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ProNet Series AC Servo User`s Manual

1. L1 L2 L3 Three phase 200 230V 50 60Hz Molded case Circuit Breaker R Surge Protector ETA 1Ry 1PL Servo Alarm Display 7 Noise Fiter DEE I ower ower Iki 4 a Pa g d t 1KM 1Ry 1SUP a Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor f e ProNet Servomotor e A 1 2 Series Servodrives U B 2 bm zl Vv CO m91 W D o 2 8 e CNS CR Option ES Lic i i 1 LL Incremental Wire saving Serial Encoder oe sees 7 Encoder 2500P R 2 Encoder B1 mn 4 Resolver 21 E 1 i 8 ES 2 A 7 SN Lt PG B2 B2 3 Br 8 SIN 1 a 4 Extemal Regenerator Resisotr i L4 B 17 COS in H pg DS Gr eo 9 PG5V Se SC i 3 6 C 9 RT 19 PGOV 789 PG5V i 19 R2 Shell Lei D Leen CH el Shell Shiela Shell Shield Be sure to ground aoe Se CN3 1 NG B
2. ProNet E 04B 08A 10A Unit mm Sg Nameplate Air Flow Extended Module e ls a Q e in a IS d G E d Air Flow i Go j Hye eel TL 4 8 ing Fan Air Flow 25 igi g mei H Le d Air Flow 84 Note ProNet E does not support extended module 165 ESTUN ProNet Seres AC Servo Users Manual m ProNet 08B 10D 15A 15D 20A 20D ProNet E 08B 10D 15A 15D 20A 20D Unit mm 94 4 Air Flow 5 E 32 Lk Nameplate t a DP100 oeae oo Cooling Fan 3 dee 4M4 Screw Hol 2M4 Screw Mounting Hole Diagram crew Holes ua S A Figure gl d ae a SE S i mn Bug 1 Bea Flow JL 100 Note ProNet E does not support extended module m ProNet 30A 30D 50A 50D 70D ProNet E 30A 30D 50A 50D
3. DI L2 L3 Three phase 380 440V 7 50 60Hz Molded case Circuit Breaker yt Ges Surge Protector __ hae nie ae 1Ry 1PL Servo Alarm Display 7 d Noise Filter L Power OFF Power ON 1KM mel oc GE ae 1KM 1Ry 1SUP lt Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor f A ProNet Servomotor i j A 1 S LG Series Servodrives u B 2 OLS v M CO W 3 D 4 CN2 LIC Option L2c eg i Serial Encoder e Kiel z Encoder 3 Sensor 2 7 S A B1 7 SIN 5 S j 8 SN WW EE Dees BATS imi PG External Regenerator Resisotr 18 COS S a E o R 19 PGOV i eft Re E E Srel Shield Shell Shield SS Be sure to ground CN3 1 N C Be sure to prepare the end of the 2 NC shielded wire properly 3 485 Nt SSS j 4 ISO_GND 5 ISO_GND Use special communication cable to connect VREF L T I rot 6 485 PC Personal Computer Speed Reference 0 10V Rated Speed D VREF 2 5 SANH S Ja Note Do not short terminal 1 and 2 of CN3 TREF 26 gt I Shell Shield Torque Reference 0 10V Rated Torque ER TREF 27 pase EE i OH l 1 NG 2 NG Open collector Reference Use P
4. Unit mm P 32 Nameplate Mounting Hole Diagram un Air Flow Extended C fee fe oJ J j Ze d We 2 S Den Figure d o a H a S g en 3 rte e i Terminal L Lye 14 4 Screw LJ ip fi 6 112 ss L Mounting Pitch 125 24 75 204 5 Cooling Fan Note ProNet E does not support extended module 166 ESTUN ProNet Seres AC Servo Users Manual E ProNet 75D 1AD 1ED 2BD Unit mm E Flow pair Flow T a 3 Sp aly IK a Ge hir Flow Li LP 200 L 186 24 268 Pa E I 7s o l i ghal S S i j t S os 145 186 167 ESTUN AUTOMATION ProNet Series AC Servo Users Manual A 1 Parameter List Appendix A Parameter Parameter No Name Unit Setting Range Factory Setting Setting Invalidation Pn000 Binary Pn000 0 Pn000 1 Pn000 2 Pn000 3 Servo ON Forward rotation input signal prohibited P OT gt Reverse rotation input signal prohibited NOT
5. Encoder Servodrive Host controller gt 2CN 1CN 1 A E N PA i 2 1 gt Ee fe 2B Ir RPA 22 vase 20_ PAO CG 3 a SCH ml 23 21 ao Ir 4D te IPB 23 Hosch 23 PBO 5E PC ES ee EI 25 L A PRO P gt 6 F TP ec ze k q Phase C Pa 24 PCO Z ma 25 leen eP gt PG d d Output line driver d P AM26LS31 manufactured EE 5 by TI or the equivalent Wu manufactured by TI or the equivalent 2 2 7 2 8 29 PGSV L 8G 2 17 218 219 eem SS 1 18 m r ov an a J FG Connector shell C tor shell Shell shielded wires ep TEE S p i Represents multi core twisted pair shielded wires m Wire saving Incremental Encoder 2500P R Standard Wire saving Incremental Encoder Servodrive Host controller E pe 2CN 1CN 2 w lA ala d oe 4B V P JPA Ee Phase A N 20 PAO gt Va XO PB 23 a pao JP 5 D ER IPB 2 4 Phase B N 22 PBO 3 E PC ETT 425 23 PBO Ir 6 F TP Cl 26 d Phase C N 24 PCO JA ee ee TT va tp BR a 28 PCO Ps ie Output line driver A A AM26LS31 manufactured SCC 5 by TI or the equivalent manufactured by TI or the equivalent 7 H l 2 7 2 8 2 95 PGSV 8 G 2 17 2 18 29 PGOV DV 1 18 lt lt SG TTT tor shell 9a Ke FG Connector she 5 S E Connector shell Shell shielded wires I 38 ESTUN ProNet Seres AC Servo User
6. L1 L2 single phase 100 120N 7 50 60Hz Molded case Circuit Breaker i SE Surge Protector 1Ry 1PL Servo Alarm Display g N Noise Filter Per OEE REN L ower ower JKM 7 T pa fi SUE 7 D A Saal 1KM 1Ry 4SUP a Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Servomotor A 1 l L1 U i B 2 gt OLD V M C 3 oat W 62 E SS S CN2 Lic option ec Serial Encoder 1 A CH L2c E 7 S mi Encoder GES LE SS eee 47 BAT E B1 pi 18 BAT 2 cs T PG 9 PG5V Ei B2 B2 49 Paov_ 189 E rt i i 18 External Regenerator Resisotr S e teil Shield Shell Shield z SC Kb Ei CN3 1 N C Be sure to prepare the end of the Be sure to ground 2 NC shielded wire properly 3 485 if Ch Se I 4 ISO CND 5 ISO_GND Use special communication cable to connect VEE Ts D 6 485 PC Personal Computer Speed Reference 0 10V Rated Speed VREF 2 5 7 SANH Z al 8 ANL Note Do not short terminal 1 and 2 of CN3 7 TREF 26 gt Shell Shield Torque Reference 0 10V Rated Torque TREF 27 CNA 1 e 1 NG A 2 NG Open collector Reference Use PPI 34 sie 3 485 ao esl SC PULS 30 r 5 ZS Position Reference lt PULS CW A uc SS 31 At 6 485 as 7 CANH ep sien cow B T74 EE E 8 CANL i Shell Shield L x L Signal allo
7. VREF 1 Si Speed Reference 0 10V Rated Speed VREF 2 40k TOK AD ret Torque Reference 0 10V Rated Torque pi A a l Open Collector Reference PPI 34 Use EN KE e PULS 30 j Position Reference lt PULS CW A PULS ar SE 1509 SIGN ccw B Cd Sen z k Signal Allocations can be Modified ES is aaka ke S ON Servo ON P CON 15 DEER P CON Proportion Control P OT 16 Bir P OT Forward Run Prohibited N OT 17 eek N OT Reverse Run Prohibited ALM RST 39 4 ALM RST Alarm Reset CLR 40 I ES ER CLR Clear Error Pulse P CL 41 PS ET P CL Forward Torque Limit N CL 42 EECH N CL Reverse Torque Limit SHOM Home ORG Zero Position Shield Connect Shield to Connector Shell _ _ al Represents Twisted pair Wires 33 20 PAO 21 PAO al 22 PBO PG Divided Ratio Output ivided Ratio Outpui 23 PBO Applicable Line Output 24 PCO AM26LS32A Manufactured by TI or the Equivalent 25 PCO F 50 DGND Signal Allocations can be Modified 5 TGON V CMP Speed Coincidence COIN Positioning Completion 6 TGON TGON Rotation election 9 S RDY S RDY Servo Ready CLT Torque Limit Detection 10 S RDY BK Brake Interlock z 11 V CMP PGC Encoder C Pulse Output OT Over Travel 12
8. sff ESTUN ProNet Seres AC Servo Users Manual ProNet 30A 50A ProNet 30D 50D 70D 75D S Alt ProNet 1AD 1ED 2BD ProNet 02B SS Geese s S fete ft elei oo H WER ESTUN AUTOMATION ProNet Series AC Servo Users Manual ProNet 04B ProNet 08B m ProNet E Servo Drive Appearance ProNet E A5A 01A 02A 04A ProNet E 08A 10A PAGAR 9999 q CHARGE POWER H lil CH i CN DEE
9. 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 3 Press the ENTER key the display will be shown as below 4 Press the MODE key to clear the alarms 5 Thus the absolute encoder related alarms reset is complete 149 ESTUN ProNet Seres AC Servo Users Manual 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 CNS Terminal No Name Function S Reserved 3 485 RS 485 communication terminal 4 ISO_GND 5 ISO GND Isolated ground 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal Note Do not short terminal 1 and 2 of
10. ProNet E 08B Saga 5 gt F dr Sc 15 ESTUN AUTOMATION ProNet Series AC Servo Users Manual m ProNet Servo Drive Nameplate Servodrive model _ gt Applicable power _ gt supply Serial number gt ESTUN SERVODRIVE MODEL PRONET 04AMA AC INPUT AC OUTPUT lt t Applicable servomotor 1PH_ 200 230V_50 60Hz 3PH_ 0 200V_0 300Hz capacity 3 7A 2 7A DAN S N _6600001J001 E AUA OO l Estun Automation Technology Co Ltd Made in China A DT BIR S HHA DAE Ska eat SABC earen SR CR WARNING Disconnect all power and wait 5 min before servicing May cause electric shock SS Sait AHR CAUTION Do not touch heatsink May cause burn EE Use proper grounding techniques RW ProNet E Servo Drive Nameplate Servodrive model e Applicable power _ gt supply Serial number _ gt ESTUN SERVODRIVE MODEL _PRONET E 50A AC INPUT AC OUTPUT lt Applicable servomotor 3PH 200 230V 50 60Hz 3PH 0 200V 0 300Hz capacity 22 4A 28 0A 5 0kW SIN 6600001J001 Ce OVEN 0 O Estun Automation Technology Co Ltd Made in China BRS OPA BAR L j Skane POAC BRAI SE Ss WARNING Disconnect all power and wait 5 min before servicing May cause electric shock
11. P CL Forward External Torque Limit Input High level Low level Pn402 High 0 level N CL Pn401 Reverse External Torque ae Limit Input Low 0 level Pn401 Note Select the servomotor rotation direction by setting Pn001 b 0 standard setting CCW Forward direction 119 ESTUN ProNet Series AC Servo Users Manual 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 CN1 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 J Torque reference input gain Pn400 Torque limit value Speed reference PO Speed reference input _ Speed loop gain LZ eee FENA d 7 gt Torque reference j Speed loop zx integral time constant Pn103 L Pn402 reverse rotation torque limit Speed feedback Important e There is no issue with input voltage polarity of the analog voltage reference for torque limiting e The absolute values of both and voltages are input and a torque limit value correspon
12. CN J BL a6 13 ESTUN ProNet Series AC Servo Users Manual AUTOMATION ProNet E 15A 20A ProNet E 10D 15D 20D D le It VC e ilk gd 2 ef EA F HLR lt P Gli H J e un i frl leen IE ial ProNet E 30A 50A ProNet E 30D 50D 14 ProNet Series AC Servo Users Manual ESTUN AUTOMATION ProNet E 04B ProNet E 02B aj
13. 4 Turn ON the servo ON S ON signal The display will be shown as below 5 Press the ENTER key for one second to display the speed reference offset amount 6 Press the INC or DEC key to adjust the amount of offset 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 9 Thus the speed reference offset manual adjustment is completed 87 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 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 P ee Setting Range Setting Unit Factory Setting Seiting Validation 0 10000 ims 0 Immediately Soft Start Deceleration Time Speed Pn307 8 F Seen Setting Range Setting Unit Factory Setting Setting Validation 0 10000 ims 0 Immediately 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 f
14. Pn005 H 0 Control mode selection Speed control analog reference factory setting Speed Reference Input Gain Pn300 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 MEXAMPLE Pn300 150 1V input is equivalent to the servomotor speed of 150rpm factory setting Reference speed Gnmin Sw Set this slope gt Reference voltage V 83 ESTUN ProNet Seres AC Servo Users Manual 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 iisi 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 Signal Setting Meaning Number Operates the servo drive with proportional ON low level control Input P CON CN1 15 f Operates the servo drive with proportional OFF high level
15. Be sure to connect to protect electric shock m ProNet 1AD 1ED 2BD Charge indicator Lights when the main circui power supply is ON and Stays lit as long as the mai circuit power supply capacitor remains charged Power on indicator Lights when the control power supply is on Connector for communication to communicate with other devices UO signal connector ed for reference input signals and sequence I O signals servomotor Connects to the encoder in the servomotor A Control power suppl terminals Used for control power supply input Main circuit power supply terminals Used for main circuit power supply input Servomotor terminals onnects to the ervomotor power line 20 ESTUN AUTOMATION ProNet Series AC Servo Users Manual E 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 Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servomo
16. ESTUN ProNet Seres AC Servo Users Manual m ProNet 08A 10A ProNet E 08A 10A EISES 2999 CHARGE 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 Power on indicator Lights when the control power supply is on POWER Connector for communication Used to communicate with other devices 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 UO signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor m 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 capacitor remains charged Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Power on indicator Lights when the control power supply is on Fl Conne
17. ESTUN AUTOMATION ProNet Series AC Servo Users Manual 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 EE Load shaft Step Operation eceleration ratio R 1 Deceleration ratio Pulley diameter 17 bit encoder Ball screw pitch 6mm 2 1 F 100mm Load shaft 17 pit encoder 17 bit encoder f i Pulley diameter 100 mm Check machine Ball screw pitch mm Rotation angle per revolution 1 ak i f pulley circumference 314 mm specifications Deceleration ratio 1 1 360 Deceleration ratio 3 1 S Deceleration ratio 2 1 2 Encoder 17 bit 32768P R 17 bit 32768P R 17 bit 32768P R Determine the i 1 reference unit 3 reference unit 1 reference unit 0 1 1 reference unit 0 01mm 0 001mm 1 um used Calculate the travel distance 4 6mm 0 001mm 6000 360 0 1 3600 314mm 0 01mm 31400 per load shaft revolution Calculate the B 32768x4 1 B 32768x4 3 B 32768x4 2 5 electronic gear gt x x x A 6000 1 A 3600 1 A 31400 1 ratio Pn201 131072 Pn201 393216 Pn201 262144 6 Set parameters Pn202 6000 Pn202 3600 Pn202 31400 Pn201 32768 Pn201 32768 Pn201 32768 7 Final Result Pn202 1500 Pn202 300 Pn202 3925 e Reduce the fraction both numerator
18. My Vol asl Ww gt oly mai nyo ays 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 Input N CL CN1 42 factory setting OFF high level 121 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 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 oN UO Power supply 24V QV Optocoupler output pe a i ALM Each output node ST di tg Max output voltage 30V x i We GC ALM Max output current 50mA L r P 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 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 Lk ALM Output Cut off the main circuit power Normally the external circuit consists of ALM should be able to switch off the power of
19. Reverse Run Prohibited CN1 17 N OT is OFF Alarm Status Press ENTER key to clear the present servo alarm 136 Displays the alarm number ESTUN ProNet Seres AC Servo Users Manual 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 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 2 Press INC key or DEC key to select parameter number 3 Press ENTER key to display the current data of Pn102 4 Press the INC or DEC key to change the data to the desired number 00085 Hold the key to accelerate the changing of value When the maximum value or minimum value is reached pressing INC or DEC key respectively will have no effect 5 Press the ENTER or MODE key once to return to the display of Pn102 137 ESTUN ProNet Seres AC Servo Users Manual 5 1 6 Operation in Monitor Mode The monitor mode allows the r
20. ALM Servo Alarm Output af Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 49 ESTUN ProNet Seres AC Servo Users Manual 3 5 9 Speed Control Mode ProNet Series Servodrives 10K 20 PAO 7 VREF 1 EUN Te 21 PAO Speed Reference 0 10V Rated Speed 3 VAER a e Stee PG Divided Ratio Output ty pao icable Line Receiver 1S aD 23 PBO AM26LS32A Manufactured by TI or the Equivalent Po 24 PCO 25 PCO Ga 50 DGND Signal Allocations can be Modified V CMP Speed Coincidence 5 TGON SON Positioning Completion e Rotation Detection 6 TGON S RDY Servo Ready L 9 S RDY CLT Torque Limit Detection 10 S RDY f BSE Encoder Pulse Output Encoder C Pulse Output Li 11 V CMP oT Over Travel 12 V CMP RD Servo Enabled Motor Excitation Output j ied DICOM 13 4 HOME Home Completion Output Signal allocatons can be modified SON 144 aao ht S ON Servo ON P TON 5 EER P CON P Control P OT 16 RER P OT Forward Run Prohibited N OT 17 GER N OT Reverse Run Prohibited ALM RST 39 Er ALM RST Alarm Reset CLR 40 CLR Clear Error Pulse PCL 41 P CL Forwar
21. 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 Meaning O 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 rotation prohibited N OT signal Allows constant reverse rotation e Applicable control modes Speed control position control and torque control e After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings e A parameter can be used to re allocate input connector number for the POT 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 Coast Stops the servo motor in the same way as when the H 1 Coast to a stop servo is OFF coast to a stop then
22. CLT torque limit output BK brake interlock output PGC encoder C pulse output OT overtravel signal output RD servo enabled motor excitation output HOME home completion output oOo IN A A A W bh TCR Torque Detection Output 125 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 11 8 Torque Detection Output TCR Type Output Signal Name TCR Connector Pin Number Not including this setting in the default setting please choose terminal output by setting parameter Pn511 Setting ON L OFF H Motor output torque is higher than Pn529 Motor output torque is lower than Pn529 Meaning setting value setting value Torque detection output time is set by Pn530 Parameter Pn511 description as following 0 COIN V CMP output 1 TGON rotation detecting output 2 S RDY servo drive get ready output 3 CLT torque limit output 4 BK brake interlock output PGC encoder C pulse output OT overtravel signal output RD servo enabled motor excitation output HOME home completion output Oo N A a TCR Torque Detection Output 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
23. p SPEED3 Pn318 Contact inputs 41 t pus S pc 3 SPEED4 Pn319 2 SPEED6 Pn321 L N CL a g o SPEED7 Pn322 115 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 8 1 Setting Parameters Parameter Meaning Pn005 H 3 Control mode selection Speed control contact reference gt Speed control zero reference Internal set speed 1 speed Pn316 x A e B i Setting Range Setting Unit Factory Setting Setting Validation 6000 6000 rpm 100 Immediately Internal set speed 2 Pn317 i r ere Setting Range Setting Unit Factory Seiting Setting Validation 6000 6000 rpm 200 Immediately Internal set speed 3 Pn318 i e e ee Setting Range Setting Unit Factory Seiting Setting Validation 6000 6000 rpm 300 Immediately Internal set speed 4 Pn319 i ere Setting Range Factory Setting Setting Validation 6000 6000 rpm 100 Immediately Internal set speed 5 Pn320 A F F i S Setting Range Setting Unit Factory Seiting Setting Validation 6000 6000 rpm 200 Immediately Internal set speed 6 Pn321 i e e en Setting Range Setting Unit Factory Setting Setting Validation 6000 6000 rpm 300 Immediately Internal set speed 7 Pn322 i i i ee Setting Range Setting Unit Factory Seiting Setting Validation 6000 6000 rpm 500
24. Refer to 4 1 4 Trial Operation for Servomotor with Brakes Vertical axis Shaft with external force applied Servomotor Servomotor Holding brake External force WEE Prevents the servomotor l 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 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 wn R e fa gt L1 U ys le s gd 5 L2 y N 1 M T a L3 wW A Z D Lic Se L2c Ce eo CNI CN2 J BK RY EN Se a 24V SES fa N J BK J Brake power supply lt SS Bis BK RY Yellow or blue Red J
25. CLT Ka i DC30V a _ ae S Max applicable current 1CN CLT a DC50mA ache gt Ouiput CLT Torque limit output Speed torque control position control 124 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Indicates the output torque current of motor is limited Type Signal Name Connector Pin Number Setting Meaning oe Motor output torque under limit Internal Not including this setting in oo ON L torque reference is higher than setting the default setting please Output CLT value choose terminal output by aa S No torque limit Internal torque reference setting parameter Pn511 OFF H 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 o003 CN1 11 CN1 12 Output signal of CN1 11 CN1 12 is CLT Pn511 H o03 CN1 05 CN1 06 Output signal of CN1 5 CN1 6 is CLT Pn511 H o3 CN1 09 CN1 10 Output signal of CN1 9 CN1 10 is CLT _ Pn511 0 3 CN1 11 CN1 12 CLT Torque limit o Pn511 1 3 output CN1 05 CN1 06 Pn511 2 3 CN1 09 CN1 10 Parameter Pn511 description as following 0 COIN V CMP output Output terminal e TGON rotation detecting output S RDY servo drive get ready output
26. if SS Spaut 82ER CAUTION Do not touch heatsink May cause burn bin TY ARI Use proper grounding techniques 16 ESTUN ProNet Series AC Servo Users Manual 1 2 Part Names 1 2 1 Servomotor Servomotor without gear and brake Encoder Mounting hole _ s Output haft 1 2 2 Servo drive E ProNet 02A 04A ProNet E 02A 04A seh Ee Charge indicator 9 Z Lights when the main circuit power supply is ESTUA ON and stays lit as long as the main circuit power supply capacitor remains charged Main circuit power supply terminals y Used for main circuit power supply input 4 Connecting terminal of DC reactor p Connector for communication Used to communicate with other devices UO signal connector Used for reference input signals and sequence I O signals Control power supply terminals Used for control power supply input p Regenerative resistor connecting terminals Used to connect external regenerative resistors Ba 1 Servomotor terminals e p Connects to the servomotor power line Encoder connector Connects to the encoder in the servomotor as g Ground terminal i Be sure to connect to protect electric shock amp
27. 187 alarm has occurred and outputs alarm an signal ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Setting Control Description Function and Meaning No Validation Mode These parameters are only enabled when the port Servo ON waiting output parameters are allocated with BK signal Pn505 ie Immediately P S T output These parameters are used to keep braking prevent from gravity glissade or continuous outside force on servomotor time sequence Pn506 Basic waiting flow Immediately p s T Servo ON waiting 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 parameter setting time Pns07 Brake waiting speed Immediately P S T 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 OFF 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 Pn508 Brake waiting time Immediately P S T speed Brake waiting speed BK signal is output when the servomotor speed is decreased below the parameter setting value
28. Control Lit when servo drive control power is Lit when servo drive control power is ON power ON power ON ON Lit if input speed reference exceeds preset Speed value Not lit if input speed reference is Lit if reference pulse is input Reference SC o reference below preset value Not lit if no reference pulse is input i oe 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 EE __ Power ready e 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 rpm 20 rpm H Codes Display Baseblock Servo OFF servomotor power OFF Run Servo ON servomotor power ON Forward Run Prohibited CN1 16 P OT is OFF
29. Ground Control Panel Ground plate Servodrive E Servodrive E 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 ESTUN ProNet Seres AC Servo Users Manual Ground Shield Box Brake power supply Servo Drive U V W Brake Power Supply e 2 S 8 Three phase 200VAC z E ees L1 L2 L3 Serpe Ei 7 Sous Three phase 400VAC O L1C L2C s motor fo O a D OS 5 5 5 8 Encoder L O PE Aprox 2m CN1 T Core Aprox 5m PE m kag D Core Host controller Symbol Cable Name Specifications I O signal cable Shield cable Servomotor cable Shield cable Encoder cable Shield cable ER AC line cable Shield cable Notes The example above shows three phase 200VAC servo drive connection 2 Cable Core and
30. Igi Ka SUR Ra Li D Teel yy E DG RUN Q BRR Q Lights when the control power supply is on Connector for communication Used to communicate with other devices UO signal connector Used for reference input signals and sequence UO signals Encoder connector 21 Connects to the encoder in the servomotor ESTUN AUTOMATION ProNet Series AC Servo Users Manual m ProNet 08B ProNet E 08B 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 ESTUA Eech 22 Power on indicator Lights when the control power suppl
31. 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 DEC ENTER Panel Corresponding i Function Symbol Key Name A INC key e To display the parameter settings and setting values To increase the setting value DEC ke M g To decrease the setting value To select a basic mode such as the display mode parameter setting M MODE key mode monitor mode or utility function mode To save the setting during parameter setting and exit lt 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 5 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 Note After an alarm occurs remove the cause of the alarm before resetting it 134 ESTUN ProNet Seres AC Servo Users Manual 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
32. Related parameter Rotation Detection Speed TGON Pn503 Seiting range Seng unt Factory setting Setting validation 0 3000 rpm 20 Immediately e 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 e The rotation detection signal can also be checked on the panel operator 4 11 3 Servo Ready S RDY Output Type Signal Name Connector Pin Number Setting Meaning CN1 9 CN1 10 ON low level Servo is ready Output S RDY factory setting OFF high level Servo is not ready e This signal indicates that the servo drive received the servo ON signal and completed all preparations e It is an output when there are no servo alarms and the main circuit power supply is turned ON 4 11 4 Encoder C Pluse Output PGC Type Signal Name Connector Pin Number Seiting Meaning 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 e 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 123 ESTUN ProNet Seres AC Servo Users Man
33. ilo 1Ry 1PL Servo Alarm Display S N Noise Filter L Power OFF Power ON i an et a o o 1KM_ Dy 1SUP lt Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor f ul S i ervomotor P ProNet i lan i i t f Series Servodrives D oL v o Aen w 3 1 Da I o 2 6 1 Ks 8 Lic Lec l l I Encoder I 8 We 7 _ E C T I B1 B1 i B2 B2 External Regenerator Resistor SS B3 L oB3 24 1Ry 7 ALM g t ALM I 5 i CNR 1D Ground Terminal ov Molded case Circuit Breaker DI L E EE L3 Three phase 380 440V is 50 60Hz Protector urge Protector 1Ry 1PL Servo Alarm Display S SC Noise Filter JL p OFF Power ON 1KM Pal 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay 1KM fy Magnetic Contactor E Three phase 400V ProNet 10D 70D Three phase 400V ProNet E 10D 50D 80 f L1 Servomotor f ProNet an L2 A t Series Servodrives B 2 Li di M Gm EH w 3 1D 4 L__o e2 Ki 7 CO mo 24v 24VDC Power Supply L OGND Encoder one ea ami S T B1 B1 I B2 B2 External Regenerator Resistor B3 oB3 24V 1Ry
