Home

ProNet Series AC Servo User`s Manual

1. n 1f om Le PS EM HARGE e roe 8 2 EN EN u DB En Li 1163 ET Lt 16 Li TED z L2 TES LEM v Te 5 L Te v2 Ta E Lu 13 18 E L3 6 E La 6 ea La I es ai lB er HE er HE ei JE e EN 8 ez ED ez ez 8 e E I e JD LE e ID e 18 Lic TES r uic E cs Lic ES cs uc 168 P L20 ES E L2c E ga L2c 8 ga Lac 69 ES ei TES 8 ei 18 el HB ei JE 2 HE e2 HE EP e2 HA ES s2 HE eR ss H e3 HED e3 HE gt sa 8 u E v 169 v Te v 8 w El w VE w e w JE Eun STi STi EE TUI pp _ A JA PUF 30mm min 10mm min Mi installation Orientation Install servo drive perpendicular to the wall so that the front panel containing connectors faces outward E Cooling Provide sufficient space around each servo drive to allow cooling by natural convection or fans llinstalling side by side When installing servo drives side by side provide at least 10mm space between
2. 94 4 Nameplate H J GH B i i EEEH HH HH H EH BT E BI 2 ofre poen E o El E z oh B E r PHI 4 2 E 3 cB B as lo El Air Flow m eB a E E o Bl B Three Terminals 5 an b El E uU S Bo v ES b E Tej sIf 5 r3 ms N em Fe E n LE Cooling Fan y 48 UL o 3 Air Flow Ground Terminal 2 M4 Screw a Mounting Hole Diagram 4 M4 Screw Holes IA 100 24 75 25 180 zi Y rd d I I I I ESBSESBEHEH y Le Bo SSeS Ses ES SS ES ESESER B ln Bessere en a Figure o EHEBRHBHHSHHBEHBEHEHEHHH a 22 ex E i el T 1 Si AT AA TNT 2 qu ELI TOLDO ME dl Ul HF uly INARI tu With hilt guod i i i1 i i ar Flow pot 5 5 i 89 100 Note ProNet E does not support extended module B ProNet 30A 30D 50A 50D 70D ProNet E 30A 30D 50A 50D Unit mm Note 270 5 EN DCN ECCE 6 I 112 Mounting Hole Diagram ps 258 5
3. ProNet 15A 20A ProNet 10D 15D 20D Le I AP f Li 7 f ee e Y HER zol EIG
4. ProNet Series Servodrives gt 20 PAO 21 PAO gt 22 PBO PG Divided Ratio Output 23 PBO y Applicable Line Receiver 24 PCO AM26LS32A Manufactured by TI or the Equivalent AID p m ref z Torque Reference 0 10V Rated Torque e IRET 2 gt 2 5 N D A Signal Allocations can be Modified 7 5 TGON V CMP Speed Coincidence ve 6 TGON SOLE Positioning Completion 24V TGON Rotation Detection fap DICOM 13 T EV 9 S RDY S RDY Servo Read Signal allocatons can be modified Lacie DN 4 saxo 13 k vb 10 S RDY CLT Torque Limit gt NINE S ON Servo ON Ir BK Brake Interlock P CON P Control 1 P CON 15 i i 11 V CMP PGC Encoder C Pulse Output 5 T i P OT 16 k TA 12 V CMP OT Over Travel P OT Forward Run Prohibited IT t RD Servo Enabled Motor Excitation Output N OT Reverse Run Prohibited PES AES ST n UE PT HOME Home Completion Output ALM RST Alarm Reset a T rk CLR Clear Error Pulse ME Sa n E P CL Forward Torque Limit NCL 23 Ht N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V g 7 ALM Connect Shield to Connector Shell 8 ALM y Shield Shell
5. L1 L2 L3 Three phase 380 440V 52 50 60Hz Molded case Circuit Breaker PV Surge Protector TECTUM 1Ry 1PL Servo Alarm Display amp Noise Filter Power OFF Power ON 1KM LL LI 1KM 1Ry 1SUP Be sure to connect a surge suppressor to the 4 excitation coil of the magnetic contactor and relay Magnetic Contactor f OL1 Pro N et Servomotor i A 1 OL2 Series Servodrives Uc B 2 65 L3 VO M C 3 A E Ox D 4 CN2 OL1C Option OL2C l Resolver i Serial Encoder i 1 Sensor 1 i Encoder 3 Sensor 2 7 S i 7 B1 7 SIN 8 S u NEE 55 0 a 17 BAT External Regenerator Resisotr 18 COS 5 PG5V Log 9 R1 MN f AS Shell Shield Shell Shield rd ES E pe S Be sure to ground 2 CN3 IB 1 N C Be sure to prepare the end of the 2 N C shielded wire properly EEE 3 485 r1 CN1 4 ISO GND 5 SO GND Use special communication cable to connect uE J ik 2 ie i 285 PC Personal Computer Speed Reference 0 10V Rated Speed A VREF 2 e LAT Ko 8 a Note Do not short terminal 1 and 2 of CN3 TREF 26 NG Shell Shield Torque Reference 0 10V Rated Torque P TREF 27 E T CN4 1 N C i 2 N C f PPI
6. L1 L2 single phase 100 120V 72 50 60Hz Molded case Circuit Breaker V 5 Surge Protector 1Ry 1PL Servo Alarm Display 7 Q Noise Filter B EE on th ower ower 1KM T_T LT IN 1KM 1Ry 1SUP Be sure to connect a surge suppressor to the l excitation coil of the magnetic contactor and relay Servomotor B2 9 L2 V M C 3 A D ISK W EP i D 4 002 ale s Te CN2 oLtC Option EAR i Serial Encoder 1 A i L20 pe E 7 S um 3 B pa 8 S 4 B a a3 mu GR 77 17 BAT 5 po IO B1 B1 18 BAT 5 C m 9 PGSV SE E B2 0B2 119 PGOV 288 c i uds EN External Regenerator Resisotr l Shell Shield Shell Shield l Lj OB3 OB3 X Y a eles NN y me CN3 M 1 N C Be sure to prepare the end of the Be sure to ground 2 N C shielded wire properly 3 485 CN1 4 ISO GND 5 ISO_GND Use special communication cable to connect 10K gt rel 6 485 PC Personal Computer VREF 1 LARS Speed Reference 0 10V Rated Speed a VREF 2 40K 7T CANE 10K S Note Do not short terminal 1 and 2 of CN3 TREF 26 M Shell Shield Torque Reference 0 10V Rated Torque M TREF 27 ps CN4 1 N C 2 N C j PPI 34 3 485 Open collector Reference Use 2K0 4 I
7. L1 L2 L3 Three phase 200 230V 72 50 60Hz Molded case Circuit Breaker C C Surge Protector ee 1Ry 1PL Servo Alarm Display i amp Noise Filter B GRE SN an ower ower 1KM TITAN i 1KM 1Ry 1SUP lt Be sure to connect a surge suppressor to the l excitation coil of the magnetic contactor and relay Magnetic Contactor pes OL1 Pro Net A 1 Servomotor ip Series Servodrives Uo B2 7 OL3 V M C3 X 2 1601 WO D 4 G2 4 Q O CN2 Option LIC 3 L2C Incremental Wire saving Serial Encoder ve eee Encoder 2500P R E Encoder ro B1 B1 1 A Resolver d gt STE 7 SIN 17 BAT E it B2 0B2 M EN 8 SIN E E 4 B 18 BAT a xtemal Regenerator Resisotr 17 COS Dd B3 L B3 5 C al D 9 PG5V E ea 6 e 9l R 19 PGOV mo PA FV 19 R2 sner Shield Y 17 819 PGOV vw H Shell Shield Shell Shield V Be sure to ground CN3 S 1 N C Be sure to prepare the end of the 2 N C shielded wire properly 3 485 CN1 4 ISO GND 5 SO GND Use special communication cable to connect ve a ac A ref 6 E PC Personal Computer Speed Reference 0 10V Rated Speed A VREF 2 os T 10K AD 8 CANL Note Do not short
8. 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 Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Control power supply Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices terminals E Used for control power I O signal connector supply input gt Used for reference input amp Regenerative resistor signals and sequence I O connecting terminals signals Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock amp Encoder connector Connects to the encoder in the servomotor CN2 E
9. f Li Te ui 8 a L2 116 zi L2 E2 L2 L3 z L3 ED ap L3 16 x e JO eil eo El le del Lic ED o Lic ED o Lic LED E Lzc E Lac ED Ls L2c EE ae y ee u 10 u IE l l ESTUN ESTUN ESTUN Notes Connecting DC bus together is available only for 200V ProNet and ProNet E series servo drives Please use the wiring on ProNet 08A 10A ProNet E 08A 10A directly and inquire customer service before wiring on other products 59 Chapter 4 Operation 4 1 Trial Operation Make sure that all wiring has been completed prior to trial operation Perform the following three types of trial operation in order Instructions are given for speed control mode standard setting and position control mode Unless otherwise specified the standard parameters for speed control mode factory settings are used 1 Trial Operation for Servomotor Without Load Refer to 4 1 1 HM Purpose The servomotor is operated without connecting the shaft to the machine in order to confirm the following wiring is correct Power supply circuit wiring Servomotor wiring Encoder wiring e servomotor fla
10. ACA E EN Lx OC To Se N N NEM I LO d Q I S N I 2 LL see ere E m amp F ZS FV a IV A al LAL l CI QW D E 6 0 amp 5 P 2 ue E M E V De 2 O p l 3 o ly T ll ll Eu Oz ll c MI 1 O lt I3 2328 8088 A j Cri Os m 93839 9 0 a Gaa pB a gt Z 4 TH L T n T T T TF f I o gos AA pl ie AG El i e 1 8 EE SS U up 3 DTS D O NEZ S i G i E i o l DN N El BRR p gt E asa BEE eee
11. 18 Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices I O signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor erro Net Series AC Servo Users Manual B ProNet 10D 15D 20D ProNet E 10D 15D 20D HERRH 2999 sal 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 CHARGE Power on indicator Lights when the control power supply is on Main circuit power supply terminals Used for main circuit power supply input Connector for communication Used to communicate with other devices Connecting terminal of DC reactor I O signal connector Used for reference input signals and sequence I O signals Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock Encoder connector Connects to the encoder in the servomotor
12. L1 L2 single phase 100 120V 72 50 60Hz Molded case Circuit Breaker 1 lt Surge Protector 1Ry 1PL Servo Alarm Display SA J Y Noise Filter 7 Gee ON ower ower pl 1KM m Ht i IN 1KM 1 Ry 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Servomotor A 1 L1 U p B 2 e L2 Vi M 001 Wo C3 A B D 2 Di D 4 00 CN2 TE Option cer Serial Encoder 1 A L2C 2 A L3 rS HN 3 B 8 S 4 B EN m gt un a be 147 BAT 5 poa oB1 opt 18 BAT gt C m 9 PG5V SG H B2 82 19 PGOV LBS ud 1 2 05 i External Regenerator Resisotr Shell Shie
13. lt Q LO a i O mm IE HE me e E j l 3 LLI I ZNO D O pum Lm i j E VRIR A U T m Horton 1 HET i LH I T j D a g 3 d am PEART a EEE Z Ey E J 14 ProNet E 02B ProNet E 04B PN EO E CNS N j N 5 SN 1 CH4 dD 2 NN LX E CNI U cN2 NES S ProNet E 08B 15 ESTUN AUTOMATION ProNet Series AC Servo Users Manual B ProNet Servo Drive Nameplate Servodrive model 9 Applicable power M supply Serial number S N ESTUN SERVODRIVE MODEL PRONET 10DMA AC INPUT AC OUTPUT lt q Applicable servomotor 3PH 380 480V 50 60Hz 3PH 0 400V 0 200Hz capacly 2 56A 3 2A 1 0kW 6600001J00 AU W
14. peni LI i STU Ai F A A Ji nem ME E E a ar ML 8e L 25 a 180 D 80 E E NN lil If mmm mmm B IA J 3 ER ESSEE EEC EE a a 6 Note ProNet E does not support extended module B ProNet 04B 08A 10A ProNet E 04B 08A 10A Unit mm DER Nameplate FICTION Extended Module Ex Mp p d Y FEE a CF J ee DEL og 5 19 E TETT esee esten E da Ve SR le d SJ WE faye oT E Air Flow i E 3 FE E Ee BO pe E L alr A MOD dono imi Ne ETA f vx 9 Sum Air Flow j I Cooling Fan Ll 84 124 Mounting Hole Diagram F LU U Air Flow 84 Note ProNet E does not support extended module 161 ESTUN AUTOMATION ProNet Series AC Servo Users Manual B ProNet 08B 10D 15A 15D 20A 20D ProNet E 08B 10D 15A 15D 20A 20D Unit mm
15. X O a AAA Noise Noise m Filter Filter AA vvv Bc vvv Ground plate round plate vvv S Ml Aaa Noise Noise m5 Filter ES Filter i Ground plate TIT Ground plate vvvvvyv vvv vvv 4 Separate these circuits Separate the noise filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together X O Noise D Noise Filter Filter dede Ground plate Ground plate Connect the noise filter ground wire directly to the ground plate Do not connect the noise filter ground wire to other ground wires 54 SMN 000000 ProNet Series AC Servo Users Manual AUTOMATION X O v Noise gt Noise gt er gt gt Filter Filter 5 servodrive servodrive servodrive servodrive D Hn din T A A IN Lu ov stub s Shielded ground wire ground plate ground plate If a noise filter is located inside a control panel connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel first
16. 29 Chapter 2 Installation 2 1 Servomotor Servomotor can be installed either horizontally or vertically However if the servomotor is installed incorrectly the service life of the servomotor will be shortened or unexpected problems may occur Please observe the installation instructions described below to install the servomotor correctly Before installation Anticorrosive paint is coated on the edge of the servomotor shaft Clean off the anticorrosive paint thoroughly using a cloth moistened with thinner Avoid getting thinner on other parts of the servomotor when cleaning the shaft Anticorrosive paint 2 1 1 Storage When the servomotor is not being used store it in an area with a temperature between 25 C and 60 C with the power cable disconnected 2 1 2 Installation Sites The servomotor is designed for indoor use Install the servomotor in an environment which meets the following conditions Free from corrosive and explosive gases Well ventilated and free from dust and moisture Ambient temperature from 0 to 40 C Relative humidity from 26 to 80 non condensing Facilitates inspection and cleaning 23 Kuso PON Series AC Servo Users Manual AUTOMATION 2 1 3 Installation Alignment Align the shaft of the servomotor with that of the machinery shaft to be controlled Then connect the two shafts with an elastic coupling Install the servomotor so that
17. ERE cod oo 1 C E mar 163 ProNet Series AC Servo Users Manual Appendix Parameter A 1 Parameter List Parameter Setting Factory Setting No Range Setting Invalidation Binary Pn000 0 Servo ON Pn000 1 Forward rotation input signal prohibited P OT Pn000 0 1111 After restart Pn000 2 Reverse rotation input signal prohibited N OT Pn000 3 Alarm output when instantaneous power loss Binary Pn001 0 CCW CW selection Pn001 Pn001 1 Analog speed limit enabled 0 1111 After restart Pn001 2 Analog torque limit enabled Pn001 3 2nd electronic gear enabled Binary Pn002 0 Electronic gear switching mode Pn002 Pn002 1 Reserved 0 0111 0010 After restart Pn002 2 Absolute encoder selection Pn002 3 Reserved Binary Pn003 0 Reserved Pn003 Pn003 1 Reserved 0 1111 After restart Pn003 2 Low speed compensation Pn003 3 Overload enhancement Hex Pn004 0 Stop mode Pn004 Pn004 1 Error counter clear mode 0 0x3425 After restart Pn004 2 Reference pulse form Pn004 3 Inverses pulse 164 ESTUN AUTOMATION Parameter No Pn005 Pn006 Pn007 Pn100 ProNet Seres
18. Setting Range Setting Unit Factory Setting Setting Validation 10 100 10ms 50 Immediately IBK Signal Output Conditions When Servomotor Running The BK signal goes to high level brake ON when either of the following conditions is satisfied e When the servomotor speed falls below the level set in Pn507 after servo OFF When the time set in Pn508 is exceeded after servo OFF Servo OFF S ON input Servo ON or alarm or power OFF Servomotor stopped by applying DB or coasting Pn004 0 Pn507 Servomotor Speed BK Output Brake released Brake held a Pn508 gt 4 3 5 Instantaneous Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage to the servo drive main circuit is instantaneously interrupted Parameter Signal Name and Meaning b 000 Continue operation when the power supply voltage to servo drive main circuit is Pn000 instantaneously interrupted b ILILILI An alarm occurs when the power supply voltage to servo drive main circuit is instantaneously interrupted 80 ESTUN AUTOMATION 4 4 Absolute Encoders ProNet Series AC Servo Users Manual Absolute Encoder Type Resolution Output Range of Multiturn Data Action when limit is exceeded ProNet Series 16 bit multiturn 17 bit singleturn 32 68 32
19. ProNet Series Servodrives nw 20 PAO VREF 1 o 21 PAO Speed Reference 0 10V Rated Speed e VREF 2 40K LT gt 22 PBO PG Divided Ratio Output TR 23 PBO _ Applicable Line Receiver nn a AM26LS32A Manufactured by TI or the Equivalent 24 PCO 25 PCO 50 DGND V Signal Allocations can be Modified V CMP Speed Coincidence nm 5 TGON COIN Positioning Completion N Rotation Detection 6 TGON S RDY Servo Ready nem 9 S RDY CIT Torque Limit Detection ni 10 S RDY Brake Interloc PGC Encoder C Pulse Output en 11 V CMP OT Over Travel EN 424V 1 12 V CMP RD Servo Enabled Motor Excitation Output tnad DICOM 13 HOME Home Completion Output Signal allocatons can be modified r SON 14 sako ETA S ON Servo ON bs CON 15 Sr P CON P Control L 5 OT 16 E P OT Forward Run Prohibited T er As t N OT 17 E N OT Reverse Run Prohibited Ak t ALM RST 39 gt ALM RST Alarm Reset F CLR 40 a CLR Clear Error Pulse P CL 41 LOG BRE P CL Forward Torque Limit L NG 42 ik N CL Reverse Torque Limit GENE SHOM Home ORG Zero Position 1Ry 24V i J 7 ALM 8 ALM 1D Connect Shield to Connector Shell Shield Shell V OV ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA a Represents Twisted pair Wires 50 3 5 10 Torque Control Mode
20. Servodrive Position control M Trial operation for Speed control servomotor without load Reference from the Host Controller Check Item Check Method Review Items JOG Operation Constant speed reference input from host controller Servomotor speed Check servomotor speed as follows Use the servomotor speed monitor Un000 on the panel operator Run the servomotor at a low speed For example input a reference speed of 60rpm and check to see if the servomotor makes one revolution per second Check the parameter setting at Pn300 to see if reference speed gain is correct Simple positioning Number of Input a reference equivalent to one Check the parameter setting at servomotor servomotor rotation and visually Pn200 to see if the number of rotation check to see if the shaft makes one PG dividing pulses is correct revolution Overtravel P OT and Whether the Check to see if the servomotor Review P OT and N OT wiring N OT Used servomotor stops rotating when P OT and N OT signals are input stops when P OT and N OT signals are input during continuous servomotor operation if the servomotor does not stop 4 2 Control Mode Selection The control modes supported by the ProNet series servo drives are described below 70 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter Control Mode Re
21. MEE ON l l Aa l l 4 Oo m Biz 0 Z B N 2 8 d 8 data bits 4 11 bits character frame 8 O I Modbus ASCII RTU Star ar La 1a oa 5g iu Od stp 4 8data bits gt 11 bits character frame gt Communication protocol structure Data format of communication protocol ASCII Mode Start character gt 3A h Communication address gt 1 byte contains two ASCII codes Reference code gt 1 byte contains two ASCII codes DATA n 1 Data content gt n word 2n byte contain 4n ASCII codes n 12 al RTU Mode Sleep interval of at least 4 bytes transmission time Communication address gt 1 byte Reference code gt 1 byte DATA n 1 Data content gt n word 2n byte n 12 DATA 0 CRC CRC checking code gt 1 byte Sleep interval of at least 4 bytes transmission time Communication protocol data format instructions are as follows STX communication start ASCII mode character 149 RTU mode Sleep interval of at least 4 bytes transmission time automatically changed according to different communication speed ADR communication address Valid communication address 1 to 254 For example communicate with the servo drive which address is 32 20 in hex ASCII mode ADR 2 0
22. Parameter Setting Control Description Function and Meaning No Validation Mode Speed limit during l Servomotor output torque limit value during torque Pn406 Immediately torque control Notch filter 1 Pn407 Immediately frequency Pn408 Notch filter 1 depth Immediately Notch filter 2 Pn409 Immediately frequency Pn410 T control 1 In some conditions Notch filter 1 frequency l l l vibration will be picked Notch filter 1 depth up and response will be lagged after notch filter Notch filter 2 frequency q 2 When notch filter frequency is set to 5000 the notch filter is invalid P S T P S T S T P Notch filter 2 depth Immediately P S T Notch filter 2 depth Low frequency Immediately Frequency of low frequency vibration with load Pn411 P S vibration frequency Low frequency l Attenuation damp of low frequency vibration with load Pn412 oe Immediately P S vibration damp It does not need to change Torque control delay l Pn413 Immediately T time These parameters are only enabled in position control Torque control speed l mode Pn414 Immediately T hysteresis This parameter is used to set zero bias of analog torque given and it is related with torque reference Pn415 Analog torque given Wee 1 input gain Pn400 zero bias Torque reference External torque given input analog Analog torque given zero bias X Torque reference input gain e l Outputs COIN signal when error count
23. Estun Automation Technology Co Ltd Made in China ETEA 5 SHA 15228518 akasi T FACE BARER fe M fe WARNING Disconnect all power and wait 5 min before servicing May cause electric AN shock EE EDER ART CAUTION Do not touch heatsink May cause burn EA T UTEN Use proper grounding techniques E ProNet E Servo Drive Nameplate Servodrive model P Applicable power 9 supply Serial number ESTUN SERVODRIVE MODEL PRONET E 50A AC INPUT AC OUTPUT 4 Applicable servomotor 3PH 200 230V 50 60Hz 3PH 0 200V 0 300Hz capat ae 28 0A 5 0kW N 66000014J MA Estun Automation Technology Co Ltd Made in China DETER 5 HP Date Li SRA Sim f Boix BARA je Nm fl WARNING Disconnect all power and wait 5 min before servicing May cause electric shock it BM iBWARRBGAR ARA CAUTION Do not touch heatsink May cause burn n tim FU Use proper grounding techniques 16 1 2 Part Names 1 2 1 Servomotor Servomotor without gear and brake Encoder Mounting hole Shell Output shaft Flange 1 2 2 Servo drive B ProNet 02A 04A ProNet E 02A 04A 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 T Connector for communication Used to comm
24. Note After an alarm occurs remove the cause of the alarm before resetting it 130 5 1 3 Basic Mode Selection The basic modes include status display mode parameter setting mode monitor mode and utility function mode Each time the MODE key is pressed the next mode in the sequence is selected Select a basic mode to display the operation status set parameters and operation references The basic mode is selected in the following order Power ON Status display mode EL A Parameter setting mode a t em E em E En Ez ES E Monitor mode Utility function mode EA 5 1 4 Status Display Mode The status display mode displays the servo drive status as bit data and codes Selecting Status Display Mode The status display mode is selected when the power supply is turned ON If it is not displayed select this mode by pressing MODE key Note that the display differs between the speed torque control and position control types Bit Data Code D a 131 B Bit Data Display Bit Data Position Control Mode Bit Data Lit if error between position reference Speed Torque Control Mode Description Lit when the difference between the servomotor and reference speed is the NEM MEM and actual servomotor position is below Speed same as or less than the preset value Positioning mE mM l preset value Coincidence Present value Pn501 factory setting is Completion l Pres
25. B ProNet 30D 50D 70D 75D ProNet E 30D 50D O Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main Bower on indicator GCU power supply Lights when the control power supply is capacitor remains charged a mam Fed oer Connector for communication supply terminals l gt Used to communicate with other devices Used for main circuit power supply input HED o sy les pl dei ie 1 O signal connector cu e Used for reference input Control power supply 0 signals and sequence I O terminals 24V signals Used for control power GND To supply input 7 E Encoder connector Regenerative resistor 6 ra Connects to the encoder connecting terminals a in the servomotor Used to connect external E regenerative resistors UJ Servomotor terminals v Connects to the servomotor w power line E Ground terminal D Be sure to connect to protect electric shock e Enn B ProNet 1AD 1ED 2BD Control power suppl Power on indicator terminals Lights when the control power Used for control power Charge indicator supply is on supply input Lights when the main circu r power supply is ON and al Connector for communication Main circuit power stays
26. E ProNet 30A 50A ProNet E 30A 50A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply Power on indicator capacitor remains charged 2 Lights when the control power supply is m on Main circuit power 18 Dr supply terminals O 6 Connector for communication Used for main circuit L3 eI Used to communicate with other devices power supply input el D Connecting terminal gt oo 5 I O signal connector of DC reactor FAY E Used for reference input Control power supply signals and sequence l O LIC signals terminals ES g Used for control power 2c KD supply input 1 7 Encoder connector 6 Connects to the encoder Regenerative resistor B2 athe servomotor connecting terminals ss TIEN l Used to connect external regenerative resistors E LED V Servomotor terminals a Ll Connects to the servomotor MN power line me Ground terminal gt Be sure to connect to protect electric shock o_o Enn 19
27. Frequency will begin to decline when the duty ratio error occurs Position Position Setting Reference Setting Encoder Dividing Pulses Phase A phase B phase C line driver output 16 postion nodes can be set Output Number of dividing pulses any Number of 8 channels channels Sequence Signal allocations and positive negative logic modifications Servo ON S ON P control P CON alarm reset ALM RST gt position error clear CLR forward run prohibited P OT reverse run prohibited N OT forward current limit P CL reverse current limit N CL and so on Number of 4 channels I O Signals Sequence channels Signal allocations and positive negative logic modifications Input P Function Output ux Function Positioning completion COIN speed coincidence V CMP servomotor rotation detection TGON servo ready S RDY torque limit output CLT brake interlock output BK encoder C pulse PGC and Over travel OT 0 75kW 7 5kW internal regenerative resistor 11kKW 22kW external regenerative resistor Regenerative Functions Protection Functions Overcurrent overvoltage low voltage overload regeneration error overspeed etc Utity Funcion Display Function CHARGE Red POWER Green five 7 segment LEDS Built in panel operator RS 485 communication port MODBUS protocol CAN communication port CANopen protocol Communication Functiion EtherCAT communication module
28. Note The speed reference offset must be automatically adjusted with the servo OFF Adjust the speed reference offset automatically in the following procedure 1 Turn OFF the servo drive and input the OV reference voltage from the host controller or external circuit Servodrive Servomotor gt OV Speed Host Reference Controller DEVO OEE Slow rotation Servo ON 2 Press the MODE key to select the utility function mode 3 Press the INC or DEC key to select the utility function number Fn003 Ed Bd 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode re lal 5 Press the MODE key for more than one second the reference offset will be automatically adjusted 140 elo lal 6 Press the ENTER key to return to the utility function mode display Fn003 Ed BEd 7 Thus the speed reference offset automatic adjustment is complete 5 2 5 Manual Adjustment of the Speed Reference Offset Manual adjustment of the speed torque reference offset is used in the following cases B If a position loop is formed with the host controller and the error is zeroed when servolock is stopped B To deliberately set the offset to some value Use this mode to check the offset data that was set in the automatic adjustment mode of the speed torque reference offset This mode operates in the same way as the automatic adjustment mode except that the amount of offset is dir
29. 0 0 o mmedetey Speed reference curve form 0 Slope Pn310 0 3 After restart 1 S curve 2 1 order filter 167 ee e ar Range p NER L seme ester Pnst2 DP communication JOG speed mm 000 8000 500 Immediately Pn313 Reserved mo Pa mew pf pnts meme 5 5 5 gt Prog NxhWertdm f om a nmedetey Prato Nochmerzdp 1 1 om 1 mmedetey Pnatz Lowtrequenoy juar demp 020 immediate Pnat Analogtorque given zerobias tomv 4000 1000 o immediate Pn 05 SencONwaiingime me 200 200 o Immedatey PO Bescwiiglos I tome oso o mmedaely Pn09 Alocate input signal toteminal I OPONE 06210 Mtermson Pn510 Allocate input signal to terminal oorr 0088 Aforros PnSM Alocate output signal to teminal 0 040900 00210 Merresat PnS12 Buscontlinput node ow bitenable omm o medal 168 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter Setting Factory Setting ME Eg Pn514 Input port filter 0 port Input port filter 0 02ms 2ms 0 100 1000 Immediately _ AO EE E M I ENS me mapa RR orm Pn517 Input BR DA inversion me nta Dyamictrate tre osre so 15 eda Pisto Seria encoder morte I omms om 3 immedatey Pns20 Postion ompete me oms 00000 SX inmedatey If connect externally re
30. Mounting Pitch 4 M5 Screw Holes Pa Flow g i Figure w 270 5 Terminal 14 M4 Screw Y SERVODRIVE 200V Y PRONET 50A HEEN Sue EUM E 3 z E 5 a re z 5 Bo 3 lo E e2 HD oF es He v 16 v 8 w 1 W al enn Mounting Pitch 125 4 Air Flow Ground Termina 2 M4 Screw 125 Extended Module 32 Nameplate 24 75 ProNet E does not support extended module 162 204 5 38 Cooling Fan ESTUN AUTOMATION B ProNet 75D 1AD 1ED 2BD Unit mm LAT Flow pan Flow EA gil jc mM hir Flow
31. Number of encoder rotation Number of encoder rotation pulses 1 Read Readonly 0808 Inputsignalstate f Readony gt 80c Encoder signal state fReadomy gt 080D Outputsignal state fReadomy gt E Puesto o aa EN _ Readony nade High bits of present location Unit 10000 Read only reference DE ET e rentas os Joe eRe ony 0816 Servomotor overloading proportion Read only 0817 Current alarm NM Read only 0818 Servomotor winding temperature Read only Sod MODBUS communication IO signal Do not save when Read write E E off 09E DSP version sid version Version is expressed Version is expressed by digit digit Read Readonly 090F CPLD version Version is expressed by digit Read only 155 Communication data address Description Operation 1555 17 bit encoder multi turn Unit 1 revolution Read only information Only for 17 bit Unit 1 pulse Encoder 17 bit encoder single turn l l 1011 Multi turn 16 bits information l l Single turn 17 bits 17 bit encoder single turn 1012 information high bits 1021 Clear historical alarms 01 Clear Write only 1022 Clear current alarms 01 Clear Write only 01 Enable 1023 JOG servo enabled Write only 00 Disable l 01 Forward rotation 1024 JOG forward rotation Write only 00 Stop l 01 Reverse rotation E 1025 JOG reverse rotation Write only 00 Stop 1496 JOG forward rotation at node 01 Forward rotation position start sig
32. Pn700 0 MODBUS baud rate 0 4800bps 1 9600bps 2 19200bps Pn700 1 Communication protocol selection 0 7 N 2 MODBUS ASCII 1 7 1 MODBUS ASCII 2 7 1 MODBUS ASCII 3 8 2 MODBUS ASCII Pn700 Hex After restart ALL 4 8 1 MODBUS ASCII 5 8 1 MODBUS ASCII 6 8 N 2 MODBUS RTU 7 8 1 MODBUS RTU 8 8 1 MODBUS RTU Pn700 2 Communication protocol selection 0 SCI communication with no protocol 1 MODBUS SCI communication Pn700 3 Reserved Axis address of MODBUS protocol Pn701 Axis address After restart ALL e communication 147 6 3 MODBUS Communication Protocol MODBUS communication protocol is only used when Pn700 2 is set to 1 There are two modes for MODBUS communication ASCII American Standard Code for information interchange mode and RTU Remote Terminal Unit mode The next section describes the two communication modes 6 3 1 Code Meaning ASCII Mode Every 8 bit data is consisted by two ASCII characters For example One 1 byte data 64 H Hexadecimal expression is expressed as ASCII code 64 which contains 6 as ASCII code 364 and 4 as ASCII code 344 ASCII code for number 0 to 9 character A to F are as follows mme v 2 9 os Te 7 career 9 e m RTU Mode Every 8 bit data is consisted by two 4 bit hexadecimal data that is to say a normal hexadecimal data For example decimal data 100 can be expressed
33. Position Reference lt PULS CW A oj PULS 31 2 e SIGN 32 BH SION CEN SIGN 33 X ek Ed Spr can be Modified 5 TGON V CMP Speed Coincidence k COIN Posit C let 1 6 TGON OONReNon Beleion a 9 S RDY S RDY Servo Ready ee fr Te ti 11 V CMP en le Output c Over Irave 12 V CMP SAS E uM Output ME Home Completion Output 24V Signal Allocations can be Modified _ EE ska ty K t 1 S ON 14 S ON Servo ON 2 w RK P CON 15 ca P CON Proportion Control Li POT 16 r P OT Forward Run Prohibited tf k nn N OT 17 N OT Reverse Run Prohibited I fr k t ALM RST 39 ALM RST Alarm Reset o k CLR 40 CLR Clear Error Pulse LT P CL Tao ek P CL Forward Torque Limit L N CL 42 YEK N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V 1 To Shield a nie Connect Shield to Connector Shell b TD ov ALM Servo Alarm Output Photocoupler Output a Represents Twisted pair Wires Maximum Operating Voltage DC30V Maximum Output Current DC50mA 33 3 2 2 I O Signal Names and Functions B Input Signals Control Signal Mode Name S ON Servo ON Turns the servomotor on Function selected by parameter control reference ON reference direction P CON 15 Control mode switching reference zero when ON block input when ON Speed Forward run Position P OT 16 prohibited u Torque N OT 17 een Overtravel prohibited Stops servomoto
