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ProNet-E Series AC Servo User's Manual

1. OSM 20 l S J ra gt Eu Y EL J nn x I 1L M l O E 2 E nda B Q CHARGE u c E ETE eel Lal cc Lall 2 ic eil c rr ea E rr P bie Ol J C amp nad AF Bi e B2 ALA LE pall AAN 214 Wi EL I e q Ht E a L ES f AN N a io G2 a ProNet E 10D 15A 15D ProNet E 20A 50A
2. y o o Le ble Sa z eE SI I gt Ll s A 1 B BIS L 11691 Hi Li Li 168 zll 2 16 ql 2 18 12 KB 10 D 13 IB E L3 el ace 110 13 165 geo ena E e HO eS o 16 E ez 6 e2 El e B e KB 8 B c a ie ea A amy HER e S2 e yO e al e aZ IE uce uc TE uce E Lic fe EF L2c E Lzc KD E uc D E Lac 199 ES ai d o TEST E e 60 8 et TED 8 E g HO B2 HD B2 HEBE L B2 HD m 83 192 as 11921 es e as 10 u 18 v Al v IE v 18 v 16 v IE 92 v IO v Al EB e p gt ELF LU Stun 5 sun Sn IVY JUMM JUS PUN 30mm min 1 mm min llinstallation Orientation Install servodrive perpendicular to the wall so that the front panel containing connectors faces outward E Cooling Provide sufficient space around each servodrive to allow cooling by natural convection or fans llinstalling side by side When installing servodrives side by side provide at least 10 mm space between them and at least 50 mm space above and below them as shown in the figure above Make sure that the temperature inside the control panel is evenly and prevent the temperature around each servodrive from increasing excessi
3. Cooling Fan Mounting Hole Diagram i LJ UN AY 7 D V ia O N S j EE rm i l d TAM Ty HI WT TT I I S du rnnt V L Y Air Flow 134 B ProNet E 10D 15A 15D 94 4 TE 186 175 Mounting Pitch AAA at Mounting Hole Diagram Co 96 To o o 6 i OO o OO o o YT oling Fan 4 M4 Screw Holes 89 100 zl B ProNet E 20A 30A 50A Unif mm 270 5 j lt 258 5 Mounting Pitch eo Mounting Hole Diagram 112 Mounting Pitch 125 4 M5 Screw Holes 4 Air Flow 186 Three Terminals gt Air Flow 270 5 Y 100 u Flow i m Terminal i 82 TE 14 M4 Screw es He N E ES Tel u TU je HN Ground Terminal 4s A Screw L 125 V Flow Ground Terminal 2 M4 Screw 135 Nameplate os 75 180 pi
4. isis AGE 0000 EI H TITO gt XL MA Y q oA LM 5 mU MM o x P T e Iman CHARGE See Z S ET A u Di es 6 n E Z 5 L1 NA E L3 Tay Tapa LED qe ei 7 GE en z E Q cea o P mm 1i L b e Lic W F ES p uc L2C IS AA Z L2C 3 m B1 LO 2 B1 B2 B2 TT po E B3 B Li B3 a SA lu v 6 Lj y W FN e W Z A E O L Qu E cy NN 9 s E ati 1 2 Part Names 1 2 1 Servomotor Servomotor without gear and brake Encoder Mounting hole Shell Output shaft Flange 1
5. SIGN s r SIGN phase differential CN1 32 CNI 32 positive logic Mi Note The input pulse multiplier can be set for the two phase pulse train with 90 phase differential reference pulse form gt Forward Rotation everse Rotation I f i i i i i i PULS CN1 30 SIGN CN1 32 4 Inverses PULS and SIGN reference Pn004 OOOO Do not inverse PULS reference and SIGN reference ELE pel Do not inverse PULS reference Inverses SIGN reference 2 ETE Inverse PULS reference Do not inverse SIGN reference SETA Inverse PULS reference and SIGN reference 70 5 Reference Pulse Input Signal Timing Reference pulse signal form Electrical specifications Remarks 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 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 6 Connection Example E tl t2 0 1us t3 t7 0 1us t4 t5 t6 gt 3us t 1 0
6. ProNet E Series AC Servo User s Manual Version V1 00 ROSES SS RS Sees fusus SS A 9 CJ S ETA D ESTUN AUTOMATION TECHNOLOGY CO LTD Drive Your Success MEA Revision History Copyright 2012bESTUN 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 About this manual B This manual describes the following information required for designing and maintaining ProNet series servodrives Specification of the servodrives and servomotors Procedures for installing the servodrives and servomotors Procedures for wiring the servodrives and servomotors Procedures for operation of the servodrives Procedures for using the panel operator Communication protocols Ratings and characteristics B Intend
7. Servodrive Servomotor 0V Speed Host Reference Controller BONO OM 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 Fal HD12 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode CEE len 5 Press the MODE key for more than one second the reference offset will be automatically adjusted 115 CEE len 6 Press ENTER key to return to the utility function mode display Fn003 Fal HD12 7 Thus the speed reference offset automatic adjustment is completed 5 2 5 Manual Adjustment of the Speed Reference Offset Manual adjustment of the speed torque reference offset is used in the following cases B lf a position loop is formed with the host controller and the error is zeroed when servolock is stopped B To deliberately set the offset to some value Use this mode to check the offset data that was set in the automatic adjustment mode of the speed torque reference offset This mode operates in the same way as the automatic adjustment mode except that the amount of offset is directly input during the adjustment The offset adjustment range and setting unit are as follows Torque reference Offset adjustment range Offset adjustment range 1024 1024 Offset setting NV Analog voltage input Note When the offset using in automatic ad
8. gt 8 data bits 4 11 bits character frame 8 O 1 Modbus ASCII RTU o Z PP i 4 2 po l l pa l AA ee ee l l N l A l Q2 l l e l l Nn l Pre ears l ON 4 l l A Rea yo G 2E lt N z Jo 8 data bits lt 11 bits character frame gt Communication protocol structure Data format of communication protocol ASCII Mode Start character gt 3A p Communication address gt 1 byte contains two ASCII codes Reference code gt 1 byte contains two ASCII codes DATA n 1 Data content gt n word 2n byte contain 4n ASCII codes n3 12 EC RTU Mode Sleep interval of at least 4 bytes transmission time Communication address gt 1 byte Reference code gt 1 byte DATA n 1 Data content gt n word 2n byte n 12 DATA 0 CRC CRC checking code gt 1 byte Sleep interval of at least 4 bytes transmission time Communication protocol data format instructions are as follows STX communication start ASCII mode character 124 RTU mode Sleep interval of at least 4 bytes transmission time automatically changed according to different communication speed
9. UR 8 QE rat INA L TT ati 10 PATSON OMNO O seis sene A aee oup dr E 10 ee la c dr M 10 gt T TTT TTT 13 Tal 6211 Fe Toa eta enemas cote rte se ME MM MICHAEL UD a E MUN IP MM Duc M M 13 E T MR ae 13 A But c C 13 2 Vee SE m NM 13 ZAS INS la to diia 14 Za Installation One Mall OM ia A A AS 14 22120 Handling me Eine Water t ER 14 ZNO GADDIS Tensa A ii A A arse 15 PAPAS O I T LL UL Urn 15 2 2 SOL d Wee near Ace ee ne I uA M IM ed E MED p Ed E E d 15 2 22 A 15 2 2 9 Iristallallorr OFIe Atala A ad Seer Doc dea scuta A A a Ste T iate petas 15 2 2 A INS ta la ton MS id 16 A ee ere ee 17 MALIA LE Feste mE cm eh lant e 17 A eT ne secos iu Del NU M EIL D NU MI MIU M E cu 17 3 1 1 Names and Functions of Main Circuit Terminals cocoonncnccocnncononnnnnnnnnnononcnnnnnnnnnnnnnnnonnnrnnnnnannnnnonos 17 3 1 2 Typical Main Circuit Wiring Examples ccccccsscccccesceccesscecceececseueeeceececseueeesseueeessueeeeseueeesessegeeesaaes 18 A A a ene nn ee ned re eee eee ee 20 3 2 1 Examples of l O Signal Connections uterine eA oe ed eee es 20 3 2 2 I O Signal Names and Functions sse eee 21 3 2 3 UO Signal Connector
10. Reference pulse n tl t2 lt 0 5ms Input reference pulses are not counted during this period 3 Setting Input Signals Signal Connector Pin Type Name Number Turns the INHIBIT function ON N low level Inhibit the servopack from counting Input P CON CN1 15 reference pulses Turns the INHIBIT function OFF rava rava level Counters reference pulses 80 4 5 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 could set move distance running speed constants for position reference filter time and the stop time when positioning completed Two speeds 1 speed moving towards distance switch speed of looking for reference point 2 Speed moving away from distance switch moving speed of reference points could be set as Two position modes 1 Absolute position mode 2 Relative position mode Two running modes 1 Circling mode 2 Non circling mode Two step switching method 1 Delay step switching 2 P CON signal switching Method of looking for reference points 1 Forward direction 2 Reverse direction aAdjusting offset Offset of each points has two correspondent parameters one unit of the parameter is x 10000 reference pulse and the other is x 1 reference pulse Setting range of both para
11. 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 14 2 1 6 Cable Tension When connecting the cables the bending radius should not be too small do not bend or apply tension to cables Since the conductor of a signal cable is very thin 0 2 to 0 3 mm handle it with adequate care 2 2 Servodrive ProNet E series servodrive is a base mounted type Incorrect installation will cause problems Always observe the installation instructions described below 2 2 1 Storage When the servodrive is not used store it in the temperature between 20 C and 85 C with the power cable disconnected 2 2 2 Installation Sites Notes on installation are shown below When installed in a control Design the control panel size unit layout and cooling method so that the temperature panel around the periphery of the servodrive does not exceed 5
12. ADR communication address Valid communication address 1 to 254 For example communicate with the servodrive which address is 32 20 in hex ASCII mode ADR 2 0 gt 2 32H 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 y from the servodrive which address is 01 H ASCII mode Reference information Response information Data number count as byte Data start address Content of data start address 0200 Data number count as word Content of second data address 0201 y LRC checking 0D HXCR LRC checking OA LF e ED xh RTU mode Reference information Response information CMD 034 O 02u we bit Data number Data start address 00 4 OOu lw bi count as byte Content of data start 00 y high bit Data number 00 y count as word CRC checking C5 u low bit CRC checking B3 u high bit address 02004 B1 y low bit Content of second data 1F y high bit address 0201 y 40 u low bit CRC checking A3 4 low bit CRC checking D3 u high bit 125 Reference code 064 write in one word For example write 100 0064 y into 014 servo address 0200 ASCII mode Reference information Response information STX da ADR Data start addres
13. Changing steps will be performed till the end point completed and the next change will start from the start point during multi points cycle run Point control program will not change steps after the end point completed during multi points single run Change steps by external P CON signals The signal will be valid when drive output reaches the desired position When input signal changes the signal is valid then steps will be changed by consequence from start point to end point Incremental relative moving distance distance from current point to next point programming Absolute absolute moving distance distance between operating platform and the reference point programming 4 5 9 Position Homing Control Homing Function In position control mode servomotor always need to operate in a fixed position this position is normally regarded as zero position When the host controller is turned on zero position adjustment is required before processing This zero position will be regarded as the reference point ESTUN servo drive can perform this by the homing function 1 Homing Mode Setting Homing in the reverse direction b DOC m b O10 0 Homing triggered by SHOM signal rising edge e Applicable control mode position control e Homing operation can only be operated when COIN is ON Pulses sending from the host controller is disabled when homing e Homing operation is disabled when switching contro
14. Friction Pn131 compensation speed Immediately m EE Threshold of friction compensation start hysteresis area Pw mew o o Pw Reeves E Cemas mew E o emo Reeves o o Cemar Rea S 0 emas ewe 151 Parameter Setting Description No Validation Pn140 Pn142 Reserved Pn143 Control Function and Meaning Mode Analog encoder output orthogonal difference pulses PG divided The meaning of this value is the number of analog Pn200 After restart P S T ratio 1st electronic gear Pn201 After restart numerator Electronic gear Pn202 encoder output orthogonal difference pulses per one servomotor rotation The electornic gear enables the reference pulse relate with the servomotor travel distance so the host controller need not to care mechanical deceleration After restart denominator ratio and encoder pulses In fact it is the setting of frequency doubling or frequency division to the reference pulses Numerator Pn201 or Pn203 Denomin ator Pn202 Position reference l l l l This value is used to smooth the input pulses The acceleration l l l MP Immediately effect of smoothness is better when the value is deceleration time l l l l higher But lag will occur if the value is too large constant Position reference 0 1st order filter Pn205 After restart filter form selection 1 2nd order filter Speed reference l l l Pn
15. When the Electronic Gear is Not When the Electronic Gear is Used Used workpiece workpiece T Reference unit 1um No of encoder TM No of encoder TN pulses 2500 Ball screw pitch 6mm pulses 2500 Ball screw pitch 6mm To move a workpiece 10mm One revolution is 6mm Therefore To move a workpiece 10mm using reference units 10 6 1 6666 revolutions 2500x4 pulses is one revolution Therefore 1 6666x2500x4 16666 pulses 16666 pulses are input as reference pulses The equation must be calculated at the host controller The reference unit is Tum Therefore to move the workpiece 10mm 10000um 1pulse 1pm so 10000 1 10000 pulses Input 10000 pulses per 10mm of workpiece movement T5 2 Related Parameters Electronic Gear Ratio Numerator Setting Range Setting Unit Factory Setting Setting Validation Electronic Gear Ratio Denominator Pn202 l E Setting Range Setting Unit Factory Setting Setting Validation If the deceleration ratio of the servomotor and the load shaft is given as n m where m is the Pn201 rotation of the servomotor and n is the rotation of the load shaft B Pn201 A Pn202 Electronic gear ratio Travel distance per load No of encoder pulsesx4 m n shaft revolution reference units e If the ratio is outside the setting r
16. OL3 VO 2 l CS A 652 st e CN2 A Incremental Wire savin LIC Encoder 2500P R 3 1 A gt OL2C o o p E S NA Encoder L A 7 B1 O B1 4 B OB2 oB2 lt e External Regenerator Resisotr BS oB3 TBA CEGIN EM o o o I 17 18 19 PGOV la Shell Shield P HT s A NY o Be sure to ground CN3 E 1 N C N Be sure to prepare the end of the 2 N C shielded wire properly 3 485 CN1 4 ISO GND 5 SO GND Use special communication cable to connect VREF 4 40K 8 ref 6 485 PC Personal Computer t PA EMO Speed Reference 0 10V Rated Speed VREF 2 LE Eun 7 CANH 10K m 8 CANL Note Do not short terminal 1 and 2 of CN3 L ref a TREF 26 pots Shell Shield Torque Reference 0 10V Rated Torque TREF 27 gt lt i CN4 1 N C l 2 NC L PPI 34 3 485 Open collector Reference Use o 4 ISO GND PULS 30 5e 5 ISO GND Position Reference lt eee IS PULS 31 i 6 485 7 CANH SIGN CCW B fal ane SS yc 2 CANL V S Shell Shield Signal allocatons can be modified Ne DICOM 13 MESI E 20 PAO B S ON Servo ON t S ON 14 PEE 21 PAO P CON P Control H P CON 15 B 7 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 16 ure 23 PBO gt Applicable Line Receiver N OT Reverse Run Prohibited N OT 17 AY 24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 k 25 PCO CLR Clear Error Pulse CLR 40 i 50 DGND J P CL
17. ivided Ratio Outpu TREF 27 j 23 PBO Applicable Line Output gt 24 PCO AM26LS32A Manufactured by TI or the Equivalent 25 PCO 50 DGND PPI 34 gt 7 PULS 30 25 PUS 31 Ed SIGN 32 5 SIGN 33 Signal Allocations can be Modified V CMP Speed Coincidence y 5 TGON COIN Positioning Completion 6 TGON a Eet Detection 9 S RDY RDY ervo Ready 10 S RDY BK Brake Interlock i 11 V CMP d e res Output gt 12 V CMP Bp So Enabled Motor Excitation Output xad HOME Home Completion Output DICOM 13 n S ON 14 S 4 gt P CON 15 E P OT 16 SoY gt N OT 17 eS ALM RST 39 po Y gt HA cR 40 E P CL 41 AAA N CL 42 c H 1Ry 24V oo 7 ALM E Shield 18 ALM 4 E 1D L oV ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 3 2 2 I O Signal Names and Functions B Input Signals Control Signal Mode Name S ON servo ON Turns the servomotor on Function selected by parameter control reference ON reference direction P CON 15 Control mode switching reference zero when ON block input when ON Forward run prohibited Reverse run prohibited Enables control mode switching Speed Position Torque Overtravel prohibited Stops servomotor when OFF Function selected by parameter Forward external torque limit ON Rev
18. sse eee eee eee AS Basie Seting In Position OnDtrOL TTT 2 5 2 Setting the Clear Signal T AS SUING me EIS CIRO RIG Gea o 5 Ma aedis et beue o tM du o o a O ASA SIMOO UMNO adi ITE TETERERERIER 4 5 5 Low Frequency Vibration Suppression eee ee ee 4 5 6 Positioning Completion Output Signal sese eee eee 4 5 7 Reference Pulse Inhibit Function INHIBIT oooocccoccnnnccccnncnoccncnnoconononcnnonononcnnnrononnnrnnonnnrnnnnnrnnnnnnnanos 4 5 8 Position Control contact reference sse eee eee 4 5 9 Position Homing Control Homing FUNC ION oooccccoocccncccccnncnoncncnnnconononcnononcnnnnnnnnnonnrnnnnnnrnnnnnrnnnnnnnneos 4 6 Operating Using Torque Control iie a tata El 4 6 1 Setting Parameters tii 87 40 2 Torque Reterence Input tdi 88 4 6 3 Adjusting the Reference Onset iii DR A A AAA A AAA AA A AAA AAA 89 4 6 4 Limiting Servomotor Speed During Torque Control sees eee eee eee 90 4 7 Operating Using Speed Control with an Internally Set Speed 91 a oening rara meters ui os 92 2 52 Input SIG Ally Settldsi eru add passata Uca Ni aM uL SN CI UN EU MUERE at 93 4 7 3 Operating Using an Internally Set Speed sse sees 93 4 7 4 Limiting Servomotor Speed During Torque Control sees eee ee eee 94 AGEMING TOUS ii A A iaa 95 S MEA ds E DO E 95 2 8 2 External Torque LIM 96 4 8 3 Torque Limiting Using an Analog Voltage Reference eee eee 97 4 9 Control Mode E a iie TT 9
19. Ball screw pitch Deceleration ratio n nx e E UN 4x Pexm ri 4xPoxmxAl 4xPa m l LLL x Set A and B with the following parameters A nxp P n A Pn202 B Pn201 At 75 4 5 4 Smoothing A filter can be applied in the servodrive to a constant frequency reference pulse 1 Selecting a Position Reference Filter 0 1 order filter Pn205 1 2 order filter 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 aes Setting Range Setting Unit Factory Setting Setting Validation ll Important When the position reference acceleration deceleration time constant Pn204 is changed a value with no reference pulse input and a position error of 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 operating in the following cases e When the host controller that outputs a reference cannot perform acceleration deceleration processing When the reference pulse frequency is too low When the reference electronic gear ratio is too high i e 10x or more 76 4 5 5 Low Frequency Vibration Suppression 1 Note For the low rigid
20. CN1 Terminal Layout sees ee eee eee ee 23 SAT aT n Te Tee H ED A 24 JIWO A uns A MI D ME UM aL LU M alee MEE ID 25 3 3 1 Connecting an Encoder CN2 sssssssssssssssssseeseee nennen nnne nnn nnne nnn a nnne n nnne nnn nna nennen nnns 25 3 3 2 Encoder Connector CN2 Terminal Layout sees nennen nennen nn nnns 26 3 4 COMMUNICATION COMME COM se ess scii acia tare de ats EE detis S 26 3 4 1 Communication Connector CN3 Terminal Layout eee eee eee ee 26 3 4 2 Communication Connector CN4 Terminal Layout ese ee eee eee ee 26 SANA MO EA c MEE ETT OO TO T 27 3 5 1 Three phase 200V ProNet E 02A O4A iesssesessseeeeeeeee nnne nnne nnne nnne nnne nnn nnne nnne rns 27 3 5 2 Three phase 200V ProNet E 08A 50A ococcooccocococoncococonoconcncocononoonaconononcnnononnnnnnnrnnonnnrnnonannnnnnrnnenanens 3 5 3 Three phase 400V ProNet E 10D 15D eese nennen nnne nnne nnn nnns 320 4 POSHO CONTO MOJE a A AA seers 9 99 Peod Control ModE uci ict li ee ee ee ee oe ere ee 3 5 6 Torque Control MOG Cs 225e haces ideo sec ppt a JO VVITING eid v Lae ein Ol iii HR SO Cer melo gio TTT 3 6 2 Precautions on Connecting Noise Filter sese 3 7 Installation Conditions of EMC Directives sse eee ee 3 0 Using More than One TT eH aT BF are 8 a HHT A area wits EL tans P aS oases a ae use i Pas O Pid RE eT
21. GO Bt JL L BESH JC 11 Bf jpg At LO 10 TT T l YOT Hi Waray quil NL i HALA UTE EAL HIH H H HH LU IL ii n H H Ho H H ij i L Flow Nameplate 75 204 5 4 Cooling Fan Appendix A Parameter A 1 Parameter List Parameter Setting Factory Setting No Range Setting Invalidation Binary Pn000 0 Servo ON Pn000 1 Forward rotation input signal prohibited P OT Pn000 0 1111 After restart Pn000 2 Reverse rotation input signal prohibited N OT Pn000 3 Alarm output when instantaneous power loss Binary Pn001 0 CCW CW selection Pn001 Pn001 1 Analog speed limit enabled 0 1111 After restart Pn001 2 Analog torque limit enabled Pn001 3 2nd electronic gear enabled Binary Pn002 0 Electronic gear switching mode Pn002 Pn002 1 Reserved 0 0111 0010 After restart Pn002 2 Reserved Pn002 3 Reserved Binary Pn003 0 Reserved Pn003 Pn003 1 Reserved 0 1111 Pn003 2 Low speed compensation Pn003 3 Overload enhancement Hex Pn004 0 Stop mode Pn004 Pn004 1 Error counter clear mode 0 0x3425 After restart Pn004 2 Reference pulse form Pn004 3 Inverses pulse 136 After restart Parameter Setting Factory Setting Range Setting Invalidation Pn005 Pn006 Pn007 Pn100 Pn00
22. S ON etc a K v Diop TP TTT AS Mi 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 servodrive uses this output circuit in speed control to comprise the position control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller Mi Interface for sequence output circuit Photocoupler output circuits are used for Servo Alarm ALM Servo Ready S RDY and other sequence output signal circuits Connect a photocoupler output circuit through a relay circuit 24 3 3 Wiring Encoders 3 3 1 Connecting an Encoder CN2 B Incremental wire saving encoder 2500P R water proof Incremental Wire saving Encoder Servodrive Host controller x 1 A PA 2 1 gt A XB LP IPA 22 E 20 PAO gt 30 PB m e 21 J PAO P A P PA y m 2 4 BH 22 PBO E 25 a 23 PBO 1 6 F SP PC 26 CH 24 PCO a 25 mco iP Output line driver AM26LS31 Applicable line manufactured by TI RS receiver SN75175 or equivalent manufactured by TI or equivalent H E le 7 2 8 2 PGSV G 12 17 2 18 2 19 PGOV 1 18 OY eae Connect shell N 9 J Ew E FG l shielded wires E Con
23. This will turn ON the power to MODE ke T The servomotor will run in forward direction when INC x 0 key pressed or in reverse direction when DEC key Do Tunning INC or DEC key pressed The servomotor will operate as long as the La c key is pressed gt Reverse running MODE key the servomotor ENTER key of the utility function mode Now the servodrive is servo OFF Note The servomotor s rotation direction depends on the setting of parameter Pn001 O Direction Selection Press the MODE key This will turn OFF the power to Press the ENTER key to return to the Fn002 display The example above describes operation with Pn001 0 in the factory setting 42 JOG Speed Setting Range Setting Unit Factory Setting Setting Validation Set the utility function Fn002 JOG Mode Operation to the reference value of servomotor speed The servomotor can be operated using only the panel operator without reference from the host controller Pay attention 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 servodrive Also check the wiring and polarity between the host controller and servodrive and the servodrive operation setting are correct This is final check before connectin
