S P1 100000 100000 gt Time gt Time Note 1 In position contact control mode electronic gear function does not work which can be regarded as the electronic gear ratio is always 1 1 2 In position contact control mode all the position control parameters will affect motor running such as position proportional gain Pn015 feed forward
29. 1 i i SEE Brake status Brake release i gt Braking Brake release Motor status Motor power on Motor power off Motor power on Le i lt gt Basic waiting process Pn044 Waiting time after Servo ON Pn043 t1 t2 determined by external relay and brake loop move time By Default S OFF works with BRK output at the same time If load travels for tiny distance 50 owing to action of gravity Pn044 is required to be set so that action of S OFF is delayed normally this movement can be removed Note When alarm occurs servo drive will switch off main circuit loop of servo motor immediately meanwhile machine may move a small distance E Brake active setting During motor running movement setting of brake active is controlled by Pn045 and Pn046 By controlling brake active movement timing sequence brake active is started after the servomotor stops running Para No Name and meanings Unit setting Default range Pn045 Brake waiting speed r min 10 500 100 Pn046 Brake waiting time ms 10 1000 500 The illustration below shows the timing sequence relation between signal SON and BRK when motor stops speed is higher than 30 r m SON input or Alarm 4CN 15 Servo ON Servo OFF DB stop or free stop Motorspeed g 4 gt r min i Brake waiting time Pn045 BRKoutput C1CN 2 BRK effective BRK disable l I E gt
30. 5 reference unit of the host controller Reference move the workpiece by 0 001mm unit Reference unit 0 001mm lt lt Please decide the reference unit by mechanical form and position precision For example reference unit can be 0 01mm 0 001mm 0 1 0 01 inch reference of input one pulse the distance or angle of pulse equivalent If pulse is equivalent to 1um input reference pulse 50000 then the move distance will be 50000x1um 50mm 4 With pulse equivalent load move distance is calculated subject to load shaft turning for one revolution Movie distance of load reference unit Moving distance of load pulse equivalent If ball bearing screw pitch is 5mm pulse equivalent is 0 001mm 5mm 0 001mm 5000 reference unit Ball screw Rotation table Belt pulle a gt p Bearing shaft pD Ball screw 7 S ES E O 7A Bearing sha D Belt roller diameter P Pitch Kit P in 860 TEE pD ZE Reference unit 1 rotation Reference unit rotaton Reference unit 5 Example for electronic gear ratio B A Gear ratio of motor shaft and load shaft is n m Motor revolves for m revolutions load shaft revolves for n revolutions Electronic gear ratio B A encoder pulse number x 4 moving distance when load shaft finishes one revolution x m n It is suggested that the electronic gear is set within the following range 0 01 lt electronic gear ratio B A lt 100 6
31. 5 When inertia inspection completes inertia value of load and motor are displayed in the unit of 0 1 Kg m x10 6 Press ENTER key again to return to function number display page Notes e Please be very careful during inertia inspection operation because motor will run forward and reverse for four 4 revolutions meanwhile motor is not controlled by external signals Make sure the running stroke of load is within required range to avoid possible damage to user s equipments e This operation is unavailable if servo is on or servo alarm occurs kx G Ee CC E LO 78 Chapter 7 Trial operation 7 1 Inspection and checking before trial operation To ensure safe and correct trial operation inspect and checking the following items before starting 1 Wiring All wiring and connections are correct The correct power supply voltage is being supplied to the main circuit and servomotor All groundings are good If trial operation only refers to JOG function 1CN wiring will not be required Refer to 3 1 2 Check power supply specification and make sure input voltage is correct Fix servomotor securely Fix servomotor on the base as secure as possible to avoid the risk of danger which is caused by the counterforce coming from motor speed change 4 Remove motor load In case servo drive or moving structures are damaged or indirect person hurt or injury make sure motor load is removed including the connecto
32. Check if 1CN cable power cables of servo drive and servomotor encoder cables are connected in the right way Operation steps 1 Set Parameter 008 according to output style of servo drive set Pn041 as 0 then Power On again 2 When Servo On is enabled S On signal becomes active motor will keep in excitation status 3 A low frequency signal is sent from host controller to servo drive motor is set to run at low speed 4 Check motor speed with panel operator by its Un000 display or monitor motor speed with host controller Make sure feedback speed of servomotor agrees with the setting value Inspection When reference pulse stops motor should stop running Relation between motor speed and pulse frequency input Input pulse frequency Hz baie ad other pulse direction Emn 500K 3000 250K 1500 Electronic gear ratio is 1 1 100K 600 Motor encoder is 2500ppr 50K 300 Chapter 8 Communication 8 1 RS232 communication hardware structure EDC servo drive supports RS232 communication Via the RS232 COM function in its front panel parameters reading out or writing in and system status monitoring are available 8 1 1 External connection diagram Following diagram shows external connection between servo drive and PC 8 1 2 Cable connection Following illustration shows the plug shape of the RS232 COM port on EDC servo drive OU 0 DD See the
33. D 4 1RY PL Noise filter s ON L 1MC Design with e SO A European OFF l IMC RY standard aLe ye ja L I Spark suppresser Motor Ug Deeg V vu W J D e EDC Servo drive Encoder bii PP D LE REg NaS DCN f Y R N V d ERC SE LG A ICN Please handle connector P Represents multi twisted wire of shield wires properly PULS _ 11 2 8 pus Cp 12 ae PAOK PULS E ei N 13 N Position SIGN gt SIGN ee age PBO PG dividing reference JE 14 g gt IPBO f atio output SIGN f 10 PCO Power supply 1 2K 20 Peo foropen PL RS GAN collector 1 GND 2 CANH 3 CANL 4 FG 24VIN 16 SoM 1 YCC COIN positioning complete 8 3 RXD ON when positioning completes Servo ON SON 15 4 DND 1 BK brake interlock output Servo ON When ON ON when BK signal output Alarm reset ALM RST x Reset when ON H E 6 2 CLT torque limit output A ON when exceed preset value Clear deviation CLR 7 d S RDY servo ready Clear when ON za ON when ready 8 J C Pulse Encoder C Pulse output Zero point signal ZPS 17 I L 24V Search zero position ALM Alarm output when ON 1 WS o OFF for an alarm Photocoupler Max Voltage DC30V pals Max Current DC50mA FG Connector sheild The functions allocated to the output signals Pin3 to Pin4 can be changed by Connect sheild to connector shell using the parameters 20 Chapter 4 Function setting and description 4 1 Machine related settings
34. DATA 0 LRC Checkout code gt 1 byte including two ASCII codes End 1 stop bit1 gt ODH CR End 0 stop bitO gt OAH LF RTU mode STX Freeze time for transmission time of over 4 bytes at current transmission speed ADR COM address gt 1 byte CMD Reference code gt 1 byte DATA n 1 Data content gt n word 2n byte nis no more than 12 DATA 0 CRC CRC checkout code gt 1 byte End 1 Freeze time for transmission time of over 4 bytes at current transmission speed See followings for an introduction on data format of COM protocol STX COM start ASCII mode byte RTU mode Freeze time for transmission time of over 4 bytes which varies automatically according to changing of communication speed ADR COM address Range of legal COM address from 1 to 254 The example below shows communication with a servo whose address is 32 if expressed in hex system the address will be 20 ASCII mode ADR 2 0 gt 2 32H 0 30H RTU mode ADR 20H CMD Command reference and DATA Data Data format depends on following command codes Command code 03H when reading N words maximum value of N is 20 For example read the first two words from start address 0200H from a servo at the address of 01H 86 ASCII mode Reference information Response information
35. E e EE Saxe cance cian aac guest anton wait onetpacets cate endptte 68 6 1 3 Display mode selection AAA 69 6 1 4 Status Display Mode teste ton toned asdies ahha toed cs een aes 69 6 1 5 Parameter Setting Mode ergett ergeet ergeet e gek 72 6 1 6 Montor MOG sz Eden taansa aa oaan EEN EE Meagioieierteaait aes ian 73 6 2 Auxiliary ee EE 75 6 2 1 Alarmihistory display Frosina e dine 75 6 2 2 Restore to DetaultS ah E 76 6 23 JOG operatio D 76 6 2 4 Automatic offset signals adjustment of motor current detection 77 6 2 5 Servo software version display EEN ENEE 77 G26 Syster RE 77 6 2 7 Software version of panel Operator ee eeeeeeeeceseeeeeeseeeeeeeeeeeeeteeetensees 78 6 2 8 Factory jeet deg ERA Ea EE 78 6 2 9 Inertia Tuning Checking sages cS eden sna iar aaisdevteguseskcduats aasatcatetontagenedcaaeenied 78 EE Taon r nna earner TEE ee ne Sree ee ee ee ee ee 79 TrialiOPeratiOn REN 79 7 1 Inspection and checking before trial operation eee eeeeeeeeeeeeeeeeeeeeteeeeneeeees 79 7 2 JOG ODAC ee Eeer 79 7 3 Trial operation in position control MOE EEN 80 Chapter caso haes epevecenerevenentneaatad aa aa aa aaa aeaa Da aAa aa aai aat 81 COMIIMMIC ANON aaa E a A E a a E hina 81 8 1 RS232 communication hardware siruchure 81 8 1 1 External connection diagram ee eeeeceeseeeeeeeeneeeeeeaeeeeeeeeaeeneeeeeeeeeeatenes 81 8 1 2 Ca
36. EDC Series AC Servo User s Manual Operation of Version 2 21 Preface This manual describes the operation of the Anaheim Automation servo drive type EDC and is meant for operators who are instructed for operation of the device Anaheim Automation Limited Warranty This manual does not entitle you to any rights Anaheim Automation reserves the right to change this manual without prior notice All rights reserved No part of this publication can be copied or reproduced without written permission from Anaheim Automation General Precaution D Power supply voltage should be AC 220V The EDC servo system requires a power supply of AC 220V 15 voltage D Do not connect the servo motor directly to local electric network It s prohibited to connect the servo motor directly to local electric network Otherwise the servo motor is very likely to get damaged The servo motor will not rotate without support of servo drive D Do not plug in or unplug the connectors when the power is ON Internal circuit and motor encoder might be damaged if you plug in or unplug during power ON Always turn the power OFF first before plugging in or unplugging the connectors e Wait for at least 5 minutes before doing inspection work on the servo system after turning power OFF Please note that even when the power is turned off there will still be some electric energy remained in the capacitors of the internal circuit In order to avoid electrical shock please
37. EW software The selected panel shaft number is the communication address The speed is set according to Pn061 settings and the communication protocol is set according to Pn062 settings Only when the value F is selected as the panel shaft number shaft number address Pn060 is used by the servo drive 1 COM address Para NO Name Unit Setting range Default Pn060 COM address 1 254 1 When the dial switch on the drive panel is set as F this parameter is used as the communication address 2 COM speed Para NO Name Unit Setting rang Default RS232 COM speed 0 4800bit s EI 1 9600bit s bps Oe 2 19200bit s When communication function is used same communication speed between host controller and servo drive is required 82 3 COM protocol Para NO Name Unit Setting rang Default RS232 COM protocol 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCIID 2 7 O 1 Modbus ASCII 3 8 N 2 Modbus ASCII Pn062 4 8 E 1 Modbus ASCII 5 gag 3 5 8 O 1 Modbus ASCII 6 8 N 2 Modbus RTU 7 8 E 1 Modbus RTU 8 8 O 1 Modbus RTU This parameter decides which COM protocol to be used the number 7 or 8 means digit numbers of data for data transmission is 7 digits or 8 digits English alphabet N E and O means odd or even N means this digit is disabled E means 1 digit even O means 1 digit odd the number 1 or 2 means stop is 1 digit o
38. FF 1CN 15 H level Servo OFF servo is not energized can t run Pn043 is used to set waiting time during Servo On which means the period of time from internal relay s action to motor electrification Parameter Name and Unit Setting Default number meanings range pidis WEE DEEN ms 20 2000 200 servo On Note e It s not good to start stop servomotor frequently with S ON signal Always use input reference to complete response operation otherwise servo motor s lifetime will be shortened When S ON high is active if external cable is disconnected input signal is high S ON will keep active e During deceleration of Servo OFF S ON signal is accepted only when motor speed is lower than 30r m Switch Enable Disable Servo On input signal with the following parameter Para No Name and meanings Unit Setting range Default 0 Enable Servo ON input signal C S ON Decided by 1CN 15 signal 1 Disable Servo ON input signal Pn000 SON 0 1 0 Internal Servo ON normally is Servo ON which is equivalent to 1CN 15 being active 53 4 5 3 Positioning complete output Positioning complete COIN signal output after positioning completes Make connection according to the following diagram lO Power supply 24V OV Servo drive Output COIN Positioning complete po
39. LH The alarm code is displayed 71 6 1 5 Parameter Setting Mode Parameters related to the operation and adjustment of the servomotor are set in this mode See the Parameter List in Appendix A for details H Change parameters Please see the Parameter List in Appendix A to know exactly the range of parameter change Following is an operational example of changing the data of Pn 019 from 100 to 85 1 Press MODE key to select parameter setup mode 2 Press INC key or DEC key to select parameter numbe E 3 Press ENTER key to display parameter data selected in step 2 4 Press INC or DEC to change the data to the desired number 85 Hold the button to accelerate the value to change When the data reaches the max or Min value the value will stay unchanged even if INC DEC key is pressed 5 Press ENTER the data glimmers and then the date is saved NN 1 e e ZAAN 6 Press ENTER again to go back to parameter number display Plus if Mode key is pressed during step 3 or step 4 parameter setup operation will go directly to step 6 and no changes will be saved If the user needs to rechange any data later just repeats the operation from step 2 to step 6 If Pn080 needs to be set as 32767 then a decimal point is used on bottom right corner of the top number to show cu