34. gt 2 32H 0 30h RTU mode ADR 20H CMD command reference and DATA data Data structure is determined by command code Regular command code is shown as follows Command code 03H read N words word N 20 For example read 2 words starting from 0200 y from the servo drive which address is 01 H ASCII mode Reference information Response information STX gt Data number count as byte Content of data start Data number address 0200 count as word Content of second data LRC checking address 0201 0D HXCR OAn LF LRC checking 0D n CR OA XLF RTU mode Reference information Response information om Ms 02u AH o bit Data start address 00 OOu low bit Data number 04 y count as byte Content of data start 00 y high bit Data number 00 y count as word CRC checking C5 p low bit CRC checking B3 y high bit address 0200u B1 y low bit Content of second data 1F y high bit address 0201 y 40 y low bit CRC checking A3 4 low bit CRC checking D3 y high bit Reference code 064 write in one word For example write 100 0064 y into 014 servo address 0200 150 ASCII mode Reference information Response information Data start address Content of data start address 0200k LRC checking CTI Data content LRC checking RTU mode Reference information Response information ue ew 02 high bit 02H
35. 1 I I 1 T 1 gt 1 gz B Resolver Resolver Host controller Applicable line receiver SN75175 manufactured by TI or equivalent K 1 PS 7 1 Phase A LQ tP ps s ed W En ON gt TG DATE Q 21 mao fr pe te sar 18 Phase B 22 PBO a 23 PBO tp EE 24 PCO a 25 co iP Output line driver AM26LS31 manufactured by TI or the equivalent C H 5 PG5V 9 1 G 6 poov 19 gt ov 350 DGND AM J 7 E FG Connector shell l shielded wires I Connector shell Shell A Represents multi core twisted pair shielded wires Note 1 BAT and BAT signals are not used when using an incremental encoder 2 The pin numbers for the connector wiring differ depending on the servomotors Servodrive x CN2 CNI i 5 x K i SIN 7 Ar gt Ph A 1 L fr SN 3 an EE A i i T COS 17 a 2 mAO P s ij cos 18 EE EgNC S a 2 PBO t MEE Pec pS A ro I a 25 mco fr Output line driver AM26LS31 manufactured by TI a or equivalent e H RI 9 G R2 19 gt ov 50 DGND J FG Connect shell C Shell shielded wires Connector shell Represents multi core twisted pair shielded wires 39 3 3 2 Encoder Connector CN2 Terminal Layout B Wire saving Incremental Encoder 2500P R AA A AAA A PG input phase A 5 E PG input phase B
36. 145 5 2 11 Absolute Encoder Related Alarms Reset o oocccoccccccccccncoccconcnnncnnonnconnnoncnonononnnonnrnnnnnnnnnnnnrnnnnnnnnaninos 145 A ve 146 MODBUS niv 146 6 1 RS 485 Communication Wiring rrrrrnnrrrnnnnnrnrnnnrnrrnnnrrnnnnrrnnnrrrnnnnrennnnrennnnsernnnsnennnnsrennnnsennnnssseennnnseennnssennnn 146 6 2 MODBUS Communication Related Parameters cococccccccnccccccccncnccncncnncnnnonnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnncnnnnnnos 147 6 9 MODBUS Communication Protocol sciences 148 6 3 1 Code MEANING EM 148 6 3 2 Communication Error Disposal occccoccncoccccconcnconcnconononocnnononononnnonnnnnonnnnnnnnnnnnnnnnnnnnnnnnnoninenconinnnnass 154 6 3 3 Data Communication Address of Servo State oooccccconccccccccncconcnnononnnnonnnonononcnnnnonnnnnnannnnnnnnnnnnnnninnos 155 ET 158 Specifications and Characters ae E mE 158 7 1 Servo drive Specifications and Models cccocccccccnccccnccccnnconnncnncnnonnnnnonnnonnnnnnnnnnonnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnns 158 7 2 Servo drive Dimensional Drawings ssssssssssssssseseseeen eene enne enne nnne nnne nnne n nnns nnn nnn nnns 161 APDE 010 dr HEP 164 Parameter EEE EEE EEE 164 APT 164 A 2 Description of Parameter Type ccccccccceccccsececeeceseeeeseeeeceeesseeeeseeee
37. 4 5 8 Encoder Signal Output Encoder feedback pulses processed inside the servo drive can be output externally CN1 20 Encoder output phase A Output PAO CN1 21 Encoder output phase A These outputs explained here Servodrive Host Controller Encoder Phase A PAO p gt GE Serial Data a Frequency Phase B PBO dividing Phase C PCO circuit The dividing output phase form is the same as the standard setting Pn001 0 0 even if in reverse rotation mode Pn001 0 1 E Output phase form Forward rotation phase B leads 90 Reverse rotation phase A leads 90 a 90 gt Phase A Phase B Phase C If the servomotor is not equipped with an absolute encoder the servomotor needs two full rotations before using the servo drive s Phase C pulse output as the zero point reference Dividing Dividing means that the divider converts data into the pulse density Pn200 based on the pulse data of the encoder installed on the servomotor and outputs it The setting unit is number of pulses revolution 92 B Pulse Dividing Ratio Setting PG Dividing Ratio Pn200 ar Setting Range Setting Unit Factory Setting Setting Validation 16 16384 16384 After restart Set the number of pulses for PG ou
38. AA uu m External Regenerative Resistor iN p d O B1 Lo B2 1Ry 24V 7 ALM ES 8 ALM O E 1 1D e hee y Ground Terminal ov Notes 1 Aresistor value of 1500W 200 is recommended for the external regenerative resistor of ProNet 1AD 2 Aresistor value of 1500W 15Q is recommended for the external regenerative resistor of ProNet 1ED 3 Aresistor value of 1500W 200 is recommended for the external regenerative resistor of ProNet 2BD m Single phase 100V ProNet 02B Single phase 100V ProNet E 02B L1 L2 Single phase 100 120V 13 50 60Hz Molded case Circuit Breaker purge Protector Ry 1PL Servo Alarm Display Noise Filter MIN Power OFF Power ON 1KM 1 T LL IKM 1Ry 1SUP lt 1 Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor L1 T A 1 Servodrive 7 0L2 i i B 2 V M C 3 gt 1 we 3 D 4 ds 4 gt LIC 0 L2c Encoder CN2 PG External regenerator resistor P E B1 gt B1 0 B2 OB2 B3 OB3 IRy 24V i 7 ALM 8 ALM j Ss 1D E E Ground Terminal ov 291 ESTUN AUTOMATION ProNet Series AC Servo Users Manual B Single ph
39. E J E I oir ns et o O 1 2 ES pr N I li Jhe en ale P N whales En N Wi H VE Y CN2 X EN an CS amp 3 Ne Ta il d SSIS ee ESTUN AUTOMATION ProNet 04B tla A DE D r Fi i A ProNet E Servo Drive Appearance ProNet E 02A 04A E T er a IES ie z AL EF AE o a Na scl Le SNL T 1639 3 Wa u er E lp ET p E E AR A PA D EE pe d 243 ProNet Seres AC Servo User s Manual ProNet 08B ProNet
40. Input N CL CN1 42 factory setting OFF high level 122 4 11 Other Output Signals 4 11 1 Servo alarm output The following diagram shows the right way to connect the Alarm Output Servo drive I O Power supply 24V QV Optocoupler output posee x ALM Each output node ER dad AS 8 ALM Max output voltage 30V Max output current 50mA ETS N An external 24V I O power supply is required since there is no 24V power source available inside the servo drive Output gt ALM 1CN 7 Servo alarm output Output gt ALM 1CN 8 Servo alarm output uses grounding signal ALM outputs a signal when the servo drive is detected in an abnormal state Servo drive Be detected abnormal ALM Output Cut off the main circuit power Normally the external circuit consists of ALM should be able to switch off the power of servo drive Signal Status Output level ON ALM 1CN 7 L level Normal state 1CN 8 H level Alarm state When servo alarm ALM 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 39 alarm reset input Signal Status Inputlevel JALM RST ON 1CN 39 L level 1CN 39 H level Do not reset servo alarm Normally the external circuit can switch off the power supply of
41. Manual achsiment of speed reference ofset Fn005 Automatic adjustment of servomotor current detection nos Manual adjustment of servomotor curent detection nor Sofware version play O CTN noe Staicheniadetecion SSS foro Absolute encoder mutum data andalamreset nor Absolute encoder related alarms eset Note Fn010 Fn011 only can be used when the servomotor mounted the absolute encoder 9 2 1 Alarm Traceback Data Display The alarm traceback display can display up to 10 previously occurred alarms The alarm is displayed on Fn000 which is stored in the alarm traceback data Follow the procedures below to confirm alarms which have been generated 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of alarm trace back data display ball BEB 3 Press the ENTER key once the latest alarm data is displayed Alarm Sequence Number Alarm Code yo Ei aca 4 Press the INC or DEC key to display other recent alarms that have occurred 99 E 5 Press the ENTER key the display will return to Fn000 Fal EB Note Hold the ENTER key for one second with alarm code displaying all the alarm traceback datas will be cleared Fd cB 137 ESTUN ProNet Series AC Servo User s Manual AUTOMATION 5 2 2 Parameter Settings Initialization Follow the procedures below to execute the parameter settings initialization 1 Press the MODE key t
42. i GND ner Omen ai L A SAV Img Serial Encoder o o o o 1 H Encoder 2500P R 5 Encoder LO lg l 1 A Resolver C i B1 OB1 gt A SN 8 S y o deal 082 3 Br 8 SIN 17 BAT p 4 B 17 cos 18 BAT l 5 C l E 0 B3 6 C 18 COS 9 PG5V E 9 R1 19 PGOV m 1 n i 789 PGSV 19 R2 Ld O O zae1ol PGOV l Shell Shield Y 10 d Shell Shield Shell Shield Ne Be sure to ground CN3 P 1 N C s Be sure to prepare the end of the 2 N C shielded wire properly A 3 485 CN1 4 ISO_GND 5 SO GND Use special communication cable to connect REEF TT L S 5 ref 6 485 PC Personal Computer Speed Reference 0 10V Rated Speed a VREF 2 9 amp 1 7 CANH 10K AD 8 CANL Note Do not short terminal 1 and 2 of CN3 ref I TREF 26 P Shell Shield Torque Reference 0 10V Rated Torque TREF 27 220 i CN4 1 NG i 2 N C E PPI 34 3 485 Open collector Reference Use 2KQ 4 IS og GND gt PULS 30 1 2 5 ISO_GND Position Reference lt PULS EIUS ER PULS 31 Fk 6 485 T 7 CANH SIGN COW B aeg SON 8 CANL V Shell Shield 424V l a Signal allocatons can be modified DICOM 13 f J gt 20 PAO S ON Servo ON H SON 14 e 21 PAO P CON P Control FL P CON 15 F T gt 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 16 23 PBO gt Applicable Line Receiver N OT Reverse Run Prohibited Lo NOT 17 tH 24 PCO AM26LS32A Manufactured by TI or th
43. lt PULS 31 m X gt SIGN 32 lt SIGN CCW B I a yok i T SIGN 33 Signal Allocations can be Modified i Jj 5 TGON NE Pee Positioning Completion 6 TGON TGON Rotation Detection fa 9 S RDY o Ready A imit Detecti 10 S RDY BR Graka Interlock er fa 11 COIN PGC Encoder C Pulse Output TA 12 COIN OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output eo MN Signal allocatons can be modified 7 DICOM 13 1 H S ON Servo ON SON 14 pE P CON P Control e PON 15 gt gt gt P OT Forward Run Prohibited a P O 16 EE N OT Reverse Run Prohibited m ee 17 ER ALM RST Alarm Reset T ALM RST 39 e CLR Clear Error Pulse CLR 40 2 P CL Forward Torque Limit FL P CL 41 E N CL Reverse Torque Limit N CL 42 SHOM Home ORG Zero Position 1Ry 24V MES 7 ALM Connect Shield to Connector Shell Tr Shield Shell th 8 ALM E 1D OV ALM Servo Alarm Output al Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 49 3 5 9 Speed Control Mode
44. 1000 or below 4 Never use a line filter for the power supply in the circuit m Conduct a voltage resistance test for the servo drive under the following conditions 1 Input voltage AC 1500Vrms 1 minute 2 Braking current 100mA 3 Frequency 50 60Hz 4 Voltage applied point Between L1 L2 L3 terminals and frame ground m Use a fast response type ground fault interrupter For a ground fault interrupter always use a fast response type or one designed for PWM inverters Do not use a time delay type m Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation m he 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 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Contents About this manual EEE EN 1 SN PrO AUO ea E E SE ENE 2 nn T Checking Preducis and Parts Naiies inue iate nn roe ex ener cita f 1 1 Checking Products on Delivery ccccccccccseseecceeeeecceeececseueeecsuceecauececsaesessuueeesseceeseeeesssseeeesseeesseneeesseneessas f MA A o e 7 ll OND 10 PN de 17 ES ELST A L o cnt dios m 17 A Sn e 17 TEN 23 Mic lc ERE ERAT SE ENE CP PU OE 23 PE
45. 25 55C Operating Ambient Storage Humidity 5 95 RH with no condensation Conditions 1000m or less Vibration ShockResistance Vibration Resistance 4 9m s Impact Resistance 19 6m s Electric Power System TN system 3 Configuration Base mounted Speed Control Range 1 5000 Load 0 100 load 0 01 or less at rated speed Regulation Performance Speed Voltage Rated voltage 10 0 Cat rated speed Regulation Regulation Temperature 25 25C 0 1 or less at rated speed Regulation Reference 10VDC at rated torque Variable setting range 0 10VDC Analog Voltage Max input voltage 12V Torque Input Reference About 10MQ or above Control Impedance Input Circuit Time 10us Constant Reference 10VDC at rated speed Variable setting range 0 10VDC Voltage Max input voltage 12V Analog Input Input About 10MQ or above Reference Impedance Circuit Time 10us Speed Constant Control Rotation Speed Direction With P CON signal Selection Selection UM E Speed 1 to 7 Selection Soft aoe Function cue 0 10s Can be set individually for acceleration and deceleration 159 gt O Sign pulse train CCW CW pulse train Type ii 90 phase difference 2 phase phase A phase B Form Non insulated linde driver about 5V open collector Pulse x1 multiplier 4Mpps Position Reference x2 multiplier 2Mpps Control Frequency x4 multiplier 1Mpps Open collector 200Kpps
46. AUTOMATION 4 9 3 Torque Limiting Using an Analog Voltage Reference Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T REF terminals CN 1 26 27 This function can be used only during speed or position control not during torque control Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed control Servodrive Pn401 forward rotation torque limit T REF gt Torque limit value input gain Pn400 Torque reference 4 VREF Speed reference input Speed loop gain gain Pn300 n Pn102 Torque reference Speed reference Speed loop x integral time constant Pn103 Pn402 reverse rotation torque limit Speed feedback Important There is no issue with input voltage polarity of the analog voltage reference for torque limiting The absolute values of both and voltages are input and a torque limit value corresponding to that absolute value is applied in the forward or reverse direction Related Parameters Parameter Meaning Pn001 b DIO Use the T REF terminal to be used as an external torque limit input 121 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 10 Control Mode Selection The methods and conditions for switching the servo driv
47. Automatic offset adjustment Reference voltage Offset automatically adjusted in the servodrive Torque referen e After completion of the automatic adjustment the amount of offset is stored in the servo drive The amount of offset can be checked in the manual adjustment of torque reference offset Fn004 The automatic adjustment of analog reference offset Fn003 cannot be used when a position loop has been formed with the host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the torque reference offset manual adjustment Fn004 Note The analog reference offset must be automatically adjusted with the servo OFF 2 Manual Adjustment of the Torque Reference Offset Manual adjustment of the torque reference offset Fn004 is used in the following cases e If a position loop is formed with the host controller and the error is zeroed when servolock is stopped To deliberately set the offset to some value Use this mode to check the offset data that was set in the automatic adjustment mode of the torque reference offset This mode operates in the same way as the automatic adjustment mode Fn003 except that the amount of offset is directly input during the adjustment The offset adjustment range and setting unit are as follows Torque reference Offset adjustment range Offset adjustment range 1024 1024 Analog voltage input
48. Battery AAA o eo o PP 82 4 4 3 RENE 83 4 4 4 Absolute Encoder Setup Fn010 Fn011 eese nennen nnns 83 4 5 Operating Using Speed Control with Analog Reference ooocccconcccccoccoconoconononcnnononononnnconononnnnonanononnnnnnnonnnnnnos 84 4 5 1 Setting Parameters cccccsecccccsssecceeececcenececceueeccsuuceeseececseueeesseueeeseueeesseueeessueeeessuecseessageeessessessaeees 84 4252 Seung INPUESIONalS saa 85 4 5 3 Adjusting Reference Of SEf ooooncccococonocoonococononconronoconcnnonnnnnnnnconononrnnoronnnnnnnrnnnrnnrnnorennnnnnnnnranennnens 86 SS 89 4 5 5 Speed Reference Filter Time Constant o cccocccccccnccccnccocnnconnnononnnnncnnonnnnnonnnonannnonnnnnnnnnnnnnnonannnenaninnns 89 1505 UREN 90 45 7 Using the Zero Clamp FuncHon musicians lada 90 4 5 8 Encoder Signal Output occoooccncccccccccoccnccnoconconcnnononnnnonnnrnnnnnrnnn nn rnnn nnne nnn nnn nnne n nnne nnne snnt nn nnne nnns 92 4 5 9 Speed coincidence output ccoccncnccnccncnccncnncncnnnnncnonncnnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnaninnns 93 4 6 Operating Using Position CONTTOl ooocccoonnnccoccnccconnnononcnnnnnncnnnnncnnononcnnonnrnnnnnnrnnnnnnrnnrnnnnnrnnnrrrnnrnnnrnrrnnrnnnnnnninns 94 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 6 1 Basic Setting in Position Control rrrrnnrrnnnnnnrnrnnnnnrnnnrrnnnnnrrenrnnrrnnnnsrenn
49. C pulse the figure is shown as below Speed A Pn 685 rpm Pn 686 Return to find C pulse Orpm Homing offset distance lt Pn 690 10000 Pn691 ORG Encoder C pulse AEE o oo ooo Begin to counter offset distance after the first C pulse is produced when leaving zero posiion SHOM 1 Rising edge 110 Corresponding position Mechanical shaft Machine moves return to search Motor slow down reverse Begin to counter offset distande after the first C pulse is produced when I leaving zero posiion Encoder C puls Rising edge SHOM After hitting the origin signal ORG the motor will find C pulse directly the figure is shown as below Speed Pn 685 rpm Pn 686 Find C pulse without Orpm eturning Homing offset distance Rising edge SHOM Encoder C pulse Pn 690 x 10000 Pn 691 Begin to counter offset distance after the first C pulse is produced when leaving zero posiion Corresponding position Mechanical shaft Machine moves return to search pulse C I I Begin to counter offset distance after Motor slow dawn gt the first C pulse is produced when i leaving zero posiion l l Encoder C pulse l D ORG f Rising edge SHOM 111 4 7 Operating Using Torque Control 4 7 1 Setting Parameters The following parameters must be set for torque control operation with analog
50. E 08A 10A tt LIC L2C B1 B2 B3 pg DE gt CN3 CN4 CN1 CN2 Tm 2s ProNet Series AC Servo Users Manual ProNet E 10D 15D 20D ProNet E 15A 20A AUTOMATION ESTUN
51. E S bit Data start address Data start address 00 y low bit 00 00n low bit 00 y high bit 00 y high bit Data content Data content 64 y low bit 64 y low bit CRC checking 89 y low bit CRC checking 89 y low bit CRC checking 99 y high bit CRC checking 99 y high bit LRC ASCII mode and CRC RTU mode error detection value calculation LRC calculation in ASCII mode ASCII mode uses LRC Longitudinal Redundancy Check error detection value The exceeded parts e g the total value is 1284 of hex then take 284 only is taken off by the unit of 256 in the total value from ADR to the last information then calculate and compensate the final result is LRC error detection value 151 For example read 1 word from 014 servo address 0201 y Data number count as word Add from ADR data to the last data 01 4 03 y 02 4 01 4 00 y 01 4 08 y The compensate value is F8u when 2 is used to compensate 08 so LRC is F 8 CRC calculation of RTU mode RTU mode uses CRC Cyclical Redundancy Check error detection value The process of CRC error detection value calculation is shown as follows Step 1 Load in a 16 bit register of FFFFy named CRC register Step 2 Run XOR calculation between the first bit bit 0 of instruction information and 16 bit CRC register s low bit LSB and the result is saved to CRC register Step 3 Check the lowest bit LSB of CRC register if it is O CRC
52. I O signals are correctly set from the host controller to the servo drive Also check the wiring and polarity between the host controller and servo drive and the servo drive operation settings are correct This is the final check before connecting the servomotor to the machine 1 Servo ON Command from the Host The following circuits are required External input signal circuit or equivalent Speed Control Standard Setting Pn005 H 0 000 Position Control Pn005 HA 0 010 65 2 0perating Procedure in Speed Control Mode Pn005 H 11101 1 The following circuit is required External input signal circuit or equivalent Servodrive CN1 24V y AS _IS ON 44 P OT ET N OT EET V REF OVy EN V REF PO V REF 2 Max Voltage 12V GND 3 a D J Check the power and input signal circuits again M l Refer to the above figure for the input signal circuit and check that the speed reference input voltage between the V REF and V REF is OV If the servomotor rotates at an extremely slow speed refer to Turn ON the servo ON S ON input signal 4 5 3 Adjusting Reference Offset and use the reference voltage offset to keep the servomotor from moving Generally increase the speed reference input o The factory setting is 6V rated rotation speed voltage between V REF and V REF from 0 V Check the speed reference input to the servo
53. Offset setting unit 114 4 7 4 Limiting Servomotor Speed During Torque Control During torque control the servomotor is controlled to output the specified torque which means that the servomotor speed is not controlled Accordingly when an excessive reference torque is set for the mechanical load torque it will prevail over the mechanical load torque and the servomotor speed will greatly increase This function serves to limit the servomotor speed during torque control to protect the machine Without Speed Limit With Speed Limit Danger of damage due to A A Servomotor speed Servomotor speed excessive of machine speed Max speed Speed limit 1 Speed Limit Enable b b 0000 100 b O000 Use the value set in Pn406 as the speed limit Internal speed limit gt Pn001 ete Use the lower speed between V REF and Pn406 as an external speed limit input External speed limit 2 Speed Limit During Torque Control Speed Limit During Torque Control Torque Setting Range Setting Unit Factory Setting Setting Validation 0 6000 1500 immediately Set the servomotor speed limit value during torque control e Pn005 H LILI1LI Pn406 is motor speed limit value e The servomotor s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the servomotor used 115 3 External Speed Limit Function Signal Name Connector Pin Number Name V REF CN1 1
54. PO GE 0 0500 0 0 M8 Sl x n a 23 PBO tp 6 F VP PC 2 6 Phase C 24 PCO a 25 co fP Output line driver AM26LS31 manufactured Appl cable due by TI or th lant receiver SN75175 y Lor the equivalen P manufactured by TI or the equivalent 7 H Gy ar 2 8 297 PG5V G 2 17 2 18 te 1 18 OV 1 36 lt VIDAR Connector shell IMAN LY I Connector shell Shell shielded wires AM i P Represents multi core twisted pair shielded wires m Wire saving Incremental Encoder 2500P R Standard Wire saving Incremental Servodrive Host controller Encoder 1 A XO PAO tp m PBO E PBO tp 6 F PCO lt a 25 mco P Output line driver n AM26LS31 manufactured i 5 by TI or the equivalent manufactured by TI or the equivalent 7 H d o E 7 2 8 297 pasy G 2 17 2 18 23 PGOV M 1 18 W 136 A FG C tor shell 9 J WM onnector shell y Connector shell Shell shielded wires LIL P Represents multi core twisted pair shielded wires ze s 38 ESTUN AUTOMATION ProNet Series AC Servo Users Manual B 17 bit Incremental Absolute Encoders Incremental Absolute Encoders Servodrive Host controller Applicable line receiver SN75175 manufactured by TI or the equivalent 1 T I 1
55. Parameter Setting Control Description Function and Meaning Validation Mode Analog Tref feedforward input is valid Pn005 1 Control mode 0 Speed control analog reference PCON OFF Pl control ON P control 1 Position control pulse train reference PCON OFF Pl control ON P control 2 Torque control analog reference PCON is invalid 3 Speed control contact reference speed Control zero reference PCON PCL NCL OFF Switches to position control zero reference 4 Speed control contact reference speed control analog reference PCON PCL NCL OFF Switches to position control analog reference 5 Speed control contact reference position control pulse train reference PCON PCL NCL OFF Switches to position control pulse train reference 6 Speed control contact reference torque Control analog reference PCON PCL NCL OFF Switches to position control analog reference 7 Position control pulse train reference speed Control analog reference PCON OFF position control pulse train reference ON speed control analog reference 8 Position control pulse train reference Torque Control analog reference PCON OFF position control pulse train reference ON torque control analog reference 9 Torque control analog reference speed Control analog reference PCON OFF Torque control analog reference ON Speed control anal
56. The servomotor can now be operated Adjust the servo gain if necessary NUM 4 1 1 Trial Operation for Servomotor Without Load Release the coupling between the servomotor and the machine and secure only the servomotor without a load To prevent accidents initially perform the trial operation for servomotor under no load conditions with all couplings and belts disconnected In this section confirm the cable connections of the main circuit power supply servomotor and encoder Incorrect wiring is generally the reason why servomotors fail to operate properly during the trial operation Confirm the wiring and then conduct the trial operation for servomotor without load according to the following steps Description Check Method and Remarks Secure the servomotor Secure the servomotor flange to the machine in order to prevent the servomotor from moving during operation Do not connect the servomotor shaft to the machine The servomotor may tip over during rotation Secure the servomotor flange to the machine Do not connect anything to the shaft no load conditions Check the power supply circuit servomotor and encoder With the I O signal connector CN1 disconnected wiring check the power supply circuit and servomotor wiring Refer to 3 1 Main Circuit Wiring Turn ON the control power supply and main circuit power If the power is correctly supplied the panel operator supply display on the front panel o
57. Turns the INHIBIT function ON N low level Inhibit the servo drive from counting reference Input P CON CN1 15 pulses Turns the INHIBIT function OFF or ahve orina level Counters reference pulses 105 4 6 8 Position Control contact reference Position control under contact reference parameter Pn005 1 C In this mode servo drive can position with a single axes without a host controller There are 16 position control points with each being able to set move distance running speed constants for position reference filter time and the stop time when positioning completed Two speeds 1 speed moving toward distance switch speed of looking for reference point 2 Speed moving away from distance switch moving speed of reference points could be set as Two position modes 1 Absolute position mode 2 Relative position mode Two running modes 1 Circling mode 2 Non circling mode Two step switching method 1 Delay step switching 2 P CON signal switching Method of looking for reference points 1 Forward direction 2 Reverse direction sAdjusting offset Offset of each points has two correspondent parameters one unit of the parameter is x 10000 reference pulse and the other is x 1 reference pulse Setting range of both parameters is 9999 9999 while offset value equals sum of those two values For example No 0 offset correspond to parameter Pn600 x 10000 reference pulse and Pn601 x 1 reference puls
58. Workbench Servomotor 2 Application Low frequency vibration suppression function is enabled in both speed control mode and position control mode Low frequency vibration suppression function is disabled or can not reach the expected effect in the following conditions e Vibration is pricked up due to an external force e Vibration frequency is between 5 0Hz to 50 0Hz There is mechanical clearance at the mechanical connection part e The time for movement is less than one vibration period 3 How to operate B Measuring Vibration frequency Write the frequency data measured unit 0 1Hz directly to Parameter Pn411 if the vibration frequency can be measured by an instrument such as a laser interferometer And it also can be measured indirectly by communication software ESView or FFT analsis function 102 Position error counter B Related Parameters MAS E Os H 0000 0 Low frequency vibration suppression function disabled n H amoo 100 1 Low frequency vibration suppression function enabled f f Low frequency vibration frequency Pn411 Setting Range E UE E iud E Setting Validation Low NEL vibration damp e speed Position Setting Range Setting Unit Factory Setting Setting Validation Writing the frequency data to parameter Pn411 can adjust Pn411 slightly to obtain the best suppression effect If the servomotor stopped with continuous vibration Pn412 Do not change in general shou
59. a metal conduit ground the conduit and its junction box For all grounding ground at one point only 3 Precautions on installing on the control panel a When the servo drive is installed on the control panel a piece of metal plate should be fixed It is used for fixing the servo drive and other peripheral devices The noise filter should be installed on the metal plate and closed to the hole drill through power lines on control panel Use screws to fix the noise filter to the metal plate The grounding terminals of noise filter connects to the grounding terminals of control panel Servo drive should be fixed on a piece of metal plate Make sure the heat sink towards ground The grounding terminals of servo drive connect to the grounding terminals of control panel 3 6 2 Precautions on Connecting Noise Filter 1 Noise Filter Brake Power Supply Use the noise filter Manufactured by SCHAFFNER at the brake power input for servomotors with holding brakes Relationship between servo drive power and noise filter current 53 Note 1 A single phase servomotor should apply a two phase filter A three phase servo drive should apply a three phase filter 2 Choose the right filter according the specifications of operating voltage current and manufacturer 2 Precautions on Using Noise Filters Do not put the input and output lines in the same duct or bundle them together
60. abnormal communication connection or disturbance FER Receiving heartbeat timeout The master station sends heartbeat time timeout Synchronization signal monitoring The filling time and the cycle of the synchronous signal tim a is longer than setting adum not match O Notaneror an error Normal Normal operation status status E Output transistor is ON X Output transistor is OFF A 45 A 46 A 47 A 48 A 51 only can be reset when the absolute encoder related alarm is cleared The multiturn data should be cleared because of the multiturn information is incorrect 192 ESTUN AUTOMATION TECHNOLOGY CO LTD Address 16 Shuige Road Jiangning Development Zone Nanjing 211106 PR China Tel 86 25 58328505 8507 Fax 86 25 58328504 Web www estun cn E mail export estun com VS VNNSEOM ANN
61. applied 3 When forming a position loop do not use a mechanical brake while the servomotor is stopped because the servomotor enters servolock status 1 Wiring Example Use the servo drive sequence output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servodrive Servomotor with brake Power supply P R e e Ll U S A L2 ii T a 13 W D o LIC L2C CNI CN2 BK RY BK T24V bo Brake power supply BK RY Yellow or blue Red White AC DC Black BK RY Brake control relay 1 2 The output terminals allocated with Pn511 77 2 Brake interlock output Type Signal Name Connector Pin Number Setting Meaning ON Low level Releases the brake Output BK Must be allocated l l OFF High level Applies the brake This output signal controls the brake and is used only for a servomotor with a brake This output signal is not used with the factory setting The output signal must be allocated by Pn511 It does not need to be connected for servomotor without a brake 3 Allocating Brake Interlock Output Bk Brake interlock output BK is not used with the factory setting The output signal must be allocated Connector Pin Number Param
