Home

pronet e 10 a

1. L1 L2 L3 Three phase 380 440V 77 50 60Hz Molded case Circuit Breaker Venda Surge Protector cra Y 4 1Ry 1PL Servo Alarm Display A Q Noise Filter a OFF P ON i ower ower 1KM o al 1KM 1Ry 1 Besure to connect a surge suppressor to the al excitation coil of the magnetic contactor and relay Magnetic Contactor Ta L1 Y i P ProNet A 1 Servomotor 412 Series Servodrives Ud j B 2 QL3 Vo M C 3 Wo D 4 CN2 5L1C Option LL QoL2C Resolver Serial Encoder T Sensor 1 Encoder B F3 Sensr2 7 S A 0B1 7 SIN g S EN B2 1 id Eu 1 17 BAT r PG External Regenerator Resisotr al l 18 BAT m 18 COS 9 PG5V Lh 9 Ri Lu TI Re T97 FGO rt 1 L O Shell Shield Shell Shield y D Be sure to ground CN3 1 N C Be sure to prepare the end of the 2 N C shielded wire properly 3 485 CN1 4 meee ND 5 GND Use special communication cable to conn
2. P SEN uma oa i H 7 FI M E We 2 ram j SO p E ve d RT i Si n E NE gt A Pa 7 iea j p Sal 180 L 180 Efe NIS iiil TUI gensaeses S uL 150 A 2 Eg BEEBEBEBEE L 160 Jj Note ProNet E does not support extended module B ProNet 08A 10A ProNet E 08A 10A Unit mm 944 Air Flow 926 D E Air Flow UDUDO U Oo OOO t Ds ESTUM lis Air Flow Cooling Fan Mounting Hole Diagram Note ProNet E does not support extended module 150 Extended Module LE Nameplate 32 13 8 HHEHHBEHEHEH HEHH EBEBEBEHEHEHEBEB Air Flow B ProNet 10D 15A 15D 20A 20D ProNet E 10D 15A 15D 20A 20D
3. O O ProNet 30A 50A ProNet 30D 50D 75D ProNet 1AD 1ED 2BD ESTUN SERVODRIVE i ProNet E Servo Drive Appearance ProNet E 02A 04A ProNet E 08A 10A TE MA V dx
4. Unit mm 94 4 HT Air Flow Nameplate HAHA fil oy 4 egvoreve zv RO NE a o esten Bal ag L3 e ES N u or El Li o Bt EKO La u o EX Y e i 2 M eo Cooling Fan i Ground Terminal iB ae 2 M4 Screw Mounting Hole Diagram 4 M4 Screw Holes 100 24 75 180 n a EET 4 TES g e i i i i I I i HH BS BBS BBB EH BBB B qe BHEHEBEHEHEHEHBEHEB FEES a i Figure o EBEBBREEHEHEEIEE EHEDERI Dv inc i RIE i 7E i E 2 l I H i i Aar Fow p it a ES 5 5 E 89 100 Note ProNet E does not support extended module B ProNet 30A 30D 50A 50D 75D ProNet E 30A 30D 50A 50D Unit mm 32 Nameplate Mounting Hole Diagram 4 M5 Screw Holes Air Flow Extended Module pie i ei i I i i i i i i i Ls i 8 a B i kB s LN p uL f co gc 2 bi T lolis i 1 T id sde A 3 i 2 i g i i Lad i rf Foi i A i i Terminal N i i i 14 M Screw Li i i i I i i i i i i i i i i i i i i ESTO Y dg Al 108 SE pu i A P yo 6
5. The direction of P OT and N OT change For Pn001 b O standard setting counterclockwise is P OT For Pn001 b 11 reverse rotation mode clockwise is P OT 62 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 servo drive CN1 connector correctly Signal Name SERES wee RI Lor Rea Forward rotation allowed Normal CN1 17 factory setting imas CN1 16 npu P factory setting GE N low level operation status Forward rotation prohibited OFF high level Forward overtravel Reverse rotation Normal operation N low level status Reverse rotation prohibited OFF high level Reverse overtravel Connect limit switches as shown below to prevent damage to the devices during linear motion Rotation in the opposite direction is possible during overtravel For example reverse rotation is possible during forward overtravel Important gt Servomotor forward rotation direction Servodrive Servomotor
6. e L1 j A 1 Servodrive si pL ProNet U no de Series Servodrive ree B 2 O is Pe W 3 D 4 L1C OLC Encoder External Regenerative Resistor OB 1 OoB2 IRy 24V 7 ALM TJ I 8 ALM i if E 1D y Ground Terminal oV Notes 1 The resistor of 1500W 200 is recommended for the external regenerative resistor of ProNet 1AD 2 The resistor of 1500W 15Q is recommended for the external regenerative resistor of ProNet 1ED 3 The resistor of 1500W 20Q is recommended for the external regenerative resistor of ProNet 2BD 26 3 2 I O Signals 3 2 1 Examples of I O Signal Connections ProNet Series Servodrive VREF TT O Speed Reference 0 10V Rated Speed i VREF 12 40K gt gt 20 PAO E al e 21 PAO TREF 26 gt 22 PBO Torque Reference 0 10V Rated Torque PG Divided Ratio Output q we d mr 2r a T 29 PBO AG pies Ratio Ou gt 24 PCO AM26LS32A Manufactured by TI or the Equivalent 25 PCO 50 DGND J Open Collector Reference PPI 34 Use 2K0 P PULS 30 LX Position Reference PULS CW A PULS 31
7. ProNet Series Servodrives 2 120 PAO 21 PAO gt 22 PBO PG Divided Ratio Output 23 PBO pa Applicable Line Receiver gt 54 PCO AM26LS32A Manufactured by TI or the Equivalent A D ref TREF 26 25 PCO Torque Reference 0 10V Rated Torque 2i TREF 57 ES 50 DGND ll Signal Allocations can be Modified 5 TGON V CMP Speed Coincidence Y 6 TGON RS eaten feng AE DEON I Tees 9 S amp RDY S RDY Servo Ready Signal allocatons can be modified L aaa AY yah CLT Torque Limit Detection S ON Servo ON H_S N 14 po K 10 S RDY BK Brake Interlock N PC 4 P CON 15 LES Ns 11 V CMP PGC Encoder C Pulse Output Apis Dno ho P OT 16 EY E y 12 V CMP OT Over Travel DN NOT bee cine cums Eo ba e HOME Home Compson Oia Oum ALM RST Alarm Reset PA AEM RST 39 Lm CLR Clear Error Pulse am il A t P CL Forward Torque Limit N GL 1 22 EK N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V qa 7 ALM T i T Connect Shield to Connector Shell 8 ALM z Shield Shell 1D A ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA a represents Twisted pair Wires aximu pi 49 3 6 Wiring for Noise Control 3 6 1 Noise Control The servo drive uses high speed switching elements in the main circuit lt may receive switching noise
8. ESTI i DMM min Minstallation Orientation Install servo drive perpendicular to the wall so that the front panel containing connectors faces outward E Cooling Provide sufficient space around each servo drive to allow cooling by natural convection or fans Mi installing side by side When installing servo drives 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 servo drive from increasing excessively Install cooling fans above 3943 the servo drives if required MW Working conditions 1 Temperature 20 55 C 2 Humidity 5 95 RH 3 Vibration 4 9m s or less 4 Ambient temperature to ensure long term reliability 45 C or less 5 Condensation and Freezing None 29 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
9. 4 Inverses PULS and SIGN reference Pn004 OOOO Do not inverse PULS reference and SIGN reference Do not inverse PULS reference Inverses SIGN reference Inverse PULS reference Do not inverse SIGN reference Sa Inverse PULS reference and SIGN reference 84 5 Reference Pulse Input Signal Timing Reference pulse signal form Electrical specifications Remarks Sign pulse train input SIGN SIGN PULS signal E H forward reference Maximum reference frequency i u eos L reverse reference t3 t7 0 1us t4 t5 t6 gt 3us 500kpps For open collector output 200kpps t 1 0us t T x100 2 5096 CW pulse CCW pulse Maximum reference frequency 500kpps tl t2 0 1ps t3 gt 3 Us For open collector output 200kpps nis t T x 100 50 Two phase pulse train with 90 phase A parameter differential phase A B l l Pn004 2 can be t1 t2 0 1us used to switch of Maximum reference frequency t 1 0us t T x100 50 x1 input pulse multiplier 500kpps the input pulse Forward reference REN reference x2 input pulse multiplier 400kpps Phase B leads A by 90 Phase B lags B by 90 multiplier mode x4 input pulse multiplier 200kpps 6 Connection Example The pulse train output form from the host controller corresponds to the following Line driver Output e 24 V Open collector output e 1
10. 3e 30 2K2 e 0 10V oko 2 T REF j About 40K amp i About 40K 9 GND GND VF m OV OV Winterface 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 S DC24V 50mA min 3 8K Q 50mA min 424NIN 33K9 y E aa pasao ss 3 ac XE ET E E bs NIZE i gt i gt S ON ete y NE a ied S ON etc 1 E o aad 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 servo drive uses this output circuit in speed control to comprise the position control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller Winterface for sequence output circuit Photocoupler output circuits are used for Servo Alarm ALM Servo Ready S RDY and other sequence output signal circuits Connect a photocoupler output circuit through a relay circuit 283 3 3 Wiring Encoders 3 3 1 Connecting an Encoder CN2 m Wire saving Incremental Encoder 2500P R Waterproof Wire saving I
11. Cy B ProNet 15A 20A ProNet E 15A 20A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply 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 CHARGE M 245 optog 00000 Ol DO Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices I O signal connector Used for reference input signals and sequence l O signals Encoder connector Connects to the encoder in the servomotor Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices 1 O signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor B ProNet 10D 15D 20D ProNet E 10D 15D 20D Charge indicator Lights when the main circuit power suppl
12. r E 119 S TA Sta S DEPAY MOJE tatoo 119 5 1 5 Operation in Parameter Setting Mode occcccnnccconcnncnncnncononcnnnnnnononnnncnnnnnnonnnnnnrnnnnnnnnnnrnnennnnnnananrnnennnss 121 51 6 Operation dn Monitor MOS tors ex esi eh Opa e aec Coen e o d ncen ace k e censu a 122 52 Operon in ult FUNCION MORE seetri EEEE etna dU eu o re t oret a xa a n taba Rer NOS 125 5o d Alarm Traceback Dala DIS Pla Vicanaa aia 125 5 2 2 Parameter Settings InitialiZatlOn dadas 52 3 OPeratl0A MADE MO a we Rm 5 2 4 Automatic Adjustment of the Speed Reference OffS8t oocccccccoccccccoconoccnccnncncnnonanaronononannncnnnnnrnnnnnnos 5 2 5 Manual Adjustment of the Speed Reference OffS8t ooooonccccoconcccocococonononocnncncnnonarononononanencnnarocononos 5 2 6 Offset adjustment of Servomotor Current Detection SignNal cccoocccccnccononnnnccnnonnnononononcnononcnonnnnns o2 7 SO Ware Version lo ite aca Sateen i mius EE o 2 9 POSON 1 SAC IMAG FUNCION Ss sus dee cocos abore cette telo ue retur elei dut abe Ges tua evasit tid 5 2 9 Static Inertia OLS IO erecta nana 5 2 10 Absolute Encoder Multiturn Data and Alarm Reset ooccccccocccinnccnconnncnnnnnonnnnononnnonononnnnnonnnnnrnnnnnnnnos 5 2 11 Absolute Encoder Related Alarms Reset sss nnne nnns OD aT asset da A E PE tro seins dese E ue sarees antec Sets eer deine mare fts eeu oo paite efe uan MODBUS COMMUNICAUONM si ia li
13. ccccccccccecceessceceecceeuseeceececceasssececcseusaeeeeeeessegseseeessesssasenssseeesees 111 4 dou BES ell Sasi a e tetnesata bte a toas ccn temas iue fed cat heures i bia ec aiu bei 112 AAN Seno alam OU PU a A ad prp DD 112 4 11 2 Rotation Detection Output Signal TGON sess nennen nnn nnn nnns 113 4 MES SeN Ready 0 SRDV OURO UL dre nandi ret intere bo tact tata 113 4 11 4 Encoder O Pluse Output POOT iie oer comte uve Cen pe eee eer ee e eu Co inondations uec ae ed 113 4 11 5 Overdravel signal OUt pull O T usisee adducens A a et avena dab Une cuam 114 4 11 6 Servo Enabled Motor Excitation Output RD occcccccccncnncccoonnnncnccononononononononnnonnnonnnnonnnonononeneninonans 114 dio Torque Limit Deteccion Output OE erica dla 114 AO AO AAA PA de ea i dedic eid e tede adi a eine ee edes iss esi 116 Mu COMMAS ANOUN seeti T das 116 412 2 Online Autotuning Proc Uco dos 116 4 12 9 Seu ig ONNAN dad o 117 4 12 4 Machine Rigidity Setting for Online AUtOtUNINQ ccccccococconcnnccnccnonconnnnnononnnncononnnononcnncnnnnnnananennnnnnos 117 A TCR NE TO NI ENT M A E 118 Panel Operator c C M 118 AA ES Cee eee er ee O one Ne ENNIO NN eee ys 118 5d FURCHONS on Panel Opera lO remitida dardo id 118 DRZ Reselllig gt SOTA MS 118 MN MLreMuee EoeiM T TT
14. Servo Drive 24V Power supply Photocoupler output one T 24V Max applicable Voltage NES A DC30V is yi Max applicable current AcN CLT d DC50mA AA Output CLT Torque limit output Speed torque control position control zd s Indicates the A torque current of motor is limited Motor output torque under limit Not including this setting in Internal torque reference is higher than the default setting please setting value Output CLA l choose terminal output by No torque limit setting parameter Pn511 Internal torque reference is lower than setting value Please use the following user constants to define output signals and pins when using CLT signal Connector Pin Number CN1 11 CN1 12 Output signal of CN1 11 CN1 12 is CLT CN1 05 CN1 06 Output signal of CN1 5 CN1 6 is CLT CN1 09 CN1 10 Output signal of CN1 9 CN1 10 is CLT Para No Pn511 Pn511 0 3 1CN 11 1CN 12 CLT Torque limit Pn511 1 3 output 1CN 05 1CN 06 Pnd511 2 3 1CN 09 1CN 10 Output terminal Parameter Pn511 description as following oe COIN V CMP output mGONmmiondeecingouput 00 6 OT overravel signal output 000 8 HOME home completion output 00 115 4 12 Online Autotuning 4 12 1 Online Autotuning Online autotuning calculates the load moment of inertia during operation of the s
15. Applicable Servomotor Model Reguition Temperature 25125 0 1 or less at rated speed Regulation Reference 10VDC at rated torque Variable setting range t0 10VDC gt Voltage Max input voltage 12V Analo Input Torque About 10MO or above Reference Impedance Control Input Circuit Time 10us Constant Reference 10VDC at rated speed Variable setting range t0 10VDC Voltage Max input voltage 12V Analog Input About 10MQ or above Reference 10us Control Rotation Speed Direction With P CON signal Selection Selection Soft Function Start 0 10s Can be set individually for acceleration and deceleration Setting Speed Sign pulse train CCW CW pulse train 90 phase difference 2 phase phase A phase B Non insulated linde driver about 5V open collector Pulse x1 multiplier 4Mpps Reference x2 multiplier 2Mpps Frequency x4 multiplier 1Mpps Open collector 200Kpps Frequency will begin to decline when the duty ratio error occurs Position Control Position a 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 Sequence 7 eT mi Signal allocations and positive negative logic modifications E Function Servo ON S OND P control P CON alarm reset ALM RST position error cle
16. Limit switch CN1 Limit switch 16 17 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 63 2 Enabling Disabling the Overtravel Signal A parameter can be set to disable the overtravel signal If the parameter is set there is no need to wire the overtravel input signal Parameter Meaning 00000000 Inputs the forward rotation prohibited P OT signal from CN1 16 factory setting b 1 Disables the forward rotation prohibited P OT signal Allows constant forward rotation Pn000 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 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
17. gt speed control analog reference PCON OFF position control pulse train reference ON speed control analog reference 8 Position control pulse train reference Torque control analog reference PCON OFF position control pulse train reference ON torque control analog reference 9 Torque control analog reference 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 reference ON position control INHIBIT 164 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 OJOut 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 1 5EMG 2 Reserved S JEMB Pn006 0 Bus type selection O No bus 1 PROFIBUS DP VO V1 2 PROFIBUS DP V2 3 CANopen Pn006 1 Reserved Pn006 2 Low frequency vibr
18. 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 19 2 1 6 Cable Tension When connecting the cables the bending radius should not be too small do not bend or apply tension to cables Since the conductor of a signal cable is very thin 0 2 mm or 0 3 mm handle it with adequate care 2 1 7 Install to the Client When the servo motor is mounted to the clint please firmly secure the servo motor by the screws with backing ring as shown in the figure 2 2 Servo Drive ProNet series servo drive is a base mounted type Incorrect installation will cause problems Always observe the installation instructions described below 2 2 1 Storage When the servo drive is not used store it in the temperature between 25 and 55 C with the power cable disconnected 2 2 2 Installation Sites Notes on installation are shown below When installed in a control Design the control panel size unit layout and cooling method so tha
19. SIGN 32 ie plot Cow Ta au SIGN 33 Yk ea ear ce Modified s s oinciaence Y 9 TGON COIN Positioning Completion 6 TGON LEON ETUR poe 9 S RDY AO SEO heady Y 10 TSRDY SkBie elo n 3 x 11 V CMP EE OE a MR Output Over rave 12 V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output 24V Signal Allocations can be Modified 2 BOVEN Taa RE i 4 S ON 14 a S ON Servo ON T Hx P CON 15 coy E P CON Proportion Control TH TP Ps P OT 16 4 K P OT Forward Run Prohibited TK hibi 4 NOT 17 gt N OT Reverse Run Prohibited L JALM BST 139 B ck A ET E Alarm Reset L CIR 40 LC Ek AS Error Pulse L Per TAL REK P CL Forward Torque Limit N CL 42 REK N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V gt 7 ALM Shield y 8 ALM D Ed 10 Connect Shield to Connector Shell V OV ALM Servo Alarm Output Photocoupler Output al Represents Twisted pair Wires Maximum Operating Voltage DC30V Maximum Output Current DC50mA zT 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
20. value is applied in the forward or reverse direction Related Parameters Pn001 Use the T REF terminal to be used as an external torque limit input 2103 4 10 Control Mode Selection The methods and conditions for switching servo drive control modes are described below 4 10 1 Setting Parameters The following combinations of control modes can be selected according to the application of customers Parameter Control Method Speed control contact reference e Speed control analog voltage reference Speed control contact reference Position control pulse train reference mom Speed control contact reference lt gt Torque control analog voltage reference i Position control pulse train referencex Speed control analog voltage reference i Position control pulse train reference lt gt Torque control analog voltage reference 4 10 2 Switching the Control Mode 5 6 T 9 cy oc a Q w p 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 Signal Name Connector Pin Number Setting Meaning P CL CN1 41 factory setting OFF high level Switches control mode N CL CN1 42 factory setting OFF high level E 4 11 Other Output
21. 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 0 Sets CCW as forward direction 1 Sets CW as forward direction Pn001 1 Analog speed limit enabled 0 Sets the value of Pn406 as the speed limit value Pn001 0 n during torque control ras 1 Use the lower speed between V REF and Pn406 as T an external speed limit input Pn001 Binary After restart Pn001 2 Analog torque limit enabled Pn001 2 P S Pn001 3 P 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 used as 2nd electronic gear when Pn005 3 is set to 1 Pn002 0 Electronic gear switching mode Pn002 Binary After restart O Corresponding time sequence 161 Parameter M Setting Control Description SDN Function and Meaning No Validation Mode 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 gt 1ms 1 Corresponding time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse i i i j tl
22. 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 83 3 Setting a Reference Pulse Form Set the input form for the servo drive using parameter Pn004 2 according to the host controller specifications Reference Input Pulse Forward Rotation Reverse Rotation Parameter m Pulse Form Multiplier Reference Reverse Sign pulse train PULS PULS CN1 30 CN1 30 positive logic SIGN SIGN CN1 32 CN1 32 factory setting m T m CW CCW SIGN TEAM H 1 CN1 32 Pn004 positive logic CNI 32 Two phase pulse train with 90 phase differential PULS PULS CN1 30 CN1 30 SIGN SIGN CN1 32 CN1 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 Forward Rotation PULS CN1 30 SIGN CN1 32
23. STX communication start ASCII mode character siare RTU mode Sleep interval of at least 4 bytes transmission time automatically changed according to different communication speed ADR communication address Valid communication address 1 to 254 For example communicate with the servo drive which address is 32 20 in hex ASCII mode ADR 2 0 gt 2 32y 0 230u RTU mode ADR 20H CMD command reference and DATA data Data structure is determined by command code Regular command code is shown as follows Command code 03H read N words word N 20 For example read 2 words starting from 0200 y from the servo drive which address is 01 H ASCII mode Reference information Response information TX DR Data start address PS Data number count as word LRC checking NUS 188 Data number count as byte RTU mode Reference information Response information Content of data start CMD CMD A 02 y high bit Data number 00 p low bit Contesta senna data an on a address 0200 pty Bwebiy o Re ata gt Z Ceu aah count as word C5 y low bit B3 u high bit Reference code 06u write in one word For example write 100 0064 y into 014 servo address 0200 ASCII mode Reference information Response information Data start address Data content LRC checking 189
24. 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 H Note This pin outputs the COIN signal in position control mode and the V CMP signal in speed control mode 82 4 6 Operating Using Position Control Set the following parameters for position control using pulse trains Pn005 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 fa Differential Feed forward E He ue Offset A constant Pn500 Pn202 Positioning complete Pn004 2 Pn204 ERE Pn104 Servomotor Reference pulse x B t x2 e Smoothing A a Kp Speed loop Current loop M x4 Pn207_5 Ce PG signal output Pn200 dividing Encoder 4 6 1 Basic Setting in Position Control 1 Setting a reference pulse sign PULS CN1 30 Reference pulse input PULS CN1 31 Reference pulse input Input Ae SIGN CN 1 32 Reference sign input SIGN CN 1 33 Reference sign input 2 Setting reference input filter for open collector signal
25. The following parameters must be set for torque control operation with analog voltage reference Pear Maig Pn005 HEITE Control mode selection Torque control analog voltage reference Torque Reference Input Gain T1300 Setting Range Setting Unit Factory Setting Setting Validation 10 100 0 1V 100 Immediately This sets the analog voltage level for the torque reference T REF that is necessary to operate the servomotor at the rated torque MW 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 1012 4 7 2 Torque Reference Input By applying a torque reference determined by the analog voltage reference to the servo drive the servomotor torque can be controlled in proportion with the input voltage T REF CN1 26 Input Torque Reference Input T REF CN1 27 Used during torque control analog voltage reference Pn005 122 6 8 9 300 Reference torque dao The torque reference input gain is set in Pn400 For setting details refer to 4 7 1 Setting Parameters Mi input specifications i 0 3 4 8 12 DC 0 Input range DC 0 10V rated torque a Input voltage V 100 Factory setting Pn400 30 Rated torque at
26. 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 VEU 0 3000 1500 the limit switch Pn686 Moving speed move away from limit l 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 96 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 97 Changing steps will be performed till the end point completed and the next change will start f
27. 4 6 7 Helerence Pulse Inhibit FUNCTION INHIBI T ss 94 4 6 8 Position Control contact reference sse eene eene nnn en nennen nnns 95 4 6 9 Position Homing Gorntrol Horning FUNCION is ii cdr A A Exod cbe da nce ET 98 4 7 Op rating Using Torgu CONTO recon did gie Met tette gv etl tha 101 ASCO PatalrigleSusuididccnses aniedavedepsensanwansdawedataenpntntdedadusanceicbanscatanivebatwstenseandentiesaieaaasecaedsietavexicanesttes 101 42 OFGUG Reference INDUS ER m Tp 102 4 7 3 Adjusting ihe Relerence aa 103 4 7 4 Limiting Servomotor Speed During Torque ContrOl oooonccnnncccccccncccncccnnnnonnconnnnnnnnnnnnnnnnnnnnnnnonnnnncnannnnos 104 4 8 Operating Using Speed Control with an Internally Set Speed essssssseeeeeeeennee 105 2 9 1 ser ngdaramelefs usse nid o A EAR UE Ep ADDE 106 452 Input Signal SSI OS asses eben e tl e E 107 4 8 3 Operating Using an Internally Set Speed ooococccnccccccocccnconccononononnnononnoncnnnnnnnnnononnnnnnnnnnnonnnnnncnnnncnnnns 107 E o REM pM M MM cc II Id MEI e 108 4 9 1 Internat Torque LIM coda e ae re A px OIN UE 108 2 9 24 a LOrE A AI te cere eee IRA dete et 109 4 9 3 Torque Limiting Using an Analog Voltage Reference ooccccccconccccccnccoccnonnncncncnnncncnconnnnnncononnrncnnnnnnns 110 4 10 C ntrol Mode el A A A a a AE A AS 111 A 10 4 Setting Farante sia LL UT 111 4 10 2 Switching the Control MOdC