40. Pn017 position first filter Pn024 feed forward filter Pn025 etc 4 2 6 Zero adjustment In position control mode servomotor can run to a fixed position this position is normally regarded as Zero position After the host controller is switched on zero position adjustment is required before processing operation This position will be regarded as the reference point for every subsequent movement The zero position adjustment can be done with the servo drive Parameter setting for zero adjustment 1 Select zero adjustment according to the application Setting range Para no Name and meanings Unit Default Return method of origin Z 0 disable origin return function Z 1 origin return starts automatically only after first S ON Z 2 origin return starts automatically every nom Queso Ve 0 211 0 Y 0 search Pulse C after origin has returned Y 1 does not search Pulse C after origin has returned 0 origin returns at forward run direction 1 origin returns at reverse run direction 41 2 Setting zero adjustment speed Para No Name and meanings Unit setting Default range Pn074 Speed 1 during reference searching Chit position itin 0 3000 1000 limit switch Pn075 Speed 3 during reference searching after imin 0 3000 5 releasing position limit switch Pn077 Origin return offset revolution Ge 9999 0 Pn078 Origin return offset pulse number 1 pulse 9999 0
41. SCII code of 4 34H Follow table shows the ASCII code from 0 to 9 and from A to F Character sign 0 1 2 3 4 5 e T ASCII code 30H 31H 32H 33H 34H 35H 36H 37H Character sign 8 Q A B C D E E ASCII code 38H 39H 41H 42H 43H 44H 45H 46H 84 RTU mode Each 8 bit data consists of two 4 bit data expressed in hex system For example the number 100 in decimal system will be expressed as 64H if RTU data of 1 byte is used Data structure 10bit character format lt for 7 bit data 0 7 N 2 Modbus ASCII Pn062 7 data bits 10 bits character frame 2 7 O 1 Modbus ASCII Pn062 7 data bits 10 bits character frame 11bit character format for 8 bit data 8 N 2 Modbus ASCII RTU 8 data bits 11 bits character frame 8 E 1 Modbus ASCII RTU 8 data bits 11 bits character frame 8 O 1 Modbus ASCII RTU 8 data bits 11 bits character frame 85 Communication protocol structure Data format of communication protocol ASCII mode STX Start bit gt 3AH ADR COM address gt 1 byte including two ASCII codes CMD Reference code gt 1 byte including two ASCII codes DATA n 1 Data contents gt n word 2n byte including four ASCII code no more anne than 12
42. W Servo Motor connection Connects to power supply terminal of S terminals servo motor Connected individually to power supply E Grounding terminals grounding terminals and servo motor grounding terminal To connect an external regenerative unit Note prohibited to connect a regenerative resistor directly between P and N Connection terminals of external DN regenerative unit 3 2 I O signals 3 2 1 Standard connection diagram 14 P Represent multi 1CN tanatad nair wira EDC S 3 2 2 Connector terminals Pin nee Pin SC No Name Description No Name Description 1 PL Powel supply fOr 11 PULS Reference pulse open collector circuit 2 BRK Remain braking 12 PULS Reference pulse 3 COIN Positioning complete 13 SIGN Reference symbol 4 ALM Alarm 14 ISIGN Reference symbol 5 COM EN 15 S ON Servo enabled grounding 6 ALM_RST Reset Alarm 16 24VIN IO power supply 7 CLR Clear 17 ZPS Zero position signal 8 PAO Signal A difference 18 PAO Signal A difference 9 PBO Signal B difference 19 PBO Signal B difference 10 PCO Signal C difference 20 PCO Signal C difference Shell FG Connector s shell Note Spare terminals can not be used for relay purpose e Connect shielded cable wires of I O signals to connector shell frame grounding 3 2 3 F
43. abling are selected according to this parameter 0 Enable reverse run input signal prohibited 1 Disable reverse run input signal prohibited O 1 SH Notes 1 When the motor is stopped by the overtravel in position control mode there is no pulse lag 2 After overtravel motor is in excitation state 3 Only one overtravel direction can be used make sure overtravel direction is set before using this function subject to actual running 4 Please be aware the overtravel signal does not work if a motor is running in JOG mode 5 During mechanical movement when an overtravel signal occurs mechanical parts do not stop immediately owing to the action of their own inertia In this situation the overtravel signal is canceled and the motor will continue running Please pay close attention to the duration of the overtravel signal make sure there is some distance for overtravel signal on the machine When P OT and N OT are not used the short circuit wiring as shown in the following diagram will not be required Another way is to shield this with parameter use may set Pn001 as 0 or set Pn052 bit 0 Servo drive 4 1 3 Stop function m Select stop mode When servo is OFF or servo alarm occurs the following User Constants should be set according to the actual requirements on stopping the motor Parameter No Function Range Default Pn004 Stop modes when servo i
44. an implement more smooth control of servo system gt H position reference 1st filter time constant that is Pn024 is set too large servo system s dynamic performance will be reduced ee Name Unit Setting range Default Pn024 fiter time constant me 01000 0 m Position reference smoothing filter time Par No Name Unit Setting range Default DEET 0 1000 Different results between positioning after the change position reference 1st filter time position reference smoothing filter time Pn024 Pn033 Before smoothing After smoothing Before smoothing After smoothing 100 Pn033 Pn033 Step response waveform Step response waveform 30 Before smoothing After smoothing Trapezoid reference response waveform t 4 2 2 Encoder output signal The servo drive outputs pulse signal from the encoder A B C which is used with the host controller Servo motor Encoder Phase A Phase B FG Phase C GJ CL oe Cl tee Servo drive Host controller Linear drive output Phase A Output circuit is bus drive output Make circuit connection with reference to following circuit EDC Servo drive Encoder A Host controller Line receiver Encoder B 2 8 PAO a 218 wao TI 2 9 PBO gt EN S a 249 Bo Encoder C gt 2 10 PCO gt A P a 220
45. and writable 1023H JOG Servo ON 01 enable readable and 00 disable writable 1024H JOG forward run 01 forward run readable and 00 stop writable 1025H JOG reverse run 01 reverse run readable and 00 stop writable 92 1 parameter area COM address is from 0000 to 0078H Parameters in related parameter table for example parameter with 0000H as COM address is expressed as Pn000 parameter with 0065H as COM address is expressed as Pn101 and read write of data at 0000H is the same as operating on parameterPn000 If data coming from communication is not within the parameter range the data will be abandoned and servo drive will feedback a message of operation fail If the parameter is changed successfully this parameter will be saved automatically after a power interruption 2 Monitoring data area 0806 0814H The monitoring data does not correspond totally to display of Un000 Un0130n handheld operator For example the data that communication reads from address of 0807H is FB16H then specified speed is 1258 r min Following table shows the meaning of each monitoring data Monitored Gata Comments 0806H Actual motor speed r min 0807H Input speed reference value r min 0808H Feedback torque percentage Relatively rated torque D Input torque percentage Relatively rated PRESSE 0809H torque 080AH Encoder a
46. ange Select cycle run Pn068 0 multiple cycle run dech 0 1 multiple single run Enable Disable PCON When PCON signal is used signal as step change as step change signal gr 1 Set Pn051 or Pn052 as 2 Pinon 0 delay step change ae 0 2 PCON active is generated 1PCON_ signal step at the edge of input signal change from inactive to active Programming method Pn070 0 incremental dech 0 1 absolute Which of the 8 groups of Pn072 Start point of program dech 0 position data is used as start point Which of the 8 groups of Pn073 Stop point of program dech 1 position data is used as stop point 3 Required moving distance of motor is calculated according to actual moving distance then moving distance data is filled in each contact position register Para No Name and meanings Unit Setting range Default Pn080 move distance O revolution 10 eee 32767 32767 1 Pn081 move distance 0 ae pulse 9999 9999 0 Pn082 move distance 1 revolution 10 eiert 32767 32767 2 Pn083 Move distance 1 low EE pulse 9999 9999 0 Pn084 Move distance 2 revolutions 10 oe 32767 32767 3 Pn085 Move distance 2 low SE pulse 9999 9999 0 Pn086 Move distance 3 revolutions 10 leen 32767 32767 4 Pn087 move distance 3 low Seance pulse 9999 9999 0 Pn088 move distance 4 revolutions 10 eae 32767 32767 5 Pn089 move distance 4 low ar pulse 9999 9999 0 Pn090
47. arameters in Readable and 0000 0078H Parameter area corresponding writable parameter table Monitored data consistent with 0806 0814H data displayed on handheld Read only operator or drive panel 0806H Speed feedback Unit r min read only 0807H Input speed reference value Unit r min read only 0808H EENEG Relatively rated torque read only reference 0809H EE Relatively rated torque read only reference 080AH Pulse number of Encoder rotation read only 080BH input signal status read only 080CH status of encoder signal read only 080DH status of output signal read only 080EH Pulse given read only 080FH Current position low Unit 1 reference pulse read only 0810H Current position high a Ge read only 0811H error pulse counter low 16 position read only 0812H error pulse counter high 16 position read only 0813H Given pulse counter low Unit 1 reference pulse read only 0814H Given pulse counter high ae GE read only 0817H Current alarm read only 07F1 07FAH Alarm information storage area 10 History Alarms read only 0900H IO signal of ModBus No saving in case of readable and Communication power interruption writable 0901H Drive status read only 0904H Runtime of servo drive Unit minute read only 090EH DSP software version Version expressed in read only number Host controller reads 1000H Drive model information from servo read only drive 1021H Reset History Alarm 01 Reset readable and writable 1022H Reset current alarm 01 Reset readable
48. atform Load movement amount of bearing shaft one round rotaion 360 3600 0 1 Reference unit f BN _2500x4x3 Pn022 Electrical gear ratio 3600 0 lo A Pn023 i Reduction ratio 3 1 Bearing shaft Setting SE T9 Incremental encoder value See 9 2500P R m Dynamic electronic gear If system pulse frequency is low and only one electronic gear is used it s hard to give consideration to use both processing efficiency and position resolution Therefore the servo has a second electronic gear numerator and both can be switched dynamically In position control mode Pn041 0 after 2 electronic gear is enabled Pn056 1 dynamic electronic gear becomes active Switching electronic gear requires PCON signal input signal select Pn051 s bit1 1 It is better to switch electronic gear without any pulse input otherwise pulse loss may occur Since electronic gears will not switch until there is no pulse input that is within 1ms Numerator of electronic gear after switching is the value of Pn056 The sequence is as shown below 237i PCON effective PCON disable PCON disable Molecule of electrical gear Pn022 gear Pn056 m Position control diagram Servo drive position control Forward Forward feedback gain feedback filter Pn017 Pn025 Molecule of electrical Position loop gt Molecule of electrica
49. ble COnMECION E 81 8 2 Communication relevant parameters eccceseseeseseceeeseeeeseseeseeseeeseeteteeseeeseetens 82 8 3 MODBUS communication protocol ccsdelccditacieteleledeubitaenleldnind 84 8 3 1 Code significato DEE 84 8 3 2 Communication error handling EE 90 8 3 3 Parameters servo status data communication address un 92 ENEE 96 Technical specification ANd features 96 9 T SSE WON OLO aye estes ese Sat ete telecon a A ea ta tel ea ae tea teen ae et ede wea 96 9 1 1 Technical specification and features AAA 96 BEE 98 9 2 1 Technical specification ANG model 98 9 2 2 Servo drive mounting GIMENSION eeeeeeseteeseseeeeeseeeeseseeeesseseeeeeenensees 99 Appendix tee 100 Parameter Sty eege EE Acer EE 100 Chapter 1 Checking products and product specification 1 1 Checking products The following procedure is used to check the AC servo drivers of EDC series products on delivery Check tem Commengs Are the delivered products the ones Check the model numbers marked on the nameplates on that were ordered the servo motor and servo drive The servomotor shaft is normal if it can be turned Does SE motor Ee smoothly by hand Servomotors with brakes however smoot cannot be turned manually Check the overall appearance and check for damage or 3 s there any damage scratches that may have occurred during shipping If any of above items is fa
50. ce brake release limiting torque Dynamic braking function Built in Power module error overload over speed voltage Protection function error position error counter overflow encoder disconnected parameter damaged etc With RS232 interface for communication with host Built in controller s special software Parameter setting Run function operation and status display can be done in Windows COM function mode Same functions are enabled using panel operator Compatible with Modbus communication protocol CanOpen COM LED display Charge indicator Power amp ALM indicator five 7 segment tube on panel operator 98 9 2 2 Servo drive mounting dimension With cooling fan LF SERVODRIVE l F o can EEF B Do ER o dr Gi E zc GC ISS UO tA Without cooling fan S SERVODRIVE l WER J