62. be saved after power off It is operated with Pn512 and Pn513 as the communication input IO signal That is to say when the parameters setting in Pn512 and Pn513 enable the IO bit the lO can be controlled by communication 5 Software version 090F y Use digit to represent servo drive software version For example if the read out data is D201 it means the software version is D 2 01 157 Chapter 7 Specifications and Characters 7 1 Servo drive Specifications and Models m om om om wa PP i om meson me AO EE E 20D Model EML 10A 20A 30A 40A 10D CI EE om pe 09 1 Continuous Output Current Arms 12 0 18 0 28 0 15 0 18 0 18 0 28 0 38 0 55 0 2 7 czv roverso cmon TL I TT oojoo 00 480 650 s 050 1 1 Single phase 200 Three phase Three phase ree phase rs DE ccs 0 40 10 15 50 60Hz 10 15 50 60HZ 1 10 15 50 60Hz 15 50 60Hz 15 50 60Hz Input Power Supply Single phase Single phase 24VDC 380 440VAC i Control Circuit 200 230VAC Single phase 100 120VAC 0 _4K0 10 0 _4K0 10 15 50 60Hz 10 15 10 15 50 60HZ 15 50 60Hz Control Method SVPWM Control Feedback Serial Encoder 131072P R 158 Resolver 65536P R Max Incremental Wire saving type 2500 P R Ambient temperature 20 55 C Ambient Storage Temperature Storage temperature
63. cable Shield cable Encoder cable Shield cable AC line cable Shield cable Notes The example above shows three phase 200VAC servo drive connection 2 Cable Core and Cable Clamp a Attaching the Ferrite Core The diagram shows two turns in the cable The table shows the cable and the position where the ferrite core is attached b Recommended Ferrite core Cable Name Ferrite Core Model Manufacturer I O EN E cable Encodercable cable ESD SR 25 TOKIN Motor 400W or less cable 750W or less PC40T96 x 20 x 70 TK 56 c Fixing the Cable Fix and ground the cable shield using a piece of conductive metal Example of Cable Clamp Cable _ __ Shield cable sheath stripped Host controller si de J aa Ground plate 1 Fix and ground the cable shield using a piece of conductive metal Cable clamp hl Remove paint on mounting surface Vd ES d N e d Shield Box A shield box which is a closed metallic enclosure should be used for shielding magnetic interference The structure of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as possible 3 8 Using More than One Servo Drive The following diagram is an example of the wiring when more than one Servodrive is used Connect the alarm output ALM terminals for the three Servodrives in series to enable alarm detection relay 1RY to o
64. cable ma C Cover the shell of the battery case 82 4 4 3 Replacing Battery The servo drive will generate an absolute encoder battery alarm A 48 when the battery voltage drops below about 3 1V B Battery Replacement Procedure 1 Replace the battery with only the servo drive control power supply turned ON 2 After replacing the battery using the panel operator with utility function Fn011 to cancel the absolute encoder battery alarm A 48 3 Turn ON the servo drive power back again lf it operates without any problems the battery replacement has been completed Note The servo drive will generate an absolute encoder battery alarm A 48 when the battery voltage drops below about 3 1V If an absolute encoder battery alarm A 47 occurred it means the battery voltage drops below about 2 5V and the multiturn data is lost Please reset the absolute encoder after changing the battery 4 4 4 Absolute Encoder Setup Fn010 Fn011 Setting up the absolute encoder in the following cases When starting the machine for the first time set Pn002 2 to 0 When an encoder error alarm A 45 A 48 A 51 is generated Use the panel operator in the servo drive for setup Note 1 Encoder setup operation is only possible when the servo is OFF 2 If the absolute encoder alarms A 45 A 48 A 51 are displayed cancel the alarm by using the same method as the setup They cannot be cancelled with the servo drive alarm reset i
65. connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor External Regenerator Resistor Speed Reference 0 10V Rated Speed Torque Reference 0 10V Rated Torque Position Reference lt SIGN CCW B p Signal allocatons can be modified S ON Servo ON P CON P Control P OT Forward Run Prohibited N OT Reverse Run Prohibited ALM RST Alarm Reset CLR Clear Error Pulse P CL Forward Torque Limit N CL Reverse Torque Limit SHOM Home ORG Zero Position Connect Shield to Connector Shell Open collector Reference Use PULS CW A 1 ProNet A 1 Servomotor out Series Servodrives Uo ER B i OL2 V M e s c XY IB ol a CN2 Option LIC Incremental Wire saving SL2C Encoder 2500P R Seri
66. drive o Refer to 5 1 6 Operation in Monitor Mode Un001 rpm Check the Un000 motor speed rpm Refer to 5 1 6 Operation in Monitor Mode Refer to the following equation to change the speed reference input gain Pn300 Un001 V REF Voltage V xPn300 To change the servomotor rotation direction without changing Check the speed reference input gain and servomotor rotation direction l l polarity for speed reference input voltage refer to 4 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 2 again after the servomotor rotation direction is changed When the speed reference input is set to 0 V and servo OFF status enters trial operation for servomotor without load is completed Check that the Un001 and Un000 values in steps 4 Change the speed reference input voltage and check that and 5 are equal Un001 and Un000 are equal for multiple speed references 66 E When Position Control is configured at the Host Analog speed reference gt Host Servodrive Controller zd Trial operation for Position control Speed control servomotor without load When the servo drive conducts speed control and position control is conducted at the host controller perform the operation below following the operation in Operation Procedure in Speed Control Mode Pn005 H 1L 10L 1 Check Method and Remarks Check the input signal circuit again and check that the speed
67. har ie Lm seme pom renos ES CI ES gt PG dividing Reseved pulse output PG 21 PAO DGND DGND phase A dividing pulse output output 23 PBO DGND DGND phase B 24 PG dividin Reseved Reserved 2 g pulse output 25 PCO pulse 50 DGND DGND phase C Note The functions allocated to the following input and output signals can be changed by using the parameters Input signals S ON P CON P OT N OT ALM RST CLR PCL NCL SHOM ORG Output signals TGON S RDY COIN HOME Please refer to A 3 Parameters in details for detailed information 36 Kuso PON Seres AC Servo Users Manual AUTOMATION 3 2 4 Interface Circuit This section shows examples of servo drive I O signal connection to the host controller Mi Interface for Analog Reference Input Circuit Analog signals are either speed or torque reference signals at about 40kQ impedance and the maximum allowable voltages for input signals is 10V Reference speed input Reference torque input Servodrive Servodrive 4700 1 2W min 4702 1 2W min 30 3 10V F 2ko at 5 REF AN oko ke2 d TREF 4 ADSUEADISS About 40K 2 GND GND V 7 OV oV Winterface for sequence input circuit The sequence input circuit interface connects through a relay or open collector tra
68. limit enabled 0 Sets the value of Pn406 as the speed limit value during torque control 1 Use the lower speed between V REF and Pn406 as an external speed limit input Pn001 2 Analog torque limit enabled 0 Sets Pn401 Pn404 as torque limit 172 1 Sets the value corresponding to Vref input analog voltage as torque limit Pn001 3 2nd electronic gear enabled 0 Without 2nd electronic gear PCON signal is used to switch P PI 1 2nd electronic gear is enabled PCON signal is only Parameter o Setting Control Description Function and Meaning No Validation Mode Pn003 2 Low speed compensation 0 Without low speed correction 1 With low speed correction to avoid servomotor creeping but the degree of correction is determined by the setting in Pn219 Pn003 3 Overload enhancement 0 Without overload enhancement function 1 With overload enhancement function which can enhance the overload capacity when servomotor exceeds the 2 times rated overload It is used in Pn203 P
69. limit switch is called moving speed These two speeds could be set by the following parameters Speed of looking for reference point hits Pn685 rem 0 3000 1500 the limit switch Moving speed move away from limit Pn686 rem 0 200 30 switch Usually the set speed of the reference point Pn685 is high and the moving speed Pn686 is low Note if moving speed is too high precision of finding a reference point would be affected When looking for a reference point PCL and NCL are no longer programmed to limit external current 107 ESTUN AUTOMATION E Related parameter Pn681 0 Pn681 1 Pn681 2 Pn682 Choose between cycle run and single run 0 Cycle run PCL as start signal NCL reverse to look for reference point 1 Single run PCL as start signal NCL reverse to look for reference point 2 Cycle run NCL as start signal PCL reverse to look for reference point 3 Single run NCL as start signal PCL reverse to look for reference point Change step and start mode O Delay changing steps the start signal is not needed 1 Change steps by P CON start signal not needed 2 Delay changing steps need start signal 3 Change steps by P CON need start signal Change step input signal mode 0 High or low level 1 sign pulse 0 Incremental 1 Absolute 108 ProNet Series AC Servo Users Manual Changing steps will be performed till the end point is completed
70. lit as long as the mai Pr dio communicate with other supply terminals circuit power supply e devices Used for main circuit capacitor remains charged power supply input ervomotor terminals onnects to the ervomotor power line sed for reference input signals and sequence I O signals Connects to the encoder in the servomotor 20 ESTUN AUTOMATION ProNet Series AC Servo Users Manual B ProNet 02B ProNet E 02B 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 Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Control power supply terminals Connector for communication O 0000 Jooooo Used to communicate with other devices I O signal connector Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Ground terminal Used for reference input signals and sequence I O signals Encoder connector Be sure t
71. main circuit power supply is turned ON 4 11 4 Encoder C Pluse Output PGC Not including this setting in ON low level With encoder C pluse output the default setting Output PGC please choose terminal Without encoder C pluse l OFF high level output by setting output parameter Pn511 This signal indicates when the servo drive circumrotates to the C pulse position there is a correlation between the width of the C pulse and the speed of the servo drive ADS 4 11 5 Over travel signal output OT Not including this Without forward rotation seting inthe defaut ON low level Prohibited POT and reverse rotation prohibited NOT signal setting please choose Output OT terminal output by With forward rotation OFF high level Prohibited POT and reverse rotation setting parameter prohibited NOT signal Pn511 When machine is on over travel state OT signal is OFF Host controller can use this signal to stop sending reference Related parameter POT NOT Setting Range Unit Factory Setting Setting Validation ott or resta Pn000 1 1 external POT disabled Pn000 2 1 external NOT disabled Pn000 1 1 and Pn000 2 1 OT signal is ON Pn000 4 11 6 Servo Enabled Motor Excitation Output RD NOE NE GN ie SED Servo enabled motor excitation the default setting please Output RD ENOS Eie ODE Dy Servo disabled motor not excitation setting parameter Pn511 RD is on when servo enabled motor ex
72. may output only a small error during low speed operation that will cause the COIN signal to be output continuously The positioning error setting has no effect on final positioning accuracy Reference Speed r PR Servomotor speed Error pulse Un011 Un012 COIN CN1 11 12 E Note COIN is a position control signal This signal is used for the speed coincidence output V CMP for speed control and it always OFF high level for torque control 104 4 6 7 Reference Pulse Inhibit Function INHIBIT 1 Description This function inhibits the servo drive from counting input pulses during position control The servomotor remains locked clamped while pulses are inhibited Servodrive uM Pn005 1 Pn005 H O010 po 2 OFF i Reference pulse gt Pn005 H O OBL Error Counter ON gt P CON q P CON gt Feedback pulse 2 Setting Parameters fp Parameter meg gt Pn005 Control mode selection position control pulse train reference INHIBIT BM Inhibit INHIBIT switching condition P CON signal ON low level P CON Reference pulse 2 lt tl t2 lt 0 5ms Input reference pulses are not counted during this period 3 Setting Input Signals Signal Connector Pin Type Name Number
73. number Fn010 Fal i der 3 Press the ENTER key the display will be shown as below Fed el ba Bad 4 Press the MODE key to reset the absolute encoder multiturn data and alarm Fe Ela dd 5 Thus the absolute encoder multiturn data and alarm reset is complete Important This function will clear the absolute position of the encoder the mechanical safety must be noted When the multiturn data is cleared other encoder alarms will be reset at the same time 5 2 11 Absolute Encoder Related Alarms Reset 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn011 Fler i 3 Press the ENTER key the display will be shown as below ele jeje 4 Press the MODE key to clear the alarms ele je Ele 5 Thus the absolute encoder related alarms reset is complete 145 Chapter 6 MODBUS Communication 6 1 RS 485 Communication Wiring ProNet series servo drives provide the MODBUS communication function with RS 485 interface which can be used to easily set parameters or to perform monitoring operations and so on The definitions of the servo drive communication connector terminals are as follows CN3 Terminal No Name Function t 9 7 mmm Reserved 3 RS 485 communication terminal a Isolated ground 6 RS 485 communication terminal T CAN communication terminal 8 CAN communication terminal Note Do not short terminal 1 and 2 of CN3 CN
74. onere Em T 23 TT 23 PA IS FAN IO SWC A Em 23 2 1 3 MSNM ari A id 24 2 1 4 Installation Orientation sica mme di 24 215 Handing Ci AMG WV AUC rs Ene 24 PALE ADS TENSION METTE TT 25 21 to the NN 25 22 NNN 25 TN 25 227 NN 25 2 2 9 Installation OrientatiO ei A A A AA ii 26 22 FEN 26 OO ee eT eee ee ee ee eee 28 Tao EE EEE EE He 28 A A E 28 3 1 1 Names and Functions of Main Circuit TerminalsS ccoconccncconnnnnnnnnnononnnononcnnnnononnnnncnnononcnnnnnncnnnnnnos 28 3 1 2 Typical Main Circuit Wiring Examples rrrrrnnrrnrnnnronrnnnrrnnnnrenrnnnrenrnnnrnnnnsrennnnsrenrnnnennnnsrennnnsessennnsneennne 29 ORA erc cC 33 3 2 1 Examples of I O Signal Connections occcccocconoconnoconononoconcnnononnnnonanonononronononnnnnnnnnnnnnnrnnnrnnnnnnnnnananannos 33 3 2 2 I O Signal Names and Functions cccccceeecceceeeeeeeeeeeeeeeeeeseeeeeseeeeeseeeeeeseeeeeeseeeeeseaseeesaeeeseesaaeeeesaees 34 3 2 3 I O Signal Connector CN1 Terminal Layout nnne 36 a cc e o 37 eo VV IMA TC OCIS FG EE EE EEE EE 38 3 3 1 Connecting an Encoder CNn2 ccccccccsecccecseeeeeeeeeeeseeeeeeeeeeeeeseeeeesseee
75. reference input between the V REF and Refer to the above figure for input signal circuit V REF is 0 V If the servomotor rotates at an extremely slow speed refer to 4 5 3 Adjusting Reference Turn the servo ON input signal S ON ON Offset and use the reference voltage offset to keep the servomotor from moving Send the command for the number of servomotor Refer to 5 1 6 Operation in Monitor Mode for how it is rotations Check the sent number of rotations the displayed actual number of rotations by visual inspection and Un004 rotation angle pulse The number of pulses the UnOOA rotation angle pulse from the zero point If the sent number of rotations and actual number of Refer to 4 5 8 Encoder Signal Output for how to set rotations in step 11 are not equal correctly set the PG divided ratio Pn200 P Rev The Pn200 PG divided ratio outputting the encoder pulse number of encoder pulses per revolution from the servo drive When the speed reference input is set to 0 V and servo OFF status is entered the trial operation for position control with the host controller is completed 67 3 Operating Procedure in Position Control Mode Pn005 H 1L 1L 1 The following circuit is required External input signal circuit or equivalent Servodrive CN1 HAV 13 S O ve gt 14 POL gt 16 NOT 5 17 gt 40 v PULS S 30 o 2 PULS N 31 Reference pulse 3 ESEN 32 acco
76. servo receiving pulse frequency lt 650K when pulse is difference input servo receiving pulse frequency lt 150K 94 3 Setting a Reference Pulse Form Set the input form for the servo drive using parameter Pn004 2 according to the host controller specifications Reference Input Pulse Forward Rotation Reverse Rotation Parameter Pulse Form Multiplier Reference Reverse Sign pulse train PULS PULS CN1 30 CN 1 30 positive logic SIGN SIGN CN 1 32 CN 1 32 factory setting PULS CN1 30 PULS CW CCW SIGN CN1 30 CN1 32 positive logic CNI 32 Two phase pulse PULS PULS train with 90 x2 ey CN1 30 SIGN i f SIGN phase differential CN1 32 CN1 32 positive logic E Note The input pulse multiplier can be set for the two phase pulse train with 90 phase differential reference pulse form gt Forward Rotation everse rotation I l I 1 1 i PULS CN1 30 SIGN CN1 32 4 nverse PULS and SIGN reference Pn004 Do not inverse PULS reference and SIGN reference Do not inverse PULS r
77. terminal 1 and 2 of CN3 TRES 26 ud Shel Shield Torque Reference 0 10V Rated Torque TREF 27 Ty CN4 1 NC i i 2 N C PPI 34 3 485 Open collector Reference Use 2KQ 4 ISO GND opp PULS 30 TIE 5 SO GND Position Reference lt PASTE PULS 31 pr 6 485 i 7 CANH sIeNscew g fal SION ES e 8 CANL i Shell Shield 24V l Signal allocatons can be modified DICOM 13 20 PAO S ON Servo ON H SON 14 E l 21 PAO P CON P Control 1 P CON 15 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 16 c3 23 PBO gt Applicable Line Receiver N OT Reverse Run Prohibited NOT 17 c S gt 24 PCO dd id E a ALM RST Alarm Reset t ALM RST 39 9 8 1125 PCO CLR Clear Error Pulse HF CR 40 i 50 DGND P CL Forward Torque Limit Ho P CL 41 ET id N CL Reverse Torque Limit N CL 42 eo Signal Allocations can be Modified V CMP Speed Coincidence SHOM Home y i 5 TGON COIN Positioning Completion ORG Zero Position i 6 TGON TGON Rotation Detection S RDY Servo Ready j 9 S RDY gt CLT Torque Limit Detection 10 S RDY BK Brake Interlock 11 V CMP PGC Encoder C Pulse Output Y k OT Over Travel 12 V CMP J RD Servo Enabled Motor Excitation Output HOME Home Completion Output IRy 24v ZJ 7 ALM Connect Shield to Connector Shell Shield Shell k 8 ALM 1D V OV ALM Servo Alarm Output Photocoupler Outpu
78. than one second the reference offset will be automatically adjusted N Y Nx bl 7 eden Z N Y Y Fal Gel Ea leu 7 Press ENTER key to return to the Fn003 display of the utility function mode Ed BEd 8 Thus the speed reference offset automatic adjustment is completed 87 2 Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment Fn004 in the following situations e f a loop is formed with the host controller and the postion error pulse is set to be zero when servolock is stopped To deliberately set the offset to some value To check the offset data set in the speed reference offset automatic adjustment mode This function operates in the same way as the reference offset automatic adjustment mode Fn003 except that the amount of offset is directly input during the adjustment The offset setting range and setting unit are as follows Speed Reference Offset adjustment range Offset adjustment range 1024 1024 Offset setting unit gt Analog voltage input Adjust the speed reference offset manually in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select parameter Fn004 Fal Bld 3 Press the ENTER key to enter into the speed reference offset manual adjustment mode EMI 4 Turn ON the servo ON S ON signal The display will be shown as below EP 5 Press the EN
79. unit from the host controller Determine the reference unit used considering the machine specifications and positioning accuracy 4 Calculate the travel distance per load shaft Calculate the number of reference units necessary to turn the load shaft revolution one revolution based on the previously determined reference units s Calculate the electronic gear ratio Use the electronic gear ratio equation to calculate the ratio B A 6 Set parameters Set parameters using the calculated values 99 4 Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit 0 1 Reference unit 0 01mm Reference unit 0 001mm Load shaft Load shaft Operation A eceleration ratio i 1 Deceleration ratio Pulley diameter 17 bit encoder Ball screw pitch 6mm 2 1 F 100mm Load shaft 47 yit encoder 17 bit encoder l l l l Pulley diameter 100 mm Check machine Ball screw pitch mm Rotation angle per revolution l pulley circumference 314 mm specifications Deceleration ratio 1 1 360 Deceleration ratio 3 1 l l Deceleration ratio 2 1 17 bit 32768P R 17 bit 32768P R 17 bit 32768P R Determine the l l 1 reference unit l l reference unit 1 reference unit 0 1 1 reference unit 0 01mm d 0 001mm 1um use Calcul
80. 000P Pn688 unit 1P Pn689 0 Homing Mode 0 Homing in the forward direction Pn689 Homing Mode Setting Immediately 187 Parameter Setting Control Description Function and Meaning No Validation Mode 1 Homing in the reverse direction Pn689 1 Search C Pulse Mode 0 Return to search C Pulse when homing 1 Directly search C Pulse when homing Pn689 2 Homing trigger starting mode 0 Homing function disabled 1 Homing triggered by SHOM signal rising edge Pn689 3 Reserved Number of error it Pn690 Immediately ane eee pulses during homing 1P Number of error Pn691 Immediately P unit pulses during homing Pn700 0 MODBUS communication baud rate 0 4800bps 1 9600bps 2 19200bps Pn700 1 MODBUS protocol selection 0 7 N 2 MODBUS ASCII 1 7 E 1 MODBUS ASCID 2 7 O 1 MODBUS ASCID Pn700 Hex After restart ALL LOS e AMOROSAS TIL 4 8 E 1 MODBUS ASCII 5 8 O 1 MODBUS ASCID 6 8 N 2 MODBUS RTU 7 8 E 1 MODBUS RTU 8 8 O 1 MODBUS RTU Pn700 2 Communication protocol selection 0 No protocol SCI communication 1 MODBUS SCI communication Pn700 3 Reserved MODBUS Axis Pn701 GE After restart ALL Axis address of MODBUS protocol communication Pn703 0 CAN communication baud rate 0 50Kbps 1 100Kbps After restart ALL 2 125Kbps 3 250Kbps 4 500Kbps 5 1Mbps CAN communication Pn704 After restart ALL CANopen Aix address of communication contac Pn840 0 Enco
81. 1 17 inversion Input port signal Pn517 0 gt CN1 39 inversion inversion Immediately P S T Pn517 1 gt CN1 40 inversion Pn517 23CN1 41 inversion Pn517 33CN1 42 inversion PE Reeves gt me meme Pn520 Reserved If a regenerative resistor if connected externally 0 connect externally regenerative resistor between B1 and B2 Pn521 Binary Immediately P S T 1 Dose not connect externally regenerative resistor relay on internal capacitance This parameter is in effect only on ProNet 02 04 E E EE 3 Pn522 Pn524 Reserved 00 VE EE load percentage is larger than overload alarm Overload alarm threshold A04 will occur soon Pn525 threshold Immediately Pn525 is recommended to set below 120 otherwise the servo drive and motor will be damaged Temperature threshold of motor When servomotor winding temperature exceeds Pn526 overheat alarm Immediately Pn526 setting A19 will occur Only enabled in ProNet 75 1A 1E 2B Only enabled in ProNet 75 1A 1E 2B 0 Do not inverse signal 1 Inverse signal Pn528 03CN1 5 6 inversion Pn528 03CN1 7 8 inversion Pn528 03CN1 9 10 inversion Pn528 03CN1 11 12 inversion When motor torque output is higher than Pn529 Pn528 Output signal inverse Immediately Torque detection setting value TCR is ON When motor torque output is lower than Pn529 setting value TCR is OFF Unit Torque detection Pn530 After restart P S T Torque detection outp
82. 10000 pulses Input 10000 pulses per 10mm of workpiece movement 98 2 Related Parameters Electronic Gear Ratio Numerator Setting Range Setting Unit Factory Setting Setting Validation Electronic Gear Ratio Denominator Pn202 l 7 m Setting Range Setting Unit Factory Setting Setting Validation The deceleration ratio of the servomotor and the load shaft is given as n m where m is the Pn201 rotation of the servomotor and n is the rotation of the load shaft B Pn201 A Pn202 Electronic gear ratio 7 No of encoder pulses x 4 m n Travel distance per load shaft revolution reference units e If the ratio is outside the setting range reduce the fraction both numerator and denominator until you obtain integers within the range Be careful not to change the electronic gear ratio B A ll Important Electronic gear ratio setting range 0 01 lt electronic gear ratio B A lt 100 e If the electronic gear ratio is outside this range the servo drive will not operate properly In this case modify the load configuration or reference unit 3 Procedure for Setting the Electronic Gear Ratio Use the following procedure to set the electronic gear ratio l EK Check the deceleration ratio ball screw pitch and pulley 1 Check machine specifications l diameter Check the number of encoder 2 Check the number of encoder pulses for the servomotor used pulses Determine the reference
83. 1D cal V OV ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V a Represents Twisted pair Wires Maximum Output Current DC50mA 51 3 6 Wiring for Noise Control 3 6 1 Noise Control The servo drive uses high speed switching elements in the main circuit lt may receive switching noise from these high speed switching elements To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the servo drive as possible Always install a surge absorber in the relay solenoid and electromagnetic contactor coils The distance between a power line servomotor main circuit cable and a signal line must be at least 30 cm Do not put the power and signal lines in the same duct or bundle them together Do not share the power supply with an electric welder or electrical discharge machine When the servo drive is placed near a high frequency generator install a noise filter on the input side of the power supply line As for the wiring of noise filter refer to 1 Noise Filter shown below For proper grounding technique refer to 2 Correct Grounding 1 Noise Filter Please install a noise filter in the appropriate place to protect the servo drive from external noise interference Notic
84. 2 Y m 9u2 V C 3 A 1 WwW p Sa D 4 va 7 CN2 Option LIC i Incremental Wire saving Q i Serial Encoder l Encoder 2500P R 47s 7 S 1 A 4 L2C pol 8 S 2 A 17 BAT 3 B External Regenerator Resistor 1118 BAT 4 B BI ag 9 PG5V 5 C E B2 i 119 PGOV 6 C i al 7 8 9 PG5V B2 Shell Shield 17 18 19 PGOV OB3 l Shell Shield O B3 DR hdi A K mes CN3 NM 1 N C Be sure to prepare the end of the Be sure to ground 2 N C shielded wire properly n 3 485 CN1 4 ISO GND 5 ISO GND Use special communication cable to connect ME j tox ES ret 6 485 PC Personal Computer AN Speed Reference 0 10V Rated Speed T VREF 2 as L EE OK 4 Note Do not short terminal 1 and 2 of CN3 TREF 26 ea Shell Shield Torque Reference 0 10V Rated Torque TREF 27 Cor CN4 1 N C l 2 NC PPI 34 3 485 Open collector Reference Use p 2KQ 4 ISO CND gt PULS 30 BL 5 ISO_GND Position Reference lt POETER Em PULS 31 iia 6 485 7 CANH EN 150 SIGN ccw B 4 LOEN 38 E 8 CANL Y Shell Shield l 24V m l S Signal allocatons can be modified DICOM 13 7 J gt 20 PAO S ON Servo ON H SON 14 LE 21 PAO P CON P Control P CON 15 EA a 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 16 f 23 PBO gt Applicable Line Receiver N OT Reverse Run Prohibited Lo NOT 17 za Is 24 PCO AM26LS
85. 3 B1 B Oo B3 gt eV Ground Terminal Notes When single phase 100VAC is provided for main circuit on rated speed instantaneous peak torque lt 4 78 N m When three phase 100VAC is provided for main circuit on rated speed instantaneous peak torque 7 16 N m a a CN2 A 1 Servodrive U x B 2 V 2 M C 3 3 D 4 Encoder 1Ry 24V 7 ALM 8 ALM 2950 OV 3 2 I O Signals 3 2 1 Examples of I O Signal Connections ProNet Series Servodrive VREF 1 a Speed Reference 0 10V Rated Speed VREF 40K 21 gt 20 PAO EA 21 PAO TREF 26 FE i gt 22 PBO Torque Reference 0 10V Rated Torque Lu PG Divided Ratio Output TREF 27 EX IR 23 PBO Applicable Line Output lo 24 PCO AM26LS32A Manufactured by TI or the Equivalent 25 PCO 50 DGND Open Collector Reference PPI 34 Use 2KQ PULS 30 HL
86. 32A Manufactured by TI or the Equivalent ALM RST Alarm Reset t ALM RST 39 25 PCO CLR Clear Error Pulse CLR 40 d 50 DGND P CL Forward Torque Limit Ho P CL 41 c M N CL Reverse Torque Limit N CL 42 a ENE Mode X V CMP Speed Coincidence SHOM Home i U 5 TGON COIN Positioning Completion ORG Zero Position 1 6 TGON TEON Rotation ae Servo Rea t 9 S RDY gt CLT Torque Limit Detection k 10 S RDY BK Brake Interlock z PGC Encoder C Pulse Output Y 4 11 V CMP OT Over Travel 12 V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V i ma 7 ALM O a Connect Shield to Connector Shell T Shield Shell teh 8 ALM E OV ALM Servo Alarm Output A Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 46 3 5 6 Single phase 100V ProNet 04B ProNet E 04B
87. 34 3 485 Open collector Reference Use 2KQ 4 180 GND 1743 PULS 30 TM 5 ISO GND Position Reference lt PULS CW A i PULS 31 ias 6 485 2KQ 7 CANH 1500 SIGN CCW B 1 SON Se e de i Shell Shield Signal allocatons can be modified 24V DICOM 13 20 PAO B S ON Servo ON Eo SON 14 Sgen 2 L T21 PAO P CON P Control P CON 15 4 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited ta P OT 16 a 23 PBO gt Applicable Line Receiver N OT Reverse Run Prohibited Lu NOT 17 24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 25 PCO CLR Clear Error Pulse Ej CLR 40 50 DGND J P CL Forward Torque Limit to P CL 41 an N CL Reverse Torque Limit N CL 42 H Signal Allocations can be Modified Speed Coincidence SHOM Home 5 TGON COIN Positioning Completion ORG Zero Position 6 TGON TGON Rotation Detection S RDY Servo Read Ve g 9 S RDY gt CLT Torque Limit Detection 10 S RDY BK Brake Interlock 11 V CMP PGC Encoder C Pulse Output VER OT Over Travel 12 V CMP J RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V J T ALM Connect Shield to Connector Shell EE Shield Shell nds 8 ALM i NN ov ALM Servo Alarm Output al Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA Notes 1 The resistor of 1500W 200 i
88. 4 Terminal No Name Function 1 ER Reserved 2 DEBE Reserved 3 RS 485 communication terminal a Isolated ground 6 RS 485 communication terminal T CAN communication terminal 8 CAN communication terminal Note 1 The length of the cable should be less than 100 meters and in a environment with minimal electrical disturbance interference However if the transmission speed is above 9600bps please use the communication cable within 15 meters to ensure transmission accuracy 2 A maximum of 31 servo drives can be connected when RS485 is used Terminating resistances are used at both ends of the 485 network If more devices are wanted to connect use the repeaters to expand 3 CN3 of servo drive is always used as communication cable input terminal and CN4 is always used as communication cable output terminal If still need to connect slave stations the communication cable is connected from CN4 terminal to the next slave station if need not add balance resistor in CN4 terminal It is prohibited to connect CN3 of any two servo 146 drives directly when multiple ProNet series servo drives are connected Example When a RS 485 network is composed of a PLC and three servo drives A B and C the cable wiring is shown as follows PLC CN3 of A CN4 of A gt CN3 of B CN4 of B gt CN3 of C CN4 of C gt 1200 terminating resistance 6 2 MODBUS Communication Related Parameters Setting Parameter No Description Control Mode Validation