34. 7 x Noise Filter d Power OFF Power ON ae d K ei Earls e IM _ 1Ry 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor LE TE i 1 A Servodrive 292 4 aa v M os DEE WEE pa l KE T Ei uc Lec l l I Encoder EE q CN2 E External regenerator resistor Bt T l j l op i B2 l l l B2 ji l i si Le SL EN 4 1Ry m va Aam g 7 h a ALM t r e iD Ground Terminal ov 31 ESTUN ProNet Series AC Servo Users Manual E Single phase 100V ProNet 04B Single phase 100V ProNet E 04B ui L Single phase 00 120 7 50 60Hz Molded case Circuit Breaker Surge Protector 1Ry 1PL Servo Alarm Display 8 SL Noise Filter E Power OFF Power ON IKN 1 o D d 1KM 1Ry 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor KL GH rr l ut Servodrive b s i Ser v M 3 oe w SS 1 pa I ee e l l Ki Lic Lat l l I Encoder l EE CNS E External regenerator resistor l Bi o T l l B1 I B2 l l HTH I I i ED Se a nan a a E 1Ry u 7 AM J
35. A D 6 S ASCII Code 30H 314 324 33 H 344 354 36H 37 H Character g 9 A B C D E E ASCII Code 38 H 39 4 414 42 4 43 H 444 Abu 46 H 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 as 644 by 1 byte RTU data Data Structure 10 bit character form 7 bit data Pn700 1 0 7 N 2 Modbus ASCII lt 7 data bits lt 10 bits character frame gt Pn700 1 1 7 E 1 Modbus ASCII lt 7 data bits gt i 10 bits character frame gt Pn700 1 2 7 O 1 Modbus ASCII lt 7 data bits gt i 10 bits character frame gt 152 ESTUN ProNet Seres AC Servo Users Manual 11 bit character form 8 bit data 8 N 2 Modbus ASCII RTU l e Si i EE a I eee 1 hb hb 1 1 l D EE EEN hb hb e 1 hb l 1 EE i i N i hb l EE hb hb LA 1 l 1 l eege d I E hb l 4 r i P hb Nn 1 hb l leede i 1 On d hb hb hb L 4 l l Ai 1 i hb l t 4 n E PO betes Lo SS PO lt 8 data bits gt i lt 11 bits character frame gt 8 E 1 Modbus ASCII RTU Aah ao rT EE BS ro Tod age aoe Even i Start
36. ACF Ss ease Seas ee Eeer 134 PANG OPC TALON ege geesde eege eege ege geesde 134 a Ee el EE 134 5 1 1 Functions on Panel Operator 134 EE Re WE Lu EE 134 5 1 3 Basic Mode SEIOCHION eisiston ea iaaii E A AiE E RASE EAOa eiea Aaaa 135 5 1 4 Status EE le EE 135 5 1 5 Operation in Parameter Setting Mode AA 137 5 1 6 Operation in Monitor Modes iisicstieieii nei diciieain areca ln EES 138 5 2 Operation in Utility Function Mode sssssssssseeesrreertrnnsttnnetttttttntttttnnttnnntnnnEEEAEEE EAEE EEnn Ennn EEEE E Enare E annene 141 5 2 1 Alarm Traceback Data Display 141 5 2 2 Parameter Settings Initialization 0 ee ecceeeeeeeneeceneeceneeseeeeseaeeeeaeeceaeessaeeseaeeseaeeseaeessaeeseaeeeeaeeseaeessaees 142 5 2 3 Operation in JOG Meiers eege Seege veel iets gd eE Ee hein ideal tenes 143 5 2 4 Automatic Adjustment of the Speed Reference Offset A 144 5 2 5 Manual Adjustment of the Speed Reference Offset 145 5 2 6 Offset adjustment of Servomotor Current Detection Gong 146 5 2 7 software Version Display sivicciishiccted ieee tive e Eege EEN 148 9 2 8 Position Teaching FUunCtOn c ihi2c etic heer ete dae eda elated 148 5 2 9 Static Inertia Detechon AA 148 5 2 10 Absolute Encoder Multiturn Data and Alarm Heset AA 149 5 2 11 Absolute Encoder Related Alarms Reset AAA 149 ChapterG EEE eee ld REENEN 150 MODBUS CoOMMUNICAON EE 150 6 1 R
37. Checking Products and Parts Names tnst tnt AAt EASE EANEEAEEEEEAEEEEEEEENEEAEASEEAEEEA ENEE EEEE EAEE nennen 7 1 1 Checking Products On Deliver AAA 7 Deel SOT e 7 UNENEE 10 LS Pat Names onone iiaea epee ea ies RA a a Spe Ma 17 UE Nu e ETH 17 UE SONVO CMV E 17 CNADISF eege eege erase tececetetcnenecadetectecs a e e E a a eteecnuens 23 Installation nixccin sie eee AEH ei EE 23 Ze SDEIVOMOUON EE 23 McA LO LAG EE 23 2 12 Installation TEE 23 2 1 3 Installation Al nuets SH A es 24 2 1 4 Installation Orientation 24 2 1 5 Handling Oil and Water 24 2 46 Galle TOMSlOM TE 25 217 install to re EE 25 22 SOIVO EE 25 22 Ee e TEE 25 KREIEN EE 25 2 2 3 Installation eet le EE 26 2 224 Installation Method 2 2 cise ccuessescces sheecteiseenaearetacauayeccvassbcatnsezesedeuacts iahghaeenavenedsadivehtsesdeaadeesdeshawvadeassbsatngeused 26 Chapter EE 28 WINING BEE E 28 S A Maim Circuit Cl e ME 28 3 1 1 Names and Functions of Main Circuit Terminals A 28 3 1 2 Typical Main Circuit Wiring Exvamples A 29 3 2 O Signals EE 33 3 2 1 Examples of I O Signal Connections ec eececeneeeeeeeeeeeeeeeeeceeeeeseeeseaeeesaeesaeesaaeeseaeeeaeeseaeeeneeeteaeeeates 33 3 2 2 W O Signal Names and FUNCTIONS ccceeeeeeeeeeeeeeeeeeeeeseeeeeeeesaeeeeaeesaeeesaeeseaeesaaeeseaeesaeeseaeessaeeseaeeenaees 34 3 2 3 I O Signal Connector CN1 Term
38. ProNet Series AC Servo User s Manual Version V2 17 ESTUN AUTOMATION TECHNOLOGY CO LTD Total Solution Supplier TI 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 ProNet Series AC Servo Users Manual About this manual H 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 m Intended Audience Those designing ProNet series servo 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 ESTUN ProNet Seres AC Servo Users Manual Safety Precautions m Do not connect the servomotor direct
39. S ON that determines whether the servomotor power is ON or OFF 1 Servo ON signal S ON Connector Pin Type Name Setting Meaning Number EET 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 almportant 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 0 External S ON signal enabled Factory setting Pn000 2 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 71 ESTUN AUTOMATION ProNet Series A
40. 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 84 ESTUN ProNet Seres AC Servo Users Manual 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 Speed Refer nce p 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
41. 15 1 5 kW 20 2 0 kW 10 30 3 0 kW 50 5 0 kW ESTUN ProNet Seres AC Servo Users Manual Note ProNet E is only available with the wire saving incremental encoder 2500 P R ProNet E does not support extended module ProNet Servo Drive Appearance ProNet A5A 01A 02A 04A ProNet 08A 10A af ae HARRA BHARA 2999 po esTun Sa __ CHARGE POWER L o J Me 5 Q Ll Il Zi Li alle We ir os el UH lll oe ler Tel ee dy dg r I EH y Tce fu pl les q ea m r ProNet 15A 20A ProNet 10D 15D 20D
42. 7 ALM i 44 e am 1 Si j rare 1D A Ground Terminal ov ESTUN ProNet Seres AC Servo Users Manual E Three phase 400V ProNet 75D 2BD LI L L Three phase 380 440V 7 50 60Hz Molded case Circuit Breaker yo Surge Protecto 1Ry 1PL Servo Alarm Display k Noise Filt SS I OFF Power ON dat Lr SS d paar ies 1KM py 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor ut Tan Servodrive l E ProNet u e y d13 Series Servodrive v Be fy c 3 w Da I 4 Lic Lec l l Encoder I External Regenerative Resistor T l OB Loer 1Ry 24 7_ _ALM i J ft Lara I I Loe 1D ge Ground Terminal ov Notes 1 A resistor value of 1500W 200 is recommended for the external regenerative resistor of ProNet 1AD 2 A resistor value of 1500W 150 is recommended for the external regenerative resistor of ProNet 1ED 3 A resistor value of 1500W 20Q is recommended for the external regenerative resistor of ProNet 2BD E Single phase 100V ProNet 02B Single phase 100V ProNet E 02B Li L2 Single phase 100 120V i 50 60Hz Molded case Circuit Breaker tge Protector 1Ry 1PL Servo Alarm Display
43. Error frame responses code command 804 Error code 00y Normal communication 01n Servo drive cannot identify the required functions 024 The required data address does not exist in the servo drive 03 The required data in servo drive is not allowed Beyond the maximum or minimum value of the parameter 041y Servo drive starts to perform the requirement but cannot achieve it For example Servo drive axis number is 03 write data 064 into parameter Pn100 is not allowed because the range of parameter Pn100 is 0 0x0036 The servo drive will feedback an error frame the error code is 03 Beyond the parameter s maximum value or minimum value Host controller data frame start Slave station address Command Data address content Checking 03H 06H 00024 0006 Servo drive feedback error frame start Slave station address Response code Error code Checking 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 158 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 6 3 3 Data Communication Address of Servo State The communication parameter addresses are shown in the following table 159 Communication dat
44. ISO_GND ISO_GND 485 RS 485 communication terminal CANH CAN communication terminal CANL CAN communication terminal Isolated ground 1 2 3 4 5 6 7 41 ESTUN ProNet Seres AC Servo Users Manual 3 5 Standard Wiring Examples 3 5 1 Single phase 200V ProNet A5A 04A ProNet E A5A 04A i L t single phase 200 230V 2 50 60Hz Molded case Circuit Breaker Se Surge Protector 1 1Ry 1PL Servo Alarm Display R zf Noise Filter L Power OFF Power ON 1KM T eal e 1EM Dy 1SUP Be sure to connect a surge suppressor to the 1 excitation coil of the magnetic contactor and relay Magnetic Contactor ProNet Servomotor 1 Series Servodri Se EE L eres oervodrives u B 2 o v S M Bi w oe D i EH Ei e 2 i Option Lic i 1 Incremental Wire saving L2c Encoder 2500P R Serial Encoder BE eS Seo 1 T G i
45. Pn663 Point to point 1st order filter 0 1ms 0 32767 0 Immediately Pn664 Stop time 50ms 0 300 10 Immediately Pn679 Stop time 50ms 0 300 10 Immediately Pn680 Reserved Hex Pn681 0 Single cyclic start reference point selection Pn681 0 0x0133 0x0000 Immediately Pn681 1 Change step and start mode Pn681 2 Change step input signal mode Pn681 3 Reserved Pn682 Programme mode 0 1 0 Immediately Pn683 Programme start step 0 15 0 Immediately Pn684 Programme stop step 0 15 1 Immediately Search travel speed in position control contact reference Speed of finding Pn685 l Sa SC rom 0 3000 1500 Immediately reference point hitting the origin signal ORG in position homing control 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 Pn687 Position teaching pulse 10000P 9999 9999 0 Immediately Pn688 Position teaching pulse 1P 9999 9999 0 Immediately Pn689 Homing Mode Setting 0 0111 0 After restart Pn690 Number of error pulses during homing 10000pulse 0 9999 0 Immediately Pn691 Number of error pulses during homing 1pulse 0 9999 0 Immediately Torque observer input use Moment of Immediately Pn695 j 0 20000 0 inertia Torque observer feedback coefficient Immediately Pn696 E 1 6 1 adjustability Observer value of Torque observer filter Immediately Pn697 D 0 1ms 0 250 0
46. Servodrive oie About 40K 2 GND VW ov H interface for sequence input circuit The sequence input circuit interface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result Servodrive Servodrive DC24V SANIN DC24V 50mA min 3 3KQ 50mA min 24VIN 3 3KQ dear ik a 1 o gt S 1 2 S ON etc deel S ON etc ee ear K H interface 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 Winterface 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 37 ESTUN ProNet Seres 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
47. e T AM i j pge 1D Ground Terminal ov E Single phase 100V ProNet 08B Single phase 100V ProNet E 08B L1 L2 Single phase 100 120V 7 50 60Hz Molded case Circuit Breaker Surge Protector 1Ry 1PL Servo Alarm Display i y Noise Filter I Power OFF Power ON d Ty pa m aa i d 1EM 1Ry 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor ou Ta Servodrive dE u t l pi v M ol pet w S D 4 Q2 RM T l Ei Lic Lec l l Encoder l P 8 External regenerator resistor l l der T l l l l oB2 I l Lan E 4 1Ry 24V z 7 AM D T tal a f Am i i 8 1D Ground Terminal ov 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 lt 7 16 N m 32 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 3 2 I O Signals 3 2 1 Examples of I O Signal Connections ProNet Series Servodrive 10K ref
48. l i i i i Even Stop 1 2 4 5 6 fl bit i parity bit i lt 8 data bits gt 1 lt 11 bits character frame gt 8 O 1 Modbus ASCII RTU SE IN LEE EE Ke Odd Stop UNE 1 6 i a i T i parity bit lt 8 data bits gt i SEN EECH seed 1 i en 1 d KE 1 I ke i 1 i i T coat 1 i N 1 i l t 4 i i l Gu I 1 L i I i i 1 I 1 1 1 lt 11 bits character frame gt Communication protocol structure Data format of communication protocol ASCII Mode STX Start character gt 3A ul ADR Communication address gt 1 byte contains two ASCII codes CMD 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 DATA 0 LRC Checking code gt 1 byte contains two ASCII codes End 1 End code 1 gt 0D p CR End 0 End code 0 gt 0A p LF RTU Mode STX Sleep interval of at least 4 bytes transmission time ADR Communication address gt 1 byte CMD 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 End 1 Sleep interval of at least 4 bytes transmission time Communication protocol data format instructions are as follows STX communication st
49. terminals for the three Servodrives in series to enable alarm detection relay 1RY to operate 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 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Power supply RST Noise filter QF D P Power on OFF ower m q1RY 1KM 0 ua SA 1KM L3 24 ARY Lic L2C CN1 ALM ALM z oT e Servo Drive Servo Motor L1 L3 Lic s L2C CN1 ALM 2 Servo Drive Servo Motor ALM 2 4 ty L1 Servo Drive L2 L3 Lic Servo Motor L2C CN1 ALM ALM 4 d Joy Co Notes 1 Power supply phase S should connect to ground terminals 2 The example above shows three phase 200VAC servo drive connection 58 ESTUN ProNet Series AC Servo Users Manual 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
50. 0Hz There is mechanical clearance at the mechanical connection part The time for movement is less than one vibration period 3 How to operate H 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 101 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Position error counter 0 gt t f 1 AT m Related Parameters Parameter Meaning Ge H OO 0 Low frequency vibration suppression function disabled n H O1 1 Low frequency vibration suppression function enabled f i ion f Low frequency vibration frequency Pn411 Setting Range Setting Unit Factory Setting Setting Validation 50 500 0 1Hz 100 Immediately Low frequency vibration damp Pn412 Setting Range Setting Unit Factory Setting Setting Validation 0 200 25 Immediately e 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 should be increased properly Parameter Pn411 and Pn412 are enabled when Pn006 2 1 Setting validation after restart 102 ESTUN ProNet
51. 53 ESTUN ProNet Series AC Servo Users Manual 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 x Noise L 3 Filter Ground plate Ground plate Noise Filter F Ground plate Ground plate 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 Noise Filter 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 ESTUN AUTOMATION ProNet Series AC Servo Users Manual X Q tt A Noise i Noise gt Filter gt m Filter gt servodrive servodrive servodrive seryodrive Gai Shielded ground wire ee 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 then ground these wires Noise Filter
52. CN3 CN4 Terminal No Name Function 1 Reserved 2 Reserved 3 485 RS 485 communication terminal 4 ISO_GND ISO GND Isolated ground 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL 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 CND of servo drive is always used as communication cable input terminal and CNA is always used as communication cable output terminal lf 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 CNA terminal It is prohibited to connect CN3 of any two servo 150 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 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 C1209 terminating resistance 6 2 MODB
53. Encoder D CNL Ga N CN2 Phase A PAO Serial Data Frequenc e ab ene Phase B PBO K J aei Phase C PCO ee 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 a 90 Phase A Phase B Phase C SESCH EEN SES 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 91 ESTUN ProNet Seres AC Servo Users Manual H Pulse Dividing Ratio Setting PG Dividing Ratio Pn200 Setting Range Setting Unit Factory Setting Setting Validation 16 16384 1Puls 16384 After restart Set the number of pulses for PG output 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 s
54. L3 aca e HE ere oe DAUER a ell a pa ald DAUER 8 Kr Z amp o SS Lol oe Lic SS ud le 12c D BS 12c 6 D 12c 6 as ai DE d al HES di ai HUE g e He a2 HB Ss e dE E a3 HD aa DE s3 HD u ie u IEN u I v D v Le v E v E l LLU LL LLU ESTuA Esm Esrin 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 ESTUN ProNet Seres AC Servo Users Manual 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 oe for Servomotor Without Load Refer to 4 1 1 E Purpose The servomotor is operated without connecting the shaft to the gie kr machine in order to confirm the following wiring is correct e Power supply circuit wiring e Servomotor wiring e Encoder wiring Secure the servomotor flange to the machine but do not connect the motor e Rotation direction and
55. OFF S ON input Servo ON or alarm or power OFF Servomotor stopped by applying DB or coasting Pn004 0 Servomotor Speed Pn507 IBK Output Brake released Brake held 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 0 Continue operation when the power supply voltage to servo drive main circuit is Pn000 instantaneously interrupted b 1 An alarm occurs when the power supply voltage to servo drive main circuit is instantaneously interrupted 79 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 4 Absolute Encoders Absolute Encoder Type Output Range of Multiturn Data Resolution Action when limit is exceeded ProNet Series 16 bit multiturn 17 bit singleturn 32768 32767 e 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 th
56. Online autotuning may not be effective in the following cases e The motor high speed is lower than 100 rpm e The motor acceleration or deceleration is lower than 5000rpm s e Load rigidity is low and mechanical vibration occurs easily or friction is high The speed load moment is changed greatly e 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 percentage and perform the adjustment manually 126 ESTUN ProNet Seres AC Servo Users Manual 4 12 2 Online Autotuning Procedure Awornine 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 Continuous online autotuning Pn100 1 2 3 4 5 6 Operation OK Yes gt gt No Adjust the machine rigidity setting Set at Pn101 Y Operation OK Yes gt No L Do not perform online autotuning Set Pn100 0 127 ESTUN ProNet Seres AC Servo Users Manual 4 12 3 Setting Online Autotuning Related parameters Parameter Settin Factor Settin Name Unit g Y 9 No Range Setting Invalidation Hex Pn100 Pn100 0 Load inertia setting 0 0x0036 0x0011 After restart Pn100 1 Online
57. P R Feedback Resolver 65536P R Max Incremental Wire saving type 2500 P R 162 ESTUN AUTOMATION ProNet Series AC Servo Users Manual F Ambient temperature 0 55 C Ambient Storage Temperature Storage temperature 25 85 C Operating Ambient Storage Humidity 5 95 RH with no condensation Conditions Elevation 1000m or less Vibratior 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 N 0 100 load 0 01 or less at rated speed Regulation Performance Speed Voltage 7 Rated voltage 10 0 at rated speed Regulation Regulation Temperature 7 25 25 C 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 lon Circuit Time 10us Constant Reference 10VDC at rated speed Variable setting range t0O 10VDC Voltage Max input voltage 12V Analog Input Input About 10MQ or above Reference Impedance Circuit Time 10us Constant Speed Rotation Control irectit i z i Speed Direction With P CON signal SE Selection ion Speed 1 to 7 Selection Soft Function Start 0 10s Can be set individually for acceleration and deceleration Setting Sign pulse train CCW CW pu
58. R 1K 2 0 25W VDC 24V R 2K 2 0 25W 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 96 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 6 2 Setting the Clear Signal 1 Setting the Clear Signal Type Sign Name Connector Pin Numbe Function Input CLR 1CN 40 error counter clear When the CLR signal is set to low level clear error counter e The error counter inside the servo drive is set to 0 e Position loop operation is disabled 2 Setting the Clear Signal Mode In position control mode pulses will 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 Pn004 0 Clear the error pulse when S OFF do not when overtravel 1 Do not clear the error pulse 2 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 i e the minimum position data unit is called a reference unit N
59. Rotation Detection 9 Ten S RDY Servo Ready tsk CLT Torque Limit Detection 10 S RDY Be Mode been S Encoder C Pulse Outpul l LTE Of Ouer Travel 12 V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V 1 7 AM Connect Shield to Connector Shell Shield Shell Hi 5 Sne T T D E S ov ALM Servo Alarm Output a Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 46 ESTUN ProNet Series AC Servo Users Manual 3 5 6 Single phase 100V ProNet 04B ProNet E 04B L1 L2 single phase 100 120V 50 60Hz Molded case Circuit Breaker i ag Surge Protector A 1Ry 1PL Servo Alarm Display S d No
60. 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 alignment accurancy falls within the range shown below 1 so aes Le ae SG m 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 If the alignment accurancy is incorrect vibration will occur resulting in damage to the bearings e 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 ESTUN ProNet Seres AC Servo Users Manual 2 1 6 Cable Tension When connecting the cables the ben
61. 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 Allocate input port to Pn509 0 corresponding port CN1_14 Pn509 signal one port with After restart P S T Pn509 1 corresponding port CN1_15 four bits hex Pn509 2 corresponding port CN1_16 Pn509 3 corresponding port CN1_17 Pn510 0 corresponding port CN1_ 39 Pn510 1 corresponding port CN1_40 Allocate input port to Pn510 2 corresponding port CN1_41 Pn510 signal one port with After restart P S T Pn510 3 corresponding port CN1_ 42 four bits hex Terminal PRI CN1_14 lt CN1_15 lt CN1_16 lt CN1_17 lt CN1_39 lt CN1_40 lt CN1_41 lt CN1_42 Corresponding signal of each data is shown as following 188 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter No Pn511 Description Output signal allocation Setting Validation After restart Control Mode P S T mo OWP PODIE m p ODT 2 Function and Meaning S ON P CON P OT N OT ALMRST CLR 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 follows oO AON Oa SS Go NM O COIN VCM
62. autotuning setting Pn101 Machine rigidity setting 0 36 6 Immediately 4 12 4 Machine Rigidity Setting for Online Autotuning There are 37 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 factory setting for the machine rigidity setting is 5 Machine Position Speed Speed Position Speed Speed Position Speed Speed Rigidity Loop Loop Loop Loop Loop Loop Loop Loop Loop Setting Gain Gain Integral Gain Gain Integral Gain Gain Integral Is Hz Time Is Hz Time Is Hz Time Constant Constant Constant 0 1ms 0 1ms 0 1ms Pn100 1 1 Standard Pn100 1 2 Steadily Pn100 1 3 High precision Pn104 Pn102 Pn103 Pn104 Pn102 Pn103 Pn104 Pn102 Pn103 0 16 63 637 10 63 796 27 63 318 1 24 94 424 16 94 531 41 94 212 2 31 126 318 21 126 398 55 126 159 3 39 157 255 26 157 318 69 157 127 4 47 188 212 31 188 265 82 188 106 5 55 220 182 37 220 227 96 220 91 6 63 251 159 42 251 199 110 251 80 7 71 283 141 47 283 177 124 283 71 8 79 314 127 52 314 159 137 314 64 9 86 345 116 58 345 145 151 345 58 10 94 377 106 63 377 133 165 377 53 11 102 408 98 68 408 122 179 408 49 12 110 440 91 73 440 114 192 440 45 13 118 471 85 79 471 106 206 471 42 14 126 502 80 84 502 99 220 502 40 15 1
63. coefficient Exterior disturber torque current Immediately Pn698 Wi 0 100 0 compensate coefficient Dummy load inertia ratio Actual load Immediately Pn699 10 100 50 inertia ratio Hex Pn700 0 0x0182 0x0151 After restart Pn700 0 MODBUS communication baud 174 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Name Unit Setting bactory Sening No Range Setting Invalidation rate Pn700 1 MODBUS protocol selection Pn700 2 Communication protocol selection Pn700 3 Reserved Pn701 MODBUS axis address 1 247 1 After restart Pn702 Reserved ges Pn703 CAN communication speed 0x0005 0x0004 After restart Pn704 CAN communication contact 1 127 1 After restart Hex Pn840 0 Encoder model selection Pn840 Pn840 1 Motor designing sequence Ger After restart Pn840 2 Reserved SE Pn840 3 Reserved Note The setting range and factory setting of Pn401 to Pn405 depend on the actual overload capacity A 2 Description of Parameter Type Type Parameter No Description Funtion selection switches Pn000 Pn010 Control mode stop mode and some functions selection Parameters of servo gain Pni00 Pn149 Position gain speed gain rigidity etc Position control related parameters Pn200 Pn205 PG divided ratio electronic gear etc Speed control related parameters Pn300 Pn322 Speed reference inpu
64. 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 3 Press the ENTER key to enter into the automatic adjustment of the servomotor current detection signal mode 4 Press the MODE key the display will blinks for one second The offset will be automatically adjusted VS es N N 7 7 5 Press the ENTER key to return to the utility function mode display Fn005 146 ESTUN ProNet Series AC Servo Users Manual AUTOMATION 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 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 3 Press the ENTER key to enter into the manual adjustment of the servomotor current detection signal 4 Press the MODE key to switch between the phase U o _ CuA and phase V 1_ Cub servomotor current detection 5 Hold the ENTER key for one second to display the phase V offse
65. delivered products the ones that Check the model numbers marked on the nameplate on the were ordered servomotor and servo drive Check the overall appearance and check for damage or scratches Is there any damage i S 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 HR Servomotor Model Designation EM 08 A P B 1 1 WR ESTUN Servomotor 1 2 3 4 5 6 7 8 9 EMJ Model 1 2 4 Encoder 7 Option Rated Output Code Spec Code Spec Code Spec A5 0 05 kW D Incremental encoder 131072P R 1 None 01 0 1 kW P Incremental Wire saving Type 2500P R 2 With oil seal 02 0 2kW F Incremental encoder 1048576P R 3 With brake DC24V 04 0 4kW S Absolute encoder 131072P R 4 With oil seal and brake DC24V 08 0 75kW 5 Designing Sequence 8 9 Connector 10 1 0kW Code Spec Code Spec A B Standard connector Designing sequence C H WR Water proof connector Incremental 3 Voltage 6 Shaft End Wire saving Type Code Spec Code Spec A 200VAC 1 Sraigtwiho