51. d by COM BITO BIT1 83 Following are the two ways for COM function to operate on digital input IO signals 1 Change the value of Pn054 directly inverts required signal and enables it 2 Set Pn059 first to make servo ignore external input signal then write in corresponding value to the data whose address is 0x0900 when controlling of external input signal is required The value of the data whose address is 0x0900 is not saved after a power interruption The table below gives an instruction of the value of the data whose address is 0x0900 rs oF Comments on every bit Decides SON 1CN 15 signal BITO 0 signal is invalid 1 signal is valid Decides ALM RST 1CN 6 signal BIT1 0 signal is invalid S OFF 1 signal is valid Decides CLR 1CN 7 signal BIT2 0 signal is invalid S OFF 1 signal is valid Decides ZPS 1CN 17 signal BIT3 0 signal is invalid S OFF 1 signal is valid For example when COM is used control IO signals of external input set PnO59 as 15 which means all external digital input IO are controlled by COM When servo On is required write in the value 1 to servo drive s 0x0900 address 8 3 MODBUS communication protocol 8 3 1 Code signification ASCII mode Each 8 bit data consists of two ASCII characters Here s an example of a 1 byte data 64H expressed in hex system if the data is expressed in ASCII mode it includes ASCII code of 6 36H and A
52. e Ventilation A cooling fan can be mounted for forced air cooling of the servo drive at request 2 2 4 Installation of several servo drives When several servo drives are required to be installed side by side inside one control cabinet installation must be performed according to the gap requirement as shown below Fan Fan a ON A 50mm or more L SEVOORIVE SERVODRIVE SERVODRIVE GERVODRIVE s ee E e ee Ae Ee Nd Nd t t To ip a I ul Dei E E U P P Pp P N OCI OIL ch 10mm or more Omm or more 30mm or more m Installation orientation Install the servo drive vertically onto the wall so the front panel connection board side of servo drive faces the operator WR Cooling As shown in the illustration above give sufficient space between each servo drive so that cooling fans or natural convection is adequate
53. e When positioning error is set low while speed offset is set a bit larger overshoot or vibration may occur during system running Please pay close attention when using this parameter 62 5 1 Alarm list Chapter 5 Troubleshooting Servo drive will output an alarm when abnormal event is detected The LED for POWER amp ALM on the front panel of the servo drive will turn red when alarm occur The LED is green in normal status meanwhile the drive outputs an alarm If an external hand held operator is installed current alarm code can be displayed on the operator Alarm Alarm Code output Alarm Name Meaning Parameter checksum results of parameters saved in external A 01 x breakdown storage has errors A 02 x SE caer en internal detection circuit problem A 03 x Over speed rotation speed of the motor has exceed 1 2 times of max speed A 04 x Overloaded the motor was running for several seconds under the torque largely exceeding ratings Position error internal position error counter has exceeded the A 05 x counter overflow value A 06 x Position error pulse internal position error pulse has exceeded the i overflow value set in the parameter Pn 031 A 09 x GE PC is disconnected or have interference encoder C Encoder at least one of PA PB PC PU PV or PW is A 10 x l f disconnected disconnected A 11 x Encoder Uv SES encoder U V or W code violation code v
54. e Mounting hole Encoder Output shaft Shell Flange 1 2 2 Servo drive Following illustration shows the connections of the servo drive Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged Therefore do not touch the servo drive even after the power supply is turned OFF if the indicator is lit POWER amp ALARM Lights when power On and in red when servo drive generates an alarm CAN COM ID address selection switch Set CAN communication address CANBUS port CAN CAN pin out RS232 port COM Communicating with a digital palm operator or a computer UO signal connector 1CN Used for reference input signals and sequence I O signals Encoder cable terminals 2CN To connect between motor and drive Servo motor terminals To connect with the encoder on the servo motor Power supply terminals regenerative unit connection Chapter 2 Installation 2 1 Servo motor Servomotor can be installed either horizontally or vertically However if the servomotor is installed with incorrect mechanical fittings the servo motor s lifetime will be greatly shortened and unexpected accidents will occur Please make installation according to the instructions as below Precaution There s some antirust agent on the end of the motor shaft to prevent it from rusting during storage Please wipe off the agent thoroughly by using a clot
55. e motor is lower Change the the current passed on power A 12 Power module module is too large or control motor error 3 Check if the capacity of motor is matched voltage of VCC4 is too low With the servo drive s 4 Check if the control power of power module VCC4 is normal lt will alarm when it is lower 5 Increase the time of acceleration and deceleration 6 Check if the relay of DB is damaged power module overheat EE T Change the servo drive match with the temperature around the load capacity A 13 Overheating SC ee tl 2 lmprove environment condition to j Stop trequenty enhance the ability of convection and 3 servo drive operate under ventilation over load capacity for a long time Over voltage or under voltage of main circuit 1 power off for a moment the Weeer main power supply 1 Check the input voltage if it is in the A 14 Voltage error 2 the energy of the load is Dee SE too large Which leads to main 3 Low down the frequency of start stop voltage is too large when decelerating 3 frequency of start stop is too high a ad S e reasonable reference pulse Frequency error e in pULEQUONe Ie DOG Take measures to deal with the noise A 15 e 3 Aadjust the value of of input pulse 2 noise mixed in the Pn022 Pn023 reference pulse e EE Pno23 requency pulse input mG i frequency Pn022 Pn023 is not correct 1 Check carefully if the parameter setting is AG Parameterertor parameter saved in external correct i storage has errors 2 Set
56. e right for one digit If this bit is 1 then move the value to the right for one digit after that make OR calculation with A001H Step 4 Go back to Step3 when knows Step 3 has been done eight times moves on to Step5 Step 5 Repeat operations from Step 2 to Step 4 for the next bit of reference information when knows all bits have been processed in the same way the wanted CRC error detection value is just the current content in the CRC register Instruction After CRC error detection value is calculated it s required to fill in first the low bit of CRC in reference information then fill in the high bit of CRC Refers to the example below Example Read two words from 0101H address of 01H servo drive Final content of CRC register is calculated and turns to be 3794H by summing the date from ADR to last bit then its reference information is shown below Please be noticed 94H should be transmitted before 37H ADR O14 CMD 03 1 S 01 High bits Start info address O1 Low bits 00 High bits Info quantity by word 02 Low bits CRC Low bits 94 Low bits of checksum CRC High bits 37 High bits of checksum End1 End0 Communication complete ASCII mode Communication ends with the character r carriage return and OAH n newline RTU mode The freeze time for communication time required by four bytes at a speed exceeding current communication speed means communication com
57. ed Self cooled IP55 Except for shaft opening and connector Vibration 49m s EMJ 02A EMJ 04A EMJ 08A D 5000 D 5000 5000 4000 E 4000 5 4000 z 3000 SS 2000 S 3000 a 2000 a 2000 g 2000 2 3 1000 E 1000 8 1000 E 05 10 1 2 0 Ze 1 2 3 4 e 2 4 6 Torque N m Torque N m Torque N m A Continuous working area B Repeatable working area 96 Encoder connector Motor connector de P Cross Section Y Y Shaft End With Key and Tap Tap X Depth 4 g1z Flange Key TapxDe SE L c LR I LE LF LC LA LB LZ S pth QK R WIT U O2APA 153 123 30 3 6 60 70 50 5 5 14 M5x10L 16 4 515 3 04APA 183 153 30 3 6 60 70 50 5 5 14 M5x10L 16 4 515 3 O8APA 191 156 35 3 10 80 90 70 6 19 M6x15L 22 4 6 6 3 5 e Power connector specification Shell 172167 1 AMP Pin 170360 1 AMP Pin d NO Signal Color 1 U Red 2 V Blue 3 W White 4 FG Green Yellow e Encoder connector specification ADIP Shell 172169 1 AMP Pin Incremental encoder type a Signal Color 1 A Blue 2 B Green 3 C Yellow 4 A Blue Black 5 B Green Black 6 C Yellow Blac
58. eeeeeaaeeeeeeaaeeeeeeaaeeeseeaeeeeeeaaes 10 2 126 Gall Ee EE 10 Ne 10 2 21 Storage Conditio M y raees e EE 11 EE 11 E EE eru Re dn re EE 11 2 2 4 Installation of Several servo drives 00 0 ee eeeeeeeeeeeeeeeeneeeeeeeaeeeeeeaaeeeeeeaeeeeseaaes 12 Chapter EE 13 LA li ae DEE 13 3 1 Wiring ANd COMMECTION cccecceeceeeceteceteceteceeecenseeeeeeseeesseeseeseeseesneeseeeseeeseeeseeetneeeaes 13 3 1 1 Typical main circuit wiring ssssesseeseessessesrssnsirsirsinsinstnstnstnntnntuntnntnnnnntnnnnnnnnnnne 13 3 1 2 Names and Functions of Main Circuit Terminals cccccceeceseeeereeees 14 32 VO E TEE 14 3 2 1 Standard connection diagram eccecceceeseeeeceeceeeeseeaeceeseaeeaesaeeeeeeaeeaeeeeseaeeateas 14 3 2 2 Connector terminals ssassn aana iia kauna EE NAAKTE ERAAN AREENA 15 3 2 3 Function list of I O sionale 15 3 2 4 Interface Circuit example aenssiroronsa inaa E R 17 3 3 Encoder WIIN EE 18 3 3 1 Encoder wiring 2CN 18 3 3 2 Signal list of connectors QON eccceceeeeeeeeeceeee cece eeeeaeeeeeeeseeeeeseaeeetaeeeeneeee 18 3 4 ere WING EE 19 3 4 1 Motor encoder terminal ceccecceecceeceeceeeeeeeceneeeeeeeneaeneeeeaeeeeeneaeneeeeeeeteeetes 19 3 4 2 Motor power terminal AA 19 3 5 Standard connection example ccceccecceceeceeeeeeeeeeeeeaesaecaeseeeeaesaesaeseeeeaeeaeseeseaeeateas 20 E VIe EE 21 Function Setting and description eeees
59. eeseeseeeeseeeeseeeseeeenseeseeensenensesesenseeeteeetseseeanseeetes 4 1 Machine related settings EEN 4 1 1 Servomotor rotation direction Geet Ee E 4 13 Stop ee EE Sa Rlapitlue Brel TE 4 2 Settings complying with host controller AAA 4 2 Berend 4 2 2 Encoder Output signalne iynin Mine ain 4 23 E MECH e Ee e EE Ee ele E 4 2 5 Position contact conmfrol EEN 4 2 6 Zero acdiustmment seed NEESS d e 4 2 7 Parameter speed CONTIOL eececceseeeseseeesseeeeseeeseeeeseseeenseseeeenenetseseeeneeeetes 43 Servodrive SOUINOS ieie aiaia ai a a AN aT EEE R REN OKTE RNE ia 4 3 1 JOG SPCR DEE e Select EE TE 4 4 Stop aler el En e EE 4 4 1 Dwnamc Drake 4 4 2 HOlding Drake Au 4 5 Protection design ege ueegee ER doe duetaedsipetves a a SE e EE 4 521 SON INP eene 4 5 3 Positioning complete output ENEE 4 5 4 Speed reached OUtDUL ese seececeseseeseseseeeseseeseseeeeseesesessesesesseetessnseeeeeetens 4 5 5 Handling instant power Cut 4 5 6 Regenerative braking Unit EEN 4 6 SMOOR TUNNING EE AG USIMOOUMNG E EE 4 6 2 Acceleration deceleration me AEN 4 6 3 Speed detection smoothing time Constant 4 6 4 Torque reference filter ime Constant AEN 4 7 High speed positioning AEN GER ee EE ln EE 4 7 2 Speed offset settings E EK E Bee E eege E GETT TT 5 2 Alarm outputs and Troubleshbootmg AAA 5 3 Ge RE Ebene EROON AE E RDA Ae AI A AE A Aa A 6 1 Basic FUNCION ET 6 1 1 Function description 6 1 2 E
60. ention that encoder C pulse signal which is output by relative pin number will be affected by external circuit since the signal gets through photo coupler if Pn049 or Pn050 are selected as 4 4 2 1 Position control In position control mode Pn041 0 the servo drive make drive runs according to the position reference given by the host controller It is required to select optimal input according to requirements of the host control device as follows Pulse input Host device controls the rotation speed and position of servo system by sending a series of pulse trains Servo drive Photo coupler Pulse reference PULS 1CN 11 150 zo input IPULS P 1CN 12 rx Pulse direction SIGN 1CN 13 150 input SIGN i P 1CN 14 iy Ki PRepresents multi twisted wire Host control device may give three types of pulse reference as follows linear driving output 24V open collector output 12V and 5V open collector output Connection example 1 when host controller is linear driving output Applicable linear drives T1 company AM26LS3 SN75174 or MC3487 and other substitutes Host controller Servo drive Photo coupler 1CN 11 150 me 1CN 12 1CN 13 150 Dec Grounding Connect to shell shielding 26 Example 2 When host device is open collector output subject to 24VDC signal power Host controller Servo drive Photo coupler 150 G
61. ervo drive Servo drive will decide if S ON and output servo alarm are required according to the value of Pn003 Instantaneous power off happen 220V RZN pep Power voltage Pn003 0 ALM 1CN 4 Pn003 1 Normally set Pn003 to zero 4 5 6 Regenerative braking unit When the servo motor is driven by dynamotor the electric power goes back to servo amplifier this is called regenerative power Regenerative power is absorbed by means of charging the smoothing capacitor inside servo drive with its power If the power exceeds the capacity of the smoothing capacitor additional Regenerative braking unit is required to transform regenerative electric power into heat energy consumption of a bleeder or drain resistor otherwise servo drive may output over voltage alarm Servo motor runs in dynamo mode subject to following conditions e During deceleration to stop e Inertia load on perpendicular axis e Servo motor runs continuously due to load side negative load Note e EDC servo drive does not provide a built in regenerative resistor so external regenerative unit must be equipped if required Terminal P and Terminal N from servo drive are leading to drive s main circuit power high voltage on DC generator therefore it s prohibited connect directly to bleeder or drain resistor 56 Connect external regenerative unit according to following diagram Note IMC Servomotor Single phase