89. 767 When the upper limit 32767 is exceeded in the forward direction the multiturn data is 32768 e When the lower limit 32768 is exceeded in the reverse direction the multiturn data is 32767 The absolute position can be read by the MODBUS protocol In the actual control the MODBUS protocol can read the initial position when the servomotor is stopped S OFF then the real time position during the servomotor is running can be found from the number of PG divided output pulses 4 4 1 Selecting an Absolute Encoder An absolute encoder can also be used as an incremental encoder Parameter Meaning Pn002 b HOU Use the absolute encoder as an absolute encoder Factory setting b LIILILI Use the absolute encoder as an incremental encoder The back up battery is not required when using the absolute encoder as an incremental encoder After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings 81 4 4 2 Handling Battery In order for the absolute encoder to retain position data when the power is turned OFF the data must be backed up by a battery Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used Install the battary to the encoder cable A Open the shell of the battery case B Install the battery according to the following diagram Encoder
90. AC Servo User s Manual Setting Factory Setting Range Setting Invalidation Pn007 0 wider the width of C pulse or not Hex Pn005 0 Torque feedforward mode Pn005 1 Control mode 0 Speed control analog reference 1 Position control pulse train 2 Torque control analog reference 3 Speedcontrol contact reference speed control Zero reference 4 Speed control contact reference speed control analog reference 5 Speed control contact reference position control pulse train 6 Speed control contact reference torque control analog reference 7 Position control pulse train 0 0x33E3 After restart speed control analog reference 8 Position control pulse train torque control analog reference 9 Torque control analog reference speed control analog reference A Speed control analog reference zero clamp B Position control pulse train position control inhibit C Position control contact reference D Speed control parameter reference E Special control Pn005 2 Out of tolerance alarm selection Pn005 3 Servomotor model Pn007 1 Reserved E Pn006 0 Bus mode Pn006 1 Reserved Pn006 2 Low frequency jitter suppersion switch Pn006 3 Reference input filter for open collector signal Binary Hex 0 0x2133 0x0020 After restart 0 0001 After restart Pn007 2 Reserved Pn007 3 Reserved Online autotuning se
91. CiA402 protocol POWERLINK communication module CiA402 protocol 160 7 2 Servo drive Dimensional Drawings B ProNet 02 04A ProNet E 02 04A Unit mm Nameplate
92. DE key Press the MODE key to select the function mode Press the INC key or DEC key to select INC or DEC key Fn002 Press the ENTER key and the servomotor will enter ENTER key JOG operation mode Press the MODE key This will turn ON the power to MODE key the servomotor FE The servomotor will run in forward direction when INC ay M 5 d key is pressed or in reverse direction when DEC key 5 p manus INC or DEC key is pressed The servomotor will operate as long as the d E key is pressed gt Reverse running Press the MODE key This will turn OFF the power to MODE key the servomotor Press the ENTER key to return to the Fn002 display ENTER key of the utility function mode Now the servo drive is OFF Note The servomotor s rotation direction depends on the setting of parameter Pn001 0 Direction Selection The example above describes operation with Pn001 0 in the factory setting 64 JOG Speed Setting Range Setting Unit Factory Setting Setting Validation Set the utility function Fn002 JOG Mode Operation to the reference value of servomotor speed The servomotor can be operated using only the panel operator without reference from the host controller Please note that the Forward Run Prohibited P OT and Reverse Run Prohibited N OT signals are invalid during JOG mode operation 4 1 2 Trial Operation for Servomotor without Load from Host Reference Check that the servomotor move reference or
93. E A u Ho gt M i o E CHARGE E FT A L S ST 12 L3 dq 4 p H D2 L5 EN ly E o a EN j LIC 5 d Ll 97 24V zi C Lac Zz E E J 99 GND E In d Bl z i E Ld B2 B3 gt U SS z T nl H 6 l l B 11 ProNet 30A 50A ProNet 30D 50D 70D 75D Ls mM Q Uum CHARGE A eS 4 Li T LAG LA o o o ja ME KOM Sr FN sane IE gael PA ment EOD yE den ri AN CN1 SANAAA gn ll Jn J ead lt gt CN1 IS og J I CN2 pe OVN W Y i Pod as Dy Bo iP Y CN2 og Y ProNet 1AD 1ED 2BD ProNet 02B ESTUR ner SERVODRIVE ml Y
94. EE PG input phase A SNC PG input phase B PG input phase B PG power supply 5V AA PGinputphase B 17 18 19 SG PG power supply OV B 17 Bit Incremental Absolute Encoder mE l Battery T PS PG serial signal input 17 BAT For an absolute encoder Battery PG serial signal input BAT For an absolute encoder PG5V PG power supply 5V Ta fa PG power supply OV B Resolver Termmal No Name Function TeminalNo Name Function 4 sm Diferenal Sine Siora 8 Ri Eaton signal 3 4 Communication Connection 3 4 1 Communication Connector CN3 Terminal Layout TerminalNo Name Function gt 1 Reserved 2 Isolated ground CANH CAN communication terminal 8 CANL CAN communication terminal Note Do not short terminal 1 and 2 of CN3 40 3 4 2 Communication Connector CN4 Terminal Layout TerminalNo Name Function C a N e Reserved IO s Isolated ground CANH CAN communication terminal 8 CANL CAN communication terminal 41 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 3 5 Standard Wiring Examples 3 5 1 Single phase 200V ProNet 02A 04A ProNet E 02A 04A L1 L2 N Molded case Circuit Breaker Surge Protector single phase 200 230V 12 50 60Hz 1Ry 1PL Servo Alarm Display Noise Filter p bs d SK ower ower 1KM 1KM 1 Ry 1SUP Be sure to
95. GO eeesseeeesssessseeeee nennen nennen menn nnn nni n nnn nna rn nnns 124 4 11 5 Over travel signal output OT nennen nennen nennen nnne nnns nnne rn nnns 125 4 11 6 Servo Enabled Motor Excitation Output RD occcooccnccoccccccoccnconoconononcnnononnnnononononnnrononnncnnonnncnnnnnnos 125 4 11 7 Torque Limit Detection Output CLT ooococoncnncccccnccnoccnccnoconononnnnonononnnnnrononnnrnnonnnrnnnnrnnnnnnrnnrnonnnnnnnnns 125 4 11 8 Torque Detection Output TCR J sssrini aaeain RRA a aaa ARAE REEE aRar Aia AR Eiai 127 1712 ENN 127 FE TEN 127 4 12 2 Online Autotuning Procedure rrrnrrrnrnnnrnnnnnrenvnnnrennnnrrrnnnnrennnnnrennnsrsnnnnsnennnnsrennnsennnnsnennnnsssennnsseennnn 128 4 12 3 Setting Online AULOMMING REE 129 4 12 4 Machine Rigidity Setting for Online AUtOtUNiNQ oocccccocccncccncnncnnnoncnnncnnnnnncnnononononnnnonononcnnnnnncnnnnonos 129 So pe 130 mci zer rio NONE TNERENCNDER Q 130 Sx Basic ON 130 9 1 1 Funcions PAN NN 130 5 1 2 Resetting Servo Alarms rrnnrrnnnnnrevvnnnrenrnnnrnnrnnnerrnnnennnnrrrnnnsrennnnerennnnsennnnsennnnsrennnnseennnssssennnnsennnnssen 130 5 1 3 Basic Mode Selection cccccccccsseeccceeeecceeececceuseccseueeecsuucecseueeecseueeessuuceeseeeesseueeessesseeeseueees
96. Input External Speed Limit Input V REF CN1 2 Inputs an analog voltage reference as the servomotor speed limit value during torque control The smaller value is enabled the speed limit input from V REF or the Pn406 speed limit during torque control when PnOOS H LILI1U The setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect Speed Reference Input Gain PRON Setting Range Setting Unit Factory Setting Setting Validation e Set the voltage level for the speed that is to be externally limited during torque control 4 8 Operating Using Speed Control with an Internally Set Speed The function of internally set speed selection allows speed control operation by externally selecting an input signal from among seven servomotor speed setting made in advance with parameters in the servo drive The speed control operations within the three settings are valid There is no need for an external speed or pulse generator Servodrive CN1 Internally set speed parameters mM 15 SPEEDI Pn316 e Servomotor Pm ON SPEED2 Pn317 Speed reference SPEED3 Pn318 em gt M Contact inputs lt EE 41 P CL gt SPEEDA Pn319 m d SPEEDS Pn320 4 o a 42 SPEED6 Pn321 N CL eg SPEED Pn322 Ec ee eR ONERE ENT 116 4 8 1 Setting Parameters Par
97. L2 L3 Three phase 380 440V s 50 60Hz Molded case Circuit Breaker 4 4 Surge Protector 1Ry 1PL Servo Alarm Display E T o9 Noise Filter P OFF P ON L ower ower 1KM L Lu IKM 1Ry 1SUP lt Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor OL1 5 ervomotor ig ProNet T A 1 O O Va Series Servodrives BQ E L3 VO M C 3 gt 001 W EL A r 0 24V 24VDC Power Supply O GND Encoder CN2 PG ES st je OB1 OB2 OB2 External Regenerator Resistor OB3 0 B3 u E le 24V O SE 1Ry T nem 7 ALM B I 8 ALM G e V Ground Terminal ov 30 ESTUN AUTOMATION ProNet Series AC Servo Users Manual m Three phase 400V ProNet 1AD 2BD L1 L2 L3 Three phase 380 440V 2 50 60Hz Molded case Circuit Breaker Surge Protecto 1Ry 1PL Servo Alarm Display Noise Filter P OFF P ON alle ower ower 1KM BJ IKM 1Ry 1SUP 4 Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor OL1 A 1 Servodrive OL2 ProNet Uo AS lL dis Series Servodrive ye BO mo val c3 D 4 OLIC OL2C EN Encoder ZN NS pen N pe CN2 l PG
98. O i E PCO 25 Phase C signal Zero point pulse Phase C signal EG Shel Connect frame to ground if the shield wire of the e I O signal cable is connected to the connector shell N CMP Speed coincidence Speed Detects whether the motor speed is within the setting range and if it IN CMP matches the reference speed value Positioning completion COIN 11 Turns ON when the number of positional error pulses reaches the value set The setting is the number of positional error pulses set in the COIN 12 reference units Reserved terminals The functions allocated to TGON S RDY and V CMP COIN can be ICLT changed by using the parameters CLT Torque limit output Turns on when it reaches the value set BK Brake interlock output Releases the brake when ON PGC C pulse output BK OT Over travel signal output Reserved RD Servo enabled motor excitation output HOME Home completion output 4 18 19 29 35 36 37 38 43 Not used 44 45 47 49 35 3 2 3 VO Signal Connector CN 1 Terminal Layout erm omm s a rs D VREF TREF REF MN VREF o reference input 10V TREF iue referenceinput x 10V DGND DGND ian DGND DGND Running signal output Reference pulse input Seem Seem sien Gene sign input S RDY n collector reference RDY ae Servo ready Tar mm IS RDY RDY Reseved Posting cometan completion I O signal power supply 24V sara
99. O000 servomotor EMB EP coe Servomotor 1 2 EMB EMB Model 1 2 Rated Output 4 Encoder 7 Option R Resolver E 150cW Li Vi ela ti GoR 3 Voltage 5 Designing Sequence 6 Shaft End Code Spec D aovac gt sirrane Gene ES Straigtwith key and tap B Appearance and Nameplate ES TULA Ac SERVOMOTOR Servomotor model EMG 1 OADA22 2000 r min 1 0kW 4 78N m IP65 Ins F Ratings AC 200V 3 S1 133Hz Serial number gt SIN WESS C e AU Estun Automation Technology Co L 155 Jiangjun Road Jiangning Development xm ario 211106 P R China Made in China Pronet Most 1 Rated Output 1 1 2 Servo drive m ProNet Servo drive Model Designation PRONET 10 A E A P Extended module type 02 0 2kW pi ds E EC100 04 0 4 kW P PL100 08 0 75 kW 10 1 0 kW 15 1 5 kW 20 2 0 kW 30 3 0 kW 50 5 0 Kw 70 T OkW 75 T 5kW Encoder Interface 1A 11 kW A 17 bit serial encoder 1E 15Kw Absolute Encoder 2B 22kW B Resolver Voltage A 200VAC B 100VAC D 400VAC Control Mode M Speed control torque control position control E Speed control torque control position control support extended module Note D Resolver with the feature of high reliability and long service life is suitable for harsh environments and a wide range of temperatures
100. ProNet Series AC Servo User s Manual Version V2 11 ESTUN AUTOMATION TECHNOLOGY CO LTD _ Total Solution Supplier MN Revision History 2010 02 V1 06 All chapters Completely revised a Revision Pn002 Revision Pn840 Appendix A Revision Pn006 2 2010 06 V1 07 Addition Pn411 amp Addition Pn412 Addition Low frequency vibration ul suppression function Revision Position reference 2010 10 V1 08 Appendix A Revision Pn006 3 NE Addition ProNet 02A 04A All chapters 2010 11 V1 09 Addition Pn139 and Pn140 2011 04 V1 10 2 Revision External Torque Limit mr Addition Wire saving incremental encoder Revision Internal setting speed All chapters Addition Description of OT signal Addition Description of ALM signal 2011 07 V1 20 Addition Description of CLT signal nami I 4 6 8 Position Control contact mE WE Due Chapter4 4 Addition 4 12 Online Autotuning Addition 4 12 Online Autotuning 20108 08 V1 21 Appendix A Revision Pn006 3 nm Revision Pn102 Pn107 Pn139 Pn14 m Appendix A 2011 09 V1 22 Pn413 Pn414 Pn511 Chapter4 4 Addition Description of RD signal All chapters Addition ProNet 2BD 2011 12 V1 23 Revision Encoder signal output phase form 2012 02 V1 24 All chapters Addition ProNet 10D 15D Appendix B Addition Alarm A67 and A69 a 2012 03 2012 05 2012 10 2012 12 2013 1 2013 1 2013 4 Addition Resolver descripti
101. SO GND gt PULS 30 47 5 SO GND Position Reference lt PULSI CWTA PULS 31 Jx 6 485 5 7 CANH sicN ccw B A SEN 121 TE ee he Shell Shield e 24V Signal allocatons can be modified DICOM 13 gt gt 20 PAO S ON Servo ON t SON 14 per Bt LT 21 PAO P CON P Control 11 P CON 15 po 2 le 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited t P OT 16 23 PBO gt Applicable Line Receiver N OT Reverse Run Prohibited ls NOT 17 k ib d 24 PCO AM26LS32A Manufactured by Tl or the Equivalent ALM RST Alarm Reset HA ALM RST 39 25 PCO CLR Clear Error Pulse fi CLR 40 50 DGND P CL Forward Torque Limit P CL 41 DE N CL Reverse Torque Limit N CL 42 Ay Signal Allocations can be Modified V CMP Speed Coincid SHOM Home iu 5 TGON COIN Positioning Completion ORG Zero Position 1 6 TGON TGON Rotation Detection S RDY Servo Read d 9 S RDY CLT Torque Limit Detection 1 10 S RDY BK Brake Interlock PGC Encoder C Pulse Output y k 11 V CMP OT Over Travel 12 V CMP J RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V j 7 ALM Connect Shield to Connector Shell L Shield Shell sh 8 ALM 1D ov ALM Servo Alarm Output Q Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 47 3 5 7 Single phase 100V ProNet 08B ProNet E 08B
102. TER key for one second to display the speed reference offset amount eer eae 6 Press the INC or DEC key to adjust the amount of offset ayo EN 7 Press the ENTER key for one second to return to the display in step 4 8 Press the ENTER key to return to the Fn004 display of the utility function mode Fal Bd 9 Thus the speed reference offset manual adjustment is completed 88 4 5 4 Soft Start The soft start function converts the stepwise speed reference inside the servo drive to a consistent rate of acceleration and deceleration Pn310 can be used to select the soft start form 0 Slope 1 S curve 2 1 order filter 3 2 order filter Soft Start Acceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation Soft Start Deceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally set speeds Set both Pn306 and Pn307 to 0 for normal speed control Set these parameters as follows e Pn306 The time interval from the time the servomotor starts until the servomotor maximum speed is reached Pn307 The time interval from the time the servomotor is operating at the servomotor maximum speed until it stops Servomotor maximum speed After soft start Before soft start 4 5 5 Speed Reference Filter
103. Time Constant Speed Reference Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation This smooths the speed reference by applying a 1 order delay filter to the analog speed reference V REF input A value that is too large however will decrease response 89 4 5 6 S curve Risetime S curve Risetime Speed Setting Range ss een Setting Setting Validation 0 10000 Immediately 4 5 7 Using the Zero Clamp Function 1 Zero Clamp Function The zero clamp function is used for systems where the host controller does not form a position loop for the speed reference input When the zero clamp signal P CON is ON a position loop is formed inside the servo drive as soon as the input voltage of the speed reference V REF drops below the servomotor zero clamp speed The servomotor ignores the speed reference and quickly stops and locks the servomotor The servomotor is clamped within 1 pulse when the zero clamp function is turned ON and will still return to the zero clamp position even if it is forcibly rotated by an external force When the P CON signal is turned ON a speed reference below the Pn502 setting is detected Speed Reference V REF Host Controller Zero Clamp P CON 90 2 Parameter Setting Parameter Meg gt Pn005 H LILIALI Control mode Speed control analog voltage reference lt gt Zero Clamp Zero C
104. _ PULS 30 7 PULS EI VEU SIGN 32 1509 SIGN S 23 ER Represents twisted pair wires 96 b Connection Example for Open Collector Gate Output B NPN OC GATE OUTPUT Servodrive Host controller S R END BH PNP OC GATE OUTPUT NOTE VDC 12 24V R VDC 1 5Volt 10mA 150 VDC 12V R 1K Q 0 25W VDC VDC 24V R 2K 9 0 25W Host controller NOTE VDC 12 24V R VDC 1 5Volt 10mA 150 VDC VDC 12V R 1K 0 0 25W VDC 24V R 2K Q 0 25W SIGN CN 33 2 t Ik Z U Note When the host controller is applied by open collector signal output the input signal noise margin lowers When a position error caused by the noise occurs set the parameter Pn006 3 97 4 6 2 Setting the Clear Signal 1 Setting the Clear Signal When the CLR signal is set to low level clear error counter e The error counter inside the servo drive is set to 0 Position loop operation is disabled 2 Setting the Clear Signal Mode In position control mode pulses wil
105. al Encoder j 1 1 A a Encoder l 2 A 7 S 3 B 8 S E B1 81 i 4 B 17 BAT T 5 C 18 BAT 0 B2 LES 6 C 9 PG5V 789 PG5V 19 PGOV EN OB3 BE 171819 PGOV Shell E a j BE Shell Shield LOR M T 0G CN3 Eo Nal 1 N C Be sure to prepare the end of the Be sure to ground 2 N C shielded wire properly ENT 3 485 4 ISO_GND 5 SO GND Use special communication cable to connect 10K 40K ref 6 485 PC Personal Computer T HES ae on 7 GANH IK ao 8 CANL Note Do not short terminal 1 and 2 of CN3 X TREF 26 P Shell Shield TREF 27 p CN4 1 NC 2 N C PPI 34 3 485 4 ISO_GND Pt PULS 30 px 5 ISO_GND PULS 31 6 485 7 CANH a SIGN 32 T5 8 CANL SIGNE zs Shell Shield 1 E DICOM 13 Hn t gt 20 PAO _S ON 14 Sues 27 PAO H P con 15 pote Te 22 PBO PG Divided Ratio Output 1 POT 16 Bk 23 PBO gt Applicable Line Receiver o NOT 17 ix Kk I 24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST 39 Br L 25 PCo HZ CLR 140 BE 50 DGND t PAL 44 ERR V MEE UM a VEN Speed oraina t 5 TGON COIN Positioning Completion I 6 TGON de Pr RDY Servo Rea FX Hoteroy skoene PGC Encoder C Pulse Output th 11 V CMP OT Over Travel 12 V CMP J RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V hand 7 ALM Sh
106. alignment accurancy falls within the range shown below bot aa S pa 4 Measure this distance at four different positions in the circumference The difference between the maximum and minimum measurements must be 0 03mm or less Turn together with couplings Note e If the alignment accurancy is incorrect vibration will occur resulting in damage to the bearings Mechanical shock to the shaft end is forbidden otherwise it may result in damage to the encoder of the servomotor 2 1 4 Installation Orientation Servomotor can be installed ethier horizontally or vertically 2 1 5 Handling Oil and Water If the servomotor is used in a location that is subject to water or oil drops make sure of the servomotor protective specification If the servomotor is required to meet the protective specification to the through shaft section by default use a servomotor with an oil seal Through shaft section It refers to the gap where the shaft protrudes from the end of the servomotor Through Shaft Section 24 2 1 6 Cable Tension When connecting the cables the bending radius should not be too small do not bend or apply tension to cables Since the conductor of a signal cable is very thin 0 2 mm or 0 3 mm handle it with adequate care 2 1 7 Install to the Client When the servo motor is mounted to the client please firmly secure the servo motor by the sc
107. alue of the parameter 04y Servo drive starts to perform the requirement but cannot achieve it For example Servo drive axis number is 034 write data 06 into parameter Pn100 is not allowed because the range of parameter Pn100 is 0 6 The servo drive will feedback an error frame the error code is 034 Beyond the parameter s maximum value or minimum value Host controller data frame Slave station address Data address content Checking st Servo drive feedback error frame 03H 86H 03H Besides if the data frame sent from host controller slave station address is 004 it determines the data to be broadcast data The servo drives will not feed back any frames 154 6 3 3 Data Communication Address of Servo State The communication parameter addresses are shown in the following table Communication data address Description Operation Parameter area Corresponding parameters in Read write 0000 02FD l parameter list 07F1 07FA Alarm information memory area Ten alarms historical record Read only 07FB Speed reference zero offset NG Read write O7FC Torque reference zero offset SLM LS Read write lu zero offset Read only o7FE Wzeroofiser Read only Monitor data corresponding with 0806 0816 l o eee data a e D feedback Unitrpm sd RR Read Hm 0807 Input speed reference value speed reference value Unitrpm sd rom Read Readonly au a es n 080
108. ameter Pn005 H OUUU Control mode selection Speed control contact reference gt Speed control zero reference Internal set speed 1 Setting Range Setting Unit Factory Setting Setting Validation Internal set speed 2 speed Setting Range Setting Unit Factory Setting Setting Validation Internal set speed 3 speed Setting Range Factory Setting Setting Validation 5000600 immediately Internal set speed 4 Setting Range Setting Unit Factory Setting Setting Validation Internal set speed 5 Setting Range Setting Unit Factory Setting Setting Validation Internal set speed 6 speed Setting Range Setting Unit Factory Setting Setting Validation 5000 600 Immediately Internal set speed 7 speed Setting Range Setting Unit Factory Setting Setting Validation Note The servomotor s maximum speed will be used whenever a speed setting for the Pn316 Pn322 exceeds the maximum speed 117 4 8 2 Input Signal Settings The following input signals are used to switch the operating speed P CON CN1 15 Selects the internally set speed P CL CN1 41 Selects the internally set speed N CL CN1 42 Selects the internally set speed 4 8 3 Operating Using an Internally Set Speed Use ON OFF combinations of the following input signals to operate with the internally set speeds When Pn005 1 3 Selects the internally set speed contact reference lt gt Speed control zero ref
109. and humidity levels The factory setting for the resolver precision used in the ESTUN servo drive is 4096 ProNet OOOEO Supports AE100 model ProNet O00M0O does not support extended module B ProNet E Servo drive Model Designation PRONET E 10 A ProNet E Model UJ Voltage A 200VAC B 100VAC D 400VAC Rated Output 02 0 2kW 04 0 4 kW 08 0 75 kW 10 1 0 kW 15 1 5 kW 20 2 0 kW 30 3 0 kW 50 5 0 kW 10 AUTOMATION Kuso PON Series AC Servo Users Manual Note D ProNet E is only available with the wire saving incremental encoder 2500 P R Q ProNet E does not support extended module B ProNet Servo Drive Appearance ProNet 02A 04A ProNet 08A 10A I TI a Ii ul ij CN3 ij Ve dis da i Et Q CN4 Dr TU y Hn CN1 Dj Pg oh JA a 3 4 E oa CN2
110. annel of current A 08 X T Something wrong with the inside chip of the 1st channel detection is wrong 2nd channel of current Something wrong with the inside chip of the 2nd channel detection is wrong At least one of Incremental Encoder PA PB PC is broken Incremental Encoder is break off Main circuit voltage for servomotor rotation is excessively A 13 x Overvoltage BOR Ig Ss ae x faen fam OOO Motor temperature detection sensor l A 22 X l Encoder cable is error is break off 190 Alarm Alarm Alarm Name Display Output NET Brake overcurrent alarm Bleeder resistor is too small or bleeder module is faulty paca x rms f The parameter setting of servo drive does not match the A 42 x Servomotor type error servomotor The parameter setting of servo drive does not match the Servo drive type error servomotor ex oo Absolute encoder multiturn l l DM A 45 x l l Absolute encoder multiturn information is faulty information error Absolute encoder multiturn A Absolute encoder multiturn information overflow information overflow etre Battery voltage below 2 5V Absolute encoder multiturn information is lost Battery voltage below 3 1V Battery voltage is too low he EG Xx Serial encoder communication Encoder disconnected encoder signal disturbed encoder overtime error or encoder decoding circuit error Absolute encoder multiturn information may be faulty Error reasons 1 The battery is not connect
111. as 644 by 1 byte RTU data Data Structure 10 bit character form 7 bit data Pn700 1 0 7 N 2 Modbus ASCII 1 A A A APA ARANA z HESTEN SSeS NO Go Eur a I p d4 un 7 data bits M lt lt 10 bits character frame DD Pn700 1 1 7 E 1 Modbus ASCII Even Stop 5 6 pari r 7 data bits M 10 bits character frame DD LU o X c E ri mec l l m l A I N l l ER OI E oli I Pn700 1 2 T O 1 Modbus ASCII o Y aS zi S25 2254 o L a qme bo A 09 Ll Eli a I 4 N Eb ON 3 SO EN Te NUM N 2 S d 4 7 data bits M 10 bits character frame DD 148 11 bit character form 8 bit data 8 N 2 Modbus ASCII RTU o E E o mc ES NO Id UY AAA Jx N 1 l l l A Dm eee eee ON Se EET l LA EEEE os p o IIt ME com UN 8 data bits 1 1 bits character frame 8 E 1 Modbus ASCII RTU TE gd GE 4 l gt sta l l RER l l N el 09 l l l a l 4 l l Nn l
112. ase 100V ProNet 04B Single phase 100V ProNet E 04B L1 L2 Single phase 100 120V 2 50 60Hz Molded case Circuit Breaker Surge Protector Noise Filter 1Ry Power OFF Power ON KD Va 1KM T LJ 1PL Servo Alarm Display Lm IKM 1Ry 1SUP lt 1 Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor L1 A 1 Servodrive VO M C 3 1 WO 9 D 4 ae 2 4 L1C L2C Encoder CN2 PG External regenerator resistor B O B1 2 B1 B2 OB2 o B3 B 0B3 1Ry 24V ise 7 ALM LI i 8 ALM 1 2 1D Lb 1 Ground Terminal OV m Single phase 100V ProNet 08B Single phase 100V ProNet E 08B L1 Molded case Circuit Breaker r Surge Protector Noise Filter 1Ry 2 Single phase 100 120V 5 50 60Hz Power OFF Power ON i S 1 T Magnetic Contactor 1PL Servo Alarm Display Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay QL1 oL2 L1C L2C External regenerator resistor E B1 0 B2 B
113. ate the E B 32768x4 I B 32768x4 3 D 32768x4 2 POOR x L X A 6000 l A 3600 l A 31400 Pn201 131072 Pn201 393216 Pn201 262144 Set parameters Pn202 6000 Pn202 3600 Pn202 31400 Pn201 32768 Pn201 32768 Pn201 32768 Final Result Pn202 1500 Pn202 ETB Pn202 3925 Reduce the fraction both numerator and denominator if the calculated result will not be within the setting range Calculate the travel distance 4 6mm 0 001mm 6000 360 0 1 3600 314mm 0 01mm 31400 per load shaft revolution For example reduce the above numerators and denominators by four or other numbers to obtain the final results in step 7 and complete the settings 5 Electronic Gear Ratio Equation Servomotor n M c4 P ams Pitch P mm rev f B O ef peler gt 6 Position Speed xL loop loop Loa m Af mm P ary ML At mm P Reference unit RP PG P PG P rev Encoder pulses CLE P mm rev Ball screw pitch m Deceleration ratio n nx B 4 x 4x Pexm Al A B 4xPoxmxAl 4xPa m gt X SetAandB with the following parameters A nx p P n rp A Pn202 B Pn201 Al 100 4 6 4 Smoothing A filter can be applied in the servo drive to a constant frequency reference pulse 1 Selecting a Position Reference Filter 0 1 order filter Pn205 1 2 order f
114. c shock B ProNet 15A 20A ProNet E 15A 20A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply ProNet Seres AC Servo User s Manual Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices I O signal connector Used for reference input signals and sequence l O signals Encoder connector Connects to the encoder in the servomotor capacitor remains charged Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock
115. cal clearance is too big during operation Manual gain adjustment is used 4 Autotuning is invalid when the difference of different speed load is too great Manual gain adjustment is used The response speed of servo system is determined by this parameter Normally the rigidity should be set a little larger However if it is too large it would suffer mechanical impact lt should be set a little smaller when large vibration is present This parameter is only valid in autotuning This parameter determines speed loop gain Unit Hz Decreases the value of this parameter to shorten positioning time and enhance speed response Unit 0 1ms This parameter determines position loop gain Decreases this value to enhance servo rigidity but vibration will occur if the value is too large Unit 1 s Torque reference filter can eliminate or lighten mechanical vibration but incorrect setting will result to mechanical vibration Unit 0 1ms Setting value load inertia rotor inertia X 100 Unit 96 The meanings of these parameters are the same as Pn102 Pn105 These parameters are only needed to set when two Parameter Setting Control Description Function and Meaning No Validation Mode 2nd position loop l types of gain function are enabled Pn109 Immediately gain 2nd torque reference l Pn110 Immediately P S T filter time constant This parameter setting can shorten positioning time However if it is too larg
116. citation 4 11 7 Torque Limit Detection Output CLT The application of output signal CLT is as follows Servo Drive 24V Power supply Photocoupler output EEE 24V Max applicable Voltage NE 1CN J CLT DC30V n y x 4 dd Max applicable current 7 1CN _ CLT DC50mA wu Output CLT Torque limit output Speed torque control position control 125 Indicates the bi torque current of motor is limited MEM Motor output torque under limit Internal Not including this setting in M l l torque reference is higher than setting the default setting please Output CLT value choose terminal output by l No torque limit Internal torque reference setting parameter Pn511 OFF H l l is lower than setting value Please use the following user constants to define output signals and pins when using CLT signal Connector Pin Number Para No Meaning Terminal Terminal Pn511 H oococ3 CN1 11 CN1 12 Output signal of CN1 11 CN1 12 is CLT Pn511 H oo3o CN1 05 CN 1 06 Output signal of CN1 5 CN1 6 is CLT Pn511 H o300 CN1 09 CN1 10 Output signal of CN1 9 CN1 10 is CLT Pn511 0 3 1CN 11 1CN 12 CLT Torque limit Pn511 1 3 output 1CN 05 1CN 06 Pn511 2 3 1CN 09 1CN 10 Output terminal Parameter Pn511 description as following mr COIN V CMP output 4 GON rotation det
117. comma and the next change will start from the start point during multi points cycle run Point control program will not change steps after the end point is completed during multi points single run Change steps by external P CON signals The signal will be valid when drive output reaches the desired position When input signal changes the signal is valid then steps will be changed by consequence from start point to end point Incremental relative moving distance distance from current point to next point programming Absolute absolute moving distance distance between operating platform and the reference point programming ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 6 9 Position Homing Control Homing Function In position control mode the servomotor always needs to operate at a fixed position This position is normally regarded as the zero position When the host controller is turned on the zero position adjustment is required before processing This zero position will be regarded as the reference point ESTUN servo drives can perform this function by the homing function 1 Homing Mode Setting b LILILIO b OLLI b OLIOLI LJ LJ Homing in the forward direction Homing in the reverse direction Return to search C Pulse when homing Directly search C Pulse when homing Homing function disabled Homing triggered by SHOM signal rising edge Applicable control mode positio