28. Manual adjustment ot speedrelrenceofeet Automatic adusimen of servomotorcurentdeecion Manual adjsiment of sevomoror curent dereoton Sofware version play OOS Poonma OoOo Sato nerta ett OO Absolute encoder mutum dala andalarnreset Absouie encoder related alarms reset Note Fn010 Fn011 only can be used when the servomotor mounted the absolute encoder 5 2 1 Alarm Traceback Data Display The alarm traceback display can display up to 10 previously occurred alarms The alarm is displayed on Fn000 which is stored in the alarm traceback data Follow the procedures below to confirm alarms which have been generated 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of alarm trace back data display E jeden 3 Press the ENTER key once the latest alarm data is displayed Alarm Sequence Number Alarm Code YO A E aca 4 Press the INC or DEC key to display other alarms occurred in recent Li i amp 9 i r Nj J 5 Press the ENTER key the display will return to Fn000 i 6 EA ER Note Hold the ENTER key for one second with alarm code displaying all the alarm traceback datas will be cleared i Pede 125 5 2 2 Parameter Settings Initialization Follow the procedures below to execute the parameter settings initialization 1 Press the MODE key to select the utility function
29. Offset adjustment range 1024 1024 Analog voltage input Offset setting unit 103 4 7 4 Limiting Servomotor Speed During Torque Control During torque control the servomotor is controlled to output the specified torque which means that the servomotor speed is not controlled Accordingly when an excessive reference torque is set for the mechanical load torque it will prevail over the mechanical load torque and the servomotor speed will greatly increase This function serves to limit the servomotor speed during torque control to protect the machine Without Speed Limit With Speed Limit A Danger of damage due to Servomotor speed Fi Safe operation with speed limit Servomotor speed excessive of machine speed Max speed Speed limit 1 Speed Limit Enable b LILIOL Use the value set in Pn406 as the speed limit Internal speed limit Pn001 Use the lower speed between V REF and Pn406 as an external speed limit input External speed limit 2 Speed Limit During Torque Control Speed Limit During Torque Control Setting Range Setting Unit Factory Setting Setting Validation 0 6000 1500 Immediately Set the servomotor speed limit value during torque control PnOO5S H L1111L1 Pn406 is motor speed limit value The servomotor s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the servomotor used 104 3 Ex
30. Pn002 3 Reserved Binary Pn003 0 Reserved Pn003 Pn003 1 Reserved O 1111 After restart Pn003 2 Low speed compensation Pn003 3 Overload enhancement Hex Pn004 0 Stop mode Pn004 Pn004 1 Error counter clear mode 0 0x3425 After restart Pn004 2 Reference pulse form Pn004 3 Inverses pulse 153 Parameter No Pn005 Pn006 Pn007 Pn100 Pn005 0 Torque feedforward mode Pn005 1 Control mode 0 Speed control analog reference 1 Position control pulse train 2 Torque control analog reference 3 Speedcontrol contact reference speed control zero reference 4 Speed control contact reference speed control analog reference 5 Speed control contact reference position control pulse train 6 Speed control contact reference torque control analog reference 7 Position control pulse train speed control analog reference 8 Position control pulse train torque control analog reference 9 Torque control analog reference speed control analog reference A Speed control analog reference zero clamp B Position control pulse train position control inhibit C Position control contact reference D Speed control parameter reference E Special control Pn005 2 Out of tolerance alarm selection Pn005 3 Servomotor model Hex Pn006 0 Bus mode Pn006 1 Reserved Pn006 2 Low frequency jitter suppersion switch
31. Servomotor terminals Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock 14 Encoder Connector for communication ol 10 do Used to communicate with other devices 1 O signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor E ProNet 08A 10A ProNet E 08A 10A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Control power supply terminals Used for control power supply input Regenerative resistor ars po connecting terminals Used to connect external regenerative resistors Servomotor terminals PL Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock La alas TE i tx UNI CN2
32. Un007 Un008 Un009 Un010 UnO11 Un012 Un013 Un014 Un015 Un016 Un017 Monitor Display Actual servomotor speed Unit rom Input speed reference Unit rom Input torque reference Unit with respect to rated torque Internal torque reference Unit with respect to rated torque Number of encoder rotation angle pulses Input signal monitor Encoder signal monitor Output signal monitor Frequency given by pulse Unit 1kHZ Number of servomotor rotation pulses Pulse rate of servomotor rotated x10 Error pulse counter lower 16 digit Error pulse counter higher 16 digit Number of pulses given Number of pulses given x10000 Load inertia percentage Servomotor overload ratio Servomotor winding temperature 423 Internal status bit display 76543210 pale eae a Only used in ProNet 7 5kW 22kW when equipped with resolver Contents of Bit Display S ON CN1 14 PCON CN1 15 Un005 Monitor Number Display LED Number o Heb 6 o Display LED Number 1 2 Un006 Not used Monitor Number Display LED Number Un007 124 5 2 Operation in Utility Function Mode In utility function mode the panel operator can be used to run and adjust the servo drive and servomotor The following table shows the parameters in the utility function mode Parameer Mo mean SSS arm acaba a SSCS Parameter setina miatzen SSS JOG made operaion SSCS Automatic adustnen of speed elerence os
33. from these high speed switching elements To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the servo drive as possible Always install a surge absorber in the relay solenoid and electromagnetic contactor coils The distance between a power line servomotor main circuit cable and a signal line must be at least 30 cm Do not put the power and signal lines in the same duct or bundle them together Do not share the power supply with an electric welder or electrical discharge machine When the servo drive is placed near a high frequency generator install a noise filter on the input side of the power supply line As for the wiring of noise filter refer to 1 Noise Filter shown below 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 T Servo Drive Noise filter 3 Servomotor AC 200V a OL1 gt AC 400V B OL2 gt ray OL3 LA mc m w 3 5mm min 1 LIC CN2 PG e yo SENE a 2mm min Operation relay sequence
34. 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 i Parameter Stop Mode i Meaning Stopping Stop by dynamic Rapidlly stops the servomotor by dynamic braking DB brake then places it into coast power OFF mode Stops the servomotor in the same way as when the 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 servo OFF stops the servomotor by plug braking when overtravel and then places it into coast power OFF mode Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when S OFF overtravel and then places it into coast power OFF Overtravel mode Stops the servomotor by dynamic braking DB when servo OFF stops the servomotor by plug braking when overtravel and then places it into zero clamp mode Zero Clamp Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode 64 After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings drive OEN PE Stop by dynamic brake Stops by using the dynamic brake with
35. 3 Reserved Hex After restart Pn840 0 Encoder model selection Pn840 Pn840 1 Reserved Pn840 2 Reserved Pn840 3 Reserved Note The setting range and factory setting of Pn401 to Pn405 are depending on the actual overload capacity 159 A 2 Description of Parameter Type Position control related parameters Speed control related parameters Torque control related parameters Pn400 Pn406 Torque limit etc Parameters to control I O port Pn500 Pn520 Allocation of I O port function Point to point control and homing control Pn600 Pn686 Internal point to point control and homing control related related parameters parameters Communication parameters Pn700 Pn701 Setting of communication parameters 160 A 3 Parameters in detail Parameter Setting Control Description Function and Meaning 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 CP 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 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
36. A 51 bd insufficient detected D 2 The power supply to servo drive is not turned ON when the battery voltage is normal or the servomotor running acceleration is too high due to external reason Absolute state of serial encoder Encoder or the encoder decoding circuit is faulty error X Serial encoder calcaution error Encoder or the encoder decoding circuit is faulty AR control domain error is faulty checking error is faulty End bit in serial encoder control Encoder signal is disturbed or the encoder decoding circuit domain error is faulty ex Serial encoder data empty The EEPROM data of serial encoder is empty RII Serial encoder data format error The EEPROM data format of serial encoder is incorrect Communication module not Communication module plugged detected communication module is scatman E epe Communication unsuccessful CPU of communication module CPU of communication module operated abnormally abnormally Servo drive can not receive the l l mE Heceive channel of servo drive data or send channel of period data of communication MN l communication module is faulty module Communication module can not A 63 pA receive the servo drive response Communication module is faulty data 3379 Alarm Alarm I Alarm Name Display Output Communication module and bus Bus communication is faulty connectionless CAN communication is faulty because of abnormal CAN communication abnormal es l l communication conne
37. Brakes Holding brake operation of the servomotor with brake can be controlled with the brake interlock output BK signal of the servo drive When checking the brake operation take advance measures to prevent vibration due to gravity acting on the machine or external forces Check the servomotor operation and holding brake operation with the servomotor separated from the machine If both operations are correct connect the servomotor 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 Analog speed reference Host Servodrive M Controller a Trial operation for nesition contrer Speed control servomotor without load Reference from the Host Check Item Check Method Review Items Controller JOG Operation Servomotor speed Check servomotor speed as Check the parameter setting at Constan speed reference follows Pn300 to see if reference input from host controller Use the servomotor speed speed gain is correct monitor Un000 on the panel operator Run the servomotor at low speed For example input a reference speed of 60rpm and ch
38. China Made in China E A P dL Extended module type D DP100 E EC100 P PL100 Encoder Interface A 17 bit serial encoder Absolute Encoder B Resolver DResolver with the feature of high reliability and long service life is suitable for harsh environment and wide temperature or humidity range conditions The factory setting for resolver precision used in ESTUN servo drive is 4096 ProNet OOOEO Support AE100 model ProNet O00M0O does not support extended module B ProNet E Servo drive Model Designation PRONET E 10 A ProNet E Model mu dL Voltage A 200VAC D 400VAC Rated Output 02 04 08 10 15 20 30 50 Note D ProNet E is only equipped with wire saving incremental encoder 2500 P R ProNet E does not support extended module B ProNet Servo Drive Appearance ProNet 02A 04A ProNet 08A 10A 0 2kW 0 4 kW 0 75 kW 1 0 kW 1 5 kW 2 0 kW 3 0 kW 5 0 kW ProNet 15A 20A ProNet 10D 15D 20D
39. Filter Power OFF Power ON 1KM SS UII 1KM 1Ry 1 Sy P a Be sure to connect a surge suppressor to the 4 excitation coil of the magnetic contactor and relay Magnetic Contactor 2 pL Pro N et Servomotor A t 12 Series Servodrives Uo j B 2 09 61 Wo D 4 gt 2 Te CN2 Option O2N i 24VDC Power Supply l Lars ncrementa Ire saving A OGND Encoder 2500P R Serial Encoder Encoder zu zd ae ES a 7 x B1 B1 Hd z Resol ver 5 7 SIN NT B E Pi B2 B2 y 8 SN ut An s External Regenerator Resisotr ho EE Cr 17 COS og B3 LBS st 18 COS 9 PGSV DE E DE o p E zs PGBV 9 Ri 19 PGOV 0 fren POV E e Shell Shield Y 5 E Shell Shield Bi Be sure to ground CN3 1 N C Be sure to prepare the end of the 2 N C shielded wire properly 3 485 CN1 4 SO GND 5 SO GND Use special communication cable to connect acte 6 485 PC Personal Computer d MERE 7 CANH Speed Reference 0 10V Rated Speed es VREF 2 4 ta wp 8 CANL Note Do not short terminal 1 and 2 of CN3 TREF 26 da Shell Shield Torque Reference 0 10V Rated Torque d TREF 27 4 i CN4 1 N C l 2 NC n collector Reference Use PPI 2d 2kn s re fey PULSE Sore 5 SO GND Position Reference PUES CW A 3 PULS 31 yc 6 485 I x 7 CANH P oue SIGN 32 LS 8 CANL SIGN CCW B Y SIGN 33 Shell Shield l 1 Signal allocatons can be modified Y DICOM 13 gt 120 TPO gt S ON Servo ON H
40. L 112 Mounting Pitch 4 Ground Terminal Air FlOW 2 4 Screw 125 125 24 75 204 5 gt al EBEBEBEHEB HSEBEBSBSEHEHBHEHEHBEHGHHEH SS 6388 Bo BSS Gs GS GS Ss 6S GS o EBEHENSEHEHEBEHEHBHEHEH EHEHEBEHEHEBEHEHEHEHEH CONV a Cooling Fan Note ProNet E does not support extended module 151 B ProNet 1AD 1ED 2BD Unit mm p Flow p Flow la le Do L26 2 Y d i Tb hir Hos LU 18 75 200 M ae a 268 Tem a ro 0 3 152 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 O 1111 After restart Pn001 2 Analog torque limit enabled Pn001 3 2nd electronic gear enabled Binary Pn002 0 Electronic gear switching mode Pn002 Pn002 1 Reserved 0 0111 0010 After restart Pn002 2 Absolute encoder selection
41. No Speed reference input 10V Torque referenceinput 10V DGND DGND DGND DGND E seme Running signal output Reference pulse input Servo alarm Reference sign input Open collector reference S RDY Servo ready power supply NEIN Posting completion completion hue LE I O signal power supply 24V bss ee ha Je I EI A D eR renenemrpis cerea Por Fowasnnpebed 1 PCL Forward tora minon or Reverse run prontos 2 noL T Reverse torque mit input meea o sees Femwa u eea pulse output PG 46 DGND DGND dividing pulse output output 48 DGND DGND ero poin pulse output l Biss pulse 50 DGND DGND Note The functions allocated to the following input and output signals can be changed by using the parameters Input signals S ON P CON P OT N OT ALM RST CLR PCL NCL SHOM ORG Output signals TGON S RDY COIN HOME Please refer to A 3 Parameters in details for detailed information 90 3 2 4 Interface Circuit This section shows examples of servo drive I O signal connection to the host controller Winterface for Analog Reference Input Circuit Analog signals are either speed or torque reference signals at about 40kOimpedance and the maximum allowable voltages for input signals is 10V Reference speed input Reference torque input Servodrive Servodrive 4702 1 2W min 470 9 1 2W min
42. Signals 4 11 1 Servo alarm output The following diagram shows the right way to connect Alarm Output Servo drive SER I O Power supply 24V QV Optocoupler output lC MR ALM Each output node Pp O Max output voltage 30V y ESL E ALM Max output current 50mA D 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 servo drive 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 A 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 M e MS 1CN 39 H level Do not reset servo alarm Normally the external circuit can switch off power supply of servo drive when alarm occurs When servo drive is re switched on it removes alarm automatically so normally alarm reset signal is not required to be connected In addition alarm re
43. absolute encoder in the following cases When starting the machine for the first time set Pn002 2 to O When an encoder error alarm A 45 A 48 A 51 is generated Use the panel operator in the servo drive for setup Note 1 Encoder setup operation is only possible when the servo is OFF 2 If the absolute encoder alarms A 45 A 48 A 51 are displayed cancel the alarm by using the same method as the setup They cannot be canceled with the servo drive alarm reset input signal ALM RST 3 Any other alarms that monitor the inside of the encoder should be canceled by turning OFF the power eq 4 5 Operating Using Speed Control with Analog Reference 4 5 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 Setting Range Setting Unit Factory Setting Setting Validation Sets the analog voltage level for the speed reference V REF necessary to operate the servomotor at the rated speed E EXAMPLE Pn300 150 1V input is equivalent to the servomotor speed of 150rpm factory setting Reference speed min Set this slope Reference voltage CV 25 4 5 2 Setting Input Signals 1 Speed Reference Input Input the speed reference to the servo drive using the analog voltage reference to control the servomotor speed in proportion to the input voltage V Ref CN1 1 Speed
44. an external regenerative resistor between omms B2 1AD 2BD B1 and B2 Terminal Symbol CAB reactor for 024 508 50A O2AGDA 50A Normally short 1and G2 harmonic If a countermeasure against power supply harmonic suppression 10D 75D 10D 50D waves is needed connect a DC reactor between Y terminal land 92 Main circuit e 02A 50A 02A 50A Normally not connected minus terminal 10D 75D 10D 50D 3 1 2 Typical Main Circuit Wiring Examples B Single phase 200V ProNet 02A 04A Single phase 200V ProNet E 02A 04A L1 L2 Single phase 200 230V 3 50 60Hz Molded case Circuit Breaker EE C C Surge Protect iba d idc 4 1Ry 1PL Servo Alarm Display amp Noise Filter Power OFF Power ON 1KM a p 1KM 1Ry Sub Be sure to connect a surge suppressor to the 4 excitation coil of the magnetic contactor and relay Magnetic Contactor vitm oL1 A 1 Servodrive r da ProNet Uo v Series Servodrive V NE C 3 dol Wo D 4 062 Go o9 SLIC jL2C Encoder as Go External regenerator resistor oB1 B2 oB3 Ry 24V 7 ALM Yt 8 ALM 0 1D E a Ground Terminal oV Note 1 The L1 L2 L3 and L1C L2C terminals wiring meth
45. gt CN1_42 CO N OO A C N O It is used to set input port filter time The signal will be lagged if the parameter setting is too high 0 1 Inverse signal Do not inverse signal Pn516 0 gt CN1_14 inversion Pn516 1 gt CN1_15 inversion Parameter n Setting Control Description ON Function and Meaning No Validation Mode Pn516 2 gt CN1_16 inversion l Pn516 3 gt CN1_17 inversion Input port signal l l l Pn517 0 gt CN1_39 inversion Pn517 inversion Immediately PS Pn517 1 gt CN1_40 inversion Pn517 2 gt CN1_41 inversion Pn517 3 gt CN1_42 inversion If connect externally regenerative resistor 0 connect externally regenerative resistor between B1 and B2 Pn521 Binary Immediately P S T 1 dose not connect externally regenerative resistor relay on internal capacitance This parameter is in effect only on ProNet 02 04 ProNet E 02 04 Overload alarm When load percentage larger than overload alarm l threshold A04 will occur soon Pn525 threshold Immediately Pn525 is recommended to set below 120 otherwise the servo drive and motor will be damaged Temperature threshold of motor When servomotor winding temperature exceeds Pn526 setting A19 will occur Only enabled inO ProNet 75 1A 1E 2B Pn526 overheat alarm Immediately Only enabled in ProNet 75 1 A 1E 2B JPOSO Position pulse in point to point The two parameters are used in combination and the Pn600 Immediately algebraic sum of them i
46. higher than the maximum torque of the servomotor as is the case with the 300 factory setting With No Internal Torque Limit ith I IT Limi Maximum torque can be output A A OAE t Speed Speed A Limiting torque Maximum torque H Note Too small a torque limit setting will result in insufficient torque during acceleration and deceleration 108 4 9 2 External Torque Limit This function allows the torque to be limited at specific times during machine operation for example during press stops and hold operations for robot workpieces An input signal is used to enable the torque limits previously set in parameters 1 Related Parameters Forward External Torque Limit xi Setting Range Reverse External Torque Limit Pn404 Setting Range Setting Unit Factory Setting Setting Validation Note The setting unit is a percentage of rated torque i e the rated torque is 100 2 Input Signals Signal Connector Pin Dt Type Limit Value Name Number CN1 41 ON low level Forward external torque limit Pn403 Input P CL l E factory setting OFF high level Forward internal torque limit Pn401 CN1 42 ON low level Reverse external torque limit Pn404 Input N CL l l factory setting OFF high level Reverse internal torque limit Pn402 When using this function make sure that there are no other signals allocated to the same terminals as P CL and N CL 3 Chang
47. host controller or external circuit has the offset in the reference voltage Reference Voltage 1 Oftset Speed Reference Automatic offset adjustment Reference Voltage Offset automatically adjusted in servodrive Speed Reference After completion of the automatic adjustment the amount of offset is stored in the servo drive The amount of offset can be checked in the speed reference offset manual adjustment mode Fn004 Refer to 4 5 3 2 Manual Adjustment of the Speed Reference Offset 1 Automatic Adjustment of the Speed Reference Offset The automatic adjustment of reference offset Fn003 cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the speed reference offset manual adjustment Fn004 described in the next section for a position loop The zero clamp speed control function can be used to force the servomotor to stop while the zero speed reference is given Refer to 4 5 7 Using the Zero Clamp Function Note The speed reference offset must be automatically adjusted with the servo OFF Adjust the speed reference offset automatically in the following procedure 1 Turn OFF the servo drive and input the OV reference voltage from the host controller or external circuit Servodrive Servomotor 0V Speed Host Reference Controller Servo OEE Slow ro
48. ll important The servomotor will turn OFF immediately when an alarm occurs regardless of the setting of this parameter The machine movable part may shift due to gravity or external force during the time until the brake operates 68 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 Speed Position Torque Pn507 re Setting Range Factory Setting Setting Validation 10 100 Immediately Pn508 TORT Setting Range Factory Setting Setting Validation 10 100 Immediately BK Signal Output Conditions When Servomotor Running The BK signal goes to high level brake ON when either of the following conditions is satisfied When the servomotor speed falls below the level set in Pn507 after servo OFF When the time set in Pn508 is exceeded after servo OFF Servo OFF S ON input Servo ON or alarm or power OFF Servomotor stopped by applying DB or coasting Pn004 0 Servomotor Speed Pn507 n M BK Output Brake released Brake held 4 3 5 Instantaneous Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage to the servo drive main circuit is instantaneously interrupte