62. es to an end For example Use C language to generate CRC value This function needs two parameters 89 unsigned char data unsigned char length This function will transmit back CRC value of unsigned integer unsigned int crc_chk unsigned char data unsigned char length int i j unsigned int crc_reg oxFFFF While length crc_ reg data for j 0 j lt 8 j If crc_reg amp 0x01 crc_reg crc_reg gt gt 1 0xA001 else crc_reg crc_reg gt gt 1 return crc_reg 8 3 2 Communication error handling Error may occur during communication Normal error sources are as below gt When reading and writing parameters data address is incorrect gt When reading parameters data value is higher than this parameter s maximum value or lower than its minimum value gt Communication is disturbed data transmission error or checking code error When above communication error occurs it does not affect running of servo drive meanwhile the drive will give a feedback of error frame The format of error frame is shown in following table Data frame of host controller Slave station Data address start command checkout address references etc Servo drive s feedback of error frame start SENOS fall Response Error code checkout address code Comments Error frame response code Command 80H Error code 00H communication is good 01H servo drive can t
63. ess ENTER key again to return to function number display SEA The displayed time is the runtime after system is started up the date is not refreshed in real time If user wants to refresh the data please repeat the operations in Step 3 and Step 4 pal 6 2 7 Software version of panel operator Activate the hidden functions first before making operations in Section 6 2 7 6 2 8 and 6 2 8 Take following steps to display software version of the panel operator 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number Kai E SN 3 Press ENTER key current software version is displayed ER umber display G functio OO 4 Press ENTER key again to return CO K SE S 6 2 8 Factory test 6 2 9 Inertia Tuning Checking Take following steps to make inertia inspection 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number Ala 3 Press ENTER key and go into inertia inspection page as shown below BETE 4 Press Mode key again to start inertia detection Following page is displayed Hillal If servo alarm occurs or servo is ON inertia inspection will not be executed instead a message abort is displayed on the panel operator as below blalr If the user wants to cancel the function during inertia inspection or after entering the function menu just press ENTER key
64. evel Start brake Note If power peak occurs servo drive will give no output of BRK signal and periphery circuit 49 decides the status of brake hold which has to be considered when designing and control circuit When using BRK signal set output with following parameters Para No Name and meanings SS Default EE SANGO a Pn049 output signal1CN 2 pin definition 0 4 0 Pn050 output signal1CN 3 pin definition 0 4 1 Para No Name and meanings Po Default range Pn055 Inverts output signal 0 7 0 Relevant parameters to Timing sequence are shown below Para No Name and meanings unit pad Default range Pn044 Basic waiting flow ms 0 5000 10 Pn045 brake waiting speed R min 10 500 100 Pn046 brake waiting time ms 10 1000 500 E Brake ON OFF time During the moment of brake active on off if servomotor travels for any distance owing to external forces like gravity adjust with Pn044 as below Unit setting Default range Para No Name and meanings Pn044 Basic waiting flow Servo OFF hs 0 5000 10 delay time The illustration below shows the timing sequence relation between signal SON and BRK when motor stops speed is lower than 30 r m SON input Servo ON CACN 15 see SEINO OFF BRK output i S 1CN 2 BRK effective BRK disable BRK effective SS db d T H 1
65. gnal motor is in free status that equals to SERVO OFF status E Clearing alarm history In the auxiliary function mode of panel operator with Fn000 the latest eight 8 alarms can be deleted Refer to instructions in 6 2 1 67 Chapter 6 Panel Operator 6 1 Basic Function 6 1 1 Function description An external panel operator HMI as shown below can be connected to EDC series of servo drives to make parameter setup status monitoring and auxiliary functions The description of the keys on the panel operator and their functions are followed by a panel operator on initial display status as an example Name Function INC ke Press INC key to increase the set value a long and hold on press will y implement fast increase Press DEC key to decrease the set value a long and hold on press will DELRAY implement fast decreasing Press this key to select the status display mode parameter setup mode MODE key monitor mode or auxiliary function mode Press this key to cancel setting when setting the parameters ENTER key Press this key to display the parameter settings and set values 6 1 2 Resetting Servo Alarms In alarm status display mode of the operator panel press ENTER key and hold on for seconds to reset servo alarm Refer to 5 1 and clear alarm code The alarm can also be removed by using 1CN 6 ALM_RST input signal If the power supply is
66. h dipped with diluting agent or thinners before installing the motor NOTE The diluting agent should not touch any other parts of the servomotor when wiping the shaft Antirust agent 2 1 1 Storage temperature When the servomotor is not in use it should be kept in a place with an environment temperature between 20 C and 60 C 2 1 2 Installation site Servomotor should be installed indoors and the environment should meet following conditions e Free from corrosive inflammable or explosive gases Well ventilated and free from dust and moisture Ambient temperature is between 0 C and 40 C Relative humidity is between 26 and 80 RH non condensing Maintenance and cleaning can be performed easily 2 1 3 Installation concentricity Use flexible shaft connectors as many as possible for mechanical connections The axis centers of servo motor and mechanical load should be kept in the same line If a shaft connector is used when installing servo motor it has to meet the requirement of concentricity tolerance as shown in the illustration below Measure this at four quarter positions of a cycle The difference between the maximum and minimum measured value must be less than 0 03mm Rotate together with shaft connectors Measure this at four quarter positions of a cycle The difference between the maximum and minimum measured value must be less than 0 03mm Rotate together with shaft connector
67. he following table Monitor No No of UO Contents Relevant I O i digits displayed Signals 0 Input Servo ON 1CN 15 S ON 1 signal Alarm reset 1CN 6 ALM_RST 2 Clear error counter 1CN 7 CLR 3 Zero position signal 1CN 17 ZPS 4 5 6 No display No signal Un005 7 Output Servo alarm 1CN 4 ALM signal Positioning 8 complete speed 1CN 3 COIN achieves Mechanical braking 9 released 1CN 2 BRK The relative LED is lit to show some UO signal is active 74 6 2 Auxiliary functions In Auxiliary Function Mode some application operations can be done with the digital operator The functions details are shown as below Function No Content Other Fn000 Display alarm history Fn001 Restore to Defaults Fn002 JOG operation F Automatic offset signal adjustment of motor Open operation n003 current detection Fn004 software version of servo Fn005 System runtime Fn006 Software version of panel operator Hidden operation Fn007 Factory test Fn008 Inertia inspection Notes Open operations refer to the auxiliary functions for general users Hidden operations When the panel operator is in simple code menu press xxxx and start to use the auxiliary functions 6 2 1 Alarm history display The last ten 10 alarms are displayed in the alarm history library Take following steps to check the latest alarm 1 Press MODE key to select auxiliary function mode 2 Pres
68. ing pulse frequencys100K 28 Following are available reference pulse styles please make specification of host controller the setting according to Pn008 Reference servomotor forward run servomotor reverse run style reference reference PULS PULS 1CN 11 1CN 11 Sign pulse 0 frain SIGN SIGN 1CN 13 H 1CN 13 ZC PULS ES PULS 1CN 11 1CN 11 CW pulse CCW pulse SIGN d SIGN lt 7 u 1CN 13 1CN 13 PULS 1CN 11 fe 2 phase 1CN 11 P 1 90 1 190 2 perpendicular SIGN 1 SIGN pulse 1CN 13 1CN 13 User may select to invert input signal or not by setting Pn009 according to actual requirements Pulse input sequence Input of pulse reference must meet following conditions on level and sequence Pulse form Electrical specification Remark SGN SR KE dest ay a ke SIGN PULS is AENEAN e PR i GE SIGN Max frequency 500kpps TZ D me 4 5 163s H Forward Open Collector 200kpps d 1 0 5 L Reverse k Forwerd reference y Feverse reference REECH ti S aan Ny FN CW CCW 2 t t1 t2 0 1ps Max frequency 500kpps Vaa JA FR Ss Open Collector 200kpps Ee a Ea t T x100 50 Fomerd reference Reverse reference KA ae J N J tt G
69. iolation Power module power module alarm the current passed on power A 12 x strof module is too large or control voltage of VCC4 is too low A 13 x overheat power module overheat A 14 x Voltage error over voltage or under voltage of main circuit Frequency error of Reference pulse frequency is higher than A 15 x input pulse 500kpps A 16 xX Parameter error parameter saved in external storage has errors A 17 x iO data error I O data error such as ALM BRK COIN Relay LED lamps ect error A 21 x Powerlosserror a power interruption exceeding one cycle occurred in AC power supply A 25 Watchdog reset system reset by watchdog A x Program error Program execute error A 42 x Meter SE ER Pn042 mode selection not correct mismatch Nis Ge ii x CAN communicate CAN communication fault A 66 error A 99 O Not an error normal status 63 O Photo coupler ON ON x Alarm can be cleared Clear alarms in following ways when alarm occurs eSet 1CN 6 signal active alarm reset signal ALM_RST eClear alarm with hand held operator please see 6 1 2 for reference eThrough matched PC communication software eTurn power OFF and then ON again x Photo coupler OFF Alarm status OFF Notes When alarm occurs always find out the alarm reason and remove alarm failures before clearing alarm Only the alarm codes listed below can be cleared A 03 A 04 A 14 A 15 A 21 5 2 Alarm outputs and Troubleshooting Find out the ala
70. istance 6 revolutions 10 ee 32767 32767 i pulse Pn093 moving distance 6 low 1 ee 9999 9999 0 4 Pn094 moving distance 7 revolutions 10 E 32767 32767 8 pulse Pn095 moving distance 7 low E 9999 9999 0 Pn096 moving distance Ospeed r min 0 3000 500 Pn097 moving distance 1speed r min 0 3000 500 Pn098 moving distance 2speed r min 0 3000 500 Pn099 moving distance 3speed r min 0 3000 500 Pni00 moving distance 4speed r min 0 3000 500 104 Gate Name and Meaning Unit Setting range Default Remarks Pn101 moving distance 5speed r min 0 3000 500 Pni02 moving distance 6speed r min 0 3000 500 Pn103 moving distance 7speed r min 0 3000 500 Pnio4_ Moving distance l 0 first 1st ge 0 1000 0 acceleration deceleration time constant Pnios Moving distance l 1 first 1st ms 0 1000 0 acceleration deceleration time constant Pniog Moving distance l 2 first 1st m 0 1000 0 acceleration deceleration time constant Pnio7 Moving distance l 3 first 1st ms 0 1000 0 acceleration deceleration time constant Pniog Moving distance l 4 first 1st m 0 1000 0 acceleration deceleration time constant Pniog Moving distance l 5 first 1st m 0 1000 0 acceleration deceleration time constant moving distance 6 first 1st ro GE acceleration deceleration time constant de GE i Pn111 moving distance l 7 first 1st Me 0 1000 0 accelera
71. ition offset is 5 digits Eade higher x10000 pulse Notes e Position pulse value is subject to electronic gear ratio of 1 1 e Unit of pulse quantity is the internal pulse unit of servo system Pulse quantity is represented with 5 digits higher 5 digits lower whose calculation method is as below Pulse quantity value of 5 digits higher x 10000 value of 5 digits lower Value of pulse quantity will not change any more when it reaches 327679999 The decimal point at top digit of Un 010 Un 012 and Un 014 means the value is negative For instance Un010 is displayed as BE CH DOE DEI It means the value of Un010 is 3560000 e When the speed given by pulse is below electric gear ratio of 1 1 encoder shows the theoretical rotation speed of the gain type 2500 lines of electric motor e Pulse numbers of encoder angles show the rotor s position in relate to stator in one complete revolution one revolution is regarded as one cycle e Ae for wire saving encoder motor its encoder signal only represents the data during power on the contents of non wire saving encoder signal display is shown in the following table No of Contents S Monitor No digit UO displayed Relevant I O Signals Signal of 0 Encoder W 2CN 12 13 PG W Input Signal of Un006 1 signal Encoder V 2CN 5 6 PG V Signal of 2 Encoder U 2CN 10 11 PG U e Contents of I O terminal signals are in t
72. k 7 PG5V Red 8 PGOV Black 9 FG Shield 97 170359 3 AMP 9 2 Servo drive 9 2 1 Technical specification and model Servo drive model EDC 02APE O4APE O8APE Applicable servomotor model EMJ O2APA O4APA O8APA Power supply Single phase AC220V 1 50 60Hz Control mode SVPWM Feedback Incremental encoder 2500P R Basic Operating storage 0 55 C 20 85 C data Workin E me Operating storage Condition h perang 9 90 RH or less non condensing umidity Shock vibration resistance 4 9m s7 19 6 m s Structure Base mounted Mass approximately 2kg Speed control range 1 5000 Load Regulation 0 100 0 01 below at rated speed Bee Speed Voltage regulation Rated voltage 10 0 at rated speed mode regulation Temperature 0 40 C 0 1 below at rated speed regulation Frequency Characteristics 250Hz when J lt Ju Type SIGN PULSE train sin Pulse phase A and phase SS B CCW CW pulse train Position Pulse Form Line driving 5V level open collector 5V control reference mode 12V 24V level Frequency Max 500Kpps difference 200 Kpps collector Control signals CLEAR Pulse output signal Phase A phase B and phase C line driving output O Sequence control input Servo ON Alarm Reset error counter clear signal signals zero clamp signal l Servo Alarm positioning complete speed Sequence control output EE Se coinciden