118. der model selection 0 2 Reserved For factory using Pn840 Hex After restart ALL 3 17 bit absolute encoder 4 17 bit incremental encoder 5 Resolver 188 CAN communication Pn703 speed Parameter a Setting Control Description Function and Meaning No Validation Mode 6 Wire saving incremental encoder Pn840 1 Reserved For factory using Pn840 2 Reserved For factory using Pn840 3 Reserved For factory using D When connecting to EMJ 04ADHOO Pn005 3 should be set as 1 2 the max value of servo receiving pulse frequency it means the sufficient max value of pulse frequency receiving by servo hardware 189 Appendix B Alarm Display Alarm Alarm Alarm Name Meaning Display Output AER Parameter breakdown The checksum results of parameters are abnormal n AD shift channels breakdown AD related electrical circuit is faulty The servomotor speed is excessively high and the Overspeed l servomotor is out of control The servomotor is operating continuously under a torque Overload poco O exceeding ratings CONCA Position error counter overflow Internal counter internal counter overfow 00 Position error pulse overflow Position error pulse exceeded parameter Pn504 The setting of electronic gear or l l l l l The setting of electronic gear is not reasonable or the A 07 x given pulse frequency is not l i given pulse frequency is too high reasonable The 1st ch
119. e Set Pn600 100 Pn601 100 No 0 offset value Pn600x10000 reference pulse Pn601x1 reference pulse 100x10000 reference pulse 100 x1 reference pulse 999900 reference pulse With the same principle we can conclude in order to get the same results we also can set Pn600 99 and Pn601 9900 Thus we can see when the two parameters are not zero we can get same result by two ways one is to set the two parameters both negative or both positive or one negative the other positive Speed Speed mentioned here refers to the steady speed during which the motor is running which is similar to the pulse frequency given from the external pulse reference in position control However this speed has nothing to do with the electronic gear it is the actual speed of the motor Position reference filter time constant Same as position reference filter time constant Pn204 in common position control Time for change steps after desired position reached Apply internal delay to change steps to a valid value in parameter Pn681 1 Time for change steps outputs from positioning completed signal CON from Servo ON or from the time when reference point is found till the Servo performs the program to control position of the point Such period of time depends on step changing time required by a point number among start point in program When running point control program if error counter is set as not clear error counter when Servo OFF th
120. e Servo Drive Noise filter 3 me l Servomotor AC 200V e E oL1 o M AC 400V gt L2 FG 3 5mm min X1 4 5 Gi PG e gt BBS a CN1 d Operation relay sequence e Signal generation circuit AAAA 3 2 s 215 Noise DC SIC filter power Vv V 2 Zh P gt T j T o 3 5mm min ground plate ground plate ground 3 5mm min 1 plate Wires of p b3 3 5mm min 1 ground plate 5 2 ground plate Jens Ground to an independent ground use ground resistor 1000 max For ground wires connected to the ground plate use a thick wire with a thickness of at least 3 5 mm preferably plain stitch cooper wire should be twisted pair wires When using a noise filter follow the precautions in 3 6 2 Precautions on Connecting Noise Filter 52 2 Correct Grounding Take the following grounding measures to prevent the servo drive from malfunctioning due to noise Grounding the Motor Frame If the servomotor is grounded via the machine a switching noise current will flow from the servo drive main circuit through the servomotor stray capacitance Always connect servomotor frame terminal FG to the servo drive ground terminal Also be sure to ground the ground terminal y Noise on the I O Signal Line If the I O signal line receives noise ground the 0 V line SG of the reference input line If the main circuit wiring for the motor is accommodated in
121. e Equivalent ALM RST Alarm Reset t ALM RST 39 25 PCO CLR Clear Error Pulse CLR 40 50 DGND P CL Forward Torque Limit 1 PCL 41 EN E N CL Reverse Torque Limit NCL 42 Signal Allocations can be Modified AA V OMP Speed C id SHOM Home e 5 TGON COIN Positioning Completion ORG Zero Position 1 6 TGON a Rotation Detection RDY Servo Rea t d 9 S RDY gt CLT Torque Limit Detection 10 S RDY BK Brake Interlock 11 V CMP PGC Encoder C Pulse Output t 3 OT Over Travel it 4 12 V CMP J RB Servo Enabled Motor Excitation Output HOME Home Completion Output IRy 24v i 7 Connect Shield to Connector Shell LT Shield Shell tk 8 ALM l i 1D oV ALM Servo Alarm Output A Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 44 Kuso PON Seres AC Servo Users Manual AUTOMATION 3 5 4 Three phase 400V ProNet 1AD 2BD
122. e control modes are described below 4 10 1 Setting Parameters The following control mode combinations can be selected according to the individual application of the user Parameter Control Method H 0040 Speed control contact references gt Speed control analog voltage reference H OOS Speed control contact referencex gt Position control pulse train reference H O6 Speed control contact reference k gt T orque control analog voltage reference H LILITLI Position control pulse train references gt Speed control analog voltage reference H 0080 Position control pulse train reference Torque control analog voltage reference Pn005 H LILI9LI Torque control analog voltage referencek gt Speed control analog voltage reference H OOA Speed control analog voltage referencek Zero clamp H LILIBLI Position control pulse train reference k Position control inhibit H LILICLI Position control contact reference H LILIDLI Speed control Parameter reference H LILIELI Special control 4 10 2 Switching the Control Mode Switching Speed Control Pn005 1 4 5 6 With the sequence input signals in the factory setting the control mode will switch when both P CL and N CL signals are OFF high level Type Signal Name Connector Pin Number Setting Meaning Input P CL CN1 41 factory setting OFF high level Switches control mode
123. e or does not cooperate with Pn111 correctly vibration will occur The relationship with speed reference error counter positioning error is shown in the following chart seed reference Pn111 Speed bias Immediately It is used to set position feedforward The response speed is faster and position error is less when this Pn112 Feedforward Immediately parameter setting is higher Vibration will occur if the value is set too large Unit It is used to ease mechanical vibration due to position feedforward The feedforward lag will be enlarged and Pn113 Feedforward filter Immediately result to vibration if the value is set too large m Unit 0 1ms It is used to set torque feedforward and enhance Torque feedforward Torque feedforward Pn115 filter P PI switching response speed Set the load inertia percentage Pn106 correctly to Immediately enable this function in manual gain adjustment mode It is used to ease mechanical vibration due to torque Immediately P S feedforward Unit 0 1ms 0 Torque reference percentage 1 Value of offset counter Pn116 After restart 2 Value of acceleration speed setting condition 3 Value of speed setting 4 Fixed PI Threshold of torque to switch Pl control to P control Unit 96 Torque switching Pn117 After restart threshold 178 Parameter a Setting Control Description mam Function and Meaning No Validation Mode Threshold of error counter to s
124. each individual servo drive and at least 50mm space above and below each one as well as shown in the figure above Ensure the temperature inside the control panel is evenly distributed and prevent the temperature around each servo drive from increasing excessively 26 Kimo PON Seres AC Servo Users Manual AUTOMATION Install cooling fans above the servo drives if necessary i Working conditions 1 Temperature 20 55C 2 Humidity 5 95 RH 3 Vibration 4 9m s or less 4 Ambient temperature to ensure long term reliability 45 C or less 5 Condensation and Freezing None 207 c ESTUN AUTOMATION ProNet Series AC Servo Users Manual Chapter 3 Wiring 3 1 Main Circuit Wiring Please observe the following instructions while wiring the main circuit Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 300 mm Use twisted pair shielded wires or multi core twisted pair shielded wires for signal and encoder feedback lines The maximum length is 3 m for reference input lines and 20 m for encoder feedback lines Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the servo drive 3 1 1 Names and Functions of Main Circuit Terminals Terminal Symbol Main circuit power supply input terminal Main E M i Drive Circuit Model voltage Pronet E 100 028 088 028 088 Si
125. ecause such speed is safe constant speed Check the reference pulse speed input to the servo drive Refer to 5 1 6 Operation in Monitor Mode for how using the Un008 in Monitor Mode input reference pulse it is displayed speed rpm Check the servomotor speed using the UnOOO in Monitor Refer to 5 1 6 Operation in Monitor Mode for how Mode servomotor speed rpm itis displayed To change the servomotor rotation direction without changing the input reference pulse form refer to Check the rotation of the servomotor shaft 4 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 8 again after the servomotor rotation direction is changed When the pulse reference input is stopped and servo OFF status is entered the trial operation for servomotor without load in position control mode is complete 68 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 1 3 Trial Operation with the Servomotor Connected to the Machine Follow the procedure below for trial operation precisely as given Malfunctions that occur after the servomotor is connected to the machine not only damage the machine but may also cause an accident resulting in death or injury To host controller A 69 Step Description Check Method and Remarks 1 Turn the power ON and make the settings for the Refer to 4 3 Setting Common Basic Functions mechanical confi
126. ecting output 6 oT overravel signal output gt 8 HOME home completion output 8 eR Torque Detection Output 0000 126 4 11 8 Torque Detection Output TCR Not including this setting in al Motor output torque is higher than Pn529 the default setting please setting value Output TCR choose terminal output by GET Motor output torque is lower than Pn529 setting parameter Pn511 setting value Torque detection output time is set by Pn530 Parameter Pn511 description as following mE COIN V CMP output TGONrotation detecting output 4 IBK brake mterock output 6 oroverravel signal output 00000 8 HOME home completion output 0 9 eR Torque Detection Output 0000 4 12 Online Autotuning 4 12 1 Online Autotuning Online autotuning calculates the load moment of inertia during operation of the servo drive and sets parameters so that the servo gains are consistent with the machine rigidity Online autotuning may not be effective in the following cases The motor high speed is lower than 100 rpm The motor acceleration or deceleration is lower than 5000rpm s Load rigidity is low and mechanical vibration occurs easily or friction is high The speed load moment is changed greatly Mechanical gas is very large If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotuning set the value in Pn106 Load inertia percen
127. ectly input during the adjustment The offset adjustment range and setting unit are as follows Torque reference Offset adjustment range Offset adjustment range 1024 1024 Offset setting NV Analog voltage input Note When the offset using in automatic adjustment exceeds the manual adjustment range 1024 1024 manual adjustment will be invalid Adjust the analog reference offset manually in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn004 Fal Bld 3 Press the ENTER key to enter into the speed reference offset manual adjustment mode JEG 141 4 Turn ON the servo ON signal the display is shown as follows EE 5 Hold the ENTER key the speed reference offset will be displayed ee 6 Press the INC or DEC key to change the offset 7 Hold the ENTER key to return to the display in step 4 8 Press ENTER key to return to the utility function mode display Fn004 Fal Bld Thus the speed reference offset manual adjustment is complete 5 2 6 Offset adjustment of Servomotor Current Detection Signal Automatic servomotor current detection offset adjustment is performed at ESTUN before shipping Basically the user does not need to perform this adjustment Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset This section d
128. ed Reference Offset When using the speed torque analog reference control the servomotor may rotate slowly even if OV is specified as the analog voltage reference This happens if the host controller or external circuit has a slight offset in the unit of mV in the reference voltage The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage It can adjust both speed and torque reference offset The servo drive automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage Reference Voltage T Offset Speed Reference Automatic offset adjustment Reference Voltage Offset automatically adjusted in servodrive Speed Reference After completion of the automatic adjustment the amount of offset is stored in the servo drive The amount of offset can be checked in the speed reference offset manual adjustment mode Fn004 Refer to 4 5 3 2 Manual Adjustment of the Speed Reference Offset The automatic adjustment of reference offset Fn003 cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the speed reference offset manual adjustment for a position loop The zero clamp speed control function can be used to force the servomotor to stop while the zero speed reference is given
129. ed or the battery voltage is Absolute encoder overspeed alarm E A 51 x insufficient detected mM 2 The power supply to servo drive is not turned ON when the battery voltage is normal or the servomotor running acceleration is too high due to external reason Absolute state of serial encoder l EM A 52 x Encoder or the encoder decoding circuit is faulty error pass xX Serial encoder calcaution error Encoder or the encoder decoding circuit is faulty AA control domain error is faulty IIS lal d SUE error is faulty EIER uiid oii domain error is faulty X seria encoder data empty The EEPROM data of serial encoder is empty EL Serial encoder data format error The EEPROM data format of serial encoder is incorrect A 0 Xx Communication module not Communication module is not plugged in or the l detected communication module is dia E ao Communication unsuccessful CPU of communication module operated CPU of communication module operated abnormally Servo drive can not receive the l l l NM Receive channel of servo drive data or send channel of period data of communication mE l communication module is faulty module 191 Alarm Alarm Alarm Name Display Output Communication module can not A 63 x receive the servo drive response Communication module is faulty Communication module and bus Bus communication is faulty connectionless CAN communication is faulty because of abnormal CAN communication
130. eeseeeeeseeeeseaeeeeseeeeeeseeeeesaeeeesaaeees 38 3 3 2 Encoder Connector CN2 Terminal Layout oocccoocnnccnoccncccnccncnoncnnnnnnoncnnnconononcnnonononnnnnrnnnnnnrnnonanennnnnos 40 3 4 Communication Connection cccceeccccceeeceeeeeeeeeeeeeeeeeeeeeeseeeeeeaeeeeeseeeeeseeeeeeseeeeeeseaeeessaseeseaseeeeesaeeeesseeeensaeees 40 3 4 1 Communication Connector CN3 Terminal Layout rrrnnnnnrnnnnnrrnrnnnrnvnnnrenrnnerenrnnnrnnnnsrennnnerenrnnernnnnnnn 40 3 4 2 Communication Connector CN4 Terminal LayOUt oooccccocccccccccnconoccnncnnconononcnnnnnnnnnnnnnnnonnnrnnnnnnnnnnnanos 41 3 5 Standard Wiring Examples ccccsssccccssececceseecceeececceueeecseueecssuscecsueeessseeessueeecseueeessaueeesseaueeesseneeesseesessaeees 42 3 5 1 Single phase 200V ProNet 02A 04A ProNet E 02A 04A rrrrrnnnnrrnrrnnnrnvnrnnnnnsrnrnnnnrsrnrnnnsnsrennrnnsnsenn 42 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 3 5 2 Three phase 200V ProNet 08A 50A ProNet E 08A 50A rrnrrnnnnnnnvnnnnrnrnvnnnnnsnnnnnnsrsrnrnnnnnsrennrnnsnsenn 43 3 5 3 Three phase 400V ProNet 10D 75D ProNet E 10D 50D rrrnnnnrnnrnnnnnrvnrnnnnnrnvrnnnnnrnnrnnsrnernrnnssnennnnn 44 3 5 4 Three phase 400V ProNet 1AD 2BD erranrvnnrvvnnrrnnnnrvnnnennnnennnnenvnnnnnnnnvnnnnennnnsnnnnnnnnnnennnnennnnsnnnnnennnnene 45 3 5 5 Single phase 100V ProNet 02B ProNet E 02B ooccooocccccccnocccccconncccncnnnnnccnnonnnnccnnnnnnnrnnnon
131. eference Inverse SIGN reference Inverse PULS reference Do not inverse SIGN reference Inverse PULS reference and SIGN reference 95 5 Reference Pulse Input Signal Timing Reference pulse signal form Electrical specifications Remarks Sign pulse train input SIGN SIGN PULS signal H forward reference Maximum reference frequency i uw cos L reverse reference t3 t7 0 1ps t4 t5 t6 gt 3us 500kpps For open collector output er 200kpps CW pulse CCW pulse Maximum reference frequency 500kpps i For open collector output 200kpps LE us t T x100 50 Two phase pulse train with 90 phase A parameter differential phase A B y Pn004 2 can be A t1 t2 0 1 Maximum reference frequency ae Hoe used to switch of t T 100 50 x1 input pulse multiplier 500kpps the input pulse Forward reference Reverse reference x2 input pulse multiplier 400kpps Phase B leads A by 90 Phase B lags B by 90 multiplier mode x4 input pulse multiplier 200kpps 6 Connection Example The pulse train output form from the host controller corresponds to the following Line driver Output 24V Open collector output e 12V 5V Open collector output a Connection Example for Line driver Output Applicable line driver SN75174 manufactured by TI or MC3487 or the equivalent Host controller Servodrive Line driver CNI 1500 Photocoupler
132. ely When using the servomotor to control a vertical axis the machine movable parts may shift slightly depending on the brake ON OFF timing due to gravity or an external force By using this parameter to delay turning the servo ON OFF this slight shift can be eliminated For details on brake operation while the servomotor is operating refer to 5 Setting the Brake ON OFF Timing When Servomotor Running in this section S ON CN1 14 Servo ON Servo OFF Servo ON Brake released Brake released BK Output Using brakes brake Powerto Power to Power to Servomotor servomotor No power to PA servomotor SEV OLMO lt gt gt Pn506 Pn505 ll Important The servomotor will turn OFF immediately when an alarm occurs regardless of the setting of this parameter The machine movable part may shift due to gravity or external force during the time until the brake operates 79 5 Setting the Brake ON OFF Timing When Servomotor Running The following parameters can be used to change the BK signal output conditions when a stop reference is output during servomotor operation due to the servo OFF or an alarm occuring Brake Waiting Speed y Speed Position Torque Pn507 f Setting Range Setting Unit Factory Setting Setting Validation 10 100 1rpm 100 Immediately Pn508
133. en the error counter might flood If it does not flood then the servo drive will probably run at the max running speed when Servo ON again PLEASE PAY ATTENTION TO THE SAFETY OF INSTRUMENT 106 DE Setting Para No Name and description Default range 0 Clear error pulse when S OFF not clear error pulse when overtravel Pn004 1 0 2 1 Not clear error pulse 2 Clear error pulse When S OFF or over travel sLooking for the reference point Looking for the reference point is for establishing a zero physical point of the operating platform which is used as zero point in the coordinates during point position control And users may choose to find a reference point either in forward or reverse side How to find a reference point Mount a limit switch in the forward or reverse side Find a reference point in the forward direction after connecting to PCL and in the reverse direction after connecting to NCL When the operating platform bumps into the limit the switch the motor will first stop according to the way set by Pn004 0 and then rotate again against limit the switch When the operating platform leaves the limit switch and the motor reaches the position of first photo encoder Phase C pulse then position of operating platform is set to be the zero point of the coordinates How to find related parameters of reference point Speed towards limit switch is called speed of looking for reference point and the moving speed away from
134. ent value Pn500 10 pulse is factory rom l setting Base block Lit for base block Not lit at servo ON Control Lit when servo drive control power is power ON ON Always lit in torque control mode Lit for base block Not lit at servo ON Control Lit when servo drive control power is ON power ON Lit if input speed reference exceeds preset Speed value Not lit if input speed reference is Lit if reference pulse is input eference reference below preset value Not lit if no reference pulse is input pulse input input Preset value Pn503 factory setting is 20 rpm Lit if input torque reference exceeds preset Torque value Error Lit when error counter clear signal is reference Not lit if input torque reference is below counter clear input Not lit when error counter clear input preset value signal input signal is not input Preset value 10 of rated torque Lit when main circuit power supply is ON Lit when main circuit power supply is and normal ON and normal Power ready Power ready Not lit when main circuit power supply is Not lit when main circuit power supply is OFF OFF Lit if servomotor speed exceeds preset Lit if servomotor speed exceeds preset Rotation value Not lit if servomotor speed is below Rotation value Not lit if servomotor speed is detection preset value detection below preset value TGON Preset value Pn503 factory setting is 20 TGON Preset value Pn503 factory setting is r
135. er filter time constant Pn308 Immediately constant Unit ms S curve l The time for transition from one point to another point Pn309 EN Immediately risetime in S curve 0 Slope Speed reference 1 S curve Pn310 curve form After restart r 2 1 order filter 3 2 order filter S S S S Pn311 S form selection After restart S This value determines the transition form of S curve S T S Unit ms DP communication l Communication speed of bus JOG Pn312 Immediately P A JOG speed It can be set to positive or negative Pn313 Reserved DAA Pn314 Reserved AAA Pn316 Speed internal 1 Immediately Internal speed is enabled when Pn005 1 3 6 Pn317 Speed internal 2 Immediately S Pn319 Speed internal 4 Immediately Pn320 Speed internal 5 Immediately Oras Pn315 Pn318 Speed internal 3 Immediately Immediately ont Pn322 Speed internal 7 S ON L OFF H SPEED6 ON L ON L SPEED7 Torque reference l The meaning of this parameter is the needed analog Pn400 l Immediately T l gain input voltage to reach the rated torque Forward torque l Pn401 o Immediately P S T internal limit Reverse torque l Pn402 o Immediately P S T internal limit Forward external l Servomotor output torque limit value depending on Pn403 Ea Immediately P S T l torque limit the actual overload capacity Reverse external l Pn404 o Immediately PSI torque limit Plug braking torque l Pn405 es Immediately P S T imi 181
136. er is less than Pn500 Positioning error Immediately en is value Outputs VCMP signal when the difference between Coincidence Pn501 l Immediately speed reference value and speed feedback value is difference less than this value The servomotor is locked in the form of temporary Pn502 position loop when the speed corresponding to the Zero clamp speed Immediately S m analog input is less than this value When the servomotor speed exceeds this parameter Rotation detection Immediately P S T setting value it means that the servomotor has speed TGON l l already rotated steadily and outputs TGON signal Pn503 When the value in error counter exceeds this Offset counter Pn504 Immediately parameter setting value it means that error counter overflow alarm alarm has occurred and outputs alarm an signal These parameters are only enabled when the port Servo ON waiting l output parameters are allocated with BK signal Pn505 Immediately time output These parameters are used to keep braking prevent 182 Parameter a Setting Control Description Function and Meaning No Validation Mode from gravity glissade or continuous outside force on Pn506 Basic waiting flow Pn507 Brake waiting speed Pn508 Brake waiting time Allocate input port to Pn509 signal one port with four bits hex Allocate input port to Pn510 signal one port with four bits hex servomotor time sequence Immediately Servo ON wa
137. erence mpg u Lem ome mm OFF H SPEED2 SPEED3 SPEED4 SPEEDS SPEED6 OFF H SPEED 7 Note OFF High level ON Low level E Control Mode Switching When Pn005 1 4 5 6 and either P CL or N CL is OFF high level the control mode will switch Example When Pn005 1 5 Speed control contact reference lt gt Position control pulse train ga u 118 4 9 Limiting Torque The servo drive provides the following three methods for limiting output torque to protect the machine NO Limiting Method Reference Section Torque limiting by analog voltage reference 4 9 1 Internal Torque Limit Maximum torque is always limited to the values set in the following parameters pie Setting Range Setting Unit Factory Seeting Setting Validation Pn402 Setting Range Setting Unit Factory Seeting Setting Validation The setting unit is a percentage of rated torque The maximum torque of the servomotor is used even though the torque limit is set higher than the maximum torque of the servomotor as is the case with the 300 factory setting With No Internal Torque Limit ith I IT Limi Maximum torque can be output With Internal Torque Limit Speed Speed Limiting torque Maximum torque MW Note Too small a torque limit setting will result in insufficient torque during acceleration and deceleration 119 4 9 2 Externa
138. ervo Read t 9 S RDY gt CLT Torque Limit Detection g 10 S RDY BK Brake Interlock PGC Encoder C Pulse Output y K 11 V CMP OT Over Travel i 12 V CMP J RD Servo Enabled Motor Excitation Output HOME Home Completion Output Ry 24V J 7 ALM Connect Shield to Connector Shell Jr Shield Shell t 8 ALM l i 1D OV ALM Servo Alarm Output Q Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA Notes When single phase 100VAC is provided for main circuit on rated speed instantaneous peak torque lt 4 78 N m When three phase 100VAC is provided for main circuit on rated speed instantaneous peak torque 7 16 N m 48 3 5 8 Position Control Mode ProNet Series Servodrives gt 20 PAO 21 PAO gt 22 PBO He Divided Ratio Output i l cable Line Receiver 23 PBO a AM26LS32A end by Tl or the Equivalent 121 24 PCO 25 PCO 50 DGND Open collector Reference Use PPI 34 m Position Ref PULSJOWIA 4 sg E us osition Reference
139. escribes the automatic and manual servomotor current detection offset adjustment Note Offset adjustment of the servomotor current detection signal is possible only while power is supplied to the main circuit power supply and with the servo is the OFF state Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other servo drives e If this function particularly manual adjustment is executed carelessly it may worsen the characteristics E Automatic Offset adjustment of Servomotor Current Detection Signal Adjust the servomotor current detection signal automatically in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn005 Fal i Bad 3 Press the ENTER key to enter into the automatic adjustment of the servomotor current detection signal mode rales ln 4 Press the MODE key the display will blinks for one second The offset will be automatically adjusted NN 7 Pal DR Z xxl N Y Y beef ln 5 Press the ENTER key to return to the utility function mode display Fn005 142 a ProNet Seres AC Servo Users Manual AUTOMATION E rd Bad Thus the automatic offset adjustment of the servomotor current detection signal is complete E Manual Offset adjustment of Servomotor Current Detection Signal Adjust the servomotor current detection signal manually
140. eter Meaning Terminal Terminal The BK signal is output from output Pn511 H LILILI4 CN1 11 CN1 12 terminal CN1 11 12 The BK signal is output from output Pn511 H 0040 CN1 5 CN1 6 terminal CN1 5 6 The BK signal is output from output Pn511 H 0400 CN1 9 CN1 10 terminal CN1 9 10 ll Important When set to the factory setting the brake signal is invalid For the allocation of servo drive output signals other than BK signal refer to 3 2 2 I O Signal Names and Functions Parameter Pn511 description as following L3 COIN V CMP output 1 TGONrotation detecting output 4 BK brake interlock output 6 OToverravel signal output gt 8 HOME home completion output TCR Torque Detection Output 0000 Related parameter Parameter Settin Range Pn505 Servo ON waiting time ms 2000 2000 Pn506 Basic waiting flow 0 500 a Pn507 Brake oe ida pm 10 100 78 4 Setting the Brake ON OFF Timing after the Servomotor Stops With the factory setting the BK signal is output at the same time as the servo is turned OFF The servo OFF timing can be changed with a parameter Servo ON waiting time Pn505 Uo Setting Range Setting Unit Factory Setting Setting Validation 2000 2000 ms 0 Immediately Basic waiting flow Pn506 Pa Setting Range Setting Unit Factory Setting Setting Validation 0 500 10ms 0 Immediat
141. f the servo drive will appear as shown on the left The display on the left indicates Normal Display that forward run prohibited P OT and reverse run a prohibited N OT m If an alarm display appears the power supply circuit servomotor wiring or encoder wiring is incorrect If an alarm is displayed turn OFF the power find the Example of Alarm Display problem and correct it El rie When using a servomotor with a brake release the brake Please refer to 4 3 4 Setting for Holding Brakes Please refer to 4 5 Operating Using Speed Control with Analog Reference Alternate Display first before driving the servomotor When using a servomotor equipped with an absolute encoder the encoder setup is required before driving the servomotor 63 Use the panel operator to operate the servomotor with utility function Fn002 JOG Mode Operation Check that the servomotor rotates in the forward direction by pressing Panel Operator the INC key and reverse direction by pressing the DEC Power Supply key The operation is completed when the operation is performed as described below and the alarm display does not appear Complete the Fn002 JOG Mode Operation and turn OFF the power For the operation method of the panel operator refer to Chapter 5 Panel Operator The servomotor speed can be changed using the Pn305 JOG Speed The factory setting for JOG speed is 500rpm Display after operation Panel operator Description MO
142. f the wiring when connecting more than one servo drive DC bus
143. factory setting for the machine rigidity setting is 5 Machine Position Loop Gain s Speed Loop Gain Hz Speed Loop Integral Time Rigidity Setting Pn102 Pn104 Pn128 1 Constant 0 1ms 129 Chapter 5 Panel Operator 5 1 Basic Operation 5 1 1 Functions on Panel Operator The panel operator is a built in operator that consists of display section and keys located on the front panel of the servo drive Parameter setting status display and execution of utility function are enabled using the panel operator The names and functions of the keys on the panel operator are shown as follows Panel Corresponding Function Symbol Key Name a INC key To display the parameter settings and setting values To increase the setting value DEC key To decrease the setting value To select a basic mode such as the display mode parameter setting MODE key mode monitor mode or utility function mode To save the setting during parameter setting and exit BENE ENTER key To display the parameter settings and setting values and release ararm Note In this manual the Panel Symbol is represented by Corresponding Key Name for easy understanding 0 1 2 Resetting Servo Alarms Servo alarms can be reset by pressing the ENTER key when the panel operator in display mode Servo alarms can also be reset using the CN1 39 ALM RST input signal There is no need to clear the servo alarms if it turns the main circuit power supply OFF