66. i i Reference pulse i i PCON enabled tl t2 gt lms 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 i i PCON disabled i i i i i i yol Reference pulse f d f i od tl 2 t3 t4 tl t2 t3 t4 gt 1ms Error 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 i i tl t2 gt lms 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 1 Reserved 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 ESTUN ProNet Series AC Servo
67. 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 _ gt OV Speed Host Reference Controller Servo OFE 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 85 ESTUN ProNet Seres AC Servo Users Manual 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode 5 Press the MODE key for more than one second the reference offset will be automatical
68. 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 Un004 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 66 ESTUN ProNet Seres AC Servo Users Manual 3 Operating Procedure in Position Control Mode Pn005 H 11011 The following circuit is required External input signal circuit or equivalent Servodrive CN1 24V 13 gt 14 16 e 20 40 o 30 IPULS S 41 Reference pulse SIGN 32 accordi arameter v iSIGN Pn004 2 setting 33 Step D
69. is difference input servo receiving pulse frequency 150K 93 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 3 Setting a Reference Pulse Form Set the input form for the servo drive using parameter Pn004 2 according to the host controller specifications PULS CN1 30 SIGN CN1 32 gt Forward Rotation a Reverse Rotation S i Reference Input Pulse Forward Rotation Reverse Rotation arameter Pulse Form Multiplier Reference Reverse Sign pulse train WW OROT pus OOOO H Cu positive logic wes e factory setting Eggs S 4 1 CW CCW aN i i SC Pn004 positive logic Zeien L H 02 Two phase pulse x1 oor pe H 3 train with 90 x2 CN1 30 CN1 30 phase differential cents on L H 04 GC i x4 positive logic E Note The input pulse multiplier can be set for the two phase pulse train with 90 phase differential reference pulse form 4 Inverse PULS and SIGN reference Pn004 0 Do not inverse PULS reference and SIGN reference Do not inverse PULS reference Inverse SIGN reference I
70. operation status set parameters and operation references The basic mode is selected in the following order Power ON Status display mode Parameter setting mode Utility function mode is dem 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 135 ESTUN ProNet Series AC Servo Users Manual AUTOMATION H Bit Data Display N Speed Torque Control Mode Position Control Mode o Bit Data Description Bit Data Description Lit when the difference between the SC 8 Lit if error between position reference servomotor and reference speed is the es ae and actual servomotor position is below Speed same as or less than the preset value Positioning E Ir l preset value Coincidence Present value Pn501 factory setting is Completion a Present value Pn500 10 pulse is factory rpm S SC setting Always lit in torque control mode Base lock Lit for base block Not lit at servo ON Base block Lit for base block Not lit at servo ON Control
71. optional wiring conduces to bus voltage more stable The following diagram is an example of the wiring when connecting more than one servo drive DC bus GO GO GO BH d s oe rai iB ate i AL HIE dil 2 Lie sI E ui lea z ale z E L2 E g d LUES LIES E L3 IIe es 13 E ee
72. parameter 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 Servomotor speed Speed oa Se Ee SN k Error pulse Un011 Un012 COIN CN1 11 12 E Note e COIN is a position control signal e This signal is used for the speed coincidence output V CMP for speed control and it always OFF high level for torque control 103 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 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 2 Setting Parameters Reference pulse P CON Servodrive Pn005 1 Pn005 H 0 01 J P CON OFF Pn005 H B 4 Error Counter Feedback pulse Parameter Meaning Pn005 H B Control mode selection position control pulse train reference INHIBIT E Inhibit INHIBIT switching condition P CON signal ON low level P CON Reference pulse ON OFF ON gt lt tl e t2 lt gt u t2 lt 0 5ms I
73. pee Road ies e E Hai 211106 P R China Made in Chi ESTUN ProNet Seres AC Servo Users Manual 1 1 2 Servo drive m ProNet Servo drive Model Designation pa 10 AEA e ProNet ie E 100VAC D 400VAC Control Mode M Speed control torque control position control E Speed control torque control position control support extended module Rated Output Extended module type A5 0 05 kW 2D DEI 01 0 1 kW E EC100 02 0 2kW P PL100 04 0 4kW EC integrated EC100 08 0 75kW 10 1 0 kW 15 1 5 kW 20 20kW 30 3 0kW b 5 0kW 70 7 0kW 75 7 5 kW Encoder Interface 1A 11kW A 17 bit serial encoder 1E 15kW Absolute Encoder 2B 22kW B Resolver Voltage F 20 bit serial encoder A 200VAC Absolute Encoder B Note Resolver with the feature of high reliability and long service life is suitable for harsh environments and a wide range of temperatures and humidity levels The factory setting for the resolver precision used in the ESTUN servo drive is 4096 ProNet EC refers to EtherCAT User s Manual CG ProNet EO Supports AE100 model ProNet MO does not support extended module m ProNet E Servo drive Model Designation PRONET E 10 A ProNet E Model TI Voltage A 200VAC B 100VAC D 400VAC Rated Output A5 0 05 kW 01 0 1 kW 02 0 2kW 04 0 4 kW 08 0 75 kW 10 1 0 kw
74. 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 limit switch is called moving speed These two speeds could be set by the following parameters Para No Description Unit Seiting range Default Speed of looking for reference point hits Pn685 a rpm 0 3000 1500 the limit switch Moving speed move away from limit Pn686 f rpm 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 106 ESTUN AUTOMATION ProNet Series AC Servo Users Manual E Related parameter Para No Description Observation Choose between cycle run and single run Changing steps will be performed till 0 Cycle run PCL as start signal NCL reverse to the end point is completed comma look for reference point and the next change will start from 1 Single run PCL as start signal NCL reverse to the start point during multi points Pn681 0 look for reference point cycle run 2 Cycle run NCL as start signal PCL reverse to P
75. points NO 1 notch filter is used first And set the frequency as the max value which the resonance frequency detection module outputs Than use the NO 2 notch filter for the second resonance point And set the frequency as the max value which the 130 ESTUN ProNet Seres AC Servo Users Manual resonance frequency detection module outputs as the NO 1 notch filter is using If the vibration stops not reset the frequency If the vibration does not stop reset the frequency of the NO 1 notch filter and so on 4 14 2 Related Parameters Parameter No Name Notch filter setting 0 use manual notch filter Pn010 1 1 use one adaptive notch filter 2 use twoadaptive notch filters Pn407 Notch filter 1 frequency Pn408 Notch filter 1 depth Pn409 Notch filter 2 frequency Pn410 Notch filter 2 depth Pn146 Notch filter 1 width Pn147 Notch filter 2 width Adaptive notch filter error amplitude threshold value when rotation Pn148 fluctuation is larger than the value adaptive notch filter starts to work Unit 0 1rpm PATAS Adaptive notch filter error frequency when two frequency errors n are larger than the value reset notch filter frequency Unit Hz 4 15 The use of Torque Observer 4 15 1 Equivalent load inertia ratio is adaptive The resonance frequency and amplitude of the system are associated with the inertia ratio of system Inertia ratio is smaller the smaller the resonance peak is Use this feat
76. servo drive Signal Status Output level Comments ALM ON 1CN 7 L level Normal state OFF 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 Input level Comments ON 1CN 39 L level Reset servo alarm EES OFF 1CN 39 H level Do not reset servo alarm Normally the external circuit can switch off the power supply of 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 122 ESTUN ProNet Series AC Servo Users Manual AUTOMATION 4 11 2 Rotation Detection Output Signal TGON Type Signal Name Connector Pin Number Setting Meaning ON low level Servomotor is operating Servomotor speed is above the setting in Pn503 Servomotor is not operating Servomotor speed is below the setting in Pn503 CN1 5 CN1 6 Output TGON Factory setting OFF high level This signal output indicates that the servomotor is curently operating above the setting set in parameter Pn503
77. speed of servomotor Please refer to step 1 4 E Purpose The servomotor is operated without connecting the shaft to the machine in order to confirm the following wiring is correct TT 1 1 0 signal wiring with host controller e Rotation direction speed and number of rotations of servomotor e Check the operation of the brake overtravel and other protective Secure the servomotor flange to the machine but do not connect the functions Please refer to step 5 8 E Purpose Perform the trial operation with the servomotor connected to the machine The servo drive is adjusted to match the Wee machine characteristics e Servomotor speed and machine travel distance e Set the necessary parameters Secure the servomotor flange to the machine and connect the servomotor shaft Please refer to step 9 11 60 ESTUN ProNet Seres AC Servo Users Manual Install the servomotor and servo drive according to the installation 1 Installation conditions Do not connect the servomotor to the machine because the 8 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 wiring 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 servomo
78. train torque control analog reference 9 Torque control analog reference lt 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 Unit Setting Range 0 0x33E3 Factory Setting Setting Invalidation After restart Pn006 Hex Pn006 0 Bus mode Pn006 1 Reserved Pn006 2 Low frequency jitter suppersion switch Pn006 3 Reference input filter for open collector signal 0 0x2133 0x0020 After restart Pn007 Binary Pn007 0 wider the width of C pulse or not Pn007 1 Reserved Pn007 2 Reserved Pn007 3 Torque filter 0 0x1111 After restart Pn010 Hex Pn010 0 Automatic identification function of motor and encoder types enable 0 0x0221 0x0000 After restart 169 ESTUN ProNet Series AC Servo Users Manual Value of speed setting 0 1 2 3 4 Value of acceleration speed setting 5 6 Speed reference input 7 actual motor speed AUTOMATION Parameter Name Unit Setting bactory Sening No Range Setting Invalidation Pn010 1 Notch filter mode selection Pn010 2 Torque obs
79. 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 se 2 UE S S ll e e Zero Clamp e EBH P CON TE 89 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 2 Parameter Setting Parameter Pn005 H A Meaning Control mode Speed control analog voltage reference lt gt Zero Clamp Zero Clamp Conditions Zero clamp is performed with Pn005 H A P CON is ON low level e Speed reference V REF drops below the setting in Pn502 Servodrive when the following two conditions are both satisfied Speed V REF speed reference CN1 Preset value for zero fi Speed reference VREF 1 clamping Fazit 4 Poros y EREDE 4 Thenea bett Lh D H Time ys Open OFF Closed ON Zero clamp P CON 5 P CON input f P H l Zero clamp is performed d OFF lt OFF x ON ZE ON ON Zero clamp speed Pn502 Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm 10 Immediately Sets the servomotor speed at which the zero clamp is performed if zero clamp speed control PnOO5 H AL
80. 00 Content of second data address 0201 4 LRC checking O M S M BiS S RI Slalajzte End 1 OD n CR End 0 OA LF Response information 154 ADR DI u CMD Data number count as byte 03 H 044 Content of data start 00 n high bit address 0200n B1 uo low bit Content of second data 1F p high bit address 0201 y 40 4 low bit CRC checking A3 u low bit CRC checking D3 y high bit ESTUN ProNet Series AC Servo Users Manual AUTOMATION ASCII mode Reference information STX Ze D ADR 4 D CMD e D p Data start address 0 D D D Data content e 4 l 9 LRC checking 3 End 1 OD y CR End 0 OA OPE RTU mode Reference information ADR 01H CMD 064 02 4 high bit Data start address 00 4 low bit 00 vu high bit Data content 64 4 low bit CRC checking 89 4 low bit CRC checking LRC ASCII mode and CRC RTU mode error detection value calculation 99 n high bit LRC calculation in ASCII mode ASCII mode uses LRC Longitudinal Redundancy Check error detection value The exceeded parts e g the total value is Response information Response information STX Za 2 0 ADR Bt 0 CMD e 0
81. 000 0 Immediately Pn500 Positioning error Puls 0 5000 100 Immediately Pn501 Coincidence difference rpm 0 100 10 Immediately Pn502 Zero clamp speed rpm 0 3000 10 Immediately Pn503 Rotation detection speed TGON rpm 0 3000 20 Immediately ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Name Unit Setting Factory Sening No Range Setting Invalidation Pn504 Offset counter overflow alarm 256Puls 1 32767 1024 Immediately Pn505 Servo ON waiting time ms 2000 2000 0 Immediately Pn506 Basic waiting flow 10ms 0 500 0 Immediately Pn507 Brake waiting speed rpm 10 100 100 Immediately Pn508 Brake waiting time 10ms 10 100 50 Immediately Pn509 Allocate input signal to terminal 0 OxFFFF 0x3210 After restart Pn510 Allocate input signal to terminal 0 OxFFFF 0x7654 After restart Pn511 Allocate output signal to terminal 0 0x0999 0x0210 After restart Pn512 Bus control input node low bit enable 0 1111 0 Immediately Pn513 Bus control input node low bit enable 0 1111 0 Immediately Pn514 Input port filter 0 2ms 0 1000 1 Immediately Pn515 Alarm port filter 0 2ms 0 3 1 Immediately Pn516 Input port signal inversion 0 1111 0 Immediately Pn517 Input port signal inversion 0 1111 0 Immediately Pn518 Dynamic brake time 0 5ms 50 2000 125 Immediately Pn519 Serial encoder error time 0 1ms 0 10000 3 Immediately Pn520 Position complete time 0 1ms 0 60000 500 Immed
82. 1 Analog speed limit enabled Beenie 0 Sets the value of Pn406 as the speed limit value ALL during torque control Banos 1 Use the lower speed between V REF and Pn406 T as an external speed limit input Pn001 Binary After restart bonta Pn001 2 Analog torque limit enabled ps 0 Sets Pn401 Pn404 as torque limit Sania 1 Sets the value corresponding to Vref input analog p 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 used as 2nd electronic gear when Pn005 1 is set to 1 176 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter No Pn002 Pn003 Description Binary Binary Setting Validation After restart After restart Control Mode ALL ALL 177 Function and Meaning Pn002 0 Electronic gear switching mode 0 Corresponding time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled PCON disabled f Electronic gear numerator 1 PCON disabled Reference pulse i i i tl t2 gt 1ms 1 Corresponding time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON disabled Electronic gear numerator 1 i PCON disabled i pr i i i i
83. 3 PBO Appicabia Line Receiver N OT Reverse Run Prohibited NOT 117 E 24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 25 PCO CLR Clear Error Pulse CLR 40 E 50 DGND P CL Forward Torque Limit P CL 41 i N CL Reverse Torque Limit N CL 42 t Signal Allocations can be Modified V CMP Speed Coincidence SHOM Home i 5 TGON COIN Positioning Completion ORG Zero Position 6 TGON TCON Rotation Detection ervo Rea te 9 S RDY ELT Torque Limit Detection 10 S RDY Bk Brake Interlock ag ncoder C Pulse Output I Hk 11 V CMP OT Over Travel j 12 V CMP RD Servo Enabled Motor Excitation Output T HOME Home Completion Output i Im Aar A 7 ALM Q i Connect Shield to Connector Shell Shield Shell k a ALM 1 7 j a T T eens ee an Sa a ee zi Ge DV ALM Servo Alarm Output af Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 44 ESTUN ProNet Seres AC Servo Users Manual 3 5 4 Three phase 400V ProNet 75D 2BD
84. 34 534 75 89 534 94 234 534 37 16 141 565 71 94 565 88 247 565 35 17 149 597 67 99 597 84 261 597 34 128 ESTUN ProNet Seres AC Servo Users Manual 18 157 628 64 105 628 80 275 628 32 19 165 659 61 110 659 76 289 659 30 20 173 691 58 115 691 72 302 691 29 21 181 722 55 120 722 69 316 722 28 22 188 754 53 126 754 66 330 754 27 23 196 785 51 131 785 64 344 785 25 24 204 816 49 136 816 61 357 816 24 25 212 848 47 141 848 59 371 848 24 26 220 879 45 147 879 57 385 879 23 27 228 911 44 152 911 55 399 911 22 28 236 942 42 157 942 53 412 942 21 29 243 973 41 162 973 51 426 973 21 30 251 1005 40 168 1005 50 440 1005 20 31 259 1036 39 173 1036 48 454 1036 19 32 267 1068 37 178 1068 47 467 1068 19 33 275 1099 36 183 1099 45 481 1099 18 34 283 1130 35 188 1130 44 495 1130 18 35 291 1162 34 194 1162 43 509 1162 17 36 298 1193 34 199 1193 42 522 1193 17 129 ESTUN ProNet Seres AC Servo Users Manual 4 13 Inertia Overvoltage A 13 happens if the servomotor exceeds 30 times the load inertia in acceleration Regeneration error A 16 happens if using the wrong internal regenerative resistor or external regenerative resistor H any of the above alarms happens take the following actions Decrease torque limit value Decrease deceleration curvature Decrease high speed If the alarm is not released with the above actio
85. 9 PG5V 5 A e PG ae l 49 PGov 6 Cc i i 7 8 9 PG5V B2 Shell Shield Ke PGOV H B3 gr Bes EE Shell Shield EE E E Soen T CN3 amp 1 N C Be sure to prepare the end of the Be sure to ground 2 NC shielded wire properly 3 485 UN pat I 4 ISO_GND 5 ISO_GND Use special communication cable to connect VRE OTL 6 485 PC Personal Computer Speed Reference 0 10V Rated Speed qT VREF 2 H a R Im Note Do not short terminal 1 and 2 of CN3 be TREF 26 Shell Shield Torque Reference 0 10V Rated Torque TREF 27 l l CN4 1 NC i l 2 NC Open collector Reference Use PPI i SE FT ii Se L ics 4_ ISO_GND BUST GWT Tra PULS 30 H53 Fac 5 _ ISO_GND Position Reference PULS 31 6 485 29 ze 32 2 l S CANE SIGN CCW B Lei See Wat tr Shell Shield i H 24V L L Signal allocatons can be modified Co DICOM 13 T 20 PAO S ON Servo ON SON 14 21 PAO P CON P Control E P CON 15 Ken 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited l P OT 16 23 PBO Appiah Ling e mice wn Eivel N OT Reverse Run Prohibited NOT 17 Fo 24 PCO Pe SES EE ALM RST Alarm Reset ALM RST 39 SE 25 PCO CLR Clear Error Pulse CLR 40 SE ma 50 DGND P CL Forward Torque Limit PCL 41 B i N CL Reverse Torque Limit NCL 42 ZS i Saralegi ad oe Modia SHOM Home i pe teone COIN Positioning Completion ORG Zero Position 6 TGON TGON
86. Alarm output when instantaneous power loss 0 1111 After restart Pn001 Binary Pn001 0 Pn001 1 Pn001 2 Pn001 3 CCW CW selection Analog speed limit enabled Analog torque limit enabled 2nd electronic gear enabled 0 1111 After restart Pn002 Binary Pn002 0 Pn002 1 Pn002 2 Pn002 3 Electronic gear switching mode Reserved Absolute encoder selection Reserved 0 0111 0010 After restart Pn003 Binary Pn003 0 Pn003 1 Pn003 2 Pn003 3 Reserved Reserved Low speed compensation Overload enhancement 0 1111 After restart Pn004 Hex Pn004 0 Pn004 1 Pn004 2 Pn004 3 Stop mode Error counter clear mode Reference pulse form Inverses pulse 0 0x3425 After restart 168 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter No Pn005 Name 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 speed control analog reference 8 Position control pulse
87. B2 resistor 100 04B 08B 04B 08B If using an internal regenerative resistor please short 28 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Servo Servo 3 Main F Terminal SE Drive Drive Name Circuit Functions Symbol Voltage V Model Model g ProNet Pronet E connection 200 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 Connect an external regenerative resistor between B1 B2 1AD 2BD B1 and B2 DC reactor for 200 ASA 50A asa soa Normally short land OF harmonic If a countermeasure against power supply harmonic GG suppression 400 10D 75D 10D 50D waves is needed connect a DC reactor between terminal qand 2 Main circuit 200 ASA 50A A5A 50A l Normally not connected minus terminal 400 10D 75D 10D 50D 3 1 2 Typical Main Circuit Wiring Examples E Single phase 200V ProNet A5A 04A Single phase 200V ProNet E A5A 04A Molded case Circuit Breaker LA Surge Protector 1Ry L2 Single phase 200 230V 1 50 60Hz 1PL Servo Alarm Display Note Noise Filter External regenerator resistor Power OFF Power ON 1KM To 1KM 1Ry m Lr 1SUP Be sure to c
88. C Servo Users Manual 4 3 2 Switching the Servomotor Rotation Direction The rotation direction of the 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 0 Standard setting CCW forward factory setting iia lecher Stong PAO PU nt JUUUL Bl reo LILI lr U L Pn001 b 1 Reverse rotation mode CW forward gorpu disba ouat Excode pul division output P80 UU pao t LULU UL aire SLI UU leg nn The direction of POT and N OT change For Pn001 b O standard setting counterclockwise is P OT For Pn001 b 1 reverse rotation mode clockwise is P OT 72 ESTUN ProNet Seres AC Servo Users Manual 4 3 3 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they e
89. CON PCL NCL OFF Switches to position control analog reference 7 Position control pulse train reference gt 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 conirol analog reference 9 Torque control analog reference speed Control analog reference PCON OFF Torque control analog reference ON Speed conirol analog reference 179 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter No Pn006 Hex Description Setting Validation After restart Control Mode 180 Function and Meaning A Speed control analog reference lt gt zero clamp Control PCON OFF Speed control analog reference ON zero clamp control B Positin control pulse train reference lt position control INHIBIT PCON OFF Position control pulse train reference ON position control INHIBIT 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 err
90. 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 A Cable Cable Name Mounting Position of the Core I O signals cable Near the host controller and servodrive Ferrite core Motor cable Near the servodrive and servomotor Encoder cable Near the servodrive and servomotor b Recommended Ferrite core Cable Name Ferrite Core Model Manufacturer I O signals cable Encoder cable ESD SR 25 TOKIN Motor 400W or less cable 750W or less PC40T96 X 20 X 70 TDK 56 ESTUN ProNet Seres AC Servo Users Manual c Fixing the Cable Fix and ground the cable shield using a piece of conductive metal e Example of Cable Clamp Cable Shield cable sheath stripped Host controller side Fix and ground the cable shield L e JL ew using a piece of conductive metal Ground plate Cable clamp Remove paint on mounting surface 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
91. DSP version Version is expressed by digit Read only 090F CPLD version Version is expressed by digit Read only ESTUN AUTOMATION ProNet Series AC Servo Users Manual Note 1 Parameter area communication address 0000 00DExy Communication data address Meaning Description Operation Hex 4010 17 bit encoder multi turn Unit 1 revolution Read only information Only for 17 bit f f Unit 1 pulse Encoder 17 bit encoder single turn 1011 f Multi turn 16 bits information 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 01 Forward rotation 1024 JOG forward rotation Write only 00 Stop 01 Reverse rotation 1025 JOG reverse rotation Write only 00 Stop fone JOG forward rotation at node 01 Forward rotation position start signal has been set 00 Stop 4027 JOG reverse rotation at node 01 Reverse rotation position start signal has been set 00 Stop 8 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 Parameter address is relevant to the parameters in the parameter list For example parameter Pn000 is relevant to communi
92. 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 f 4 Reference voltage V This reference voltage is set 111 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 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 Type Input Signal Name Connector Pin Number T REF CN1 26 T REF CN1 27 Torque Reference Input Meaning Used during torque control analog voltage reference Pn005 1 2 6 8 9 The torque reference input gain is set in Pn400 For setting details refer to 4 7 1 Setting Parameters Winput specifications e Input range DC 0 10V rated torque e Factory setting Pn400 30 Rated torque at 3V 3V input Rated torque in forward direction 9V input 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 W input circuit example Use twisted pair wires as a countermeasure against noise Checking the internal torque reference 1 Checking the internal torque reference with the
93. F PULS E Pulse reference input mode PULS Sign pulse train SIGN CCW CW pulse Two phase pulse 90 phase differential SIGN 8 PPI Power supply input for open collector reference 2KQ 0 5W resistor is built into the Position servo drive Positional error pulse clear input Clear the positional error pulse during position CLR control SHOM Homing trigger signal effective at the rising edge allocated by Pn509 or Pn510 ORG Zero Position effective at high level allocated by Pn509 or Pn510 T REF Torque reference input 10V T REF 34 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Output signals Control Mode Speed Position Torque TGON TGON Function Detects when the servomotor is rotating at a speed higher than the motor speed seeting ALM ALM Servo alarm Turns off when an error is detected S RDY S RDY Servo ready ON if there is no servo alarm when the control main circuit power supply is turned ON PAO PAO Phase A signal Converted two phase pulse phases A and B PBO PBO PCO PCO encoder output Phase B signal Phase C signal Zero point pulse Phase C signal FG Connect frame to ground if the shield wire of the I O signal cable is connected to the connector shell V CMP V CMP Speed coincidence Detects whether the moto