73. l gear Pn022 tl t2 t3 t4 gt Ims Speed offset Pn016 COIN signal fen Position reference Input mode Ed PERERA z Direction Pn008 Pno23 filtering i ene denominator Pn024 counter Pn015 Speed adjustor Gain Pn013 Intergrator Pn014 Speed inspection filte Pn028 Speed inspection A AB Phase Current loop Servo motor 2 C phase Pulse output 4 times frequency 4 2 5 Position contact control Encoder Reference of position control control modeparameterPn041 0 comes from pulse input of host controller Reference of internal speed control control mode Pn041 1 comes from internal parameter value PnO80 Pn095 of servo drive Parameter Pn080 Pn081 Pn094 Pn095 are the internal eight groups of position reference register Programming method can be defined according to Pn070 There are two method a incremental b absolute It can also be used with external I O 1CN 7 input as PCON signal m Setting of position contact control 1 Set Pn041 1 internal speed control 38 2 Select cycle run or not whether PCON is used as step change signal or not the programming method start and stop point of program etc Para Name and meanings Setting Default Other No r
74. lem disconnected or misconnected 1 Pls check the power cable connection A09 Pulse loss of 2 power cable shield is not power cable and encoder signal wire encoder C good shouldn t be tied together 3 encoder damaged 2 Pls check the interface circuit of encoder 4 screen wire ground disconnect 5 interface circuit of encoder fault 1 Pls check the connection between encoder and the motor Encoder Atlasi one of PAPE 2 Pls check the encoder signal A 10 PC PU PV or PW is disconnected 3 if the above mentioned is correct may be disconnected HORE the fault of servo drive internal components Encoder U V or W code violation Please npe Mial he lease make sure the power supply voltage U V W signal of encoder is H 6 H r supp y vo tag i of encoder is 5V 5 especially the wire is different from the strong long power cable A 11 Etipoder 9 2 Or Cument sidital Uv WW which and encoder signal wire shouldn t be tied W code violation the servo drive connected with the motor 1 the connection of encoder is wrong 2 encoder is damaged together 1 pls check the wiring of encoder 2 change the servo motor 65 Item Alarm name Possible reason Method 1 Disconnect the U V W and power if this status still happens under s off it means power module is damaged 2 Check if the wiring of U V W is correct Check the resistor between U V W and ground If it is small it means the insulating property of th
75. ler output Each output node Max output voltage 30V Max output current 50mA Output V CMP speed coincidence output Speed control speed coincidence output cou grounding signal Speed control It refers to output signal of input speed reference and speed coincidence of actual motor rotation When output status at low is active ON status V CMP L level Speed coincidence C speed error is under setting value OFF status V CMP H level Speed coincidence fail speed error is over setting value Motor rolling speed Pn029 Reference speed In this range output V CMP With the user s constant as below the range of output V CMP can be designated Parameter Function Unit setting Default Control number range method Pn029 Speed coincidence rimit 0 100 10 Speed eror control When difference between speed reference and actual motor speed is under setting value output V CMP signal 55 4 5 5 Handling instant power cut Select if alarm output is made or not upon a sudden power interruption EE Name and Description Unit setting number range Select operations to be made upon power interruption 0 gives no output of servo alarm signal ALM 1 Output servo alarm signal CALM Default Pn003 If power supply of servo drive is interrupted suddenly over 20ms and detected by s
76. lue of limited torque should not exceed motor s maximum torque If limited value is set too low motor may have insufficient torque during its acceleration deceleration 4 2 Settings complying with host controller Different control modes can be selected by setting Pn041 as described in the following table Para No Name Range Default Comment Select control mode position control Pn041 0 position control 0 2 0 position contact 1 internal speed control control and parameter 2 parameter speed control speed control Set Pn041 and select a certain control mode Pn041 Control mode setting Position control pulse reference 0 Servo drive receives pulse train generated by host controller and the control of rotation speed and positioning are achieved according to requirements from the host controller contact speed control I O reference Running at set speed is selected by switch on off input signals 2 parameter speed control parameter reference Run at constant speed as the value in Pn048 24 Using the CLT signal Following illustration shows the way to use the contact output signal CLT torque limit test 24V Power supply Servo drive 24V CLT Photocoupler s Max voltage DC30V V X Max current DC50mA ER k ICLT Z gt output CLT Torque limit Speed control torque de
77. m Side by side installation When installing servo drives side by side as shown in the illustration above reserve at least 10 mm between two horizontal sides and at least 50 mm between two vertical sides The temperature in the control cabinet needs to be kept evenly distributed subject to no overheating at any part of servo drive If necessary install forced air cooling fans above the servo drives to avoid excessive temperature rise Normal Working Conditions for Servo Drive 1 Ambient Temperature 0 to 55 C 2 Humidity 90 RH or less no condensing 3 Vibration 4 9 m s2 or less To ensure a long term stability of the drive it is suggested the drive be used in a place with a temperature below 45 C 4 Storage condition When the servo drive is not in use it should be kept in a place with an environment temperature between 20 C and 85 C DR ke Chapter 3 Wiring 3 1 Wiring and connection Please observe the following instructions while wiring the main circuit A Do not run or combine power wires and signal wires together in the same conduit There should be at least 30 cm s space between power wires and signal wires Shielded twisted pair wires are required for signal wires and encoder feedback wires the shield layer must be connected to the shell of the plugs Wire length requirement reference signal input wires are maximum 3 meters and encoder feedback wires are 20 meters to the maximum Please n
78. make sure inspection work is started 5 minutes after Charge indicator is OFF e There should be a space of at least 10mm between the servo drive and any other devices mounted in the electrical cabinet The servo drive produces heat when running heat dissipation should be considered in the design of mounting layout At least 10 mm space in lateral direction and 50 mm space in longitudinal direction are required from servo drive to other equipment during installation Please install the servo drive in an environment which is free from condensation vibration and shock e Noise immunity and grounding The noise from signal wires causes mechanical vibration and faults Please comply with the following rules Run high voltage power cables separately from low voltage power cables Make cables as short as possible Single point grounding is required when mounting the servo motor and servo drive and grounding resistance should be lower than 1000 Please do not apply a input noise filter between servo drive and servo motor e Voltage test of the servo drive should meet following conditions Input voltage AC 1500Vrms 1 minute Interrupt Break current 100mA Frequency 50 60Hz Forcing point Between Terminal R Terminal T and Terminal E e Apply a fast response leakage protector It s required to use a fast response leakage protector or a leakage protector for a PWM inverter designated by supplier Do not use a time delay leakage protector D Av
79. matic and manual adjustment Note The offset signal adjustment of motor current detection is only available when servo is OFF m Adjust motor current detection offset signal automatically Take following steps to make automatic offset adjustment 1 Press Mode key to select auxiliary function mode 2 Press INC or DEC key to select function number ol 3 Press ENTER key and enter automatic adjusting mode Ode 4 Press MODE and hold on for one second dont is displayed and glimmers the offset signal is then adjusted automatically Ios Z GL LO 3 D 7 s S D mE m ZTA TA N Release the key oc 5 Press ENTER key to return to function number display n oU 6 2 5 Servo software version display DJ 2 ma g Cols Take following steps to display software version of the servo drive 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number of software version display 3 Press ENTER key current software version is displayed BEA 4 Press ENTER key again to return to function number display niu ae C CSC Ss CJ GI 6 2 6 System runtime Take following steps to display system runtime 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number SUR SG se 3 Press ENTER key to display system runtime Following picture shows system runtime is 1 hour and 28 minutes BSG 4 Pr
80. me ms 0 10000 100 Pn020 Soft start deceleration time ms 0 10000 100 Pn021 E acceleration and deceleration me 0 1000 0 Pn022 Electronic gear ratio numerator 1 32767 1 Pn023 Electronic gear ratio denominator 1 32767 1 Pn024 1 position reference filter ms 0 1000 0 Pn025 Feedback filter ms 0 1000 0 Pn026 Forward torque limit 0 300 250 Pn027 Reverse torque limit 0 300 250 Pn028 Positioning complete detection filter 0 500 0 Pn029 Speed coincidence error r min 0 100 10 Pn030 In position error Reference unit 0 500 10 Pn031 Error counter overflow range SE an 1 32767 1024 Pn032 JOG speed r min 0 3000 500 Pn033 position reference smoothing filter time 0 25ms 0 1000 0 constant Pn034 Notch filter 1 frequency Hz 50 3000 3000 Pn035 Notch filter 1 depth ES 0 10 1 Pn036 Notch filter 2 frequency Hz 50 3000 3000 Pn037 Notch filter 2 depth SS 0 10 1 Automatic gain adjustment 0 without automatic gain adjustment SCH A SES 1 after inertia detection gain is adjusted gai g automatically Pn039 P PI Switching Terms E 0 4 0 0 setting torque 101 Para No Name and Meaning Unit Setting range Default Remarks 1 error pulse 2 acceleration 3 motor speed 4 disable mode switch function Pn040 P PI switching threshold 0 5000 200 Pn041 Control mode selection 0 Position control pulse train reference 1 position contact cont
81. mode Bit data Code ec DN eh Vale Rotation detection output Main circuit power ready CLT signal input Positioning complete Base block Control Power On Pulse reference input Contents of digit display Digit data Description Control power is ON Lamp lights on when control power of servo drive is ON Standby Lamp lights on when servo is on standby Lamp extinguishes when servo is ON When offset value between position reference and actual Speed coincidence motor position is within allowable value lamp lights on Allowable value Pn030 The standard value is 10 pulse When motor speed exceeds allowable value lamp is lit When motor speed is lower than allowable value lamp goes extinct Allowable value 10 of rated speed Rotation detection output Reference pulse input is When reference pulse input is continuing lamp is lit continuing When there is no reference pulse input lamp goes extinct Clear signal input is When clear signal input is continuing lamp is lit continuing When there is no clear signal input lamp goes extinct Main circuit power supply Lamp is lit when main circuit power supply is OK is ready Lamp is extinct when main circuit power supply is OFF Contents of simple code display Code Meaning e e On standby Servo OFF motor power is OFF Running FLA Servo ON motor power is ON H TI Alarm Status J
82. mooth running Speed reference Pn019 Pn020 gt d gt d Inside servo drive perform acceleration and deceleration of the set value on speed reference to implement speed control When inputs step like speed reference smooth speed control can be implemented Speed Pe S i gt rit gt 4 Pn02 E Pn ng pno24 lt gt lt gt Pn019 Pn020 58 4 6 3 Speed detection smoothing time constant By adjusting speed checkout filter time constant mechanical vibration caused by servo system can be removed or eliminated Parameter Name unit setting range Default Pn028 Sheed checkout 1 0 500 0 filter time constant The smaller the value of the constant the better control response is shown Actual situation will be restrained by mechanical structure If mechanical vibration occurs when default setting is used adjust this parameter to a larger value normally the vibration can be restricted effectively 4 6 4 Torque reference filter time constant When mechanical vibration is caused by servo drive Torque reference filter time constant can be adjusted to remove or eliminate vibration Parameter Name unit setting range Default Torque reference Pn018 filter time 1 0 5000 0 constant The smaller the value of constant is the better control response is shown Actual situation will be restrained by mechanical conditions
83. motor by coasting without using DB Clear error pulse signal is turn ON or not after Servo OFF Pn005 0 Turned on 0 1 0 1 turned off Select rotation direction 0 side view from load of servomotor Pn006 CCW means forward run 0 1 0 1 side view from load of servomotor CW means forward run Speed control mode selection Pn007 0 ADRC control 0 1 0 1 Pl control 100 Para Name and Meaning Unit Setting range Default Remarks No Reference pulse form 0 SIGN PULSE _ Z Pn008 1 CW CCW 0 2 0 2 Phase A Phase B x4 positive logic Reference pulse form 0 does not invert PULSE reference does not invert SIGN reference 1 does not invert PULSE reference Pn009 inverts SIGN reference 0 3 0 2 inverts PULSE reference does not invert SIGN reference 3 inverts PULSE reference inverts SIGN reference Pn010 PG pulse dividing ratio P R 1 2500 2500 Pn011 Dividing output phase selection 0 1 0 Speed feed forward selection Pn012 0 disable O 1 0 1 enable Pn013 Speed loop gain Hz 1 3000 160 Pn014 Speed loop integral time constant ms 1 2000 250 Pn015 Position loop gain d i 1 1000 40 Pn016 Speed error r min 0 300 0 Pn017 Position feed forward 0 100 0 Pn018 Torque reference filter 0 5000 0 Pn019 Soft start acceleration ti