144. ference Section Speed Control Analog voltage reference Controls servomotor speed using analog voltage speed reference Use in the following instances H 0000 4 5 To control speed For position control using the encoder feedback division output from the servo drive to form a position loop in the host controller Position Control Pulse train reference Controls the position of the servomotor using pulse train position reference H 0010 7 l l 4 6 Controls the position with the number of input pulses and controls the speed with the input pulse frequency Use when positioning is required Torque Control Analog voltage reference Pn005 Controls the servomotor s output torque with analog voltage torque H 0020 l l 4 7 reference Use to output the required amount of torque for operations such as pressing Speed Control contact reference 4 gt Speed Control zero reference Use the three input signals P CON P CL and N CL to control the H 0030 l l l 4 8 speed as set in advance in the servo drive Three operating speeds can be set in the servo drive In this case an analog reference is not necessary H 011740 These are swiching modes for using the four control methods described above in combination Select the control method switching mode that best suits the application 4 10 H LIEIEL 71 4 3 Setting Common Basic Functions 4 3 1 Setting the Servo ON Signal This sets the servo ON signal S ON that determ
145. generative resistor 0 connect externally regenerative resistor between B1 and B2 Pn521 1 dose not connect externally meer regenerative resistor relay on internal capacitance This parameter is in effect only on ProNet 02 04 ProNet E 02 04 PE Rm O 9 0 Pg Rem TN 0 PA Rem Temperature threshold of motor overheat Pn526 alarm C 50 180 110 Immediately oe enabled in ProNet 75 1A 1E 2B Lem Lor em Torque detection output signal a EE Pn529 3 300 Immediately value Pn530 Torque detection output signal time 1 1000 E After restart Pn600 Position pulse in point to point control NEC 9999 9999 0 Immediately Pn601 Position pulse in point to point control 9999 9999 L9 Immediately Pn630 Position pulse in point to point control 9999 9999 Lx Immediately Pn631 Position pulse in point to point control 9999 9999 0 Immediately Pn632 Point to point speed control 0 3000 Immediately Pn647 Point to point speed control 0 3000 Immediately Pn648 Point to point 1st order filter 0 32767 0 Immediately Pn663 Point to point 1st order filter 0 32767 0 Immediately Pn664 Stop time 0 300 immediately Pn679 Stop time 0 300 Immediately Hex Pn681 0 0x0133 0x0000 Immediately Pn681 0 Single cyclic start reference point 169 Parameter Setting Factory Setting No Range Setting Invalidation selection Pn681 1 Change step and start mode Pn681 2 Change step input signal mode Pn681 3 Reserved P
146. guration related to protective When a servomotor with brake is used take advance functions such as overtravel and brake measures to prevent vibration due to gravity acting on the machine or external forces before checking the brake operation Check that both servomotor and brake operations are correct For details refer to 4 3 4 Setting for Holding Brakes 2 Set the necessary parameters for the control mode Refer to 4 5 Operating Using Speed Control with used Analog Reference 4 6 Operating Using Position Control and 4 7 Operating Using Torque Control for control mode used 3 Connect the servomotor to the machine with the coupling etc while the power is OFF 4 Check that the servo drive is servo OFF status and Refer to 4 3 Setting Common Basic Functions then turn ON the power to the machine host For the following steps take advanced measures for an controller Check again that the protective function in emergency stop so that the servomotor can stop safely step 1 operates normally when an error occurs during operation 5 Perform trial operation with the servomotor connected Check that the trial operation is completed according to to the machine following each section in 4 1 2 Trial the trial operation for servomotor without load Also Operation for Servomotor without Load from Host check the settings for machine such as reference unit Reference 6 Check the parameter settings for control mode used in Check that the servomo
147. he servomotor can be switched without changing the reference pulse to the servo drive or the reference voltage polarity This causes the rotation the servo motor shaft is rotating to change The output signal polarity such as the encoder pulse output and the analog monitor signal from the servo drive do not change The standard setting for forward rotation is counterclockwise as viewed from the servomotor load end Reference Parameter Name Forward reference Reverse reference b LILJLIO Standard setting CCW forward factory setting Pn001 b LILJILI1 Reverse rotation mode CW forward Encoder pulse division output po J UU UL The direction of P OT and N OT change For Pn001 b 1 LI O standard setting counterclockwise is P OT For Pn001 b 1 1 reverse rotation mode clockwise is P OT 78 4 3 3 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch 1 Connecting the overtravel signal To use the overtravel function connect the following overtravel limit switch to the corresponding pin number of servo drive CN1 connector correctly Signal Name a a ee Forward rotation allowed Normal N low level CN1 16 operation status Input P OT l factory setting Forward rotation prohibited OFF high level Forward overtravel Reverse rotation N
148. higher but lag will occur if the value is too large constant 2nd electronic gear Pn203 After restart numerator Position reference acceleration Pn204 deceleration time Position reference 0 1st order filter Pn205 After restart filter form selection 1 2nd order filter Speed reference l l Pn300 S The corresponding speed to 1V analog input This parameter is used to set zero bias of analog l l Immediately input gain speed given and it is related with the speed reference Analog speed given input gain Pn300 Speed reference External speed given input Pn301 l Immediately zero bias analog Analog speed given zero bias X Speed reference input gain The parameter can be set to positive or negative When control mode is set to D it determines the Pn304 Parameter speed Immediately speed of motor The servomotor speed is determined by this parameter when Pn005 1 D S T S S It is used to set JOG rotation speed and the direction S Pn305 JOG speed Immediately is determined by the pressing key during JOG operation Pn306 Soft start acceleration Immediately The time for trapeziform acceleration to accelerate to 1000rpm Parameter o Setting Control Description Function and Meaning No Validation Mode times The time for trapeziform deceleration to decelerate to 1000rpm Soft start Pn307 Immediately deceleration time Speed filter time l 1st ord
149. iately P5 S uu MA coefficient speed Vibration will occur if this value is set too large Pn130 Friction Load Immediately Frictin load or fixed load compensation Friction External switch gain switching G SEL Torque percentage Value of offset counter Value of acceleration speed setting 10rpm Value of speed setting Speed reference input N O O FP c No Pn127 Pn128 Pn131 compensation speed Immediately P Threshold of friction compensation start hysteresis area 179 Parameter Setting Control Description Function and Meaning No Validation Mode Pn138 Pn139 Pn140 Reevd Pn141 Reserved NI Analog encoder output orthogonal difference pulses PG divided The meaning of this value is the number of analog Pn200 After restart P ratio 1st electronic gear Pn201 After restart numerator Electronic gear Pn202 encoder output orthogonal difference pulses per one servomotor rotation The electronic gear enables the reference pulse to relate with the servomotor travel distance so the host controller doesn t change the mechanical deceleration After restart denominator ratio and encoder pulses In fact it is the setting of frequency doubling or frequency division to the reference pulses Numerator Pn201 or Pn203 Denominator Pn202 This value is used to smooth the input pulses The Immediately effect of smoothness is better when the value is
150. ield Shel k 8 ALM i 1D ov a Represents Twisted pair Wires ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA Note 1 The L1 L2 L3 and L1C L2C terminals wiring method of ProNet 02A 04A ProNet E 02A 04A servo drives is different from other ProNet series servo drives Please note the specific terminal definition while wiring 2 The main circuit power supply of ProNet 02A 04A ProNet E 02A 04A is Single phase 200V 3 External regenerative resistor for ProNet 02A 04A ProNet E 02A 04A is provided by customer the model of 60W 50 2 resistor is recommended 4 Change Pn521 0 from 1 to 0 when using the external regenerative resistor in ProNet 02 04 ProNet E 02A 04A servo drives 49 3 5 2 Three phase 200V ProNet 08A 50A ProNet E 08A 50A
151. ilter After changing the parameter turn OFF the power once and turn it ON again to enable the new setting 2 Filter related Parameters Position Reference Acceleration Deceleration Time Constant Position x Setting Range Setting Unit Factory Setting Setting Validation ll Important When the position reference acceleration deceleration time constant Pn204 is changed a value with no reference pulse input and a position error of O will be enabled To ensure that the setting value is correctly reflected stop the reference pulse from the host controller and input the clear signal CLR or turn OFF to clear the error This function provides smooth servomotor operation in the following cases When the host controller that outputs a reference that cannot perform acceleration deceleration processing When the reference pulse frequency is too low When the reference electronic gear ratio is too high i e 10x or more 101 4 6 5 Low Frequency Vibration Suppression 1 Note For the low rigidity load low frequency vibration will occur continually at the front end of the load during fast acceleration or fast deceleration The vibration may delay positioning time and affect the productive efficiency The function of low frequency vibration suppression is embedded in ProNet series servo drives by calculating the load position and compensating Low Frequency Vibration Coupling i i Ball Screw
152. in the figure The servo drive must be oriented this way because it is designed to be cooled by natural convection or a cooling fan if required Firmly secure the servo drive through two mounting holes Wall ELLE EE Ventilation 2 2 4 Installation Method When installing multiple servo drives side by side in a control panel observe the following installation method A Cooling Fan Cooling Fan
153. in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn006 Ed Bad 3 Press the ENTER key to enter into the manual adjustment of the servomotor current detection signal er 4 Press the MODE key to switch between the phase U o _ CuA and phase V 1 Cub servomotor current detection offset adjustment rd le PA te Joly 5 Hold the ENTER key for one second to display the phase V offset amount er ee ale 6 Press the INC or DEC key to adjust the offset hi 7 Press the ENTER key for one second to return to the display in step 3 or 4 8 Press the ENTER key to return to the utility function mode display FnOO6 Dal IE Thus the manual offset adjustment of the servomotor current detection signal is completed Z za Da i7 8 Ea Pal Note The adjusting range of the servomotor current detection offset is 1024 to 1024 143 ESTUN AUTOMATION PONE Seres AC Servo Users Manual _ 5 2 7 Software Version Display Select Fn007 in utility function mode to check the current software version of the drive 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn007 Fal BI 3 Press the ENTER key to display the DSP software version the highest bit displays d or E or F or 0 call teal 4 Press the MODE key to display the FGPA CPLD softwa
154. ines whether the servomotor power is ON or OFF 1 Servo ON signal S ON Connector Pin Type Name Setting Meaning Number CN ON low level Servomotor power ON Servomotor can be operated Input S ON Servomotor power OFF Servomotor cannot be Factory setting OFF high level operated mimportant Always input the servo ON signal before inputting the input reference to start or stop the servomotor Do not input the input reference first and then use the S ON signal to start or stop Doing so will degrade internal elements and may cause the servo drive to malfunction A parameter can be used to re allocate the input connector number for the S ON signal Refer to 3 2 2 I O Signal Names and Functions 2 Enabling Disabling the Servo ON Signal A parameter can be always used to set the servo ON condition This eliminates the need to wire S ON but care must be taken because the servo drive can operate as soon as the power is turned ON Parameter Meaning b LILILIO External S ON signal enabled Factory setting Pn000 En External S ON signal disabled the servomotor excitation signal is opened automatically after outputting the S RDY signal After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings fox 4 3 2 Switching the Servomotor Rotation Direction The rotation direction of t
155. ion of I O port function function Point to point control and homing control Pn600 Pn686 Internal point to point control and homing control related related parameters parameters Communication parameters Pn700 Pn701 Setting of communication parameters 171 A 3 Parameters in detail Parameter Setting Control Description Function and Meaning No Validation Mode Pn000 0 Servo ON 0 External S ON enabled 1 External S ON disabled Servo motor excitation signal is turned ON automatically after S RDY is output Pn000 1 Forward rotation input signal prohibited P OT 0 External P OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs 1 External P OT disabled Pn000 Binary After restart ALL Pn000 2 Reverse rotation input signal prohibited N OT O External N OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs 1 External N OT disabled Pn000 3 Alarm output when instantaneous power loss O Instantaneous power loss for one period with no alarm output 1 Instantaneous power loss for one period with alarm output Pn001 0 CCW CW selection Pn001 0 ALL Pn001 1 Pn001 Binary After restart y Pn001 2 P S Pn001 3 P used as 2nd electronic gear when Pn005 3 is set to 1 0 Sets CCW as forward direction Pn002 0 Electronic gear switching mode Pn002 Binary After restart ALL 0 Corresponding time sequence 1 Sets CW as forward direction Pn001 1 Analog speed
156. iring CN1 and encoder wiring CN2 But during 1 Trial Operation for Servomotor Without Load disconnect the CN1 connector Turn the power ON Using the panel operator to make sure that the servo drive is running normally If using a servomotor equipped with an absolute encoder please perform the setup for the absolute encoder 4 Execute JOG Execute JOG operation with the servomotor alone under the no load JOG operation condition Operation 5 Connect input Connect the input signals CN 1 necessary for trial operation to the signals servo drive Turn the power ON Use the internal monitor function to check the input signals Turn the power ON and check the emergency stop brake overtravel and other protective functions for the correct operation Check input signals Input the Servo ON Input the Servo ON signal and turn ON the servomotor signal Host Reference Turn the power OFF and connect the servomotor to the machine Protective If using a servomotor equipped with an absolute encoder set up the absolute operation encoder and make the initial settings for the host controller to match the machine s zero position Using the same procedure as you did to input a reference in step 8 operate Set necessary the servomotor via the host controller and set the parameter to make sure parameters the machine s travel direction travel distance and travel speed all correspond to the reference Host Reference e H
157. iting time For the parameter is plus BK signal is output firstly when servo ON signal is input and then servomotor excitation signal is created after delaying the Immediately parameter setting time For the parameter is minus servomotor excitation signal is output firstly when servo ON signal is input and then BK signal is created after delaying the parameter setting time Basic waiting flow Standard setting BK output braking action and servo OF F are at the same time Now the machine movable part may shift slightly due to gravity according to mechanical configuration and character it can be eliminated by using the parameters when the servomotor is at stop or at a low Immediately Ps 5 T speed Brake waiting speed BK signal is output when the servomotor speed is decreased below the parameter setting value at servo OFF Brake waiting time BK signal is output when the delay time exceeds the parameter setting value after servo OFF BK signal is output as long as either of the brake waiting speed or brake waiting time is satisfied Pn509 0 corresponding port CN1_14 Pn509 1 corresponding port CN1_15 Pn509 2 corresponding port CN1_16 Pn509 3 corresponding port CN1_17 Pn510 0 corresponding port CN1_39 Pn510 1 corresponding port CN1_40 Pn510 2 corresponding port CN1 41 Pn510 3 corresponding port CN1 42 Terminal PRI CN1 14 CN1 15 CN1 16 lt CN1 17 CN1 39 CN1 40 CN1 41 CN1 42 Corres
158. l 400 10D 75D 10D 50D DC reactor for harmonic suppression terminal Main circuit 3 1 2 Typical Main Circuit Wiring Examples B Single phase 200V ProNet 02A 04A Single phase 200V ProNet E 02A 04A L2 Single phase 200 230Vii3 50 60Hz Molded case Circuit Breaker Pre 1Ry 1PL Servo Alarm Display Noise Filter l Power OFF Power ON 1KM TJ IKM 1Ry 1SUP lt 1 Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor OL1 A 1 Servodrive Lo 012 ProNet Uo Uo Series Servodrive un c T C 3 X 001 Wo C A c D 4 2 4 OLIC O L2C Encoder CN2 PG External regenerator resistor S OB1 OB1 O B2 OB2 OB3 OB3 1Ry 24V E 7 ALM J ES 8 ALM E A P 1D N J T Ground Terminal OV Note 1 The L1 L2 L3 and L1C L2C terminals wiring method of ProNet O2A 04A ProNet E O2A 04A servo drives is different from other ProNet series servo drives Please note the specific terminal definition while wiring 2 The main circuit power supply of ProNet 02A 04A ProNet E 02A 04A is Single phase 200V 290 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 3 External regenerative resistor for ProNe
159. l Setting Number Operates the servo drive with proportional ON low level control Input P CON CN1 15 Operates the servo drive with proportional OFF high level integral control P CON signal selects either the Pl proportional integral or P proportional Speed Control Mode Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift Input reference At OV the servomotor rotation due to drift will be reduced but servomotor rigidity holding force drops when the servomotor is stopped Note A parameter can be used to reallocate the input connector number for the P CON signal Refer to 3 2 2 I O Signal Names and Functions 85 4 5 3 Adjusting Reference Offset When using the speed control the servomotor may rotate slowly even if OV is specified as the analog voltage reference This happens if the host controller or external circuit has a slight offset in the unit of mV in the reference voltage Adjustments can be done manually or automatically by using the panel operator Refer to 5 2 Operation in Utility Function Mode The servo drive automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage Reference Voltage I Offset Speed Reference Automatic offset adjustment Reference Voltage Offset automatically adjusted in servodrive Speed Reference After co
160. l Torque Limit This function allows the torque to be limited at specific times during machine operation for example during press stops and hold operations for robot workpieces An input signal is used to enable the torque limits previously set in parameters 1 Related Parameters Setting Range Setting Unit Factory Setting Setting Validation Reverse External Torque Limit Pn404 nati Setting Range Factory Setting Setting Validation Immediately Note The setting unit is a percentage of rated torque i e the rated torque is 100 2 Input Signals Signal Connector Pin D Type Limit Value Name Number CN1 41 ON low level Forward external torque limit Pn403 Input P CL l factory setting OFF high level Forward internal torque limit Pn401 CN1 42 ON low level Reverse external torque limit factory setting OFF high level Reverse internal torque limit Pn402 When using this function make sure that there are no other signals allocated to the same terminals as P CL and N CL 3 Changes in Output Torque during External Torque Limiting Example External torque limit Pn401 Pn402 set to 300 P CL Forward External Torque Limit Input N CL Reverse External Torque Limit Input Note Select the servomotor rotation direction by setting Pn001 b 111110 standard setting CCW Forward direction 120 AM 000000 ProNet Series AC Servo Users Manual
161. l be still presented in the servo drive when servo OFF thus it should be cleared when servo drive is turned ON Setting Pn004 to choose whether clearing the pulses automatically when servo OFF Oooo Clear the error pulse when S OFF do not when overtravel Pn004 OI Do not clear the error pulse 00270 Clear the error pulse when S OFF or overtravel excep for zero clamp 4 6 3 Setting the Electronic Gear 1 Electronic Gear The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to any value One reference pulse from the host controller e the minimum position data unit is called a reference unit When the Electronic Gear is Not Used When the Electronic Gear is Used workpiece workpiece Reference unit lum No of encoder Bisiludew onis plan No of encoder pulses 32768 sacs pulses 32768 To move a workpiece 10mm using reference units Ball screw pitch 6mm To move a workpiece 10mm One revolution is 6mm Therefore 10 6 1 6666 revolutions 32768x4 pulses is one revolution Therefore 1 6666x32768x4 218445 pulses 218445 pulses are input as reference pulses The equation must be calculated at the host controller The reference unit is 1 um Therefore to move the workpiece 10mm 10000um Ipulse 1 um so 10000 1
162. l to the Client Format update Add ZCLAMP Addition 4 11 8 Torque Detection Output ITCR Revision Communication data address Revision Pn121 Pn509 Pn510 Pn511 Add Pn529 Pn530 Add 100VAC series servo drive ProNet 02B 08B ProNet E 02B 08B Add ProNet 70 Add 3 9 Connecting DC Bus Revision 3 9 Connecting DC Bus Add EML model Revision the main circuit of ProNet 08B ProNet E 08B is single phase Update Servomotor Model Designation Copyright 2011 ESTUN AUTOMATION TECHNOLOGY CO LTD All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of ESTUN No patent liability is assumed with respect to the use of the information contained herein ESTUN AUTOMATION About this manual ProNet Series AC Servo Users Manual B This manual describes the following information required for designing and maintaining ProNet series servo drives Specification of the servo drives and servomotors Procedures for installing the servo drives and servomotors Procedures for wiring the servo drives and servomotors Procedures for operating of the servo drives Procedures for using the panel operator Communication protocols Ratings and characteristics B Intended Audience Those designing ProNet series serv
163. lamp Conditions Zero clamp is performed with Pn005 H LJLJAL when the following two conditions are both satisfied e P CON is ON low level Speed reference V REF drops below the setting in Pn502 Servodrive Speed V REF speed reference CN1 Preset value for zero V REF clamping Pn502 Speed reference 1 P CON P CON input Open OFF Closed ON Zero clamp Zero clamp is performed OFF x OFF x ON ON Zero clamp speed Speed Pn502 e Setting Range Setting Unit Factory Setting Setting Validation Sets the servomotor speed at which the zero clamp is performed if zero clamp speed control PnOO5 H LILIAL is selected Even if this value is set higher than the maximum speed of the servomotor the maximum speed will be used 3 Input Signal Setting Signal Name Connector Pin Number Zero clamp function N low level ON enabled P CON CN1 15 Zero clamp function OFF high level OFF disabled Not including this setting in Zero clamp function the default setting please He ON enabled ZCLAMP choose terminal output by setting parameter OFF high level Pn509 Pn510 Zero clamp function OFF disabled P CON and ZCLAMP are the input signals to switch to the zero clamp function ll Important In speed control analog voltage reference mode when ZCLAMP is allocated to an output terminal zero clamp function is enabled 91
164. ld Shell Shield B3 B3 3 EE d m E dl Mo M 1 N C Be sure to prepare the end of the Be sure to ground 2 N C shielded wire properly germ 3 485 CN1 4 ISO GND 5 ISO GND Use special communication cable to connect VREF 1 AK el 6 485 PC Personal Computer Speed Reference 0 10V Rated Speed a i VREF 2 40K AH 7 DAN LEES 8 Note Do not short terminal 1 and 2 of CN3 TREF 26 ES Shell Shield Torque Reference 0 10V Rated Torque CNN TREF 27 ESTA CN4 1 N C 2 N C PPI 34 3 485 Open collector Reference Use 2K0 4 ISO GND P PULS 30 2 5 ISO GND Position Reference lt FUESJOWTA PULS 31 Fak 6 485 E 7 CANH 150 SIGN CCW B 1 4 Sont s J ONE Shell Shield F ey 24V Signal allocatons can be modified DICOM 13 4 gt 20 PAO S ON Servo ON H SON 14 HE 21 PAO P CON P Control po P CON 15 4 22 PBOt PG Divided Ratio Output P OT Forward Run Prohibited ta P OT 16 23 PBO gt Applicable Line Receiver N OT Reverse Run Prohibited Lu NOT 17 3 gt 24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset T ALM RST 39 m 25 PCO CLR Clear Error Pulse po CLR 40 ude 50 DGND P CL Forward Torque Limit r tt PGL 41 Em l l l N CL Reverse Torque Limit NCL 42 HE Signal Allocations can be Mode SHOM Home e 5 TGON COIN Positioning Completion ORG Zero Position i 6 TGON TGON Rotation Detection o Tepnva S RDY S
165. ld be increased properly Parameter Pn411 and Pn412 are enabled when Pn006 2 1 Setting validation after restart 103 AUTOMATION Kuso PON Series AC Servo Users Manual 4 6 6 Positioning Completion Output Signal This signal indicates that servomotor movement has been completed during position control Use the signal as an interlock to confirm that positioning has been completed at the host controller Type Signal Name Connector Pin Number Setting Meaning CN1 11 CN1 12 ON low level Positioning has been Factory setting BEEN completed OFF high level Positioning is not HN NN e This output signal can be allocated to an output terminal with parameter Pn511 Refer to 3 2 2 I O Signal Names and Functions he factory setting is allocated to CN1 11 12 Positioning E ositioning Error HOU Setting Range Setting Unit Factory Setting Setting Validation Position complete time 7 Position Setting Range Setting Unit Factory Setting Setting Validation The positioning completion COIN signal is output when the difference position error pulse between the number of reference pulses output by the host controller and the travel distance of the servomotor is less than the value set in this parameter and the stabilization time is more than the value of Pn520 Set the number of error pulses in reference unit the number of input pulses defined using the electronic gear Too large a value at this parameter
166. lidation 0 300 1 300 Immediately This sets the stop torque for when the overtravel signal P OT N OT is input The setting unit is a percentage of the rated torque the rated torque is 100 The value large enough to be the servomotor maximum torque 300 is set as the factory setting for plug braking limit torque However the actual output plug braking limit torque is determined by servomotor ratings 76 4 3 4 Setting for Holding Brakes The holding brake is used when the servo drive controls a vertical axis A servomotor with the brake option helps prevent movable parts from shifting due to gravity when power is removed from the servo drive Refer to 4 1 4 Trial Operation for Servomotor with Brakes O Vertical axis O Shaft with external force applied Servomotor f Servomotor Holding brake External force S Prevents the servomotor from shifting due to gravity when the power is OFF Prevents the servomotor from shifting due to external force 1 The servomotor with the built in brake is a de energization brake It is used to hold the servomotor and cannot be used as a braking purposes Use the holding brake only to hold a stopped servomotor 2 When operating using only a speed loop turn OFF the servo and set the input reference to OV when the brake is
167. motor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 4 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode Pn004 0 5 Makes the servomotor coast to a stop state when ALL servo OFF stops the servomotor by plug braking Pn004 1 when overtravel then places it into zero clamp mode P Pn004 1 Error counter clear mode Pn004 After restart Pn004 2 0 Clear error pulse when S OFF do not when P overtravel Pn004 3 1 Do not clear error pulse P 2 Clear error pulse when S OFF orovertravel excep for zero clamp Pn004 2 Reference pulse form 0 Sign Pulse 1 CW CCW CW CCW 2 A B x1 3 A B x2 4 A B x4 Pn004 3 Inverses pulse 0 Do not inverse PULS reference and SIGN reference 1 Do not inverse PULS reference Inverses SIGN reference 2 Inverse PULS reference Do not inverse SIGN reference 3 Inverse PULS reference and SIGN reference Hex ex Pn005 0 Torque feedforward form Pn005 0 0 Use general torque feedforward external P S analog Tref feedforward input is invalid Pn005 1 1 Use general torque feedforward external Pn005 H After restart ALL analog Tref feedforward input is valid Pn005 2 2 Use high speed torque feedforward external P analog Tref feedforward input is invalid 3 Use high speed torque feedforward external t s
168. mpletion of the automatic adjustment the amount of offset is stored in the servo drive The amount of offset can be checked in the speed reference offset manual adjustment mode Fn004 Refer to 4 5 3 2 Manual Adjustment of the Speed Reference Offset 1 Automatic Adjustment of the Speed Reference Offset The automatic adjustment of reference offset Fn003 cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the speed reference offset manual adjustment Fn004 described in the next section for a position loop The zero clamp speed control function can be used to force the servomotor to stop while the zero speed reference is given Refer to 4 5 7 Using the Zero Clamp Function Note The speed reference offset must be automatically adjusted with the servo OFF Adjust the speed reference offset automatically in the following procedure 1 Turn OFF the servo drive and input the OV reference voltage from the host controller or external circuit Servodrive Servomotor gt OV Speed Host Reference Controller pene OEE Slow rotation Servo ON 2 Press the MODE key to select the utility function mode 3 Press the INC or DEC key to select parameter Fn003 86 Ed BEd 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode re lal 5 Press the MODE key for more
169. n control Homing operation can only be operated when COIN is ON Pulses sent from the host controller is disabled when homing Homing operation is disabled when in switching control mode Control mode switching is not allowed during homing After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings A parameter can be used to re allocate input connector number for the SHOM and ORG signals Refer to 3 2 2 I O Signal Names and Functions 2 Related parameter Speed of finding reference point Hitting the origin signal ORG Pn as Speed of finding reference point Leaving the origin signal ORG Pn 86 O 1 Number of error pulses during homing Pn690 Setting Range Setting Unit Factory Setting Setting Validation 0 9999 10000 pulses NES EE Immediately Number of error pulses during homing Pn691 Setting Range Setting Unit Factory Setting Setting Validation 0 0000 tpuse o Immedatel 109 3 Input Signal Setting Type Signal GonnectorPin Setting Meaning Input SHOM Must be allocated by ON rising edge Homing is enabled MSP PS E OFF not rising edge Homing is disabled ON H ORG is enabled Input O Must be allocated by RG Pn509 Pn510 OFF L ORG is disabled After changing Pn509 and Pn510 turn OFF the main circuit and control power supplies and then t