94. Immediately Note The servomotor s maximum speed will be used whenever a speed setting for the Pn316 Pn322 exceeds the maximum speed 116 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 8 2 Input Signal Settings The following input signals are used to switch the operating speed Type Signal Name Connector Pin Number Meaning Input P CON CN1 15 Selects the internally set speed Input P CL CN1 41 Selects the internally set speed Input 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 reference Input Signal oo fe Speed P CON P CL N CL OFF H OFF H Speed control zero reference OFF H ON L SPEED1 OFF H ON L OFF H SPEED2 ON L ON L SPEED3 OFF H OFF H SPEED4 OFF H ON L SPEED5 ON L ON L OFF H SPEED6 ON L ON L SPEED7 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 gt Position control pulse train Input Signal Speed P CON P CL N CL OFF H OFF H Pu
95. Machine rigidity little larger However if it is too large it would suffer Pn101 l Immediately P S GEN Setting mechanical impact It should be set a little smaller when large vibration is present This parameter is only valid in autotuning This parameter determines speed loop gain Pn102 Speed loop gain Immediately P S Unit Hz Decreases the value of this parameter to shorten Speed loop integral eae Pn103 Immediately P S positioning time and enhance speed response time constant Unit 0 1ms This parameter determines position loop gain p Decreases this value to enhance servo rigidity but Pn104 Position loop gain Immediately P a vibration will occur if the value is too large Unit 1 s Torque reference filter can eliminate or lighten Torque reference i f a f Pn105 f Immediately P S T mechanical vibration but incorrect setting will result to filter time constant mechanical vibration Unit 0 01ms Load inertia Setting value load inertia rotor inertia Xx 100 Pn106 Immediately P S percentage Unit Pn107 2nd speed loop gain Immediately P S 2nd speed loop Pn108 i f Immediately P S The meanings of these parameters are the same as integral time constant Pn102 Pn105 2nd position loop f Pn109 l Immediately P These parameters are only needed to set when two ain S types of gain function are enabled 2nd torque reference S Pn110 i Immediately P S T filter time constant This parameter settin
96. O 1 MODBUS ASCII 3 8 N 2 MODBUS ASCII 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 Axis address of MODBUS protocol communication Pn703 CAN communication speed After restart ALL Pn703 0 CAN communication baud rate 0 50Kbps 194 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter Description No Validation Setting Control Mode Function and Meaning 1 100Kbps 2 125Kbps 3 250Kbps 4 500Kbps 5 1Mbps CAN communication Pn704 contact After restart ALL CANopen Aix address of communication Pn840 Hex After restart ALL Pn840 0 Encoder model selection 0 2 Reserved For factory using 3 17 bit absolute encoder 4 17 bit incremental encoder 5 Resolver 6 Wire saving incremental encoder 7 20 bit absolute encoder 8 20 bit incremental encoder Pn840 1 Motor designing sequence 0 EMO A 1 EMO B Pn840 2 Reserved For factory using Pn840 3 Reserved For factory using Note When connecting to EMJ 04AOH frequency receiving by servo hardware Pn005 3 should be set as 1 the max value of se
97. ODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn008 rz Kc Im i 4 Press the ENTER key the display will be shown as below ww 1 7 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 3 Press the ENTER key the display will be shown as below 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 148 ESTUN ProNet Seres AC Servo Users Manual 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 number Fn010 3 Press the ENTER key the display will be shown as below 4 Press the MODE key to reset the absolute encoder multiturn data and alarm
98. Offset automatically adjusted in the servodrive Torque referen 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 H 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 e 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 A Offset adjustment range Offset adjustment range 1024 1024 Analog voltage input Offset setting unit SES ESTUN AUTOMATION ProNet Serie
99. P TGON S RDY CLT BK PGC OT RD HOME TCR Pn512 Bus control input node low bit enabled Immediately Pn513 Bus control input node low bit enabled Immediately Bus communication input port enabled 0 Disabled 1 Enabled Pn512 0 gt CN1_14 Pn512 1 gt CN1_15 Pn512 2 gt CN1_16 Pn512 3 gt CN1_17 Pn513 0 gt CN1_39 Pn513 1 gt CN1_40 Pn513 2 gt CN1_41 Pn513 3 gt CN1_42 Pn514 Input port filter Immediately It is used to set input port filter time The signal will be lagged if the parameter setting is too high Pn515 Reserved 189 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Setting Control Description Function and Meaning No Validation Mode 0 Do not inverse signal Input port signal 1 Inverse signal Pn516 inversion Immediately P S T Pn516 0 gt CN1_ 14 inversion Pn516 1 gt CN1_15 inversion Pn516 2 gt CN1_16 inversion Pn516 3 gt CN1_17 inversion Input port signal Pn517 0 gt CN1_39 inversion Pn517 inversion Immediately P S T Pn517 15CN1_40 inversion Pn517 2 gt CN1_41 inversion Pn517 39CN1_ 42 inversion Pn518 Dynamic brake time Immediately P S T Motor dynamic brake time Serial encoder error 8 In the range of this parameter there will be no Pn519 Immediately P S T f time warning of serial encoder error Position complete i e f Pn520 i Immediately P S T T
100. P S 2 Value of acceleration speed setting condition 3 Value of speed setting 4 Fixed Pl Torque switching Threshold of torque to switch PI control to P control Pn117 After restart P S threshold Unit Threshold of error counter to switch PI control to P Offset counter Pn118 Bap Immediately P control switching threshold Unit pulse Setting acceleration Threshold of acceleration speed to switch PI control to Pn119 speed switching Immediately P S P control threshold Unit 10rpm s Setting speed Threshold of speed to switch PI control to P control Pni20 aa Immediately P S switching threshold Unit rom Pn121 Gain switching After restart P S 0 Fix to 1st group gain 183 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter o Setting Control S Description Function and Meaning No Validation Mode condition 1 External switch gain switching G SEL 2 Torque percentage 3 Value of offset counter 4 Value of acceleration speed setting 10rpm 5 Value of speed setting 6 Speed reference input 7 actual motor speed a Delay time of switching gain when switching condition Pn122 Switching delay time Immediately P S E is satisfied Pn123 Switch threshold level Immediately P S Gain switching trigger level Pn124 Reserved e Position gain This parameter is used to smooth transition if the Pn125 Oe Immediately
101. P Wei switching time change of the two groups of gain is too large SEN f This parameter is used to set the operation hysteresis Pn126 Hysteresis switching Immediately P S a of gain switching This parameter is used to filter in low speed detection Low speed detection f Pn127 a 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 rigidity during online autotuning The speed loop gain Pn128 Immediately P S g d j S BS relationship during is larger when this value is higher online autotuning Low speed correction The intensity of anti friction and anti creeping at low Pn129 We Immediately P S a i coefficient speed Vibration will occur if this value is set too large Pn130 Friction Load Immediately P S Frictin load or fixed load compensation Friction Pn131 compensation speed Immediately P S Threshold of friction compensation start hysteresis area Pn132 Sticking friction load Immediately P S Sticking damp which is in direct proportion to speed Pn133 Reserved Pn134 Reserved Pn135 Reserved Pn136 Reserved Pn137 Reserved Pn138 Reserved Pn139 Reserved Pn140 Reserved Pn141 Reserved Pn142 Reserved Ge Pn143 Reserved Pn144 Reserved Notch filters 1 trap Immediately Pn146 P P S T N
102. PAO 21 PAO PBO PG Divided Ratio Output PBO Applicable Line Receiver AM26LS32A Manufactured by TI or the Equivalent 24 PCO 25 PCO 50 DGND ati Open collector Reference Use PPI 34 xo PULS 30 aL Position Reference PULS CW A Tea SES 31 Sk xo sa SIGN CCW B Pa acne s yak Signal Allocations can be Modified 5 TGON V CMP Speed Coincidence E COIN Positioning Completion 6 TGON TGON Rotation jetection e 9 S RDY S RDY Servo Ready 10 3 CLT Torque Limit Detection S RDY BK Brake Interlock se 11 COIN PGC Encoder C Pulse Output E 12 COIN OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output Signal allocatons can be modified DICOM 13 S ON Servo ON S ON 14 P CON P Control P CON 15 P OT Forward Run Prohibited POT 16 N OT Reverse Run Prohibited NOT 17 ALM RST Alarm Reset ALM RST 39 CLR Clear Error Pulse CLR 40 P CL Forward Torque Limit POL 41 N CL Reverse Torque Limit KCL IA SHOM Home ORG Zero Position 1Ry 24 Connect Shield to Connector Shell Shield Shen EN Z ae S ov
103. PI 34 i 2 BO SKD H E Pon PULS 30 Teel 5 ISO GND Position Reference lt PULS CW A PULS 31 ES 6 485 T D 7 CANH S 1500 sien emp Lei Ze H 8 CANL i I Shell Shield rn l Lon 1 Signal allocatons can be modified 20 DICOM 13 4 Se a 20 PAO S ON Servo ON 21 PAO P CON P Control a 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited 23 PBO Applicable Line Receiver N OT Reverse Run Prohibited S 34 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset 25 PCO CLR Clear Error Pulse p 50 DGND P CL Forward Torque Limit TEN N CL Reverse Torque Limit Signal Allocations can be Modified V CMP Speed Coincidence SHOM Home e TGON GOIN Positioning Completion ORG Zero Position 6 TGON TGON Rotation Detection 3 T SRDY S RDY Servo Ready EN CLT Torque Limit Detection 10 S RDY BK Brake Interlock 11 V CMP PGC Encoder C Pulse Output OT Over Travel th 12 V CMP RD Servo Enabled Motor Excitation Output T HOME Home Completion Output 1Ry 24V i i 7 ALM Connect Shield to Connector Shell Shield Shell f a AEN T 1 D EE D ov ALM Servo Alarm Output af Represents Twisted pair Wires Photocouplet Output Maximum Operating Voltage DC30V Maximum Output Current DC50MA Notes 1 The resistor of 1500W 200 is recommended for the external regenerative resistor of ProNet 1AD 2 The resistor of 1500W 150 is recommended for the external regenerative res
104. S 485 Communication Wiring tutt E ntt EntEAAtEnAEEANEEAEEEAEEEEEAEE EAEn ntEnatEnne nnen neen 150 6 2 MODBUS Communication Related PDarameters 151 6 3 MODBUS Communication Protocol eccceecceeeeeeeeeeeeeeeeeeeseaeeeeaeeeeaeeeeaeeseaeeeseeeseaeeeeeeseeeseeeseneeseieeeeneeen 152 63 T Code MEA MING DEE 152 6 3 2 Communication Error Disposa 158 6 3 3 Data Communication Address Of Servo State A 159 Chapter A EE isthe ieee deh ded anaes E E ahaa ieee Gee des Gee ie 162 Specifications ANd Characters ssssssesetesstttesttttetttttttt ttrt tAE AEAEAEEEEAEEEEEEEEEEASEEEESEEEEAEEEEEEEEEEEEEEEESEE EEANN EERE EEEEE EERE EEE 162 7 1 Servo drive Specifications and Models AAA 162 7 2 Servo drive Dimensional DrawinS AAA 165 PDD GIGI EE 168 atareter cscicccesesbecevecepees ghetactesdeews cect KSE EE AER teehee epteelcegbltecavidenesd ES ENEE EES 168 Pre Parameter EE 168 A 2 Description of Parameter Type c cccesenceeeseeceeeeseeeenesenceenseeneeseseeneneseeceenseeneeseeesenesaeaeenseenseseseesenesseeeess 175 A 3 Parameters in Cetall n c ccc cccececceteeieceeesssceqeetstceneedeceedeosetecenashdeepeedtnvensedenesdacdebestoeehieccesdhnvacceterstesdeiccenessdueneey 176 ee E 196 Alam PS E EE 196 ESTUN ProNet Seres AC Servo Users Manual Chapter 1 Checking Products and Parts Names 1 1 Checking Products on Delivery Check Items Comments Are the
105. STUN ProNet Seres AC Servo Users Manual 4 6 Operating Using Position Control Set the following parameters for position control using pulse trains Parameter Meaning Pn005 H 1 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 Pal Differential Feed forward Haars Offset Pn500 Pn202 A Positioning complete Pn004 2 Pn204 P Pn104 Servomotor Reference pulse d z Ee 2 Ls MEENE a BN Speed loop Current loop __ M x4 a Pri i z Y x4 po PG signal output Pn200 E lt dividing Encoder 4 6 1 Basic Setting in Position Control 1 Setting a reference pulse sign Type Signal Name Connector Pin Number Name PULS CN1 30 Reference pulse input E PULS CN1 31 Reference pulse input npu SIGN CN1 32 Reference sign input SIGN CN1 33 Reference sign input 2 Setting reference input filter for open collector signal Pn006 0 when pulse is difference input servo receiving pulse frequency lt 4M 1 when pulse is difference input servo receiving pulse frequency lt 650K 2 when pulse
106. ST_ Alarm reset 15 P CON P PI control input 40 CLR Position error pulse clear input 16 P OT Forward run prohibited 41 PCL Forward torque limit input 17 N OT Reverse run prohibited 42 NCL Reverse torque limit input 18 Ge Reserved 43 Reserved 19 Reserved 44 Reserved 20 PAO PG dividing 45 Reserved pulse output PG 21 PAO 46 DGND DGND phase A dividing 22 PBO PG dividing pulse 47 Reserved pulse output output 23 PBO 48 DGND DGND phase B PG dividing Reserved Zero point pulse output pulse DGND phase C Note The functions allocated to the following input and output signals can be changed by using the parameters e Input signals S ON P CON P OT N OT ALM RST CLR PCL NCL SHOM ORG e Output signals TGON S RDY COIN HOME Please refer to A 3 Parameters in details for detailed information 36 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 3 2 4 Interface Circuit This section shows examples of servo drive I O signal connection to the host controller Winterface 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 4709 1 2W min Servodrive IDN vee 1 About 40K 2 GND ov Reference torque input 4709 1 2W min 10V
107. Series AC Servo Users Manual AUTOMATION 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 completed Output COIN p OFF high level Positioning is not completed 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 The factory setting is allocated to CN1 11 12 Positioning Error j Position Factory Setting Setting Validation 100 Immediately 0 5000 1Puls Position complete time 8 Position Setting Validation Pn500 Setting Range Setting Unit Pn520 Setting Unit Factory Setting Setting Range 500 Immediately 0 60000 0 Ims 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 e 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
108. Servo Users Manual 4 Turn ON the servo ON signal the display is shown as follows 5 Hold the ENTER key the speed reference offset will be displayed O 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 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 describes 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 e 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
109. Spec Code Spec 10 1 0kW D Incremental encoder 131072P R 1 None 20 2 0kW P Incremental Wire saving Type2500P R 2 With oil seal 30 3 0kW S Absolute encoder 131072P R 3 With brake DC24V 40 4 0kW F Incremental encoder 1048576P R 4 With oil seal and brake DC24V 3 Voltage 5 Designing Sequence 6 Shaft End Code Spec Code Spec Code Spec A 200VAC A Designing sequence A 1 Sraigt wthoutkey _ Gandard D 400VAC B Designing sequence B 2 Sraigt with key andtap Note 1 EML 20 A EML 30 A EML 40 A are not mounted with an incremental encoder 131072P R 2 There is no brake mounted on the EML 100D servomotor ESTUN ProNet Series AC Servo Users Manual AUTOMATION EMB 1E D S A 1 1 ESTUN Servomotor 1 2 3 4 5 6 7 EMB Model 1 2 Rated Output 4 Encoder 7 Option Code Spec Code Spec Code Spec 75 7 5kW S Absolute encoder 131072P R 1 None 1A 11 0kW R Resolver 2 With oil seal 1E 15 0kW 3 With brake DC24V 2B 22 0kW 4 With oil seal and brake DC24V 3 Voltage 5 Designing Sequence 6 Shaft End Code Spec Code Spec Code Spec D 400VAC A Designing sequence A 1 Sragtwithoutkey Standard S Sragtwihkey_andtap E Appearance and Nameplate ESTU Ac SERVOMOTOR Servomotor model ck EMG 1 OADA22 2000 r m in 1 0kW_ 4 78N m IP65 Ins F oe soa jac 200v 3 S1 133Hz DNR il I ill il it 7
110. US Communication Related Parameters Parameter No Description Setting Validation Control Mode Meaning Pn700 Pn701 Hex Axis address After restart After restart ALL ALL 151 Pn700 0 MODBUS baud rate 0 4800bps 1 9600bps 2 19200bps Pn700 1 Communication protocol selection 0 7 N 2 MODBUS ASCII 1 7 E 1 MODBUS ASCII 2 7 O 1 MODBUS ASCII 3 8 N 2 MODBUS ASCII 4 8 E 1 MODBUS ASCIID 5 8 O 1 MODBUS ASCII 6 8 N 2 MODBUS RTU 7 8 E 1 MODBUS RTU 8 8 O 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 communication ESTUN ProNet Seres AC Servo Users Manual 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 Character 0 T 2 3
111. Use in the following instances To control speed e For position control using the encoder feedback division output from the servo drive to form a position loop in the host controller 4 5 Position Control Pulse train reference Controls the position of the servomotor using pulse train position reference Controls the position with the number of input pulses and controls the speed with the input pulse frequency Use when positioning is required 4 6 Pn005 Torque Conirol Analog voltage reference Controls the servomotor s output torque with analog voltage torque reference Use to output the required amount of torque for operations such as pressing 4 7 Speed Control contact reference lt Speed Control zero reference Use the three input signals P CON P CL and N CL to control the 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 4 8 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 702 ESTUN ProNet Seres AC Servo Users Manual 4 3 Setting Common Basic Functions 4 3 1 Setting the Servo ON Signal This sets the servo ON signal
112. Use one adaptive notch filter 2 Use two adaptive notch filters Pn010 2 Torque observer mode selection 0 Do not use a torque observer 1 Start torque observer and use it to torque compensation arithmetic 2 start torque observer and use it to load inertia ratio adjustable module Pn100 Online autotuning setting After restart Pn100 0 Load inertia setting 0 Manual setting 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 Pn100 1 Online autotuning seiting 0 Manual setting 1 Standard 2 Steadily 3 High precision 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 mechanical clearance is 181 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Setting Control Description ae Function and Meaning No Validation Mode 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
113. Users Manual AUTOMATION Parameter Setting Control Description Function and Meaning No Validation Mode exceeds the 2 times rated overload It is used in frequent power ON OFF occasions 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 servomotor 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 Hex 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 refer
114. Users Manual 7 1 Servo drive Specifications and Models Specifications and Characters Chapter 7 10 15 50 60Hz 10 15 10 15 50 60Hz EMJ A5A 01A 02A 04A 08A 10A 02B 04B 08B Applicable Servomotor EMG 10A 15A 20A 30A 50A 10D 15D 20D 30D Model EML 10A 20A 30A 40A 10D 20D 30D 40D EMB 75D 75D 1AD 1ED 2BD Continuous Output Current Arms 1 0 1 1 1 4 2 8 4 0 6 0 9 0 12 0 18 0 28 0 3 2 5 0 6 4 9 0 15 0 18 0 18 0 28 0 38 0 55 0 2 7 5 8 8 2 Max Output Current Arms 3 0 3 3 4 2 8 4 12 0 18 0 28 0 42 0 45 0 62 0 9 6 15 0 19 2 27 0 45 0 48 0 48 0 65 0 100 0 128 0 8 1 15 1 24 6 Main Input Power Supply Capacity kVA 0 2 0 3 0 5 0 9 1 3 1 8 2 5 3 5 45 7 5 1 8 2 8 3 5 5 0 8 2 12 0 12 0 18 0 22 0 32 0 0 5 0 9 1 3 DC24V Power Supply Capacity W 30 0 30 0 30 0 45 0 45 0 45 0 45 0 Single phase Single Phase Three phase E ete 100 120VAC Main Circuit 200 230VAC 200 230VAC Three phase 380 440VAC 10 15 50 60Hz e E 10 15 10 15 50 60HZz 10 15 50 60Hz Input Power Supply 50 60HZz Single phase 24VDC Single phase Single phase 100 Control Circuit 200 230VAC 380 440VAC 120VAC 10 15 50 60Hz Control Method SVPWM Control Serial Encoder 131072P R 1048576
115. V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V 7 ALM Seege 8 ALM D 1D ov ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50MA ESTUN ProNet Seres AC Servo Users Manual 3 2 2 I O Signal Names and Functions H Input Signals Fane Function Servo ON Turns the servomotor on Function selected by parameter Proportional Switches the speed control loop from PI to P control when control reference ON Direction With the internally set speed selection Switch the rotation reference direction Control mode SC Enables control mode switching switching Zero clamp Speed control with zero clamp function Reference speed is reference zero when ON Reference pulse Position control with reference pulse Stops reference pulse block input when ON Speed Forward run Position prohibited Torque Reverse run prohibited Overtravel prohibited Stops servomotor when OFF Function selected by parameter Forward external torque limit ON Reverse external torque limit ON Current limit function enabled when ON 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 VREF Speed reference input 10V VRE
116. White AC DC Black BK RY Brake control relay 1 2 The output terminals allocated with Pn511 76 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 2 Brake interlock output Type Signal Name Connector Pin Number Seiting Meaning ON Low level Releases the brake Output BK Must be allocated 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 Parameter Meaning Terminal Terminal The BK signal is output from output Pn511 H 4 CN1 11 CN1 12 terminal CN4 11 12 The BK signal is output from output Pn511 H 4 CN1 5 CN1 6 terminal CN1 5 6 Bar ZER CN1 9 CN1 10 The BK signal is output from output terminal CN1 9 10 E 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 0 COIN V CMP ou
117. a address Meaning Description Operation Hex 0000 02FD Parameter area Corresponding parameters in Read write parameter list 07F1 07FA Alarm information memory area Ten alarms historical record Read only 07FB Speed reference zero offset Read write 07FC Torque reference zero offset Read write 07FD lu zero offset Read only 07FE lv zero offset Read only 0806 0816 Monitor data corresponding with displayed data 0806 Speed feedback Unit rpm Read only 0807 Input speed reference value Unit rpm Read only wana Input torque reference percentage Relative rated Read only torque sos Internal torque reference Relative rated Read only percentage torque 080A Number of encoder rotation pulses Read only 080B Input signal state Read only 080C Encoder signal state Read only 080D Output signal state Read only 080E Pulse setting Read only 080F Low bits of present location Unit 1 reference pulse Read only m High bits of present location Unit 10000 Read only reference pulses 0811 Error pulse counter low 16 bits Read only 0812 Error pulse counter high 16 bits Read only 0813 Setting pulse counter low bits Unit 1 reference pulse Read only 0814 Setting pulse counter high bits Unit 10000 reference pulses Read only 0815 Load inertia percentage Read only 0816 Servomotor overloading proportion Read only 0817 Current alarm Read only 0818 Servomotor winding temperature cc Read only 0900 MODBUS communication IO signal Do not save when Read write power off 090E
118. and correct it 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 Conirol f with Analog Reference When using a servomotor equipped with an absolute encoder the encoder setup is required before driving the servomotor supply Normal Display Alternate Display first before driving the servomotor 62 ESTUN ProNet Seres AC Servo Users Manual 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 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 Power Supply 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 Press the MODE key to select the function MODE key y mode Ser The servomotor will run in forward direction when INC nz A ee DP as key is pressed or in reverse direction when DEC key B SG INC or DEC key is pressed The se
119. and denominator if the calculated result will not be within the setting range e 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 Reference pulse B A Qmm P DE Mmm P I Reference unit PoPirev Ene P mmrey Ball m Dece n Ae B oder pulses screw pitch eleration ratio Tat AxPox Serv omotor _4AxPexmxt 4xPo m p nxp P Af n A Pn202 99 Set A and B with the following parameters CJ 8 a aa Pitch P mmrey ESTUN ProNet Seres AC Servo Users Manual 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 Parameter Description 0 1 order filter 1 2 order filter Pn205 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 Pn204 Setting Range Setting Unit Factory Setting Setting Validation 0 32767 0 ims 0 Immediately E important When the position reference acceleration deceleration time constant Pn204 is changed a value with no reference pulse input and a position er
120. arameter is the needed analog Pn400 Immediately T l gain input voltage to reach the rated torque Forward torque Pn401 We Immediately P S T internal limit Reverse torque Pn402 T Immediately P S T Servomotor output torque limit value depending on internal limit the actual overload capacity Forward external Pn403 E Immediately P S T torque limit Pn404 Reverse external Immediately P S T 186 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Setting Control f Description ges Function and Meaning No Validation Mode torque limit Plug braking torque Pn405 La Immediately P S T limit Speed limit during i Servomotor output torque limit value during torque Pn406 Immediately T torque control control Notch filter 1 f i 1 In some conditions Pn407 Immediately P S T Notch filter 1 frequency oo frequency vibration will be picked Pn408 Notch filter 1 depth Immediately P S T Notch filter 1 depth up and response will be Notch filter 2 lagged after notch filter Pn409 Immediately P S T Notch filter 2 frequency frequency is set 2 When notch filter Pn410 Notch filter 2 depth diatel P ST Notch filter 2 depth ee eee n otch filter 2 dept mmediate S otch filter 2 dept E d g 5000 the notch filter is invalid Low frequency Pn411 DS Immediately P S Frequency of low frequency vibration with load vibration fr
121. arm Reset ALM RST 25 PCO CLR Clear Error Pulse CLR pi 50 DGND P CL Forward Torque Limit P CL NCL Reverse Torque Limit N CL i Signal Allocations can be Modified V CMP Speed Coincidence SHOM Home Li 5 TGON COIN Positioning Completion ORG Zero Position 6 TGON ee Bolaion GH RDY Servo Reat e 9 S RDY GLT Torque Limit Detection 10 S RDY BK Brake Interlock PGC Encoder C Pulse Output LATE OT Over Travel S Pn 12 V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output iRy 24V 1 d 7 ALM Connect Shield to Connector Shell Shield t are T T ot EE 4 l ov ALM Servo Alarm Output af Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50MA 47 ESTUN ProNet Series AC Servo Users Manual 3 5 7 Single phase 100V ProNet 08B ProNet E 08B