84. move distance 5 revolutions 10 E 32767 32767 6 Pn091 move distance 5 low acres pulse 9999 9999 0 Pn092 Move distance 6 revolutions 10 en 32767 32767 7 Pn093 Move distance 6 low SE pulse 9999 9999 0 Pn094 Move distance 7 revolutions 10 eee 32767 32767 8 Pn095 moving distance 7 low E pulse 9999 9999 0 39 Set parameters such as run speed acceleration deceleration time stop time and so on according to field working situation Para No Name and meanings Unit Setting range Default Pn096 Move distance 0 speed r min 0 3000 500 Pn097 move distance 1 speed r min 0 3000 500 Pn098 Move distance 2 speed r min 0 3000 500 Pn099 move distance 3 speed r min 0 3000 500 Pn100 move distance 4 speed r min 0 3000 500 Pn101 move distance 5 speed r min 0 3000 500 Pn102 move distance 6 speed r min 0 3000 500 Pn103 Move distance 7 speed r min 0 3000 500 move distance 0 first 1st Pn104 acceleration deceleration time ms 0 1000 0 constant move distance 1 first 1st Pn105 acceleration deceleration time ms 0 1000 0 constant move distance 2 first 1st Pn106 acceleration deceleration time ms 0 1000 0 constant move distance 3 first 1st Pn107 acceleration deceleration time ms 0 1000 0 constant move distance 4 first 1st Pn108 acceleration deceleration time ms 0 1000 0 constant move distance 5 first 1st Pn109 acceleration deceleration time ms 0 1
85. n the overtravel parameter It is advised that the user connects the limit switch according to following diagram to avoid possible mechanical damage Reverse Forward Servo drive Servo motor Limit switch P OT 1CN 6 N OT 1CN 7 Following table shows the drive status when input signal is ON and OFF Signal Status Parameter Input level Comments Pn001 0 P Forward direction is allowed Se ON Pn051 3 1CN 6 L level Normal OFF Pn001 0 4CN 6 H level Forward direction is OFF Reverse Pn051 3 i direction is available Pn002 0 Sei Se ON Pn052 4 1CN 7 L level Reverse direction is ON Normal SCH OFF Pn002 0 1CN 7 H level Reverse direction is OFF Forward Pn052 4 direction is available m Switching between Enable Disable overtravel input signal By setting the parameter as in the following table user may select Enable or Disable the overtravel input signal Default is ON Para No Pn001 Description Enable Disable input signal prohibited P OT When 1CN is set as P OT signal limiting direction and enable are selected according to this parameter 0 Enable forward run input signal prohibited 1 Disable forward run input signal prohibited Unit Setting range Default Pn002 Enable Disable input signal prohibited N OT When 1CN is set as N OT signal limiting direction and en
86. ngle pulse number 080BH input signal monitor 9876543210 080CH Encoder signal monitor p il aa aa a 080DH Output signal monitor gt P pat 080EH Pulse given speed when electronic gear i ratio is 1 1 080FH Current motor position is 5 digit low x1 pulse 0810H Current motor position is 5 digit high x10000pulse 0811H position error 5 digit low x1 pulse 0812H position error 5 digit high x10000 pulse 0813H Position reference 5 digit low x1 pulse 0814H Position reference 5 digit high x10000pulse Monitoring of I O signals is shown below Be e UO Contents Relative UO signal 0 Servo ON 1CN 15 S ON 080BH 1 alarm reset 1CN 6 ALM_RST 2 input signal Clear error counter 1CN 7 CLR 3 zero position signal 1CN 17 ZPS 0 servo alarm 1CN 4 ALM ositioning complete 080DH 1 DEE Be Ee darives 1CN 3 COIN ete mechanical brake 2 release 1CN 2 BRK etc 93 3 Alarm memory block 07F1 07FAH History Meaning Address Alarm No 0 History Alarm 1 lt Latest 07F1H alarm 1 History Alarm 2 07F2H 2 History Alarm 3 07F3H 3 History Alarm 4 07F4H 4 History Alarm 5 07F5H 5 History Alarm 6 07F6H 6 History Alarm 7 O7F7H 7 History Alarm 8 07F8H 8 History Alarm 9 07F9H 9 History Alarm 10 longest O7FAH time 4 ModBus communication IO signal 0900H Use communication to control input digital IO signals the data is not saved after power is interru
87. oid extreme adjustments or changes Don t make extreme adjustments or changes to the servo drive s parameters which may cause mechanical vibration and result in damage D The servomotor cannot be operated by turning the power on and off Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate resulting in unexpected problems Always start or stop the servomotor by using reference pulses Contents EFSER Ee ee ee dE AER AE EE AE AR EE EE ENNEN Ate thet 1 Anaheim Automation Limited Waat 1 General Precaution neniani i EE gend EE daa cad dee ae 2 COMES 2s eege teins deve nnd ch teapot aeceswekes fdas brenge e a a EN fede tedeatc ivy 3 Chapter WEE 5 Checking products and product Specification 0 0 ec eee cece eeee eee eeaeeeeceaeeeeseereseeeseneeeeeesas 5 Tl Checking Products EE 5 TAL SOrVO MOO hess saat Selon seeds A A A ETA E E ds e le A aed ene 5 RE Ee E 6 1 2 Servo components description 7 UC RE Le 7 f2 2 SENO MVE ronn ys causes vicg E A du casderbareatigulavini A E 8 ETONE AE E E T 9 JETT Ee EE 9 Ne Mul TEE 9 2 1 1 Storage temperature ee eccccceceseeceeceeeeeeeeeceeceeeeeesaeeaeceeeaeeaesaeseeeeeeeaesaeseeeeateaees 9 2 1 2 Installation atte eee cceeeceeeeeeeeeeeeeeeeneeeeaeeeeeeeeeeaeeseaeeseaeeseaeeseaneseeaeeecaeeseeeeeaes 9 PESE EEES AE S EA EA E E E E 9 2 1 4 Installation direction 10 2 1 5 Handling oil and water oe cece ee eeeeee ee eeeeae
88. on of the shell and the frame grounding wire 16 3 2 4 Interface circuit example Following illustrations show the connection of I O signals of servo drive and host controller m Input interface circuit Following illustrations show an example of the connection of input signals using relay contact or open collector transistor circuit Servo drive Servo drive DC24V DC24V 24VIN 50mA or more 3 3K Q 50mA or more 24VIN 3 3KQ g JEE ees Wi SK KE i aK IS ON fae f Z3 a S ON L 4 H If the relay contact input is used the relay must be suitable for low electric current otherwise it causes signal receiving faults m Interface of encoder output and drive output Output signals PAO PAO PBO PBO of the two phase pulse of the encoder and the origin pulse signal PCO PCO make the outputs by means of BUS drive output circuit Generally it s used on the condition that the host controller side forms the position control system Wire reception circuit should be used when it s near the host controller See Encoder wiring for an example of a practical circuit connection m Interface of sequence output circuit Photo coupling isolation output is required for output signals of servo alarm positioning complete and brake interlock DC5V 24V Servo drive side Note Maximum voltage should be no more than
89. ositioning time is reduced Para NO Name Unit Setting range Default Pn017 postion iced 0 100 0 forward gain Inside servo unit feed forward compensation is used for positioning control to reduce positioning time But if the gain is set too large overshoot and machine vibration may occur As for normal machines please set the gain to 80 or lower ntegral Pn017 Pulse Reference ty H Forward feedback pulse m Current feed forward compensation Setting the following user constants can increase the response speed of the inner loop and improve system rigidity Para NO Name Unit Setting range Default Pn120 Current feed forward E 0 4096 1024 compensation Increasing this value can increase the inner response of the system this value should be adjusted based on actual occasions But over larged value could easily cause tiny vibration to the motor 4 7 2 Speed offset settings By setting internal speed reference offset of servo unit adjusting time for positioning control can be reduced Setting Para NO Name Unit range Default Pn016 Speed offset r min 0 300 0 61 Inside servo unit the specified speed reference offset for positioning control are used to reduce positioning time Make the setting according to mechanical conditions Internal speed reference Pn016 Deviation pulse Not
90. ote even when the power is turned off there will still be some electric energy remaining in the internal circuit In order to avoid electrical shock please make sure inspection or wiring work is started five minutes after Charge indicator is OFF Do not turn power ON and OFF frequently If required turning power ON and OFF should be controlled only once a minute There are some high capacity capacitors installed in the internal circuit of servo drive when power is switched on a high charging electric current will flow though the capacitors within several milliseconds therefore frequent power on off will cause fast deteriation to the servo s internal elements 3 1 1 Typical main circuit wiring CA Single phase AC220V 3 50 60Hz oh Non fuse circuit braker d H Q Lightning protect oise filter d iRY PL O ig s Noise filter one 1MC creer OFF AMC RY Standard Electromagnetic Ee R mT NO NO Spark suppresser contactor Cutting o electricity supply in the emergence Motor 1MC E ER o _ t Se ii N IMC LG j LA BE EDC Servo drive Encoder PN Le 24V 3 ALM 1RY de ov Alarm output OFF when alarm occurs 213 3 1 2 Names and Functions of Main Circuit Terminals Terminal Function Description RT Main circuit power supply input Single phase 220VAC 10 15 i terminal 50 60HZ UV
91. pted The following illustration shows the meaning of each digit BITIS _ BIT3 BIT2 BIT1 BITO SPD_SELO ICLR ALMRST IS ON Servo ON Alarm Reset Clear deviation Zero point signal 5 System status 0901H 1 word shows current system status The following illustration shows the meaning of each digit BIT15 BIT14 BIT9 BIT8 BIT7 BIT6 BITS BIT4 BIT3 BIT2 BIT1 BITO 1 _ alarm occur Reserve lt 1 N OT effective 1 Servo ready 1 speed higher than setting 1 _ Servo off Position mode 1 ALM RST signal input Position mode 1 positioning accomplished Speed mode 1 torque higher than 10 of sett Speed mode 1 reached preset speed Position mode 1 Pulse inputting 1 Power supply input from R T terminals Speed mode 1 Speed higher than setting EDC servo drive s default speed is 10 of rated motor speed 6 Runtime 0904H It means the run time required from servo power on to read this data It s expressed in decimal system and the unit is minute If the read data is OOCDH and it s expressed as 205 in decimal system then it means current system has run for 3 hours and 25 minutes 7 DSP Software Version 090EH DSP software version of servo drive is expressed in numbers If the read data is OOC9H and it s expressed as 200 in decimal system then it means the software version is 2 00 Notes After COM addre
92. r 2 digits The communication protocol between host controller and servo drive are required to be the same when communication function is used 4 COM input IO control When using COM control function the parameter Pn059 can be used to shield input IO signals if the user does not want external input signals to affect servo drive When some bit is set as 0 zero the signal of this bit is then controlled by the external input signal If the bit is set as 1 then COM control is applied to this bit Para NO Name Unit sonna Default rang Pn059 COM input IO control 0 15 0 This parameter is used to set whether the number input of servo drive is controlled by external IO or by COM When the parameter is set as zero it means all numerical IO input pitches are controlled by external signals When it is set as 15 it means all of the four IO inputs are COM controlled and all external input signals are ignored Input signal source is decided by value of Pn059 Pn059 Comments on every bit Decides SON 1CN 15 source of signal input 0 controlled by external input signal 1 controlled by COM Decides ALM RST 1CN 6 source of signal input 0 controlled by external input signal 1 controlled by COM Decides CLR 1CN 7 source of signal input BIT2 0 controlled by external input signal 1 controlled by COM Decides ZPS 1CN 17 source of signal input BIT3 0 controlled by external input signal 1 controlle
93. r and its accessories on the motor shaft on 7 2 JOG operation No other wiring such as 1CN is required for trial JOG operation it s suggested JOG operation is done with low speed If motor can run properly in JOG operation which means motor and servo drive are in good condition and their connection is correct If motor can not run check connection of UVW and encoder cables If motor runs improperly check if the phase order of UVW cables is correct or not Notes e Before JOG operation make sure motor load is removed from 1CN e Load default parameters and initializes user parameters to Defaults Power On again to start trial running With help of panel operator follow the steps below and startt JOG operation 1 Turn on servo drive s power supply Panel operator gives a display as below N 5 Press INC key and increase the value to 2 79 T CJ CJ W Co Press ENTER key and go into JOG operation mode EE es Lt CJ ca Press MODE key and select Servo On Press INC key motor runs counterclockwise Press DEC key motor runs clockwise Motor speed depends on Pn032 setting If the above key is released motor should stop running Forward E Reverse E Press MODE key and select Servo OFF CT loo s SR CJ cy cge E CoC CC 10 Press ENTER key and exit JOG operation 7 3 Trial operation in position control mode 1 Preparation
94. re applied Pn021 can be Speed reference Pn019 gt gt Pn020 lt selected and set to smooth running 45 Speed pile pe lie oe Pn021 Pn021 e gt lt gt Pn019 Pn020 4 Torque limit Setting Pn026 and Pn027 to limit torque is available in any control mode Para NO Function Unit Setting range Default Pn026 forward run torque limit 1 0 300 250 Pn027 reverse run torque limit 1 0 300 250 Note System response may be slowed down if torque limit is set to an undersized value 4 3 Servo drive settings 4 3 1 JOG speed JOG speed control is enabled with PC communication or hand held operator Set JOG speed with Pn032 Para No Name and meanings Unit setting range Default Pn032 JOG speed r min 0 3000 500 Note e No matter what value Pn041 is or whether S ON is active or not JOG running is always possible on the condition that cable connection of servomotor is correct and servo drive has no problem e During JOG running servo drive will ignore host controller s control signal and status of limit switch and property loss is easily caused due to improper operation Therefore JOG must be prohibited during normal production 46 4 3 2 Control mode selection Control modes can be selected with parameter Pn041 as described below Para No Description Range Default