170. n prohibited N OT signal Allows constant reverse rotation Applicable control modes Speed control position control and torque control After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings A parameter can be used to re allocate input connector number for the P OT and N OT signals Refer to 3 2 2 I O Signal Names and Functions 3 Selecting the Servomotor Stop Method This is used to set the stop method when an overtravel P OT N OT signal is input while the servomotor is operating Mode After Parameter Stop Mode Meaning Stopping Stop by dynamic Rapidlly stops the servo motor by dynamic braking DB brake then places it into coast power OFF mode H LILILIO Coast Stops the servo motor in the same way as when the H OOII Coast to a stop servo is OFF coast to a stop then places it into coast power OFF mode Stops the servomotor by dynamic braking DB when H 0002 servo OFF stops the servo motor by plug braking when overtravel and then places it into coast power OFF Coast e AAA Pn004 Makes the servomotor coast to a stop state when servo AODOS OFF stops the servomotor by plug braking when S OFF overtravel and then places it into coast power OFF Overtravel mode H 0004 Stops the servomotor by dynamic braking DB when servo OFF stops the servomotor by plug braking when overtravel and then place
171. n201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse tl t2 gt 1ms 1 Corresponding time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse i tl t2 gt Ims Time sequence when Pn002 0 0 or 1 Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse t2 tl t2 t3 t4 gt 1ms Error time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator I PCON enabled Electronic gear numerator I PCON disabled PCON disabled Reference pulse tl t2 gt Ims Pn002 1 Reserved Pn002 2 Absolute encoder selection 0 Use absolute encoder as an absolute encoder 1 Use absolute encoder as an incremental encoder Pn002 3 Reserved Pn003 0 Reserved Pn003 Binary After restart Pn003 1 Reserved 173 frequent power ON OFF occasions Parameter a Setting Control Description Function and Meaning No Validation Mode Pn004 0 Stop Mode 0 Stops the servomotor by applying DB and then releases DB 1 Coast to a stop 2 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 3 Makes the servo
172. n683 Programme start step ots o Immediately Search travel speed in position control contact reference Speed of finding Pn685 rpm 0 3000 1500 Immediately reference point hitting the origin signal 9 ORG in position homing control co om Leave travel switch speed in position control contact reference Pn686 Speed of finding reference point leaving rom 0 200 30 Immediately the origin signal ORG in position homing control Pree Postonleachngpuse 1000P 9985 9009 0 immediate Pa Postion teaching puse ap omesse 0 immedsey CTO A om o CTN Pn690 Number ot eror pues auring homing 10000puse 0 0089 0 immedmey LPs number eror pues durna puse 098 U wes Pn700 0 MODBUS communication baud rate Pn700 Pn700 1 MODBUS protocol selection 0 0x0182 0x0151 After restart Pn700 2 Communication protocol selection Pn700 3 Reserved MC A YS Pup mew pp SSS Pros Cancommurica on speed 0x05 00004 Aterrest PW emma oem ver Pn840 0 Encoder model selection 0x0003 Pn840 Pn840 1 Reserved After restart OxOBOG Pn840 2 Reserved Pn840 3 Reserved Note The setting range and factory setting of Pn401 to Pn405 depend on the actual overload capacity 170 A 2 Description of Parameter Type Torque control related parameters Pn400 Pn406 Torque limit etc Parameters to control I O port Pn500 Pn520 Allocation Allocationofl O port function I O Allocat
173. nal has been set 00 Stop 2557 JOG reverse rotation at node 01 Reverse rotation position start signal has been set 00 Stop u 01 Pause 1028 Pause at node position 00 Cancel pause 1040 Clear encoder alarm 01 Clear Write only 1041 Clear encoder multi turn data 01 Clear Only 17 bit encoder 1070 Position teaching function 01 Start Write only Note 1 Parameter area communication address 0000 00DEp Parameter address is relevant to the parameters in the parameter list For example parameter Pn000 is relevant to communication address 0000 parameter Pn101 is relevant to communication address 00654 Read write operation to address 00004 is the read write operation to Pn000 If the communication input data is not within the parameter range the data will be aborted and servo drive will return an operation unsuccessful signal 2 Alarm information storage area 07F1 07FAk Historical alarm number Description Communication address Historical alarm 1 O7F1u the latest alarm 1 8 Historical alarm 2 9 07F 2 07F 9 PW Historical alarm 10 the furthest alarm O7FAk 3 Monitor data area 0806 08164 The monitor data is corresponding to servo drive panel displays Un000 Un016 For example the corresponding data of communication address 08074 speed setting is FB16n 156 Therefore the speed setting is 1258r m 4 MODBUS communication IO signal Use communication to control digital IO signal This data will not
174. nce speed V CMP is output in this range E Note This pin outputs the COIN signal in position control mode and the V CMP signal in speed control mode 93 4 6 Operating Using Position Control Set the following parameters for position control using pulse trains Pn005 H 0010 Control mode selection position control pulse train reference A block diagram for position control is shown as below Servodrive in position control Pn113 Pn112 Pn201 Feed forward ECHA Differential Feed forward E Aner ume Offset A constant Pn500 Pn202 s Positioning complete Pn004 2 Pn204 Pn201 Pn104 Servomotor H Rel I xl i paced cd NE x2 e Smoothing i __ K E Speed loop __ Current loop __ x4 A Error counter E Pn202_5 Cm PG signal output BU dividing Encoder 4 6 1 Basic Setting in Position Control 1 Setting a reference pulse sign PULS CN1 30 Reference pulse input Input SIGN CN1 32 Reference sign input ISIGN CN1 33 Reference sign input 2 Setting reference input filter for open collector signal Pn006 Oo when pulse is difference input servo receiving pulse frequency lt 4M 1000 T 2000 ivi PULS CN1 31 Reference pulse input when pulse is difference input
175. nd EMJ LILIASEIDIE support water proof connector default ESTUN AUTOMATION ProNet Series AC Servo Users Manual EMG 1 1 p Servomotor 1 2 EMG Model Model 1 2 Rated Output 4 Encoder 7 Option 10 15 20 30 50 1 0kW 1 5kW 2 0kW 3 0kW 5 0kW D Inorementalencoder 131072PR 4 None ES With oil seal Incremental Wire saving Type 2500P R e 3 With brake DC24V Absolute encoder 131072P R With oil seal and brake DC24V 3 Voltage 5 Designing Sequence 6 Shaft End Code Spec A 200VAC Designing sequence A mE Siraiat without key Standard __ 4oovac 2 sWhieyado 00 Note 1 The EMG 30ALIJALILI EMG 50ALI ALILI servomotors are not mounted with an incremental encoder 2 There is no brake mounted on the EMG LILILIDALIEL servomotor EML L Servomotor 1 2 EML EME Model 1 2 Rated Output 4 Encoder o reer mms Incremental Wire saving Type 2500P R me o s Aedes AR 7 Option With oil seal 1 With brake DC24V 4 With oil seal and brake DC24V 3 Voltage 5 Designing Sequence 6 Shaft End Code Spec A 200VAC Designing sequence A EN Siraiat without kev Standard D 40000 Bo Designing sequence B ESA Stralgtwith key and tap Note 1 EML 20LILIALILI EML 3OLILIALILI EML 4000A0 Care not mounted with an incremental encoder 2 There is no brake mounted on the EML 100D
176. nge to the ut do not connect the motor Rotation direction and speed of servomotor atto ie load shaft Please refer to step 1 4 B Purpose The servomotor is operated without connecting the shaft to the To power supply machine in order to confirm the following wiring is correct To host controller O signal wiring with host controller Rotation direction speed and number of rotations of servomotor Check the operation of the brake overtravel and other protective Secure the servomotor flange to the machine but do not connect the servomotor shaft to the load shaft functions Please refer to step 5 8 3 Trial operation for servomotor and machine combined Refer to 4 1 3 60 ESTUN ProNet Series AC Servo User s Manual AUTOMATION E Purpose Perform the trial operation with the servomotor connected to the machine The servo drive is adjusted to match the To power supply O machine characteristics e Servomotor speed and machine travel distance Set the necessary parameters Please refer to step 9 11 61 Step Item Description Reference Install the servomotor and servo drive according to the installation l Installation conditions Do not connect the servomotor to the machine because the servomotor will be operated first under the no load condition for checking Connect the power supply circuit L1 L2 and L3 servomotor wiring U V W I O signal w
177. ngle phase 100 120VAC 10 15 50 60Hz ms GA WA snl graso 200 ZAC 1109 15 OSO ato osneon onson Ton pas 200 ZSVAC oH 19 GOH Three phase 380 480VAC 10 15 E TAD2BD Three phase 380 440VAC 10 15 50 60Hz 02A 04A 02A 04A Normally not connected E to the power supply ground terminals and Ground terminals servomotor ground terminal B1 B2 B3 Servomotor connection terminals Control circuit power supply input terminal External regenerative 100 028 088 028 088 Single phase 100 120VAC 10 15 A er eee KN m ocr aa Single phase 380 440VAC 10 15 a 028 Connect an external regenerative resistor provided E E E by customer between B1 and B2 28 Main Terminal S mol Circuit y Voltage V resistor 04B 08B 04B 08B If using an internal regenerative resistor please short connection 08A 50A 08A 50A B2 and B3 Remove the wire between B2 and B3 and terminal connect an external regenerative resistor provided 10D 75D 10D 50D by customer between B1 and B2 if the capacity of 400 the internal regenerative resistor is insufficient 200 Connect an external regenerative resistor between 1AD 2BD B1 and B2 O2A 50A 02A 50A Normally short amp 1and G2 If a countermeasure against power supply harmonic 10D 75D 10D 50D waves is needed connect a DC reactor between land 02 02A 50A 02A 50A Normally not connected minus termina
178. nnnnnononnnnononnnnnnnnnncnnnnnnos 115 4 8 Operating Using Speed Control with an Internally Set Speed cccooccccccccccccccccnononcnnonononononcnnnnoncnnnnnnonnnnnnons 116 4 8 1 Setting PUTA Siri rin eun mex ii e di 117 4 9 2 Input Signal SEUNGS ETE TEE 118 4 8 3 Operating Using an Internally Set Speed oocccooncncccoccncccoconoconcnnononononnnconononnnnononcnnnnnrnnnnnnrnnnnnnnnnnnnos 118 cs 119 4 9 1 Internal Torque LIMIt Nm mcm 119 492 External TOrque Ll fMt 120 4 9 3 Torque Limiting Using an Analog Voltage Reference rnrrrnnnnnrnnrnnnrnnnnnrenrnnnrrnrnnnrnnnnsrenrnnrrenrnsrennnnnn 121 4 10 Control Mode Selection esses nennen nnne nennen nnn sne nne sna sn risa anri sa sanas nasse 122 4 10 1 Setting Parameters ii Eo rex ter xiu thon neck dua Rad packs next teh tuc sunt euo A A AA A duse cua seran ds 122 4 10 2 Switching the Control Mode ssssssssssessseseeen eene nnne nnne nnne nnns nennen rn nnns 122 NIMES Output SEE ee 123 4 11 1 Servo alarm QUIDU dc A 123 4 11 2 Rotation Detection Output Signal TGON occoooncnccnoconcccnccnononcnnononononnnnnononcnnononononnnrnnnnnnrnnnnnnnnnnnnnos 124 4 11 3 Servo Ready S RDY Output esssseesssseesseeeee nennen nennen nennen nnne nnne nnn nn inns essa anna ns 124 4 11 4 Encoder C Pluse Output P
179. nnnrennarennnnsnennnnsrrnnnsnennnnsnennnnssen 94 162 Semester 98 4 6 3 Setting the Electronic GeaT ccoconnccococonoconcncoconnncnnaconononcnnononnnnnnnrnnnnonrnnnrnnnnnnnrnnnrnnrnnnnnnannnnnenrnnenoness 98 A a 101 4 6 5 Low Frequency Vibration Suppression cccooccccccnncoccncnonnnoncnononnnonnnnnnnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenonnnns 102 4 6 6 Positioning Completion Output Signal oocccconcnncnoccnnonoconononononnnnononnncnnononcnnonnncnnnnnrnnonnncnnonnnnnnnnnnos 104 4 6 7 Reference Pulse Inhibit Function INHIBIT ooocnccnccnncccccnnncnccnnonocononnncnnonnncnnnnnononnncnnnnnncnnnnnnnnnnnnns 105 4 6 8 Position Control contact reference oooccccconcccnoocononocononnncnnononnnnnnonnnnonnrnnnnnnrnnonnnrnnnnnrnnnnnnrnnnnnnrnnnnnnos 106 4 6 9 Position Homing Control Homing FUNC ION ooccccooccnnccccnncnnocnnonononnnnncncnnncnnonononnnnnrnnnnnnnnnnnnnnnnnnnnns 109 4 7 Operating Using Torque Control vato ssa urinaria 112 4 7 1 Setting Parameters is e sd dUEO Us duda 112 4 7 2 Torque Reference INput c oocccccoccnccccnccccnccncncnonnnononnnoncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnnnnnnnrnnnnnnnnnnnns 113 4 7 3 Adjusting the Reference OF S8t oooccccccncococonnncococonoconcnnonononnonannononcnnononnnnnnnnnnnnnnrnnonanannnnnranannnnns 114 4 7 4 Limiting Servomotor Speed During Torque CoONtTOl coooocccccoccccccoccncnnnconononn
180. nnnrnnconnnannnnens 46 3 5 6 Single phase 100V ProNet 04B ProNet E 04B oocccoccccccccccccccccoccnccocnconcnoconononnnnonncnononnnnnnnncnnnncnnnnnnss 47 3 5 7 Single phase 100V ProNet 08B ProNet E 08B ocooocccccccnocccccccnoccccccnnnnccononnnncnnnonnnncnnnonnnarinnnnnnarinnnnos 48 3 5 8 Position Control Mode ccccccccccsseeccceseeccececseuscccseueecseuseecseeeessuueeesseceeseeeessaueeessseeeesseneeessgeessages 49 3 5 9 Speed Control MOE Lae 50 3 5 10 Torque Control Mode 44442 seere 51 30 Wining Tor NoiSe NN 52 26T NOBO Ne 52 3 6 2 Precautions on Connecting Noise Filter cccconnocinnccnnccnnnnonncnnnnnnnnonncononcnnnnnonaronnnonnnrnnnnonnonannnnnnos 53 3 7 Installation Conditions of EMC Directives ooocccccocccncccocnnonoconononcnnononcnnonononnnnnrnnonnnrnnnnnnrnnnnnrnnnnnrnnrnnnnnrrnnnnneos 55 3 9 Using More than One Servo Drive ni aaa 57 MENN BE 59 Si o A 60 Sn Pa 60 A PPP e 60 4 1 1 Trial Operation for Servomotor Without Load cccocccccccccccccncccnncconnncnnnnnonnnonnnnnnnnnnnnnnnnnnnnnnnnnnonnnnnnns 63 4 1 2 Trial Operation for Servomotor without Load from Host Reference occcoccccccccccoccnccocnconcnoconcncnacnnnns 65 4 1 3 Trial Operation with the Servomotor Connected to the Machine ooocccccccccoccnccccnccncnnccnnnconcnonacnnnns 69 4 1 4 Trial Operation for Servomotor with Brakes ccc
181. nput signal ALM RST 3 Any other alarms that monitor the inside of the encoder should be cancelled by turning OFF the power 83 4 5 Operating Using Speed Control with Analog Reference 4 5 1 Setting Parameters Parameter Meaning Pn005 H LILIOLI Control mode selection Speed control analog reference factory setting Speed Reference Input Gain Speed Position Torque Pn300 ii Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm v 150 Immediately Sets the analog voltage level for the speed reference V REF necessary to operate the servomotor at the rated speed E EXAMPLE Pn300 150 1V input is equivalent to the servomotor speed of 150rpm factory setting Reference speed min va Set this slope gt Reference voltage V 84 4 5 2 Setting Input Signals 1 Speed Reference Input Input the speed reference to the servo drive using the analog voltage reference to control the servomotor speed in proportion to the input voltage Type Signal Name Connector Pin Number Name imus V Ref CN1 1 Speed Reference Input npu P V Ref CN1 2 Speed Reference Input The above inputs are used for speed control analog voltage reference Pn005 1 0 4 7 9 A Pn300 is used to set the speed reference input gain Refer to 4 5 1 Setting Parameters 2 Proportional Control Reference P CON Connector Pin Tpye Signa
182. nsistor circuit Select a low current relay otherwise a faulty contact will result Servodrive Servodrive DC24V 2AVIN DC24V 50mA min 3 3K Q 50mA min 24VIN 3 3KQ EY Ns See ee ee SETE O ine TR Ud dl 3 4 L Ys 7 s S ON etc AE 0 S ON etc D Winterface for line driver output circuit The amount of two phase phase A and phase B pulse output signals PAO PAO PBO PBO and zero point pulse signals PCO PCO are output via line driver output circuits Normally the servo drive uses this output circuit in speed control to comprise the position control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller Mi interface for sequence output circuit Photocoupler output circuits are used for Servo Alarm ALM Servo Ready S RDY and other sequence output signal circuits Connect a photocoupler output circuit through a relay circuit 2587 AUTOMATION ESTUT ProNet Series AC Servo Users Manual 3 3 Wiring Encoders 3 3 1 Connecting an Encoder CN2 m Wire saving Incremental Encoder 2500P R Waterproof Wire saving Incremental Encoder Servodrive Host controller 2CN 1CN w NY palo ES gt AB ir PA 22 mc VE gt P 4 D y xe La 2 4 Phase B 22 PBO 5 E
183. o connect to protect electric shock E ProNet 04B ProNet E 04B 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 Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock 91 Connects to the encoder in the servomotor Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices I O signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor ProNet 08B ProNet E 08B
184. o drive systems Those installing or wiring ProNet series servo drives Those performing trial operation or adjustments of ProNet series servo drives Those maintaining or inspecting ProNet series servo drives Safety Precautions m Do not connect the servomotor directly to the local electrical network Failure to observe this may result in damage to servomotor m Do not plug or unplug connectors from servo drive when power is on Failure to observe this may result in damage to servo drive and servomotor mPlease note that even after power is removed residual voltage still remains in the capacitor inside the servo drive If inspection is to be performed after power is removed please wait 5 minutes to avoid risk of electrical shock m Keep servo drives and other devices separated by at least 10mm The servo drive generates heat Install the servo drive so that it can radiate heat freely When installing servo drives with other devices in a control panel provide at least 10mm space between them and 50mm space above and below them Please install servo drives in an environment free from condensation vibration and shock m Perform noise reduction and grounding properly Please comply with the following instructions to avoid noise generated by signal lines 1 Separate high voltage cables from low voltage cables 2 Use cables as short as possible 3 Single point grounding is required for the servomotor and servo drive grounding resistance
185. o select the utility function mode 2 Press the INC or DEC key to select the function number of parameter settings initialization da 3 Press the ENTER key to enter into parameter settings mode le Jen ct 4 Hold the ENTER key for one second the parameters will be initialized NN 7 ete pp NN 5 Release the ENTER key to ruturn to the utility function mode display Fn001 Note Press the ENTER key during servo ON does not initialize the parameter settings Initialize the parameter settings with the servo OFF 138 5 2 3 Operation in JOG Mode Follow the procedures below to operate the servomotor in JOG mode 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of JOG mode operation Friede 3 Press the ENTER key to enter into JOG operation mode fete 4 Press the MODE key to enter into servo ON servomotor power ON status eee 5 Press the MODE key to switch between the servo ON and servo OFF status The servo drive must be in servo ON status when the servomotor is running 6 Press the INC or DEC key to rotate the servomotor BON a att a i Fa 7r a 5 a SA vi 1 rh a SR tati Forward rotation i everse rotation T Press the ENTER key to return to utility function mode display Fn002 Now the servo is OFF servomotor power OFF Eller je 139 0 2 4 Automatic Adjustment of the Spe
186. og reference A Speed control analog reference zero clamp Control PCON OFF Speed control analog reference ON zero clamp control B Positin control pulse train reference position control INHIBIT PCON OFF Position control pulse train reference ON position control INHIBIT 175 Parameter Setting Control Description Function and Meaning Validation Mode C Position control contact reference PCON Used to change step PCL NCL Used to search reference point or start D Speed control parameter reference PCON PCL NCL invalid E Special control PCON invalid Pn005 2 Out of tolerance alarm selection 0 Out of tolerance alarm disabled 1 Out of tolerance alarm enabled Outputs alarm when the value of error counter exceeds Pn504 setting value 2 Reserved 3 Reserved Pn005 3 Servomotor model selection 0 EMJ 1 EMG 2 EML 3 EMB Pn006 0 Bus type selection 0 No bus 1 PROFIBUS DP VO V 1 2 PROFIBUS DP V2 3 CANopen Pn006 1 Reserved Pn006 2 Low frequency vibration suppression switch 0 Low frequency vibration suppression function disabled Pn006 Hex After restart 1 Low frequency vibration suppression function enabled Pn006 3 Reference input filter for open collector signal 0 When pulse is difference input the max value of servo receiving pulse frequency lt 4M 1 When pulse is difference input the max value of servo receiving pulse frequency lt 650K 2 When pul
187. on Addition Reserved some parameters O Revision ProNet 7 5kW 15kW Chapter 1 and 3 V1 25 Appendix Addition Pn301 and Pn415 appearance O Revision Pn307 Pn304 Pn681 Pn840 Q Addition Alarm A19 A22 Pn523 Pn525 Pn526 Deletion A20 wage Apis Deletion Incremental wire saving encoder Addition 3 6 Addition 3 7 Installation Conditions of EMC Directives Addition 3 8 Using More than One Servo Drive Add ProNet E Servo Drive Q Add three phase 400V power supply V2 00 All chapters be ProNet 10D 75D ProNet E 10D 50D ProNet 1AD 2BD Delete EML model Add and revise note Revision ProNet 30A ProNet 50A V2 03 7 ProNet E 30A ProNet E 50A Max Output Current V2 01 4 6 1 3 1 2 T ProNet 02A 04A ProNet E 02A 04A un Add and revise note 1 Revision the value of external regenerative V2 04 3 1 2 resistors Revision Connection Example for Open Collector Gate Output o ProNet 02A 04A ProNet E 02A 04A V2 02 Appendix A 3 Add note 2013 9 2014 01 2014 02 2014 03 2014 03 2014 04 2014 06 V2 05 V2 06 V2 07 V2 08 V2 09 V2 10 V2 11 3 5 4 7 1 2 1 All chapters 4 5 7 4 11 QD 3 Appendix A All chapters All chapters Chapter 3 Chapter 3 All chapters 1 1 1 Revised Content Revision the value of external regenerative resistors Add Operating Conditions electric power system Addition 2 1 7Insatal
188. oocccocccococcncccnnccnnnonnnnnnoncnonnnncnnnnnnnnnnnonnnonanencnncnnnns 70 4 1 5 Position Control by Host Controller ooooccccoonccccconcncnoonnnonoconcnnncononnnconononononnrnnnnnnrnnnnnnrnnnnnennnnnncnns 70 4 2 Control Mode Selection rrrrrrrnnnrrvnnnnevrnnnrenrnnnervnnrennnnnrrnnnsnennnnsrnnnnsrnnnnsnennnnsrennnnsrennnsrennnnssennnssennnnsennnnssesen 70 4 3 Setting Common Basic FUNC IONS coooncccococnnnconcnnononnncnnnconoconcnnononnnnnnnrnnnrnnnnnnnnnnnnrnnnnnnrnnnnnnnnnnnnnnrnnrnnenananes 72 4 3 1 Setting the Servo ON Signal cccccccccssececceseecceececceeececceueecceuueeeseueeecseueeessusseeseeeessesseeeessesessaneees 72 4 3 2 Switching the Servomotor Rotation Direction oooccccoocccncoccnconononcnonnnnononnnnonnronnonarnnononnnononrnnnnnnnnoos T3 4 3 3 Setting the Overtravel Limit FUNC ON cooooccccccoccncccocnncnnncnnononnnnnnnncnnnnnrnnononnnnonnnnnnnnnrnnnnnnrnrnnnnnarinnnaros 74 4 3 4 Setting for Holding BrakesS ooccccooncccccoccnccooccnononcnnononononnnnnnnnnnnnnnnnnnnnnnrnnrnnnrnnnnnnnnrnnnrnnrnnnnnrnrnnnrrnnnnneos TT 4 3 5 Instantaneous Power Loss SettiMQS cccooocccccoccnnococoncnnnnnnononcncnnnnnnnnnnnnnnnonnnnnnnrnnnnnnrnnonnnrnnnnnnnnnnnnaros 80 id o OE T ETT 81 4 4 1 Selecting an Absolute ENCOdeTF occcoocnnccccccnccnocnncnnnononnnncconncnnononcnnnnnrrnnnnnrnnnnnnrnnnnnnrnnnnnrnnrnnnrrrnrnnnnrinnnaros 81 4 4 2 Handling
189. ormal operation N low level CN1 17 status factory setting Reverse rotation prohibited OFF high level Reverse overtravel Connect limit switches as shown below to prevent damage to the devices during linear motion gt Servomotor forward rotation direction Rotation in the opposite direction is possible during Servodrive overtravel Servomotor For example reverse rotation is possible during forward Limit switch Limit switch overtravel mimportant When using overtravel to stop the servomotor during position control the position error pulses are present A clear signal CLR input is required to clear the error pulses When using the servomotor on a vertical axis the workpiece may fall in the overtravel condition To prevent this always set the zero clamp after stopping with Pn004 0 5 74 2 Enabling Disabling the Overtravel Signal A parameter can be set to disable the overtravel signal If the parameter is set there is no need to wire the overtravel input signal Parameter Meg Inputs the forward rotation prohibited P OT signal from CN1 16 factory setting Disables the forward rotation prohibited P OT signal Allows constant forward rotation Inputs the reverse rotation prohibited N OT signal from CN1 17 factory setting Disables the reverse rotatio
190. perate When the alarm occurs the ALM output signal transistor is turned OFF Multiple servos can share a single molded case circuit breaker QF or noise filter Always select a QF or noise filter that has enough capacity for the total power capacity load conditions of those servos 57 Kuso PON Seres AC Servo Users Manual AUTOMATION Power supply RST Power Power ON i OFF 1RY 1KM Noise y i 1KM E filter SA 1KM i MW Servo Drive Pane e oL3 m H LIC OM n i CN1 ALM ALM y o 2 gt e L3 4 L1C OM L2C CN1 ALM ALMA gt NA Li t e 11 Servo Drive Servo Motor Y 1 412 L END o L2C CN1 ALM AL M n L1 Servo Drive Servo Motor Y 22 J OV Notes 1 Power supply phase S should connect to ground terminals 2 The example above shows three phase 200VAC servo drive connection 58 3 9 Connecting DC Bus Servo drive wiring includes standard wiring standard wiring refers to 3 5 Standard Wiring Examples and optional wiring Connecting DC bus together of the optional wiring conduces to bus voltage more stable The following diagram is an example o
191. pm 20 rpm B Codes Display Code Baseblock Ja Servo OFF servomotor power OFF Run Forward Run Prohibited Feel CN1 16 P OT is OFF Reverse Run Prohibited CN1 17 N OT is OFF Alarm Status HI d Press ENTER key to clear the present servo alarm 132 5 1 5 Operation in Parameter Setting Mode The servo drive offers a large number of functions which can be selected or adjusted by the parameter settings Refer to A 1 Parameter List for details HM Parameter Setting Procedures The parameter settings can be used for changing parameter data Before changing the data check the permitted range of the parameter The example below shows how to change parameter Pn102 from 100 to 85 1 Press MODE key to select the parameter setting mode Fal EB 2 Press INC key or DEC key to select parameter number ES 3 Press ENTER key to display the current data of Pn102 E 4 Press the INC or DEC key to change the data to the desired number 00085 Hold the key to accelerate the changing a of value When the maximum value or minimum value is reached pressing INC or DEC key respectively will have no 5 Press the ENTER or MODE key once to return to the display of Pn102 ral dere Y 3 D O Er 133 5 1 6 Operation in Monitor Mode The monitor mode allows the reference values input into the servo drive I O signal status and servo drive internal status to be monitored MW Using the Moni
192. ponding signal of each data is shown as After restart After restart following 0 S ON 1 P CON 2 P OT 3 N OT 183 Parameter Setting Description No Validation Pn511 Output signal allocation Bus control input Pn512 l node low bit enabled Bus control input Control Function and Meaning Mode 4 ALMRST 5 CLR 6 P CL N CL G SEL JDPOS JOG JDPOS JOG JDPOS HALT HmRef SHOM ORG Pn511 0 corresponding port CN1_11 CN1_12 Pn511 1 corresponding port CN1 05 CN1 06 Pn511 2 corresponding port CN1 09 CN1 10 Corresponding signal of each data is shown as mo oOV POON follows COIN VCMP ITGON S RDY CLT BK PGC OT RD HOME TCR Bus communication input port enabled 0 Disabled Immediately P S T 1 Enabled Pn512 0 gt CN1_14 Pn512 1 gt CN1_15 Pn512 23CN1 16 Pn512 33CN1 17 Pn513 0 CN1 39 Pn513 13CN1 40 Pn513 23CN1 41 Pn513 33CN1 42 l l It is used to set input port filter time The signal will be Pn514 Input port filter Immediately P S T lagged if the parameter setting is too high After restart P S T OO OT bh Y N a O Pn513 Immediately P S T node low bit enabled 184 Parameter Setting Control Description Function and Meaning Validation Mode Do not inverse signal Input port signal Inverse signal inversion Immediately Pn516 0 gt CN1_14 inversion Pn516 13CN1 15 inversion Pn516 23CN1 16 inversion Pn516 33CN
193. r when OFF prohibited Function selected by parameter Enables control mode switching Forward external torque limit ON Reverse external torque limit ON PCL 41 Current limit function enabled when ON INCL 42 Internal speed With the internally set speed selection Switches the internal switching speed settings ALM RST Alarm reset Releases the servo alarm state DICOM Control power supply input for I O signals Provide the 24V DC power supply pee peed reference input 10V Pulse reference input mode PULS Sign pulse train SIGN CCW CW pulse SIGN 32 o3 Two phase pulse 90 phase differential 34 Power supply input for open collector reference 2KQ 0 5W resistor is built into the Position servo drive ICLR 40 Positional error pulse clear input Clear the positional error pulse during position control SHOM MN Homing trigger signal effective at the rising edge allocated by Pn509 or Pn510 oe Zero Position effective at high level allocated by Pn509 or Pn510 Torque Torque reference input 10V 24 B Output signals Control Signal Mode Name TGON Detects when the servomotor is rotating at a speed higher than the motor MT Turns off when an error is detected ON if there is no servo alarm when the control main circuit power supply S RDY 10 l Speed is turned ON Phase A signal Torque Converted two phase pulse phases A and B 29 e B signal PB
194. rding to parameter 2 SIGN Pn004 2 setting 2 gt 33 Check Method and Remarks Match the reference pulse form with the pulse output form Set the reference pulse form with Pn004 2 from the host controller Set the reference unit and electronic gear ratio so that it Set the electronic gear ratio with Pn201 or 2 EN coincides with the host controller setting Pn203 Pn202 Turn the power and the servo ON input signal ON Send the slow speed pulse reference for the number of Set the servomotor speed to 100rpm for the servomotor rotation easy to check for example one reference pulse speed because such speed is safe servomotor revolution from the host controller in advance Check the number of reference pulses input to the servo Refer to 5 1 6 Operation in Monitor Mode for how drive by the changed amount before and after the Un013 and it is displayed Un014 input reference pulse counter pulse were executed Check whether the actual number of servomotor rotations Refer to 5 1 6 Operation in Monitor Mode for how Un009 Un010 coincides with the number of input reference it is displayed Check that the servomotor rotation direction is the same as Check the input pulse polarity and input reference the reference pulse form Input the pulse reference with the large number of Set the servomotor speed to 100rpm for the servomotor rotation from the host controller to obtain the reference pulse speed b
195. re version the highest bit displays P Fa il BE 5 Press the MODE key to return to DSP software version display 6 Press the ENTER key to return to the utility function mode display Fn007 5 2 8 Position Teaching Function Perform the position teaching function in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn008 Ed Bad 3 Press the ENTER key the display will be shown as below Fed Gel xB 4 Press the ENTER key the display will be shown as below NN y 7 MES PO pp NN 5 Release the ENTER key to complete position teaching function 5 2 9 Static Inertia Detection 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn009 bd rd Pr 3 Press the ENTER key the display will be shown as below l l 4 Press the MODE key to rotate the servomotor and the servomotor dynamic speed will be displayed 5 The unit of the servomotor and load total inertia displayed when servomotor stops is kg cm 144 Thus the static inertia detection is complete Note Make sure that the servomotor completes at least 6 full revolutions in the CCW direction before detection 5 2 10 Absolute Encoder Multiturn Data and Alarm Reset 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function