122. art ASCII mode character 153 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 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 gt 2 32y 0 30n 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 u from the servo drive which address is 01 H ASCII mode Reference information STX nase ADR PE CMD 2 g 0 Data start address S 0 0 Data number 0 count as word 0 o LRC checking z End 1 OD u CR End 0 OA oP RTU mode Reference information ADR DI u CMD 03 H Data start address SCH ana 00 4 low bit Data number 00 H Ccount as word 024 CRC checking C5 p low bit CRC checking B3 p high bit Reference code 06 write in one word For example write 100 0064 4 into 014 servo address 0200 4 Response information STX ADR CMD Data number count as byte Content of data start address 02
123. art signal can immediately stop inside pulse Return to programmed start point process step when reset 3 PCON change step need start signal canceling start signal can immediately stop inside pulse Return to programmed 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 P BEES programme 1 Absolute programme Pn683 Programme start step Immediately 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 Pn685 Speed of Paang immediately p Search the servomotor speed in the direction of reference point reference point towards travel switch Hitting the origin signal ORG in position homing control Leave travel switch speed in position control contact reference Pn686 Speed of memg inmediidy p Search the servomotor speed when the reference reference point point leaves travel switch Leaving the origin signal ORG in position homing control Position teaching The two parameters are used in combination and the Pn687 Immediately P pulse algebraic sum of them is the current position of position teaching When performing the position Position teaching teaching by utility function the algebraic sum of the Pn688 Immed
124. as the reference point ESTUN servo drives can perform this function by the homing function 1 Homing Mode Setting Para No Description 0 Homing in the forward direction i 1 Homing in the reverse direction Return to search C Pulse when homing Pn689 Directly search C Pulse when homing si o o olo s 0 Homing function disabled b O1 Homing triggered by SHOM signal rising edge e Applicable control mode position control e Homing operation can only be operated when COIN is ON e Pulses sent from the host controller is disabled when homing e Homing operation is disabled when in switching control mode e Control mode switching is not allowed during homing e After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings e 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 108 Speed of finding reference point Hitting the origin signal ORG Pn685 Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm 1500 Immediately Speed of finding reference point Leaving the origin signal ORG Pn686 Setting Range Setting Unit Factory Setting Setting Validation 0 200 rpm 30 Im
125. 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 a s d SE se gt D wa A TAN 7 Ke L gt BS W I A R 8 Forward rotation d everse rotation 7 Press the ENTER key to return to utility function mode display Fn002 Now the servo is OFF servomotor power OFF 143 ESTUN ProNet Seres AC Servo Users Manual 5 2 4 Automatic Adjustment of the Speed 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 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
126. bserved load torque The higher the gear the more real time observation but the greater the observation noise 193 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter No Description Setting Validation Control Mode Function and Meaning When the moment of inertia is larger can use 5 The moment of inertia is big and system of rigid can use 6 Small inertia 5 and 6 gears shall not apply Pn697 Observer value of Torque observer filter coefficient Immediately The greater the low pass filter time constant the more you delay Pn698 Exterior disturber torque current compensate coefficient Immediately The compensation coefficient of observed disturber torque the greater the value the more obvious the compensation effect Unit Pn699 Dummy load inertia ratio Actual load inertia ratio Immediately The ration of Dummy load inertia ratio and Actual load inertia ratio the smaller the ratio of system the better the effect of vibration suppression but the worse dynamic response performance can take 50 then they can be adjusted up and down Pn700 Pn701 Pn702 Hex MODBUS Axis address Reserved After restart After restart ALL ALL 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 ASCIID 2 7
127. cain i ist 6 T Connects to the encoder egenerative TeS Sior in the servomotor connecting terminals Ea Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock 19 CG ESTUN AUTOMATION ProNet Series AC Servo Users Manual m ProNet 30D 50D 70D 75D ProNet E 30D 50D 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 Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices UO signal connector S ES A Used for reference input 0 signals and sequence I O i see signals Encoder connector CN2 A
128. cation address 0000 parameter Pn101 is relevant to communication address 0065 Read write operation to address 0000 is the read write operation to PnOOO 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 07FAy Historical alarm number Description Communication address Historical alarm 1 O7F1H 0 the latest alarm 1 8 Historical alarm 2 9 O7F2y O7F9y 9 Historical alarm 10 the furthest alarm 07FAuH 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 160 ESTUN ProNet Seres AC Servo Users Manual Therefore the speed setting is 1258r m 4 MODBUS communication IO signal Use communication to control digital IO signal This data will not 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 IO can be controlled by communication 5 Software version 090F 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 161s ESTUN AUTOMATION ProNet Series AC Servo
129. catons can be modified DICOM 13 L 20 PAO S ON Servo ON SON 14 21 PAO P CON P Control P CON 15 eo 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 16 23 PBO Applicable Line Receiver N OT Reverse Run Prohibited NOT 117 rn Tase AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 BS 25 PCO CLR Clear Error Pulse CLR 40 5150 D nn P CL Forward Torque Limit P CL_ 41 R N CL Reverse Torque Limit NCL 42 B TUM Send e z ie echt SHOM Home J 5 TGON COIN Positioning Completion ORG Zero Position 6 TGON TGON Rotation Detection leng SE Torque Limit Detection l til Ho Tsoy BK Brake Interlock T1 V CMP4 PGC Encoder C Pulse Output OT Over Travel l i 4 12 V CMP RD Servo Enabled Motor Excitation Output i i HOME Home Completion Output 1Ry 24V i l N T ALM Connect Shield to Connector Shell Shield Shell fh 8 1 ALM Su bal i OO ee 4 a ov ALM Servo Alarm Output af Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mMA 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 lt 7 16 N m 48 ESTUN ProNet Series AC Servo Users Manual 3 5 8 Position Control Mode ProNet Series Servodrives 20
130. communication is finished Example The following example uses C language to generate CRC value The function 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 crc_ reg data for j 0 j lt 8 j If crc_reg A Ox01 crc_reg crc_reg gt gt 1 0xA001 Jelse crc_reg crc_reg gt gt 1 return crc_reg 157 ESTUN ProNet Seres AC Servo Users Manual 6 3 2 Communication Error Disposal Problems that occur during communication are a result of the following Data address is incorrect while reading writing parameters The data is not within the parameter setting range while writing 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 start Slave station address Command Data address content Checking command Servo drive feeds back error frame start Slave station address Response code Error code Checking command 80 4
131. ctor for communication Used to communicate with other devices Control power supply S terminals o gr Used for control power Tic signal connector supply input E Used for reference input Regenerative resistor i SCH signals and sequence UO connecting terminals i pel signals Used to connect external S 0 regenerative resistors H v Servomotor terminals x o IL Connects to the servomotor Encoder connector power line ipi Connects to the encoder Ground terminal Be sure to connect to protect electric shock in the servomotor 18 ESTUN AUTOMATION ProNet Series AC Servo Users Manual m ProNet 10D 15D 20D ProNet E 10D 15D 20D Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit Woner W I Power on indicator power supply capacitor remains charged I 2 g Lights when the control power supply is on Main circui
132. d Torque Limit NCL 42 N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V q AN 8 ALM 1D Connect Shield to Connector Shell Shield Shell ov ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA Spee Twisted pair Wires 50 ESTUN ProNet Seres AC Servo Users Manual 3 5 10 Torque Control Mode ProNet Series Servodrives 25 PCO 50 DGND ret Torque Reference 0 10V Rated Torque Hees 5 alk ro 20 PAO 21 PAO a 22 PBO PG Divided Ratio Output 23 PBO Applicable Line Receiver AM26LS32A Manufactured by TI or the Equivalent Di eo 24 PCO Signal Allocations can be Modified 5 TGON V CMP Speed Coincidence ech 6 TGON COIN Positioning Completion 21 picom 73 9 S RDY A Ready Signal allocatons can be modified Son M7 R tak 10 ERDY CLT Torque Limit Detection S ON Servo ON REN T1 V CMPs BK Brake Interlock P CON P Control CON SE El Heee Sea lee Output P OT Forward Run Prohibited CSL _ 18 RET CMP RD Servo Enabled Motor Excitation Output N OT Reverse Run Prohibited ALM RST 39 TEN HOME Home Co
133. ding 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 screws 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 85 C with the power cable disconnected 2 2 2 Installation Sites Notes on installation are shown below Situation Notes on installation 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 convection so that the temperature around the periphery of the servo drive does not heating unit exceed 55 C When installed near a Se _ DEN e 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 i
134. ding to that absolute value is applied in the forward or reverse direction Related Parameters Parameter Meaning Pn001 b O1 Use the T REF terminal to be used as an external torque limit input 120 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 10 Control Mode Selection The methods and conditions for switching the servo drive 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 Pn005 H Speed control contact references gt Speed control analog voltage reference Speed control contact referencek gt Position control pulse train reference Speed control contact referencek gt Torque control analog voltage reference Position control pulse train reference gt Speed control analog voltage reference Position control pulse train reference gt Torque control analog voltage reference Torque control analog voltage referencek gt Speed control analog voltage reference Speed control analog voltage referencek gt Zero clamp Position control pulse train referencek gt Position control inhibit Position control contact reference Speed control Parameter reference
135. during acceleration and deceleration lt 18 ESTUN ProNet Seres AC Servo Users Manual 4 9 2 External 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 Forward External Torque Limit Pn403 Setting Range Setting Unit Factory Setting Setting Validation 0 300 1 100 Immediately Reverse External Torque Limit SR Setting Range Setting Unit Factory Setting Setting Validation 0 300 1 100 Immediately Note The setting unit is a percentage of rated torque i e the rated torque is 100 2 Input Signals Signal Connector Pin B Type Setting Meaning Limit Value Name Number CN1 41 ON low level Forward external torque limit Pn403 Input P CL SE factory setting OFF high level Forward internal torque limit Pn401 CN1 42 ON low level Reverse external torque limit Pn404 Input N CL l 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
136. 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 ie CN1 PULS 30 1502 Photocoupler 4 PULS 31 y E Si 32 1502 SIGN gt SIGN 3 E GC V x SSC Represents twisted pair wires o 95 ESTUN AUTOMATION ProNet Series AC Servo Users Manual b Connection Example for Open Collector Gate Output m NPN OC GATE OUTPUT Servodrive Host controller fief PULS J1CN 30 9S9 Teen yp R a murs Jowa S i l W TEL 1CN 34 2KQ 2Ka A SIGN A1CN 32 bope 752 al K lt sien Iowa i Nooo a ee eee ee l R VU _IGND m PNP OC GATE OUTPUT Host controller A PULS A IT G PuLs J1CN 31 Geht U VDC N SIGN S ECH l US L aen Jbovas IJ UY NOTE VDC 12 24V R VDC 1 5Volt 10mA 150 VDC 12V R 1K Q 0 25W VDC 24V R 2K Q 0 25W NOTE VDC 12 24V R VDC 1 5Volt 10mA 150 VDC 12V
137. e Gelee EE 80 4 4 1 Selecting an Absolute Encoder AA 80 4 4 2 Handling Battery EE 81 4 43 Replacing Battery TEE 82 4 4 4 Absolute Encoder Setup Fn010 Em 82 4 5 Operating Using Speed Control with Analog Heterence 83 WE gue MEET 83 4 5 2 Setting Input iepel Gaange iach hdd Ged ets sated sk ed Gaeta eege helen 84 4 5 3 Adjusting Reference Offset 85 ASA EE 88 4 5 5 Speed Reference Filter Time Constant 88 45 6 S CUIVE FISTING eege gd dienen GEES 89 4 5 7 Using the Zero Clamp Function eccceeeseeseeeseeeeseeeseeeeesaeeseaeeesaeeseaeeesaeesaaeseaeeseaeeeaeeseaeeeseeeneaeeeaees 89 4 5 8 Encoder Signal Output 91 4 5 9 Speed COINCIDENCE out 92 ESTUN ProNet Seres AC Servo Users Manual 4 6 Operating Using Position Control 93 4 6 1 Basic Setting in Position Control 93 4 6 2 Setting the Clear Gional iarrainn nea ro ieEEAAa aNNaE EAE Aai 97 4 6 3 Setting the Electronic Gatses e i r e estes rairai EN 97 AGA SMOOUMMG BEE 100 4 6 5 Low Frequency Vibration Suppression eeceeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeeeeaeeeeaeeseaeeeeaeeseeeeneeeeeeeeeeeeeeaes 101 4 6 6 Positioning Completion Output Gong 103 4 6 7 Reference Pulse Inhibit Function NHIDIT AA 104 4 6 8 Position Control contact reierencel nennen 105 4 6 9 Position Homing Control Homing Functont 108 4 7 Operating Using Torque Control 111 4 7 1 Setting Parameters ione
138. e 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 e 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 69 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 2 Control Mode Selection The control modes supported by the ProNet series servo drives are described below Parameter Control Mode Reference Section Speed Control Analog voltage reference Controls servomotor speed using analog voltage speed reference
139. e notch dette SEN 200 inmediate filters threshold Pni49 ee frequency of adaptive notch Hz 0 50 op irameaiately filters threshold Pn200 PG divided ratio Puls 16 16384 16384 After restart Pn201 1st electronic gear numerator 1 65535 1 After restart Pn202 Electronic gear denominator 1 65535 1 After restart Pn203 2nd electronic gear numerator 1 65535 1 After restart Pn204 ee een Ge 0 1ms 0 32767 0 Immediately deceleration time constant Pn205 Position reference filter form selection 0 1 0 After restart Pn300 Speed reference input gain rpm v 0 3000 150 Immediately Pn301 Analog speed given zero bias 10mv 1000 1000 0 Immediately Pn302 Reserved Pn303 Reserved 171 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter Name Unit Setting Factory Sening No Range Setting Invalidation Pn304 Parameter speed rpm 6000 6000 500 Immediately Pn305 JOG speed rpm 0 6000 500 Immediately Pn306 Soft start acceleration time ms 0 10000 0 Immediately Pn307 Soft start deceleration time ms 0 10000 0 Immediately Pn308 Speed filter time constant ms 0 10000 0 Immediately Pn309 S curve risetime ms 0 10000 0 Immediately Speed reference curve form 0 Slope Pn310 1 S curve 0 3 0 After restart 2 1 order filter 3 2 order filter Pn311 S form selection 0 3 0 Immediately Pn312 DP c
140. e 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 10 Use the absolute encoder as an absolute encoder Factory setting b O11 Use the absolute encoder as an incremental encoder e The back up battery is not required when using the absolute encoder as an incremental encoder e After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings 80 ESTUN ProNet Seres AC Servo Users Manual 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 C Cover the shell of the battery case 81 ESTUN ProNet Seres AC Servo Users Manual 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 H Battery Replacement Procedure 1 Replace the battery with only the servo drive control power supply turn
141. e sure to prepare the end of the 2 NC shielded wire properly 3 485 TON re cal 4 ISO CND 5 ISO_GND Use special communication cable to connect l E 6 485 PO Personal Computer 3g VREF 1 H5 Speed Reference 0 10V Rated Speed 3L T Vrer 2 7 CANH e Ap 8 CANL Note Do not short terminal 1 and 2 of CN3 lt 7 LTREF 26 g Shell Shield Torque Reference 0 10V Rated Torque TREF 27 l i l CN4 e l 1 NG i 2 NC PPI 34 3 485 Open collector Reference Use x0 eg em J PULS 30 HE 5 ISO_GND Postion Reference lt PULS OW A PULS 31 k l 6 485 r 20 J SGN Tal l s T GANE SIGN CCW B q Sian psy vA Shell Shield Lass Weg Signal allocatons can be modified 2N DICOM J gt 20 PAO S ON Servo ON S ON S 21 PAO P CON P Control P CON 7 Le 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 23 PBO Applicable Line Receiver N OT Reverse Run Prohibited NOT 117 T54 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 25 PCO CLR Clear Error Pulse CLR 40 Bk 5150 peno P CL Forward Torque Limit PO Ia Ge N CL Reverse Torque Limit NCL 42 1 Signal Allocations can be Modified V CMP Speed Coincidence SHOM Home i ga H Teon GOIN Positoning Completion ORG Zero Position 6 TGON TGON Potation Detection I 9 S RDY S RDY Servo Ready IEN CLT Torque Limit Detection SHEI f Erene a oun 11 V CMP Encoder C Pulse Ou
142. ed 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 If 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 e 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 e 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 input signal ALM RST 3 Any other alarms that monitor the inside of the encoder should be cancelled by turning OFF the power 82 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 5 Operating Using Speed Control with Analog Reference 4 5 1 Setting Parameters Parameter Meaning
143. eee eR Ae 124 4 11 6 Servo Enabled Motor Excitation OutpuUPD 124 4 11 7 Torque Limit Detection Output CLT 0 0 cece eeceeeeeeeeeeeeeneeeeeeeeeeeeeeeeeaeeeeaeeeesaeesaeeeeeeseeeeeeieeeseeeeeaes 124 4 11 8 Torque Detection Output TCR eecceecceeseeeeeeeeeeeeeseeeeeeeeseeeeseeeseeeesaaeeeaeeseseeeseeeeaeeneeeeeeeeeeneeeaes 126 4 12 Onli AUTO LEE 126 4121 Online Avtotest aaarnas aeia Ea a Edi Ea EA ia A ENEON EAREN 126 4 12 2 Online Autotuning Procedure 127 4 12 3 Setting Online Autotuning eee eee eeeceeenee cent eeeeeeteaeeteaeesaeeeeaeeseaeeseaeesaeesaeesaeeseeeescaeeseaeeseaeeeeaeeeaas 128 4 12 4 Machine Rigidity Setting for Online Autotuning 00 2 0 eee eeceeeeeeeeeeeeeeeeeeeeeeeeteaeeeeeeeeeeeeeeeeeeeeeeeeeaes 128 AVS MSU aise ETE TETA A E A E E 130 4 14 Adaptive notch CT 130 4 14 1 Adaptive notch filter principe eee eceseceeeeeeeeeeseneeeeeseneeeaaeeeseseeseeeseeeesesgeaesenenseeseseeeessseeeenes 130 4 14 2 Related ETC 131 4 15 The use of Torque Observer rerieireererriroeieinsiierereiereseino ere anean keia ao raiot aieiai a eaa ankede die kiiae soken n oren iN Eia 131 4 15 1 Equivalent load inertia ratio is adaptive AA 131 ESTUN ProNet Series AC Servo Users Manual AUTOMATION 4 15 2 Load torque COMPENSATION eeecceeceseeceeceeeeeeeeeneeeeeseeee ee seeeeessaeaeeeeeseeeaeeeesegeeseseseneeeseseeeeenseeeenes 132 4 15 3 Related EC 132
144. eference values input into the servo drive I O signal status and servo drive internal status to be monitored E Using the Monitor Mode The example below shows how to display the value 1500 stored in Un001 1 Press MODE key to select the monitor mode 2 Press the INC or DEC key to select the monitor number to display 3 Press the ENTER key to display the data for the monitor number selected at step 2 4 Press the ENTER key once more to return to the monitor number display 138 ESTUN ProNet Seres AC Servo Users Manual E 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 sees Input torque reference Unit with respect to rated torque Internal torque reference Unit Internal status bit display SES with respect to rated torque 765432410 Un004 Number of encoder rotation angle pulses Wi rt E A Un005 Input signal monitor L AIR Un006 Encoder signal monitor Un007 Output signal monitor eg Un008 Frequency given by pulse Unit 1kHZ Un009 Number of servomotor rotation pulses Un010 Pulse rate of servomotor rotated x10 Un011 Error pulse counter lower 16 digit Un012 Error pulse co
145. ence 3 Inverse PULS reference and SIGN reference 178 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter No Pn005 Hex Description Setting Validation After restart Control Mode Pn005 0 P S Pn005 1 ALL Pn005 2 P Function and Meaning Pn005 0 Torque feedforward form 0 Use general torque feedforward external analog Tref feedforward input is invalid 1 Use general torque feedforward external analog Tref feedforward input is valid 2 Use high speed torque feedforward external analog Tref feedforward input is invalid 3 Use high speed torque feedforward external 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 gt speed Control zero reference PCON PCL NCL OFF Switches to position control zero reference 4 Speed control contact reference gt speed control analog reference PCON PCL NCL OFF Switches to position control analog reference 5 Speed control contact reference gt 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 P
146. equency Low frequency Attenuation damp of low frequency vibration with load Pn412 Nee Immediately P S vibration damp It does not need to change Torque control delay Pn413 S Immediately T e A time These parameters are only enabled in position control Torque control speed i mode Pn414 Immediately T hysteresis This parameter is used to set zero bias of analog torque given and it is related with torque reference Analog torque given input gain Pn400 Pn415 S SE Immediately T pui gam zero bias Torque reference External torque given input analog Analog torque given zero bias X Torque reference input gain er i Outputs COIN signal when error counter is less than Pn500 Positioning error Immediately P this value E Outputs VCMP signal when the difference between Coincidence Pn501 f Immediately P speed reference value and speed feedback value is difference less than this value The servomotor is locked in the form of temporary Pn502 Zero clamp speed Immediately S position loop when the speed corresponding to the analog input is less than this value When the servomotor speed exceeds this parameter Rotation detection Pn503 Immediately P S T setting value it means that the servomotor has speed TGON already rotated steadily and outputs TGON signal When the value in error counter exceeds this Offset counter f Pn504 Immediately P parameter setting value it means that error counter overflow alarm
147. eriod 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 then 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 105 ESTUN ProNet Seres AC Servo Users Manual Settin Para No Name and description g Default range 0 Clear error pulse when S OFF not clear error pulse when overtravel Pn004 1 0 2 0 1 Not clear error pulse 2 Clear error pulse When S OFF or over travel Looking for the reference point Looking for the reference point is for establishing a zero physical point of the operating platform which is used as zero point in the coordinates during point position control And users may choose to find a reference point either in forward 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
148. erver mode selection Pn010 3 Reserve Hex Pn100 Pn100 0 Load inertia setting 0 0x0036 0x0011 After restart Pn100 1 Online autotuning setting Pn101 Machine rigidity setting 0 36 6 Immediately Pn102 Speed loop gain Hz 1 4000 250 Immediately Pn103 Speed loop integral time constant 0 1ms 1 4096 200 Immediately Pn104 Position loop gain 1 s 0 1000 40 Immediately Pni05 Torque reference filter time constant 0 01ms 0 2500 100 Immediately Pn106 Load inertia percentage 0 20000 100 Immediately Pn107 2nd speed loop gain Hz 1 4000 250 Immediately Pn108 2nd speed loop integral time constant 0 1ms 1 4096 200 Immediately Pn109 2nd position loop gain Hz 0 1000 40 Immediately Pn110 2nd torque reference filter time constant 0 01ms 0 2500 100 Immediately Pn111 Speed bias rpm 0 300 0 Immediately Pn112 Feedforward 0 100 0 Immediately Pn113 Feedforward filter 0 1ms 0 640 0 Immediately Pn114 Torque feedforward 0 100 0 Immediately Pni15 Torque feedforward filter 0 1ms 0 640 0 Immediately P PI switching condition 0 Torque reference percentage Pn116 1 Value of offset eae E Sg Kiani 2 Value of acceleration speed setting 3 Value of speed setting 4 Fixed PI Pn117 Torque switching threshold 0 300 200 Immediately Pn118 Offset counter switching threshold SECH 0 10000 0 Immediately Setting acceleration speed switching Pni19 10rpm s 0 3000 0 Immediately threshold Pn120 Setting speed switching threshold rpm 0 10000 0 Immediately Gain switching conditi
149. escription O Check Method and Remarks from the host controller Set the electronic gear ratio with Pn201 or coincides with the host controller setting Pn203 Pn202 3 Tum 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 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 itis displayed speed rpm Check the servomotor speed using the Un000 in Monitor Refer to 5 1 6 Operation in Monitor Mode for how Mode servomotor speed rpm it is displayed To change the servomotor rotation direction wit
150. esents multi core twisted pair shielded wires H 39 ESTUN ProNet Seres AC Servo Users Manual 3 3 2 Encoder Connector CN2 Terminal Layout H Wire saving Incremental Encoder 2500P R Terminal No Function Terminal No Function PG input phase A 5 PG input phase B PG input phase A 6 PG input phase B PG input phase B 7 8 9 PG power supply 5V PG input phase B 17 18 19 PG power supply OV m 17 Bit Incremental Absolute Encoder Terminal No Function Terminal No Function ao Battery PG serial signal input For an absolute encoder Battery For an absolute encoder PG serial signal input PG power supply 5V PG power supply ON Function Terminal No Function Differential Sine Signal Differential Cosine Signal Differential Sine Signal Differential Cosine Signal Excitation signal Excitation Signal 3 4 Communication Connection 3 4 1 Communication Connector CN3 Terminal Layout Terminal No Name Function 1 Reserved 2 485 RS 485 communication terminal ISO_GND ISO_GND Isolated ground RS 485 communication terminal CAN communication terminal CAN communication terminal Note Do not short terminal 1 and 2 of CNS 40 ESTUN ProNet Seres AC Servo Users Manual 3 4 2 Communication Connector CN4 Terminal Layout Terminal No Function Reserved 485 RS 485 communication terminal