49. mode 2 Press the INC or DEC key to select the function number of parameter settings initialization Eel d 3 Press the ENTER key to enter into parameter settings mode Lue deve 4 Hold the ENTER key for one second the parameters will be initialized NN 7 7 _ fete 1 py NN 5 Release the ENTER key to ruturn to the utility function mode display Fn001 Polenta Note Press the ENTER key during servo ON does not initialize the parameter settings Initialize the parameter settings with the servo OFF 126 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 E PES 3 Press the ENTER key to enter into JOG operation mode a 4 Press the MODE key to enter into servo ON servomotor power ON status ee 5 Press the MODE key to switch between the servo ON and servo OFF status The servo drive must be in servo ON status when the servomotor is running 6 Press the INC or DEC key to rotate the servomotor dG i AA A Tl D L 7L x x b E gt k A u i Forward rotation 1 A i Reverse rotation 7 Press the ENTER key to return to utility function mode display Fn002 Now the servo is OFF servomotor power OFF Fal xd Bond 127 5 2 4 Automatic Adjustment of the Speed Reference Offset When using the
50. mode 2 Press the INC or DEC key to select the utility function number Fn006 i aa 3 Press the ENTER key to enter into the manual adjustment of the servomotor current detection signal mode ME Jen 4 Press the MODE key to switch between the phase U o _ CuA and phase V 1 Cub servomotor current detection offset adjustment zi lr bud ES 5 Hold the ENTER key for one second to display the phase V offset amount Fai be een A 6 Press the INC or DEC key to adjust the offset IO E lt gt fein 7 Press the ENTER key for one second to return to the display in step 3 or 4 8 Press the ENTER key to return to the utility function mode display FnOO6 ball BE Thus the manual offset adjustment of the servomotor current detection signal is completed m 2a aa eal Note The adjusting range of the servomotor current detection offset is 1024 to 1024 431s 5 2 7 Software Version Display Set the Fn007 to select the software version check mode to check the servo drive 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 Finden d 3 Press the ENTER key to display the DSP software version the highest bit displays d or E or F or 0 ict enu 4 Press the MODE key to display the FGPA CPLD software version the highest bit displays P E ld dades 5 Press the MODE key to return to DSP software version displ
51. reference below the Pn502 setting is detected Speed Reference V REF Host Controller Zero Clamp P CON Stops precisely 276 2 Parameter Setting Pn005 Control mode Speed control analog voltage reference lt gt Zero Clamp Zero Clamp Conditions Zero clamp is performed with Pn005 H 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 l i Pn502 Speed reference V REF 1 clamping Fn Open OFF iClosed ON Zero clamp EON P CON input Zero clamp is performed O OFF OFF x ON ON Zero clamp speed Pn502 f Setting Range ELA Factory Setting Setting Validation Sets the servomotor speed at which the zero enr is performed if zero clamp speed control Pn005 H is selected Even if this value is set higher than the maximum speed of the servomotor the maximum speed will be used 3 Input Signal Setting Zero clamp function N low level ON enabled Input P CON CN1 15 Zero clamp function OFF high level OFF disabled P CON is the input signal to switch to the zero clamp function 80 4 5 8 Encoder Signal Output Encoder feedback pulses processed inside the servo dr
52. 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 25 C and 60 C with the power cable disconnected 2 1 2 Installation Sites The servomotor is designed for indoor use Install the servomotor in an environment which meets the following conditions Free from corrosive and explosive gases Well ventilated and free from dust and moisture Ambient temperature fromO to 40 C Relative humidity from 2696 to 80 non condensing Facilitates inspection and cleaning 18 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 sal NUN dee poe m Measure this distance at four different positions in the circumference The difference between the maximum and minimum measurements must be 0 03mm or less Turn together with couplings Note If the alignment accurancy is incorrect vibration will occur resulting in damage to the bearings Mechanical shock to the shaft end is forbidden otherwise it may result in damage to the encoder of the servomotor
53. short circuiting by a circuit of servo drive y C Coast to a stop Stops naturally with no brake by using the friction resistance of the servomotor in operation Plug braking Stops by using plug braking limit torque A Zero Clamp Mode A mode forms a position loop by using the position reference zero Dynamic brake is an emergency stop function and one of the general methods to cause a servomotor sudden stop Dynamic brake suddenly stops a servomotor by shorting its electrical circuit 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 servo drive s internal elements Use the speed input reference and position reference to control the starting and the stopping of the servomotor 4 Setting the Stop Torque for Overtravel Plug braking torque limit Setting Range Setting Unit Factory Setting Setting Validation This sets the stop torque for when the overtravel signal P OT N OT is input The setting unit is a percentage of the rated torque the rated torque is 100 he 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 65 4 3 4 Setting for Holding Brakes The holding brake is used when
54. speed torque analog reference control the servomotor may rotate slowly even if OV is specified as the analog voltage reference This happens if the host controller or external circuit has a slight offset in the unit of mV in the reference voltage The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage lt can adjust both speed and torque reference offset The servo drive automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage Reference Voltage T Offset Speed Refergnce Automatic offset adjustment Reference Voltage Offset automatically adjusted in servodrive Speed Reference After completion of the automatic adjustment the amount of offset is stored in the servo drive The amount of offset can be checked in the speed reference offset manual adjustment mode Fn004 Refer to 4 5 3 2 Manual Adjustment of the Speed Reference Offset The automatic adjustment of reference offset Fn003 cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the speed reference offset manual adjustment for a position loop The zero clamp speed control function can be used to force the servomotor to stop while the zero speed reference is given Note The speed reference offset
55. switching Pn116 Y 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 Torque switching Pn117 After restart threshold 167 Parameter P Setting Description No Validation Offset counter Control l Function and Meaning Mode Threshold of error counter to switch PI control to P Pn118 Immediately control switching threshold Unit pulse Setting acceleration Threshold of acceleration speed to switch PI control to Pn119 speed switching threshold Unit 10rpm s Setting speed l Threshold of speed to switch PI control to P control Pn120 E Immediately P S switching threshold Unit rpm 0 Fix to 1st group gain Immediately P S P control 1 External switch gain switching G SEL Gain switching 2 Torque percentage Pn121 Pn122 Switching delay time Immediately Pn123 Switch threshold level Immediately IET Position gain Pn125 AI Immediately switching time Pn126 Hysteresis switching Immediately 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 Bd Delay time of switching gain when switching condition is satisfied P S Gain switching trigger level This parameter is used to smooth transition if the change of the two groups of gain is too large EE This paramet
56. the servo drive controls a vertical axis A servomotor with brake prevents the movable part from shifting due to gravity when the servo drive 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 External force E Prevents the servomotor from shifting due to gravity when the power is x 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 servo drive sequence output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servodrive Servomotor with brake Power supply m R gt e pe gt Ll U S A
57. the servomotor shaft to the load shaft by using a coupling B Purpose The servomotor is operated without connecting the shaft to the machine in order to confirm the following wiring is correct Power supply circuit wiring Servomotor wiring Encoder wiring Rotation direction and speed of servomotor Please refer to step 1 4 B Purpose The servomotor is operated without connecting the shaft to the machine in order to confirm the following wiring is correct O signal wiring with host controller Rotation direction speed and number of rotations of servomotor Check the operation of the brake overtravel and other protective functions Please refer to step 5 8 MW Purpose Perform the trial operation with the servomotor connected to the machine The servo drive is adjusted to match the machine characteristics Servomotor speed and machine travel distance Set the necessary parameters Please refer to step 9 11 50 Step Item Description Reference Install the servomotor and servo drive according to the installation conditions Do not connect the servomotor to the machine because the servomotor will be operated first under the no load condition for checking Installation Turn the power ON Check input signals Input the Servo ON signal Protective operation Set necessary parameters Operation for Servomotor Without Load disconnect the CN1 connector Tur
58. to 4 3 4 Setting for Holding Brakes Set the necessary parameters for control mode used Refer to 4 5 Operating Using Speed Control with Analog Reference 4 6 Operating Using Position Control and 4 7 Operating Using Torque Control for control mode used Check that the servo drive is servo OFF status and Refer to 4 3 Setting Common Basic Functions then turn ON the power to the machine host For the following steps take 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 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 BN 3 7 nimii 35755 NN used set in step 2 again machine operating specifications Adjust the servo gain and improve the servomotor The servomotor will not be broken in completely during response characteristics if necessary the trial operation Therefore let the system run for a sufficient amount of additional time to ensure that it is properly broken in Thus the trial operation with the servomotor connected to the machine is completed 58 4 1 4 Trial Operation for Servomotor with
59. to control the speed as set in advance in the servo drive Three operating speeds can be set in the servo drive In this case an analog reference is not necessary 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 Torque Control Analog voltage reference Controls the servomotor s output torque with analog voltage torque ice reference Use to output the required amount of torque for operations such as pressing 60 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 Number Servomotor power ON Servomotor can be operated Input S ON CN1 14 l l Servomotor power OFF Servomotor cannot be Factory setting OFF high level operated Always input the servo ON signal before inputting the input reference to start or stop the servomotor mimportant 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 I O Signal Names and Functions 2 Enabling Disabling the Servo ON Signal A parameter can be always used to set
60. 01 and Un000 are equal for multiple speed references Refer to the following equation to change the speed reference input gain Pn300 Un001 V REF Voltage V xPn300 7 To change the servomotor rotation direction without changing 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 Check the speed reference input gain and servomotor rotation direction When the speed reference input is set to O V and servo OFF status enters trial operation for servomotor without load is completed 55 NW When Position Control is configured at the Host Analog speed reference gt Host Servodrive Controller oe Trial operation for POPOWE ONIGI Speed control servomotor without load When the servo drive conducts speed control and position control is conducted at the host controller perform the operation below following the operation in Operation Procedure in Speed Control Mode Pn005 H 00100 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 5 3 Adjusting Reference Turn the servo ON input signal S ON ON Offset and use the reference voltage offset t
61. 1st order filter time of JPOS15 point to point control Pn663 Immediately point 1st order filter can stop or start the servomotor mildly JPOSO point to point oint to point control stop time Pn664 E Immediately P P P control stop time ities r 50ms Other Other point to point control stop time to point control stop time JPOS15 point to JPOS15 point to point control stop time Pn679 point control stop Immediately Unit 50ms time A AAA 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 point 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 Pn681 medial 1 PCON change step no need of start signal PCON delay to start after S ON but inside pulse can not stop when PCON off 2 Delay to change step need start signal canceling 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 P
62. 24 1RY L2C CN1 ALM me Y mi D H H gt Servo Motor ye Servo Drive L3 L1C L2C CN1 ALM gt icy ALM i 3 Servo Motor L1 i L2 Servo Drive L3 L1C L2C CN1 ALM ALM i JEY VOV Servo Motor Notes 1 Power supply phase S should connect to ground terminals 2 he example above shows three phase 200VAC servo drive connection 49 4 1 Trial Operation Chapter 4 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 rU m To power supply Secure the servomotor flange to the machine but do not connect the motor T shaft to the load shaft E To power supply To host controller machine but do not connect the Secure the servomotor flange to the servomotor shaft to the load shaft To host controller Secure the servomotor flange to the machine and connect
63. 2V 5V Open collector output a Connection Example for Line driver Output Applicable line driver SN75174 manufactured by TI or MC3487 or the equivalent Host controller Servodrive Line driver CNI 150Q Photocoupler _ PULS 130 Z PUES J 31 VEL SIGN 132 1500 SIGN gt 33 ER x us Represents twisted pair wires 85 b Connection Example for Open Collector Gate Output B NPN OC GATE OUTPUT Host controller Servodrive VDC GND B PNP OC GATE OUTPUT eee eee eee Host controller A a PULS PULS EL U VDC _ CA san l x i SIGN s mm T E M m NOTE VDCz12 24V Rz VDC 1 5Volt 10mA 150 VDC 12V R 1KQ 0 25W VDC 24V R 2K0 0 25W NOTE VDC 12 24V R VDC 1 5Volt 10mA 150 VDC 12V R 1KQ 0 25W VDCz24V R 2KQ 0 25W 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 86 4 6 2 Setting the Clear Sign
64. 3V 200 Set the slope with Pn400 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 Servodrive W Input circuit example Use twisted pair wires as a countermeasure against noise NW 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 102 4 7 3 Adjusting the Reference Offset 1 Automatic Adjustment of the Torque Reference Offset When using torque control the servomotor may rotate slowly even when OV is specified as the analog reference voltage This occurs when the host controller or external circuit has a slight offset measured in mv in the reference voltage In this case the reference offset can be adjusted automatically and manually using the panel operator The automatic adjustment of analog speed torque reference offset Fn003 automatically measures the offset and adjusts the reference voltage The servo drive performs the following automatic adjustment when the host controller or external circuit has an offset in the refer
65. 5 min before servicing May cause electric shack ib m gnuNPEBHAH Bes CAU TION Do notlauch healsn k May cause bum Lise proper grounding techniques E ProNet E Servo Drive Nameplate ES TUN SERVODRIVE Sewodivemods M MODEL PROMNET E504 Applicable power gt AC OLUTFUT 4 Applicable servomotor supply IPH 200 2304 5060 Hz 3PH 0 40 0 300Hz capagity 23 04 50k Serial number 3 gt S N S600001J001 UB E i N ND CE Earun Auremeatian Tachnelegm Co Lid Made an chino POET ERR DIFF RATA A seria Y Doi l BER f Em dif WARNING Osor za all powa ane sean run ne re servicing Mas car ee alacri s ark fh AAA t BE CAUTION Do rcc teuch heatsink Key cause bera HARE Ls pra e gra al a zzhniques 2453 1 2 Part Names 1 2 1 Servomotor Servomotor without gear and brake Output shaft 1 2 2 Servo drive ProNet 02A 04A ProNet E 02A 04A Charge indicator Lights when the main circuit power supply is Vh M v ms NUR AS E at A NA ee LS 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
66. 6 OTovenrawelsignatomper s HOME home completion ouput 0 Related parameter P t Settin Range Pn505 Servo ON waiting time ON Servo ON waiting time time 2000 2000 2000 F ee Basic waiting flow 0 500 Mq Pn507 Brake waiting speed 10 100 Pn508 Brake waiting time 10 100 67 4 Setting the Brake ON OFF Timing after the Servomotor Stops With the factory setting the BK signal is output at the same time as the servo is turned OFF The servo OFF timing can be changed with a parameter Servo ON waiting time Pn505 Setting Range Setting unit Factory Setting Setting Validation Basic waiting flow Pn506 f f ee Setting Range Setting Unit Factory Setting Setting Validation 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 shift can be eliminated For details on brake operation while the servomotor is operating refer to 5 Setting the Brake ON OFF Timing When Servomotor Running in this section S ON CN1 14 Servo ON Servo OFF Servo ON Brake released Brake released Using brakes brake Power to No power to Power to BK Output Power to Servomotor servomotor servomotor servomotor gt gt Pn506 Pn505
67. 7 o Immediately ee ee deu o dh o SO 9 Pn663 Point to point 1st order fiter Otms 0 732767 0 Immediately Preso Reser ooo Hex Pn681 0 Single cyclic start reference point selection Pn681 0 0x0133 0x0000 Immediately Pn681 1 Change step and start mode Pn681 2 Change step input signal mode Pn681 3 Reserved 158 Parameter O Pn683 Programme start step Pn684 Programme stop step Search travel speed in position Range Setting Invalidation 045 o Immediately Immediately 0 3000 1500 Immediately control contact reference Pn685 Speed of finding reference point Hitting the Origin signal ORG in position homing control Leave travel switch speed in position control contact reference Pn686 Speed of finding reference point Leaving 0 Immediately the origin signal ORG in position homing control rom rom 0 200 Pn687 Position teaching pulse 10000P 9999 9999 Immediately Pn688 Position teaching pulse 1P 9999 9999 0 011 Immediately Pn689 Homing Mode Setting After restart Pn690 Number of error pulses during homing 10000pulse 0 9999 0 Immediately Pn691 Number of error pulses during homing 1pulse 0 9999 Immediately 0 0x0182 0x0151 1 247 0x0005 0x0004 After restart 1 127 After restart 0x0003 After restart 0x0B06 Hex Pn700 0 MODBUS communication baud rate Pn700 Pn700 1 MODBUS protocol selection After restart Pn700 2 Communication protocol selection Pn700
68. 7 Ground plate Ground plate wv AAAA vvY Separate these circuits Separate the noise filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together X O Las Lo A 4 Filter a Filter c pp gt d 177 4 77 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 45 x Q Ji Noise gt Ji Noise j gt L Filter Filter gt servodrive servodrive servodrive servodrive gt 9 10 NA P d stu 5 Shielded ground wire 4 ground plate ground plate If a noise filter is located inside a control panel connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel first then ground these wires worse Filter Servodrive _ Ground plate 3 7 Installation Conditions of EMC Directives To adapt a combination of a servomotor and a servodrive to EMC Directives EN61326 1 2006 the following conditions must be satisfied 1 EMC Installation Conditions This sectio
69. 8 3 Operating Using an Internally Set Speed Use ON OFF combinations of the following input signals to operate with the internally set speeds When Pn005 1 3 Selects the internally set speed contact reference lt gt Speed control zero reference Note OFF High level ON Low level E Control Mode Switching When Pn005 1 2 4 5 6 and either P CL or N CL is OFF high level the control mode will switch Example When Pn005 1 5 Speed control contact reference gt Position control pulse train Speed P CON P CL N CL OFF H OFF H Pulse train reference input position control 107 4 9 Limiting Torque The servo drive provides the following three methods for limiting output torque to protect the machine NO Limiting Method Reference Section 1 Internal torque limit 4 9 1 External torque limit 4 9 2 Torque limiting by analog voltage reference 4 9 3 4 9 1 Internal Torque Limit Maximum torque is always limited to the values set in the following parameters F T Limi iti orward Torque Limit Speed Position Torque Setting Range Setting Unit Factory Seeting Setting Validation 0 300 300 Immediately Reverse Tor Limi iti everse lorque Limit Speed Position PRADA Setting Range SettingUnit Factory Seeting Setting Validation 0 300 300 Immediately The setting unit is a percentage of rated torque The maximum torque of the servomotor is used even though the torque limit is set
70. 86 Return to find C pulse Orpm gt SHOM Rising edge Homing offset distance lt Preso 10000 Pne9t Encoder C pulse I gt Begin to counter offset distance after the first C pulse is produced when leaving zero posiion 99 Corresponding position Mechanical shaft Machine moves return to search Motor slow down reverse Begin to counter offset distande after the first C pulse is produced when leaving zero posiion i l I l I Encoder C puls I A A NS E ORG a Rising edge A fasws o Oooo After hitting the origin signal ORG the motor will find C pulse directly the figure is shown as below Speed 4 Pn 685 rpm Pn 686 Find C pulse without Orpm p eturning Homing offset distance Pn 690 x 10000 Pn 691 Rising edge SHOM ORG Encoder C pulse I I i Begin to counter offset distance after the first C pulse is produced when leaving zero posiion Corresponding position Mechanical shaft l Machine moves return to search pulse C i Begin to counter offset distance after the first C pulse is produced when Motorsia down REM leaving zero posiion l Encoder C pulse l l ORG Rising edge SHOM LM 100 4 7 Operating Using Torque Control 4 7 1 Setting Parameters
71. BUS ASCII 2 7 O 1 MODBUS ASCII 3 8 N 2 MODBUS ASCID Pn700 Hex After restart ALL 4 8 E 1 MODBUS ASCII 5 8 O 1 MODBUS ASCII 6 8 N 2 MODBUS RTU 8 E 1 MODBUS RTU 8 8 O 1 MODBUS RTU gt 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 ma communication 135 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 RTU Mode Every 8 bit data is consisted by two 4 bit hexadecimal data that is to say a normal hexadecimal data For example decimal data 100 can be expressed as 644 by 1 byte RTU data Data Structure 10 bit character form 7 bit data Pn700 1 0 7 N 2 Modbus ASCII 7 data bits P 4 10 bits character frame P Pn700 1 1 7 E 1 Modbus ASCI
72. C hell ae Y l FG onnect she BY e x e shielded wires J Connector shell Shell Le at Represents multi core twisted pair shielded wires mee eae 3 3 2 Encoder Connector CN2 Terminal Layout B Wire saving Incremental Encoder 2500P R Tema Name Function Temmame wame Function B 17 Bit Incremental Absolute Encoder Terminal No Terminal No No PG serial signal input BAT For an absolute encoder NM Battery PS PG serial signal input 18 BAT For an absolute encoder 9 PG5V PG power supply 5V PG power supply OV B Resolver ermina No Name Function TerminalNo Name Function S biterentia Sine Sanat 18 COS Diferentei Cosine Sorat Ls m eens 10 e eons 3 4 Communication Connection 3 4 1 Communication Connector CN3 Terminal Layout 1 Heserved EE NEN NE VN Isolated ground CANH CAN communication terminal EE HEN CANL CAN communication terminal Note Do not short terminal 1 and 2 of CN3 34 3 4 2 Communication Connector CN4 Terminal Layout TemmaNo name Funcion row Reserved EE o a Isolated ground CANH CAN communication terminal E33 CANL CAN communication terminal 35 3 5 Standard Wiring Examples 3 5 1 Single phase 200V ProNet 02A 04A ProNet E 02A 04A L1 L2 single phase 200 230V 27 50 60Hz Molded case Circuit Breaker 1Ry 1PL Servo Alarm Di