24. With No Internal Torque Limit ith I IT Limi Maximum torque can be output With Internal Torque Limit Speed Speed Limiting torque Maximum torque E Note Too small a torque limit setting will result in insufficient torque during acceleration and deceleration 95 4 8 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 Setting Range Setting Unit Factory Setting Setting Validation Reverse External Torque Limit Pn404 Setting Range Setting Unit TY eng Setting Validation 1 Immediately Note The setting unit is a percentage of rated torque i e the rated torque is 100 2 Input Signals Signal Connector Pin T Type Limit Value Name Number CN1 41 ON low level Forward external torque limit Pn403 Input P CL l factory setting OFF high level Forward internal torque limit Pn401 CN1 42 ON low level Reverse external torque limit factory setting OFF high level Reverse internal torque limit Pn402 When using this function make sure that there are no other signals allocated to the same terminals as P CL and N CL 3 Changes in Output Torque during External Torque Limiting Example External torque limit
25. and either P CL or N CL is OFF high level the control mode will switch Example When Pn005 1 5 Speed control contact reference lt gt Position control pulse train hasan m 93 4 7 4 Limiting Servomotor Speed During Torque Control During torque control the servomotor is controlled to output the specified torque which means that the servomotor speed is not controlled Accordingly when an excessive reference torque is set for the mechanical load torque it will prevail over the mechanical load torque and the servomotor speed will greatly increase This function serves to limit the servomotor speed during torque control to protect the machine Without Speed Limit With Speed Limit Danger of damage due to A A lt Servomotor speed Servomotor speed excessive of machine speed Max speed Speed limit 1 Speed Limit Enable b DDoO LoL b OO00 Use the value set in Pn406 as the speed limit Internal speed limit gt Pn001 posee Use the lower speed between V REF and Pn406 as an external speed limit input External speed limit 2 Internal Speed Llimit Fuction Speed Limit During Torque Control Torque Setting Range Setting Unit Factory Setting Setting Validation 0 6000 1500 Immediately Set the servomotor speed limit value during torque control e Pn005 H LILI1LJ Pn406 is motor speed limit value e The servomotor s maximum speed will be used when the setting in this paramet
26. 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 rotation easy to check for example one servomotor displayed revolution from the host controller in advance and Un004 rotation angle pulse The number of pulses check the sent number of rotation and actual number from the zero point of rotation by visual inspection and the Un004 rotation angle pulse If the sent number of rotation and actual number of Refer to 4 4 8 Encoder Signal Output for how to set rotation 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 servodrive When the speed reference input is set to 0 V and servo OFF status enters the trial operation for position control with the host controller is completed 45 3 Operating Procedure in Position Control Mode Pn005 H U 1 1L 1 The following circuit is required External input signal circuit or equivalent Step Turn the power and the servo ON input signal ON Servodrive CN1 UV 13 S O a gt 14 POL gt 16 NOT 037 gt 40 v PULS S 30 o 2 PULS 31 Reference pulse G ELA 32 according to parameter 2 SIGN Pn004 2 setting SL 33 Match the reference pulse form with the pul
27. i OB3 5B3 7 8 9 PG5V E Le I o I T 17 18 19 PGOV pa AD Shell Shield Be sure to ground B CN3 NS i 1 N C Be sure to prepare the end of the 2 N C shielded wire properly pare 3 485 CN1 4 ISO GND 5 SO GND Use special communication cable to connect VREF 1 sok ret 6 485 PC Personal Computer vel Speed Reference 0 10V Rated Speed VREF 2 2 L 7 CANH 10K AID 8 CANL Note Do not short terminal 1 and 2 of CN3 ref TREF 26 Joan Shell Shield Torque Reference 0 10V Rated Torque TREF 27 Hol l CN4 1 N C f 2 N C PPI 34 3 485 Open collector Reference Use 5 4 ISO GND Om PULS 30 Uu 5 ISO_GND Position Reference 4 oual l PULS 31 zi 6 485 a 7 CANH SIGN CCW B fal ON ae T 8 CANL V 7 Shell Shield Si Bad 24V Manann 2443 N nT BRR ignal allocatons can be modified DICOM 13 DEE L2 20 PAO S ON Servo ON I S ON 14 E 21 PAO P CON P Control P CON 15 o H M gt 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited HL P 0T 16 H LT 23 PBO Applicable Line Receiver N OT Reverse Run Prohibited N OT 17 a k 5 24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset t ALM RST 39 e 45 25 PCO CLR Clear Error Pulse CLR 40 pH 50 DGND P CL Forward Torque Limit o P CL 41 HE N CL Reverse Torque Limit N CL 42 gt HE a ae Hey eae Modified SHOM Home i 5 TGON COI
28. which can be selected or adjusted by the parameter settings Refer to A 1 Parameter List for details llParameter 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 Freien Press INC key or DEC key to select parameter number E Press ENTER key to display the current data of Pn102 d Press the INC or DEC key to change the data to the desired number 00085 Hold the key to accelerate the changing a Fa of value When the maximum value or minimum value is reached pressing INC or DEC key will have no effect Press the ENTER or MODE key once to return to the display of Pn102 ral dec In addition press MODE and ENTER keys at the same time to enter into parameter number shifting status to modify parameter number and then execute the same action to exit parameter number shifting status In step 3 and 4 press the ENTER key for longer time to enter into parameter shifting status to modify parameter and then press the MODE key to save and exit or press the ENTER key to return to parameter number display 108 5 1 6 Operation in Monitor Mode The monitor mode allows the reference values input into the servodrive I O signal status and servodrive internal status to be
29. 0 401 1111 Immediately m o SZ Xx m E mes mem 00000 o o Pn516 Input port uL inversion MU S past mepssweesn H emi o mesa CCT UE m5 Reserves m amp 5 Reserves E If connect externally regenerative resistor 0 connect externally regenerative resistor between B1 and B2 Pn524 1 dose not connect externally neden regenerative resistor relay on interna capacitance This parameter is in effect only on ProNet E 02 04 Pn525 Overload alarm threshold 100 150 Immediately Pn600 Position pulse in point to point control 10000P 9999 9999 0 Immediately Pn601 Position pulse in point to point control 9999 9999 0 Immediately Pn630 Position pulse in point to point control 9999 9999 Lx 3 Immediately Pn631 Position pulse in point to point control 9999 9999 NE UE Immediately Pn632 Point to point speed control 0 3000 Immediately Pn647 Point to point speed control mm 0 3000 500 Immediately Pn648 Point to point 1st order filter 0 32767 0 Immediately Pn663 Point to point 1st order filter 0 327607 0 Immediately Pn664 Stop time 0 300 Immediately Pn679 Stop time 0 300 10 Immediately Pn681 0 Single cyclic start reference point selection Pn681 0 x0333 0x0000 Immediately Pn681 1 Change step and start mode Pn681 2 Change step input signal mode Pn681 3 Reserved Pn683 Programme start step TA Immediately 144 Parameter Setting Factory S
30. 1 Separate high voltage cables from low voltage cables 2 Use cables as short as possible 3 Sigle point grounding is required for the servomotor and servodrive grounding resistance 1000 or below 4 Never use a line filter for the power supply in the circuit m Conduct a voltage resistance test for the servodrive under the following conditions 1 Input voltage AC 1500Vrms 1 minute 2 Braking current 100mA 3 Frequency 50 60Hz 4 Voltage applied point Between L1 L2 L3 terminals and frame ground m Use a fast response type ground fault interrupter For a ground fault interrupter always use a fast response type or one designed for PWM inverters Do not use a time delay type m Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation m he servomotor cannot be operated by turning the power on and off Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate resulting in unexpected problems Always start or stop the servomotor by using reference pulses Contents A 0 E A a 1 SANG Dyce Fe CAMO TEE Uu A 2 Se see RTT TT RIS f Checking Products and Parts NAMES 2 ieucacee dietis ve a d ubt e AR sm Iove cst dise ad Re ia f 1 1 Checking Products on Delivery sse sees eee eee f i Eee RV ONO lO er 7 PAS e
31. 2 Press the INC or DEC key to select the utility function number Fn008 Fal HUIS 3 Press the ENTER key the display will be shown as below KE re Ini 4 Press the ENTER key the display will be shown as below NN y MAS 7 ZH 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 Ed HD2 3 Press the ENTER key the display will be shown as below l l 4 Press the MODE key to rotate the servomotor and the servomotor dynamic speed will be displayed 5 The unit of the servomotor and load total inertia displayed when servomotor stops is kg cm 119 Thus the static inertia detection is completed Note Make sure that the servomotor has 6 circles travel displacement in the CCW direction at least before detection 120 Chapter 6 MODBUS Communication 6 1 RS 485 Communication Wiring ProNet E series servodrives 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 servodrive communication connector terminals are as follows CN3 Terminal No Name Function CA Reserved E T 3 RS 485 communication terminal E Isolated ground 6 RS 485 communication terminal T CAN communication terminal 8
32. 2 2 Servodrive B ProNet E 02A 04A nr nr 7 Hr nr 5 INI UU y 1 il l T a mE i d Kele anu p 0600 ue 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 MINI Connector for communication UM Used to communicate with other devices Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor T UO signal connector II _ Used for reference input signals Control power supply terminals Used for control power supply input IM and sequence I O signals li IM NN M Regenerative resistor connecting terminals MM 4 Used to connect external regenerative resistors NI WII A HM TM ul UUI TT U Tm Encoder connector 5 T ly B Servomotor terminals IM NI Connects to the encoder in the Connects to the servomotor power line y servomotor Ground terminal Be sure to connect to protect electric shock 10 B ProNet E O8A 10A Charge indicator Lights when the main circuit power supply is ON and sta
33. CN1 41 factory setting OFF high level Switches control mode Input N CL CN1 A2 factory setting OFF high level 98 4 10 Other Output Signals 4 10 1 Servo alarm output The following diagram shows the right way to connect Alarm Output Servo drive EN I O Power supply 24V QV Optocoupler output MEC ME ALM Each output node 1 a Max output voltage 30V y 4 E E max m Max output current 50mA gt External 24V I O power supply is required since there is no 24V power supply available inside servo drive Output ALM 1CN 7 Servo alarm output Output ALM 1CN 8 Servo alarm output uses grounding signal The signal outputs when servodrive is detected abnormal Servo drive Be detected abnormal gt ALM Output Cut off the main circuit power Normally the external circuit consists of ALM should be able to switch off power of servo drive Signal Status Output level ON ALM 1CN 7 L level Normal state 1CN 8 H level Alarm state When servo alarm ALM happens always remove alarm reasons first and then turn the input signal ALM RST to ON position to reset alarm status Input ALM RST 1CN 39 alarm reset input Signal Status Input level JALM RST ON 1CN 39 L level OFF 1CN 39 H level Do notreset servo alarm Normally the external circui
34. Communication speed of bus JOG Pn312 Immediately P S T 3 JOG speed It can be set to positive or negative Pn316 Speed internal 1 Immediately Pn317 Speed internal 2 Immediately Pn318 Speed internal 3 Immediately S me wau IP CON IP CL IN CL Pn319 Speed internal 4 Immediately Pn320 Speed internal 5 Immediately REM i S Pn307 Immediately S 1000rpm Unit ms Input signal operating speed im Pn322 Speed internal 7 Immediately Torque reference The meaning of this parameter is the needed analog Pn400 Immediately T gain input voltage to reach the rated torque Forward torque l Pn401 M Immediately P S T Servomotor output torque limit value internal limit Reverse torque l o Pn402 UN Immediately P S T Servomotor output torque limit value internal limit Forward external l o Pn403 M Immediately P S T Servomotor output torque limit value torque limit Reverse external l o Pn404 M Immediately P S T Servomotor output torque limit value torque limit Plug braking torque l o Pn405 np Immediately P S T Servomotor output torque limit value imi 153 Parameter Setting Description No Validation Speed limit during Pn406 torque control Notch filter 1 Pn407 Immediately frequency Pn408 Notch filter 1 depth Immediately Notch filter 2 Pn409 Immediately frequency Pn410 Control Function and Meaning Mode Servomotor output torque limit value during torque Immediate
35. Difference Pn501 Setting Range Setting Unit Factory Setting Setting Validation The V CMP signal is output when the difference between the speed reference and actual servomotor speed is less than Pn501 E Example The V CMP signal turns ON at 1900 to 2100rpm if the Pn501 parameter is set to 100 and the reference speed is 2000rpm Servomotor speed Reference speed V CMP is output in this range E Note This pin outputs the COIN signal in position control mode and the V CMP signal in speed control mode 68 4 5 Operating Using Position Control Set the following parameters for position control using pulse trains Pn005 H 0010 Control mode selection position control pulse train reference A block diagram for position control is shown as below Servodrive in position control Pn113 Pn112 Pn201 Feed forward Eis Differential Feed forward B Dien uie Offset A constant Pn500 Pn202 N E Positioning complete Pn004 2 Pn204 Pn201 Pn104 Servomotor Reference pulse AL wit Eon Uma x2 e Smoothing B P __ K Speed loop _ Current loop _ x4 A Error counter E Pn202 x Cm PG signal output Pn200 dividing Encoder 4 5 1 Basic Setting in Position Control 1 Setting
36. Eales 1 Ta tI 4 1 1 Trial Operation for Servomotor Without Load sese eee eee 4 1 2 Trial Operation for Servomotor without Load from Host Reference see eee ee eee 4 1 3 Trial Operation with the Servomotor Connected to the Machine sese eee 4 1 4 Trial Operation for Servomotor with Brakes eee ee 4 1 5 Position Control by Host Controller uoi ER a ct ku eer e iret es 42 Conlrol Mode Selecliolioscd eedem i PM scu EMEN uu Me 4 3 Setting Common Basic Functions ssessssssssssssssseseseee eene nennen nennen nnn nnn nnns nennen rn nnne rn nnns ASA SENO ihe servo UNS os ella 4 3 2 Switching the Servomotor Rotation Direction eee eee eee 4 3 3 Setting the Overtravel Limit FUNC ION oooccccconnnccccconoconcnnonononcnaronoconcnnononononnnranononrnnonannnnononranenanens 4 3 4 Setting for Holding Brakes sees 4 3 5 Instantaneous Power Loss Settings sees eene nennen nnne nnns nnns 4 4 Operating Using Speed Control with Analog Reference eee 7241 5etung Pararmeltefsuscs eodem C EM IE EI ELM M Mu eMe eM DIS 4 4 2 Setting Input Signals see eee eee eee 24 9 Adjus ngdsererence DNS a da I AAA a T 4 4 5 Speed Reference Filter Time Constant eee 425 S culve a GlTie iii adi didas 44 7 Using the Zero Clamp Function sies oret Aa 440 Encoder Signal Output 5 ee ree eU tun totiens ton mtu da dua toi LE ep EIE 4 49 Speed colrcidence OU eO eorom Do eae aote o ad oum 4 5 Operating Using Position Control
37. Forward Torque Limit P CL 41 d N CL Reverse Torque Limit N CL 42 a Signal Allocations can be Modified X V CMP Speed Coincidence SHOM Home 5 TGON COIN Positioning Completion ORG Zero Position 6 TGON TGON Rotation Detection S RDY Servo Read york 9 S RDY gt CLT Torque Limit Dete ti h 10 S RDY BK Brake Interlock PGC Encoder C Pulse Output Y 11 V CMP OT Over Travel P 12 V CMP _ RD Servo Enabled Motor Excitation Output HOME Home Completion Output E 1Ry 24V J 7 ALM Connect Shield to Connector Shell Shield Shell f 8 ALM i T OV a Represents Twisted pair Wires 29 ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 3 5 4 Position Control Mode ProNet E Series Servodrives 20 PAO 21 PAO gt 22 PBO PG Divided Ratio Output 23 PBO y Applicable Line Receiver J 24 PCO AM26LS32A Manufactured by TI or the Equivalent 25 PCO 50 DGND Open collector Reference Use PPI 34 m p PULS 30 Position Reference lt PULS CW A 1 af PULS 31 AR E SIGN 32 SIGN CCW B a is y C SIGN 33 Signal Allocations can be Modified op 5 TGON gt V CMP Speed C
38. 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 3 Turn the power Turn the power ON Using the panel operator to make sure that the ON servodrive is running normally 4 Execute JOG Execute JOG operation with the servomotor alone under the no load JOG operation condition Operation 5 Connect input Connect the input signals CN 1 necessary for trial operation to the signals servodrive 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 correct operation Check input signals Input the Servo ON Input the Servo ON signal and turn ON the servomotor signal Input the reference necessary for control mode and check the servomotor Host Input reference for correct operation Reference Ar Turn the power OFF and connect the servomotor to the machine mm operation Host Reference 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 Host Reference parameters the machine s travel direction travel distance and travel speed all correspond to the reference SI H The servomotor can now be operated Adjust the servo gain if necessary 40 4 1 1 Trial Oper
39. an internal regenerative resistor please short B2 and 08A 50A B3 Remove the wire between B2 and B3 and connect an external regenerative resistor provided by customer between B1 and B2 if the capacity of the internal regenerative resistor is insufficient KCN o a If a countermeasure against power supply harmonic waves d c External regenerative B1 l l resistor connection terminal DC reactor for Q1 2 harmonic Terminal Symbol Circuit suppression terminal Main circuit 200 LILIA Normally not connected minus terminal 3 1 2 Typical Main Circuit Wiring Examples B Three phase 200V ProNet E 02A 04A L1 L2 L3 Three phase 200 230V 72 50 60Hz Molded case Circuit Breaker i L Surge Protector 1Ry IPL Servo Alarm Display ES G Noise Fitter Power OFF Power ON 1KM i n g KM 1Ry 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor OL1 A 1 Servodrive L2 ProNet E Uo TA bis Series Servodrive T B2 M CS A O 0 1 WO A 502 ah D 4 OLIC L2C l Encoder CN2 PG External regenerator resistor d Z O B1 OB1 4 B2 B2 OB3 2 B3 1Ry 24V rd 7 ALM LM 8 ALM s qe 1D X Ground Terminal ov Note 1 The L1 L2 L3 and L1C L2C terminals wiring method of ProNet E 02 04 servodrives is different from other ProNet E seri
40. and positive negative logic modifications Sequence Input I O Signals Sequence Output 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 750W 5 0kW internal regenerative resistor 200W 400W external regenerative resistor Internal Functions CHARGE Red POWER Green five 7 segment LEDS Built in panel operator Communication Functiion RS 485 communication port MODBUS protocol CAN communication port CANOpen protocol 133 B ProNet E 02A 04A Unit mm 7 2 Servodrive Dimensional Drawings Nameplate 160 Ei W pur m div Jm div M el E P EH JD Ti EE BH UL Hr B ProNet E 08A 10A Unit mm Nameplate SY 4 Air Flow Red E i E nutum OO OOD COT i y NE D Ho mw HA esee di c T RS TSL b L Na o o Tj ses U HH ooo dud
41. and the ground wires from other devices inside the control panel to the ground plate for the control panel first then ground these wires Control Panel Servodrive Noise Filter LN Servodrive Za Ground 77 Ground plate 35 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 model of the servodrive This section describes the EMC installation conditions satisfied in test conditions prepared by ESTUN Theactual EMC level may differ depending on the actual system s configuration wiring and other conditions Ground Shield Box Brake power supply Servo Drive U V W Power Supply a es CL Three phase 200VAC 7 E hin L1 L2 L3 D Three phase 400VAC Hee s a CN2 Aprox 2m PE p CN1 Core D Host controller Core Clamp Core Core Clamp Aprox 5m Core I Brake Servo motor Core Encoder PE Symbol Cable Name Specifications I O signal cable Shield cable 0 Servomotor cable Shield cable 0 Encoder cable Shield cable AC line cable 2 Cable Core and Cable C
42. and the travel distance of the servomotor is less than the value set in this parameter Set the number of error pulses in reference unit the number of input pulses defined using the electronic gear Too large a value at this parameter may output only a small error during low speed operation that will cause the COIN signal to be output continuously he positioning error setting has no effect on final positioning accuracy Reference Servomotor speed Speed Error pulse Un011 Un012 COIN CN1 11 12 E Note e COIN is a position control signal This signal is used for the speed coincidence output V CMP for speed control and it always OFF high level for torque control 79 4 5 7 Reference Pulse Inhibit Function INHIBIT 1 Description This function inhibits the servodrive from counting input pulses during position control The servomotor remains locked clamped while pulses are inhibited Servodrive uM Pn005 1 Pn005 H 0 010 a OFF Reference pulse gt Pn005 H 0 BL Error Counter ON gt P CON TERN P CON Feedback pulse 2 Setting Parameters Parameter Mem Pn005 Control mode selection position control pulse train reference INHIBIT Mi Inhibit INHIBIT switching condition P CON signal ON low level P CON
43. calculation between the first bit bit 01 of instruction information and 16 bit CRC register s low bit LSB and the result is saved to CRC register Step 3 Check the lowest bit LSB of CRC register if it is 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 Step 4 Go to step 5 till the third step has been executed for 8 times otherwise return to step 3 Step 5 Repeat the steps from 2 to 4 for the next bit of instruction information the comment of CRC register is the CRC error detection value while all the bits have been executed by the same way Note After calculating out the CRC error detection value the CRC low bit should be filled first in instruction information and then fill the high bit of CRC Please refer to the following example Read 2 words from the 01014 address of 01 servo The final CRC register content calculated from ADR to the last bit of data is 37944 and then the instruction information is shown as follows Please be sure that 944 is transmitted before 374 I ee 03u 01 ECCE bit Data start address 01 Oflfu low bi Data number 00 y high bit count as word 02u low bit CRC checking 944 low bit CRC checking 37H high bit End1 End0 Communication is complete 127 ASCII mode Communication is end with ODu namely character r carriage return and OAu namely character n new line RT
44. code 00 u Normal communication 014u Servodrive cannot identify the required functions 02y The required data address does not exist in the servodrive 03H The required data in servodrive is not allowed Beyond the maximum or minimum value of the parameter 04y Servodrive starts to perform the requirement but cannot achieve it For example Servodrive axis number is 034 write data 06 into parameter Pn100 is not allowed because the range of parameter Pn100 is 0 6 The servodrive will feedback an error frame the error code is 034 Beyond the parameter s maximum value or minimum value Host controller data frame Slave station address Data address content Checking EUN Servodrive feedback error frame 03u 86H 034 Besides if the data frame sent from host controller slave station address is 00 it represents this data is broadcast data servodrives will not feed back any frames 129 6 3 3 Data Communication Address of Servo State The communication parameters addresses are shown in the following table Communication data address Description Operation Parameter area Corresponding parameters in Read write 0000 02FD l parameter list 07F1 O7FA Alarm information memory area Ten alarms historical record Read only 07FB_ Speedreference zero offset Readoy O7FC Torque reference zero offset Bead ank O7FD j zeoofe Readony OE jizeoofet o Bead an Monitor