95. rm reason with help of the alarm codes displayed on the hand held operator or view via the communication software in a PC Only the last 8 alarm records are saved in the servo drive which can be viewed via the operator or PC communication software The alarm without the sign of to turn power OFF and ON again x are not able to be removed To clear the alarms user has Item Alarm name Possible reason Method 1 Turn on the power supply again to see if P checksum results of it still happen arameter S SE A 01 b parameters saved in external 2 If it still happens external storage of reakdown storage has errors servo drive has been damaged Please change a chip 1 Check the reference power supply of servo A D circuit if it is damaged Current internal detection circuit 2 Check the connection between the main A 02 detection error problem board and control board is good 3 Check if the channel of A D sampling is damaged rotation speed of the motor has exceed 1 1 times of max speed Please take the following measures when 1 input reference pulse the motor is over speed frequency is too high 1 reduce setting speed reference value 2 time constant of 2 increase the value of Pn024 and Pn015 A 03 Over speed acceleration and 3 check the electronic gear ratio which deceleration is too small should be set under the coverage of the which makes the speed following range input pulse overshoot is too large freq
96. rol internal position reference 2 Speed control contact reference Pn042 Servo motor model selection 0 set as 0 for EDC 02 04 08 1 special model servo motor O 1 Pn043 Waiting time for Servo ON ms 20 2000 200 Pn044 Basic waiting procedure ms 0 5000 Pn045 Waiting speed for brake signal r min 10 500 100 Pn046 Waiting time for brake signal ms 10 1000 500 Pn047 Position error pulse overflow alarm output 0 disable 1 enable O 1 Pn048 Run speed of programmed speed r min 6000 6000 500 Pn049 1CN 2output signal selection 0 BK 1 COIN 2 CLT 3 S RDY 4 C Pulse Pn050 1CN 3output signal selection 0 BK Pn051 1CN 6 input signal selection 0 ALM_RST 1 CLR Pn052 1CN 7 input signal selection 0 ALM_RST 1 CLR 2 P CON 3 P OT 4 N OT Pn053 Input IO signal filter time 0 10000 Pn054 Inverts input signal 0 15 Pn055 Inverts output signal 0 7 Pn056 2 electronic gear numerator 1 32767 Pn057 Dynamic electronic gear enable 0 1 OoOj ojojo Pn058 pulse input frequency selection 0 when pulse is difference input servo receiving pulse frequencys500K 1 when pulse is difference input servo receiving pulse frequencys300K 102 Para No Name and Meaning Unit Setting range Default Remarks
97. rounding Connect to shell shielding Example 3 When host device is open collector output subject to 12VDC or 5VDC signal power Host controller Servo drive Photo coupler 1CN 11 150 1CN 12 FS 1CN 13 150 1CN 14 ke Grounding Connect to shell shielding The right current limiting resistor R1 should be used according to current requirements i 10 15mA When Vcc is 12V R1 560 8200 When Vcc is 5V R1 82 2000 SEL m Selecting reference pulse mode input PULS 1CN 11 input reference pulse input PULS 1CN 12 input reference pulse input SIGN 1CN 13 input reference sign input SIGN 1CN 14 input reference sign Use parameter Pn008 Pn009 to select reference pulse mode Parameter Code Comments Unit Range Default input pulse mode OJSIGN pulse Pn008 CON 0 2 0 2 A B perpendicular x 4 Reference pulse form 0 does not invert PULSE reference does not invert SIGN reference 1 does not invert PULSE Pn009 Ss reference inverts SIGN H 0 3 0 reference 2 inverts PULSE reference does not invert SIGN reference 3 inverts PULSE reference inverts SIGN reference pulse input frequency selection 0 when pulse is difference input servo receiving pulse frequencys500K Pn058 a 1 when pulse is difference 0 2 0 input servo receiving pulse frequencys300K 2 when pulse is difference input servo receiv
98. rrent value is negative For instance the value 32767 is displayed as below Ber 6 1 6 Monitor Mode The monitor mode can be used for monitoring the external reference values I O signal status and internal status of servo drive User can make changes in Monitor Mode even if motor is running WR Following are the operation steps to use Monitor Mode The example as below shows the operation steps for monitoring Data 1500 of Un001 1 Press MODE key to select monitormode IO i te LL LL 3 Press ENTER to display the monitored data selected in Step 2 HSI HR Contents of Monitor Mode display Monitor Contents No Un000 Actual motor speed r min Un001 Input speed reference value r min Percentage of feedback E Un002 torque relative rated Digits to display internal status Ge of input torque go tb oad eee kas relative rated torque E dhadiadadaeg Un004 Number of pulses of Encoder gt qos angles Un005 I O signal monitor Un006 Encoder signal monitor Speed given by pulse when Se electronic gear ratio is 1 1 Current motor position is 5 Hoaas digits lower x1 pulse Current motor position is 5 Snoes digits higher x10000 pulse Position reference is 5 digits SE lower x1 pulse Position reference is 5 digits SE higher x10000 pulse Un012 Position offset is 5 digits lower x1 pulse Pos
99. s Note e f the concentricity tolerance is too big mechanical vibration will occur resulting in damage to the bearings of the servo motor e Do not knock the axis direction when installing shaft connectors this could damage the encoder of servo motor 2 1 4 Installation direction The servomotors can be installed horizontally vertically or in any direction 2 1 5 Handling oil and water If the servomotor is installed at a location subject to water oil or condensation the motors requires special treatment to meet protection requirements If the motors are required to meet the protection requirement before leaving the factory it is necessary to designate the exact motor models with oil seal Shaft cross section means the gap as shown in the following picture Shaft cross section 2 1 6 Cable tension When connecting the cables the bending radius should not be to small do not apply big pulling force to cables Please note that the diameter of signal cable wires is very small from 0 2 mm to 0 3 mm therefore handle the cables with adequate care and do not cause excessive cable tension while wiring 2 2 Servo drive EDC series of servo drives are all base mounted Incorrect mounting will cause problems Always mount the servo drives according to following installation instructions 10 2 2 1 Storage condition When the servo drive is not in use it should be kept in an environment with a tempera
100. s Gg d f S 90 phase different signal i Ee A B Max frequency T x4 multiplier 200kpps EE a ise Phase Bis 90 forward Phase Bis 00 from phase A behind phase A m Clear error counter Follow the steps below to clear Error counter CLR 1CN 7 input Clear error counter input 29 When CLR signal is Low level error counter is cleared Way to clear error counter Servo drive s internal error counter is zero 0 This signal means power level active it s required to retain some time before the signal takes effect The signal has to be canceled after the pulse is cleared otherwise the counter is always in the zero Clear status which will result in no action in the servo position loop In position control mode some pulses will remain in error counter when servo is OFF Therefore the error counter has to be cleared immediately after servo is re enabled With Pn005 setting pulse signal of error counter can be cleared automatically when servo is OFF pees Name and comments Setting range Default 0 When S OFF clear error counter Pn005 1 When S OFF does not clear O 1 0 error counter Position reference 1st filter time gt position reference 1st filter can improve system s respond smoothness to given reference pulse gt If reference input is comparatively rough the dividing frequency multiplication is set too large or frequency of pulse input is low which c
101. s l Dr OFF 1CN 4 H level Alarm state output signal is high when alarm occurs When servo alarm AL MI happens always remove alarm reasons first and then turn the input signal ALM RST to ON position to reset alarm status input ALM RST 1CN 6 alarm reset input Signal Status Input level Comments ON 1CN 6 L level Reset servo alarm AEM OFF 1CN 6 H level Does not reset servo alarm Normally the external circuit can switch off power supply of servo drive when alarm occurs When servo drive is re switched on it removes alarm automatically so normally alarm reset signal is not required to be connected In addition reading alarm information and alarm reset are enabled with hand held operator Note e Wien alarm occurs always remove alarm reasons before resetting alarms e Only alarms with alarm number being 3 4 13 14 15 and 21 can be removed by ALM RST 52 4 5 2 S ON input Host controller is used to control enable or disable servo system Following illustration shows the way to connect S ON Power supply lO 24V Q Host Servo drive 24VIN dr S ON 4CN 15 8 E OV input S ON 1CN 15 Servo On ON Switch servomotor between Power on and Power of when low level is active Signal Status input level Comments m Servo ON servo is energized run servomotor S ON ON EE according to input signal O
102. s INC or DEC to select function number of alarm history display fafa a a 3 Press ENTER key the latest alarm code is displayed Alarm No Alarm code OCDE i 4 Press INC or DEC key to display other alarm codes occurred recently E Bn JHH m 5 Press ENTER to return to function number display fan e E If an alarm occurs right now the alarm codes will be updated immediately The alarm with a serial number of 0 is the current alarm and the alarm with a serial number of 9 is the last alarm If the user wants to clear all alarm history data press ENTER key and hold on for one second while alarm codes are being displayed then all alarm history is deleted Sei 75 6 2 2 Restore to Defaults This function is used when returning to the Defaults after changing parameter settings 1 Press MODE key to select auxiliary function mode 2 Press INC or DEC key to select function number for restoring to Defaults SEAN 3 Press ENTER to enter parameter restoring mode COD L 4 Press ENTER key and hold on for one second to restore all the parameters to default values 5 Release ENTER key to return to function number display Finli 6 In Step 3 the parameter restoring operation can be cancelled and quit current operation by a short press on the ENTER key Ss Co Ou Ss s mE OL 6 2 3 JOG operation This mode is not available when servo is on or some alarm occurs
103. s on or servo 0 3 0 alarm occurs Parameter No Comments 0 When servo is OFF or alarm occurs DB is enabled 1 When servo is OFF or alarm occurs motor coasts to a stop Pn004 2 When servo is OFF or alarm occurs DB is enabled and will not release until motor stops 3 When servo is OFF or alarm occurs motor coasts to a stop then DB is enabled m Select motor stop mode when servo is OFF EDC series servo drive stop motor running in following situation gt When GON input signal 1CN 15 turns OFF gt When alarm is detected gt When power supply is OFF To select appropriate stop mode set value of Pn004 according to actual application requirements 23 4 1 4 Limiting torque For protection of mechanical structures maximum output torque can be limited by setting the following parameters to adjust the maximum value of forward reverse direction torque on the servo drive GE Name amp Function Unit Range Default Pn026 Forward internal torque limit 1 0 300 250 Pn027 Reverse internal torque limit 1 0 300 250 Set maximum torque for forward and reverse direction it s used when limiting torque is required according to mechanical requirements lf value of current torque exceeds motor s maximum allowable torque follow the maximum torque of motor Example to show protection of mechanical structures Torque limit motor speed Torque Note It s suggested the va
104. sition control Output Output COM Positioning complet position control Output grounding signal Host controller can judge if servo action is completed or not with COIN Speed Reference speed L E Speed ICON Un012 error pulse counter low position monitoring Un013 error pulse counter high position monitoring When output is active at low level Lap Positioning has completed Position offset is lower ON status COIN L level than setting of Pn030 ara Positioning is not completed Position offset is lower OFF status COIN H level than setting of Pn030 Set In position error to control output time of COIN Para No Function Unit setting Default Using range method Pn030 In position reference 0 500 10 position error unit control Setting of In position error will not affect final accuracy of positioning By default 1CN 3 is used as Positioning complete signal COIN in position control mode while in speed control mode it s used as the speed coincidence output V CMP 54 4 5 4 Speed reached output Speed coincidence Output V CMP signal photocoupler output signal referring to output is given when rotation speed of servo motor is the same as reference speed It can be used as the base of host controller s judgment Connect and use this signal according to the following diagram IO Power supply Servo drive tAv oy Optocoup
105. ss is changed that is parameter PnO60 or the dialing switch on drive panel is changed servo drive will feedback data using current COM address until new COM address is updated and becomes available in around 40ms After communication speed is changed that is parameter Pn061 is changed servo 94 drive will feedback data using current communication speed until new speed is updated and becomes available in around 40ms After communication protocol is changed that is parameter Pn062 is changed servo drive will feedback data using current communication protocol until new protocol is updated and becomes available in around 40ms e In RTU communication mode intervals between data frames are longer than 10ms BER Chapter 9 Technical specification and features 9 1 Servomotor 9 1 1 Technical specification and features Voltage 200VAC Servo Motor Model EMJ 02APA 04APA 08APA Rated Output Power W 200 400 750 Rated Torque N m 0 64 1 27 2 39 Instantaneous Peak Torque N m 1 91 3 82 7 16 Rated current Arms 1 3 2 7 4 0 Instantaneous Peak current Arms 3 9 8 1 12 0 Rated speed minP 3000 Max speed minP 4500 x10P k otor moment of inertia amb 0 19 0 32 1 48 Encoder Standard Incremental 2500P R Insulation Class B Ambient temperature 0 to 40 C no freezing Ambient humidity 20 to 80 RH non condensing Encl s r Totally Enclos