151. etely 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 68 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 4 1 4 Trial Operation for Servomotor with Brakes 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 er Servodrive Position control mane ev M SE Trial operation for Speed control servomotor without load Reference from th
152. eter exceeds the maximum speed of the servomotor used 114 ESTUN ProNet Seres AC Servo Users Manual 3 External Speed Limit Function Type Signal Name Connector Pin Number Name V REF CN1 1 Input External Speed Limit Input V REF CN1 2 Inputs an analog voltage reference as the servomotor speed limit value during torque control e The smaller value is enabled the speed limit input from V REF or the Pn406 speed limit during torque control when Pn005 H 1 The setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect Pn300 Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm v 150 Immediately 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 15 SPEED1 Pn316 Servomotor P CON K Speed reference N e 7 Mm SE SPEEDS Pn320 i SPEED2 Pn317
153. etting Control S Description W Function and Meaning No Validation Mode Torque detection Pn530 After restart P S T Torque detection output signal time Unit ms output signal time JPOSO Position pulse The two parameters are used in combination and the Pn600 in point to point Immediately P 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 se f control Pn601 Position pulse in Immediately P Pn600 Unit 10000P point to point control Pn601 Unit 1P The meaning of other point to point control related aa parameters are the same JPOS15 Position The two parameters are used in combination and the Pn630 pulse in point to point Immediately P 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 Pn631 pulse in point to point Immediately P point to point control control JPOSO Point to point i JPOSO Point to point speed control Pn632 Immediately P speed control Unit rpm ambos The speed of other point to point control JPOS15 Point to f The speed of JPOS15 point to point control Pn647 Immediately P point speed control Unit rpm JPOSO i 1st order filter time of JPOSO point to point control can Pn648 Point to point Immediately P stop or start the servomotor mildly 1st order filte
154. f encoder pulses x 4 PEA Travel distance per load n shaft revolution reference units 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 E important e Electronic gear ratio setting range 0 01 lt electronic gear ratio B A s 100 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 Step Operation Description i a Check the deceleration ratio ball screw pitch and pulley 1 Check machine specifications diameter Check the number of encoder 2 Check the number of encoder pulses for the servomotor used pulses Determine the reference unit from the host controller 3 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 Set parameters Set parameters using the calculated values 98
155. 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 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 re the s ti S b ee The servomotor may tip over during rotation 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 display on the front panel of the servo drive will appear as shown on the left The display on the left indicates that forward run prohibited P OT and reverse run prohibited NOT E 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
156. g can shorten positioning time However if it is too large or does not cooperate with Pn111 Speed bias Immediately P Pn111 correctly vibration will occur The relationship with speed reference error counter positioning error is shown in the following chart 182 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter o Setting Control 3 Description ae Function and Meaning No Validation Mode A Speed reference Ke Ee Pn111 Pn500 Error counter Pn111 v It is used to set position feedforward The response speed is faster and position error is less when this Pni12 Feedforward Immediately P 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 P SETO result to vibration if the value is set too large Unit 0 1ms It is used to set torque feedforward and enhance response speed Pni14 Torque feedforward Immediately P S Set the load inertia percentage Pn106 correctly to enable this function in manual gain adjustment mode Unit It is used to ease mechanical vibration due to torque Torque feedforward i Pn115 ili Immediately P S feedforward ilter Unit 0 1ms 0 Torque reference percentage l 1 Value of offset counter P PI switching Pni16 a After restart
157. he position reference zero Servodrive Servomotor e Dynamic brake is an emergency stop function and one of the general methods to cause a servomotor sudden stop e Dynamic brake suddenly stops a servomotor by shorting its electrical circuit H 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 e 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 Validation 0 300 1 300 Immediately e This sets the stop torque for when the overtravel signal P OT N OT is input e The setting unit is a percentage of the rated torque the rated torque is 100 e 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 75 ESTUN ProNet Seres AC Servo Users Manual 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
158. his parameter set position complete time ime 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 ProNet E 02 04 Pn522 Reserved Pn523 Reserved _ Pn524 Reserved When load percentage is larger than overload alarm Overload alarm f s threshold A04 will occur soon Pn525 threshold Immediately P S T i 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 P S T Pn526 setting A19 will occur Only enabled in Only enabled in ProNet 75 1A 1E 2B ProNet 75 1A 1E 2B 0 Do not inverse signal 1 Inverse signal Pn528 Output signal inverse Immediately P S T Pn528 0CN1_5 6 inversion Pn528 1 gt CN1_7 8 inversion Pn528 2 gt CN1_9 10 inversion Pn528 3 gt CN1_ 11 12 inversion Torque detection Anon motor torque output is higher than Pn529 Pn529 output signal immediately P S T setting value TCR is ON When motor torque output is lower than Pn529 setting value TCR is OFF threshold value Unit a 0 190 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter o S
159. hout changing the input reference pulse form refer to 11 Check the rotation of the servomotor shaft 4 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 8 again When the pulse reference input is stopped and servo OFF 12 status is entered the trial operation for servomotor without load in position control mode is complete 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 because such speed is safe after the servomotor rotation direction is changed 67 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 e 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 Secure the servomotor flange to the machine and connect the servomotor shaft 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 configuration related to protective When a servomotor with brake is used take advance functions such as overtravel and brake measures to prevent vibration due to gra
160. ia ontology Unit 132 ESTUN ProNet Seres AC Servo Users Manual 1 2 3 gears are feedback coefficients of observed shaft torque The higher the gear the more real time observation but the greater the observation noise When the moment of inertia is larger can use 2 The moment of inertia is big and system of rigid can use 3 bg Small inertia 2 3 gears shall not apply 4 5 6 gears are feedback coefficients of observed load torque The higher the gear the more real time observation but the greater the observation noise When the moment of inertia is larger can use 5 The moment of inertia is big and system of rigid Can use 6 Small inertia 5 and 6 gears shall not apply Pn697 The greater the low pass filter time constant the more you delay The compensation coefficient of observed disturber torque the greater the SES value the more obvious the compensation effect Unit The ration of Dummy load inertia ratio and Actual load inertia ratio the Dem smaller the ratio of system the better the effect of vibration suppression but the worse dynamic response performance can take 50 then they can be adjusted up and down 133 ESTUN ProNet Seres AC Servo Users Manual 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
161. iately If connect externally regenerative resistor 0 connect externally regenerative resistor between B1 and B2 Pn521 1 dose e ee san _ a r eebe regenerative resistor relay on internal capacitance This parameter is in effect only on ProNet 02 04 ProNet E 02 04 Pn522 Reserved Pn523 Reserved Pn524 Reserved gem Pn525 Overload alarm threshold 100 150 100 Immediately Temperature threshold of motor overheat Pn526 alarm iC 50 180 110 Immediately Only enabled in ProNet 75 1 A 1E 2B Pn528 Output signal inverse 0 1111 0 Immediately Pn529 Torque detection output signal threshold e Ge en inmediate value Pn530 Torque detection output signal time ms 1 1000 10 After restart Pn600 Position pulse in point to point control 10000P 9999 9999 0 Immediately Pn601 Position pulse in point to point control 1P 9999 9999 0 Immediately Pn630 Position pulse in point to point control 1P 9999 9999 0 Immediately Pn631 Position pulse in point to point control 1P 9999 9999 0 Immediately Pn632 Point to point speed control rom 0 4500 500 Immediately 73s ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Settin Factor Settin Name Unit g i y g No Range Setting Invalidation Pn647 Point to point speed control rpm 0 4500 500 Immediately Pn648 Point to point 1st order filter 0 1ms 0 32767 0 Immediately
162. iately P pulse two parameters are given to the current position Pn687 unit 10000P 192 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter No Description Setting Validation Control Mode Function and Meaning Pn688 unit 1P Pn689 Homing Mode Setting After restart Pn689 0 Homing Mode 0 Homing in the forward direction 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 Pn690 Number of error pulses during homing Immediately unit 10000P Pn691 Number of error pulses during homing Immediately unit 1P Pn695 Torque observer input use moment of inertia Immediately The value is the percentage of motor ontolog inertia ontology Unit Pn696 Torque observer feedback coefficient adjustability Immediately 1 2 3 gears are feedback coefficients of observed shaft torque The higher the gear the more real time observation but the greater the observation noise When the moment of inertia is larger can use 2 The moment of inertia is big and system of rigid can use 3 Small inertia 2 3 gears shall not apply 4 5 6 gears are feedback coefficients of o
163. imit NCL 42 En Signal Allopations pan ba Mowe SHOM Home i J 5 TGON COIN Positioning Completion ORG Zero Position l 6 TGON TGON Rotation Detection ervo Rea EN 9 S RDY CLT Torque Limit Detection 10 S RDY SE Wer a 11 V CMP coder C Pulse Output I OT Over Travel i Lol Ha Tvem RD Servo Enabled Motor Excitation Output i HOME Home Completion Output 1Ry 24V L 1 7 AM g J Connect Shield to Connector Shell Shield Shell FR ST ALM T Se T T T Kaes Ee Een EK ov ALM Servo Alarm Output af Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA Note 1 The L1 L2 L3 and L1C L2C terminals wiring method of ProNet A5A 04A ProNet E A5A 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 A5A 04A ProNet E A5A 04A is Single phase 200V 3 External regenerative resistor for ProNet A5A 04A ProNet E A5A 04A is provided by customer the model of 60W 502 resistor is recommended 4 Change Pn521 0 from 1 to 0 when using the external regenerative resistor in ProNet A5A 04A ProNet E A5A 04A servo drives 42 ESTUN ProNet Seres AC Servo Users Manual 3 5 2 Three phase 200V ProNet O8A 50A ProNet E 08A 50A
164. 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 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 IN OV Speed Host Reference Controller Servo ER 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 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode 5 Press the MODE key for more than one second the reference offset will be automatically adjusted 144 ESTUN ProNet Seres AC Servo Users Manual 6 Pres
165. inal Layout 36 3 2 4 Interface Circuit as iia gine Si nae RR is 37 3 3 Wiring IENGOOCLS sais satcesccscehedssccecens neennaheceass2eandeysdecahassteansscedueagussdsaudunadeqsddehaseudessdaagenesdeedanedecdtasvaseasensthecaasatead 38 3 3 1 Connecting an EncodertChN nenene 38 3 3 2 Encoder Connector CN2 Terminal Layout 40 3 4 Communication Connections EE 40 3 4 1 Communication Connector CN3 Terminal Layout 40 3 4 2 Communication Connector CN4 Terminal Layout 41 3 5 Standard Wiring Exvamples nnee 42 ESTUN ProNet Series AC Servo Users Manual AUTOMATION 3 5 1 Single phase 200V Prohet ABDA O4A Prohet E AbA O4A 42 3 5 2 Three phase 200V Proher O9A SOA Proher E O9A POA 43 3 5 3 Three phase 400V Prohet 701 z0oDiProher E OD b 44 3 5 4 Three phase 400V ProNet 75D 2BD 00 02 eeeceeeeccceeeseeeeeeeeeeeneneeeeeseneeee sca aeeesesaseeseseeeeeseseeeeeneaeeeeses 45 3 5 5 Single phase 100V Prohet O2BiProhet E OB 46 3 5 6 Single phase 100V ProNet 04B ProNet E 04B ssnssssnsrneenressrnnesttrnettnrttrrnnttnnnntnnnnrttnnernnnennnnnnn enne 47 3 5 7 Single phase 100V ProNet 08B ProNet E 08B eccceeseeeeeeeeeeeeeeneeseaeeeeaeeseaeeseaeeseaeeseaeeseaeeseeeeeaees 48 3 5 8 Position Control Mod t cceiicesies reiting tide Riivesacei cea E pence ENESA EEN 49 3 5 9 Speed eet tele EE 50 3 5 10 Torque Control Mode 51 3 6 Wiring Tor No
166. 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 Type Signal Name Connector Pin Number Seiting Meaning Zero clamp function ON low level ON enabled P CON CN1 15 Zero clamp function OFF high level OFF disabled Input Not including this setting in Zero clamp function the default setting please ON low level ON enabled ZCLAMP choose terminal output by setting parameter OFF high level Zero one function Pn509 Pn510 OFF disabled P CON and ZCLAMP are the input signals to switch to the zero clamp function E important In speed control analog voltage reference mode when ZCLAMP is allocated to an output terminal zero clamp function is enabled 90 ESTUN ProNet Seres AC Servo Users Manual 4 5 8 Encoder Signal Output Encoder feedback pulses processed inside the servo drive can be output externally Type Signal Name Connector Pin Number Name PAO CN1 20 Encoder output phase A Output rb PAO CN1 21 Encoder output phase A PBO CN1 22 Encoder output phase B Output PBO CN1 23 Encoder output phase B Se PCO CN1 24 Encoder output phase C zero point pulse utput i PCO CN1 25 Encoder output phase C zero point pulse These outputs explained here Servodrive Host Controller
167. ise Control ee EEREENEENEEEEEdE eanan Aa EATE a EENEG geseet 52 3 6 1 Wee Eet EE 52 3 6 2 Precautions on Connecting Noise Filter 53 3 7 Installation Conditions of EMC Directives ccecceeceeeeeeeeneeeeeeeeeeseaeeeeaeeeeaeeseneeseaeeeeaeeseaeeseaeeeeeeseieeeeneeeeaes 55 3 8 Using More than One Servo Drive eccceeececeeeeeeeeceneeeeeeeeaeeseaeeeeaeeeeaeeseaeeeeaeeseaeeseaeeseaeeseaeeseeesseeeseieeeeeeeeeaes 57 3 9 Connecting DO TEE EE 59 Chapter EE 60 Ope FallON EE 60 4 1 Trial Operation EE 60 4 1 1 Trial Operation for Servomotor Without Load 000 eee eeeeeeeeeeeeeeeeeeeeseeeeeeeeeseneeseaeeseaeeeaeeseaeeeseeeseaeeeaees 62 4 1 2 Trial Operation for Servomotor without Load from Host Reference cecceeeeceseeeeeseeeeeeeeeeeeeeeennees 64 4 1 3 Trial Operation with the Servomotor Connected to the Machine 68 4 1 4 Trial Operation for Servomotor with Brakes A 69 4 1 5 Position Control by Host Controller A 69 4 2 Control Mode Gelechon A 70 4 3 Setting Common Basic FUNCTIONS eeeceecceeeeeeeeeeeeeeeeeneeeeaeeteaeeeseeeteaeeesaeeseeeeseeesaeesaeeseeeseeeseeeseeeeeeeeenaes 71 4 3 1 Setting the Servo ON Signal rnin errena E AE a N EES 71 4 3 2 Switching the Servomotor Rotation Direction 72 4 3 3 Setting the Overtravel Limit Funchon nenne 73 4 3 4 Setting for Holding Brakes AAA 76 4 3 5 Instantaneous Power LOSS Gettings AAA 79 4A Absolut
168. ise Filter L Power OFF Power ON 1KM TIE eg 1KM 1R 1SUP lt 4 Be sure to connect a surge suppressor to the y ge Supp excitation coil of the magnetic contactor and relay Servomotor u u A 1 Lode di BA f u Cl poet H D 4 o E Ei CNS Lic option ec Loc Serial Encoder 1 he G 7 St S E Encoder SI S P it 2 a pia ES g 17 BAT 5 tt PG B1 BI Del BAT eo E 9 PG5V PG au E B2 B2 1 9 PGov_ 7 8 9 PGS rt i 1 17 18 19 PGOV External Regenerator Resisotr Shell Shield Shell Shield E B3 0B3 N EE Ei CN3 1 N C Be sure to prepare the end of the Be sure to ground 2 NC shielded wire properly 3 485 LON oa i 4 ISO_GND 5 ISO_GND Use special communication cable to connect VAER 6 485 PC Personal Computer 7 Speed Reference 0 10V Rated Speed z VREF 7 CANH AD 8 CANL Note Do not short terminal 1 and 2 of CN3 3 TREF Shell Shield Torque Reference 0 10V Rated Torque TREF CN4 1 N C 2 N C Open collector Reference Use PPI 3 e art PULS 5 _ ISO_GND Position Reference lt PULS CW A uc PULS 6 485 7 CANH sien cew B Loi at 8 CANL Shell Shield Lacen 1 Signal allocatons can be modified kaa DICOM a 20 PAO S ON Servo ON S ON 21 PAO P CON P Control P CON Ka 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 23 PBO Applicable Line Receiver N OT Reverse Run Prohibited NOT E 24 POOL AM26LS32A Manufactured by TI or the Equivalent ALM RST Al
169. istor of ProNet 1ED 3 The resistor of 1500W 200 is recommended for the external regenerative resistor of ProNet 2BD 45 ESTUN ProNet Series AC Servo Users Manual 3 5 5 Single phase 100V ProNet 02B ProNet E 02B L1 L2 single phase 100 120V t 50 60Hz Molded case Circuit Breaker eme Surge Protector T 1Ry 1PL Servo Alarm Display i N Noise Filter d Power OFF Power ON 1KM D pa j g 4 al Ll 1KM 1Ry 1SUP 4 Be sure to connect a surge suppressor to the 4 excitation coil of the magnetic contactor and relay Servomotor An t u u 1 j B 2 ol v S M ce BEE w 3 D 4 Log e e CHS Option Lic Incremental Wire saving SerialEncoder Encoder 2500P R i 1 a 7 amp 1 A CH La EE SES res ZX e Encoder i 17 Bate 3 By External Regenerator Resistor 48 BAT i 4 B i i Hr Je
170. it checking error is faulty A 56 x End bit in serial encoder control Encoder signal is disturbed or the encoder decoding circuit l domain error is faulty A 58 x Serial encoder data empty The EEPROM data of serial encoder is empty A 59 x Serial encoder data format error The EEPROM data format of serial encoder is incorrect 197 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Alarm Alarm Alarm Name Meaning Display Output A 60 x Communication module not Communication module is not plugged in or the l detected communication module is faulty A 61 x Communication unsuccessful CPU of communication module operated abnormally Servo drive can not receive the f a Receive channel of servo drive data or send channel of A 62 x period data of communication Op communication module is faulty module Communication module can not A 63 x receive the servo drive response Communication module is faulty data Communication module and bus ted A 64 x f Bus communication is faulty connectionless SE CAN communication is faulty because of abnormal A 66 x CAN communication abnormal teas communication connection or disturbance A 67 x Receiving heartbeat timeout The master station sends heartbeat time timeout ix S x lt Synchronization signal monitoring The filling time and the cycle of the synchronous signal l cycle is longer than setting does not match A 00 O Not an erro
171. k the lowest bit LSB of CRC register if it is 0 CRC register moves one bit to right if it is 1 CRC register moves one bit to right then run XOR calculation with A001 p 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 014 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 374 ADR Ol H CMD 03 4 Data start address ou ae aell O14 low bit Data number 00 4 high bit count as word 024 low bit CRC checking 944 low bit CRC checking 374 high bit End1 End Communication is complete 156 ESTUN ProNet Seres AC Servo Users Manual 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
172. leration The time for trapeziform acceleration to accelerate to 1000rpm Pn306 f Immediately S f time Unit ms The time for trapeziform deceleration to decelerate to Soft start Pn307 a Immediately S 1000rpm deceleration time Unit ms Speed filter time 1st order filter time constant Pn308 Immediately S constant Unit ms S curve The time for transition from one point to another point Pn309 D Immediately S risetime in S curve 0 Slope Speed reference 1 S curve Pn310 curve form After restart S i 2 1 order filter 3 2 order filter Pn311 S form selection After restart S This value determines the transition form of S curve DP communication Communication speed of bus JOG Pn312 Immediately P S T RW JOG speed It can be set to positive or negative Pn313 Reserved zZ Pn314 Reserved Pn315 Reserved Pn316 Speed internal 1 Immediately S Internal speed is enabled when Pn005 1 3 6 Pn317 Speed internal 2 Immediately S Input signal oper ing speci Pn318 Speed internal 3 Immediately S P CON P CL N CL Pn319 Speed internal 4 Immediately S Pn320 Speed internal 5 Immediately S OREI OEE f OFRI Zera Speed or Sitch Pn321 Speed internal 6 Immediately S OFF H ON L SPEED1 ON L OFF H SPEED2 ON L ON L SPEED3 Immediately ON L OFF H OFF H SPEED4 Pn322 Speed internal 7 S OFF H ON L SPEED5 ON L OFF H SPEED6 ON L ON L SPEED7 Torque reference The meaning of this p
173. lse train Position Pulse Type 90 phase difference 2 phase phase A phase B 163 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Control VO Signals Reference Form Non insulated linde driver about 5V open collector x1 multiplier 4Mpps x2 multiplier 2Mpps Frequency x4 multiplier 1Mpps Open collector 200Kpps Frequency will begin to decline when the duty ratio error occurs Position A Position Reference 16 postion nodes can be set 8 Setting Setting Encoder Dividing Pulses Phase A phase B phase C line driver output Output Number of dividing pulses any Number of 8 channels Sequence channels Signal allocations and positive negative logic modifications Function Servo ON S ON P control P CON alarm reset ALM RST 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 Sequence channels e Signal allocations and positive negative logic modifications ia 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 Regenerative Functions 0 75kW 7 5kW internal regenerative resistor 11kKW 22kW external regenerative resistor Protection Functions Overcurrent o
174. lse train reference input position control OFF H ON L SPEED1 OFF H ON L OFF H SPEED2 ON L ON L SPEED3 OFF H OFF H rs OFF H ON L SPEED5 ON L ON L OFF H SPEED6 ON L ON L SPEED7 z ESTUN AUTOMATION ProNet Series AC Servo Users Manual 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 1 Internal torque limit 4 9 1 2 External torque limit 4 9 2 Torque limiting by analog voltage reference 4 9 3 4 9 1 Internal Torque Limit Maximum torque is always limited to the values set in the following parameters Forward Torque Limit Pn401 Setting Range Setting Unit Factory Seeting Setting Validation 0 300 1 300 Immediately Pn402 Setting Range Setting Unit Factory Seeting Setting Validation 0 300 1 300 Immediately e 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 Maximum torque can be output With Internal Torque Limit Pn402 to Speed Maximum torque Pn401 Speed Limiting torque E Note Too small a torque limit setting will result in insufficient torque
175. lter in the appropriate place to protect the servo drive from external noise interference Notice S Dri Noise filter 3 arvo Brive Servomotor AC 200V e L1 M AC 400V L2 FG L3 D a rary 3 5mm min 1 e Le CNS e Lac CN1 gf bd 2mm min Sr e Operation relay sequence Gi Signal generation circuit AAAA 3 2 I Noise DC filter power 3 5mm min ground fa plate ee edi plate Wires of 3 5mm min 1 AN plate ground plate a Ground Ground to an independent ground use ground resistor 100Q 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 vs should be twisted pair wires When using a noise filter follow the precautions in 3 6 2 Precautions on Connecting Noise Filter 52 ESTUN ProNet Seres AC Servo Users Manual 2 Correct Grounding Take the following grounding measures to prevent the servo drive from malfunctioning due to noise m 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 su
176. ly adjusted NN 174 e 7 e UN SN Press ENTER key to return to the Fn003 display of the utility function mode 8 Thus the speed reference offset automatic adjustment is completed 86 ESTUN ProNet Seres AC Servo Users Manual 2 Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment Fn004 in the following situations e If a loop is formed with the host controller and the postion error pulse is set to be zero when servolock is stopped e 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 A 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 3 Press the ENTER key to enter into the speed reference offset manual adjustment mode
177. ly 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 1000 or below 4 Never use a line filter for the power supply in the circuit 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 Bet
178. mediately Number of error pulses during homing Pn690 Setting Range Setting Unit Factory Setting Setting Validation 0 9999 10000 pulses 0 Immediately Number of error pulses during homing Pn691 Setting Range Setting Unit Factory Setting Setting Validation 0 9999 1 pulse 0 Immediately ESTUN ProNet Seres AC Servo Users Manual 3 Input Signal Setting Type Signal Connector Pin Setting Meaning neat Sut Must be allocated by ON t rising edge Homing is enabled Pn509 Pn510 OFF not rising edge Homing is disabled Input ORG Must be allocated by ON H ORG is enabled Pn509 Pn510 OFF L ORG is disabled e After changing Pn509 and Pn510 turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings Allocating Homing Output Signal HOME Connector Pin Number Parameter Meaning Terminal Terminal Pn511 H 8 CN1 11 CN1 12 The signal is output from output terminal CN1 11 12 Pn511 H 8 CN1 5 CN1 6 The signal is output from output terminal CN1 5 6 Pn511 HU CN1 9 CN1 10 The signal is output from output terminal CN1 9 10 e After changing Pn510 turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings e HOME signal is only enabled at low level 4 Description of Homing Operation Please set Pn689 according to the actual operati