45. communication Pn700 3 Reserved MODBUS Axis Pn701 n After restart ALL Aix address of MODBUS protocol communication Pn703 0 CAN communication baud rate 0 50Kbps 1 100Kbps After restart ALL 2 125Kbps 3 250Kbps 4 500Kbps 5 1Mbps CAN communication Pn704 me After restart ALL CANopen Aix address of communication Pn840 0 Encoder model selection 0 5 Reserved For factory using Pn840 TM Adis reete ALL 6 Incremental Wire saving Encoder 2500P R Pn840 1 Reserved For factory using Pn840 2 Reserved For factory using Pn840 3 Reserved For factory using CAN communication Pn703 speed 160 Appendix B Alarm Display Alarm Alarm Alarm Name Display Output Parameter breakdown The checksum results of parameters are abnormal 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 Overload ataa i exceeding ratings FUIS Position error counter overflow Internal counter internal counter overfow Position error pulse overflow Position error pulse exceeded parameter Pn504 The setting of electronic gear or l l l l l The setting of electronic gear is not reasonable or the A 07 X given pulse frequency is not l l given pulse frequency is too high reasonable The 1st channel of current Something wrong with the inside chip of
46. d evi ces d u ri ng i near motion gt Servomotor forward rotation direction Rotation in the opposite direction is possible during Servodrive overtravel Servomotor For example reverse rotation is possible during forward Limit switch Limit switch overtravel mimportant When using overtravel to stop the servomotor during position control the position error pulses are present A clear signal CLR input is required to clear the error pulses When using the servomotor on a vertical axis the workpiece may fall in the overtravel condition To prevent this always set the zero clamp after stopping with Pn004 0 5 52 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 J Meg Inputs the forward rotation prohibited P OT signal from CN1 16 factory setting Disables the forward rotation prohibited P OT signal Allows constant forward rotation Inputs the reverse rotation prohibited N OT signal from CN1 17 factory setting Disables the reverse rotation prohibited N OT signal Allows constant reverse rotation Applicable control modes Speed control position control and torque control After changing these parameters turn OFF the main
47. monitored B Using the Monitor Mode The example below shows how to display 1500 the contents of monitor number Un001 1 Press MODE key to select the monitor mode Ua HD0 2 Press the INC or DEC key to select the monitor number to display EH 3 Press the ENTER key to display the data for the monitor number selected at step 2 MALE 4 Press the ENTER key once more to return to the monitor number display Ua HDL Lal e Ez 109 B List of Monitor Modes Contents of Monitor Mode Display Monitor Number Monitor Display Un000 Actual servomotor speed Unit rom Un001 Input speed reference Unit rpm Input torque reference Unit Un002 with respect to rated torque Internal torque reference Unit Internal status bit display with respect to rated torque 7654 32 10 Hd 110 Contents of Bit Display na E RGON NMS ro e sworn CLR CN1 40 PCL CN1 41 INCL CN1 42 Monitor Number Display LED Number es 4 ea eos o 111 5 2 Operation in Utility Function Mode In utility function mode the panel operator can be used to run and adjust the servodrive and servomotor The following table shows the parameters in the utility function mode Parameter No Function Foo Namvaebakdwidspy OO OOOO aaa Parameter setinginiiizaton oooO mo 400 mode operation OOOO FnooS Automate adjustment of speed reference fet noo Manual adjustment of speed refere
48. motor not excitation setting parameter Pn511 RD is on when servo enabled motor excitation 4 10 7 Torque Limit Detection Output CLT The application of output signal CLT is as follows Servo Drive 24V Power supply Photocoupler output REOS 24V Max applicable Voltage MEE MEN e dei DC30V n E lt Max applicable current 1CN ICLT a DC50mA Output CLT Torque limit output Speed torque control position control 101 Indicates the seals torque current of motor is limited Please use the following user constants to define output signals and pins when using CLT signal Not including this setting in the default setting please choose terminal output by setting parameter Pn511 Motor output torque under limit Internal torque reference is higher than setting value No torque limit Internal torque reference is lower than setting value Connector Pin Number Para No Meaning Terminal Terminal Pn511 H ooo3 CN1 11 CN1 12 Output signal of CN1 11 CN1 12 is CLT Pn511 H 0030 CN1 05 CN 1 06 Output signal of CN1 5 CN1 6 is CLT Pn511 H o3o00 CN1 09 CN1 10 Output signal of CN1 9 CN1 10 is CLT Pn511 0 3 1CN 11 1CN 12 CLT Torque limit Pn511 123 output 1CN 05 1CN 06 Pn511 2 3 1CN 09 1CN 10 Parameter Pn511 description
49. point control m The speed of JPOS15 point to point control Unit rpm 1st order filter time of JPOSO point to point control can Parameter oe Setting Description No Validation JPOSO Point to point l Pn632 Immediately speed control JPOS15 Point to l Pn647 Immediately point speed control JPOSO Pn648 Point to point Immediately stop or start the servomotor mildly 1st order filter 1st order filter of other point to point control 1st order filter time of JPOS15 point to point control can stop or start the servomotor mildly JPOSO point to point control stop time Unit 50ms Other point to point control stop time JPOS15 Point to Pn663 Immediately point 1st order filter JPOSO point to point control stop time Pn664 Immediately JPOS15 point to l JPOS15 point to point control stop time Pn679 point control stop Immediately Unit 50ms time Pn680 1 Change step input signal pulse mode Pn681 Immediately Pn681 3 Reserved Pn682 Programme mode Immediately 0 Incremental programme 1 Absolute programme Pn683 Programme start step Immediately Select the start point of the point to point control Pn681 0 Single cyclic start reference point selection O Cyclic operation PCL start signal NCL search reference point in forward direction 1 Single operation PCL start signal NCL search reference point in forward direction 2 Cyclic operation NCL start operation PCL search reference p
50. power ON OFF occasions Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse tl t221ms 1 Corresponding time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled __ Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse tl t2 gt 1ms Time sequence when Pn002 0 0 or 1 Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse tl 2 3 tl t2 13 t4 gt Ims Error time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse tl 2 gt 1ms Pn002 1 Reserved Pn002 2 Reserved Pn002 3 Reserved 145 Parameter Setting Control Description Function and Meaning No Validation Mode Pn004 0 Stop Mode O 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 th
51. servo gain Pn100 Pn129 Position gain speed gain rigidity etc Position control related parameters Pn200 Pn205 PG divided ratio electronic gear etc 143 A 3 Parameters in detail Parameter Setting Control Description Function and Meaning No Validation Mode Pn000 0 Servo ON 0 External S ON enabled 1 External S ON disabled servomotor excitation signal is turned ON automatically after S RDY is output Pn000 1 Forward rotation input signal prohibited P OT O External P OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs 1 External P OT disabled Pn000 Binary After restart ALL Pn000 2 Reverse rotation input signal prohibited N OT O External N OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs 1 External N OT disabled Pn000 3 Alarm output when instantaneous power loss O Instantaneous power loss for one period with no alarm output 1 Instantaneous power loss for one period without alarm output Pn001 0 CCW CW selection Pn001 0 ALL Pn001 1 Pn001 Binary After restart Pn001 2 P S Pn001 3 P used as 2nd electronic gear when Pn005 3 is set to 1 0 Sets CCW as forward direction l Pn002 0 Electronic gear switching mode Pn002 Binary After restart ALL Mu O Corresponding time sequence 1 Sets CW as forward direction Pn001 1 Analog speed limit enabled 144 0 Sets the value of Pn406 as the speed limit value during torque contr
52. shift can be eliminated For details on brake operation while the servomotor is operating refer to 5 Setting the Brake ON OFF Timing When Servomotor Running in this section S ON CNI 14 BK Output Power to Servomotor Servo ON Servo OFF Servo ON Brake released Using brakes Brake released brake E No power to Power to servomotor qu servomotor 4 Pn506 Pn505 M important The servomotor will turn OFF immediately when an alarm occurs regardless of the setting of this parameter The machine movable part may shift due to gravity or external force during the time until the brake operates 57 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 u Speed Position Torque Pn507 f NN Setting Range Setting Unit Factory Setting Setting Validation 10 100 1rpm 100 Immediately Pn508 c f E Setting Range Setting Unit Factory Setting Setting Validation 10 100 10ms 50 Immediately IBK Signal Output Conditions When Servomotor Running The BK signal goes to high level brake ON when either of the following conditions is satisfied When the servomotor
53. speed falls below the level set in Pn507 after servo OFF e When the time set in Pn508 is exceeded after servo OFF Servo OFF S ON input Servo ON or alarm or power OFF Servomotor stopped by applying DB or Pn507 ie ae Servomotor Speed coasting UEM eee Sek SRA ae Pn004 0 BK Output Brake released Brake held lt Pn508 K 4 3 5 Instantaneous Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage to the servodrive main circuit is instantaneously interrupted Parameter Signal Name and Meaning b OLILIL I Continue operation when the power supply voltage to servodrive main circuit is Pn000 instantaneously interrupted b HALJE An alarm occurs when the power supply voltage to servodrive main circuit is instantaneously interrupted 58 4 4 Operating Using Speed Control with Analog Reference 4 4 1 Setting Parameters Parameter Meaning Pn005 H OOo Control mode selection Speed control analog reference factory setting Speed Reference Input Gain Speed Position Torque Pn300 r TT TT TT T_ gt TT HWY TT TT T TT TT gt gt gt 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 rat
54. supply circuit wiring Servomotor wiring Encoder wiring Secure the servomotor flange to the machine but do not connect the motor Rotation direction and speed of servomotor e but ft to the load shaft Please refer to step 1 4 iB Purpose The servomotor is operated without connecting the shaft to the To power supply machine in order to confirm the following wiring is correct To host controller I O signal wiring with host controller Rotation direction speed and number of rotations of servomotor e Check the operation of the brake overtravel and other protective machine but do not connect the fu n ction S servomotor shaft to the load shaft Please refer to step 5 8 ll Purpose Perform the trial operation with the servomotor connected to the machine The servodrive is adjusted to match the pene machine characteristics e Servomotor speed and machine travel distance Set the necessary parameters Secure the servomotor flange to the machine and connect the servomotor shaft Please refer to step 9 11 39 Step tem Description______________________________ Reference Install the servomotor and servodrive according to the installation conditions 1 Installation Do not connect the servomotor to the machine because the servomotor will be operated first under the no load condition for checking Connect the power supply circuit L1
55. the servo ON signal and completed all preparations It is output when there are no servo alarms and the main circuit power supply is turned ON 4 10 4 Encoder C Pluse Output PGC Not including this setting in ON low level With encoder C pluse output the default setting Output PGC please choose terminal Without encoder C pluse OFF high level output by setting output parameter Pn511 This signal indicates that when servodrive circumrotate to position of C pluse there is a correlation between the width of C pluse and the speed of servodrive 100 4 10 5 Over travel signal output OT Not including this Without forward rotation setting in the default ON low level prohibited POT and reverse rotation prohibited NOT signal setting please choose Output OT AD terminal output by With forward rotation l OFF high level prohibited POT and reverse rotation setting parameter prohibited NOT signal Pn511 When machine is on over travel state OT signal is OFF Host controller can use this signal to stop sending reference Related parameter POT NOT Setting Range Unit Factory Setting Setting Validation ET Ar restar Pn000 1 1 external POT disabled Pn000 2 1 external NOT disabled Pn000 1 1 and Pn000 2 1 OT signal is ON Pn000 4 10 6 Servo Enabled Motor Excitation Output RD adal aai Servo enabled motor excitation the default setting please Output RD aiaa a dta ay Servo disabled
56. when Pn0O05 H LILIILJ he setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect Speed Reference Input Gain i Setting Range Setting Unit Factory Setting Setting Validation Set the voltage level for the speed that is to be externally limited during torque control With Pn300 150 factory setting and 6V input from V REF CN1 1 2 the actual servomotor speed is limited to the rated speed of the servomotor used 4 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 servodrive The speed control operations within the three settings are valid There is no need for an external speed or pulse generator Servodrive CNI Internally set speed parameters gt a 15 SPEED1 Pn316 Servomotor P CON gt SPEED2 Pn317 P Speed reference SPEED3 Pn318 M Contact inputs E IP CL EE 3 41 SPERDA ERN SPEEDS Pn320 EU 42 SPEED6 Pn321 N CL 7 EE SPEED7 Pn322 o dg 91 4 7 1 Setting Parameters Parameter Pn005 H OU Control mode selection Speed control contact reference gt Speed control zero reference Internal set speed 1 Setting Range Sett
57. 1 5 6 The BK signal is output from output Pn511 H 0400 CN1 9 CN1 10 terminal CN1 9 10 ll Important When set to the factory setting the brake signal is invalid For the allocation of servodrive output signals other than BK signal refer to 3 2 2 I O Signal Names and Functions Parameter Pn511 description as following NUN COIN V CMP output 1 GON rotation detecting output 4 BK brake interlock output 6 oroverravel signal output 00000 8 HOME home completion ouput Related parameter Parameter Settin Range Pn505 Servo ON waiting time ms 2000 2000 Pn506 Basic waiting flow 0 500 Pn507 Brake waiting speed omm 10 100 L Brake waiting time 56 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 iste Setting Range Setting Unit Factory Setting Setting Validation 2000 2000 ms 0 Immediately Basic waiting flow TUN Setting Range Setting Unit Factory Setting Setting Validation 0 500 10ms 0 Immediately When using the servomotor to control a vertical axis the machine movable part 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
58. 105 Pn106 Pn107 Pn108 Online autotuning setting Machine rigidity setting Speed loop gain Speed loop integral time constant Position loop gain Torque reference filtrer time constant Setting Validation After restart Immediately Immediately Immediately Immediately Immediately Load inertia l Immediately percentage 2nd speed loop gain Immediately 2nd speed loop integral time constant Immediately Control Mode P S P S P H P S P S T P Ne P S P S Function and Meaning Pn007 2 reserved Pn007 3 reserved 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Note 1 Autotuning is invalid when servomotor max speed is less than 100rpm Manual gain adjustment is used 2 Autotuning is invalid when servomotor acceleration deceleration speed is less than 5000rpm s Manual gain adjustment is used 3 Autotuning is invalid when mechanical clearance is too big during operation Manual gain adjustment is used 4 Autotuning is invalid when the difference of different speed load is too great Manual gain adjustment is used The response speed of servo system is determined by this parameter Normally the rigidity should be set a little larger However if it is too large it would suffer mechanical im
59. 300 DE 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 speed reference Guan Analog speed given mediately S input gain Pn300 zero bias Speed reference External speed given input analog Analog speed given zero bias X Speed reference input gain PW mew o Pos mew E o 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 It is used to set JOG rotation speed and the direction Pn305 JOG speed Immediately S is determined by the pressing key during JOG operation LO ELLEN RR Pn306 Immediately S time 1000rpm 152 2nd electronic gear Pn203 After restart numerator Pn204 Parameter Setting Description No Validation He 0 The time for trapeziform deceleration to decelerate to Soft start deceleration time Speed filter time l 1st order filter time constant Pn308 Immediately constant Unit ms S curve l The time for transition from one point to another point Pn309 M Immediately risetime in S curve Speed reference 1 S curve Pn310 curve form After restart S 2 1 order filter 3 2 order filter Pn311 S form selection After restart This value determines the transition form of S curve DP communication l
60. 5 C Suppress radiation heat from the heating unit and a temperature rise caused by When installed near a l l l convection so that the temperature around the periphery of the servodrive does not heating unit exceed 55 C When installed near a E l l l n P Install a vibration isolator underneath the servodrive to prevent it from receving vibration source of vibration When installed in a location Take appropriate action to prevent corrosive gases Corrosive gases do not immediately subject to corrosive gases affect the servodrive but will eventually cause contactor related devices to malfunction ae Avoid installation in a hot and humid site or where excessive dust or iron powder is ers present in the air 2 2 3 Installation Orientation Install the servodrive perpendicular to the wall as shown in the figure The servodrive must be oriented this way because it is designed to be cooled by natural convection or a cooling fan if required Firmly secure the servodrive through two mounting holes Wall OLLI al al al al al al al al al al gl all Ventilation 15 2 2 4 Installation Method When installing multiple servodrives side by side in a control panel observe the following installation method A K cA K 4 50mm min Cooling Fan Cooling Fan
61. 5 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 train torque control analog reference 9 Torque control analog reference speed control analog reference A Speed control analog reference zero clamp B Position control pulse train position control inhibit C Position control contact reference D Speed control parameter reference E Pressure control analog reference Pn005 2 Out of tolerance alarm selection Pn005 3 Servomotor model Hex Pn006 0 Bus mode Pn006 1 Reserved Pn006 2 Low frequency jitter suppersion switch Pn006 3 Reference input filter for open collector signal Binary Pn007 0 wider the width of C pulse or not Pn007 1 Reserved Pn007 2 Reserved Pn007 3 Reserved Online autotuning setting 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load H B 0 0x2133 0x0020 After restart H B gn Nu 1 Afte
62. 511 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 ICOIN VCMP Pn511 Output signal ITGON allocation RUSSE ed S RDY CLT BK IPGC OT RD HOME Bus communication input port enabled 0 Disabled Pn512 mto Immediately P S T 1 Enabled Pn512 0 gt CN1_14 Pn512 1 gt CN1_15 Pn512 2 gt CN1_16 Bus control input al moO WY O ON D CON O C A C N a O Pn512 32CN4 17 Pn513 02CN1 39 Pn513 1 gt CN1_40 Pn513 22CN4 41 Pn513 32CN1 42 l l It is used to set input port filter time The signal will be Pn514 Input port filter Immediately Peor T ME lagged if the parameter setting is too high Pn515 LES Pn513 Immediately P S T node low bit enabled 156 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 02CN1 14 inversion Pn516 1 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 12CN1 40 inversion Pn517 2CN1 41 inversion Pn517 3 CN1 42 inversion Pn518 Immediately For factory using Pn519 Immediately For factory using Pn520 Reserved Immediately P For factory using If connect externally regenerative resistor 0 conn
63. 7 2f Low Low speed detection filter detection Low speed detection filter odms 1ms 0 00 100 Immediately Speed gain acceleration relationship Immediately Pn128 during online autotuning Pn1 Pn128 Low speed correction Low speed correction coefficient Low speed correction coefficient 0 30000 Immediately Pn130 Friction load 0 3000 0 Immediately Friction compensation speed hysteresis Immediately Pn131 rpm 0 100 area 0 1 1000rp Immediately Pn132 Sticking friction load 0 1000 Pn1 Pn133 EEN a DEE IE EEE ARE Pm35 Reseved A o o Pni36 Reseved A po Pm37 Reseved 0 Pmi38 JReewd 000 0 poo Pni39 Reewd PS Pni4o Reseved o Prisi Reed 0 Pm42 Reseved PS Pm43 Reseved Pmid4 Reseved Ao o 7 16 16384 16384 Pn840 0 3 4 5 Pn840 0 3 4 5 Pn200 PG divided ratio Puls After restart 1 2500 2500 Pn840 0 6 Pn840 0 6 Pn201 1st electronic gear numerator E 1765535 After restart Pn202 Electronic gear denominator 1765535 NE NE After restart Pn203 2nd electronic gear numerator 2ndelectronicgearnumeratr 1765535 pow After restart Lim dece Cm e a icm deceleration time constant Pn205 Position Position reference filter form selection filter form se
64. 8 A 9 1 9etutig Tardimelel statu ddspeadan didus Cie aso ntu dr c bu ae aD dad nap desst dca Wen O 98 4 9 2 Switching the Control Mode sss sees eee eee 98 4 10 Other Output SIgrals 2 i e epo RE eMe an era eta neo eae de ned eet uei sae Shae denario ead 99 ATO Servo alar OUNOUL ic 99 4 10 2 Rotation Detection Output Signal TGON occooonccccnoccnccnnconononononnnncncnnnconononcnnonnnnnnnnnrnnnnnnrnnnnnnnnnnnnnns 100 4 10 3 Servo ReadyUSsRD Y QUIPUE ears o ni eo A ii 100 4 10 4 Encoder C Pluse Output PGC ccccccccccccsseecceseeeceeeeecceueeeceaseeseaecesseaeeessuaseeseaesesseueeessnsesessaaes 100 4 10 30 Over tavelsignal output OT els 101 4 10 6 Servo Enabled Motor Excitation Output RD sse 101 4 10 7 Torque Limit Detection Output CLT sss ses sees eee 101 MS Et 103 S Kaisi AMO UNO T e 103 4 11 2 Online Autotuning Proc S QUe di A a ocn e Eve A A A A AA 103 AS CLL Onne ALTO Eaa s c A 104 4 11 4 Machine Rigidity Setting for Online Autotuning occcccoccnnccoccnccnnnnncnnncnnnnnncnnononononnnnonononcnnnnnnnnnnnnnos 104 A A A a OO ee re ree 105 miele oU eee 105 De BASIC o A A 105 5d Functions on Panel Operaciones cias anida 105 5 1 2 RESCUING Servo Alanis tt 105 94159 Basic Mode Selecione ie dicet e EU Li e
65. ALILI EMG 50ALJALIL servomotors are not mounted the incremental encoder 2 There is no brake in EMG LJLILIDALIL servomotor 3 EMG 10 15 servomotors add the supply voltage of 400V models B Appearance and Nameplate 1 1 2 Servodrive B Servodrive Model Designation PRONET E 10 A ProNet E Model uM don Voltage B Nameplate Servodrive model 9 Applicable power supply Serial number s ESTUM SERVOMOTOR Servomotor model gt MODEL EMG 20ADA22 9 55Nm 2000 r min tine 51 Serial number gt S N 5115334H019 IL Estun Automation Technology Co Ltd Made in China A 200VAC D 400VAC Rated Output 02 0 2kW 04 0 4 kW 08 0 75 kW 10 1 0kW 15 1 5 kW 20 2 0 kW 30 3 0kW 50 5 0kW ESTUM SERVODRIVE MODEL PRONET E 50A AC INPUT 28 0A 5 0kW IN EHE pr Estun Automation Technology Co Ltd Made in China AC OUTPUT 3PH 200 230V 50 60Hz 3PH 0 200V 0 300Hz lt q Applicable servomotor capacity 6600001J001 C A URBES Shey Tee IRSE FOR AREAS fe ES El WARNING Disconnect all power and wait 5 min before servicing May cause electric shock LE X WDRIRMIAR SZ CAUTION Do not touch heatsink May cause burn THR T misit Use proper grounding techniques B Appearance ProNet E 02A 04A ProNet E 08A 10A