106. stands external force is used to prevent non electrified servo motor from turning due to the action of gravity The action of brake holding is controlled by servomotor s brake interlock output signal BRK Vertical axis Forced axis Servo motor Hold brake Servo motor Outside force Prevent from movement by gravity when power off Prevent from movement by force Make sure servomotor is mechanically separated before confirming action of servomotor and brake active holding brake If all the parts are moving well connect servo motor to the machine m Connection example BRK controls Power On Off of brake sticking which consists of the control circuit of holding brake The illustration below shows a typical connection example Servo drive Servo motor with brake Motor Pi l Du E ower SARPY R U v 2 y wla j T He FAGLIA T 24v 6 424V BRK RY ov 7 Bk fa 1 gt BRK KEE E I COM Encoder 2CN DO BRK RY 24V AC DC ov BRK RY brake sticking control relay Output BRK Brake interlock output Speed control position control BRK is used to control the status of brake sticking When brake active is not used this connection is not required ON L level Release brake OFF H l
107. ta Description Control power is ON Lamp lights on when control power of servo drive is ON Standby Lamp lights on when servo is on standby Lamp extinguishes when servo is ON Speed coincidence When offset value between speed reference and actual motor speed is within allowable value lamp lights on Allowable value Pn029 The standard value is 10 min r Rotation detection output When motor speed exceeds allowable value lamp is lit When motor speed is lower than allowable value lamp goes extinct Allowable value 10 of rated speed Reference speed input is continuing When reference speed input exceeds allowable value lamp is lit When reference speed input is lower than allowable value lamp goes extinct Allowable value 10 of rated speed Reference torque input is continuing Main circuit power supply is ready When reference torque input exceeds allowable value lamp is lit When reference torque input is lower than allowable value lamp is extinct Allowable value 10 of rated torque Lamp is lit when main circuit power supply is OK Lamp is extinct when main circuit power supply is OFF Contents of simple code display Code Meaning On standby h h Servo OFF Servomotor power is OFF Run Mm Servo ON motor power is ON Alarm Blinks the alarm number Li mM LI DI eg gen 70 When in Position Control
108. tection output control position control The following signal can be output to indicate the servomotor output torque is being limited or not The servomotor output torque is being limited internal torque reference is above setting value CLT_ H level when OFF The servomotor output torque is not being limited internal torque reference is below setting value The setting value Pn026 Forward direction torque internal limit Pn027 Reverse direction torque internal limit When CLT signal is used the output signal and output pin number are required to be defined according to the user constants in following table Para No Name amp Description Range Default Pn049 Output signal 1CN 2 pin No signification 0 4 0 Pn050 Output signal 1CN 3 pin No signification 0 4 1 Servo drive Pn049 0 COIN V CMP Pn049 1 BK Pn049 2 CLT gen IS Pn049 3 S RDY Pn049 4 C Pulse Output Pn050 0 COIN V CMP Pn050 1 BK Pn050 2 CLT Pn050 3 S RDY Pn050 4 C Pulse 1CN 3 The following table shows the pin number definition for Pn049 correspond to pin 1CN 2 output Pn050 correspond to pin 1CN 3output BK brake interlock output COIN positioning complete V CMP speed coincidence output CLT torque limit output S RDY servo ready output Encoder C Pulse Output This signal couldn t be inverted AJOI N gt o 25 Please pay att
109. tion deceleration time constant Pn112 Move distance Ostop time 50ms 0 32767 10 Pn113 Move distance 1stop time 50ms 0 32767 10 Pn114_ Movie distance 2stop time 50ms 0 32767 10 Pn115 Move distance 3stop time 50ms 0 32767 10 Pn116 Move distance 4stop time 50ms 0 32767 10 Pn117 Move distance 5stop time 50ms 0 32767 10 Pn118 Move distance 6stop time 50ms 0 32767 10 Pn119 Move distance 7stop time 50ms 0 32767 10 Pn120 Current feed forward compensation 0 4096 1024 Q Note After changing the setting always turn the power OFF then Power ON again This makes the new setting valid The parameter may vary for motors of different models This parameter s input source is decided by digital input port control through bit setting bitO bit3 are relevant to input as follows Pn059 0 gt CN1_15 S ON Pn059 1 gt CN1_6 ALM RST Pn059 2 gt CN1_7 CLR Pn059 3 gt CN1_17 SPD_SELO bit setting as follows 0 input pins are controlled by outside terminals 1 input pins set as communication control 105
110. trol method it means same speed is detected V CMP 1 positioning complete same speed detected in position control method it means positioning is completed COIN while in speed control method it means same speed is detected V CMP 2 torque limit CLT output when output torque exceeds the value of Pn026 or Pn027 this signal gives output 3 Servo ready S RDY output When servo drive detects no alarm subject to a power supply input this signal gives output 4 Encoder C pulse signal output One C pulse signal output per revolution BK The value of Pn049 decides the output signal see the details as follows 0 brake interlock BK output 1 positioning complete same speed detected in position control method it means positioning is completed COIN while in speed control method it means same speed is detected V CMP 2 torque limit CLT output when output torque exceeds the value of Pn026 or Pn027 this signal gives output 3 Servo ready S RDY output When servo drive detects no alarm subject to a power supply input this signal gives output 4 Encoder C pulse signal output One C pulse signal output per revolution COM I O common grounding PAO Differential output of Encoder A signals PBO PBO Differential output of Encoder B signals PCO PCO FG Differential output of Encoder C signals Connect shielded wires of I O signal cables to shell of 1CN which is equal to the connecti
111. ture between 20 and 85 C 2 2 2 Installation site Notes on installation of servo drive are as below Condition Safety notes Installed inside a control cabinet A unified design for the cabinet size configuration of servo drive and the cooling method is required so that the ambient temperature around the servo drive is always below 55 C Installed near a heating unit Installed near a vibration source Minimize the heat radiating from the units by taking advantage of heat dissipation measures such as natural convection current forced air cooling to ensure working temperature around the servo drive is always below 55 C A vibration isolator should be mounted underneath the base surface to prevent vibration Installed at a site exposed to corrosive gases Appropriate measures should be taken to prevent corrosive gases from getting in Corrosive gases does not have immediate influence on the servo drive but they will eventually cause problems on electronic components which will definitely have influence on the running stability of servo drive Other situations Do not install the servo drive in hot humid locations or locations subject to excessive dust or powder in the air 2 2 3 Installation orientation As shown in the following picture the installation direction should be vertically mounted onto the wall firmly fixed on the surface with two mounting holes Mounting surfac
112. uency electronic gear ratio 3 the electronic gear ratio is JSOOKHZ too large 4 Pn015 is too small 64 Item Alarm name Possible reason Method the motor was running for several seconds under the torque exceeding ratings 1 increase the time for acceleration or 1 The time for acceleration or deceleration A 04 Overloaded deceleration is too short 2 change large capacity servo system 2 The capacity of servo drive 3 check the load capacity and servo motor is too small d out down the frequency of start stop 3 overload 4 start stop frequently EE counter 1 check if the motor rotated according to has exceeded the value Gs the reference pulse Position error be motor is locked by the A 05 2 check the load mechanics counter overflow mechanics 3 check the reference pulse 2 input reference pulse is 4 check the connection of motor encoder abnormal internal position error pulse i eheck theload mechanics has exceeded the value set 2 check the connection of motor encoder Gr in the parameter Pn 031 Position error 3 increase the value of Pn015 Pn031 and A 06 1 the motor is locked by the pulse overflow Pn017 mechanics 4 check the reference pulse 2 input reference pulse is 5 reduce the overload capacity and speed abnormal H The value of electronic gear A07 electronic gear g Reduce the value of electronic gear is too large error PC is disconnected or have interference 1 cable s prob
113. ulty or incorrect contact Anaheim Automation 1 1 1 Servo motor Nameplate The following illustration shows an example of the servo motor s nameplate Rated output power MIOtOr MoOe AC SERVO MOTOR MODEL EMJ 08APA 750 W 4 00 A S N E E a Serial No Rated rotation speed E Servomotor Model Designation EM 08 A P A 1 1 Servomotor 1 2 3 4 5 6 7 EMJ Model 1 2 Rated Output 4 Encoder 7 Option 200W F Wire saving Incremental None 400W Encoder2500P R With oil seal 08 750W With brake DC 24V 10 1000W 5 Designing Sequence 4 With oil seal and brake DC 24V 3 Voltage A Designing Sequence 6 Shaft End A 200VAC Flat Without Keys Standard Flat With keys With Screw 2 Thread 1 1 2 Servo drive E Appearance and Nameplate Oeerstine Ambient Temperature 0 55 C Harnois e en High Temperature De not touch peda wen isin severe acne heatsink when power is ON Risk of elec of sectie Stock Risk of bum ESTUN Industrial Automation Co Ltd Made in China Servo drive Model Designation EDC O APE EDC Model Servo Drive E TI Designing Sequence E Designing Sequence Rated Output Power 02 0 2kW 04 04kW Control Mode 08 0 75 kW P position control 10 1 0kW Voltage A 200VAC 1 2 Servo components description 1 2 1 Servo motor Following illustration shows the names of the components of a servo motor without gearbox and brake Nameplat
114. unction list of UO signals HR Input signal 1CN Signal Pin no Function Control power supply input for I O signals Users need to 24VIN 16 prepare the 24V power supply Effective voltage range 11V 25V S ON 15 Servo ON Servo motor is switched on Select signal according to Pn051 1CN 6 input signal selection 0 ALM_RST clear servo alarm status signal ALM RST 6 1 CLR clear offset counting in position control 2 P CON different meanings for different control modes 3 P OT forward direction limit signal input 4 N OT reverse direction limit signal input CLR 7 According to Pn052 meaning as above ZPS 17 Zero position signal input zero switch outputs this signal when returning to zero position Reference open collector power supply PL 1 To provide 5VDC power supply when PULS and SIGN reference signals are open collector input signals PULS 11 Reference pulse Input modes PULS 12 input SIGN Pulse train SIGN 13 Line drive or CCW CW Pulse ISIGN 14 open collector 2 phase positive pulse x4 15 WR Output signal 1CN Signal Pin no Function ALM 4 Servo alarm OFF status output is given when the drive detects an error COIN The value of Pn050 decides the output signal see the details as follows 0 brake interlock BK output positioning complete same speed detected in position control method it means positioning is completed COIN while in speed con
115. urn and search Pulse C after reaching zero adjustment switch Back to zero switch speed Motor spee Pn074 rpm Leave back to zero switch speed Pn075 Return to find Z pulse Back to zero offset distance IZPS Pn077x10000 Pn078 a H Leave back to zero switch after the first C pulse start to calculate offset distance 43 Corresponding position Mechanical Motor deceleration movement back to CCW find C pulse Leave back to zero switch after the first C pulse start to calculate offset distance Encoder C pulse ZPS 4 2 7 Parameter speed control Being a simple way of speed control user can preset the running speed as regulated value in User Constant When Servo is On motor will run constantly at the preset speed Speed change goes along with the value change in Pn048 Servo drive S ON 1CN 15 M Motor run at the speed Pn048 set in the parameter Set parameter speed When using parameter speed control take following steps to make the setting 1 Set Pn041 properly to enable internal speed selection function Para No Name Setting range Default Application cases Pn041 Control mode 0 2 0 Position control and speed selection control In internal speed control mode set Pn041 to 2 44 Pn041 Comments
116. ut signal is at low level active when BK COIN output is at low level ALM output is at high level 4 2 4 Electronic gear With Electronic gear function the workpiece travel which is equivalent to input reference pulse can be set to any value The Host controller sends a reference pulse that can implement control operation with no consideration in mechanical gear ratio and output pulses of the encoder so the control calculation becomes easier Without electrical gear With electrical gear Workpiece Workpiece oma Reference unit 1um J Encoder pulse 2500 Encoder pulse 2500 Ball screw pitch 6mm Ball screw pitch 6mm Need to move distance 10mm Due to once rotate 6mm 10 6 1 6666 rotations 2500x4 pulse generated by one rotaion 1 6666x2500x4 16666 pulse Reference input 16666 pulse Need to move distance 10mm The calculate must be done at the upper Reference unit is lum so device 10mm 1pm 10000 pulse m Setting the electronic gear function Take following steps to calculate electronic gear ratio B A its value is set in Pn022 and Pn023 of the user parameter 1 Mechanical forms relates to electronic gear gear ratio ball bearing screw pitch pulley radius 2 Encoder pulses of servo motor 3 Equivalent pulse reference unit Reference unit refers to the unit of minimum move distance required by load or the minimum 3

Estun EDC Users Manual 2.21

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