73. EED7 Pn322 p 4 105 4 8 1 Setting Parameters Parameter T Pn317 Pn318 Note The servomotor s maximum speed will be used whenever a speed setting for the Pn316 Pn322 exceeds the maximum speed Internal set speed 1 Setting Range 6000 6000 Internal set speed 2 Setting Range 6000 6000 Internal set speed 3 Setting Range 6000 6000 Internal set speed 4 Setting Range 6000 6000 Internal set speed 5 Setting Range 6000 6000 Internal set speed 6 Setting Range 6000 6000 Internal set speed 7 Setting Range 6000 6000 Control mode selection Setting Unit Setting Unit Setting Unit Setting Unit Setting unit Setting Unit 106 Factory Setting Factory Setting Factory Setting Factory Setting Factory Setting Factory Setting Speed control contact reference gt Speed control zero reference speed Setting Validation Immediately speed Setting Validation Immediately speed Setting Validation Immediately speed Setting Validation Immediately speed Setting Validation Immediately speed Setting Validation Immediately speed Factory Setting Setting Validation 4 8 2 Input Signal Settings The following input signals are used to switch the operating speed P CON CN1 15 Selects the internally set speed P CL CN1 41 Selects the internally set speed N CL CN1 42 Selects the internally set speed 4
74. H SON 14 LER 21 PAO P CON P Control i P CON 15 k gt 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited 1 P OT 16 ay k 23 PBO gt Applicable Line Receiver lent N OT Reverse Run Prohibited NOT 17 T BYE 54 PCOr AM26LS32A Manufactured by Tl or the Equivalent ALM RST Alarm Reset _ALMFRST 39 A 25 PCO CLR Clear Error Pulse TR 40 ES 50 DGND P CL Forward Torque Limit PCL 41 AE d Sy V N CL Reverse Torque Limit N CL 42 e o SHOM Home m 2 TGON gt com Positioning Completion m em E TGON Rotation Detection ORG Zero Position y CDS S RDY Servo Ready 4s F v CLT Torque Limit Detection 10 S RDY BK Brake nieras een Encoder C Pulse y X 11 VCMP OT Over Travel Y 12 V CMP RD Servo Enabled Motor Excitation Output T HOME Home Completion Output i Ry 24V 7 ALM Jj Connect Shield to Connector Shell E Shield Shell y 8 ALM 1 zi 1D V oV ALM Servo Alarm Output o Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 38 3 5 4 Three phase 400V ProNet 1AD 2BD
75. I Start i Even Stop bit E A E quom qe cm or a o lt 7 data bits P 4 10 bits character frame gt Pn700 1 2 7 O 1 Modbus ASCII Start Odd Stop E Am S A A n Di 7 data bits gt 10 bits character frame P 186 11 bit character form 8 bit data 8 N 2 Modbus ASCII RTU a 8 data bits gt 4 11 bits character frame 8 E 1 Modbus ASCI RTU lt 8 data bits 4 11 bits character frame 8 O 1 Modbus ASCII RTU Start Odd Stop bit L I 2 1 i parity bit lt 8 data bits gt 4 11 bits character frame gt Communication protocol structure Data format of communication protocol ASCII Mode Start character gt 3A y 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 DATA 0 LRC Checking code gt 1 byte contains two ASCII codes End code 1 gt 0D CR End code 0 0A y LF RTU Mode Sleep interval of at least 4 bytes transmission time Data content gt n word 2n byte n 12 CRC checking code gt 1 byte Sleep interval of at least 4 bytes transmission time Communication protocol data format instructions are as follows
76. It is used to set JOG rotation speed and the direction JOG speed Immediately S is determined by the pressing key during JOG operation Soft start acceleration l The time for trapeziform acceleration to accelerate to 1000rpm Immediately S time Unit ms 169 Parameter n Setting Control Description SDN Function and Meaning No Validation Mode The time for trapeziform deceleration to decelerate to Soft start l Pn307 TU Immediately S 1000rpm deceleration time l Unit ms Speed filter time l 1st order filter time constant Pn308 Immediately S constant Unit ms S curve The time for transition from one point to another point Pn309 m Immediately S risetime in S curve 0 Slope Speed reference 1 9 curve Pn310 curve form After restart S E 2 1 order filter 3 2 order filter Communication speed of bus JOG JOG speed It can be set to positive or negative Pn813 reserved d o m Pn814 Reseved o 0 o o m Pn315 O a Pn316 Immediately Pn317 Immediately Pn318 Immediately B fl Pn319 Immediately Pn320 Speed internal 5 Immediately Pn321 Speed internal 6 Immediately Internal speed is enabled when Pn005 1 3 6 operating speed CoD NETT ors ou Torque reference l The meaning of this parameter is the needed analog Pn400 l Immediately T l gain input voltage to reach the rated torque Forward torque l Pn401 PN Immediately PS T internal limit Reverse torque l Pn402 _ Immediately Pe
77. L2 V O T e ps 5 L3 W y C biie L2C CNI CN2 BK RY BK 1 24V BK 2 Brake power supply pe y Yellow or blue Red Ya White AC DC Black BK RY Brake control relay 1 2 The output terminals allocated with Pn511 66 2 Brake interlock output Releases the brake Output Must be allocated OFF e level Applies the brake This output signal controls the brake and is used only for a servomotor with a brake This output signal is not used with the factory setting The output signal must be allocated by Pn511 It does not need to be connected for servomotor without a brake 3 Allocating Brake Interlock Output Bk Brake interlock output BK is not used with the factory setting The output signal must be allocated Connector Pin Number Parameter Meaning Terminal Terminal The BK signal is output from output Pn511 H 4 CN1 11 CN1 12 terminal CN1 11 12 Bons NTE CNE The BK signal is output from output i terminal CN1 5 6 The BK signal is output from output Pn511 H 0401 CN1 9 CN1 10 terminal CN1 9 10 ll important When set to the factory setting the brake signal is invalid For the allocation of servo drive output signals other than BK signal refer to 3 2 2 I O Signal Names and Functions Parameter Pn511 description as following L9 COIN V CMP output TGON rotation aetecting output
78. MODE key to reset the absolute encoder multiturn data and alarm le Je Edd 5 Thus the absolute encoder multiturn data and alarm reset is completed Important This function will clear the absolute position of the encoder the mechanical safety must be noted When the multiturn data is cleared other encoder alarms will be reset at the same time 5 2 11 Absolute Encoder Related Alarms Reset 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn011 Finde d d 3 Press the ENTER key the display will be shown as below le Eel Jr 4 Press the MODE key to clear the alarms le Je Jj 5 Thus the absolute encoder related alarms reset is completed 133 Chapter 6 MODBUS Communication 6 1 RS 485 Communication Wiring ProNet series servo drives provide the MODBUS communication function with RS 485 interface which can be used to easily set parameters or to perform monitoring operations and so on The definitions of the servo drive communication connector terminals are as follows CN3 Terminal No Name Function NEN NN A AE Reserved 3 RS 485 communication terminal z Isolated ground 6 RS 485 communication terminal 7 CAN communication terminal 8 CAN communication terminal Note Do not short terminal 1 and 2 of CN3 CN4 Terminal No Name Function 1 o Reserved 2 ER Reserved 3 RS 485 communication terminal 5 Iso
79. Modan H CHARGE RAAR 9999 a j 1 na LZ Q Ji I L3 ure m oL IL2 er el IG e Hl la el eL A pee o i Frac gt el JF us ill e I 2 AS Lir U i pal mv T H za H m ee ProNet E 15A 20A ProNet E 10D 15D 20D A h n TAN EA t Wow Su as 26 Ero LRE mod N CNI l H lt d Ld ft ProNet E 30A 50A ProNet E 30D 50D amo B ProNet Servo Drive Nameplate ESTUN SERVODRIVE Servodrve model MODEL PRONET 10DMA Applicable power M AC INFUT AC OUTFUT 4 Applicable servomotor SUBEN SPH SOY S0 60Hz SPH 0400 0 2002 Fore LIGA J4A 10KW Serial number SIN amp amp 00001J0601 Estun 4utemetion Technology Co Ltd meda In hina AN HERIR 5 DEIA TESTA Elia T FORCE ARRAY fe kE nm WARNING Discarnect all power and wait
80. Name Detects when the servomotor is rotating at a speed higher than the motor nGON 6 speed seeting OAM 07 0 Servo alarm Turns off when an error is detected me fe Servo ready ON if there is no servo alarm when the control main circuit power supply is turned ON S RDY Speed Phase A signal Torque Eo Converted two phase pulse phases A and B encoder output PBO 23 Phase B signal Phase C signal Zero point pulse Phase C signal Skel Connected to frame ground if the shield wire of the e I O signal cable is connected to the connector shell Speed coincidence V CMP Speed ees matches the reference speed value Positioning completion COIN Turns ON when the number of positional error pulses reaches the value ICOIN mE set The setting is the number of positional error pulses set in the Reserved terminals The functions allocated to TGON S RDY and V CMP COIN can be CLT changed by using the parameters Detects whether the motor speed is within the setting range and if it reference units CLT Torque limit output Turns on when it reaches the value set BK Brake interlock output Releases the brake when ON Reserved PGC C pulse output BK OT Over travel signal output RD Servo enabled motor excitation output HOME Home completion output 4 18 19 29 35 36 37 38 43 44 45 47 49 29 3 2 3 I O Signal Connector CN1 Terminal Layout Terminal Terminal No
81. ON reference direction P CON 15 Control mode switching reference zero when ON block input when ON e Forward run Position P OT prohibited Torque Reverse run prohibited Function selected by parameter Forward external torque limit ON Reverse external torque limit ON Enables control mode switching Speed Overtravel prohibited Stops servomotor when OFF PCL 41 Current limit function enabled when ON NCL 42 Internal speed With the internally set speed selection Switches the internal switching speed settings ALM RST Alarm reset Releases the servo alarm state 39 13 DICOM Control power supply input for I O signals Provide the 24V DC power supply VREF Speed Speed reference input 10V VREF PULS 30 Pulse reference input mode Sign pulse train CCW CW pulse Two phase pulse 90 phase differential Power supply input for open collector reference 2KO0 0 5W resistor is built into the servo drive Positional error pulse clear input Clear the positional error pulse during position control Homing trigger signal effective at the rising edge allocated by Pn509 or Pn510 PULS SIGN SIGN 31 3 NO 33 Position 34 40 CLR SHOM O no ORG T REF Torque T REF Zero Position effective at high level allocated by Pn509 or Pn510 26 Torque reference input 10V 27 28 B Output signals Control Signal Mode g
82. 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 E B 7 B B ae 154 Setting Factory Setting Range Setting Invalidation After restart 0x0020 After restart B After restart After restart e tome Uf ng Seng ivan No Range Setting Invalidation 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Por wememysu 95 S mo Pmi06 toas meri prcemtage oam 9 mmeaaey Put fees omm exe ACI TT PnH2 Fema ooo 9 medi Pata Fedewanie ome c9 o medi Pn114 Torque feedforward 0400 0 Immediately ZE Pme 9e o Immediately P PI switching condition 0 4 After restart Pn117 Torque switching threshold 0 300 Immediately n reference Pn118 Offset counter switching threshold 0 10000 pulse Setting acceleration speed switching Pn119 10rpm s 0 3000 threshold Pn120 Setting speed switching threshold rom 0 10000 Immediately Gain switching condition 0 6 After start O Torque reference percentage 1 Value of offset counter Pn116 2 Value of acceleration speed setting 3 Value of speed setting 4 Fixed PI Immediately Immediately O Fix to 1st group gain 1 External switch ga
83. ProNet Series AC Servo User s Manual Version V2 04 Esrum de ESTUN AUTOMATION TECHNOLOGY CO LTD Drive Your Success AA ha Revision History 2009 09 V1 00 V1 05 First edition 2010 02 V1 06 All chapters Completely revised Revision Pn002 Revision Pn840 Appendix A O Revision Pn006 2 2010 06 V1 07 Addition Pn411 amp Addition Pn412 465 Addition Low frequency vibration a suppression function Revision Position reference a 2010 10 V1 08 Appendix A Revision Pn006 3 TM Addition ProNet 02A 04A All chapters 2010 11 V1 09 Q Addition Pn139 and Pn140 c4 04 V1 10 PES Revision External Torque Limit MI Addition Wire saving incremental encoder Revision Internal setting speed All chapters Addition Description of OT signal Addition Description of ALM signal 2011 07 V1 20 Addition Description of CLT signal LEN i Addition 4 6 8 Position Control contact reference vw radio azomewa 0408 08 MES 21 Appendix A Revision Pn006 3 NENNEN pees meat Revision Pn102 Pn107 Pn139 Pn14 Appendix A Pe T Pn413 Pn414 Pn511 IOhaper4 4 Addition Addition Description of RD signal of RD signal All chapters Addition ProNet 2BD 2011 12 V1 23 31 Revision Encoder wiring mE COM Revision Encoder signal output phase form MI 2012 02 V1 24 All cha
84. RTU mode Reference information information 01H 02 y high bit Data start address 00 y low bit 00 u high bit Data content 64 y low bit CRC checking 89 y low bit CRC checking 99 y high bit Response Content of data start Datoria address Data content LRC checking CRGsieg ins E TU 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 140 For example read 1 word from 014 servo address 0201 y Data start address Data number Ccount as word LRC checking 0D CR OA amp J LF Add from ADR data to the last data 01 4 403 4 402 4 01 H 00 y 014 08 H The compensate value is F8 when 2 is used to compensate 084 so LRC is F 8 CRC calculation of RTU mode RTU mode uses CRC Cyclical Redundancy Check error detection value The process of CRC error detection value calculation is shown as follows Step 1 Load in a 16 bit register of FFFFy named CRC register Step 2 Run XOR calculation between the first bit bit O of instruction information and 16 bit CRC register s low bit LSB and the
85. Range Setting Unit Factory Setting Setting Validation 1616384 16384 After restart Set the number of pulses for PG output signals PAO PAO PBO PBO externally from the servo drive Feedback pulses from the encoder per revolution are divided inside the servo drive by the number set in Pn200 before being output Set according to the system specifications of the machine or host controller The setting range varies with the number of encoder pulses for the servomotor used llOutput Example Pn200 16 when 16 pulses are output per revolution Preset value 16 PAO PBO 1 revolution 4 5 9 Speed coincidence output The speed coincidence V CMP output signal is output when the actual servomotor speed during speed control is the same as the speed reference input The host controller uses the signal as an interlock Signal Name Connector Pin Number CN1 11 12 ON low level Speed coincides Output V CMP COIN l mE factory setting OFF high level Speed does not coincide Coincidence Difference Pn501 Setting Range Setting Unit Factory Setting Setting Validation The V CMP signal is output when the difference between the speed reference and actual servomotor speed is less than Pn501 Bl Example
86. Reference Input V Ref CN1 2 Speed Reference Input The above inputs are used for speed control analog voltage reference Pn005 1 0 4 7 9 A Pn300 is used to set the speed reference input gain Refer to 4 5 1 Setting Parameters 2 Proportional Control Reference P CON T Connector Pin e RE Number Operates the servo drive with proportional ON low level control Input P CON CN1 15 l Operates the servo drive with proportional OFF high level integral control P CON signal selects either the Pl proportional integral or P proportional Speed Control Mode Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift Input reference At OV the servomotor rotation due to drift will be reduced but servomotor rigidity holding force drops when the servomotor is stopped Note A parameter can be used to reallocate the input connector number for the P CON signal Refer to 3 2 2 I O Signal Names and Functions 74 4 5 3 Adjusting Reference Offset When using the speed control the servomotor may rotate slowly even if OV is specified as the analog voltage reference This happens if the host controller or external circuit has a slight offset in the unit of mV in the reference voltage Adjustments can be done manually or automatically by using the panel operator Refer to 5 2 Operation in Utility Function Mode The servo drive automatically adjusts the offset when the
87. Se T internal limit Forward external l Servomotor output torque limit value depending on Pn403 M Immediately Pase T torque limit the actual overload capacity Reverse external l Pn404 M Immediately P S T torque limit Plug braking torque l Pn405 iii Immediately Pose T imi Pn406 Speed limit during Immediately Servomotor output torque limit value during torque Pn322 Speed internal 7 Immediately S F 170 Parameter um Setting Control Description ON Function and Meaning No Validation Mode A OO contra Notch filter 1 l 1 In some conditions Pn407 Immediately P S T Notch filter 1 frequency oe frequency vibration will be picked Pn408 Notch filter 1 depth Immediately Notch filter 1 depth up and response will be Notch filter 2 lagged after notch filter Pn409 P S T Notch filter 2 frequency ee Immediately requency 2 When notch filter frequency is set to 5000 the notch filter is invalid P S Frequency of low frequency vibration with load T Attenuation damp of low frequency vibration with load i It does not need to change T These parameters are only enabled in position control Pn410 Low frequency l Pn411 Immediately vibration frequency Low frequency Pn412 Immediately vibration damp Torque control delay Pn413 Notch filter 2 depth Immediately P S T Notch filter 2 depth l Immediately time mode Torque control speed Pn414 U o o 4 l Imme
88. Setting the Overtravel Limit Function sseeeeeessssssseseeee enne nennen nnne nnne 43 4 Setting fOr HOIGING BIakesusa ddr dunes dtd tton dedi IN 4 3 5 nstanianeous Power Loss Seti Sick tcc aeui o ad ela lee AAS Absolute AA A 4 4 1 Selecting an AbDSolute EnCOd Sr vi codec ii ded 2p 2 pau Bate ote reece er O ued ayant are Ed AAS TAC DIACING Baltely carita tddi at 4 4 4 Absolute Encoder Setup Fn010 F011 iscir a a a E A aa 4 5 Operating Using Speed Control with Analog ReferenCe oococoncnnccccccoonoccnnnonnnnoncnnnnnononanenennnononnnnncnnnnnonnnnnaness As oeng aMSN 42 Setina NOUS NA S E it ata EO 4 5 3 Adjusting Reference Offset sessi nennen nennen nennen nn nn nnne nn nnne nnn nnn doo SIE tne co M LM M A MM LM Mt Ae dca ai 4 5 5 Speed Reference Filter Time COnstant ccccccccccccccseeseseeeecseseeeeceeeeessaeseeeceseeeeeeaeeseeeessesaeaeeeeeeessaeaeees 4 55 CUN rt INN ya ag a e ots ws A O II eoo 45 7 Using ihe Zero Clamp FUNCION ica 4 09 Encoder Signal QUIE cda 4 5 9 opeedcOMcIidence OUIDU eod tacita do talla 4 6 Operating Using Position COM UO ua A epa 46 BASICS SLC I O SILICON CODUOL is 45 20 Sd Melisa Igel ee dc dd Mec send dae code tant da ios AG See TING ier BISCITORIG GOAN aia A Po A 90 4 6 5 Low Frequency Vibration SU DES 91 4 6 6 Positioning Completion Output Signal occcccnnccnnccconnnononnccnnncnnnnnnonononononnnnonnnncnnnnnnnnnnnnnononanrnnnrinncenns 93
89. Signal generation circuit TN AAAA 3 2 A Noise DC filter power 3 5mm min LPF 77 ground plate ground plate ids 3 b min 1 plate Wires of 3 5mm min 1 plate Uu Z ground plate e Ground Ground to an independent ground use ground resistor 100 max For ground wires connected to the ground plate use a thick wire with a thickness of at least 3 5 mm preferably plain stitch cooper wire ey should be twisted pair wires When using a noise filter follow the precautions in 3 6 2 Precautions on Connecting Noise Filter 43 2 Correct Grounding Take the following grounding measures to prevent the malfunction due to noise m Grounding the Motor Frame If the servomotor is grounded via the machine a switching noise current will flow from the servo drive main circuit through servomotor stray capacitance Always connect servomotor frame terminal FG to the servo drive ground terminal Also be sure to ground the ground terminal 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 aWhen the servo drive installing on control panel a piece of metal plate should be fixed It is used for fixing
90. a 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 impact It should be set a little smaller when large vibration is present This parameter is only valid in autotuning This parameter determines speed loop gain Unit Hz Decreases the value of this parameter to shorten positioning time and enhance speed response Unit 0 1ms This parameter determines position loop gain Decreases this value to enhance servo rigidity but vibration will occur if the value is too large Unit 1 s Torque reference filter can eliminate or lighten mechanical vibration But incorrect setting will result to mechanical vibration Unit 0 1ms Setting value load inertia rotor inertia x 100 Unit 96 The meanings of these parameters are the same as Pn102 P
91. ae Shield Shell hs B ALNE 1 1 A 10 V oV ALM Servo Alarm Output af Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA Notes 1 The resistor of 1500W 200 is recommended for the external regenerative resistor of ProNet 1AD 2 The resistor of 1500W 15Q is recommended for the external regenerative resistor of ProNet 1ED 3 The resistor of 1500W 200 is recommended for the external regenerative resistor of ProNet 2BD 39 3 5 5 Position Control Mode ProNet Series Servodrives M gt 20 PAO 21 PAO s 22 PBO PG Divided Ratio Output 23 PBO Applicable Line Receiver AM26LS32A Manufactured by TI or the Equivalent gt 24 PCO 25 PCO 50 DGND Open collector Reference Use PPI 34 Hh PULS CW A T4 PULSEN 30 o YEK Position Reference PULS 131 SIGN 32 o4 IGN cow B D gt SIGN CCW SIGN 133 Y Signal Allocations can be Modified ix 5 TGON COMES Speed COE dee itioning Completion 6 TGON TGON Rotat
92. al 1 Setting the Clear Signal When the CLR signal is set to low level clear error counter 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 Clear the error pulse when S OFF do not when overtravel Do not clear the error pulse Clear the error pulse when S OFF or overtravel excep for zero clamp 4 6 3 Setting the Electronic Gear 1 Electronic Gear The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to any value One reference pulse from the host controller i e the minimum position data unit is called a reference unit When the Electronic Gear is Not Used When the Electronic Gear is Used workpiece workpiece Reference unit lum ZZ LZ LID Zz LZ No of encoder No of encoder pulses 32768 Ball screw pitch 6mm pulses 32768 Ball screw pitch 6mm To move a workpiece 10mm using To move a workpiece 10mm reference units One revolution is 6mm Therefore 10 6 1 6666 revoluti
93. alidation Writing the frequency data to parameter Pn411 can adjust Pn411 slightly to obtain best suppression effect If the servomotor stopped with continuous vibration Pn412 Do not change in general should be increased properly Parameter Pn411 and Pn412 are enabled when Pn006 2 1 Setting validation after restart 92 4 6 6 Positioning Completion Output Signal This signal indicates that servomotor movement has been completed during position control Use the signal as an interlock to confirm that positioning has been completed at the host controller Twe SignalName Connector Pin Number Setting Mem CN1 11 CN1 12 ON low level Positioning has been Factory setting m 1 completed OFF high level Positioning is not HN NN 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 1 1 12 Positioning Error ae PnS0g Setting Range Setting Unit Factory Setting Setting Validation Position complete time Position Setting Range Setting Unit Factory Setting Setting Validation The positioning completion COIN signal is output when the difference position error pulse between the number of reference pulses output by the host controller and the travel distance of the servomotor less than the value set in this parameter and the stabilization time more than the value of Pn520 Set t