66. B 24 PG dividin Reseved Reserved MZ g mue pulse output 25 PCO pulse 50 DGND DGND phase C Note The functions allocated to the following input and output signals can be changed by using the parameters e Input signals S ON P CON P OT N OT ALM RST CLR PCL NCL SHOM ORG Output signals TGON S RDY COIN HOME Please refer to A 3 Parameters in details for detailed information A 3 2 4 Interface Circuit This section shows examples of servodrive I O signal connection to the host controller m Interface for Analog Reference Input Circuit Analog signals are either speed or torque reference signals at about 40kOimpedance and the maximum allowable voltages for input signals is 10V Reference speed input Reference torque input Servodrive Servodrive Q 1 2W min 4702 1 2W min 4702 1 2W min 3e A 2KQ 10V 2K 0 az T REF j About 40K Q i About 40K 9 GND GND NU S OV OV Mi 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 DC24V 50mA min MIN 3 3x0 50mA min 24VIN 3 3KQ C O A zi aL e Y Em L S ON etc
67. CAN communication terminal Note Do not short terminal 1 and 2 of CN3 CN4 Terminal No Name Function 1 x 4 Reserved 2 LS Reserved 3 RS 485 communication terminal S Isolated ground 6 RS 485 communication terminal T CAN communication terminal 8 CAN communication terminal Note 1 The length of the cable should be less than 100 meters in a less disturbed environment However if transmission speed is above 9600bps please use the communication cable within 15 meters to ensure the accuracy of transmission 2 A maximum of 31 servodrives can be connected when RS485 is used Terminating resistances are used at both ends of the 485 network If more devices are wanted to connect use the repeaters to expand 3 CN3 of servodrive is always used as communication cable input terminal and CN4 is always used as communication cable output terminal If still need to connect slave stations the communication cable is connected from CN4 terminal to the next slave station if need not add balance resistor in CN4 terminal It is prohibited to connect CN3 of any two servodrives directly when multiple ProNet E series servodrives are connected 121 Example When RS 485 network is composed of a PLC and A B C three servodrives the cable wiring is shown as follows PLC CN3 of A CN4 of A gt CN3 of B CN4 of B gt CN3 of C CN4 of C 1200 terminating resistance 6 2 MODBUS Communication Related Parameters Setting Parameter No Description Contr
68. Display Noise Filter P OFF P ON LL ower ower 1KM e e 1KM 1Ry 1SUP 4 Be sure to connect a surge suppressor to the H excitation coil of the magnetic contactor and relay Magnetic Contactor e f OL1 i ervomotor ProNet E ud A 1 AI Series Servodrives B2 A uem OL3 VO C 3 P I a 03 X D 4 0 032 OLIC OL2C Encoder CN2 PG H B1 OBI 7 Ee o B2 External Regenerator Resistor OB3 oB3 2l E EI 2l l 24V 1Ry t 7 ALM e T T 8 ALM 1D y E Ground Terminal ov 19 3 2 I O Signals Speed Reference 0 10V Rated Speed a Torque Reference 0 10V Rated Torque Open Collector Reference Use 3 2 1 Examples of I O Signal Connections Position Reference lt PULS CW A SIGN CCW B Signal Allocations can be Modified S ON Servo ON P CON Proportion Control P OT Forward Run Prohibited N OT Reverse Run Prohibited ALM RST Alarm Reset CLR Clear Error Pulse P CL Forward Torque Limit N CL Reverse Torque Limit SHOM Home ORG Zero Position Connect Shield to Connector Shell A Represents Twisted pair Wires 20 ProNet E series Servodrive REF 1 Re VREF 2 Th gt 20 PAO K AD 21 PAO TREF 26 H 22 PBO enla
69. EF Voltage V xPn300 To change the servomotor rotation direction without changing Check the speed reference input gain and servomotor rotation direction l l polarity for speed reference input voltage refer to 4 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 2 again after the servomotor rotation direction is changed When the speed reference input is set to 0 V and servo OFF status enters trial operation for servomotor without load is completed Check that the Un001 and UnOOO 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 44 R When Position Control is configured at the Host Analog speed reference gt Host Servodrive Controller Trial operation for Position control Speed control servomotor without load When the servodrive 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 D 10L 1 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 input signal circuit V REF is 0 V If the servomotor rotates at extremely slow speed refer to 4 4 3 Adjusting Reference Turn the servo ON input signal S ON ON Offset
70. Factory setting OFF high level operated mimportant Always input the servo ON signal before inputting the input reference to start or stop the servomotor Do not input the input reference first and then use the S ON signal to start or stop Doing so will degrade internal elements and result to malfunction A parameter can be used to re allocate the input connector number for the S ON signal Refer to 3 2 2 UO 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 servodrive can operate as soon as the power is turned ON Parameter Meaning b LILILIO External S ON signal enabled Factory setting Pn000 b 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 50 4 3 2 Switching the Servomotor Rotation Direction The rotation direction of the servomotor can be switched without changing the reference pulse to the servodrive or the reference voltage polarity This causes the travel direction of the shaft reverse The output signal polarity such as encoder pulse output and analog monitor signal from the servodrive d
71. GN 32 150 0 gt Note When photocoupler output is used the SIGN ad te signal logic as follows 1 5V max at ON 33 gt a SIGN gt gt When Trl is ON High level input or equivalent i When Trl is OFF Low level input or equivalent y de Represents twisted pair wires Note When the host controller applied by open collector signal output input signal noise margin lowers When a position error caused by the noise occurs set the parameter Pn006 3 Nom 4 5 2 Setting the Clear Signal 1 Setting the Clear Signal When the CLR signal is set to low level clear error counter e The error counter inside the servo drive is setto 0 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 Oooo Clear the error pulse when S OFF do not when overtravel Pn004 OOO Do not clear the error pulse 0020 Clear the error pulse when S OFF or overtravel excep for zero clamp 4 5 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
72. M E 106 5 1 4 Status Display Mode 106 5 1 5 Operation in Parameter Setting Mode sees 108 95 1 5 Operauon in Monttor Mode uoa iee era nd rae La rone oda 109 52 Operation in D lity Function Mode nnn o sten ee ee a 112 5 2 1 Alarm Traceback Data Display llseeelsseseeeeeseeeeeeeee nnne nennen nenne nnne nnne nnne sensn nnne s 112 5 2 2 Parameter Settings InitlallzatiOTy s socios epe coe ass n eue etos PCR epe CD cubtu ae a es cde iniaa le 113 2 29 Operationn JOG MOJE ao E US 114 5 2 4 Automatic Adjustment of the Speed Reference Offset eee 115 5 2 5 Manual Adjustment of the Speed Reference Offset eee 116 5 2 6 Offset adjustment of Servomotor Current Detection Signal sse eee eee 117 5 2 1 DONWare VersiorPDISpIdy s cic feces cartes ie ierat i fcx tase 119 So A Sohn toS a Potosi boob tete T 52 9 KTN Ta eH R ied Olpe Chapter 6 MODBUS COMMUNICA ION lt lt aaa 6 11 9 4658 CormrmnunicalioD a ola des dle a dd li 6 2 MODBUS Communication Related Parameters sss eee eee eee 6 3 MODBUS Communication Protocol s a a o el e a edo 6 9 1 Gode Meaning una di e a tea died dies 6 3 2 Communication Error DISDOSal iau iet iron ton he beo eate Hoe Eoo ii 6 3 3 Data Communication Address of Servo State eene nene eene Chapter 7 opecificadons and Chara tels asscasuntansectinase dut cde des dedi tu ba e edente nEe Ead cactus deuda er nes karta c d
73. N Positioning Completion ORG Zero Position 6 TGON TGON Rotation Detection ro RDY Servo Read Y 9 S RDY CLT Torque Limit Detection gt 10 S RDY BK Brake Interlock 11 V CMP PGC Encoder C Pulse Output Y OT Over Travel 12 V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V T 7 ALM e o Connect Shield to Connector Shell 4 Shield Shell T he ALM i l 1D UV A a Represents Twisted pair Wires Y 28 ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 3 5 3 Three phase 400V ProNet E 10D 15D L1 L2 L3 Three phase 380 440V 2 50 60Hz Molded case Circuit Breaker V Surge Protector Y N 1Ry 1PL Servo Alarm Display Noise Filter E OFE P N i ower ower 1KM lool a 1KM 1 Ry 1SUP Be sure to connect a surge suppressor to the l excitation coil of the magnetic contactor and relay Magnetic Contactor N OL1 ProNet E A 1 Servomotor OL2 Series Servodrives Uo B 2
74. N communication terminal 26 3 5 Standard Wiring Examples 3 5 1 Three phase 200V ProNet E 02A 04A L1 L2 L3 Three phase 200 230V 50 60Hz Molded case Circuit Breaker E Surge Protector 1Ry 1PL Servo Alarm Display 9 Noise Filter GEE dB ON ower ower 1KM E 1KM 1Ry 1SUP Be sure to connect a surge suppressor to the 4 excitation coil of the magnetic contactor and relay Magnetic Contactor N OLI Pro Net E Servomotor x x A 1 L2 Series Servodrives UO VM B 2 gt Y 5L3 VO M C 3 A 001 Wo EH ue 7 D 4 D2 Oo 0 CN2 Incremental Wire saving LIC Encoder 2500P R c L2C od 3 B External Regenerator Resistor 4 B 1 O B1 5 C i i S 6 CE de 7 89 PG5V 17 18 19 PGOV OB3 Shell Shield m p wes gt 3 E CN3 NA 1 N C Be sure to prepare the end of the Be sure to ground 2 N C shielded wire properly 3 485 CNT 4 ISO GND 5 SO GND Use special communication cable to connect REEL one ref E Ed PC Personal Computer Speed Reference 0 10V Rated Speed 5 VREF 2 8 C ie ie 8 CANL Note Do not short terminal 1 and 2 of CN3
75. O 50 DGND Signal Allocations can be Modified V CMP Speed Coincidence re 5 TGON COIN Positioning Completion amp TRON TGON Rotation Detection mn 6 TGON S RDY Servo Ready px 9 SRDY ee Use ni 10 S RDY f Brake Interloc maa rara PGC Encoder C Pulse Output v x 11 V CMP OT Over Travel P 24V 1 12 V CMP pus Sero S Y G Output Signal allocatons can be modified A E 5 axo hy f leiaat S ON Servo ON P CON 45 T P CON P Control p OT 46 Lez P OT Forward Run Prohibited l l IT Fo N OT 17 E N OT Reverse Run Prohibited p avc ALM RST 39 ALM RST Alarm Reset CLR 40 1 iv CLR Clear Error Pulse LL P CL 41 ji hy Ek P CL Forward Torque Limit L N CL 42 Lo N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V ru 7 ALM e pizat 8 ALM 1D Connect Shield to Connector Shell EN Shield Shell V ov ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 3 5 6 Torque Control Mode ProNet E Series Servodrives p 20 PAO 21 PAO gt 22 PBO PG Divided Ratio Output 23 PBO Applicable Line Receiver a PCO AM26LS32A Manufactured by TI or the Equivalent AID 7 d ref Torque Reference 0 10V Rated Torque 2 D x 1 E P o Signal Allocations can
76. ON a position loop is formed inside the servodrive 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 then quickly stops and locks the servomotor The servomotor is clamped within 1 pulse when the zero clamp function is turned ON and will still return to the zero clamp position even if it is forcibly rotated by external force When the P CON signal is turned ON a speed reference below the Pn502 setting is detected Speed Reference V REF Host Controller Zero Clamp P CON b 65 2 Parameter Setting Pn005 Control mode Speed control analog voltage reference lt gt Zero Clamp Zero Clamp Conditions Zero clamp is performed with PnOO5 H OLALI when the following two conditions are both satisfied P CON is ON low level Speed reference V REF drops below the setting of Pn502 Servodrive Speed V REF speed reference CN1 Preset value for zero V REF clamping Pn502 Speed reference 1 P CON P CON input Open OFF Closed ON Zero clamp Zero clamp is performed OFF OFF ON ON Zero clamp speed Speed Pn502 Setting Range Setting Unit Factory Setting Setting Validation Sets the servomotor speed at which the zero clamp is performed if zero clamp speed control Pn005 H O DAD is selected Even if t
77. Pn401 Pn402 set to 300 P CL Forward External Torque Limit Input N CL Reverse External Torque Limit Input Note Select the servomotor rotation direction by setting Pn001 b 1 LI L10 standard setting CCW Forward direction 96 4 8 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 Torque reference input gain Pn400 Pn401 forward rotation torque limit Speed reference input gain Pn300 e o Speed loop gain Pn102 Speed loop integral time constant Pn103 Torque reference Speed feedback Pn402 reverse rotation torque limit T REF Torque limit value V REF Speed reference gt Important There is no polarity in the input voltage of the analog voltage reference for torque limiting The absolute values of both and voltages are input and a torque limit value corresponding to that absolute value is applied in the forward or reverse direction Related Param
78. U mode When the time exceeds the sleep interval of at least 4 bytes transmission time in current communication speed means the 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 8 j H If crc reg amp Ox01 crc regz crc reg gt gt 1 0xA001 lelse crc_reg crc_reg gt gt 1 j return crc reg 128 6 3 2 Communication Error Disposal Problems that occur during communication are resulted by the following reasons B Data address is incorrect while reading writing parameters B The data is not within the parameter setting range while writing B Data transmission fault or checking code fault when communication is disturbed When the first and second communication faults occur the servodrive is running normally and will feed back an error frame When the third communication fault occurs transmission data will be recognized as invalid to give up and no error frame is returned The format of error frame Host controller data frame Slave station address Data address content Checking Servodrive feeds back error frame Error frame responses code command 80y Error
79. V TREF 26 ak Shell Shield Torque Reference 0 10V Rated Torque N TREF 27 CN4 1 N C 2 N C l PPI 34 3 485 Open collector Reference Use Qoo 4 ISO GND gt PULS 30 mH I 5 ISO_GND Position Reference lt PULS CW A 4 PULS 31 J 6 485 T 7 CANH SIGN CCW B js SS js 8 SAN L Shell Shield i 24V l N Signal allocatons can be modified DICOM 13 7 20 PAO S ON Servo ON ES SON 14 EY 24 PAO iy Eid P CON P Control P CON 15 ERE TEE 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 16 E 23 PBO Applicable Line Receiver N OT Reverse Run Prohibited N OT 17 Av 24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 de 25 PCO CLR Clear Error Pulse CLR 40 50 DGND P CL Forward Torque Limit t P CL 41 N CL Reverse Torque Limit N CL 42 n i Signal Allocations can be Modified d V CMP Speed Coincidence SHOM Home 5 TGON COIN Positioning Completion ORG Zero Position 6 TGON TGON Rotation Detection S RDY Servo Read g 19 BRD gt CLT Torque Limit Detection 10 S RDY BK Brake Interlock 11 V CMP PGC Encoder C Pulse Output Ke Sn AMA OT Over Travel 12 V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output IRy 24V c 7 ALM Connect Shield to Connector Shell L Shield Shell t d 8 AM 1D UV 3 Represents Twisted
80. a Mode Seting immediacy 0 Return to search C Pulse when homing 1 Directly search C Pulse when homing Pn689 2 Homing trigger starting mode 0 Homing function disabled 1 Homing triggered by SHOM signal rising edge Pn689 3 Reserved Number of error it Pn690 Immediately d pulses during homing Number of error Pn691 Immediately unit 1P pulses during homing Pn700 0 MODBUS communication baud rate Pn700 Hex After restart ALL 0 4800bps 1 9600bps 159 Control Function and Meaning Mode Select the stop point of the point to point control l Search the servomotor speed in the direction of Immediately reference point towards travel switch Search the servomotor speed when the reference Immediately point leaves travel switch The two parameters are used in combination and the algebraic sum of them is the current position of position teaching When perform the position teaching by utility function the algebraic sum of the two Immediately parameters are given to the current position Parameter Setting Control Description Function and Meaning No Validation Mode 2 19200bps Pn700 1 MODBUS protocol selection 0 7 MODBUS ASCII 1 7 MODBUS ASCII 2 7 MODBUS ASCII 3 8 MODBUS ASCII 4 8 MODBUS ASCII 5 8 MODBUS ASCII 6 8 MODBUS RTU 7 8 MODBUS RTU 8 8 1 MODBUS RTU Pn700 2 Communication protocol selection 0 No protocol SCI communication 1 MODBUS SCI
81. a reference pulse sign PULS CN1 30 Reference pulse input Input PULS CN1 31 Reference pulse input SIGN CN1 32 Reference sign input SIGN CN1 33 Reference sign input 2 Setting reference input filter for open collector signal When Pn840 0 3 4 5 Pn006 when pulse is difference input servo receiving pulse frequency lt 4M when pulse is difference input servo receiving pulse frequency lt 650K when pulse is difference input servo receiving pulse frequency lt 150K When Pn840 0 6 Pn006 when pulse is difference input servo receiving pulse frequency lt 700K when pulse is difference input servo receiving pulse frequency lt 200K when pulse is difference input servo receiving pulse frequency lt 60K 69 3 Setting a Reference Pulse Form Set the input form for the servodrive using parameter Pn004 2 according to the host controller specifications Reference Input Pulse Forward Rotation Reverse Rotation Parameter nr Pulse Form Multiplier Reference Reverse Sign pulse train PU PUL CN1 30 CN1 30 positive logic SIGN SIGN CN1 32 CN1 32 factory setting PULS CN1 30 PULS CW CCW stat CN1 30 CN1 32 SIGN positive logic CN1 32 Two phase pulse gt ev PULS i i CNI 30 PULS train with 90 nni CN1 30
82. ange reduce the fraction both numerator and denominator until you obtain integers within the range Be careful not to change the electronic gear ratio B A ll Important Electronic gear ratio setting range 0 01 lt electronic gear ratio B A lt 100 e f the electronic gear ratio is outside this range the servodrive will not operate properly In this case modify the load configuration or reference unit 3 Procedure for Setting the Electronic Gear Ratio Use the following procedure to set the electronic gear ratio l TN Check the deceleration ratio ball screw pitch and pulley 1 Check machine specifications l diameter Check the number of encoder 2 Check the number of encoder pulses for the servomotor used pulses Determine the reference unit from the host controller Determine the reference unit used considering the machine specifications and positioning accuracy 4 Calculate the travel distance per load shaft Calculate the number of reference units necessary to turn the load shaft revolution one revolution based on the previously determined reference units s Calculate the electronic gear ratio Use the electronic gear ratio equation to calculate the ratio B A 6 Set parameters Set parameters using the calculated values 74 4 Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations Load Configuration Ball Sc
83. as following EE COIN V CMP output Output terminal 6 anana sgnal output O 8 IHOME home completion ouput 102 4 11 Online Autotuning 4 11 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 consistent with the machine rigidity are achieved Online autotuning may not be effective in the following cases e The motor high speed is lower than 100 rpm The motor acceleration or deceleration is lower than 5000rpm s Load rigidity is low and mechanical vibration occurs easily or friction is high The speed load moment is changed greatly Mechanical gas is very large If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotuning set the value in Pn106 Load inertia percentage and performthe adjustment manually 4 11 2 Online Autotuning Procedure Do not perform extreme adjustment or setting changes causing unstable servo operation Failure to observe this warning may result in injury and damages to the machine Adjust the gains slowly while confirming motor operation Operate with factor setting Set Pn100 1 Operation OK Yes No No oad moment of inertia varies Continuous online autotuning Pn100 1 2 3 4 5 6 Operation OK Yes No lt 2 Adjust the machine rigidity setting Set at P
84. ation for Servomotor Without Load Release the coupling between the servomotor and the machine and secure only the servomotor without a load To prevent accidents initially perform the trial operation for servomotor under no load conditions with all couplings and belts disconnected In this section confirm the cable connections of the main circuit power supply servomotor and encoder Incorrect wiring is generally the reason why servomotors fail to operate properly during the trial operation Confirm the wiring and then conduct the trial operation for servomotor without load according to the following steps Description Check Method and Remarks Secure the servomotor Secure the servomotor flange to the machine in order to prevent the servomotor from moving during operation Do not connect the servomotor shaft to the machine The servomotor may tip over during rotation Secure the servomotor flange to the machine Do not connect anything to the shaft no load conditions Check the power supply circuit servomotor and encoder With the I O signal connector CN1 disconnected wiring check the power supply circuit and servomotor wiring Refer to 3 1 Main Circuit Wiring Turn ON the control power supply and main circuit power If the power is correctly supplied the panel operator display on the front panel of the servodrive will appear as shown on the left The display on the left indicates that forward run prohi
85. be Modified E 5 TGON V CMP Speed Coincidence IS 6 TGON e p Completion Rotation Detection Si n II C t n an be modifi d yd DICOM 13 O E 9 S RDY S RDY Servo Ready S a a oca zi C ed amp ON 134 ss ar K R 40 S RDY CLT Torque Limit Detection ON servo pem BK Brake Interlock P CON P Control P CON 15 CE Qus 11 V CMP PGC Encoder C Pulse Output n P OT 16 o gt 42 V CMP OT Over Travel P OT Forward Run Prohibited LL NOT 17 ar RD Servo Enabled Motor Excitation Output N OT Reverse Run Prohibited l TO HOME Home Completion Output ALM RST Alarm Reset AMESD S LB CLR Clear Error Pulse P CL l T n P CL Forward Torque Limit NEL P ii N CL Reverse Torque Limit SHOM Home ORG Zero Position IRy 24V ug 7 ALME O Connect Shield to Connector Shell 8 ALM y i Shell Shield 1D l y OV ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V T Maximum Output Current DC50mA Q Represents Twisted pair Wires Y 2950 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 Position the input reference device and noise filter as close to the servo drive as possible Always install a surge absorber in the relay solenoid and electromagnetic co
86. be initialized NNT 77 _ fetal 44 po NN 5 Release the ENTER key to ruturn to the utility function mode display Fn001 Ea HDL Note Press the ENTER key during servo ON does not initialize the parameter settings Initialize the parameter settings with the servo OFF 113 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 Ea EBPs 3 Press the ENTER key to enter into JOG operation mode fete 4 Press the MODE key to enter into servo ON servomotor power ON status DI AE 5 Press the MODE key to switch between the servo ON and servo OFF status The servodrive must be in servo ON status when the servomotor is running 6 Press the INC or DEC key to rotate the servomotor O a E zx d J 7r A P A d T F 8 TL L E at 1 Forward rotation h Reverse rotation 7 Press the ENTER key to return to utility function mode display Fn002 Now the servo is OFF servomotor power OFF Eal Di 114 0 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 refe