179. mmediately subject to corrosive gases affect the servo drive but will eventually cause contactor related devices to malfunction Oth Avoid installation in a hot and humid site or where excessive dust or iron powder is ers present in the air 25 ESTUN ProNet Series AC Servo Users Manual AUTOMATION 2 2 3 Installation Orientation Install the servo drive perpendicular to the wall as shown in the figure The servo drive must be oriented this way because it is designed to be cooled by natural convection or a cooling fan if required Firmly secure the servo drive through two mounting holes Wall Ventilation 2 2 4 Installation Method When installing multiple servo drives side by side in a control panel observe the following installation method Cooling Fan Cooling Fan ra N K N SOmm MIN a i A the a o E o om E ORICE SSttE ug EE le P JEE SES Ee e k a SBRER SZ SRRSE lt BRe
180. mpletion Output OLR Gear Error Pulse Si D P CL Forward Torque Limit FEL a z N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V 7_ _ALM Connect Shield to Connector Shell ft 8 ALM 4 Shield Shell 1D ov ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Sanem e Maximum Output Current DC50mA 51 ESTUN ProNet Seres AC Servo Users Manual 3 6 Wiring for Noise Control 3 6 1 Noise Control The servo drive uses high speed switching elements in the main circuit It may receive switching noise from these high speed switching elements To prevent malfunction due to noise take the following actions e Position the input reference device and noise filter as close to the servo drive as possible e Always install a surge absorber in the relay solenoid and electromagnetic contactor coils e 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 e 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 e For proper grounding technique refer to 2 Correct Grounding 1 Noise Filter Please install a noise fi
181. n Lal s SOmm min 30mm min 10mm min Winstallation 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 H installing side by side When installing servo drives side by side provide at least 10mm space between 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 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Install cooling fans above the servo drives if necessary E Working conditions 1 Temperature 0 55 C 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 27 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 3 1 Main Circuit Wiring Chapter 3 Wiring Please observe the following instructions while wiring the main circuit CAUTION 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 pai
182. n Fn000 Alarm traceback data display Fn001 Parameter setting initialization Fn002 JOG mode operation Fn003 Automatic adjustment of speed reference offset Fn004 Manual adjustment of speed reference offset Fn005 Automatic adjustment of servomotor current detection Fn006 Manual adjustment of servomotor current detection Fn007 Software version display Fn008 Position teaching Fn009 Static inertia detection Fn010 Absolute encoder multiturn data and alarm reset Fn011 Absolute encoder related alarms reset Note Fn010 Fn011 only can be used when the servomotor mounted the absolute encoder 5 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 3 Press the ENTER key once the latest alarm data is displayed Alarm Sequence Number Alarm Code TE ees 4 Press the INC or DEC key to display other recent alarms that have occurred ee or 1 m LR 5 Press the ENTER key the display will return to Fn000 Note Hold the ENTER key for
183. nd relay Magnetic Contactor J ProNet servomator Series Servodri A L2 erles oervodrives Uu B 2 AL V E M 3 poe w D 4 o2 Ei 5 a Ke CNS Option m24 i 24VDC Power Supply t i Gel Ki 1 neremental Wire saving EE CS DND Encoder 2500P R SE GER JE At Resolver 7 S S SCH sfe SE i s t PG i B2 B2 te ST SIN i 17 cos 18 BAT xternal Regenerator Resisotr de Cx E pol oB3 6 _c _ 18 Cos Zi 9 R1 19 PGOV WW Se ER H z POW Ifig PE B fras PGOV 1 Shell Shield a Shell Snieg Ehel Shield Be sure to ground EE Ee CH 1 NG Be sure to prepare the end of the 2 NC shielded wire properly 3 485 pel HPSS E 4 ISO_GND I l 5 ISO GND Use special communication cable to connect l 10 i 6 485 PC Personal Computer VREF 1 LS Speed Reference 0 10V Rated Speed 4 VREF 2 5 7 CANH S ao 8 CANL Note Do not short terminal 1 and 2 of CN3 l 4 TREF 26 Shell Shield Torque Reference 0 10V Rated Torque TREF 27 Ler I l CN4 l l T NG i 2 NC lOpen collector Reference Use PPI 34 D S 485 4 S0_GND PULS 30 at 5 ISO GND Position Reference 4 PULS CW A K PULS 31 g l 6 485 T 3 l 7 CANH SIGN CCW B Was set z k l 8 Gan tr Shell Shield I l l Le a L 1 Signal allocatons can be modified av DICOM 13 Lei 20 PAO S ON Servo ON SON 14 21 PAO P CON P Control P CON 15 eo 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited i P OT 16 2
184. ne eei doa Anite ee 111 4 7 2 TOrque EE ee EE 112 4 7 3 Adjusting the Reference Offset 113 4 7 4 Limiting Servomotor Speed During Torque Control 114 4 8 Operating Using Speed Control with an Internally Set Speed 0 2 eee eeeeeeeceeeeeeeeeeeeeseeeeeeeeeeeeseaeeeneeeteaeeenaees 115 48 1 SEttING NET 116 4 8 2 Input Signal Gettings AA 117 4 8 3 Operating Using an Internally Set Goeed eee eeeeeeeeeeneeeeeeeeeeeeeeeeeeeseeeeeeeeesaeesaeeeeaeeneeeeteeeeeeeeeaes 117 4 9 LIMMING Trgu ET 118 49 1 Internal Torque Bu 118 4 9 2 External Tongue E TTT 119 4 9 3 Torque Limiting Using an Analog Voltage Reference cecceeecceeeceeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeeeaes 120 4 10 Control Mode Selection rsio nnee EA EE 121 4 101 Setting BEE TT 121 4 10 2 Switching the Control Mode 121 4 41 Other Output Signals ccccseccecsesdeceencececceescceuedeenaunedsccuenchestsegeeeedshleeguceusceesssiaesctseusceesestubestasuedensdencueseuentey 122 4 11 1 Servo alarm OH eissii eit dear Steet edie vee ed 122 4 11 2 Rotation Detection Output Signal TGON ssesssesseeesressressrentsrtssttsertstrneennttnstnnstnnttnntnnntnnstnnennneen 123 4 11 3 Servo Ready S RDY Output 123 4 11 4 Encoder C Pluse Output PGC eecceeceeseeeseeeeeeeeeeeeeeeeeeseeeeeaeeeseeeeeseeeeaeeseaeeesaeeeeeeeeeeesseeeeeeeeeaes 123 4 11 5 Over travel signal output OT sisieiinesh eae dived Ged
185. nput reference pulses are not counted during this period 3 Setting Input Signals Signal Connector Pin Type Setting Meaning Name Number Turns the INHIBIT function ON ON low level Inhibit the servo drive from counting reference Input P CON CN1 15 pulses OFF high level Turns the INHIBIT function OFF Counters reference pulses 104 ESTUN ProNet Seres AC Servo Users Manual 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 Soeed 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 Adjusting offset Offset of each points has two correspondent parameters one unit of the parameter is x 10000 reference pulse and the other is x 1 reference pulse Set
186. ns re select external regenerative resistor or contact your ESTUN representative or the dealer from whom you purchased the products 4 14 Adaptive notch filter 4 14 1 Adaptive notch filter principle Adaptive notch filter Resonance frequency detection Current regulator Motor and speed detction Trap filter With the aim purpose of attenuating the vibration the resonance frequency detection module is used for analyzing the frequency spectrum of servo system detecting the resonance frequency and self correcting the parameters of tarp filter automatically The principle of adaptive notch filter are 1 use one adaptive notch filter a If real system has no resonance point the max value of resonance is lower than threshold notch filter is not used b If real system has one resonance point NO 1 notch filter is used the max value of resonance is higher than threshold And set the frequency as the max value If the vibration stops not reset the frequency If the vibration does not stop reset the frequency Once resonance occurs keep using notch filter 2 use two adaptive notch filters a If real system has no resonance point the max value of resonance is lower than threshold notch filter is not used b If real system has one resonance point NO 1 notch filter is used And set the frequency as the max value If the vibration stops not reset the frequency c lf real system has two resonance
187. nverse PULS reference Do not inverse SIGN reference 94 Inverse PULS reference and SIGN reference ESTUN AUTOMATION ProNet Series AC Servo Users Manual 5 Reference Pulse Input Signal Timing Reference pulse signal form Sign pulse train input SIGN PULS signal Maximum reference frequency 500kpps For open collector output 200kpps CW pulse CCW pulse Maximum reference frequency 500kpps For open collector output 200kpps Electrical specifications SIGN N tl t2 0 1ps 13 t7 0 1ps t4 5 t6 gt 3ps t 1 0us PULS Forward reference tl 12 0 1ps t3 gt 3us t 1 0us t T x100 50 cw d Ss A ee D Forward reference Reverse reference t T x100 50 Remarks SIGN H forward reference L reverse reference Two phase pulse train with 90 phase differential phase A B Maximum reference frequency x1 input pulse multiplier 500kpps x2 input pulse multiplier 400kpps x4 input pulse multiplier 200kpps Ae gt Phase A 7 z A P F SEa tt t2 0 1us Phase B N j t 1 0ps e t T x100 50 T Forward reference J s reference Phase B leads A by 90 Phase B lags B by 90 A parameter Pn004 2 can be used to switch of the input pulse multiplier mode 6 Connection Example The pulse train output form from the host controller corresponds to the following e Line driver Output e 24V Open collector output
188. o Data start address 0 0 0 Content of data start 0 address 02004 6 4 9 LRC checking E End 1 OD nu CR End 0 OA LF ADR 01H CMD 06 H 02 4 high bit Data start address 00 u low bit 00 x high bit Data content E 64 4 low bit CRC checking 89 u low bit CRC checking 99 p high bit 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 155 ESTUN ProNet Seres AC Servo Users Manual For example read 1 word from 014 servo address 0201 STX ADR CMD Data start address Data number count as word LRC checking B T 419 1S S j zISIN S 4 S S6 el T LS ft End 1 0 End 0 0 gt Es Add from ADR data to the last data 01 H 03 H 02 H 01 H 00 H 01 H 08 H The compensate value is F8 when 2 is used to compensate 084 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 Chec
189. o of encoder pulses 32768 When the Electronic Gear is Not Used workpiece k 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 97 When the Electronic Gear is Used workpiece No of encoder pulses 32768 To move a workpiece 10mm using reference units The reference unit is lpm Therefore to move the workpiece 10mm 10000um lpulse 1um so 10000 1 10000 pulses Input 10000 pulses per 10mm of workpiece movement Reference unit lum Ball screw pitch 6mm ESTUN ProNet Seres AC Servo Users Manual 2 Related Parameters Electronic Gear Ratio Numerator Pn201 a KE Setting Range Setting Unit Factory Setting Setting Validation 1 65535 1 After restart Electronic Gear Ratio Denominator S Position Pn202 F ae Setting Range Setting Unit Factory Setting Setting Validation 1 65535 1 After restart The deceleration ratio of the servomotor and the load shaft is given as n m where m is the rotation of the servomotor and n is the rotation of the load shaft Electronic gear ratio 2 _ 2 201 A Pn202 No o
190. oint control program will not look for reference point change steps after the end point is 3 Single run NCL as start signal PCL reverse to completed during multi points single look for reference point run Change steps by external P CON Change step and start mode f f signals The signal will be valid when 0 Delay changing steps the start signal is not f drive output reaches the desired needed Ss e Pn681 1 position When input signal changes 1 Change steps by P CON start signal not needed f the signal is valid then steps will be 2 Delay changing steps need start signal changed by consequence from start 3 Change steps by P CON need start signal l point to end point Change step input signal mode Pn681 2 0 High or low level 1 sign pulse Incremental relative moving distance distance from current point to next point programming 0 Incremental Pn682 Absolute absolute moving distance 1 Absolute distance between operating platform and the reference point programming 107 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
191. ollows 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 gt After soft start Before soft start 4 5 5 Speed Reference Filter Time Constant Speed Reference Filter Time Constant Setting Validation SE Setting Range Setting Unit Factory Seiting 0 10000 ims 0 This smooths the speed reference by applying a 17 order delay filter to the analog speed reference V REF input A value that is too large however will decrease response Immediately 88 ESTUN ProNet Series AC Servo Users Manual 4 5 6 S curve Risetime S curve Risetime Setting Range Setting Unit Factory Setting Setting Validation 0 10000 ims 0 Immediately Pn309 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
192. oltage for servomotor rotation is excessively A 14 x Undervoltage low A 15 x Bleeder resistor error Bleeder resistor is faulty A 16 x Regeneration error Regenerative circuit error A 17 x Resolver error The communication of resolver is abnormal A 18 x IGBT superheat alarm IGBT temperature is too high A 19 x Motor overheat alarm Motor temperature is too high A 20 x Power line phase shortage One phase does not bring into main circuit power supply A 21 x Instantaneous power off alarm An power off for more than one period is occurred in AC Motor temperature detection sensor A 22 x Encoder cable is error is break off 196 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Alarm Alarm Alarm Name Meaning Display Output A 23 E Brake overcurrent alarm Bleeder resistor is too small or bleeder module is faulty Mechanical stuck or motor power line U phase sequence is A 25 x Motor power line U over current wrong Mechanical stuck or motor power line V phase sequence is A 26 x Motor power line V over current wrong Mechanical stuck or motor power line W phase sequence A 27 xX Motor power line V over current is wrong Nikon encoder temperatur is ES A 28 X l Nikon Encode internal Temperature unit C toohigh A 41 x Reserved Reserved The parameter setting of servo drive does not match the A 42 x Servomotor type e
193. ommunication JOG speed rom 6000 6000 500 Immediately Pn313 Reserved Pn314 Reserved Pn315 Reserved Pn316 Internal speed 1 rpm 6000 6000 100 Immediately Pn317 Internal speed 2 rpm 6000 6000 200 Immediately Pn318 Internal speed 3 rpm 6000 6000 300 Immediately Pn319 Internal speed 4 rpm 6000 6000 100 Immediately Pn320 Internal speed 5 rpm 6000 6000 200 Immediately Pn321 Internal speed 6 rpm 6000 6000 300 Immediately Pn322 Internal speed 7 rom 6000 6000 500 Immediately Pn400 Torque reference gain 0 1V 100 10 100 33 Immediately Pn401 Forward torque internal limit 0 300 300 Immediately Pn402 Reverse torque internal limit 0 300 300 Immediately Pn403 Forward external torque limit 0 300 100 Immediately Pn404 Reverse external torque limit 0 300 100 Immediately Pn405 Plug braking torque limit 0 300 300 Immediately Pn406 Speed limit during torque control rom 0 6000 1500 Immediately Pn407 Notch filter 1 frequency Hz 50 5000 5000 Immediately Pn408 Notch filter 1 depth 0 11 1 Immediately Pn409 Notch filter 2 frequency Hz 50 5000 5000 Immediately Pn410 Notch filter 2 depth 0 11 1 Immediately Pn411 Low frequency jitter frequency 0 1Hz 50 500 100 Immediately Pn412 Low frequency jitter damp 0 200 25 Immediately Pn413 Torque control delay time 0 1ms 1 2000 100 Immediately Pn414 Torque control speed hysteresis rpm 10 1000 50 Immediately Pn415 Analog torque given zero bias 10mv 1000 1
194. on Fix to 1st group gain External switch gain switching Torque percentage Pn121 Value of offset counter 0 6 0 After start 170 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Name Unit Setting Factory Sening No Range Setting Invalidation Pn122 Switching delay time 0 1ms 0 20000 0 Immediately Pn123 Threshold switching level 0 20000 0 Immediately Pni24 Reserved Se Pn125 Position gain switching time 0 1ms 0 20000 0 Immediately Pn126 Hysteresis switching 0 20000 0 Immediately Pn127 Low speed detection filter 0 1ms 0 100 10 Immediately Pn128 PERS pam ee relationship _ ia Immediately during online autotuning Pn129 Low speed correction coefficient 0 30000 0 Immediately Pn130 Friction load 0 1 0 3000 0 Immediately Friction compensation speed hysteresis Immediately Pn131 rom 0 100 0 area Pn132 Sticking friction load oe 0 1000 0 ER Pn133 Reserved Pn134 Reserved Pn135 Reserved Pn136 Reserved e Pn137 Reserved Pn138 Reserved Pn139 Reserved Pn140 Reserved Pn141 Reserved Pn142 Reserved Pn143 Reserved Pn144 Reserved Pn146 Notch filters 1 trap width 0 15 2 Immediately Pn147 Notch filters 2 trap width 0 15 2 Immediately Pni4e SEN amplitude of adaptiv
195. on in Monitor Mode 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 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 Refer to the following equation to change the speed reference input gain Pn300 Un001 V REF Voltage V xPn300 Check the speed reference input gain and i NOES i ae To change the servomotor rotation direction without changing 7 servomotor rotation direction f polarity for speed reference input voltage refer to 4 3 2 65 ESTUN ProNet Seres AC Servo Users Manual E When Position Control is configured at the Host Analog speed reference gt Host Servodrive Controller G Trial operation for Position gontrol 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 0000 Check Method and Remarks Check the input signal circuit again and check that the speed reference input between the V REF and Refer to the above figure for
196. on 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 C pulse the figure is shown as below Speed Pn 685 rpm Pn 686 Return to find C pulse Orpm gt Homing offset distance f lt Pn6s0 om pue SHOM Rising edge tT Encoder C pulse l l Begin to counter offset distance after the first C pulse is produced when leaving zero posiion 109 ESTUN ProNet Seres AC Servo Users Manual Corresponding position Mechanical shaft Machine moves return to search l pujse C l Motor slow down reverse Begin to counter offset distan after the first C
197. one second with alarm code displaying all the alarm traceback datas will be cleared 141 ESTUN ProNet Seres AC Servo Users Manual 5 2 2 Parameter Settings Initialization Follow the procedures below to execute the parameter settings initialization 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of parameter settings initialization Gem to enter into parameter settings mode 4 Hold the ENTER key for one second the parameters will be initialized NN IL o e ZENS 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 142 ESTUN ProNet Seres AC Servo Users Manual 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 3 Press the ENTER key to enter into JOG operation mode 4 Press the MODE key to enter into servo ON servomotor power ON status 5 Press the MODE key to switch
198. onnect a surge suppressor to the Magnetic Contactor excitation coil of the magnetic contactor and relay SEEE Ground Terminal eege d Lie L2 ProNet U Am Servodtive Series Servodrive Be a 91 w EI SS D Deg e LC L2C Encoder B1 B2 B3 CNS 1Ry 24V ALM ALM By ES ov 1 The L1 L2 L3 and L1C L2C terminals wiring method of ProNet A5A 04A ProNet E A5A 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 A5A 04A ProNet E A5A 04A is Single phase 200V 3 External regenerative resistor for ProNet A5A 04A ProNet E A5A 04A is provided by customer the model of 60W 29 ESTUN AUTOMATION ProNet Series AC Servo Users Manual 50 Q resistor is recommended 4 Change Pn521 0 from 1 to 0 when using the external regenerative resistor in ProNet AS5A 04A ProNet E A5A 04A servo drives H Three phase 200V ProNet 08A 50A Three phase 200V ProNet E 08A 50A Lu L2 L Three phase 200 230V s 50 60Hz Molded case Circuit Breaker JA Protector
199. or 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 VON 2 PROFIBUS DP V2 3 CANopen Pn006 1 Reserved Pn006 2 Low frequency vibration suppression switch 0 Low frequency vibration suppression function disabled 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 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Parameter No Description Setting Validation Control Mode Function and Meaning servo receiving pulse frequency lt 650K 2 When pulse is difference input the max value of servo receiving pulse frequency lt 150K Pn007 Pn010 Binary Hex After restart After restart Pn007 0 wider the width of C pulse or not 0 standard width of C pulse 1 wider the width of C pulse Pn007 1 reserved Pn007 2 reserved Pn007 3 torque filter 0 Standard torque filter 1 New torque filter Pn010 0 Automatic identification function of motor and encoder types enable 0 Disable auto identity function 1 Enable auto identity function Pn010 1 Notch filter mode selection 0 Manual notch filter 1
200. or details on brake operation while the servomotor is operating refer to 5 Setting the Brake ON OFF Timing When Servomotor Running in this section Pn511 0 3 CN1 11 CN1 12 CLT Torque limit Pn511 1 3 output CN1 05 CN1 06 Pn511 2 3 CN1 09 CN1 10 Output terminal E important e 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 78 ESTUN ProNet Seres AC Servo Users Manual 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 S Speed Position Torque Pn507 i er Setting Range Setting Unit Factory Seiting Setting Validation 10 100 1rpm 100 Immediately Pn508 Z F SE Setting Range Setting Unit Factory Setting Setting Validation 10 100 10ms 50 Immediately BK 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 e When the time set in Pn508 is exceeded after servo OFF Servo
201. osition reference This value is used to smooth the input pulses The acceleration i i Pn204 ae Immediately P effect of smoothness is better when the value is deceleration time i i higher but lag will occur if the value is too large constant Position reference 0 1st order filter Pn205 l After restart P l filter form selection 1 2nd order filter Speed reference Pn300 Immediately S The corresponding speed to 1V analog input input gain This parameter is used to set zero bias of analog speed given and it is related with the speed reference Analog speed given input gain Pn300 Pn301 dii Immediately S zero bias Speed reference External speed given input analog Analog speed given zero bias X Speed reference input gain Pn302 Reserved Pn303 Reserved The parameter can be set to positive or negative When control mode is set to D it determines the Pn304 Parameter speed Immediately S speed of motor The servomotor speed is determined by this parameter when Pn005 1 D Pn305 JOG speed Immediately S It is used to set JOG rotation speed and the direction 185 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Setting Control Description Function and Meaning No Validation Mode is determined by the pressing key during JOG operation Soft start acce
202. otch filters 1 trap width wi 184 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter o Setting Control 8 S Description ee Function and Meaning No Validation Mode Notch filters 2 trap Immediately l Pnia7 P P S T Notch filters 2 trap width width Deviation amplitude Immediately When the rotational speed fluctuation is greater than Pn148 of adaptive notch P S T the value adaptive notch filters began to work filters threshold Unit 0 1 RPM Se Immediately when two frequency errors are larger than the value Deviation frequency Pn149 of adaptive notch P S T reset notch filter frequency or keep the current value filters threshold Unit Hz Analog encoder output orthogonal difference pulses PG divided The meaning of this value is the number of analog Pn200 l After restart P S T ratio encoder output orthogonal difference pulses per one servomotor rotation 1st electronic gear The electronic gear enables the reference pulse to Pn201 After restart P i numerator relate with the servomotor travel distance so the host Electronic gear controller doesn t change the mechanical deceleration Pn202 After restart P W denominator ratio and encoder pulses In fact it is the setting of frequency doubling or frequency division to the 2nd electronic gear reference pulses Pn203 After restart P numerator Numerator Pn201 or Pn203 Deno min ator Pn202 P
203. panel operator Reference torque dy 12 300 00 HOI Factory setting 0 3 100 200 300 4700 1 2W min 12V 2KO T REF ITRE T REE 27 4 8 12 Input voltage V Set the slope with Pn400 Servodrive CN1 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 EIER GND ESTUN ProNet Seres AC Servo Users Manual 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 Torque reference gt Automatic offset adjustment Reference voltage
204. peA Encoder T R SIN 7 Se im External Regenerator Resistor i 3 B 8 S i BL j Bi I 4 B i 17 BAT 4 PG f 5 C 1 18 BAT B2 S 6 Cc 9 PG5V i zas PGSV 19 PGOV i B3 kel PGOV l Sail eshte i an ie et engel en BS Shell _Shield 8 EH a CNS H NC Be sure to prepare the end of the Be sure to ground 2 NC shielded wire property 3 485 pk 4 ISO_GND l 5 ISO Gu Use special communication cable to connect L m S I e 485 PC Personal Computer gome Lt l 7 CANH peed Reference 0 10V Rated Speed VREF 2 8 CANL S In Note Do not short terminal 1 and 2 of CNS q rer 26 l Shell Shield Torque Reference 0 10V Rated Torque TREF 27 v CN4 l 1 NG i 2 NC Open collector Reference Use PPI Z D ei un PULS 30 sl l 5 ISO ND Position Reference lt PULS CW A Toi PULS 31 Gs l 6 485 i 2 7 CANH sien cow B Te Tu A k 8 CANL T ji Shell Shield I Lesen ui 24V l z Signal allocatons can be modified 11 DICOM 3 H Eer Va 20 PAO S ON Servo ON SCH 14 21 PAO P CON P Control P CON 15 ci Ro 22 PBO PG Divided Ratio Output POT Forward Run Prohibited POT 16 ZEI 23 PBO Applicable Line Receiver N OT Reverse Run Prohibited N OT 17 k 24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 a tHe PCO CLR Clear Error Pulse CLR 40 Sk 5 150_ Den P CL Forward Torque Limit POL 4 E i N CL Reverse Torque L