94. ar CLR forward run prohibited P OT reverse run prohibited N OT2 forward current limit P CL gt reverse current limit N CL gt and so on VO Signals Number of 4 channels channels Sequence IT Signal allocations and positive negative logic modifications Function Positioning completion COIN speed coincidence V CMP servomotor rotation detection TGON servo ready S RDY torque limit output CLT brake interlock output BK encoder C pulse PGC and Over travel OT Regenerative Functions 0 75kW 7 5kW internal regenerative resistor 11kW 22kW external regenerative resistor Protection Functions Overcurrent overvoltage low voltage overload regeneration error overspeed etc Utility Function Alarm trace back JOG operation load inertia detection etc 148 a foafoa a a L L L L L LLLLL w 9 o a o pm m e pw o Do 9 LLL Ee E Model Display Function CHARGE Red POWER Green five 7 segment LEDS Built in panel operator RS 485 communication port MODBUS protocol CAN communication port CANopen protocol Communication Function EtherCAT communication module CiA402 protocol POWERLINK communication module CiA402 protocol 149 7 2 Servo drive Dimensional Drawings B ProNet 02A 04A ProNet E 02A 04A Unit mm Nameplate
95. arameter Pn511 CN1 11 CN1 12 The signal is output from output terminal CN1 11 12 Pn511 CN1 5 CN1 6 The signal is output from output terminal CN1 5 6 CN1 9 CN1 10 The signal is output from output terminal CN1 9 10 Pn511 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 A Speed Pn 685 rpm Pn 6
96. ation suppression switch O Low frequency vibration suppression function disabled Pn006 Hex After restart SS 1 Low frequency vibration suppression function enabled Pn006 3 Reference input filter for open collector signal 0 when pulse is difference input The max value of servo receiving pulse frequency 4M 1 when pulse is difference input The max value of servo receiving pulse frequency lt 650K 2 when pulse is difference input The max value of servo receiving pulse frequency 2 lt 150K Pn007 0 wider the width of C pulse or not 0 standard width of C pulse Pn007 Binary After restart 1 wider the width of C pulse Pn007 1 reserved Pn007 2 reserved 165 Parameter No Pn100 Pn101 Pn102 Pn103 Pn104 Pn105 Pn106 Pn107 Pn108 Online autotuning setting Machine rigidity setting Speed loop gain Speed loop integral time constant Position loop gain Torque reference filter time constant Load inertia percentage 2nd speed loop gain 2nd speed loop integral time constant Setting Validation After restart Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Control Mode P S P S P t P S P S T P dt CoD P P S 166 Function and Meaning Pn007 3 reserved 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load 1 4 Load inerti
97. ay 6 Press the ENTER key to return to the utility function mode display Fn007 5 2 8 Position Teaching Function Perform the position teaching function in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn008 Cal BE E 3 Press the ENTER key the display will be shown as below E E nr n 4 Press the ENTER key the display will be shown as below lares 4 Y 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 Finde si 3 Press the ENTER key the display will be shown as below 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 3 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 5 2 10 Absolute Encoder Multiturn Data and Alarm Reset 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn010 bal 3 Press the ENTER key the display will be shown as below Fed el Ea Pa 4 Press the
98. ayed turn OFF the power find the Example of Alarm Display problem and correct it El reer Release the brake before driving the servomotor when a Please refer to 4 3 4 Setting for Holding Brakes servomotor with brake is used Please refer to 4 5 Operating Using Speed Control When using a servomotor equipped with an absolute with Analog Reference encoder encoder setup is required before driving the servomotor supply Normal Display Alternate Display 52 E cs Use the panel operator to operate the servomotor with rut utility function Fn002 JOG Mode Operation Check that Es the servomotor rotates in the forward direction by INC key F a and reverse direction by DEC key A A The operation is completed when the operation is N 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 pa Panel Operator TN Met ESTI F FERE DERSEN A ses Press the MODE key to select the function MODE key aa mode Press the INC key or DEC key to select INC or DEC key Fn002 Tn Press the ENTER key and the servomotor will enter 3 nalralra ENTER key l A d JOG operation mode Press the MODE key This will turn ON the power
99. be controlled by communication 5 Software version 090FH Use digit to represent servo drive software version For example if the read out data is D2014 it means the software version is D 2 01 146 Chapter 7 Specifications and Characters 7 1 Servo drive Specifications and Models Servomotor me ila 9 L O o LL po o Main Input Power Supply Capacity kVA os a9 DC24V Power Supply Capacity W EXE E 200 230VAC 380 440VAC Single Main Circuit Input Power Supply Control Circuit 10 15 50 60Hz 09 10 10 15 50 60Hz Control Method SVPWM Control Serial Encoder 131072P R Feedback phase 200 Three phase Three phase Three phase 230VAC 200 230VAG 380 480VAC 380 440VAC 10 10 15 50 60Hz 10 15 50 60Hz 10 15 50 60Hz 15 50 60Hz j Single phase Single phase 24VDC gle p Resolver 65536P R Max Incremental Wire saving type 2500 P R Ambient Storage Ambient temperature 20 55 C Temperature Storage temperature 25 55C SAO 5 95 RH with no condensation Humid Operating Conditions 1000m or less Vibration ShockRe sistance Electric Power TN system 3 System Speed Control Range 1 5000 Vibration Resistance 4 9m s Impact Resistance 19 6m s Load Performance Speed 0 100 load 0 01 or less at rated speed Regulai Regulation ulation Rated voltage 10 0 at rated speed 147
100. 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 Pn510 3 corresponding port CN1 42 Terminal PRI CN1 14 CN1 15 ON 16 CN1 17 CN1 39 CN1 40 CN1 41 CN1 42 Corresponding signal of each data is shown as Allocate input port to Pn510 signal one port with After restart four bits hex following 0 S ON 1 P CON 2 P OT 3 N OT 3172 Parameter No Pn511 Pn512 Pn513 Pn514 Pn515 Pn516 Output signal allocation Bus control input node low bit enabled Bus control input node low bit enabled Input port filter Input port signal inversion Setting Validation After restart Immediately Immediately Immediately Immediately 173 Control l Function and Meaning Mode ALMRST CLR P CL N CL G SEL JDPOS JOG JDPOS JOG JDPOS HALT HmRef SHOM ORG Pn511 0 corresponding port CN1_11 CN1_12 Pn511 1 corresponding port CN1 05 CN1 06 Pn511 2 corresponding port CN1 09 CN1 10 Corresponding signal of each data is shown as follows COIN VCMP TGON S RDY CLT BK PGC OT RD HOME Bus communication input port enabled 0 Disabled 1 Enabled Pn512 0 gt CN1_14 Pn512 1 gt CN1_15 Pn512 2 gt CN1_16 Pn512 3 gt CN1_17 Pn513 0 gt CN1_39 Pn513 1 gt CN1_40 Pn513 2 gt CN1_41 Pn513 3
101. cation 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 servo drives Specification of the servo drives and servomotors Procedures for installing the servo drives and servomotors Procedures for wiring the servo drives and servomotors Procedures for operation of the servo drives Procedures for using the panel operator Communication protocols Ratings and characteristics m Intended Audience Those designing ProNet series servo drive systems Those installing or wiring ProNet series servo drives hose performing trial operation or adjustments of ProNet series servo drives Those maintaining or inspecting ProNet series servo drives Safety Precautions m Do not connect the servomotor directly to the local electrical network Failure to observe this may result in damage to servomotor m Do not plug or unplug connectors from servo drive after power is on Failure to observe this may result in damage to servo drive and servomotor m Note that residual voltage still remains in the servo drive even after the power is turned off Please be noted tha
102. ction or disturbance EN Receiving heartbeat timeout The master station sends heartbeat time timeout Synchronization signal monitoring The filling time and the cycle of the synchronous signal a aa is longer than setting A A not match O Ntaemr 0000000 an error Normal Normal operation status status Ex Output transistor is ON X Output transistor is OFF A 45 A 46 A 47 A 51 only can be reset when the absolute encoder related alarm is cleared The multiturn data should be cleared because of the multiturn information is incorrect 180 ESTUN AUTOMATION TECHNOLOGY CO LTD H ADD 16 Shuige Road Jiangning Development Zone Nanjing 211106 P R China TEL 025 58328500 52785989 FAX 025 52785576 Web www estun com E mail info estun com National Service Hotline 400 025 3336 IA AA ad ial vO 2 WO
103. d Signal Name and Meaning b 0U OL Continue operation when the power supply voltage to servo drive main circuit is Pn000 instantaneously interrupted b 1 An alarm occurs when the power supply voltage to servo drive main circuit is instantaneously interrupted 69 4 4 Absolute Encoders Absolute Encoder Output Range of Pere Resolution Action when limit is exceeded Type Multiturn Data When the upper limit 32767 is exceeded in the forward direction the multiturn data is 32768 16 bit multiturn S l ProNet Series n 92768 432767 When the lower limit 32768 is exceeded 17 bit singleturn l E in the reverse direction the multiturn data is 32767 The absolute position can be read by the MODBUS protocol In the actual control the MODBUS protocol can read the initial position when the servomotor is stopped S OFF then the real time position during the servomotor is running can be learnt from the number of PG divided output pulses 4 4 1 Selecting an Absolute Encoder An absolute encoder can also be used as an incremental encoder Parameter o o oag YO Pn002 Waa Use the absolute encoder as an absolute encoder Factory setting Use the absolute encoder as an incremental encoder The back up battery are not required when using the absolute encoder as an incremental encoder After changing these parameters turn OFF the main circuit and control power supplies a
104. ddress of communication contac Pn840 0 Encoder model selection 0 2 Reserved For factory using 3 17 bit absolute encoder 4 17 bit incremental encoder Pn840 Hex After restart ALL b Resolver 6 Wire saving incremental encoder Pn840 1 Reserved For factory using Pn840 2 Reserved For factory using Pn840 3 Reserved For factory using Note DD When connecting to EMJ O4ALJHLIL Pn005 3 should be set as 1 Q the max value of servo receiving pulse frequency it means the sufficient max value of pulse frequency receiving by servo hardware 177 Appendix B Alarm Display Alarm Alarm Alarm Name rey EN A or X Parameter breakdown The checksum results of parameters are abnormal po AD shift channels breakdown AD related electrical circuit is faulty The servomotor speed is excessively high and the Overspeed l servomotor is out of control The servomotor is operating continuously under a torque Overload mmm exceeding ratings IET Position error counter overflow internal counter overflow 00000 counter overflow 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 given pulse frequency is too high reasonable The 1st channel of current A 08 x Something wrong with the inside chip of the 1st channel detection is
105. de such as the display mode parameter setting mode monitor mode or utility function mode To save the setting during parameter setting and exit Note In this manual the Panel Symbol is represented by Corresponding Key Name for easy understanding 5 1 2 Resetting Servo Alarms Servo alarms can be reset by pressing the ENTER key when the panel operator in display mode Servo alarms can also be reset 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 118 5 1 3 Basic Mode Selection The basic modes include status display mode parameter setting mode monitor mode and utility function mode Each time the MODE key is pressed the next mode in the sequence is selected Select a basic mode to display the operation status set parameters and operation references The basic mode is selected in the following order Power ON a Status display mode BENIN Parameter setting mode EA PL em E em E E E E E Monitor mode Utility function mode Ea PL 5 1 4 Status Display Mode The status display mode displays the servo drive status as bit data and codes Selecting Status Display Mode The status display mode is selected when the power supply is turned ON If it is not displayed select this mode by pressing MODE key Note that the display differs between
106. diately hysteresis This parameter is used to set zero bias of analog torque given and it is related with torque reference input gain Pn400 Torque reference External torque given input Analog torque given Pn415 Immediately zero bias Coincidence analog Analog torque given zero bias X Torque reference input gain Outputs COIN signal when error counter is less than this value Outputs VCMP signal when the difference between Pn501 Immediately speed reference value and speed feedback value is difference less than this value The servomotor is locked in the form of temporary Pn502 Zero clamp speed Immediately position loop when the speed corresponding to the analog input is less than this value l l When the servomotor speed exceeds this parameter Rotation detection speed TGON Pn503 Immediately setting value it means that the servomotor has already rotated steadily and outputs TGON signal When the value in error counter exceeds this Offset counter Pn504 Immediately parameter setting value it means that error counter overflow alarm alarm has occurred and outputs alarm signal These parameters are only enabled when the port Servo ON waiting output parameters are allocated with BK signal Pn505 U 09 4 Immediately time output These parameters are used to keep braking prevent e Parameter Setting Control Description SDN Function and Meaning No Validat
107. disabled when homing Homing operation is disabled when switching control mode Control mode switching is not allowed during homing After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings A parameter can be used to re allocate input connector number for the SHOM and ORG signals Refer to 3 2 2 1 0 Signal Names and Functions 2 Related parameter Speed of finding reference point Hitting the origin signal ORG Pn685 Setting Validation 0 3000 Immediately Speed of finding reference point Leaving the origin signal ORG P686 Setting Validation 0 200 Immediately Number of error pulses during homing Pn690 Setting Range Setting Unit Factory Setting Setting Validation 0 9999 10000 pulses Low 4 Immediately Number of error pulses during homing Pn691 Setting Range Setting Unit Factory Setting Setting Validation 0 999 1puse o Immediately 98 3 Input Signal Setting Type Signal Connector Pin f Setting Meaning Input SHOM Must be allocated by ON rising edge Homing is enabled Pn509 Pn510 OFF not rising edge Homing is disabled Input ORG Must be allocated by ORG is enabled EE 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 P
108. e 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 750Worless PC40T96 x 20 x 70 47 c Fixing the Cable Fix and ground the cable shield using a piece of conductive metal Example of Cable Clamp Shield cable sheath stripped Host controller side Fix and ground the cable shield using a piece of conductive metal a paint on mounting surface d Shield Box A shield box which is a closed metallic enclosure should be used for shielding magnetic interference The structure of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as possible 3 8 Using More than One Servo Drive The following diagram is an example of the wiring when more than one Servodrive is used Connect the alarm output ALM terminals for the three Servodrives in series to enable alarm detection relay 1RY to operate When the alarm occurs the ALM output signal transistor is turned OFF Multiple servos can share a single molded case circuit breaker QF or noise filter Always select a QF or noise filter that has enough capacity for the total power capacity load conditions of those servos 48 Power supply RST Axas QF Power ON E Servo Drive L3 L1C
109. e pt do 20 2 2 9 Installalon Ore Ee lO P sentenciado riada 21 ad STAINTON IMNCUINO Cesc ave cC 21 GHAD ET a cae i ne ECT E 23 A T 23 AREA TE E 23 3 1 1 Names and Functions of Main Circuit Terminals ooooncccnncnonnnnnononnnnnonnnnncnnnnnnnnnnnnnnnnnnnnnnrncnnonanarinos 23 3 1 2 Typical Main Circuit WITIng EXartpless nas 24 CRAB No A II T VOR ENCODER eae aoe TN mena 27 9 2 4 Examples of VO Signa Connections xou a iii 27 3 2 2 V O Signal Names and Functions cccoccocncccocononeccnononcncononanonononanennnnnnaranennonnennrnonrrnnrrnnnranarnonnrrnnananinnns 28 3 2 3 VO Signal Connector CN1 Terminal Layout eriiic eaaa aa aaa a aaaea iai 30 9 2 4 Interface Creul ns e a tease dant dala a a Ut re a 31 SS WIM ENCOdO Sinclair 32 3 31 GONAECINO an EN marc C As 32 3 3 2 Encoder Connector CN2 Terminal LayOUt ooocooccnnccccccocconcnncononnoncononnnononcnncnnnnnnononrnnnnnonnnananennennnnnnns 34 944 ComtihiirnicatorsooRre OPI seres ds d 34 3 4 1 Communication Connector CN3 Terminal Layout nme 94 3 4 2 Communication Connector CN4 Terminal Layout sssssssssssseeeeeeeeeeennenn nnne 35 9 5 standard Wind Example aaa 36 3 5 1 Single phase 200V ProNet 02A 04A ProNet E 02A 04A oocccccconccccicinnnecinnninenecinnnoneninnnnnninnneneninnnos 3 5 2 Three phase 200V ProNet 08A 50A ProNet E 08A 50A coocccccconcccconoconnnnnnnonenonn
110. eck to see if the servomotor makes one revolution per second Simple positioning Number of Input a reference equivalent to one Check the parameter setting at servomotor servomotor rotation and visually Pn200 to see if the number of rotation check to see if the shaft makes one PG dividing pulses is correct revolution Overtravel P OT and Whether the Check to see if the servomotor Review P OT and N OT wiring N OT Used servomotor stops stops when P OT and N OT signals if the servomotor does not rotating when are input during continuous stop P OT and servomotor operation N OT signals are input 59 4 2 Control Mode Selection The control modes supported by the ProNet series servo drives are described below 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 servo drive to form a position loop in the hsot controller 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 Speed Control contact reference gt Speed Control zero reference Use the three input signals P CON P CL and N CL
111. ect 1 dC rei 6 485 f PC Personal Computer VREF 3 Speed Reference 0 10V Rated Speed SEE VREF 2 ay d CAE Sx ES Note Do not short terminal 1 and 2 of CN3 TREF 26 Shel Shield Torque Reference 0 10V Rated Torque A TREF 27 n E CN4 NE 2 NC pen collector Reference Use PPI 34 2ko 3 kisi m 4 SO GND PULS iat eee 5 SO_GND Position Reference PULS CW A l PULS 131 5 485 a reo SIGN CCW B Ts MN Shell Shield l Signal allocatons can be modified MN DICOM Tu T PAO S ON Servo ON HI SON 14 Lo MEE 21 PAO P CON P Control P CON 15 x gt 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited o P OT 16 j Fk 23 PBO gt NYAETA a d by TI or the Equival N OT Reverse Run Prohibited 4 4 NOT 17 SE 24 PCO pd anuracturoc Sy Izor the Equwa gnt ALM RST Alarm Reset S ALM RST 39 j E K 25 PCO CLR Clear Error Pulse CLR 40 HK 50 DGND 5 P CL Forward Torque Limit V Pt TH as V l l B N CL Reverse Torque Limit N CL 42 Fy k Si ASAA dad Modified SHOM Home Es 5 TGON COIN Positioning Completion ORG Zero Position Y 6 TGON TGON Rotation Detection 9 S RDY S RDY Servo Ready LES gt CLT Torque Limit Detection 10 S RDY Bae Dc de CMP PGC Encoder C Pulse Output Y TT Two ad OT Over Travel 12 V CMP _ RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24 V q 7 ALM Connect Shield to Connector Shell
112. eed reference value Head only torque percentage torque 080A Number of encoder rotation pulses Readonmy 80B mputsignaistte Readony 080c Encodersignalstae Readomy 080 Outputsignaistate Readony OB Pulsesetign Ready SS High bits of present location Unit 10000 Read only reference pulses 081 Error pulse counter low 16 bits Readony ost Emorpulsecounterhight6bits Ready os Curentaam_ Ready To MODBUS communication lO signal Donot save when Read write power off 090E Version is expressed by digit Read only 090F CPLD version Version is expressed by digit Read only 144 Communication data address Description Operation 135 17 bit encoder multi turn Unit 1 revolution Read only information Only for 17 bit l Unit 1 pulse Encoder 17 bit encoder single turn l l 1011 l l Multi turn 16 bits information A Single turn 17 bits 17 bit encoder single turn 1012 information high bits 1021 Clear historical alarms 01 Clear Write only 1022 Clear current alarms 01 Clear Write only 01 Enable 1023 JOG servo enabled Write only 00 Disable 01 Forward rotation 1024 JOG forward rotation Write only 00 Stop l 01 Reverse rotation 1025 JOG reverse rotation Write only 00 Stop 1026 JOG forward rotation at node 01 Forward rotation position start signal has been set 00 Stop wa JOG reverse rotation at node 01 Reverse rotation position start signal has been set 00 St
113. ence voltage Reference voltage Offset Torque referenc Automatic offset adjustment Reference voltage Offset automatically adjusted in the servodrive O Torque reference After completion of the automatic adjustment the amount of offset is stored in the servo drive The amount of offset can be checked in the 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 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
114. ent position Pn687 unit 10000P 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 0 Return to search C Pulse when homing pulse Pn689 Homing Mode Setting Immediately 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 unit 10000P unit 1P Number of error Pn690 Immediately pulses during homing Number of error Pn691 Immediately pulses during homing Pn700 0 MODBUS communication baud rate Pn700 Hex After restart ALL 0 4800bps 1 9600bps 476 Parameter M Setting Control Description SDN Function and Meaning No Validation Mode 2 19200bps Pn700 1 MODBUS protocol selection 0 7 N 2 MODBUS ASCII E 1 MODBUS ASCII O 1 MODBUS ASCII N 2 MODBUS ASCII E 1 CMODBUS ASCID O 1 MODBUS ASCID N 2 MODBUS RTU E 1 MODBUS RTU O 1 MODBUS RTU Pn700 2 Communication protocol selection 0 No protocol SCI communication 1 MODBUS SCI communication Pn700 3 Reserved MODBUS Axis Pn701 ee After restart ALL Axis address of MODBUS protocol communication a Pn702 Pn703 0 CAN communication baud rate 0 50Kbps CAN communication LPS RE Pn703 After restart ALL 2 125Kbps speed 3 250Kbps 4 500Kbps 5 1Mbps CAN communication Pn704 ise After restart ALL CANopen Aix a
115. er 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 D A 1 1 ESTUN Servomotor 1 2 3 4 5 6 7 EMG Model 1 2 Rated Output 4 Encoder 71 Option D meemensencoder 10729 m Ree COME 5 Designing Sequence 6 Shaft End A 200V AC Designing sequence Straight without key Standard CN 400VAC Straight with key and tap Notes 1 The EMG 30ALJALJ LJ EMG 50ALIALIL servomotors are not mounted the incremental encoder 2 There is no brake in EMG LILILIDALIL servomotor B Appearance and Nameplate 1 1 2 Servo drive Servomotor model sine Serial number B ProNet Servo drive Model Designation PRONET ProNet Model o Rated Output 02 0 2kW 04 0 4 kW 08 0 75 kW 10 1 0 kW 15 1 5 kW 20 2 0 kW 30 83 0 kW 50 5 0 kW 75 7 5 kW 1A 11 kW 1E 15Kw 2B 22kW Voltage A 200VAC D 400VAC Control Mode M Speed control torque control position control E Speed control torque control position control support extended module Note 10 A ES TUN AC SERVOMOTOR EMG 10ADA22 2000 r min 1 DkW 4 78N m IP85 Ins F Ac200V3 S1 133Hz 5 N 5119063J08D Wi C Estun Automation Tachnalogy Co Ltd 133 Sango Acad Jangnin Derelopment fone Hanging 111 ME P F