196. register moves one bit to right if it is 1 CRC register moves one bit to right then run XOR calculation with A001 y Step 4 Go to step 5 till the third step has been executed for 8 times otherwise return to step 3 Step 5 Repeat the steps from 2 to 4 for the next bit of instruction information the comment of CRC register is the CRC error detection value while all the bits have been executed by the same way Note After calculating out the CRC error detection value the CRC low bit should be filled first in instruction information and then fill the high bit of CRC Please refer to the following example Read 2 words from the 01014 address of 01 servo The final CRC register content calculated from ADR to the last bit of data is 37944 and then the instruction information is shown as follows Please be sure that 944 is transmitted before 371 IR I dis 03u 01u LR bit Data start address 01 Ofu low bi Data number 00 y high bit count as word 02u low bit CRC checking 944 low bit CRC checking 374 high bit End1 End0 Communication is complete 152 ASCII mode Communication is ended with ODH carriage return and OAH new line RTU mode When the time exceeds the sleep interval by at least 4 bytes transmission time while in the current communication speed it means the communication is finished Example The following example uses C language to generate CRC value The f
197. rews with backing ring as shown in the figure 2 2 Servo Drive ProNet series servo drive is a base mounted type Incorrect installation will cause problems Always observe the installation instructions described below 2 2 1 Storage When the servomotor is not being used store it in an area with a temperature between 25 C and 55 C with the power cable disconnected 2 2 2 Installation Sites Notes on installation are shown below When installed in a control Design the control panel size unit layout and cooling method so that the temperature panel around the periphery of the servo drive does not exceed 55 C Suppress radiation heat from the heating unit and a temperature rise caused by When installed near a l l l convection so that the temperature around the periphery of the servo drive does not heating unit exceed 55 C When installed near a EE l l o MM mun Install a vibration isolator underneath the servo drive to prevent it from receiving vibration source of vibration When installed in a location Take appropriate action to prevent corrosive gases Corrosive gases do not immediately subject to corrosive gases affect the servo drive but will eventually cause contactor related devices to malfunction is Avoid installation in a hot and humid site or where excessive dust or iron powder is ers present in the air 25 2 2 3 Installation Orientation Install the servo drive perpendicular to the wall as shown
198. s Manual Parameter Setting Factory Setting E acc Eg Pni Pn126 Hysteresis switching switching 0 20000 Immediately Pn127 Low speed detection filter 0 100 4 Immediately ad gain acceleration relationship Immediately Eme Pn1 Pn129 Low Seen correction Low speed correction coefficient A a METRI A Pmi30 Heine om 0 900 0 meday Friction compensation speed hysteresis Immediately Pn131 rpm 0 100 area 0 1 1000rp Immediately Pn132 Sticking friction load 0 1000 mam p Pmi34 jReevwd pm o 7 o Pni35 Reseved pm pm 7 y Pni36 Reseved o 7 gt Pm37 Reseved pm pm Pr jReewd pm o 7 Pni39 jReevwd pm PP Pnt40 Reseved pm PP Pmdi Reseved pm pm Pm42 Reseved pm Pnt43 Reseved pm po 7 Pnt44 Resemed pm o Pn201 tstelectroniogearmumerator 1765535 1 After restart E RI 1765596 1 After restart LE sese BE EEE deceleration time constant A o merset Pn300 Speed reference imputain mwmw 03000 10 mmediatey PnS01 Analog speed given zero blas l mw 4000 1000 0 Immedaly PROP Rem 9 CP 0 P338 Resend PnS0S Sofia acceeratontme I me 0 000 o mmedetey PnSO7 softstart deceleraton time I me 0 100 o mmedetey Pna0B Speed fiter time consent me 0 0 o Inmedetely Pros Scuversime I me
199. s it into zero clamp mode Zero Clamp Makes the servomotor coast to a stop state when servo H LILILI5 OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode 75 After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings didas bir Stop by dynamic brake Stops by using the dynamic brake short circuiting its electrical circuit C Coast to a stop Stops naturally with no brake by using the friction resistance b of the servomotor in operation e Plug braking Stops by using plug braking limit torque C Zero Clamp Mode A mode forms a position loop by using the position reference zero Dynamic brake is an emergency stop function and one of the general methods to cause a servomotor sudden stop Dynamic brake suddenly stops a servomotor by shorting its electrical circuit e f the servomotor is frequently started and stopped by turning the power ON OFF or using the servo ON signal S ON the DB circuit will also be repeatedly operated degrading the servo drive s internal elements Use the speed input reference and position reference to control the starting and the stopping of the servomotor 4 Setting the Stop Torque for Overtravel Plug braking torque limit Pn405 Setting Range Setting Unit Factory Setting Setting Va
200. s recommended for the external regenerative resistor of ProNet 1AD 2 The resistor of 1500W 150 is recommended for the external regenerative resistor of ProNet 1ED 3 The resistor of 1500W 200 is recommended for the external regenerative resistor of ProNet 2BD 45 3 5 5 Single phase 100V ProNet 02B ProNet E 02B L1 L2 single phase 100 120V 1 50 60Hz Molded case Circuit Breaker 1 5 i Surge Protector 7 1Ry 1PL Servo Alarm Display KA I y Noise Filter d Power OFF Power ON 1KM nsu 1KM 1 Ry 1SUP d Be sure to connect a surge suppressor to the l excitation coil of the magnetic contactor and relay Servomotor A 1 L1 U 0 B
201. se is difference input the max value of servo receiving pulse frequency lt 150K Pn007 0 wider the width of C pulse or not 0 standard width of C pulse Pn007 Binary After restart 1 wider the width of C pulse Pn007 1 reserved Pn007 2 reserved 176 ESTUN AUTOMATION Parameter No Pn100 Pn101 Pn102 Pn103 Pn104 Pn105 Pn106 Pn107 Pn108 Online autotuning setting Machine rigidity setting Speed loop gain Speed loop integral time constant Position loop gain Torque reference filter time constant Load inertia percentage 2nd speed loop gain 2nd speed loop integral time constant Setting Validation After restart Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Control Mode P S P S P B P S P S T P H P S P S ProNet Series AC Servo Users Manual Function and Meaning Pn007 3 reserved 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Note 1 Autotuning is invalid when servomotor max speed is less than 100rpm Manual gain adjustment is used 2 Autotuning is invalid when servomotor acceleration deceleration speed is less than 5000rpm s Manual gain adjustment is used 3 Autotuning is invalid when mechani
202. senseenas 131 5 1 4 Status Display Mode TL aio 131 ESTUN ProNet Series AC Servo Users Manual AUTOMATION 5 1 5 Operation in Parameter Setting Mode coconccccccoccccccccnnccnnconononnnnononnnonnnnononnnrnnonnnrnnnnnnrnnnnnrnnnnnnnnnnns 133 5 1 6 Operation in Monitor Mode acicate 134 5 2 Operation in Utility Function Mode ooocccccoccncccnccnccnncnnonononconnnononnncnnononnnnnnnnrnnrnnrrnnnnnrnnnnnnrnnrnnnnrnnnnnrnnnnancnnnns 137 5 2 1 Alarm Traceback Data DIS DIAY inicia ai ad 137 5 2 2 Parameter Settings Initialization eorrnrrorrornnrnorrornnnnernernannernernnnnernernannennernnnnernennnnnennennnnnnnsennnnnuneer 138 52 3 Operation IN JOGOS scsi aan 139 5 2 4 Automatic Adjustment of the Speed Reference OF Set ooocccccooccccccoccncocnccncnoncnnononnnnonnnonononcnnonancnnnns 140 5 2 5 Manual Adjustment of the Speed Reference OF Set ooocccocccccccccconcncnocnconcnononnnnonnnonnnnnnnnnnoncncnnnnns 141 5 2 6 Offset adjustment of Servomotor Current Detection SignNal oooccccocccncccccnnononcnncnnnonononcnnnnanonnnnns 142 52 7 SOMWare Versi n DENNA ati T T 144 5 2 6 Position Teaching FPUNCHON RE I T UU TR 144 5 2 9 Static Inertia Detection 144 5 2 10 Absolute Encoder Multiturn Data and Alarm Reset rrnrnrannnnrnnnnrennnrennnnrnrnrrrnnnrennnrennnsrnnnernnnnennnnne
203. ssaeessaeesseeeeseeessaeessaeeeesseessueeeseneeseaes 171 A 3 Parameters in detall una idas 172 APDM Gl EE EE EE ENE NN oO nee eee 190 A A A 190 Chapter 1 Checking Products and Parts Names 1 1 Checking Products on Delivery Check items Are the delivered products the ones that Check the model numbers marked on the nameplate on the were ordered servomotor and servo drive jen d Check the overall appearance and check for damage or scratches s there any damage d i that may have occurred during shipping If the servomotor shaft can be easily rotated by hand then the motor Does the servomotor shaft rotate smoothly is working normally However if a brake is installed on the servomotor then it cannot be turned by hand If any of the above items are faulty or incorrect contact your ESTUN representative or the dealer from whom you purchased the products 1 1 1 Servomotor B Servomotor Model Designation EMJ WR p Servomotor 1 2 8 9 EM Model Model 1 2 Rated Output 4 Encoder 7 Option Domener GR 1 nome oooO nomen Wresavng Type 2 Wiholsel 2500PR 3 With brake DC24V 08 0 75kW 5 Designing Sequence 8 9 Connector A Designing sequences Standard connector B Designing sequence 3 Voltage 6 Shaft End Wrre saving Type Water proof connector Incremental B toovac Note EMJ A5 01APAOO EMJ O0GADODOO a
204. t Maximum Operating Voltage DC30V Maximum Output Current DC50mA al Represents Twisted pair Wires 43 3 5 3 Three phase 400V ProNet 10D 75D ProNet E 10D 50D L1 L2 L3 Three phase 380 480V 2 50 60Hz Molded case Circuit Breaker M GRE Surge Protector LA 1Ry 1PL Servo Alarm Display Noise Filter B OFE P N ue ower ower 1KM en i i O 1KM 1 Ry 1SUP 4 Be sure to connect a surge suppressor to the 4 excitation coil of the magnetic contactor and relay Magnetic Contactor r OL1 ProNet A 1 Servomotor o Series Servodrives Uo AR B2 A L3 V M 4 wo C 3 P4 al w e CN2 gt Option poo i i 24VDC Power Supply
205. t 02A 04A ProNet E 02A 04A is provided by customer the model of 60W 50 2 resistor is recommended 4 Change Pn521 0 from 1 to 0 when using the external regenerative resistor in ProNet 02A 04A ProNet E 02A 04A servo drives B Three phase 200V ProNet 08A 50A Three phase 200V ProNet E 08A 50A L1 L2 L3 Three phase 200 230V 9 50 60Hz Molded case Circuit Breaker Y Surge Protector ui ideae 1Ry 1PL Servo Alarm Display E I G9 Noise Filter P OFF P ON de ower ower 1KM A A 1KM 1Ry 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor OL1 S ervomotor b ProNet E Series Servodrives B2 Ls Mj n O 1 wo C 3 PN uU D 4 002 Qo la OL1C OL2C Encoder ae PG A a e OB1 OB2 OB2 External Regenerator Resistor OB3 OB3 E L2 m l 24V 1Ry T x 7 ALM A 8 ALM ZEN 2 1D gt E Ground Terminal ov B Three phase 400V ProNet 10D 75D Three phase 400V ProNet E 10D 50D L1
206. t order filter time of JPOS15 point to point contro Pn663 Immediately point 1st order filter can stop or start the servomotor mildly JPOSO point to point JPOSO point to point control stop time Pn664 Immediately E j control stop time ETT 50ms O O DN Other Other point to point control stop time to point control stop time Pn648 JPOS15 point to l l l JPOS15 point to point control stop time Pn679 point control stop Immediately Unit 50ms time O o Pn681 0 Single cyclic start reference point selection 0 Cyclic operation PCL start signal NCL search reference point in forward direction 1 Single operation PCL start signal NCL search reference point in forward direction 2 Cyclic operation NCL start operation PCL search Pn681 Immediately reference point in forward direction 3 Single operation NCL start operation PCL search reference point in forward direction Pn681 1 Change step and start mode 0 Delay to change step no need of start signal delay to start after S ON 1 PCON change step no need of start signal PCON 186 Parameter a Setting Control Description Function and Meaning No Validation Mode delay to start after S ON but inside pulse can not stop when PCON off 2 Delay to change step need start signal canceling start signal can immediately stop inside pulse Return to programme start point process step when reset 3 PCON change step need star
207. t signal canceling start signal can immediately stop inside pulse Return to programme start point process step when reset Pn681 2 Change step input signal mode 0 Change step input signal electrical level mode 1 Change step input signal pulse mode Pn681 3 Reserved Pn682 Programme mode Immediately Els ME menta ENG 1 Absolute programme Pn683 Programme start step Immediately EE Select the start point of the point to point control Pn684 Programme stop step Immediately Select the stop point of the point to point control Search travel speed in position control contact reference Speed of finding Search the servomotor speed in the direction of Pn685 Immediately reference point Hitting the origin signal ORG in reference point towards travel switch Search the servomotor speed when the reference Immediately point leaves travel switch control position homing control Leave travel switch speed in position control contact reference Speed of finding Pn686 reference point Leaving the origin signal ORG in position homing Position teaching l The two parameters are used in combination and the Pn687 Immediately pulse Position teaching algebraic sum of them is the current position of position teaching When performing the position teaching by utility function the algebraic sum of the Pn688 Immediately two parameters are given to the current position pulse Pn687 unit 10
208. tage and perform the adjustment manually 127 4 12 2 Online Autotuning Procedure Do not perform extreme adjustment or setting changes causing unstable servo operation Failure to observe this warning may result in injury and damages to the machine Adjust the gains slowly while confirming motor operation Operate with factor setting Set Pn100 1 Continuous online autotuning Pn100 1 2 3 4 5 6 Adjust the machine rigidity setting Set at Pn101 Operation OK Yes gt No Y Do not perform online autotuning Set Pn100 0 128 4 12 3 Setting Online Autotuning Related parameters Parameter Setting Factory Setting No Setting Invalidation Online autotuning setting 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load Pn100 After restart 1 4 Load inertia without variation 2 9 Load inertia with little variation 3 6 Load inertia with great variation Pn101 Machine rigidity setting 0 15 5 Immediately Speed gain acceleration relationship during online autotuning Pn128 0 3 3 Immediately If the setting is greater the servo gain will increase 4 12 4 Machine Rigidity Setting for Online Autotuning There are 16 machine rigidity settings for online autotuning When the machine rigidity setting is selected the servo gains speed loop gain speed loop integral time constant position loop gain are determined automatically The
209. the servo drive when an alarm occurs When powered on again the servo drive removes the alarm automatically so the alarm reset is not required to be connected In addition the alarm reset is enabled with the panel operator Note When an alarm occurs remove the alarm reason before resetting the alarms 123 4 11 2 Rotation Detection Output Signal TGON Signal Name Connector Pin Number Setting Meaning ON low level Servomotor is operating Servomotor speed is above the setting in Pn503 CN1 5 CN1 6 Output TGON Servomotor is not Factory setting OFF high ina S level operating ervomotor E speed is below the setting in Pn503 This signal output indicates that the servomotor is curently operating above the setting set in parameter Pn503 Related parameter Rotation Detection Speed TGON Pn503 Setting range ET A EA Setting validation This parameter sets the range in which the rotation detection output signal TGON is output e When the servomotor rotation speed is above the value set in the Pn503 the servomotor rotation speed signal TGON is output The rotation detection signal can also be checked on the panel operator 4 11 3 Servo Ready S RDY Output Output S RDY factory setting OFF high level Servo is not ready This signal indicates that the servo drive received the servo ON signal and completed all preparations It is an output when there are no servo alarms and the
210. then ground these wires Control Panel Servodrive Noise Filter N Servodrive 2 Ground 777 Ground plate 3 7 Installation Conditions of EMC Directives To adapt a combination of a servomotor and a servodrive to EMC Directives EN61326 1 2006 the following conditions must be satisfied 1 EMC Installation Conditions This section describes the installation conditions that satisfy EMC guidelines for each servo drive model This section describes the EMC installation conditions satisfied in test conditions prepared by ESTUN The actual EMC level may differ depending on the actual system s configuration wiring and other conditions 55 Kuso PON Series AC Servo Users Manual AUTOMATION Ground Shield Box Brake power supply Servo Drive U V W L e o Brake Power Supply o D 2 g S S 3 Three phase 200VAC a EI bis Y Beare 5 la Servo Three phase 400VAC O L1C L2C motor O O D CN2 18 i a 8 Encoder i Aprox 2m PE p i CN1 d Core i Aprox 5m PE eb Core Host controller Symbol Cable Name Specifications I O signal cable Shield cable Servomotor
211. tor Mode The example below shows how to display the value 1500 stored in Un001 1 Press MODE key to select the monitor mode pr act 2 Press the INC or DEC key to select the monitor number to display de e 3 Press the ENTER key to display the data for the monitor number selected at step 2 bee 4 Press the ENTER key once more to return to the monitor number display po Lal 8 Ez 134 MW List of Monitor Modes Contents of Monitor Mode Display Monitor Number Monitor Display Un000 Actual servomotor speed Unit rom Un001 Input speed reference Unit rpm Input torque reference Unit Un002 with respect to rated torque Internal torque reference Unit Internal status bit display with respect to rated torque 765432 10 pappa Only used in ProNet 7 5kW 22kW when Un017 Servomotor winding temperature l equipped with resolver 135 Contents of Bit Display o y nono 3 RGON NHMS no i oo ICLR CN1 40 Monitor Number Display LED Number A es 4 ea 0 m 136 5 2 Operation in Utility Function Mode In utility function mode the panel operator can be used to run and adjust the servo drive and servomotor The following table shows the parameters in the utility function mode Parameterne men OO nao Almacen data play gt naar Parameter setingiiaizaton OOOO noe oomoo gt naaa Automat adjustment of speed reference ost naaa
212. tor rotates matching the step 2 machine operating specifications 7 Adjust the servo gain and improve the servomotor The servomotor will not be broken in completely during response characteristics if necessary trial operation Therefore let the system run for a sufficient amount of time to ensure that it is properly broken in 8 Thus the trial operation with the servomotor connected to the machine is complete ESTUN AUTOMATION ProNet 4 1 4 Trial Operation for Servomotor with Brakes Series AC Servo Users Manual Holding brake operation of the servomotor can be controlled with the brake interlock output BK signal of the servo drive When checking the brake operation take advance measures to prevent vibration due to gravity acting on the machine or external forces Check the servomotor operation and holding brake operation with the servomotor separated from the machine If both operations are correct connect the servomotor to the machine and perform trial operation Refer to 4 3 4 Setting for Holding Brakes for wiring on a servomotor with brakes and parameter settings 4 1 5 Position Control by Host Controller As described above be sure to separate the servomotor and machine before performing trial operation of the servomotor without a load Refer to the following table and check the servomotor operation and specifications in advance Host Controller Analog speed reference _ gt
213. tput signals PAO PAO PBO PBO externally from the servo drive Feedback pulses from the encoder per revolution are divided inside the servo drive by the number set in Pn200 before being output Set according to the system specifications of the machine or host controller The setting range varies with the number of encoder pulses for the servomotor used E Output Example Pn200 16 when 16 pulses are output per revolution Preset value 16 PAO PBO 1 revolution 4 5 9 Speed coincidence output The speed coincidence V CMP output signal is output when the actual servomotor speed during speed control is the same as the speed reference input The host controller uses the signal as an interlock CN1 11 12 ON low level Speed coincides Output V CMP COIN l factory setting OFF high level Speed does not coincide Coincidence Difference Pn501 Setting Range Setting Unit Factory Setting Setting Validation The V CMP signal is output when the difference between the speed reference and actual servomotor speed is less than Pn501 E Example The V CMP signal turns ON at 1900 to 2100rpm if the Pn501 parameter is set to 100 and the reference speed is 2000rpm Servomotor speed Refere
214. tting 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load 165 After restart Ut IE d No Range Setting Invalidation 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 67 Load inertia with great variation mor Memempayssn om 5 mery Ptos Load ineni percentage o9 o immedsey MIE TN m owo o mresa PeW2 reme a ow o mey Pana Feestomane oms oso o mete MC a owo o mresaey Pans Torqueteesiowaraiter oms oso o meday P PI switching condition 0 Torque reference percentage 1 Value of offset counter Pn116 0 4 After restart 2 Value of acceleration speed setting 3 Value of speed setting 4 Fixed PI Pn117 Torque switching threshold 0 300 immediately reference Pn118 Offset counter switching threshold 0 10000 Immediately pulse Setting acceleration speed switching Pn119 10rpm s 0 3000 Immediately threshold Pn120 Setting speed switching threshold 0 10000 0 Immediately Gain switching condition Fix to 1st group gain External switch gain switching Torque percentage Pn121 Value of offset counter After start Value of acceleration speed setting Value of speed setting Speed reference input actual motor ind Pmiz2 Swtcing tay time oms 20000 o Wmedasy izo reos terior tam o teme Lm mmm O EE 0 1 2 3 4 5 6 T 166 ESTUN AUTOMATION ProNet Series AC Servo User
215. unction needs two parameters unsigned char data unsigned char length The function will return unsigned integer type CRC value unsigned int crc_chk unsigned char data unsigned char length int i j unsigned int crc_reg oxFFFF While length X crc_ reg data for j 0 j lt 8 j If crc reg amp Ox01 crc reg crc reg gt gt 1 0xA001 lelse crc_reg crc_reg gt gt 1 return crc reg 153 6 3 2 Communication Error Disposal Problems that occur during communication are a result of the following B Data address is incorrect while reading writing parameters The data is not within the parameter setting range while writing B Data transmission fault or checking code fault when communication is disturbed When the first and second communication faults occur the servo drive is running normally and will feed back an error frame When the third communication fault occurs transmission data will be recognized as invalid to give up and no error frame is returned The format of error frame Host controller data frame Slave station address Data address content Checking Servo drive feeds back error frame Error frame responses code command 80y Error code 004 Normal communication 01u Servo drive cannot identify the required functions 024 The required data address does not exist in the servo drive 03H The required data in servo drive is not allowed Beyond the maximum or minimum v
216. unicate with other devices Main circuit power supply terminals Used for main circuit power supply input la O ZA ING A Connecting terminal of DC reactor o000 00000 I O signal connector Used for reference input signals and sequence I O signals Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Encoder connector Connects to the encoder in the servomotor Ground terminal Be sure to connect to protect electric shock ud 7 ESTUN AUTOMATION B ProNet 08A 10A ProNet E 08A 10A 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 Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Ground terminal Be sure to connect to protect electri
217. urn them ON again to enable the new settings Allocating Homing Output Signal HOME Connector Pin Number Parameter Pn511 H LIEIEIS CN1 11 CN1 12 The signal is output from output terminal CN1 11 12 Pn511 H 0080 CN1 5 CN1 6 The signal is output from output terminal CN1 5 6 The signal is output from output terminal CN1 9 10 After changing Pn510 turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings HOME signal is only enabled at low level 4 Description of Homing Operation Please set Pn689 according to the actual operation in position control mode When starting the homing function the servomotor will run at the speed of Pn685 when detecting the rising edge of SHOM signal the servomotor will run at the speed of Pn686 according to the setting of Pn689 1 when detecting the valid ORG signal When input ORG and the encoder C Pulse is being detected the servo drive will begin to calculate the number of homing offset pulses When offset pulses is completed the servomotor stops and outputs homing completion signal HOME then homing control is completed Pn685 Hitting the origin signal ORG is usually set at high speed Pn686 Leaving the origin signal ORG is usually set at low speed Please be attention that if Pn686 is setting too high the precision of mechanical zero position will be affected After hitting the origin signal ORG the motor will return to find
218. ut 300 rated torque in forward direction 0 3V input 10 rated torque in reverse direction The voltage input range can be changed with parameter Pn400 Servodrive 4700 M input circuit example 1 2W min CNI Use twisted pair wires as a countermeasure against noise 126 197 li Checking the internal torque reference 1 Checking the internal torque reference with the panel operator Use the Monitor Mode Un003 Refer to 5 1 6 Operation in Monitor Mode 2 Checking the internal torque reference with an analog monitor The internal torque reference can also be checked with an analog monitor 113 4 7 3 Adjusting the Reference Offset 1 Automatic Adjustment of the Torque Reference Offset When using torque control the servomotor may rotate slowly even when OV is specified as the analog reference voltage This occurs when the host controller or external circuit has a slight offset measured in mv in the reference voltage In this case the reference offset can be adjusted automatically and manually using the panel operator The automatic adjustment of analog speed torque reference offset Fn003 automatically measures the offset and adjusts the reference voltage The servo drive performs the following automatic adjustment when the host controller or external circuit has an offset in the reference voltage Reference voltage Offset Torque reference
219. ut signal time Unit ms output signal time Pn529 output signal Immediately threshold value 185 Parameter Setting Control Description Function and Meaning Validation Mode JPOSO Position pulse The two parameters are used in combination and the in point to point Immediately algebraic sum of them is the position JPOSO needs to control reach The number of servomotor rotation revolutions is related with the programme mode of point to point JPOSO control Position pulse in Immediately l Pn600 Unit 10000P point to point control Pn601 Unit The meaning of other point to point control related EN EE EN a JPOS15 Position The two parameters are used in combination and the Pn630 pulse in point to point Immediately algebraic sum of them is the position of JPOSO needs control to reach The number of servomotor rotation JPOS15 Position revolutions is related with the programme mode of pulse in point to point Immediately point to point control control JPOSO Point to point JPOSO Point to point speed control Pn632 Immediately AAA control Unit _ The ee of other point to point control Feo Point to The speed of JPOS15 point to point control Pn647 Immediately point speed control Unit rpm JPOSO l l 1st order filter time of JPOSO point to point control can Point to point Immediately l stop or start the servomotor mildly 1st order filter PPP O NNI 1st order filter of other point to point control JPOS15 Point to 1s
220. voltage reference Parameter Meaning Pn005 H 0120 Control mode selection Torque control analog voltage reference Setting Range Setting Unit Factory Setting Setting Validation 10 100 0 1V 100 Immediately This sets the analog voltage level for the torque reference T REF that is necessary to operate the servomotor at the rated torque E Example Pn400 30 The servomotor operates at the rated torque with 3V input factory setting Pn400 100 The servomotor operates at the rated torque with 10V input Pn400 20 The servomotor operates at the rated torque with 2V input Reference torque Rated torque Reference voltage V This reference voltage is set 112 4 7 2 Torque Reference Input By applying a torque reference determined by the analog voltage reference to the servo drive the servomotor torque can be controlled in proportion with the input voltage T REF CN1 26 Input Torque Reference Input T REF CN1 27 Used during torque control analog voltage reference 300 Pn005 1 2 6 8 9 Reference torque a The torque reference input gain is set in Pn400 For setting details refer to 4 7 1 Setting Parameters M input specifications po 0 34 38 12 Input range DC 0 10V rated torque Factory wetting Input voltage V Factory setting oe Pn400 30 Rated torque at 3V 200 Set the slope with Pn400 3V input Rated torque in forward direction 300 9V inp
221. witch Pl control to P Offset counter Pn118 ME Immediately control switching threshold Unit pulse Setting acceleration Threshold of acceleration speed to switch Pl control to Pn119 speed switching Immediately P S P control threshold Unit 10rpm s Setting speed l Threshold of speed to switch PI control to P control Pn120 Immediately P S switching threshold Unit rpm Fix to 1st group gain Gain switching Pn121 condition After restart P S actual motor speed MEM l Delay time of switching gain when switching condition Pn122 Switching delay time Immediately P S mu is satisfied Pn123 Switch threshold level Immediately Gain switching trigger level Position gain l This parameter is used to smooth transition if the Pn125 l Immediately n switching time change of the two groups of gain is too large l This parameter is used to set the operation hysteresis Pn126 Hysteresis switching Immediately P S o of gain switching l This parameter is used to filter in low speed detection Low speed detection l l l l l Immediately P S The speed detection will be lagged if the value is too ilter large Speed gain The increasing multiple of speed loop gain is the same acceleration E rigidity during online autotuning The speed loop gain l l l Immediately P S l l e relationship during is larger when this value is higher online autotuning Low speed correction l The intensity of anti friction and anti creeping at low Pn129 a Immed

ProNet Series AC Servo User`s Manual

Contents

Download Pdf Manuals

Related Search

Related Contents