205. pecifications 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 Type Signal Name Connector Pin Number Setting Meaning CN1 11 12 ON low level Speed coincides Output V CMP COIN A factory setting OFF high level Speed does not coincide Coincidence Difference Pn501 8 f 8 ges Setting Range Setting Unit Factory Setting Setting Validation 0 100 rpm 10 Immediately 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 Pn501 o Reference speed ud 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 92 E
206. places it into coast power OFF mode Stops the servomotor by dynamic braking DB when H 2 servo OFF stops the servo motor by plug braking when overtravel and then places it into coast power OFF mode m Coast LE Pn004 Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when S OFF overtravel and then places it into coast power OFF Overtravel mode Stops the servomotor by dynamic braking DB when servo OFF stops the servomotor by plug braking when overtravel and then places it into zero clamp mode Zero Clamp Makes the servomotor coast to a stop state when servo H 5 OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode 74 ESTUN ProNet Seres AC Servo Users Manual e After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings e Stop by dynamic brake Stops by using the dynamic brake short circuiting its electrical circuit C wW e Coast to a stop Stops naturally with no brake by using the friction resistance N of the servomotor in operation DEY e Plug braking Stops by using plug braking limit torque Fa Ce Ee e Zero Clamp Mode A mode forms a position loop by using t
207. pulse is produced when coving zor posion o E l l I l l Encoder C puls l Rising edge 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 Rising edge SHOM ORG rs Encoder C pulse l l J ze Homing offset distance Pn 690 x 10000 Pn691 Begin to counter offset distance after the first C pulse is produced when leaving zero posiion Corresponding position Mechanical shaft l l Machine moves return to search l pulse C 1 l l Begin to counter offset distance after EE ei the first C pulse is produced when 1 Gg leaving zero posiion l Encoder C pulse l oi en ORG U f Rising edge SHOM 110 ESTUN ProNet Seres AC Servo Users Manual 4 7 Operating Using Torque Control 4 7 1 Setting Parameters The following parameters must be set for torque control operation with analog voltage reference Parameter Meaning Pn005 H 2 Control mode selection Torque control analog voltage reference Torque Reference Input Gain Pn400 Setting Range Setting Unit Factory Setting Setting Validation 10 100 0 1V 100 33 Immediately This sets the analog voltage level for the torque reference T REF that is necessary to operate the servomotor at the rated torque
208. r Gorten 1st order filter of other point to point control JPOS15 Point to 1st order filter time of JPOS15 point to point control Pn663 Immediately P point 1st order filter can stop or start the servomotor mildly JPOSO point to point JPOSO point to point control stop time Pn664 p H Immediately P H H H control stop time Unit 50ms eee Other point to point control stop time JPOS15 point to i F f JPOS15 point to point control stop time Pn679 point control stop Immediately P Unit 50ms time Pn680 Reserved ES 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 Pn681 Hex Immediatel P S e e y 2 Cyclic operation NCL start operation PCL search 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 191 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Parameter Setting Control Description Function and Meaning No Validation 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 delay to start after S ON but inside pulse can not stop when PCON off 2 Delay to change step need start signal canceling st
209. r Normal operation status O 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 198 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 HS DRGSTRAAAMAN
210. r 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 Servo Servo r Main Terminal aie Drive Drive Name Circuit Functions Symbol Voltage V Model Model g ProNet Pronet E 100 02B 08B 02B 08B Single phase 100 120VAC 10 15 50 60Hz een 200 A5A 04A A5A 04A Single phase 200 230VAC 10 15 50 60Hz L1 L2 power supply input terminal 200 O8A 50A O8A 50A Three phase 200 230VAC 10 15 50 60Hz 400 10D 2BD 10D 50D Three phase 380 440VAC 10 15 50 60HZz FG FG 200 A5A 04A A5A 04A Normally not connected Servomotor U V W connection Connect to the servomotor terminals 100 02B 08B 02B 08B Single phase 100 120VAC 10 15 50 60Hz L1C L2C GE 200 A5A 50A A5A 50A Single phase 200 230VAC 10 15 50 60Hz input terminal We 75D 2BD Single phase 380 440VAC 10 15 50 60Hz 24V GND 10D 70D 10D 50D 24VDC 10 10 Connects to the power supply ground terminals and Ground terminals servomotor ground terminal External 100 02B 02B Connect an external regenerative resistor provided B1 B2 B3 regenerative 200 A5A 04A A5A 04A by customer between B1 and
211. r speed is within the setting range and if it matches the reference speed value Position COIN COIN Positioning completion 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 reference units Reserved Reserved terminals The functions allocated to TGON S RDY and V CMP COIN can be 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 OT Over travel signal output RD Servo enabled motor excitation output HOME Home completion output 4 18 19 29 35 36 37 38 43 44 45 47 49 Not used 35 ESTUN ProNet Seres AC Servo Users Manual 3 2 3 I O Signal Connector CN1 Terminal Layout Terminal Terminal Function Function No VREF VREF DGND DGND DGND Reserved Reserved TGON TGON ALM ALM Speed reference input 10V Torque referenceinput 10V Running signal output Reference pulse input Servo alarm Reference sign input Open collector reference S RDY Servo ready power supply S RDY Reserved COIN Reserved Positioning completion 12 COIN 37 Es Reserved I O signal power supply 24V 13 DICOM ee SES 38 Reserved DC 14 S ON Servo ON 39 ALM R
212. re to ground the ground terminal m Noise on the I O Signal Line If the I O signal line receives noise ground the O V line SG of the reference input line If the main circuit wiring for the motor is accommodated in 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 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 Servo Drive Power Noise Filter Current 0 05 kw 0 7A Note 1 A single phase servomotor should apply a two phase filter A three phase servo drive should apply a
213. ror of 0 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 e When the host controller that outputs a reference that cannot perform acceleration deceleration processing e When the reference pulse frequency is too low e When the reference electronic gear ratio is too high i e 10x or more 100 ESTUN ProNet Series AC Servo Users Manual AUTOMATION 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 Moving part _ 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 Vibration is pricked up due to an external force Vibration frequency is between 5 0Hz to 50
214. rror servomotor f The parameter setting of servo drive does not match the A 43 x Servo drive type error servomotor A 44 x Reserved Reserved Absolute encoder multiturn f er A 45 x Absolute encoder multiturn information is faulty information error Absolute encoder multiturn i A 46 x Absolute encoder multiturn information overflow information overflow A 47 x Battery voltage below 2 5V Absolute encoder multiturn information is lost A 48 x Battery voltage below 3 1V Battery voltage is too low A 50 Z Serial encoder communication Encoder disconnected encoder signal disturoed encoder l overtime error or encoder decoding circuit error Absolute encoder multiturn information may be faulty Error reasons 1 The battery is not connected or the battery voltage is Absolute encoder overspeed alarm Wi A 51 x insufficient detected n 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 Kee A 52 x Encoder or the encoder decoding circuit is faulty error A 53 x Serial encoder calcaution error Encoder or the encoder decoding circuit is faulty A 54 x lt Parity bit or end bit in serial encoder Encoder signal is disturbed or the encoder decoding circuit i control domain error is faulty A 55 X Serial encoder communication data Encoder signal is disturbed or the encoder decoding circu
215. rvo receiving pulse frequency H means the sufficient max value of pulse 195 ESTUN ProNet Series AC Servo Users Manual AUTOMATION Alarm Alarm p Alarm Name Meaning Display Output A 01 x Parameter breakdown The checksum results of parameters are abnormal A 02 x AD shift channels breakdown AD related electrical circuit is faulty The servomotor speed is excessively high and the A 03 x Overspeed servomotor is out of control The servomotor is operating continuously under a torque A 04 x Overload g s S q largely exceeding ratings A 05 x Position error counter overflow Internal counter overflow A 06 x Position error pulse overflow Position error pulse exceeded parameter Pn504 The setting of electronic gear or The setting of electronic gear is not reasonable or the A 07 x given pulse frequency is not given pulse frequency is too high reasonable The 1st channel of current A 08 x gt Something wrong with the inside chip of the 1st channel detection is wrong The 2nd channel of current A 09 x os Something wrong with the inside chip of the 2nd channel detection is wrong f At least one of Incremental Encoder PA PB PC is broken A 10 x Incremental Encoder is break off e off A 12 x Overcurrent An overcurrent flowed through the IPM Main circuit voltage for servomotor rotation is excessively A 13 x Overvoltage high Main circuit v
216. rvomotor will operate as long as the lt I 4 gt i I a key is pressed Uo e Reverse running Press the ENTER key to return to the Fn002 display ENTER key of the utility function mode Now the servo drive is OFF The servomotor s rotation direction depends on the setting of parameter Pn001 0 Direction Selection Note The example above describes operation with Pn001 0 in the factory setting 63 ESTUN ProNet Seres AC Servo Users Manual JOG Speed i 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 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 inpu
217. s AC Servo Users Manual 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 A Danger of damage due to Servomotor speed Safe operation with speed limit Servomotor speed excessive of machine speed E Max speed AL Speed limit gt t 1 Speed Limit Enable Parameter Description b 0 Use the value set in Pn406 as the speed limit Internal speed limit Pn001 5 i Use the lower speed between V REF and Pn406 as an external speed limit l input External speed limit 2 Speed Limit During Torque Control Speed Limit During Torque Control Pn406 Setting Range Setting Unit Factory Setting Setting Validation 0 6000 rpm 1500 Immediately Set the servomotor speed limit value during torque control e PnOO5 H 10 Pn406 is motor speed limit value e The servomotor s maximum speed will be used when the setting in this param
218. s Manual E 17 bit Incremental Absolute Encoders Incremental Absolute Encoders Servodrive Host controller CN2 CNI SCH KO PS 7 K Phase A r Le Tp us 8 Se gt 20 PAO A gt Kg na BAT 17 21 ao JP td SCH t P BAT 18 ae 23 PBO a 23 o Ip S k HO Phase C S 24 PCO EE Li t P 7 a 25 PCO Kd Output line driver AM26LS31 manufactured by TI or the equivalent KE Applicable line receiver SN75175 manufactured by TI or the equivalent Ha PGSV 9 S G PGOV 19 gt ov 50 ROND A ov J er IT Fi FG Connector shell a lt shielded wires T Connector shell Shell Geng Ee L j ki 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 m Resolver Resolver Servodrive Host controller nal A Ss OS OS OS I l man fe KE L t gt i i Ir Ir eg H l Output line driver H j AM26LS31 manufactured by TI k j Applicable line i or equivalent ec receiver SN75175 b manufactured by TI or equivalent H j RI i 9 gt H G R2 19 R j oy S0__ _DGND K ov i d j FG Connect shell ES ed 8 e shielded wires SR Connector shell Shell Repr
219. s the ENTER key to return to the utility function mode display Fn003 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 H Ifa position loop is formed with the host controller and the error is zeroed when servolock is stopped H 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 directly input during the adjustment The offset adjustment range and setting unit are as follows Torque reference A Offset adjustment range Offset adjustment range gt 1024 1024 Analog voltage input Offset setting unit 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 3 Press the ENTER key to enter into the speed reference offset manual adjustment mode 145 ESTUN ProNet Seres AC
220. t soft start etc Torque control related parameters Parameters to control I O port Point to point control and homing control Internal point to point control and homing control related related parameters Communication parameters Setting of communication parameters Pn400 Pn406 Pn500 Pn520 Pn600 Pn699 Pn700 Pn701 Torque limit etc Allocation of I O port function parameters 175 ESTUN AUTOMATION ProNet Series AC Servo Users Manual A 3 Parameters in detail Parameter ECH 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 Pnooo Binary After restart ALL Pn000 2 Reverse rotation input signal prohibited N OT 0 External NOT 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 0 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 0 Sets CCW as forward direction 1 Sets CW as forward direction Pn001
221. t amount 6 Press the INC or DEC key to adjust the offset 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 Fn006 offset adjustment Thus the manual offset adjustment of the servomotor current detection signal is completed Note The adjusting range of the servomotor current detection offset is 1024 to 1024 147 ESTUN ProNet 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 3 Press the ENTER key to display the DSP software version the highest bit displays d or E or F or 0 4 Press the MODE key to display the FGPA CPLD software version the highest bit displays P 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 M
222. t power supply terminals UG E Connector for communication Used for main circuit power supply input Hej E 3 Used to communicate with other devices Connecting terminal of DC reactor All Dei p n Control power supply terminals UO signal connector Used for control power supply input vi P Le Used for reference input Regenerative resistor connecting terminals ll le signals and sequence I O Used to connect external regenerative resistors Wi za signals NEA Servomotor terminals S L Connects to the servomotor power line wl z S Encoder connector Ground terminal re e Connects to the encoder Be sure to connect to protect electric shock oF Esm FFI el in the servomotor 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 capacitor remains charged Main circuit power supply terminals Used for main circuit power supply input CN3 CNA Q POWE Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices Connecting terminal z A UO signal connector of DC reactor gt Used for reference input Control power supply stare and sequence UO terminals lJ signals Used for control power Al l Encoder ecnnactor supply input 3
223. t signal circuit or equivalent Speed Control Standard Setting Pn005 H o0 Position Control Pn005 H 10 e 13 24V S ON e 14 P OT gt gt 16 N OT 17 PULS 5 30 SIGN DEG v OV 64 ESTUN ProNet Series AC Servo Users Manual AUTOMATION 2 Operating Procedure in Speed Control Mode Pn005 H 0000 The following circuit is required External input signal circuit or equivalent Servodrive CN1 24V 13 S ON 14 P OT 46 N OT 7 V REF OVE A V REF V REF _ Le V REF 2 M GND 3 ax Voltage 12V tH SK EI Check the power and input signal circuits again and check that the speed reference input voltage between the V REF and V REF is OV Refer to the above figure for the input signal circuit 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 3 p p 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 drive 4 p P Refer to 5 1 6 Operation in Monitor Mode Un001 rpm Check the Un000 motor speed rpm Refer to 5 1 6 Operati
224. ting 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 pulse 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 p
225. tor equipped with an absolute encoder please perform the setup for the absolute encoder Turn the power ON Connect input Connect the input signals CN1 necessary for trial operation to the signals servo drive 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 D Host The servomotor can now be operated Adjust the servo gain if necessary Host Reference 61 ESTUN ProNet Seres AC Servo Users Manual 4 1 1 Trial Operation for Servomotor Without Load CAUTION e 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
226. tor power line Ground terminal Be sure to connect to protect electric shock ee m ProNet 04B ProNet E 04B Charge indicator Lights when the main circuit power supply is ON and 3 l Z Jom HEHE 2999 sm _ A Elle d U fie E Ki ny o oe elf a De P all les o os Be gt a g a i p 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 Connector for communication Used to communicate with other devices UO signal connector Used for reference input signals and sequence UO signals Encoder connector Connects to the encoder in the servomotor Power on indicator Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock os CHARGE
227. tput e TGON rotation detecting output S RDY servo drive get ready output CLT torque limit output BK brake interlock output PGC encoder C pulse output OT overtravel signal output RD servo enabled motor excitation output HOME home completion output oO IN A A wo JP TCR Torque Detection Output Related parameter ES Name Unit one Default No Range Pn505 Servo ON waiting time ms 2000 2000 0 Pn506 Basic waiting flow 10ms 0 500 0 Pn507 Brake waiting speed rpm 10 100 100 Pn508 Brake waiting time 10ms 10 100 50 77 ESTUN ProNet Seres AC Servo Users Manual 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 S y e iaa Setting Range Setting Unit Factory Setting Setting Validation 2000 2000 ms 0 Immediately Basic waiting flow Pn506 A e Se Setting Range Setting Unit Factory Setting Setting Validation 0 500 10ms 0 Immediately e 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 e F
228. tput OT Over Travel tt 12 V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output IDN 24V 1 7 7 ALM g eh Connect Shield to Connector Shell Shield Shell IEN z AM l z 8 p 1D ov ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA af Represents Twisted pair Wires 43 ESTUN ProNet Series AC Servo Users Manual 3 5 3 Three phase 400V ProNet 10D 70D ProNet E 10D 50D DI L2 L3 Three phase 380 440V S 50 60Hz Molded case Circuit Breaker y Surge Protector __4 1Ry 1PL Servo Alarm Display 8 ey Noise Filter EE ower ower 1KM L DH d E 1KM 1Ry 1SUP lt Be sure to connect a surge suppressor to the L excitation coil of the magnetic contactor a
229. ual 4 11 5 Over travel signal output OT Type Signal Name Connector Pin Number Setting Meaning Without forward rotation ON low level Prohibited POT and reverse rotation prohibited NOT signal Not including this setting in the default setting please choose Output OT ae With forward rotation OFF high level Prohibited POT and reverse rotation prohibited NOT signal terminal output by setting parameter 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 O 1111 a 0 After restart Pn000 Pn000 1 1 external POT disabled Pn000 2 1 external NOT disabled Pn000 1 1 and Pn000 2 1 OT signal is ON 4 11 6 Servo Enabled Motor Excitation Output RD Type Signal Name Connector Pin Number Setting Meaning Not including this setting in ON L Servo enabled motor excitation the default setting please Output RD G EE EE OFF H Servo disabled motor not excitation setting parameter Pn511 RD is on when servo enabled motor excitation 4 11 7 Torque Limit Detection Output CLT The application of output signal CLT is as follows Servo Drive 24V Power supply Photocoupler output See 24V Max applicable Voltage L 1CN
230. unter higher 16 digit Un013 Number of pulses given Un014 Number of pulses given x10000 Un015 Load inertia percentage Un016 Servomotor overload ratio Only used in ProNet 7 5kW 22kW when Un017 Servomotor winding temperature equipped with resolver TS Encoder EEPROM saves motor and encoder types and correlation information Un019 Reserve Un020 Reserve Un021 Nikon Encode internal Temperature unit C 139 ESTUN AUTOMATION ProNet Series AC Servo Users Manual Contents of Bit Display Monitor Number Un005 Display LED Number 0 Content S ON CN1 14 PCON CN1 15 P OT CN1 16 NOT CN1 17 ALM RST CN1 39 CLR CN1 40 PCL CN1 41 NI OJAJ A J OJN NCL CN1 42 Monitor Number Display LED Number Content Un006 0 Not used Not used Not used Phase C Phase B Phase A Not used NN OO oy RR oO Mm Not used Monitor Number Display LED Number Content Un007 0 CN1_05 CN1_06 1 CN1_07 CN1_08 2 CN1_09 CN1_10 3 CN1_11 CN1_12 140 ESTUN ProNet Seres AC Servo Users Manual 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 Parameter No Functio
231. ure on the control by reducing the equivalent load inertia ratio thereby reducing the resonant peak so as to suppress resonance As following figure Tg is shaft torque by real time observation K is adaptive feedback coefficient and the ratio of equivalent load inertia of the system would be changed by Tg and K 131 ESTUN ProNet Seres AC Servo Users Manual Motor load mode Load Torque eS Shaft Torque K Load inertia ratio adaptive coefficient Electromagnetism i Current loop Output of speed loop Shaft Torque Calculative Value 4 15 2 Load torque compensation As following figure motor load model with 4 15 1 by real time observation load torque and compensation contro when the load mutates the output of the observer will compensate speed change caused by the mutation load so as to improve the dynamic response performance of the speed loop improve the immunity performance of system Load torque Torque instruction Motor speed Motor load mode Electromagnetism Torque Load torque Calculation value 4 15 3 Related parameters Parameter Name and description Torque observer mode selection 0 Do not use a torque observer Pn010 2 1 Start torque observer and use it to torque compensation arithmetic 2 start torque observer and use it to load inertia ratio adjustable module Pn695 The value is the percentage of motor ontolog inert
232. utkey _ Gandard B 100VAC 2 Sreigtwith key and tap Note EMJ A5 01 and EM D F S support water proof connector default ESTUN AUTOMATION ProNet Series AC Servo Users Manual EMG 10 A D A 1 1 ESTUN Servomotor IT Dr i 3 4 5 6 7 EMG Model 1 2 Rated Output 4 Encoder 7 Option Code Spec Code Spec Code Spec 10 1 0kW D Incremental encoder 131072P R 1 None 15 1 5kW P Incremental Wire saving Type 2500P R 2 With oil seal 20 2 0kW F Incremental encoder 1048576P R 3 With brake DC24V 30 3 0kW S Absolute encoder 131072P R 4 With oil seal and brake DC24V 50 5 0kW 3 Voltage 5 Designing Sequence 6 Shaft End Code Spec Code Spec Code Spec A 200VAC A Designing sequence A 1 Sreigt withoutkey Standard D 400VAC B Designing sequence B 2 Sraigtwith key andtap Note 1 The EMG 30AOA0 0 EMG 50AO0AO0O servomotors are not mounted with an incremental encoder 131072P R 2 There is no brake mounted on the EMG D servomotor EML 10 A D A 1 1 ESTUN Servomotor 1 2 3 4 5 6 7 EML Model 1 2 3 Rated Output 4 Encoder 7 Option Code Spec Code
233. vervoltage low voltage overload regeneration error overspeed etc Utility Function Alarm trace back JOG operation load inertia detection etc Display Function CHARGE Red POWER Green five 7 segment LEDS Built in panel operator D r RS 485 communication port MODBUS protocol CAN communication port CANopen protocol Communication Functiion EtherCAT communication module CiA402 protocol POWERLINK communication module CiA402 protocol 164 ESTUN ProNet Series AC Servo Users Manual AUTOMATION 7 2 Servo drive Dimensional Drawings m ProNet A5A 01A 02A 02B 04A ProNet E A5A 01 A 02A 02B 04A Unit mm Nameplate 40 27 ro lll EE ej 2999 l i Cp HME E o ls f j D WO fa Lye it SCT e Op e La naL al l 9 180 180 gd SS SC SE WEN ane Th D 150 D Sp SEET 160 Note ProNet E does not support extended module m ProNet 04B 08A 10A
234. vity 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 servomotor rotates matching the step 2 machine operating specifications 7 Adjust the servo gain and improve the servomotor The servomotor will not be broken in compl
235. ween 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 The servomotor cannot be operated by turning the power on and off Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate resulting in unexpected problems Always start or stop the servomotor by using reference pulses m Follow the instructions for PCB use 1 Before touch the PCB the body of the user must be discharged 2 The PCB cannot be contact with highly insulating materials 3 The PCB is only allowed to put on the conductive pad 4 The PCB is only allowed to store and transport packaging in conductive wrapper or conductive foam rubber or aluminum foil a Precautions on turning ON and turning OFF the servo drive 1 When turning on the servo drive make sure that the control power supply has be turned on before turning on the main circuit power supply 2 When turning off the servo drive make sure that the main circuit power supply has be turned off before turning off the control power supply ESTUN ProNet Seres AC Servo Users Manual Contents ADOUUTIIS MANUAL EE 1 SAISY et E 2 ET NEE EE 7
236. xceed 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 Type Signal Name Pin No Setting Meaning Forward rotation allowed Normal ON low level CN1 16 operation status factory setting Forward rotation prohibited OFF high level Forward overtravel Reverse rotation Normal operation ON 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 CN For example reverse rotation is possible during forward Limit switch Limit switch 16 overtravel e almportant 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 79s ESTUN ProNet Seres AC Servo Users Manual
237. y is on Connector for communication Used to communicate with other devices UO signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor ESTUN ProNet Seres AC Servo Users Manual 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 S 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 ESTUN ProNet

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