116. er is used to set the operation hysteresis of gain switching This parameter is used to filter in low speed detection Low speed detection l l Pn127 E 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 Immediately P S 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 o Immediately E EN a coefficient speed Vibration will occur if this value is set too large Pn130 Friction Load Immediately PS Frictin load or fixed load compensation Friction Pn131 compensation speed Immediately P S Threshold of friction compensation start ae Sticking damp which is in direct proportion to speed hysteresis area Pn132 Immediately ZE Ptas IET A mm mew 168 Parameter Pn200 Pn201 Pn202 Pn203 Pn204 Pn205 Pn300 Pn301 Pn302 Pn303 Pn304 Pn305 BU 2 CO O O Setting Control Description Function and Meaning Validation Mode mee o S mee Y mee POO mee o Analog encoder output orthogonal difference pulses PG divided The meaning of this value is the number of analog After restart PST l ratio encoder output orthogonal difference pulses per one s
117. erse 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 OJUse general torque feedforward external analog Tref feedforward input is invalid 1 Usegeneral torque feedforward external analog Tref feedforward input is valid 2 Use high speed torque feedforward external analog Tref feedforward input is invalid 3 Use high speed torque feedforward external Parameter Setting Control Description Function and Meaning Validation Mode analog Tref feedforward input is valid Pn005 1 Control mode 0 Speed control analog reference PCON OFF Pl control ON P control 1 Position control pulse train reference PCON OFF Pl control ON P control 2 Torque control analog reference PCON is invalid 3 Speed control contact reference speed control zero reference PCON PCL NCL OFF Switches to position control zero reference 4 Speed control contact reference speed control analog reference PCON PCL NCL OFF Switches to position control analog reference 5 Speed control contact reference position control pulse train reference PCON PCL NCL OFF Switches to position control pulse train reference 6 Speed control contact reference torque control analog reference PCON PCL NCL OFF Switches to position control analog reference Position control pulse train reference
118. ervo 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 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 12 2 Online Autotuning Procedure Do not perform extreme adjustment or setting changes causing unstable servo operation Failure to observe this warning may result in injury and damages to the machine Adjust the gains slowly while confirming motor operation Operate with factor setting Set Pn100 1 gt No N oad moment of inertia i varies Yes y Continuous online autotuning Pn100 1 2 3 4 5 6 gt No y Adjust the machine rigidity setting Set at Pn101 gt Operation OK Yes No Y Do not perform online autotuning Set Pn100 0 gt 116 4 12 3 Setting Online Autotuning Related parameters Parameter Setting Factory Setting No Range Setting Invalidation Onli
119. ervomotor rotation 1st electronic gear The electornic gear enables the reference pulse relate After restart numerator Electronic gear After restart denominator frequency doubling or frequency division to the reference pulses After restart Numerator Pn201 or Pn203 Deno min ator Pn202 with the servomotor travel distance so the host controller need not to care mechanical deceleration ratio and encoder pulses In fact it is the setting of 2nd electronic gear numerator Position reference l l l This value is used to smooth the input pulses The acceleration l l l M Immediately effect of smoothness is better when the value is deceleration time higher But lag will occur if the value is too large constant 0 1st order filter Position reference l After restart l filter form selection 1 2nd order filter Speed reference l l l l l 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 input gain Pn300 Speed reference External speed given input Analog speed given l Immediately S zero bias analog Analog speed given zero bias X Speed reference input gain The parameter can be set to positive or negative When control mode is set to D it determines the Parameter speed Immediately S speed of motor The servomotor speed is determined by this parameter when Pn005 1 D
120. es in Output Torque during External Torque Limiting Example External torque limit Pn401 Pn402 set to 300 P CL Forward External Torque Limit Input N CL Reverse External Torque Limit Input Note Select the servomotor rotation direction by setting Pn001 b 0 standard setting CCW Forward direction 109 4 9 3 Torque Limiting Using an Analog Voltage Reference Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T REF terminals CN1 26 27 This function can be used only during speed or position control not during torque control Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed control Servodrive Pn401 forward rotation torque limit T REF Torque limit value Torque reference input gain Pn400 Speed reference VREF Speed reference input t e Speed loop gain gain Pn300 Pn102 Tonguc reference Speed loop A integral time constant Pn103 Pn402 reverse rotation torque limit Speed feedback 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
121. g A filter can be applied in the servo drive to a constant frequency reference pulse 1 Selecting a Position Reference Filter 0 1 order filter Pn205 1 2 order 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 an Position er Setting Range Setting Unit Factory Setting Setting Validation i important When the position reference acceleration deceleration time constant Pn204 is changed a value with no reference pulse input and a position error of O will be enabled To ensure that the setting value is correctly reflected stop the reference pulse from the host controller and input the clear signal CLR or turn OFF to clear the error This function provides smooth servomotor operating in the following cases 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 90 4 6 5 Low Frequency Vibration Suppression 1 Note For the low rigidity 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 suppress
122. he 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 reg2oxFFFF While length 1 crc reg data for j20 j 8 j2 1 If crc reg amp 0x01 crc reg crc reg gt gt 1 0xA001 Jelse crc reg crc reg gt gt 1 j return crc reg 140 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 m Data transmission fault or checking code fault when communication is disturbed When the first and second communication faults occur the servo drive is running normally and will feed back an error frame When the third communication fault occurs transmission data will be recognized as invalid to give up and no error frame is returned The format of error frame Host controller data frame start Slave station address Data address content Checking Servo drive feeds back error frame Error frame responses code command 80y Error code 004 Normal communication 01H Servo drive cannot identify the required functions 02H The required data add
123. he Host The following circuits are required External input signal circuit or equivalent Speed Control e Standard Setting Position Control Pn005 H 1 000 Pn005 H O O10 54 2 Operating Procedure in Speed Control Mode Pn005 H L1L10L1 The following circuit is required External input signal circuit or equivalent Servodrive CN1 24V 13 S ON 14 P OT l 16 N OT 17 V REF i V REF i V REF ll V REF 2 Max Voltage 12V GND 3 Description Check Method and Remarks Check the power and input signal circuits again and check that the speed reference input voltage between the V REF and V REF is OV Refer to the above figure for input signal circuit If the servomotor rotates at extremely slow speed refer to Turn ON the servo ON S ON input signal 4 5 3 Adjusting Reference Offset and use the reference voltage offset to keep the servomotor from moving Generally increase the speed reference input a l The factory setting is 6V rated rotation speed voltage between V REF and V REF from 0 V Check the speed reference input to the servo drive E 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 Check that the Un001 and Un000 values in steps 4 Change the speed reference input voltage and check that and 5 are equal Un0
124. he 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 The positioning error setting has no effect on final positioning accuracy Reference Speed ape e Servomotor speed Error pulse Un011 Un012 COIN CN1 11 12 ll Note COIN is a position control signal This signal is used for the speed coincidence output V CMP for speed control and it always OFF high level for torque control 93 4 6 7 Reference Pulse Inhibit Function INHIBIT 1 Description This function inhibits the servo drive from counting input pulses during position control The servomotor remains locked clamped while pulses are inhibited Servodrive el Pn005 1 Pn005 H L1LIII OFF i Reference pulse gt Pn005 H O LIBI Error Counter ON gt P CON AAN COE pes Feedback pulse 2 Setting Parameters Pn005 Control mode selection position control pulse train reference SINHIBIT Mi Inhibit INHIBIT switching condition P CON signal ON low level P CON Reference pulse tl t2 0 5ms Input reference pulses are no
125. hree phase 400V ProNet 10D 75D Three phase 400V ProNet E 10D 50D L1 L2 L3 Three phase 380 440V is 50 60Hz Molded case Circuit Breaker jm eem C t C Surge Protector UJS es One ta 1Ry 1PL Servo Alarm Display e Noise Filter d Power OFF Power ON 1KM Mid KM 1Ry 1SUP Be sure to connect a surge suppressor to the 4 excitation coil of the magnetic contactor and relay Magnetic Contactor Aa L1 E i ervomotor abe T ProNet A 1 Series Servodrives B 2 P d CA OL3 V M D 4 02 eo 00 0 24V 24VDC Power Supply OGND Encoder O B1 OB1 B2 B2 External Regenerator Resistor B3 OB3 24V 1Ry T 7 ALM YA 8 ALM l 5i T 0 10 V Ground Termina OV 25 B Three phase 400V ProNet 1AD 2BD Li L2 L3 Three phase 380 440V 27 50 60Hz Molded case Circuit Breaker E ME C 4 Surge Protector t 4 1Ry 1PL Servo Alarm Display x 9 Noise Filter Power OFF Power ON A 1KM 1Ry i1SUb lt Besure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Magnetic Contactor
126. iately After restart After restart After restart After restart Immediately After restart Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately After restart Parameter O Pn311 Pn312 Pn313 Pn314 Pn315 Pn316 Pn317 Pn318 Pn319 Pn320 Pn321 Pn322 Pn400 Pn401 Pn402 Pn403 Pn404 Pn405 Pn406 Pn407 Pn408 Pn409 Pn410 Pn411 Pn412 Pn413 Pn414 Pn415 Pn500 Pn501 Pn502 Pn503 Pn504 Pn505 Pn506 Pn507 Pn508 Pn509 Pn510 Pn511 Pn512 Pn513 Pn514 Setting Factory Range Setting pum Jod EE MERE IEEE EZ 6000 6000 100 S form selection DP communication JOG speed meewd O Presea O meewd o e O ES o O Internal speed 4 Internal speed 3 6000 6000 nO O e Internal speed 5 6000 6000 200 Co O e Internal speed 6 6000 6000 300 0 Reverse external torque limit 0 0 0 0 0 50 5000 5000 N N N N a 3 anal toque given zeo wis om 00 r000 o Servo ON wargi me omo o Basi ati oms oso o N N 0 0 0 0 0 0 0 Low frequency jitter damp O 0 200 2 5 1 1 1 5 Mocata sonaro emina Talore mpursgnaltotemnal ooeec ovest Mocate ouput sarao emina vo056 ozio Bus contol nutnade ewe om 9 157 Setting Invalidation Immediately Immediately Immediately Immediately Immediately Immediately Im
127. in switching 2 Torque percentage Pn121 3 Value of offset counter 4 Value of acceleration speed setting 5 Value of speed setting 6 Speed reference input Pn122 Switching delay time 0 1ms Immediately Pn124 a Pn125 om Immediately Immediately Immediately 155 Parameter O Pn127 Pn128 Pn129 Pn130 Pn131 Pn132 Pn133 Pn134 Pn135 Pn136 Pn137 Pn138 Pn139 Pn140 Pn141 Pn142 Pn143 Pn144 Pn200 Pn201 Pn202 Pn203 Pn204 Pn205 Pn300 Pn301 Pn302 Pn303 Pn304 Pn305 Pn306 Pn307 Pn308 Pn309 Pn310 Setting Factory me Sig Pire O IC during online autotuning Tow speed correction coeficent 9 890 i Jl Friction compensation speed hysteresis rpm 0 100 area M 0 1 1000rp Sticking friction load 0 1000 m CT SI TS ewm ewm E ewm ewm SI seme seed SiS Feww ES ewm NE EN HEN ras Eu Fistelecronicgearnumerator mess gt Elecvonic gear denominator 1765535 2na aleron gear numerator 9995 Position reference Acceleration Position reference filter form selection o oa a E Parameter speed r 6000 6000 Soft start deceleration time 0 10000 Speed filter time constant 0 10000 S curve risetime 0 10000 Speed reference curve form 0 Slope 1 9 curve 0 3 2 1 order filter 3 2 order filter 156 a Setting invalidation Immediately Immediately Immediately Immediately Immediately Immed
128. ion Detection ix 9 S RDY ED NUM i Torque Limit Detection 10 S RDY BK Brake Interlock ES 11 COIN PGC Encoder C Pulse Output Y 12 COIN OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output uo 24V Signal allocatons can be modified DICOM 13 Fa R S ON Servo ON SON 14 P CON P Control t P CON 15 EE P OT Forward Run Prohibited P OT 16 N OT Reverse Run Prohibited N OT 17 ALM RST Alarm Reset ALM RST 39 wer CLR Clear Error Pulse CLR 40 I A P CL Forward Torque Limit Ho PL 41 E N CL Reverse Torque Limit N CL 42 SHOM Home ORG Zero Position 1Ry 24V EE 7 ALM Connect Shield to Connector Shell Shield Shell yk 8 ALM a ii 1D V OV ALM Servo Alarm Output a Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 40 3 5 6 Speed Control Mode ProNet Series Servodrives 10K gt 20 PAO VREF i Po 21 PAO Speed Reference 0 10V Rated Speed 2i VREF 5 40K gt 25 PBO PG Divided Ratio Output ix Applicab
129. ion Mode from gravity glissade or continuous outside force on servomotor time sequence Pn506 Basic waiting flow Immediately Servo ON waiting time pFor the parameter is plus BK signal is output firstly when servo ON signal is input and then servomotor excitation signal is created after delaying the parameter setting time Pn507 Brake waiting speed Immediately 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 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 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 Pn508 Brake waiting time Allocate input port to Pn509 0 corresponding port CN1 14 Pn509 1 corresponding port CN1 15 Pn509 signal one port with After restart four
130. ion is embedded in ProNet series servo drives by calculating the load position and compensating Low Frequency Vibration des P4 vo soe r3 a H 1 LI 1 a 5 4 Coupling i i Ball Screw d a _ i 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 e 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 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 281 Position error counter B Related Parameters Parameter O0 Low frequency vibration suppression function disabled 1 Low frequency vibration suppression function enabled Low frequency vibration frequency A Setting Range SettingUnit Factory Setting Setting Validation Low frequency vibration damp Setting Range Setting Unit Factory Setting Setting V
131. ive can be output externally PAO CN1 20 Encoder output phase A Output PAO CN1 21 Encoder output phase A PBO CN1 22 Encoder output phase B Output PBO CN1 23 Encoder output phase B Smeu PCO CN1 24 Encoder output phase C zero point pulse utpu l PCO CN1 25 Encoder output phase C zero point pulse These outputs explained here Servodrive Host Controller Encoder Phase A PAO ai Serial Data Frequency Phase B PBO ES gt dividing gt ee Phase C PCO circuit x 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 WE Output phase form Forward rotation phase B leads 90 Reverse rotation phase A leads 90 90 Phase A Phase B Phase C If a servomotor is not equipped with the absolute encoder servomotor needs two circles rotation before using the serivedr ive 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 encoder installed on the servomotor and outputs it The setting unit is the number of pulses revolution 81 B Pulse Dividing Ratio Setting PG Dividing Ratio Pn200 E Setting
132. l 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 Pn51 1 This signal indicates that when servo drive circumrotate to position of C pluse there is a correlation between the width of C pluse and the speed of servo drive sae 4 11 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 iis l l terminal output by With forward rotation setting parameter OFF high level prohibited POT and reverse rotation 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 Umt Factory Setting Setting Validation 0 1111 7 ter restart Pn000 1 1 external POT disabled Pn000 2 1 external NOT disabled Pn000 1 1 and Pn000 2 1 OT signal is ON Pn000 4 11 6 Servo Enabled Motor Excitation Output RD Signal Name Connector Pin Number Not including this setting in the default setting please Output RD choose terminal output by setting parameter Pn511 RD is on when servo enabled motor excitation 4 11 7 Torque Limit Detection Output CLT The application of output signal CLT is as follows
133. lated ground 6 RS 485 communication terminal 7 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 servo drives can be connected when RS485 is used Terminating resistances are used at both ends of the 485 network If more devices are wanted to connect use the repeaters to expand 3 CN3 of servo drive is always used as communication cable input terminal and CN4 is always used as communication cable output terminal lf still need to connect slave stations the communication cable is connected from CN4 terminal to the next slave station if need not add balance resistor in CN4 terminal It is prohibited to connect CN3 of any two servo drives directly when multiple ProNet series servo drives are connected 184 Example When RS 485 network is composed of a PLC and A B C three servo drives the cable wiring is shown as follows PLC CN3 of A CN4 of A gt CN3 of B CN4 of B CNG of C CN4 of C1200 terminating resistance 6 2 MODBUS Communication Related Parameters un Setting Parameter No Description TE Control Mode Validation Pn700 0 MODBUS baud rate 0 4800bps 1 9600bps 2 19200bps Pn700 1 Communication protocol selection 0 7 N 2 MODBUS ASCII gt 1 7 E 1 MOD
134. le Line Receiver 1 AD gt 23 520 AM26LS32A Manufactured by TI or the Equivalent 24 PCO 25 PCO 50 DGND V Signal Allocations can be Modified V CMP Speed Coincidence m 5 TGON CON Positioning Completion Rotation Detection 6 TGON S RDY Servo Ready 9 S RDY CLT Torque Limit Detection PS HOTSROY li oo Encoder C Pulse Output 7 11 V CMP OT Over Travel p 24V y 12 V CMP RD Servo Enabled Motor Excitation Output f DICOM 13 HOME Home Completion Output Signal allocatons can be modified sake ie S ON Servo ON riu ERE Gr ON Servo E CO REK P CON P Control ie E E k P OT Forward Run Prohibited CR hi t N OT 17 K N OT Reverse Run Prohibited L ALM RST 39 L5 E ALM RST Alarm Reset lo GR 1401 Lo EE CLR Clear Error Pulse R Pie P CL 41 K P CL Forward Torque Limit N GL 42 RY EK N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V 7 ALM 212 ind 8 ALM i j iD Connect Shield to Connector Shell Shield Brel Vv oV ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA a Represents Twisted pair Wires 44 3 5 7 Torque Control Mode
135. lectronic Gear Ratio Use the following procedure to set the electronic gear ratio l TENE Check the deceleration ratio ball screw pitch and pulley Check machine specifications Pen iameter Check the number of encoder 2 Check the number of encoder pulses for the servomotor used pulses Determine the reference unit from the host controller 3 Determine the reference unit used considering the machine specifications and positioning accuracy Calculate the travel distance per load shaft Calculate the number of reference units necessary to turn the load shaft revolution one revolution based on the previously determined reference units s Calculate the electronic gear ratio Use the electronic gear ratio equation to calculate the ratio B A Set parameters Set parameters using the calculated values 88 4 Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit 0 1 Reference unit 0 01mm Reference unit 0 001mm po Load shaft a Load shaft Operation k A Uea R y E a gt Deceleration ratio EA Ape 1 Deceleration ratio Cj Pulley diameter 17 bit encoder Ball screw pitch 6mm P ed 2 1 Br 100mm Load shaft Cr la 17 bit encoder 17 bit encoder l l Pulley diameter 100 mm Check machi
136. mediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately After restart After restart After restart Immediately Immediately Immediately me Ed No Range Setting Invalidation Pais mmtpotsonimeson omn o meas PmBI7 impar port signalimversion omn o mmaa If connect externally regenerative resistor 0 connect externally regenerative resistor between B1 and B2 Pn521 1 dose is ones PM iss negas regenerative resistor relay on internal capacitance This parameter is in effect only on ProNet 02 04 ProNet E 02 04 Pmps memes O Oo o gt Pza Reed O 0 p o 0 Temperature threshold of motor overheat Pn526 alarm Cc 50 180 110 Immediately omm COnly enabled in ProNet 75 1A 1E 2B AE Pn60o Position pulse in point to point control 10000P_ 9999 9999 0 Immediately Pn601 Positionpulseinpointto point control 1P_ 9999 9999 0 Immediately a ELA Pn630 Posiion puse in pomtto pontconwot P S999 9 o immedaey _ Pn69i Poslonpuseinpomtopontcon 1P 2099 0900 0 immedaey _ i TES IE 7927 BN NN Pn648 Pointtopointistorderfilter Otms 073276
137. must be automatically adjusted with the servo OFF Adjust the speed reference offset automatically in the following procedure 1 Turn OFF the servo drive and input the OV reference voltage from the host controller or external circuit Servodrive Servomotor 0V Speed Host Reference Controller Soryo OEP 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 Ea PARES 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode le IE lr l 5 Press the MODE key for more than one second the reference offset will be automatically adjusted 2428 Fal bel ad le 6 Press ENTER key to return to the utility function mode display Fn003 E bd 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 m If a position loop is formed with the host controller and the error is zeroed when servolock is stopped m 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 adjustmen
138. n 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 46 Ground Shield Box Brake power supply Servo Drive U VW e Brake Power Supply o A 5 Three phase 200VAC 5 E b me ee a 9 S Y 2 Servo Three phase 400VAC O L1C L2C 5 motor O O p ei g CN2 8 F 8 Encoder D zu Aprox 2m CN1 PE k M Core Aprox 5m PE T D Core Host controller Cable Name Specifications I O signal cable Shield cable Encoder cable Shield cable 4 AC line cable Shield cable Notes The example above shows three phase 200VAC servo drive connection 2 Cable Core and Cable Clamp a Attaching the Ferrite Core The diagram shows two turns in the cable The table shows the cable and the position where the ferrite core is attached I O signals cable Near the host controller and servodrive Ferrite core Motor cable Near the servodrive and servomotor Encoder cable Near the servodrive and servomotor Gy Cable Name Mounting Position of the Cor
139. n the power ON Using the panel operator to make sure that the servo drive is running normally If using a servomotor equipped with an absolute encoder please perform the setup for the absolute encoder Connect the power supply circuit L1 L2 and L3 servomotor wiring U V W I O signal wiring CN1 and encoder wiring CN2 But during 1 Trial Connect the input signals CN1 necessary for trial operation to the servo drive Use the internal monitor function to check the input signals Turn the power ON and check the emergency stop brake overtravel and other protective functions for correct operation Host Input the Servo ON signal and turn ON the servomotor Reference Turn the power OFF and connect the servomotor to the machine If using a servomotor equipped with an absolute encoder set up the absolute encoder and make the initial settings for the host controller to match the machine s zero position Using the same procedure as you did to input a reference in step 8 operate the servomotor via the host controller and set the parameter to make sure the machine s travel direction travel distance and travel speed all correspond to the reference Host Reference i La H The servomotor can now be operated Adjust the servo gain if necessary 51 4 1 1 Trial Operation for Servomotor Without Load Release the coupling between the servomotor and the machine and secure only the servomotor without a load To