87. bited P OT and reverse run Bg x prohibited N OT m If an alarm display appears the power supply circuit servomotor wiring or encoder wiring is incorrect If an alarm is displayed turn OFF the power find the Example of Alarm Display problem and correct it E le Release the brake before driving the servomotor when a servomotor with brake is used supply Normal Display Alternate Display Please refer to 4 3 4 Setting for Holding Brakes Please refer to 4 4 Operating Using Speed Control with Analog Reference 41 Cse on Panel Operator Power Supply Check Method and Remarks 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 INC key and reverse direction by 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 For operation method of the panel operator refer to Chapter 5 Panel Operator The servomotor speed can be changed using the Pn305 JOG Speed The factory setting for JOG speed is 500rpm Display after operation Panel operator Description E MODE key mode Press the MODE key to select the function Press the INC key or DEC key to select Fn002 Press the ENTER key and the servomotor will enter JOG operation mode Press the MODE key
88. 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 81 Settin Name and description Default range 0 Clear error pulse when S OFF not clear error pulse when overtravel Pn004 1 0 2 1 Not clear error pulse 2 Clear error pulse When S OFF or over travel Looking for the reference point Looking for the reference point is for establishing a zero physical point of the operating platform which is used as zero point in the coordinates during point position control And users may choose to find a reference point either in forward side or reverse side How to find a reference point Mount a limit switch in the forward or reverse side find a reference point in the forward direction after connect to PCL and in the reverse direction after connect to NCL When the operating platform bump into the limit switch motor will first stop according to the way set by Pn004 0 and then rotates again against limit switch When the operating platform leaves the limit switch and the motor reaches the position of first photo encoder Phase C pulse Then position of operating platform is set to be the zero point of the coordinates How to find related parameters of
89. by communication 5 Software version 090F Use digit to represent servodrive software version For example if the read out data is D2014 it means the software version is D 2 01 131 Chapter 7 opecifications and Characters 7 1 Servodrive Specifications and Models Applicable Servomotor Model EML EE vox Cuoco HHH aa ae wo me eo wo wo vo ma eee Three phase 380 440VAC Main Circuit Three phase 200 230VAC 10 15 50 60Hz 10 15 50 60Hz o 0 Z Single phase 380 440VAC Input Power Supply Control Circuit Single phase 200 230VAC 10 15 50 60Hz 10 15 50 60Hz Power Supply Capacity kVA Control Method SVPWM Control Feedback Wire saving Incremental Encoder 2500P R Ambient Storage Ambient temperature 0 55 C Temperature Storage temperature 20 85 C iaa age Operating Conditions 90 RH or less with no condensation Elevation 1000m or less Vibration Shock Vibration Resistance 4 9m s Impact Resistance 19 6m s Resistance Configuration Base mounted Speed Control Range 1 5000 Load 0 10096 load 0 01 or less at rated speed Regulation Performance Speed Voltage Rated voltage 10 0 Cat rated speed Regulation Regulation Temperature 25 25 C 0 1 or less at rated speed Regulation Reference 10VDC at rated torque Variable setting range t0 10VDC Voltage Max input voltage 12V Analog In
90. circuit and control power supplies and then turn them ON againg to enable the new settings A parameter can be used to re allocate input connector number for the P OT and N OT signals Refer to 3 2 2 I O Signal Names and Functions 3 Selecting the Servomotor Stop Method This is used to set the stop method when an overtravel P OT N OT signal is input while the servomotor is operating Mode After Parameter Stop Mode Meaning Stopping Stop by dynamic Rapidlly stops the servomotor by dynamic braking DB brake then places it into coast power OFF mode H LILILIO Coast Stops the servomotor in the same way as when the H LILILII Coast to a stop servo is OFF coast to a stop then places it into coast power OFF mode Stops the servomotor by dynamic braking DB when HA 0002 servo OFF stops the servomotor by plug braking when overtravel and then places it into coast power OFF Coast Pp e Pn004 Makes the servomotor coast to a stop state when servo HODOS OFF stops the servomotor by plug braking when S OFF overtravel and then places it into coast power OFF Overtravel mode H 0004 Stops the servomotor by dynamic braking DB when servo OFF stops the servomotor by plug braking when overtravel and then places it into zero clamp mode Zero Clamp Makes the servomotor coast to a stop state when servo H LILILI5 OFF stops the servomotor by plug braking when overtravel then plac
91. cute the automatic offset adjustment if the torque ripple is too big when compared with that of other servodrives e If this function particularly manual adjustment is executed carelessly it may worsen the characteristics E Automatic Offset adjustment of Servomotor Current Detection Signal Adjust the servomotor current detection signal automatically in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn005 Friede 3 Press the ENTER key to enter into the automatic adjustment of the servomotor current detection signal mode rales ln 4 Press the MODE key the display will blinks for one second The offset will be automatically adjusted NN y Pal DR Z TO N Y Y rales ln 5 Press the ENTER key to return to the utility function mode display Fn005 117 Fal HUIS Thus the automatic offset adjustment of the servomotor current detection signal is completed 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 EaU UIB 3 Press the ENTER key to enter into the manual adjustment of the servomotor current detection signal mode LM 4 Press the MODE key to switch bet
92. d torque the rated torque is 100 The value large enough to be the servomotor maximum torque 300 is set as the factory setting for plug braking limit torque However the actual output plug braking limit torque is determined by servomotor ratings 54 4 3 4 Setting for Holding Brakes The holding brake is used when the servodrive controls a vertical axis A servomotor with brake prevents the movable part from shifting due to gravity when the servodrive power goes OFF Refer to 4 1 4 Trial Operation for Servomotor with Brakes O Vertical axis O Shaft with external force applied Servomotor Servomotor Holding brake M Prevents the servomotor from shifting due to External force gravity when the power 1s OFF Prevents the servomotor from shifting due to external force 1 The brake built into the servomotor with brakes is a deenergization brake which is used to hold and cannot be used for braking 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 servodrive sequence output signal BK a
93. data corresponding with 0806 0814 l displayed data 0806 Speed feedback Read only 0807 Input speed reference value Read only iu ENE rg S 080 Number of encoder rotation Number of encoder rotation pulses T Read Redony 0808 Imutsignalstate Readonly 0B0C Encoder signal state Readomly 080 Output signal state Ready A n OF Readony Be High bits of present location Unit 10000 Read only reference PA 0840 Error Error pulse counter low 16 bits counter low 16 bits Read Read only 0812 Error pulse counter high 16 bits Baada 0814 0815 Loadinertiapercentage Readomy 0816 Servomotor overloading proportion Readonly 0817 Curentalam Readony Boon MODBUS communication lO signal Donot save when Read write uA EET off 090 O DSP version version Version is expressed Version is expressed by digit digit Read Read only 090F CPLD version Version is expressed by digit Read only 1 130 Communication data address Description Operation 1021 Clear historical alarms 01 Clear Write only Clear current alarms 01 Clear Write only 01 Enable JOG servo enabled Read write 00 Disable l 01 Forward rotation JOG forward rotation Read write 00 Stop l 01 Reverse rotation i JOG reverse rotation Read write 00 Stop JOG forward rotation at node 01 Forward rotation position start signal has been set 00 St
94. e 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 W CCW CW CCW 2 A B x1 3 A B x2 4 A B x4 Pn004 3 Inverses pulse 0 Do not inverse PULS reference and SIGN reference 1 Do not inverse PULS reference Inverses SIGN reference 2 Inverse PULS reference Do not inverse SIGN reference 3 Inverse PULS reference and SIGN reference Pn005 0 Torque feedforward form Pn005 0 0 Use general torque feedforward external P S analog Tref feedforward input is invalid Pn005 1 1 Use high speed torque feedforward external Pn005 Hex After restart ALL analog Tref feedforward input is valid Pn005 2 2 Use high speed torque feedforward external P analog Tref feedforward input is invalid 3 Use general torque feedforward external 146 Parameter Setting Control Description Function and Meaning Validation Mode analog Tref feedforward input is valid Pn005 1 Control mode 0 Speed control analog reference PCON OFF Pl control ON P contro
95. ect 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 E 02 04 When load percentage larger than overload alarm Overload alarm threshold A04 will occur soon threshold Pn525 Immediately POT Pn525 is recommended to set below 120 otherwise the servo drive and motor will be damaged JPOSO Position pulse in point to point Immediately algebraic sum of them is the position of JPOSO needs The two parameters are used in combination and the Pn600 control to reach The number of servomotor rotation revolutions is related with the programme mode of JPOSO zs point to point control Position pulse in Pn600 Unit 10000P Pn601 Unit 1P The meaning of other point to point control related parameters are the same UN The two parameters are used in combination and the Pn601 Immediately point to point control JPOS15 Position Pn630 pulse in point to point Immediately algebraic sum of them is the position of JPOSO needs control JPOS15 Position pulse in point to point to reach The number of servomotor rotation revolutions is related with the programme mode of Pn631 Immediately point to point control control 157 Control Function and Meaning Mode JPOSO Point to point speed control Unit rp The speed of other point to
96. ed Audience Those designing ProNet E series servodrive systems Those installing or wiring ProNet E series servodrives Those performing trial operation or adjustments of ProNet E series servodrives Those maintaining or inspecting ProNet E series servodrives oafety Precautions m Do not connect the servomotor directly to the local electrical network Failure to observe this may result in damage to servomotor m Do not plug or unplug connectors from servodrive after power is on Failure to observe this may result in damage to servodrive and servomotor m Note that residual voltage still remains in the servodrive even after the power is turned off Please be noted that even after the power is turned off residual voltage still remains in the capacitor inside the servodrive If inspection is to be performed after the power is turned off always wait atleast 5 minutes to avoid the risk of an electrical shock m Keep servodrives and other devices separated by at least 10mm The servodrive generates heat Install the servodrive so that it can radiate heat freely When installing servodrives with other devices in a control panel provide at least 10mm space between them and 50mm space above and below them Please install servodrives in an environment free from condensation vibration and shock m Perform noise reduction and grounding properly Please comply with the following instructions strictly to avoid the noisy generated by signal lines
97. ed speed WEXAMPLE Pn300 150 1V input is equivalent to the servomotor speed of 150rpm factory setting Reference speed min La Set this slope Reference voltage V 59 4 4 2 Setting Input Signals 1 Speed Reference Input Input the speed reference to the servodrive using the analog voltage reference to control the servomotor speed in proportion to the input voltage Type Signal Name Connector Pin Number Name cus V Ref CN1 1 Speed Reference Input npu 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 4 1 Setting Parameters 2 Proportional Control Reference P CON Connector Pin Tpye Signal Setting Number Operates the servodrive with proportional ON low level control Input P CON CN1 15 Operates the servodrive with proportional OFF high level integral control P CON signal selects either the Pl proportional integral or P proportional Speed Control Mode Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift Input reference At OV the servomotor rotation due to drift will be reduced but servomotor rigidity holding force drops when the servomotor is stopped Note A parameter can be used to reallocate the input connector number for the P CON signal Refer
98. ed to the connector shell N CMP Speed coincidence Speed Detects whether the motor speed is within the setting range and if it IV CMP matches the reference speed value Positioning completion COIN 11 Turns ON when the number of positional error pulses reaches the value set The setting is the number of positional error pulses set in the COIN 12 reference units Reserved terminals The functions allocated to TGON S RDY and V CMP COIN can be ICLT changed by using the parameters CLT Torque limit output Turns on when it reaches the value set BK Brake interlock output Releases the brake when ON PGC C pulse output BK OT Over travel signal output Reserved RD Servo enabled motor excitation output HOME Home completion output 4 18 19 29 35 36 37 38 43 Not used 44 45 47 49 R 3 2 3 VO Signal Connector CN1 Terminal Layout go moo mm cu OE VREF TREF REF A UREA a reference input 10V EN Po referenceinput 10V DGND DGND m DGND DGND Running signal output Reference pulse input sen alarm sg eme sign input S RDY ee collector reference Servo ready W 777 NE IS RDY RDY Reserved rara cometan completion I O signal power supply 24V u n mm A 2 T Lm o rene pom o meme cu eme EE eR PG dividing Reseved pulse output PG 21 PAO Wr DGND DGND phase A dividing pulse output output 23 PBO DGND DGND phase
99. efore 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 control mode used Refer to 4 4 Operating Using Speed Control with Analog Reference 4 5 Operating Using Position Control and 4 6 Operating Using Torque Control for control mode used 3 Connect the servomotor to the machine with coupling etc while the power is turned OFF 4 Check that the servodrive 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 advance measures for 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 with as the to the machine following each section in 4 1 2 Trial trial operation for servomotor without load Also check Operation for Servomotor without Load from Host the settings for machine such as reference unit Reference 6 Check the settings of parameters for control mode Check that the servomotor rotates matching the used set in step 2 again machine operating specifications 7 Adjust the servo gain and improve the servomotor The servomotor will not be broken in completely during response characteristics if nec
100. ence ON position control INHIBIT 147 Parameter Setting Control Description Function and Meaning Validation Mode C Position control contact reference PCON Used to change step PCL NCL Used to search reference point or start D Speed control parameter reference PCON PCL NCL invalid E JSpecial control PCON invalid Pn005 2 Out of tolerance alarm selection 0 Out of tolerance alarm disabled 1 Out of tolerance alarm enabled Outputs alarm when the value of error counter exceeds Pn504 setting value 2 Reserved 3 Reserved Pn005 3 Servomotor model selection OJEMJ 1JEMG 2 EML SJEMB Pn006 0 Bus type selection 0 No bus 1IPROFIBUS DP VO V1 2 PROFIBUS DP V2 3 CANopen Pn006 1 Reserved Pn006 2 Low frequency vibration suppression switch O Low frequency vibration suppression function disabled Pn006 Hex After restart 1 Low frequency vibration suppression function enabled Pn006 3 Reference input filter for open collector signal When Pn840 0 6 0 when pulse is difference input servo receiving pulse frequency lt 700K 1 when pulse is difference input servo receiving pulse frequency lt 200K 2 when pulse is difference input servo receiving pulse frequency 60K Pn007 0 wider the width of C pulse or not 0 standard width of C pulse Pn007 Binary After restart 1 wider the width of C pulse Pn007 1 reserved 148 Parameter Description No Pn100 Pn101 Pn102 Pn103 Pn104 Pn
101. encoder installed on the servomotor and outputs it The setting unit is the number of pulses revolution 67 B Pulse Dividing Ratio Setting PG Dividing Ratio Pn200 Setting Range Setting Unit Factory Setting Setting Validation 16 16384 Pn840 0 3 4 5 16384 Pn840 0 3 4 5 1Puls After restart 1 2500 Pn840 0 6 2500 Pn840 0 6 Set the number of pulses for PG output signals PAO PAO PBO PBO externally from the servodrive Feedback pulses from the encoder per revolution are divided inside the servodrive by the number set in Pn200 before being output Set according to the system specifications of the machine or host controller The setting range varies with the number of encoder pulses for the servomotor used E Output Example Pn200 16 when 16 pulses are output per revolution Preset value 16 PAO PBO 1 revolution 4 4 9 Speed coincidence output The speed coincidence V CMP output signal is output when the actual servomotor speed during speed control is the same as the speed reference input The host controller uses the signal as an interlock CN1 11 12 ON low level Speed coincides Output N CMP COIN l factory setting OFF high level Speed does not coincide Coincidence
102. er exceeds the maximum speed of the servomotor used 3 External Speed Limit Function 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 The smaller value is enabled the speed limit input from V REF or the Pn406 speed limit during torque control when Pno05 H 0010 The setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect Speed Reference Input Gain aono Setting Range Setting Unit Factory Setting Setting Validation e Set the voltage level for the speed that is to be externally limited during torque control 94 4 8 Limiting Torque The servodrive provides the following three methods for limiting output torque to protect the machine NO Limiting Method Reference Section Torque limiting by analog voltage reference 4 8 1 Internal Torque Limit Maximum torque is always limited to the values set in the following parameters RU Setting Range Setting Unit Factory Seeting Setting Validation EH Setting Range Setting Unit Factory Seeting Setting Validation he 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
103. erence 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 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 Overtravel P OT and N OT Used Number of servomotor rotation Whether the servomotor stops rotating when P OT and N OT signals are input Input a reference equivalent to one servomotor rotation and visually check to see if the shaft makes one revolution Check to see if the servomotor stops when P OT and N OT signals are input during continuous servomotor operation Check the parameter setting at Pn200 to see if the number of PG dividing pulses is correct stop Review P OT and N OT wiring if the servomotor does not 48 4 2 Control Mode Selection The control modes supported by the ProNet E series servodrives are described below Parameter Control Mode Reference Section Pn005 H L UL Speed Control Analog voltage reference Controls servomotor speed using analog voltage speed reference Use in the following instances To control speed For position control using the encoder feedback division output from the servodrive to form a position loo
104. erminals 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 Power supply RST Power dr de rp OWer ko F ON T U OFF 4Rv 1KM S C C Noise filter 1KM q H Servo Drive servo Motor luw a CN1 i ALM ALM i Is o gt Servo Drive Servo Motor L1C M i L2C S CN1 ALM S o ALM 4 2 t e Servo Drive Servo Motor e P 9L2C i CN1 ALM AEN ALM A 38 Chapter 4 Operation 4 1 Trial Operation Make sure that all wiring has been completed prior to trial operation Perform the following three types of trial operation in order Instructions are given for speed control mode standard setting and position control mode Unless otherwise specified the standard parameters for speed control mode factory settings are used 1 Trial Operation for Servomotor Without Load Refer to 4 1 1 B Purpose The servomotor is operated without connecting the shaft to the machine in order to confirm the following wiring is correct Power
105. erse external torque limit ON IPCL 41 Current limit function enabled when ON INCL 42 Internal speed With the internally set speed selection Switches the internal switching speed settings ALM RST Alarm reset Releases the servo alarm state 3 DICOM Control power supply input for I O signals Provide the 24V DC power supply Speed reference input 10V Pulse reference input mode Sign pulse train CCW CW pulse Two phase pulse 90 phase differential Power supply input for open collector reference 2KQ 0 5W resistor is built into the Position 34 servodrive Positional error pulse clear input Clear the positional error pulse during position CLR 40 control SHOM EE Homing trigger signal effective at the rising edge allocated by Pn509 or Pn510 oe Zero Position effective at high level allocated by Pn509 or Pn510 Torque Torque reference input 10V 21 B Output signals Control l Signal Mode Name TGON Detects when the servomotor is rotating at a speed higher than the motor E EP mS Turns off when an error is detected ON if there is no servo alarm when the control main circuit power supply S RDY 10 l Speed is turned ON Phase A signal Torque WE UN Converted two phase pulse phases A and B s OS B signal PBO E y PO 25 Phase C signal Zero point pulse Phase C signal EG Sr Connected to frame ground if the shield wire of the e I O signal cable is connect
106. es it into zero clamp mode 53 After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings Gspvodpiva notes e Stop by dynamic brake Stops by using the dynamic brake with short circuiting by a circuit of servodrive C e Coast to a stop Stops naturally with no brake by using the friction resistance of the servomotor in operation e Plug braking Stops by using plug braking limit torque C Zero Clamp Mode A mode forms a position loop by using the position reference zero Dynamic brake is an emergency stop function and one of the general methods to cause a servomotor sudden stop e Dynamic brake suddenly stops a servomotor by shorting its electrical circuit e If 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 servodrive s internal elements Use the speed input reference and position reference to control the starting and the stopping of the servomotor 4 Setting the Stop Torque for Overtravel Plug braking torque limit Pn405 Setting Range Setting Unit Factory Setting Setting Validation 0 300 1 300 Immediately This sets the stop torque for when the overtravel signal P OT N OT is input The setting unit is a percentage of the rate