140. n105 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 A Immediately PST 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 T sas reference Pn111 Speed bias Immediately It is used to set position feedforward The response Pn112 Feedforward Immediately Pn113 speed is faster and position error is less when this parameter setting is higher Vibration will occur if the value is set too large It is used to ease mechanical vibration due to position feedforward The feedforward lag will be enlarged and Feedforward filter Immediately result to vibration if the value is set too large Unit 0 1ms It is used to set torque feedforward and enhance response speed Immediately PS Set the load inertia percentage Pn106 correctly to enable this function in manual gain adjustment mode Pn114 Torque feedforward It is used to ease mechanical vibration due to torque Torque feedforward Pn115 feedforward Immediately filter Unit 0 1ms O Torque reference percentage uu 1 Value of offset counter P PI
141. n681 2 Change step input signal mode 0 Change step input signal electrical level mode 1 Change step input signal pulse mode Pn681 3 Reserved Pn682 Programme mode immediately Incremental programme P Absolute programme Pn683 Programme start step Immediately P Select the start Select the start point of the point to point control of the point to point control 175 Parameter um Setting Description O Validation Pn684 Programme stop step Immediately Search travel speed Control Function and Meaning Mode Select the stop point of the point to point control in position control contact reference Speed of finding Search the servomotor speed in the direction of reference point towards travel switch Pn685 Immediately reference point Hitting the origin signal ORG in position homing control Leave travel switch speed in position control contact reference Speed of finding Search the servomotor speed when the reference Pn686 Immediately reference point leaves travel switch point Leaving the origin signal ORG in position homing control Position teaching Pn687 Immediately pulse Position teaching 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 Pn688 Immediately parameters are given to the curr
142. ncremental Encoder Servodrive Host controller x x 1 A N RS gt 2 B P IPA 22 e as gt P 30 Bn T a 21 PAO A 4 D y P PB i 2 4 Phase B gt 22 PBO 5 E PC SR EE a 1 23 a 23 Bo P 605 VP IPC 2 6 k cx 24 PCO a 25 PCO tp Output line driver Appl le line AM26LS31 manufactured i npud di by TI or the equivalent as manufactured by T or the equivalent TH EE 2 8 2 9 PGSV 8 G 12 17 2 18 29 PGOV 1 18 OV 41 98 7777 Connector shell FG gt 90 eed E Connector shell Shell shielded wires ITN 1 E Pi Represents multi core twisted pair shielded wires t 1 A Y pen eim rh oe m Wire saving Incremental Encoder 2500P R Standard Wire saving Incremental Encoder Servodrive Host controller 4 B P PA 22 Phase A 20 PAO AC PB 23 a 21 PAO A 5 D yup IPB 2 4 Phase B 22 PBO 3 E PC eC a x 1 a 23 mBO P 6 E y P PC 26 Phase C 24 PCO a 5 PCO P Output line driver AM26LS31 manufactured O as 5 by TI or the equivalent manufactured by TI or the equivalent 1H bu 2 8 295 PGSV 8 G 2 17 2 18 249 paoy oy 118 4 SG 1 36 AM 9 J Mr FG Connector shell i T Connector shell Shell shielded wires Represents m
143. nd then turn them ON again to enable the new settings 70 4 4 2 Handling Battery In order for the absolute encoder to retain position data when the power is turned OFF the data must be backedup by a battery Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used Install the battary to the encoder cable A Open the shell of the battery case B Install the battery according to the following diagram Encoder cable F gt C Cover the shell of the battery case ug 4 4 3 Replacing Battery The servo drive will generate an absolute encoder battery alarm A 48 when the battery voltage drops below about 3 1V B Battery Replacement Procedure 1 Replace the battery with only the servo drive control power supply turned ON 2 After replacing the battery using the panel operator with utility function Fn011 to cancel the absolute encoder battery alarm A 48 3 Turn ON the servo drive power back again If it operates without any problems the battery replacement has been completed Note The servo drive will generate an absolute encoder battery alarm A 48 when the battery voltage drops below about 3 1V If an absolute encoder battery alarm A 47 occurred it represents that the battery voltage drops below about 2 5V and the multiturn data is lost Please reset the absolute encoder after changing the battery 4 4 4 Absolute Encoder Setup Fn010 Fn011 Setting up the
144. ne Ball screw pitch mm Rotation angle per revolution l l pulley circumference 314 mm specifications Deceleration ratio 1 360 eceleration ratio 3 1 Deceleration ratio 2 1 17 bit 32768P R 17 bit 32768P R 17 bit 32768P R Determine the 1 reference unit rference unit 1 reference unit 0 1 1 reference unit 0 01mm 0 001mm 1yum Calculate the travel distance 6mm 0 001mm 6000 360 0 1 3600 314mm 0 01mm 31400 per load shaft revolution 32768 x 4 y 1 6000 1 32768 x 4 3 _ 3600 1 A 31400 I Reduce the fraction both numerator and denominator if the calculated result will not be within the setting range B 32768x4 2 B A B A For example reduce the above numerators and denominators by four or other numbers to obtain the final results in step 7 and complete the settings 5 Electronic Gear Ratio Equation E y INNNNAAAA Servomotor 7 n lt gt HA Pitch P mm rev gt Ref 1 B 9 a eference pulse gt gt 6j c ug po 2 x oop oop i Pi At mm P Ee cL A mm P Reference unit x4 lag PG P rev PG P rev Encoder pulses P mm rev Ball screw pitch m Deceleration ratio n LRT ee ey nee Ae A B 4AxPoxmxAl 4xPe m l x Set A and B with the following parameters nxp P n A Pn202 B Pn201 Al 89 4 6 4 Smoothin
145. ne autotuning setting 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load Pn100 0 6 1 After restart 1 4 2 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Pn101 Machine rigidity setting 0 15 Immediately Speed gain acceleration relationship during online autotuning A net 3 Immediately If the setting is greater the servo gain will increase 4 12 4 Machine Rigidity Setting for Online Autotuning There are 16 machine rigidity settings for online autotuning When the machine rigidity setting is selected the servo gains speed loop gain speed loop integral time constant position loop gain are determined automatically The 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 21175 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 display part and keys located on the front panel of the servo drive Parameter setting status display and execution of utility function are enabled using the panel operator The names and functions of the keys on the panel operator are shown as follows To display the parameter settings and setting values To increase the setting value To decrease the setting value To select a basic mo
146. nnnennnnnnnnnnnnnnnnnnnnnnos 3 5 3 Three phase 400V ProNet 10D 75D ProNet E 10D 50D oocccccconononooooonnccnnononononnononnnnnnnnnnonnnnnnnnenos 3 5 4 TL hree phased00V ProNet TAD 2B D zie venis o ERR Cua tanner CUvbx A duds eve qud uie 32020 POSsItlOm CO OnirOl MOGE Sure PER NT ORaNaiso eRfionugs Mode Ree tons 9 9 ON QUe Control Mode ad LOWO TOr NOSE CONTO A O A A A A A O beac O cde 3 6 2 Precautions on Connecting Noise Filter a o 3 7 Installation Conditions of EMC Directives ooooooccnccncccnonooncnnconnononennnnnconnnnnnennnnnnnnnnrnnnnnnonnnnnnrnnennnnnnnnaneninnness 3 8 Using More than One Servo Drive oocccccnnccocccnnoccoconnonnonnononcnnnnnnonnnnnnrnnrnnnnnnnrnnnnnnnnnnnnnrnnrnnnonnnrnnrnnnnrronanennennns ON CT EY A ze A A A O rr ae 4 1 1 Trial Operation for Servomotor Without Load oocoocccnccncccncnoncnnnoncononcnnnnnnnnonnnncnnnnnnononnnnnnrnnnnnnnnannns 4 1 2 Trial Operation for Servomotor without Load from Host Reference sess 4 1 3 Trial Operation with the Servomotor Connected to the MachiN occcccccononnconccnccccnnnnccncnncnnnanancnnnnnconnns 4 1 4 Trial Operation for Servomotor with Brakes sss nennen nnns A 3 5 PosiomocoDHEoby HOS CORTO ler riada ect odd ec esa dae 4 2 Gonto MOUS SelECHON RP E 4 9 Selling Common Basic FUNCION St n a a OS 4 37 Seno he Servo ON IO Mala da 4 3 2 Switehing the Servomotor Rotation DIKeGUOEL iita oor ed a 4 3 3
147. number 00085 Hold the key to accelerate the changing p of value When the maximum value or minimum value is reached pressing INC or DEC key will have no effect 5 Press the ENTER or MODE key once to return to the display of Pn102 nl unie 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 242 5 1 6 Operation in Monitor Mode The monitor mode allows the reference values input into the servo drive I O signal status and servo drive internal status to be monitored MW Using the 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 Enden 2 Press the INC or DEC key to select the monitor number to display ni 3 Press the ENTER key to display the data for the monitor number selected at step 2 E 4 Press the ENTER key once more to return to the monitor number display era Zz El E Pal DEN Deja Peel 100 MW List of Monitor Modes Contents of Monitor Mode Display Monitor Number Un000 Un001 Un002 Un003 Un004 Un005 Un006
148. o 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 UnOO4 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 5 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 servo drive When the speed reference input is set to O V and servo OFF status enters the trial operation for position control with the host controller is completed 56 3 Operating Procedure in Position Control Mode Pn005 H L1L11L1 The following circuit is required External input signal circuit or equivalent Servodrive CN1 24V S 13 S O N dd POT gt 16 9777 00 af 1 i akue E iy 4 amp 4 4 af gt 40 V s y D gt 2 PULS S 31 n Reference pulse E SIGN gt 32 according to parameter 2 SIGN Pn004 2 setting E D gt 33 Check Method and Remarks j Match the reference pulse form with the pulse
149. od of ProNet 02A 04A ProNet E 02A 04A servo drives is different from other ProNet series servo drives Please note the specific terminal definition while wiring 2 The main circuit power supply of ProNet 02A 04A ProNet E 02A 044A is Single phase 200V 3 External regenerative resistor for ProNet 02A 04A ProNet E 02A 044A is provided by customer the model of 60W 509 resistor is recommended 4 Change Pn521 0 from 1 to 0 when using the external regenerative resistor in ProNet 02 04 servo drives 24 B Three phase 200V ProNet 08A 50A Three phase 200V ProNet E 08A 50A L1 L2 L3 Three phase 200 230V s 50 60Hz Molded case Circuit Breaker Es cae S P gt urge Protector t 1Ry 1PL Servo Alarm Display Noise Filter dL Power OFF Power ON 1KM WE LN 1KM 1Ry 1SUP Be sure to connect a surge suppressor to the re excitation coil of the magnetic contactor and relay Magnetic Contactor A 311 8 EA P ProNet Aj Meer Series Servodrives so HO L3 Vo M uim puc 001 w 3 D 4 0 2 Do s L1C JL2C Encoder OB1 p OB2 L QOBS3 24V 1Ry Xr Ja 7 ALM Bi 8 ALM j E I S 1D 5 E y Ground Terminal OV B T
150. on Reference E Fi Beam IGN CCW B PT lee pore Signal allocatons can be modified Ter S ON Servo ON P CON P Control P OT Forward Run Prohibited E N OT Reverse Run Prohibited L eer e ALM RST Alarm Reset DE Her rr CLR Clear Error Pulse L seh ir P CL Forward Torque Limit LL oe E ra N CL Reverse Torque Limit pm AS Eu SHOM Home ORG Zero Position Connect Shield to Connector Shell Shield al 50 60Hz 1Ry a pap ict AT Jjeees l 1 Tax PEL In E Ex EE 1PL Servo Alarm Display ProNet Series Servodrives E LU ncremental Wire saving Encoder 250CP RO Resolver I TT L Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Servomotor ER z lt E n o 3 ge rri 3 s o o v Q Encoder D P ww db Y db qd db Shell Shield Be sure to prepare the end of the shielded wire properly Use special communication cable to connect PC Personal Computer Note Do not short terminal 1 and 2 of CNS Shell Shield TITTET E add Shield r I I I I I I J Ms ce M fi A a rs Twisted pair Wires Y 87 To sn Pe mae dE gt no PG Divided Ratio Output lag Sa Applicable Line Receiver EE Mid AM26LS32A Manufactured by TI or the Equivalent gt n an E PUE A Signal Allocations can be Modified EO V CMP Speed Coincidence M COIN Posi
151. ons 32768x4 pulses is one revolution Therefore 1 6666x32768x4 218445 pulses 218445 pulses are input as reference pulses The equation must be calculated at the host controller The reference unit is 1 um Therefore to move the workpiece 10mm 10000um lpulse 1 um so 10000 1 10000 pulses Input 10000 pulses per 10mm of workpiece movement 87 2 Related Parameters Electronic Gear Ratio Numerator Pn201 Setting Range Setting Unit Factory Setting Setting Validation tess After restart Electronic Gear Ratio Denominator Position 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 rotation of the servomotor and n is the rotation of the load shaft B Pn201 A Pn202 Electronic gear ratio No of encoder pulses x 4 7 Travel dis tance per load shaft revolution reference units If the ratio is outside the setting range reduce the fraction both numerator and denominator until you obtain integers within the range Be careful not to change the electronic gear ratio B A ll important Electronic gear ratio setting range 0 01 lt electronic gear ratio B A s 100 If the electronic gear ratio is outside this range the servo drive will not operate properly In this case modify the load configuration or reference unit 3 Procedure for Setting the E
152. op 01 Pause 1028 Pause at node position 00 Cancel pause 1040 Clear encoder alarm 01 Clear Write only 1041 Clear encoder multi turn data 01 Clear Only 17 bit encoder 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 0000u 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 servo drive will return an operation unsuccessful signal 2 Alarm information storage area 07F1 07FA Historical alarm number Description Communication address Historical alarm 1 07F1u the latest alarm A slercalalam2 20 0724 07F9 PP Historical alarm 10 the furthest alarm 07FAu 3 Monitor data area 0806 0816 The monitor data is corresponding to servo drive panel displays Un000 UnO16 For example the corresponding data of communication address 08074 speed setting is FB164 Therefore the speed setting is 1258r m 145 4 MODBUS communication lO signal Use communication to control digital lO signal This data will not be saved after power off Itis operated with Pn512 and Pn513 as the communication input lO signal That is to say when the parameters setting in Pn512 and Pn513 enable the IO bit the IO can
153. output form Set the reference pulse form with Pn004 2 from the host controller Set the reference unit and electronic gear ratio so that it Set the electronic gear ratio with Pn201 or coincides with the host controller setting Pn203 Pn202 Turn the power and the servo ON input signal ON AS Send the slow speed pulse reference for the number of Set the servomotor speed of several 100rpm for the servomotor rotation easy to check for example one reference pulse speed because such speed is safe servomotor revolution from the host controller in advance Check the number of reference pulses input to the servo Refer to 5 1 6 Operation in Monitor Mode for how drive by the changed amount before and after the Un013 and it is displayed Un014 input reference pulse counter pulse were executed Check whether the actual number of servomotor rotation Refer to 5 1 6 Operation in Monitor Mode for how Un009 Un010 coincides with the number of input reference it is displayed Check that the servomotor rotation direction is the same as Check the input pulse polarity and input reference the reference pulse form Input the pulse reference with the large number of Set the servomotor speed of serval 100rpm for servomotor rotation from the host controller to obtain the the reference pulse speed because such speed is constant speed safe Check the reference pulse speed input to the servo drive using the Un008 input reference pulse speed
154. power terminals for 5 minutes after turning power OFF because high voltage may still remain in the servo drive 3 1 1 Names and Functions of Main Circuit Terminals Servo Servo Main Terminal Circuit Drive Drive Symbol Voltage V Model Model 9 ProNet Pronet E mM Single phase 200 230VAC 10 15 50 60Hz m uu Three phase 200 230VAC 10 15 50 60Hz ERU sia Three phase 380 480VAC 10 15 50 60Hz TAD2BD Three phase 380 440VAC 10 15 50 60Hz Normally not connected ET Connect to the servomotor Servomotor UV W connection terminals power supply 9AVGND input terminal Ground terminals External 1AD 2BD Single phase 380 440VAC 10 15 50 60Hz 10D 5D 10D 50D 24VDC 10 10 Connects to the power supply ground terminals and servomotor ground terminal Connect an external regenerative resistor provided 02A 04A 02A 04A by customer between B1 and B2 O8A 50A O8A 50A f use an internal regenerative resistor please short B2 and B3 Remove the wire between B2 and B3 and 10D 75D 10D 50D regenerative B1 B2 B3 l resistor connection TEM 200 02A 50A 02A 50A Single phase 200 230VAC 10 15 50 60Hz LicLac Control circuit 200 02A50A gle p 208 Main Circuit Voltage V terminal connect an external regenerative resistor provided by customer between B1 and B2 if the capacity of the internal regenerative resistor is insufficient Connect
155. pply 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 gt D Be sure to connect to protect electric shock 16 Connects to the encoder in the servomotor Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices 1 O signal connector Used for reference input signals and sequence l O signals Encoder connector Connects to the encoder in the servomotor E ProNet 30D 50D 75D ProNet E 30D 50D O Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main Poweranind cator Arei pewar supply Lights when the control power supply is capacitor remains charged Bn Malin circu Po L1 Connector for communication supply terminales gt Used to communicate with other devices Used for main circuit power supply input HRD o i s Bo UR ye a 1 O signal connector Z z j Used for
156. 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 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 Secure the servomotor The servomotor may tip over during rotation flange to the machine Do not connect anything to the shaft no load conditions Check the power supply circuit servomotor and encoder With the I O signal connector CN1 disconnected wiring check the power supply circuit and servomotor wiring Refer to 3 1 Main Circuit Wiring Turn ON the control power supply and main circuit power If the power is correctly supplied the panel operator display on the front panel of the servo drive will appear as shown on the left The display on the left indicates that forward run prohibited P OT and reverse run prohibited N OT P d baba If an alarm display appears the power supply circuit servomotor wiring or encoder wiring is incorrect If an alarm is displ
157. pters Addition ProNet 10D 15D MI Appendix B Addition Alarm A67 and A69 MN Revision ProNet 7 5kW 15kW appearance Chapter 1 and 3 2012 03 V1 25 Addition Resolver description Appendix Addition Reserved some parameters Addition Pn301 and Pn415 Revision Pn307 Pn304 Pn681 Pn840 Addition Alarm A19 A22 Pn523 Pn525 Pn526 Deletion A20 BOE T P Atenan Deletion Incremental wire saving encoder Addition 3 6 Addition 3 7 Installation Conditions of EMC Directives Addition 3 8 Using More than One Servo Drive 2012 10 All chapters Revision Connection Example for 2012 12 V2 01 4 6 1 Open Collector Gate Output T ProNet 02A 04A ProNet E 02A 04A u Add and revise note ProNet 02A 04A ProNet E 02A 04A 2013 1 V2 02 3 5 1 Add and revise note Appendix A 3 Add note Revision ProNet 30A ProNet 50A 2013 1 V2 03 1 ProNet E 30A ProNet E 50A Max Output Revision the value of external regenerative 2013 4 V2 04 3 1 2 l resistors Q Add ProNet E Servo Drive Add three phase 400V power supply models ProNet 10D 75D ProNet E 10D 50D ProNet 1AD 2BD Delete EML model Current Ub Revision the value of external regenerative resistors za Add Operating Conditions electric power system Addition 2 1 7Insatall to the Client Copyright O 2011 ESTUN AUTOMATION TECHNOLOGY CO LTD All rights reserved No part of this publi
158. rcuit power supply is Pawerieaay and pera E oe ON ane nae o Not lit when main circuit power supply is Not lit when main circuit power supply is OFF OFF Lit if servomotor speed exceeds preset Lit if servomotor speed exceeds preset Rotation value Not lit if servomotor speed is below Rotation value Not lit if servomotor speed is detection preset value detection below preset value TGON Preset value Pn503 factory setting is 20 TGON Preset value Pn503 factory setting is rpm 20 rpm B Codes Display Baseblock JA Servo OFF servomotor power OFF Run Forward Run Prohibited Hlal CN1 16 P OT gt is OFF Reverse Run Prohibited CN1 17 N OT is OFF Alarm Status ET Press ENTER key to clear the present servo alarm 120 5 1 5 Operation in Parameter Setting Mode The servo drive offers a large number of functions which can be selected or adjusted by the parameter settings Refer to A 1 Parameter List for details 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 bal BALE Press INC key or DEC key to select parameter number Alia ten 3 Press ENTER key to display the current data of Pn102 ray tt 4 Press the INC or DEC key to change the data to the desired
159. reference input Control power supply 0 signals and sequence l O terminals av KB signals Used for control power GND gt supply input Encoder connector Regenerative resistor 5 ra Connects to the encoder connecting terminals ii E in the servomotor Used to connect external regenerative resistors U Servomotor terminals v Connects to the servomotor wil power line Ground terminal QD Be sure to connect to protect electric shock e Esn B ProNet 1AD 1ED 2BD O termal parado F aL isp Pues dica kerminals i e condal por Used kor control posar gis wen the man ci LI Oz rap p v E CH nni E Conmcstor or comruntarcon Min eleli ranr sa TE ap long as la ral c Di CONI L1 a Da Deb tmi ds u 13 ML T Er erm LR ARAFO Up UE CI IA LIA mE s Ein T aa co NM D cane Pea rare sva app imi LLE A 3317 VDITHT o7 pora line HA ees ae l ell be bl mee es bal ees IJLIL ncc Ege leer or naa n gnais E ALEA Pia de In imm mada ur dle FI Imm 247 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 occur Please observe the installation instructions described below to install the servomotor correctly Before installation Anticorrosive paint is coated on the edge of the
160. respond to parameter Pn600 x 10000 reference pulse and Pn601 x 1 reference pulse Set Pn600 100 Pn601 100 No 0 offset value Pn600x10000 reference pulse Pn601x1 reference pulse 100x10000 reference pulse 100 x1 reference pulse 999900 reference pulse With the same principle we can conclude in order to get the same results we also can set Pn600 99 and Pn601 9900 Thus we can see when the two parameters are not zero we can get same result by two ways one is to set the two parameters both negative or both positive or one negative the other positive Speed Speed 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 aTime 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 by a point number among start point in program When running point control program if error counter is set a
161. ress does not exist in the servo drive 03H The required data in servo drive is not allowed Beyond the maximum or minimum value of the parameter 04u Servo drive starts to perform the requirement but cannot achieve it For example Servo drive axis number is O3u write data O6u into parameter Pn100 is not allowed because the range of parameter Pn100 is 0 6 The servo drive will feedback an error frame the error code is O34 Beyond the parameter s maximum value or minimum value Host controller data frame start Slave station address Data address content Checking HE 03 061 00024 00064 Servo drive feedback error frame Besides if the data frame sent from host controller slave station address is 004 it represents this data is broadcast data servo drives will not feed back any frames 143 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 07FA Alarm information memory area Ten alarms historical record Read only O7FB Speedreferencezerooftset Readies O7FC Torque reference zero offset Readwrie OD uzeroottset Ready o jizeoofe 3 3 Ready Monitor data corresponding with 0806 0816 displayed data 0806 Speed feedback Read only 0807 Input sp