107. es servodrives Please note the specific terminal definition while wiring External regenerative resistor for ProNet E 02 04 is provided by customer the model of ASQ60W50O0KGO resistor is recommended 3 ProNet E 02 04 servo drives are also available for single phase connection Change Pn521 from 1 to 0 when using the external regenerative resistor in ProNet E 02 04 servo drives 18 B Three phase 200V ProNet E 08A 50A 10 L1 L2 L3 Three phase 200 230V 15 50 60Hz Molded case Circuit Breaker S Protect E yla a 1Ry 1PL Servo Alarm Display GO Noise Filter T Power OFF Power ON 1KM e i i e R e e a 7 _ 1KM 1Ry 1SUP 4 Be sure to connect a surge suppressor to the 4 excitation coil of the magnetic contactor and relay Magnetic Contactor Ta OL1 s ervomotor ProNet E A 1 cA UO S es E Series Servodrives BQ H E OL3 VO M C 3 gt L1 61 wo 3 x 002 o S OLIC OL2C Encoder CN2 PG J O B1 B1 i 0 B2 B2 External Regenerator Resistor OB3 OB3 2l Ze NS i 24V 1Ry nes 7 ALM e J B ALM l RC 1D L E 7 Ground Terminal ov B Three phase 400V ProNet E 10D 15D L1 L2 L3 Three phase 380 440V s 50 60Hz Molded case Circuit Breaker 2 Surge Protector died 1Ry 1PL Servo Alarm
108. essary the trial operation Therefore let the system run for a sufficient amount of additional time to ensure that it is properly broken in 8 Thus the trial operation with the servomotor connected to the machine is completed 47 4 1 4 Trial Operation for Servomotor with Brakes Holding brake operation of the servomotor with brake can be controlled with the brake interlock output BK signal of the servodrive 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 with 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 Position control Reference from the Host Controller Analog speed reference gt Servodrive M Trial operation for Speed control servomotor without load Check Item Check Method Review Items JOG Operation Constan speed ref
109. eters Parameter Meaning Pn001 be LITE Use the T REF terminal to be used as an external torque limit input 97 4 9 Control Mode Selection The methods and conditions for switching servodrive control modes are described below 4 9 1 Setting Parameters The following combinations of control modes can be selected according to the application of customers Parameter Control Method H LIETME Speed control contact reference Speed control analog voltage reference a ee Tene Speed control contact reference Position control pulse train reference H L1LJ6L Speed control contact reference Torque control analog voltage reference SUE H 0070 Position control pulse train reference Speed control analog voltage reference H 0080 Position control pulse train reference gt Torque control analog voltage reference H 0090 Torque control analog voltage reference lt gt Speed control analog voltage reference H DOAO Speed control analog voltage reference lt gt Zero clamp H DOBO Position control pulse train reference Position control inhibit 4 9 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
110. eters and operation references The basic mode is selected in the following order Power ON otatus display mode lt lL Parameter setting mode IE i em E em Ez En Ez Ex Ey Monitor mode Utility function mode El 5 1 4 Status Display Mode The status display mode displays the servodrive status as bit data and codes Selecting Status Display Mode The status display mode is selected when the power supply is turned ON If it is not displayed select this mode by pressing MODE key Note that the display differs between the speed torque control and position control types Bit Data Code 69 106 B Bit Data Display Bit Data Speed Coincidence Control power ON Speed reference input Torque reference input Speed Torque Control Mode Position Control Mode Description Bit Data Lit when the difference between the l Lit if error between position reference servomotor and reference speed is the EM and actual servomotor position is below same as or less than the preset value Positioning mE l preset value Preset value Pn501 factory setting is Completion l 40 Preset value Pn500 10 pulse is factory rem i setting Always lit in torque control mode Lit for base block Not lit at servo ON Base block Lit for base block Not lit at servo ON Control Lit when servodrive control power is ON Lit when servodrive control power is ON power ON Lit if inpu
111. etting Range EE RON Pn684 Programme stop step 0045 15 Immediately Search travel speed in position Immediately control contact reference Pn685 Speed of finding reference point Hitting the 0 3000 1500 origin signal ORG in position homing control Leave travel switch speed in position Immediately control contact reference Pn686 Speed of finding reference point Leaving rpm 0 200 30 the origin signal ORG in position homing control pat Positonteacing puse 1009P 9995 3996 0 immediate Pree Posionteacting puse me 9999 3966 0 immedaey es Tarah See oom o Mera Pn690 Number of enor pulses during homing puse 0 0989 0 mmedsey mesi numerar amare use 9m 00 metum Pn700 0 MODBUS communication baud rate Pn700 Pn700 1 MODBUS protocol selection 0 0x0182 0x0151 After restart Pn700 2 Communication protocol selection Pn700 3 Reserved PRU enas seme Ae 3 Meran emo Reserves HH Pm709 CAN communication pees 00005 ooo Aterese Paros anaa exp o op Mere Pn840 0 Encoder model selection 0x0006 Pn840 Pn840 1 Reserved After restart 0x0706 Pn840 2 Reserved Pn840 3 Reserved Note The setting range and factory setting of Pn401 to Pn405 are depending on the actual overload capacity 142 A 2 Description of Parameter Type Funtion selection switches Pn000 Pn006 Control mode stop mode and some functions selection Parameters of
112. fset distance after the first C pulse is produced when leaving zero posiion 85 Corresponding position Mechanical shaft Machine moves return to search pulse C Motor slow down reverse Begin to counter offset distande after the first C pulse is produced when l leaving zero posiion 1 Encoder C puls Rising edge SHOM After hitting the origin signal ORG the motor will find C pulse directly the figure is shown as below Speed Pn 685 rpm Pn 686 Find C pulse without Orpm eturning Homing offset distance Rising edge SHOM Encoder C pulse Pn 690 x 10000 Pn 691 Begin to counter offset distance after the first C pulse is produced when leaving zero posiion Corresponding position Mechanical shaft Machine moves return to search pulse C l l l Begin to counter offset distance after Motor slow down vl l the first C pulse is produced when leaving zero posiion Encoder C pulse T Rising edge SHOM 86 4 6 Operating Using Torque Control 4 6 1 Setting Parameters The following parameters must be set for torque control operation with analog voltage reference Parameter Meaning Pn005 Ay E T2 TU Control mode selection Torque control analog voltage reference Setting Range Setting Unit Factory Setting Setting Validation 10 100 0 1V 100 Immediately This sets the analog voltage level for the torque refe
113. g the servomotor to the machine 1 Servo ON Command from the Host The following circuits are required External input signal circuit or equivalent Speed Control Standard Setting Pn005 H 0 000 Position Control Pn005 HA 0 010 43 2 0perating Procedure in Speed Control Mode Pn005 H 1111011 The following circuit is required External input signal circuit or equivalent Servodrive CN1 24V 13 _IS ON 44 P OT 46 N OT MET V REF oW TE V REF L V REF 2 Max Voltage 12V GND 3 L Check the power and input signal circuits again l l l l Refer to the above figure for input signal circuit and check that the speed reference input voltage between the V REF and V REF is OV If the servomotor rotates at extremely slow speed refer to Turn ON the servo ON S ON input signal 4 4 3 Adjusting Reference Offset and use the reference voltage offset to keep the servomotor from moving Generally increase the speed reference input o The factory setting is 6V rated rotation speed voltage between V REF and V REF from 0 V Check the speed reference input to the servodrive mE i Refer to 5 1 6 Operation in Monitor Mode Un001 rpm Check the Un000 motor speed rpm Refer to 5 1 6 Operation in Monitor Mode Refer to the following equation to change the speed reference input gain Pn300 Un001 V R
114. 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 2 Precautions on Using Noise Filters Do not put the input and output lines in the same duct or bundle them together X O U YYY E H AAA Noise 7 Noise Filter 4 Filter Ground piate Ground olate v Noise Noise Pp A Filter Bl Filter 7 S s 7 Ground plate Hj Ground plate vvvvvv vvv vvv lt 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 24 Noise Noise Pa Filter Filter Imi MEL t A lt 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 X O 7 y l Noise 1 Noise gt Filter Filter gt servodrive servodrive servodrive servodrive vvv im N s AL stub l Shielded ground wire ground plate ground plate If a noise filter is located inside a control panel connect the noise filter ground wire
115. his value is set higher than the maximum speed of the servomotor the maximum speed will be used 3 Input Signal Setting Signal Name Connector Pin Number P CON is the input signal to switch to the zero clamp function Zero clamp function N low level ON enabled Input P CON CN1 15 Zero clamp function OFF high level OFF disabled 66 4 4 8 Encoder Signal Output Encoder feedback pulses processed inside the servodrive can be output externally CN1 20 Encoder output phase A Output PAO CN1 21 Encoder output phase A S S These outputs explained here Servodrive Host Controller Encoder Phase A PAO se Serial Data EN Frequency Phase B PBO dividing Phase C PCO circuit The dividing output phase form is the same as the standard setting Pn001 0 0 even if in the reverse rotation mode Pn001 0 1 E Output phase form Forward rotation phase B leads 90 Reverse rotation phase A leads 90 Ca 90 gt Phase A Phase B Phase C Servomotor needs two circles rotation before using the serivedrive s phase C pulse output for zero point reference Dividing The dividing means that the divider converts data into the pulse density Pn200 based on the pulse data of the
116. ical load torque it will prevail over the mechanical load torque and the servomotor speed will greatly increase This function serves to limit the servomotor speed during torque control to protect the machine Without Speed Limit With Speed Limit Danger of damage due to A A Servomotor speed Servomotor speed excessive of machine speed Max speed Speed limit 1 Speed Limit Enable b OUOU Use the value set in Pn406 as the speed limit internal speed limit function Pn001 poene Use V REF as an external speed limit input Applies a speed limit using the input voltage of V REF and the setting in Pn300 external speed limit function 2 Speed Limit During Torque Control Speed Limit During Torque Control Torque Setting Range Setting Unit Factory Setting Setting Validation 0 6000 1500 immediately Set the servomotor speed limit value during torque control e The setting in this parameter is enabled when Pn001 b L11J0 e The servomotor s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the servomotor used 90 3 External Speed Limit Function 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 he smaller value is enabled the speed limit input from V REF or the Pn406 speed limit during torque control
117. ied Fuseau Edu Me uDE dor pU NER 7 1 Servodive opecllieadorns and MOoGGlS ation cito 7 2 Servedrive Dimensional DAMIAN 3 0 m EDI A A a uc OD ee Ses dene Appendix A Parameter O uu kei A AN AZ Description of Parameter TIPO a Pese ut Peco eic izicEM ESTERI Appendix B Alarmi BI e P Chapter 1 Checking Products and Parts Names 1 1 Checking Products on Delivery Check items Are the delivered products the Check the model numbers marked on the nameplate on the ones that were ordered servomotor and servodrive Check the overall appearance and check for damage or scratches Is there any damage E that may have occurred during shipping Dose the servomotor shaft rotate If the servomotor shaft is smoothly turned by hand it is normal smoothly However if the servomotor has brakes it cannot be turned manually If any of the above items are faulty or incorrect contact your ESTUN representative or the dealer from whom you purchased the products 1 1 1 Servomotor B Servomotor Model Designation EMG 10 A P A 1 1 MEME CEU 3 4 5 61 7 EMG Model 1 2 Rated Output 4 Encoder 7 Option 1 5kW 3 Voltage 5 Designing Sequence 6 Shaft End Code Voltage Designing Sequence Shaft End 200V AC Designing sequence CNN Straight without key Standard Straight with key and tap 2 0kW 400VAC Notes 1 The EMG 30ALJ
118. in the manual adjustment of torque reference offset Fn004 The automatic adjustment of analog reference offset Fn003 cannot be used when a position loop has been formed with the host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the torque reference offset manual adjustment Fn004 Note The analog reference offset must be automatically adjusted with the servo OFF 2 Manual Adjustment of the Torque Reference Offset Manual adjustment of the torque reference offset Fn004 is used in the following cases e If a position loop is formed with the host controller and the error is zeroed when servolock is stopped To deliberately set the offset to some value Use this mode to check the offset data that was set in the automatic adjustment mode of the torque reference offset This mode operates in the same way as the automatic adjustment mode Fn003 except that the amount of offset is directly input during the adjustment The offset adjustment range and setting unit are as follows Torque reference Offset adjustment range Offset adjustment range p 1024 1024 Analog voltage input Offset setting unit 89 4 6 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 mechan
119. ing Unit Factory Setting Setting Validation Internal set speed 2 speed Setting Range SetngUni Factory Setting Setting Validation Internal set speed 3 speed Setting Range Factory Setting Setting Validation E immediately Internal set speed 4 Setting Range Setting Unit Factory Setting Setting Validation Internal set speed 5 Setting Range Setting Unit Factory Setting Setting Validation Internal set speed 6 speed Setting Range Setting Unit Factory Setting Setting Validation 5000 60n immediatly Internal set speed 7 speed Setting Range Setting Unit Factory Setting Setting Validation Note The servomotor s maximum speed will be used whenever a speed setting for the Pn316 Pn322 exceeds the maximum speed 92 4 7 2 Input Signal Settings The following input signals are used to switch the operating speed P CON CN1 15 Selects the internally set speed P CL CN1 41 Selects the internally set speed N CL CN1 42 Selects the internally set speed 4 7 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 anse Lem ome mm OFF H SPEED2 SPEED3 SPEED4 SPEED5 SPEED6 OFF H SPEED 7 Note OFF High level ON Low level R Control Mode Switching When Pn005 1 4 5 6
120. ire ay should be twisted pair wires When using a noise filter follow the precautions in 3 6 2 Precautions on Connecting Noise Filter 33 2 Correct Grounding Take the following grounding measures to prevent the malfunction due to noise Grounding the Motor Frame If the servomotor is grounded via the machine a switching noise current will flow from the servo drive main circuit through servomotor stray capacitance Always connect servomotor frame terminal FG to the servo drive ground terminal Also be sure to ground the ground terminal e 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 control panel 2 When the servo drive installing on control panel a piece of metal plate should be fixed It is used for fixing the servo drive and other peripheral devices Noise filter should be installed on 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 connect 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
121. is Used to communicate with other devices B ProNet E 20A 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 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 12 Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices I O signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor 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 will occ
122. ity load low frequency vibration will be occurred continually at the front end of the load during fast starting or fast stopping The vibration may delay positioning time and affect the productive efficiency The function of low frequency vibration suppression is embedded in ProNet E series servodrives by calculating the load position and compensating Low Frequency Vibration Coupling i i Ball Screw eel 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 condition Vibration is pricked up due to external force e Vibration frequency is out of 5 0Hz to 50 0Hz There is mechanical clearance at the mechanical connection part e The time for movement is less than one vibration period 3 How to operate B Measuring Vibration frequency Write the frequency data that measured unit 0 1Hz directly to Parameter Pn411 if the vibration frequency can be measured by instrument such as laser interferometer And it also can be measured indirectly by communication software ESView or FFT analyse function 77 Position error counter B Related Parameters Parameter Nean 4 PnO06 H LJOLJEJ 0 Low frequency vibration suppression function disabled n H Hoo TRES 1 Low frequency vibration suppressi
123. justment exceeds manual adjustment range 1024 1024 manual adjustment will be invalid Adjust the analog reference offset manually in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn004 Fal Bld 3 Press the ENTER key to enter into the speed reference offset manual adjustment mode A lle 116 4 Turn ON the servo ON signal the display is shown as follows EE 5 Hold the ENTER key for one second the speed reference offset will be displayed re 6 Press the INC or DEC key to change the offset 7 Hold the ENTER key for one second to return to the display in step 4 8 Press ENTER key to return to the utility function mode display Fn004 i Thus the speed reference offset manual adjustment is completed 5 2 6 Offset adjustment of Servomotor Current Detection Signal Automatic servomotor current detection offset adjustment has performed at ESTUN before shipping Basically the user need not 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 e 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 OFF Exe
124. l 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 speed control analog reference PCON PCL NCL OFF Switches to position control analog reference 5 Speed control contact reference position control pulse train reference PCON PCL NCL OFF Switches to position control pulse train reference 6 Speed control contact reference torque control analog reference PCON PCL NCL OFF Switches to position control analog reference 7 Position control pulse train reference speed control analog reference PCON OFF position control pulse train reference ON speed control analog reference 8 Position control pulse train reference Torque control analog reference PCON OFF position control pulse train reference ON torque control analog reference 9 Torque control analog reference gt speed control analog reference PCON OFF Torque control analog reference ON Speed control analog reference A Speed control analog reference zero clamp Control PCON OFF Speed control analog reference ON zero clamp control B Positin control pulse train reference position control INHIBIT PCON OFF Position control pulse train refer
125. l function can be used to force the servomotor to stop while the zero speed reference is given Refer to 4 4 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 servodrive and input the OV reference voltage from the host controller or external circuit Servodrive Servomotor 0V Speed Host Reference Controller sac 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 61 Fal HD12 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode CEE leu 5 Press the MODE key for more than one second the reference offset will be automatically adjusted N Y Nx 7 lala Z N Y Y Je lo leu 7 Press ENTER key to return to the Fn003 display of the utility function mode Ed BEd 8 Thus the speed reference offset automatic adjustment is completed NUM 2 Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment Fn004 in the following situations s If a loop is formed with the host controller and the postion error pulse is set to be zero when servolock is stopped To deliberately set the offset to some value To check the offset data set in the speed reference offset au
126. l mode e Control mode switching is not allowed during homing After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings A parameter can be used to re allocate input connector number for the SHOM and ORG signals Refer to 3 2 2 I O Signal Names and Functions 2 Related parameter Speed of finding reference point Hitting the origin signal ORG riens Setting Validation rpm Immediately Speed of finding reference point Leaving the origin signal ORG reps Setting Validation 0 200 rpm Immediately Number of error pulses during homing Pn620 Setting Validation 09999 10000puises 0 Immediately Number of error pulses during homing Pn691 Setting Validation 0 999 ipie o Immediately 84 3 Input Signal Setting Type Signal ConnectorPin Seting Meaning Input SHOM Must be allocated by ON f rising edge Homing is enabled SL OFF not rising edge Homing is disabled ON H ORG is enabled Input O Must be allocated by RG Pn509 Pn510 OFF L ORG is disabled After changing Pn509 and Pn510 turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings Allocating Homing Output Signal HOME Connector Pin Number Parameter Pn511 HOOGS CN1 11 CN1 12 The signal is output from output terminal CN1 11 12 Pn511 H 0080 CN1 5 CN1 6 The signal is
127. lamp 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 Shield cable 4 Cable Cable Name Mounting Position of the Core F I O signals cable Near the host controller and servodrive TONS Core Motor cable Near the servodrive and servomotor Encoder cable Near the servodrive and servomotor 36 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 c Fixing the Cable Fix and ground the cable shield using a piece of conductive metal Example of Cable Clamp VA Sable eel __ Shield cable sheath stripped Host controller side w em ee A f Fix and ground the cable shield ge Using a piece of conductive metal Ground plate S E Cable clamp Se L Remove paint on mounting surface Sg Y 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 M y 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 t
128. lay part and keys located on the front panel of the servodrive 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 SERRE Panel Corresponding Function Symbol Key Name Sk Ne To display the parameter settings and setting values To increase the setting value ov e To decrease the setting value To select a basic mode such as the display mode parameter setting MODE key mode monitor mode or utility function mode To save the setting during parameter setting and exit a o ENTER key To display the parameter settings and setting values and release ararm Note In this manual the Panel Symbol is represented by Corresponding Key Name for easy understanding 0 1 2 Resetting Servo Alarms Servo alarms can be reset by pressing the ENTER key when the panel operator in display mode Servo alarms can also be reset 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 105 5 1 3 Basic Mode Selection The basic modes include status display mode parameter setting mode monitor mode and utility function mode Each time the MODE key is pressed the next mode in the sequence is selected Select a basic mode to display the operation status set param
129. lection A of 0 Afterrestart Afterrestart restart Pn800 Speed reference imputgan mmy osoo 150 immediata Pniso1 Analog speed glvenzerobias tomv 000 1000 0 Immediately Pp Rem SSS P3 Rem O Pna06 Sof siar acceleration tme ms 0 9 0 mmedatey Pniso7 Soft start deceleratontime ms 0 100 o immedaby Pros Spee itetime constam ms 0 109 0 mmedaey Pm30 Scmereme m 0 09 0 medal Speed reference curve form Pn310 0 Slope 0 3 After restart 1 S curve 139 me gs dI No Range Setting Invalidation 2 1 order filter Pm Tame A 93 9 mmedWey mn Reeves TS Pha mw O O o Pis Reeves U O o Praos aana ma on 1 imedaey MCCAIN A on 3 mesay Pn411 Low frequency jitter frequency 0 1Hz BU 500 100 Immediately Pranz iowfeenerdamp O 0 2 25 mmedaey pang anal toque ven zero bies lom 7000 1000 0 Immediately paee Seno ON wangine ms 2000 2000 0 immediate Pnso6 Bescwaingfon Jom oso o immedaey pag Alocatenputstnaltoterminal O eee 08210 eran Pn510 Alocte nout signaltoterminal ess 0x6 eriat pen Alocate output signal teminal anse O0 eran 140 ca U e Soa maraon Range m CUM Pn513 Bus control input node low bit enable control Buscontolinputnodelowbitenable node low bit enable
130. ly T control 1 In some conditions P S T Notch filter 1 frequency vibration will be picked P S T Notch filter 1 depth up and response will be lagged after notch filter Eros T Notch filter 2 frequency i 2 When notch filter frequency is set to 5000 the notch filter is invalid P S T Notch filter 2 depth Immediately Notch filter 2 depth Low frequency Immediately Frequency of low frequency vibration with load Pn411 P S vibration frequency Low frequency l Attenuation damp of low frequency vibration with load Pn412 nm Immediately PS vibration damp It does not need to change Torque control delay l Pn413 Immediately T l time These parameters are only enabled in position control Torque control speed mode Pn414 Immediately T hysteresis This parameter is used to set zero bias of analog torque given and it is related with torque reference Pn415 Analog torque given imedai T input gain Pn400 zero bias Torque reference External torque given input analog Analog torque given zero bias X Torque reference input gain a oan e aiia Pn500 Positioning error Immediately this value Outputs VCMP signal when the difference between Immediately speed reference value and speed feedback value is less than this value The servomotor is locked in the form of temporary Immediately position loop when the speed corresponding to the analog input is less than this value S When the servomotor speed e
131. may shift slightly due to gravity according to mechanical configuration and character But it can be eliminated by using parameters which are only enabled when the Pn508 Brake waiting time Immediately P S T servomotor is stop or at low speed Brake waiting speed BK signal is output when the servomotor speed is decreased to the below of this parameter setting value at servo OFF Brake waiting time BK signal is output when the delay time exceeds the parameter setting value after servo OFF BK signal is output as long as either of the brake waiting speed or brake waiting time is satisfied Allocate input port to Pn509 0 corresponding port CN1 14 Pn509 signal one port with After restart Pss 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 Pn510 2 corresponding port CN1 41 l Pn510 3 corresponding port CN1_42 Allocate input port to l l Terminal PRI CN1_14 lt CN1_15 lt CN1_16 lt Pn510 signal one port with After restart PES T l CN1 17 CN1 39 CN1 40 CN1 41 CN1 42 four bits hex l l Corresponding signal of each data is shown as following 0 S ON 1 P CON 2 P OT 155 Parameter Setting Control Description Function and Meaning No Validation Mode 3 N OT 4 ALMRST CLR P CL N CL G SEL JDPOS JOG JDPOS JOG JDPOS HALT HmRef SHOM ORG Pn
132. meters 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 aSpeed Speed mention here refers to the steady speed during motor running which is similar to the pulse frequency given from external in ordinary position control However this speed has nothing to do with electronic gear it is just 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 internally delay of changing steps to valid parameter Pn681 1 Time for change steps outputs from positioning completed signal CON from Servo ON or from the time when reference point is found till the Servo performs the program to control position of the point Such period of time depends on step changing time required
133. n Monitor Mode for how itis displayed Refer to 5 1 6 Operation in Monitor Mode for how itis displayed Check the input pulse polarity and input reference pulse form Set the servomotor speed of serval 100rpm for the reference pulse speed because such speed is safe Refer to 5 1 6 Operation in Monitor Mode for how itis displayed Refer to 5 1 6 Operation in Monitor Mode for how itis displayed To change the servomotor rotation direction without changing the input reference pulse form refer to 4 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 8 again after the servomotor rotation direction is changed 4 1 3 Trial Operation with the Servomotor Connected to the Machine Follow the procedure below for trial operation precisely as given Malfunctions that occur after the servomotor is connected to the machine not only damage the machine but may also cause an accident resulting death or injury To power supply EF T m m R bea tR In fl ol IR LEER ri cB imc up To host controller a Step Description Check Method and Remarks 1 Turn the power ON and make the settings for 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 gravity acting on the machine or external forces b
134. n101 Y Operation OK Yes No Y Do not perform online autotuning Set Pn10020 Write the result of autotuning in the parameter The result will be used as the default value for next autotuning 103 4 11 3 Setting Online Autotuning Related parameters Parameter Setting Factory Setting No Range Setting Invalidation Online autotuning setting 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 2 Vertical load Pn100 After restart 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Pn101 Machine rigidity setting E 0 15 5 Immediately Speed gain acceleration relationship during online autotuning Pn128 0 3 3 Immediately If the setting is greater the servo gain will increase 4 11 4 Machine Rigidity Setting for Online Autotuning There are 16 machine rigidity settings for online autotuning When the machine rigidity setting is selected the servo gains speed loop gain speed loop integral time constant position loop gain are determined automatically The factory setting for the machine rigidity setting is 5 Machine Position Loop Gain s Speed Loop Gain Hz Speed Loop Integral Time Rigidity Setting Pn102 Pn104 Pn128 1 Constant 0 1ms 104 Chapter 5 Panel Operator 5 1 Basic Operation 5 1 1 Functions on Panel Operator Panel operator is a built in operator that consists of disp
135. nce offset FmxS anaie adjustment of servomotor curent aeiecion nos Manual adjustment of servomotor curent detecion nor Sofware verso play 000 nas Postea Fx Staticheriadetecion SSS 9 2 1 Alarm Traceback Data Display The alarm traceback display can display up to 10 previously occurred alarms The alarm is displayed on Fn000 which is stored in the alarm traceback data Follow the procedures below to confirm alarms which have been generated 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of alarm trace back data display Eal DQ 3 Press the ENTER key once the latest alarm data is displayed Alarm Sequence Number Alarm Code NN ER allaa 4 Press the INC or DEC key to display other alarms occurred in recent 99 1 5 Press the ENTER key the display will return to Fn000 Freien Note Hold the ENTER key for one second with alarm code displaying all the alarm traceback datas will be cleared DIZH DIO 112 0 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 Ea HDL 3 Press the ENTER key to enter into parameter settings mode le ea ct 4 Hold the ENTER key for one second the parameters will
136. nd 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 uet R po Ll U S A L2 y Te a PES M LIC 8 L2C CNI CN2 BK RY BK T24V d BK 2 Brake power supply BK RY Yellow or blue Red White AC DC Black BK RY Brake control relay 1 2 The output terminals allocated with Pn511 55 2 Brake interlock output Type Signal Name Connector Pin Number Setting 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 LILILI4 CN1 11 CN1 12 terminal CN1 11 12 The BK signal is output from output Pn511 H 0040 CN1 5 CN1 6 terminal CN
137. nect shell Shell P Represents multi core twisted pair shielded wires B Incremental wire saving encoder 2500P R common Incremental Wire saving Encoder Servodrive Host controller 2CN 1CN 1 A ES PA 2 1 PA A A 20 N 4 B VE IPA 23 eee O A 5 D P PB 24 ES a PB al L 2 E PC 25 23 PB fp 6 F P El 26 i o C 24 e ee esl L D SI Output line driver bae AM26LS31 Ppa manufactured by TI E receiver or equivalent SN75175 manufactured by TI or equivalent 2 7 2 8 2 Ae t2 17 92 18 E PGSV 8 19 K PGOV ov 1 18 SG 36 9 J Connect shell SC Mo ud FG gt e shielded wires I Connect shell Shell eus AM P Represents multi core twisted pair shielded wires 25 3 3 2 Encoder Connector CN2 Terminal Layout Terminal Terminal No No s a PG input phase B PG5V PG power supple 5V PG input phase B 17 18 19 PG power supple OV 3 4 Communication Connection 3 4 1 Communication Connector CN3 Terminal Layout TerminalNo Name Function L3 T mo Reserved L 3 T e Isolated ground CANH CAN communication terminal R CANL CAN communication terminal Note Do not short terminal 1 and 2 of CN3 3 4 2 Communication Connector CN4 Terminal Layout TerminalNo Name Function CO a a a a Reserved o d a Isolated ground CANH CAN communication terminal 3 CANL CA
138. ntactor coils The distance between a power line servomotor main circuit cable and a signal line must be at least 30 cm Do not put the power and signal lines in the same duct or bundle them together Do not share the power supply with an electric welder or electrical discharge machine When the servo drive is placed near a high frequency generator install a noise filter on the input side of the power supply line As for the wiring of noise filter refer to 1 Noise Filter shown below Take the grounding measures correctly As for the grounding refer to 2 Correct Grounding 1 Noise Filter Please installing a noise filter in the appropriate place to protect servo drive from external noise as much as possible Notice E Servo Drive Noise filter 3 Servomotor AC 200V e T OL EE TT a IIS YA 3 5mm min 1 LIC pq e L2C 2 2mm min e Operation relay sequence Signal generation circuit E A AA 3 2 Av 215 Noise DC ier Power V V 2 v e 3 5mm min ground plate ground plate ground 3 5mm min 1 plate E Wires of P i 3 5mm min 1 ground plate gt x zu ground plate Ground Ground to an independent ground use ground resistor 1000 max For ground wires connected to the ground plate use a thick wire with a thickness of at least 3 5 mm preferably plain stitch cooper w
139. o the encoder in the servomotor 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 CN1 Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals CN2 Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock Power on indicator on Connector for communication I O signal connector Used for reference input signals and sequence I O signals Encoder connector BK k Connects to the encoder in the servomotor Lights when the control power supply
140. odrive CN1 26 27 ll Checking the internal torque reference 1 Checking the internal torque reference with the panel operator Use the Monitor Mode Un003 Refer to 5 1 6 Operation in Monitor Mode 2 Checking the internal torque reference with an analog monitor The internal torque reference can also be checked with an analog monitor 88 4 6 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 servodrive performs the following automatic adjustment when the host controller or external circuit has an offset in the reference voltage Reference voltage Offset Torque reference Automatic offset adjustment Reference voltage Offset automatically adjusted in the servodrive Torque reference After completion of the automatic adjustment the amount of offset is stored in the servodrive The amount of offset can be checked
141. oes 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 LJLILIO Standard setting CCW forward factory setting Encoder pulse division output pao J LIL LU L ll pao Pn001 b LILILI1 Reverse rotation mode CW forward Encoder pulse division output PAO po J LI LI UL The direction of P OT and N OT change For Pn001 b _ LJLJ0 standard setting counterclockwise is P OT For Pn001 2b LILJLI1 reverse rotation mode clockwise is P OT 51 4 3 3 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch 1 Connecting the overtravel signal To use the overtravel function connect the following overtravel limit switch to the sorresponding pin number of servodrive CN1 connector correctly Signal Name ee t Forward rotation allowed Normal N low level CN1 16 operation status Input P OT l factory setting Forward rotation prohibited OFF high level Forward overtravel Reverse rotation Normal operation N low level CN1 17 status factory setting l Reverse rotation prohibited OFF high level Reverse overtravel Connect limit switches as shown below to prevent damage to th e
142. oft Start Acceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation Soft Start Deceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally set speeds Set both Pn306 and Pn307 to 0 for normal speed control Set these parameters as follows e Pn306 The time interval from the time the servomotor starts until the servomotor maximum speed is reached Pn307 The time interval from the time the servomotor is operating at the servomotor maximum speed until it stops Servomotor maximum speed After soft start Before soft start 4 4 5 Speed Reference Filter Time Constant Speed Reference Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation This smoothens the speed reference by applying a 1 order delay filter to the analog speed reference V REF input A value that is too large however will slow down response 64 4 4 6 S curve Risetime S curve Risetime Speed Setting Range E eem Setting Setting Validation 0 10000 Immediately 4 4 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
143. oincidence LZK 6 TGON COIN Positioning Completion TGON Rotation Detection J 9 S RDY en ne f zu f Torque Limit Detection 10 S RDY BK Brake Interlock pu 11 COIN PGC Encoder C Pulse Output 7A 12 COIN OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output Signal allocatons can be modified 2W I DICOM 13 BEL S ON Servo ON ta S ON 14 n P CON P Control t lt P CON 15 5 T P OT Forward Run Prohibited p P OT 16 1 m N OT Reverse Run Prohibited m N OT_ 17 ALM RST Alarm Reset t ALM RST 39 CLR Clear Error Pulse t CLR 40 4 m P CL Forward Torque Limit 1 PCL 41 En N CL Reverse Torque Limit N CL 42 a SHOM Home ORG Zero Position IRy 04 FO 7 ALM t Connect Shield to Connector Shell Shield Shell LZK 8 ALM D E 1D L UV i ALM Servo Alarm Output s Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 30 3 5 5 Speed Control Mode A Q Represents Twisted pair Wires Y 31 ProNet E Series Servodrives mm et o 20 PAO l VREF 1 L 21 PAO Speed Reference 0 10V Rated Speed a VREF a gt oa PBO PG Divided Ratio Output m 23 PBO gt Applicable Line Receiver AD AM26LS32A Manufactured by TI or the Equivalent gt 24 PCO 25 PC
144. oint in forward direction 3 Single operation NCL start operation PCL search reference point in forward direction Pn681 1 Change step and start mode O Delay to change step no need of start signal delay to start after S ON 1 1PCON 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 start signal can immediately stop inside pulse Return to programme start point process step when reset 3 PCON change step need start signal canceling start signal can immediately stop inside pulse Return to programme start point process step when reset Pn681 2 Change step input signal mode 0 Change step input signal electrical level mode 158 Parameter Setting Description Validation No Pn684 Programme stop step Immediately Search travel speed in position control contact reference Speed of finding Pn685 reference point Hitting the origin signal ORG in position homing control Leave travel switch speed in position control contact reference Speed of finding Pn686 reference point Leaving the origin signal ORG in position homing control Position teaching l Pn687 Immediately pulse Pn687 unit 10000P Position teaching Pn688 pulse Pn688 unit 1P Pn689 0 Homing Mode 0 Homing in the forward direction 1 Homing in the reverse direction Pn689 1 Search C Pulse Mode Pn689 Nomin
145. ol Internal speed limit 1 Use the lower speed between V REF and Pn406 as an external speed limit input external speed limit 7 Pn001 2 Analog torque limit enabled 0 Sets Pn401 Pn404 as torque limit 1 Sets the value corresponding to Vref input analog voltage as torque limit Pn001 3 2nd electronic gear enabled O Without 2nd electronic gear PCON signal is used to switch P PI 1 2nd electronic gear is enabled PCON signal is only Parameter m Setting Control Description Function and Meaning Validation Mode Pn003 After restart 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 11With overload enhancement function which can enhance the overload capacity when servomotor exceeds the 2 times rated overload It is used in frequent
146. ol Mode Validation Pn700 0 MODBUS baud rate 0 4800bps 1 9600bps 2 19200bps Pn700 1 Communication protocol selection 0 7 N 2 MODBUS ASCII 1 7 1 MODBUS ASCI I 2 7 1 MODBUS ASCII 3 8 N 2 MODBUS ASCID Pn700 Hex After restart ALL 4 8 1 MODBUS ASCII 5 8 1 MODBUS ASCII 6 8 N 2 MODBUS RTU 7 8 1 MODBUS RTU 8 8 1 MODBUS RTU Pn700 2 Communication protocol selection 0 SCI communication with no protocol 1 MODBUS SCI communication Pn700 3 Reserved Axis address of MODBUS protocol Pn701 Axis address After restart ALL communication 122 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 mew v espe Te 7 ome e e fe fr c 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 b
147. on function enabled Low f ibration f ow frequency vibration frequency Pn411 Setting Range Seca arse m sere Setting Validation Low E TN vibration damp r2 p speed Position Setting Range Setting Unit Factory Setting Setting Validation Writing the frequency data to parameter Pn411 can adjust Pn411 slightly to obtain best suppression effect s If the servomotor stopped with continuous vibration Pn412 Do not change in general should be increased properly e Parameter Pn411 and Pn412 are enabled when Pn006 2 1 Setting validation after restart 78 4 5 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 OFF high level Positioning is not HR eee 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 E ositioning Error Eyes Setting Range Setting Unit Factory Setting Setting Validation The positioning completion COIN signal is output when the difference position error pulse between the number of reference pulses output by the host controller
148. op JOG reverse rotation at node 01 Reverse rotation MA position start signal has been set 00 Stop 01 Pause Pause at node position 00 Cancel pause Note 1 Parameter area communication address 0000 00DE Parameter address is relevant to the parameters in the parameter list For example parameter Pn000 is relevant to communication address 0000 parameter Pn101 is relevant to communication address 00654 Read write operation to address 00004 is the read write operation to PnOOO If the communication input data is not within the parameter range the data will be aborted and servodrive will return an operation unsuccessful signal 2 Alarm information storage area 07F1 07FAH Historical alarm number Description Communication address Historical alarm 1 O7F1u the latest alarm Historical alarm 1 9 TF2 O7FO MEE Historical alarm 10 the furthest alarm O7FAH 3 Monitor data area 0806 08164 The monitor data is corresponding to servodrive panel displays Un000 Un016 For example the corresponding data of communication address 0807 speed setting is FB164 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
149. output from output terminal CN1 5 6 The signal is output from output terminal CN1 9 10 After changing Pn510 turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings HOME signal is only enabled at low level 4 Description of Homing Operation Please set Pn689 according to the actual operation in position control mode Starting 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 ORG is disabled and detecting encoder C pulse 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 A Pn 685 rpm Pn 686 Return to find C pulse Orpm gt SHOM t Rising edge Homing offset distance lt Pn 690 10000 Pn691 ORG Encoder C pulse AA S 5 uo Begin to counter of
150. p in the hsot controller 4 4 HIE LES 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 D Atl Torque Control 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 6 H OUL Speed Control contact reference gt 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 servodrive Three operating speeds can be set in the servodrive In this case an analog reference is not necessary 4 H LILIAL H OUELI These are swithing modes for using the four control methods described above in combination Select the control method switching mode that best suits the application 4 9 49 4 3 Setting Common Basic Functions 4 3 1 Setting the Servo ON Signal This sets the servo ON signal 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 PT ON low level Servomotor power ON Servomotor can be operated Input S ON Servomotor power OFF Servomotor cannot be
151. pact 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 Unit Hz Decreases the value of this parameter to shorten positioning time and enhance speed response Unit 0 1ms This parameter determines position loop gain Decreases this value to enhance servo rigidity but vibration will occur if the value is too large Unit 1 s Torque reference filter can eliminate or lighten mechanical vibration But incorrect setting will result to mechanical vibration Unit 0 1ms Setting value load inertia rotor inertia Xx 100 Unit 96 The meanings of these parameters are the same as Pn102 Pn105 These parameters are only needed to set when two Parameter Setting Control Description Function and Meaning No Validation Mode 2nd position loop l types of gain function are enabled Pn109 Immediately gain 2nd torque reference l Pn110 Immediately PS T filter time constant This parameter setting can shorten positioning time However if it is too large or does not cooperate with Pn111 correctly vibration will occur The relationship with speed reference error counter positioning error is shown in the following chart oe reference Pn111 Speed bias Immediately It is used to set position feedforward The response speed is faster and position error is less when this Pn112 Feedforward Immediately parameter setting is highe
152. pair Wires ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA Note 1 The L1 L2 L3 and L1C L2C terminals wiring method of ProNet E 02 04 servodrives is different from other ProNet E series servodrives Please note the specific terminal definition while wiring 2 External regenerative resistor for ProNet E 02 04 is provided by customer the model of ASQG0W50O0KGO resistor is recommended 3 ProNet E 02 04 servo drives are also available for single phase connection 4 Change Pn521 from 1 to 0 when using the external regenerative resistor in ProNet E 02 04 servo drives 2f 3 5 2 Three phase 200V ProNet E 08A 50A L1 L2 L3 Three phase 200 230V i 50 60Hz Molded case Circuit Breaker RM NES i Surge Protector Qe 1Ry 1PL Servo Alarm Display m Noise Filter B OEF P ON ower ower 1KM e 1 J e L e t J 1KM 1Ry 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor f OL1 ProNet E A 1 Servomotor o2 Series Servodrives Uo M B 2 O L3 V Q 1 001 Wo 3 A ie M f Dal CN2 A Incremental Wire savin OL1C Encoder P500P R um 1 A T 3 J l 3 B OB1 B1 4 B oB2 OB2 s a External Regenerator Resisotr C
153. pm O Fix to 1st group gain 1 External switch gain switching G SEL Gain switching 2 Torque percentage Pn121 condition After restart P S 3 Value of offset counter 4 Value of acceleration speed setting 10rpm 5 Value of speed setting 6 Speed reference input Delay time of switching gain when switching condition Pn122 Switching delay time Immediately is satisfie Pn123 Switch threshold level Immediately a ae Gain switching trigger level switching trigger level Position gain l This parameter is used to smooth transition if the Pn125 TT Immediately e switching time change of the two groups of gain is too large l ME l This parameter is used to set the operation hysteresis Pn126 Hysteresis switching Immediately P S oat of gain switching l This parameter is used to filter in low speed detection Low speed detection l l l l l Pn127 Sy 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 in the same acceleration rigidity during online autotuning The speed loop gain Pn128 DD immediately P S 99 MR j i relationship during is larger when this value is higher online autotuning Low speed correction l The intensity of anti friction and anti creeping at low Pn129 u Immediately P S a e n coefficient speed Vibration will occur if this value is set too large Pn130 Friction Load Immediately Frictin load or fixed load compensation
154. put Torque Control Reference Impedance About 10MQ or above Input Circuit Time 10us Constant Speed Analog Input Reference 10VDC at rated speed Variable setting range 0 10VDC Control Reference Voltage Max input voltage 12V 132 Applicable Servomotor Model Circuit Time 10us Constant Rotation Speed Direction With P CON signal Selection Selection Soft Start n Function E 0 10s Can be set individually for acceleration and deceleration etting Sign pulse train CCW CW pulse train Type id 90 phase difference 2 phase phase A phase B Non insulated linde driver about 5V open collector Pulse x1 multiplier 4Mpps EE Reference x2 multiplier 2Mpps Position E 4 multioli 4 x FAM requency multiplier 1Mpps Open collector 200Kpps Frequency will begin to decline when the duty ratio error occurs Position 7 Position Reference 16 postion nodes can be set Setting Setting Encoder Dividing Pulses Phase A phase B phase C line driver output Output Number of dividing pulses any Number of 8 channels 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 Number of 4 channels channels Signal allocations
155. r Vibration will occur if the value is set too large Unit 96 It is used to ease mechanical vibration due to position feedforward The feedforward lag will be enlarged and Pn113 Feedforward filter Immediately result to vibration if the value is set too large ES Unit 0 1ms It is used to set torque feedforward and enhance Torque feedforward Torque feedforward Pn115 filter P PI switching response speed Immediately Set the load inertia percentage Pn106 correctly to enable this function in manual gain adjustment mode It is used to ease mechanical vibration due to torque Immediately P S feedforward Unit 0 1ms U Torque reference percentage 1 Value of offset counter Pn116 After restart 2 Value of acceleration speed setting condition 3 Value of speed setting 4 Fixed PI Threshold of torque to switch Pl control to P control Unit 96 Torque switching Pn117 After restart threshold 150 Parameter E Setting Control Description Function and Meaning No Validation Mode Threshold of error counter to switch Pl control to P Offset counter l Pn118 Mn Immediately control switching threshold Unit pulse Setting acceleration Threshold of acceleration speed to switch Pl control to Pn119 speed switching Immediately P S P control threshold Unit 10rpm s Setting speed l Threshold of speed to switch PI control to P control Pn120 PRSA Immediately Pi S switching threshold Unit r
156. r restart 137 A e IE d No Range Setting Invalidation 1 4 7 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation PROi Machine ottysetirg os s mmea pong Load eri percentage ozo o immedaey PRI sees AAA enz retoma a 00 o mede pans Feedtorvarsfter oms oso o mmedaey pana Torque teectowars a ow o meday pnns Torque eectorwarsfter orms oso o mmedaey P PI switching condition 0 Torque reference percentage 1 Value of offset counter l l 0 4 After restart 2 Value of acceleration speed setting 3 Value of speed setting 4 Fixed PI Pn117 Torque switching threshold 0 300 Immediately reference Pn118 Offset counter switching threshold 0 10000 Immediately pulse Setting acceleration speed switching Pn119 10rpm s 0 3000 Immediately threshold Pn120 Setting speed switching threshold 0 10000 0 Immediately Gain switching condition 0 Fix to 1st group gain 1 External switch gain switching 2 Torque percentage Pn121 After start 3 Value of offset counter 4 Value of acceleration speed setting 5 Value of speed setting 6 Speed reference input Pmiz2 aana time oms ooo o immediately niza mesto suteng 0 20 o Wmmedaey Pa Ree O O O o 0 poss Postion gain rats omms 0 200 o Wmedasy 138 Parameter Setting Factory Setting Range m wm RON Pm2
157. reference point Speed towards limit switch is called speed of looking for reference point and the speed moving away from limit switch is called moving speed These two speeds could be set by following parameters Speed of looking for reference point hits Pn685 BE rpm 0 3000 1500 the limit switch Moving speed move away from limit Pn686 l rpm 0 200 30 switch Usually if 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 Besides PCL and NCL is no longer functioned to limiting external current when looking for a reference point 82 E Related parameter Pn681 0 Pn681 1 Pn681 2 Pn682 Choose between cycle run and single run 0 cycle run PCL as start signal NCL reverse to look for reference point 1 Single run PCL as start signal NCL reverse to look for reference point 2 Cycle run NCL as start signal PCL reverse to look for reference point 3 Single run NCL as start signal PCL reverse to look for reference point Change step and start mode 0 Delay changing steps the start signal is not needed 1 Change steps by P CON no need of the start signal 2 Delay changing steps need start signal 3 Change steps by P CON need start signal Change step input signal mode 0 High or low level 1 sign pulse 0 Incremental 1 Absolute 83
158. rence T REF that is necessary to operate the servomotor at the rated torque B Example Pn400 30 The servomotor operates at the rated torque with 3V input factory setting Pn400 100 The servomotor operates at the rated torque with 10V input Pn400 20 The servomotor operates at the rated torque with 2V input Reference torque Rated torque Reference voltage V This reference voltage is set 87 4 6 2 Torque Reference Input By applying a torque reference determined by the analog voltage reference to the servodrive the servomotor torque can be controlled in proportion with the input voltage T REF CN1 26 Input Torque Reference Input T REF CN1 27 Used during torque control analog voltage reference 300 Pn005 1 2 6 8 9 Reference torque The torque reference input gain is set in Pn400 For setting details refer to 4 6 1 Setting Parameters E Input specifications 200 Input range DC 0 10V rated torque aia 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 4700 Input circuit example 1 2W min Use twisted pair wires as a countermeasure against noise 0 3 100 4 8 12 Input voltage V Set the slope with Pn400 Serv
159. rence 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 servodrive automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage Reference Voltage T offset Speed Reference Automatic offset adjustment Reference Voltage Offset automatically adjusted in servodrive Speed Reference After completion of the automatic adjustment the amount of offset is stored in the servodrive The amount of offset can be checked in the speed reference offset manual adjustment mode Fn004 Refer to 4 4 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 servodrive and input the OV reference voltage from the host controller or external circuit
160. rew Disc Table Belt and Pulley Reference unit 0 1o Reference unit 0 2mm Step Ope ration Reference unit 0 001mm Load shaft Load shaft A eceleration ratio i io Pulley diameter Wire saving Tae 1 Deceleration ratio Encoder Ball screw pitch 6mm 2 1 F 100mm Load shaft j e Wire saving Encoder Wire saving Encoder l l l l Pulley diameter 100 mm Check machine Ball screw pitch 6mm Rotation angle per revolution l 1 pulley circumference 314 mm specifications Deceleration ratio 1 1 360 eceleration ratio 3 1 Deceleration ratio 2 1 2500P R 2500P R 2500P R Determine the l 1 reference unit rference unit 1 reference unit 0 1 1 reference unit 0 2mm 0 001mm 1um Calculate the travel distance 6mm 0 001mm 6000 360 0 1 3600 314mm 0 2mm 1570 per load shaft revolution B 2500x4 1 B 2500x4 3 B 2500x4 2 A 6000 1 A 3600 1 A 1870 1 Set parameters Pn202 Pn202 Pn202 Pn201 Pn201 Pn201 Final Result Pn202 Pn202 Pn202 Reduce the fraction both numerator and denominator if the calculated result will not be within the setting range 5 Electronic Gear Ratio Equation Servomotor n T gt Pitch P mm rev Reference pulse D Position Speed A loop loop Al mm P Al mm P Reference unit x4 a Pa P rev Pc P rev Encoder pulses P mm rev
161. s Data start address Content of data start address 02004 Data content 4 K LRC checking et w RTU mode Reference information Response information ow OW 02H E A bit 02H Er bit Data start address Data start address 00 0 00u low bit 00u 00n low bit 00 y high bit 00 y high bit Data content Data content 64 y low bit 64 y low bit CRC checking 89 u low bit CRC checking 89 u low bit CRC checking 99 u high bit CRC checking 99 u high bit LRC CASCII mode and CRC RTU mode error detection value calculation LRC calculation in ASCII mode ASCII mode uses LRC Longitudinal Redundancy Check error detection value The exceeded parts e g the total value is 1284 of hex then take 284 only is taken off by the unit of 256 in the total value from ADR to the last information then calculate and compensate the final result is LRC error detection value 126 For example read 1 word from 014 servo address 02014 Data number Ccount as word Add from ADR data to the last data 01 u 03 u 02 u 01 y 00 y 01 u 2084 The compensate value is F8u when 2 is used to compensate 08 so LRC is F 8 CRC calculation of RTU mode RTU mode uses CRC Cyclical Redundancy Check error detection value The process of CRC error detection value calculation is shown as follows Step 1 Load in a 16 bit register of FFFFy named CRC register Step 2 Run XOR
162. se output form from the host controller Set the reference unit and electronic gear ratio so that it coincides with the host controller setting Send the slow speed pulse reference for the number of servomotor rotation easy to check for example one servomotor revolution from the host controller in advance Check the number of reference pulses input to the servodrive by the changed amount before and after the Un013 and Un014 input reference pulse counter pulse were executed Check whether the actual number of servomotor rotation Un009 Un010 coincides with the number of input reference Check that the servomotor rotation direction is the same as the reference Input the pulse reference with the large number of servomotor rotation from the host controller to obtain the constant speed Check the reference pulse speed input to the servodrive using the Un008 input reference pulse speed rpm Check the servomotor speed using the Un000 servomotor speed rpm Check the servomotor rotation direction When the pulse reference input is stopped and servo OFF status enters the trial operation for servomotor without load in position control mode is completed 46 Check Method and Remarks Set the reference pulse form with Pn004 2 Set the electronic gear ratio with Pn201 or Pn203 Pn202 Set the servomotor speed of several 100rpm for the reference pulse speed because such speed is safe Refer to 5 1 6 Operation i
163. t can switch off power supply of servo drive when alarm occurs When servo drive is re switched on it removes alarm automatically so normally alarm reset signal is not required to be connected In addition alarm reset are enabled with panel operator Note When alarm occurs always remove alarm reasons before resetting alarms 99 4 10 2 Rotation Detection Output Signal TGON Signal Name Connector Pin Number Setting Meaning ON low level Servomotor is operating Servomotor speed is above the setting in Pn503 Output ITGON e Servomotor is not E Factory setting OFF high ina S level operating ervomotor E speed is below the setting in Pn503 This signal is output to indicate that the servomotor is currently operating above the setting in parameter Pn503 Related parameter Rotation Detection Speed TGON Pn503 Setting range Setting unit Factory setting Setting validation Sets the range in which the rotation detection output signal TGON is output in this parameter When the servomotor rotation speed is above the value set in the Pn503 it is judged that servomotor rotation speed signal TGON is output The rotation detection signal can also be checked on the panel operator 4 10 3 Servo Ready S RDY Output Signal Name Connector Pin Number Output S RDY l factory setting OFF high level Servo is not ready e This signal indicates that the servodrive received
164. t speed reference exceeds preset value Not lit if input speed reference is Lit if reference pulse is input Reference o o below preset value Not lit if no reference pulse is input mE pulse input Preset value Pn503 factory setting is 20 rpm Lit if input torque reference exceeds preset value Error Lit when error counter clear signal is Not lit if input torque reference is below counter clear input Not lit when error counter clear preset value signal input signal is not input Preset value 10 of rated torque Lit when main circuit power supply is ON Lit when main circuit power supply is and normal ON and normal Power ready Power ready Not lit when main circuit power supply is OFF Lit if servomotor speed exceeds preset Not lit when main circuit power supply is OFF 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 TGON Preset value Pn503 factory setting is 20 rpm detection below preset value TGON Preset value Pn503 factory setting is 20 rpm B X Codes Display Baseblock Ja Servo OFF servomotor power OFF Run Forward Run Prohibited Flat CN1 16 P OT is OFF Reverse Run Prohibited Alarm Status ET Press ENTER key to clear the present servo alarm 107 5 1 5 Operation in Parameter Setting Mode The servodrive offers a large number of functions
165. the 1st channel detection is wrong 2nd channel current Something wrong with the inside chip of the 2nd channel Ear Is wrong X Incremental Encoder is break off At least one of Incremental Encoder PA PB PC is break off Main circuit voltage for servomotor rotation is excessively A 13 X Overvoltage E Ig FIENT NN nnd ala samen NK The parameter setting of servodrive does not match the x Servomotor type error servomotor l The parameter setting of servodrive does not match the A 43 x Servodrive type error servomotor EE CAN communication is faulty because of abnormal A 66 x CAN communication abnormal MM communication connection or disturbance Receiving heartbeat timeout The master station sends heartbeat time timeout 161 Alarm Alarm Alarm Name Display Output Synchronization signal monitoring The filling time and the cycle of the synchronous signal cycle is longer than setting berr not match ual ee Not an error Normal Normal operation status status O Output transistor is ON X Output transistor is OFF 162 ESTUN AUTOMATION TECHNOLOGY CO LTD E ADD 155 Jiangjun Road Jiangning Economical amp Technical Development Zone Nanjing 211100 P R C TEL 025 52785866 52785915 52785916 FAX 025 52785576 52785966 Web www estun servo com E mail info estun com AJOSSUNAS ANIMA PT L w em KO ien O tu
166. tl t2 0 1us t 1 0us t T x100 50 t1 t2 0 1us 0 t 1 0us t T x100 50 Forward reference Reverse reference gt Phase B leads A by 90 Phase B lags B by 90 The pulse train output form from the host controller corresponds to the following Line driver Output 24V Open collector output e 12V 5V Open collector output us t T x100 50 SIGN H forward reference L reverse reference A parameter Pn004 2 can be used to switch of the input pulse multiplier mode a Connection Example for Line driver Output Applicable line driver SN75174 manufactured by TI or MC3487 or the equivalent Host controller Servodrive Line driver CNI PULS 130 150 Photocoupler _ YES PULS 131 gt SIGN 32 1509 SIGN 33 E Represents twisted pair wires ad b Connection Example for Open collector Output Host controller Servodrive 24V CNI PPI y 34 2kQ 30 photocoupler PULS 2 1500 Vased E PULS 31 Trl gt 424V When voltage is 12V a 1kQ resistance should be 2k Q connected at PULS and SIGN PPI 34 When voltage is 5V a 180 2 resistance should 2 gt be connected at PULS and SI
167. to 3 2 2 I O Signal Names and Functions 60 4 4 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 servodrive automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage Reference Voltage T offset Speed Reference Automatic offset adjustment Reference Voltage Offset automatically adjusted in servodrive Speed Reference After completion of the automatic adjustment the amount of offset is stored in the servodrive The amount of offset can be checked in the speed reference offset manual adjustment mode Fn004 Refer to 4 4 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 contro
168. tomatic adjustment mode This function operates in the same way as the reference offset automatic adjustment mode Fn003 except that the amount of offset is directly input during the adjustment The offset setting range and setting unit are as follows Speed Reference Offset adjustment range Offset adjustment range 1024 1024 Offset setting unit K 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 EaU DIY 3 Press the ENTER key to enter into the speed reference offset manual adjustment mode Sale 4 Turn ON the servo ON S ON signal The display will be shown as below Sale 5 Press the ENTER key for one second to display the speed reference offset amount rea 6 Press the INC or DEC key to adjust the amount of offset Lal o Lr 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 Friend 9 Thus the speed reference offset manual adjustment is completed 63 4 4 4 Soft Start The soft start function converts the stepwise speed reference inside the servodrive 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 S
169. ur Please observe the installation instructions described below to install the servomotor correctly Before installation Anticorrosive paint is coated on the edge of the servomotor shaft Clean off the anticorrosive paint thoroughly using a cloth moistened with thinner Avoid getting thinner on other parts of the servomotor when cleaning the shaft Anticorrosive paint 2 1 1 Storage When the servomotor is not used store it in the temperature between 20 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 13 2 1 3 Installation Alignment Align the shaft of the servomotor with that of the machinery to be controlled and then connect the shafts with elastic couplings Install the servomotor so that alignment accurancy falls within the range shown below Measure this distance at four different positions in the circumference The difference between the maximum and minimum measurements must be 0 03mm or less Turn together with couplings Note e f the alignment accurancy is incorrect vibration will occur resulting in damage to the bearings
170. vely Install cooling fans above the servodrives if required MH Working conditions 1 Temperature O 55 C 2 Humidity 90 RH or less 3 Vibration 4 9m s or less 4 Ambient temperature to ensure long term reliability 45 C or less 16 Chapter 3 Wiring 3 1 Main Circuit Wiring Please observe the following instructions while wiring the main circuit Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 300 mm Use twisted pair shielded wires or multi core twisted pair shielded wires for signal and encoder feedback lines The maximum length is 3 m for reference input lines and is 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 servodrive 3 1 1 Names and Functions of Main Circuit Terminals 10 Three phase 200 230VAC 50 60Hz Main Circuit Voltage V Terminal Symbol Main circuit L2 L3 power supply input terminal Servomotor U V W connection terminals Control circuit power supply input terminal 10 Three phase 380 440VAC_ 5 50 60Hz B Connect to the servomotor Single phase 200 230VAC lt 50 60Hz 10 Single phase 380 440VAC_ 5 50 60Hz Connects to the power supply ground terminals and Connect an external regenerative resistor provided by customer between B1 and B2 If use
171. ween the phase U o CuA and phase V 1 Cub servomotor current detection offset adjustment m le Jd ES 5 Hold the ENTER key for one second to display the phase V offset amount LM HID DIO 6 Press the INC or DEC key to adjust the offset ended 7 Press the ENTER key for one second to return to the display in step 3 or 4 D za SS Els zn Pal 8 Press the ENTER key to return to the utility function mode display Fn006 Dal IE 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 118 5 2 7 Software Version Display Set the Fn007 to select the software version check mode to check the servodrive software version 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 Ea HDL 3 Press the ENTER key to display the DSP software version the highest bit displays d or E or F or 0 wot teal 4 Press the MODE key to display the FGPA CPLD software version the highest bit displays P Pi eae 5 Press the MODE key to return to DSP software version display 6 Press the ENTER key to return to the utility function mode display Fn007 5 2 8 Position Teaching Function Perform the position teaching function in the following procedure 1 Press the MODE key to select the utility function mode
172. xceeds this parameter Immediately P S T setting value it means that the servomotor has already rotated steadily and outputs TGON signal T Coincidence Pn501 difference Pn502 Zero clamp speed Rotation detection speed TGON Pn503 Offset counter Pn504 overflow alarm When the value in error counter exceeds this Immediately parameter setting value it means that error counter alarm has occurred and outputs alarm signal These parameters are only enabled when the port l output parameters are allocated with BK signal Immediately P S output These parameters are used to keep braking prevent 154 Servo ON waiting Pn505 time Parameter Setting Control Description Function and Meaning No Validation Mode from gravity glissade or continuous outside force on co m 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 Pn507 Brake waiting speed Immediately P S T Parameter setting time QFor 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
173. y 1 byte RTU data Data Structure 10 bit character form 7 bit data Pn700 1 0 7 N 2 Modbus ASCII Start Stop Stop isis lala a 711 r amp 7 data bits 4 cccc 10 bits character frame p Pn700 1 1 7 E 1 Modbus ASCII Start Even Stop eee parity bit 4 7 data bits gt 4 ccclDL 10 bits character frame p Pn700 1 2 7 O 1 Modbus ASCII o L cB zi aa e o bea PICO E ee NO Deas WW ee te see EUN LL p 4 Un e ON 5 gt O G Ga Za cere un S 8 d A 7 data bits gt 4 ccc 10 bits character frame p 123 11 bit character form 8 bit data gt 8 amp N 2 Modbus ASCII RTU a ST ES D Eom Lea L l i N l A l l i UJ l TTT l l E l l l E N l l l HF ON lm m VENE EON PE o Y 3 az E y o Y S 8 data bits lt 11 bits character frame gt 8 E 1 Modbus ASCII RTU TE zd 4 e GERNE l l l n an ae nnes l l N pe ese tel l l Uy l l i K l 4 Nn l E l ON l ILIA l l l 4 Jo es S Z 5 N 2 8 ke
174. ys 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 B ProNet E 10D 15A 15D Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main Power on indicator 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 I O signals Encoder connector Connects t

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