162. 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 y Step 4 Go to step 5 till the third step has been executed for 8 times otherwise return to step 3 Step 5 Repeat the steps from 2 to 4 for the next bit of instruction information the comment of CRC register is the CRC error detection value while all the bits have been executed by the same way Note After calculating out the CRC error detection value the CRC low bit should be filled first in instruction information and then fill the high bit of CRC Please refer to the following example Read 2 words from the 01014 address of 014 servo The final CRC register content calculated from ADR to the last bit of data is 37944 and then the instruction information is shown as follows Please be sure that 944 is transmitted before 37 CMD Ms 014 ET bit Data start address 01 low Olu lowbi Data number 00 y high bit count as word 02 low bit CRC checking 944 low bit CRC checking 374 high bit End1 End0 Communication is complete tai ASCII mode Communication is end with 0D namely character carriage return and OA namely character n new line RTU mode When the time exceeds the sleep interval of at least 4 bytes transmission time in current communication speed means t
163. rom 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 6 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 forward direction Homing in the reverse direction IDEO Return to search C Pulse when homing Pn689 Directly search C Pulse when homing Homing function disabled Homing triggered by SHOM signal rising edge Applicable control mode position control Homing operation can only be operated when COIN is ON Pulses sending from the host controller is
164. rpm itis displayed Check the servomotor speed using the Un000 servomotor speed rpm itis displayed To change the servomotor rotation direction without changing the input reference pulse form refer to Check the servomotor rotation direction 4 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 8 again after the servomotor rotation direction is changed When the pulse reference input is stopped and servo OFF status enters the trial operation for servomotor without load in position control mode is completed 57 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 E a A Br Secure the servomotor flange to the machine and connect the servomotor shaft to the load shaft by using a coupling 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 before checking the brake operation Check that both servomotor and brake operations are correct For details refer
165. s 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 95 Settin Para No Name and description SEU erat 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 reference point Speed towards limit switch is called speed of looking for reference point
166. s the position of JPOSO needs control to reach The number of servomotor rotation revolutions is related with the programme mode of JPOSO l N l l point to point control Pn601 Position pulse in Immediately Pn600 Unit 10000P Pn601 Unit 1P point to point control The meaning of other point to point control related parameters are the same JPOS15 Position The two parameters are used in combination and the Pn630 pulse in point to point Immediately algebraic sum of them is the position of JPOSO needs control JPOS15 Position to reach The number of servomotor rotation revolutions is related with the programme mode of Pn631 point to point control pulse in point to point Immediately control 3d 74s Parameter n Setting Control Description ON Function and Meaning Validation Mode JPOSO Point to point JPOSO Point to point speed control Pn632 Immediately control Unit The speed of other point to point control Se of other point to point control 5 Point to l D speed of JPOS15 point to point control Pn647 Immediately point speed control Unit rpm JPOSO l l l 1st order filter time of JPOSO point to point control can Pn648 Point to point Immediately stop or start the servomotor mildly 1st order filter du o tt order filter of other point to point control 1st 1st order filter of other point to point control filter of other point to point control JPOS15 Point to
167. scribes the automatic and manual servomotor current detection offset adjustment Note Offset adjustment of the servomotor current detection signal is possible only while power is supplied to the main circuit power supply and with the servo is OFF Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other servo drives f 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 Cl BARES 3 Press the ENTER key to enter into the automatic adjustment of the servomotor current detection signal mode mM 4 Press the MODE key the display will blinks for one second The offset will be automatically adjusted larmes 4 Y NN E ird 1e 5 Press the ENTER key to return to the utility function mode display Fn005 Dela i 130 Polenta 5 Thus the automatic offset adjustment of the servomotor current detection signal is completed NW 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
168. select the utility function mode 2 Press the INC or DEC key to select parameter Fn004 Ea 1 3 Press the ENTER key to enter into the speed reference offset manual adjustment mode a Eid 4 Turn ON the servo ON S ON signal The display will be shown as below ddr 5 Press the ENTER key for one second to display the speed reference offset amount Leder eni 6 Press the INC or DEC key to adjust the amount of offset a c Da w 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 Fa 1 9 Thus the speed reference offset manual adjustment is completed 77 4 5 4 Soft Start The soft start function converts the stepwise speed reference inside the servo drive to a consistent rate of acceleration and deceleration Pn310 can be used to select the soft start form 0 Slope 1 S curve 2 1 order filter 3 2 order filter Soft Start Acceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation Soft Start Deceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally set speeds Set both Pn306 and Pn307 to 0 for normal speed control Set these parameters as follows Pn306 The time interval from the time the servomotor
169. set are enabled with panel operator Note When alarm occurs always remove alarm reasons before resetting alarms ES 4 11 2 Rotation Detection Output Signal TGON Signal Name Connector Pin Number Setting Meaning Servomotor is operating Servomotor CN1 5 CN1 6 SNO ENE speed is above the setting in Pn503 Output TGON i i Servomotor is not Factory setting OFF high ina S level operating ervomotor m 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 11 3 Servo Ready S RDY Output Signal Name Connector Pin Number Output S RDY factory setting OFF high level Servo is not ready This signal indicates that the servo drive received the servo ON signal and completed all preparations lt is output when there are no servo alarms and the main circuit power supply is turned ON 4 11 4 Encoder C Pluse Output PGC Not including this setting in ON low leve
170. splay Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay ProNet Series Servodrives Incremental Wire saving Encoder 2500P R O T Nt Be sure to prepare the end of the Be sure to ground shielded wire properly 7 9 Use special communication cable to connect c AK my bE Duh PC Personal Computer Speed Reference 0 10V Rated Speed rre 2 Kt pz EG ESAS ed me E 9 TER ANE Note Do not short terminal 1 and 2 of CN3 REPT i s Bhell Shield Torque Reference 0 10V Rated Torque Y L a iet p ean I EA A ra E al pen collector Reference Use EA ae EE Bache Position Reference PULS CW A T t i 6 ze ee qom p ed SIGN CCW B AAA LASA 2 CL pse p dex Shield r e 24V Signal allocatons can be modified E preom t PA SM too EH EAE SER P CON P Control E PP CON TTS H jee DIF PG Divided Ratio Output P OT Forward Run Prohibited roe eo preo Applicable Line Receiver i hi EE m AM26LS32A Manufactured by TI or the Equivalent N OT Reverse Run Prohibited OT 177 gt 7 aio Peset TESTES o ES BOSSA CERE ear Error EUS PATA PET P CL Forward Torque Limit Per V FM TS Signal Allocations can be Modified N CL Reverse Torque Limit we E V CMP Speed Coincidence SHOM Home 2 IGON COIN Positioning Completion RG Zero Position 6 ON TGON Rotation Detection ORG Zero Positio el Bess S RDY Servo Ready kE Je Et c
171. starts until the servomotor maximum speed is reached Pn307 The time interval from the time the servomotor is operating at the servomotor maximum speed until it stops Servomotor maximum speed After soft start Before soft start 4 5 5 Speed Reference Filter Time Constant Speed Reference Filter Time Constant Speed 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 78 4 5 6 S curve Risetime S curve Risetime Speed Setting Range Setting Unit Factory Setting Setting Validation SSA 4 5 7 Using the Zero Clamp Function 1 Zero Clamp Function The zero clamp function is used for systems where the host controller does not form a position loop for the speed reference input When the zero clamp signal P CON is ON a position loop is formed inside the servo drive as soon as the input voltage of the speed reference V REF drops below the servomotor zero clamp speed The servomotor ignores the speed reference and 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
172. t The offset adjustment range and setting unit are as follows Torque reference Offset adjustment range Offset adjustment range gt 1024 1024 Analog voltage input Offset setting unit Note When the offset using in automatic adjustment 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 ere 3 Press the ENTER key to enter into the speed reference offset manual adjustment mode EE 129 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 Leder ed 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 Ed EE 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 de
173. t 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 OFF high level Counters reference pulses 94 4 6 8 Position Control contact reference Position control under contact reference parameter Pn005 1 C In this mode servo drive can position with a single axes without a host controller There are 16 position control points with each 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 mAdjusting offset Offset of each points has two correspondent parameters one unit of the parameter is x 10000 reference pulse and the other is x 1 reference pulse Setting range of both parameters is 9999 9999 while offset value equals sum of those two values For example No 0 offset cor
174. t even after the power is turned off residual voltage still remains in the capacitor inside the servo drive If inspection is to be performed after the power is turned off always wait at least 5 minutes to avoid the risk of an electrical shock m Keep servo drives and other devices separated by at least 10mm The servo drive generates heat Install the servo drive so that it can radiate heat freely When installing servo drives with other devices in a control panel provide at least 10mm space between them and 50mm space above and below them Please install servo drives in an environment free from condensation vibration and shock m Perform noise reduction and grounding properly Please comply with the following instructions strictly to avoid the noisy generated by signal lines 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 servo drive 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 servo drive under the following conditions 1 Input voltage AC 1500Vrms 1 minute 2 Braking current 100mA 3 Frequency 50 60Hz 4 Voltage applied point Between L1 L2 L3 terminals and frame ground m Use a fast response type ground fault interrupter For a ground fault interrupter always use a fast response type or one designed for PWM inverters Do not use a time dela
175. t the temperature panel around the periphery of the servo drive does not exceed 55 C Suppress radiation heat from the heating unit and a temperature rise caused by When installed near a l l l convection so that the temperature around the periphery of the servo drive does not heating unit exceed 55 C When installed near a REIP l l ee mM Install a vibration isolator underneath the servo drive 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 servo drive but will eventually cause contactor related devices to malfunction Om Avoid installation in a hot and humid site or where excessive dust or iron powder is ers present in the air 90 2 2 3 Installation Orientation Install the servo drive perpendicular to the wall as shown in the figure The servo drive must be oriented this way because it is designed to be cooled by natural convection or a cooling fan if required Firmly secure the servo drive through two mounting holes Wall S Ventilation 2 2 4 Installation Method When installing multiple servo drives side by side in a control panel observe the following installation method Cooling Fan Cooling Fan a N a N 50mm min BEER 5 82565 co a
176. t uat teat tien Baul H9 465 Communication WINNT s S ics ieca uela caet roe Role AA A a aaea 6 2 MODBUS Communication Related Parameters occcccccccccoconnnnnnnconnnnnnnnnnnnnnnnncnnnnnnnonanancnnnnnonnnnnnnnnnrnnonnnnnanens 6 3 MODBUS Communicalon Protocol cir tele dte iE ltd tetera tddi 0 31 Gode Mean ana aa ivi 6 9 2 Communication Error Disposal esre a EN Hte cos ees cere ee Qaae cC clade ten d Rag 6 3 3 Data Communication Address of Servo State sss nennen nennen nnns Chan m CO PPP M I Specilicalloris arcb C Hal a IBES doeet A dd M M MEE Pal Servo dive SpecilicadoDs ahd Mode Sisrrcita dada 7 2 Servo duvepimensiornal DAWN IS A A A A RA A A A aE APM cien ln is Asa pPescipilonol Farameter TVDO eds is a a OM refe gies aren AS Parameters IA QGTANA S Sivsaadeouiceesseatecsssueussaneietanexaasacstcundidcn cere a PADD CTC ii E teva O IS BIB set O anand esertaeuveuamcetev PI MINE 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 servo drive 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 Howev
177. t2 gt lms Time sequence when Pn002 0 0 or 1 Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled i i PCON disabled Reference pulse i tl tl 2 t3 t4 gt 1ms Error time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse i tl t2 gt lms Pn002 1 Reserved Pn002 2 Absolute encoder selection 0 Use absolute encoder as an absolute encoder 1 Use absolute encoder as an incremental encoder Pn002 3 Reserved Pn003 0 Reserved Pn003 Binary After restart Pn003 1 Reserved Pn003 2 Low speed compensation 0 Without low speed correction 1 With low speed correction to avoid servomotor creeping but the degree of correction is determined by the setting in Pn219 Pn003 3 Overload enhancement 0 Without overload enhancement function 1 With overload enhancement function which can enhance the overload capacit
178. tation Servo ON 2 Press the MODE key to select the utility function mode 3 Press the INC or DEC key to select parameter Fn003 75 Foetal 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode Fal Bed dB ES 5 Press the MODE key for more than one second the reference offset will be automatically adjusted NN Y y Leeda N Fa Ped Ll 7 Press ENTER key to return to the Fn003 display of the utility function mode Call PAJA ES 8 Thus the speed reference offset automatic adjustment is completed 76 2 Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment Fn004 in the following situations 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 automatic adjustment mode This function operates in the same way as the reference offset automatic adjustment mode Fn003 except that the amount of offset is directly input during the adjustment The offset setting range and setting unit are as follows Speed Reference A Offset adjustment range Offset adjustment range 1024 1024 Offset setting unit gt Analog voltage input Adjust the speed reference offset manually in the following procedure 1 Press the MODE key to
179. ternal 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 Pn005 H 1 The setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect n800 Setting Range Setting Unit Factory Setting Setting Validation Set the voltage level for the speed that is to be externally limited during torque control 4 8 Operating Using Speed Control with an Internally Set Speed The function of internally set speed selection allows speed control operation by externally selecting an input signal from among seven servomotor speed setting made in advance with parameters in the servo drive The speed control operations within the three settings are valid There is no need for an external speed or pulse generator Servodrive CNI Internally set speed parameters aer BOR P dd 15 SPEED1 Pn316 Servomotor SPEED2 Pn317 Speed reference SPEED3 Pn318 Oj gt M Contact inputs 41 pus4 men __ y ma SPEED4 Pn319 i SPEEDS Pn320 d 42 SPEED6 Pn321 pee 3 N CL o NM SP
180. the servo ON condition This eliminates the need to wire S ON but care must be taken because the servo drive can operate as soon as the power is turned ON Parameter Meaning External S ON signal enabled Factory setting 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 61 4 3 2 Switching the Servomotor Rotation Direction The rotation direction of the servomotor can be switched without changing the reference pulse to the servo drive or the reference voltage polarity This causes the travel direction of the shaft reverse The output signal polarity such as encoder pulse output and analog monitor signal from the servo drive does not change The standard setting for forward rotation is counterclockwise as viewed from the servomotor load end Reference Parameter Forward reference Reverse reference Standard setting CCW forward facto ry S etti n g Ti 3 7 put y y r Encoder pulse division output J Reverse rotation mode bl z 112 CW fo rward f e Teh I Da Ise division output
181. 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 grounding terminals of control panel 3 6 2 Precautions on Connecting Noise Filter 1 Noise Filter Brake Power Supply Use the noise filter Manufactured by SCHAFFNER at the brake power input for servomotors with holding brakes Relationship between servo drive power and noise filter current 44 Note 1 Single phase servo should apply two phase filter Three phase servo drive should apply three phase filter 2 Choose the right filter according to the items operate voltage operate current manufacturer 2 Precautions on Using Noise Filters Do not put the input and output lines in the same duct or bundle them together X O m AAA Noise gt Noise EH Filter Th E Filter li gg y vvv ee vvv Ground plate Ground plate AAA AAA Noise Noise Filter Tt ES Filter LIN FAT d 17
182. the speed torque control and position control types QD Y 119 B Bit Data Display Speed Torque Control Mode Position Control Mode Bit Data Description Bit Data Lit when the difference between the o E l Lit if error between position reference servomotor and reference speed is the EN MEM and actual servomotor position is below Speed same as or less than the preset value Positioning uu mE l preset value Coincidence Preset value Pn501 factory setting is Completion l Preset value Pn500 10 pulse is factory 10rpm l setting Always lit in torque control mode Base lock Lit for base block Not lit at servo ON Base block Lit for base block Not lit at servo ON Control l l l Control Lit when servo drive control power is Lit when servo drive control power is ON power ON power ON ON Lit if input speed reference exceeds preset Speed value Not lit if input speed reference is Ber Lit if reference pulse is input eference e reference below preset value l Not lit if no reference pulse is input l o pulse input input Preset value Pn503 factory setting is 20 rpm Lit if input torque reference exceeds preset Torque value Error Lit when error counter clear signal is reference Not lit if input torque reference is below counter clear input Not lit when error counter clear input preset value signal input signal is not input Preset value 10 of rated torque Lit when main circuit power supply is ON Lit when main ci
183. tioning Completion E La A TGON Potation Detection IL Rc S RDY Servo Ready DL CLT Torque Limit Detection CM holaa BK Brake Interlock EMI A PGC Encoder C Pulse Output E a eal Ga OT Over Travel BAM RD Servo Enabled Motor Excitation Output LL I HOME Home Completion Output l Ry 24V Lou ee a ree ow ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 3 5 3 Three phase 400V ProNet 10D 75D ProNet E 10D 50D L1 L2 L3 Three phase 380 480V 1 50 60Hz Molded case Circuit Breaker E Pm C HU nana t ux 1Ry 1PL Servo Alarm Display z me Q Noise
184. to MODE key the servomotor TL r 3 The servomotor will run in forward direction when INC x DN i key pressed or in reverse direction when DEC key mensis INC or DEC key pressed The servomotor will operate as long as the c key is pressed um Reverse running Press the ENTER key to return to the Fn002 display ENTER key of the utility function mode Now the servo drive is servo OFF The servomotor s rotation direction depends on the setting of parameter Pn001 O Direction Selection Note The example above describes operation with Pn001 0 in the factory setting 53 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 servo drive Also check the wiring and polarity between the host controller and servo drive and the servo drive operation setting are correct This is final check before connecting the servomotor to the machine 1 Servo ON Command from t
185. uco Limit Detection ROY Brake Interlocl DA bee PGC Encoder C Pulse Output ER ree Travel EM ES d j Servo Enabled Motor Excitation Output rsen HOME Home Completion Output TRy s24V AEN P Connect Shield to Connector Shell Shield ha EV Ba gt D oY ALM Servo Alarm Output A E 99 Twisted pair Wires Photocoupler Output M Maximum Operating Voltage DC30V Maximum Output Current DC50mA Note 1 The L1 L2 L3 and L1C L2C terminals wiring method of ProNet 02A 04A ProNet E 02A 04A servo drives is different from other ProNet series servo drives Please note the specific terminal definition while wiring 2 The main circuit power supply of ProNet 02A 04A ProNet E 02A 044A is Single phase 200V 3 External regenerative resistor for ProNet 02A 04A ProNet E 02A 044A is provided by customer the model of 60W 50 Q2 resistor is recommended 4 Change Pn521 0 from 1 to 0 when using the external regenerative resistor in ProNet 02 04 ProNet E 02A 04A servo drives 36 3 5 2 Three phase 200V ProNet 08A 50A ProNet E 08A 50A L1 L2 L3 l Three phase 200 230V 52 Molded case Circuit Breaker Surge Protector E Lol id Power OFF Power ON hic E Extemal Regenerator Resisotr Loos a A Be sure to ground n2 m 0 mm m we OS OS E D SD es 2 Speed Reference 0 10V Rated Speed Torque Reference 0 10V Rated Torque pen collector Reference Use ULS CW A Positi
186. ulti core twisted pair shielded wires gt Y Pi ug Incremental Absolute Encoders 17 bit Incremental Absolute Encoders Servodrive Host controller receiver SN75175 manufactured by TI or the equivalent B Resolver Host controller Applicable line receiver SN75175 manufactured by TI or equivalent K 1 PS gt Phase A LO E Ps s hase A 20 PAO EOS gt TG BATE 17 a 21 Ao PP S 4 P BAT ig Phase B 5 35 a 23 po iP eee OMNE PCO a 25 CO P Output line driver AM26LS31 manufactured by TI or the equivalent i Applicable line HO PGSV 9 x G6 PGOV 19 ov 50 DGND AM loa Ne u FG Connector shell shielded wires Connector shell Shell CEE d j AM i Represents multi core twisted pair shielded wires Note 1 There are no BAT and BAT signals in incremental encoder 2 The pin numbers for the connector wiring differ depending on the servomotors Resolver Servodrive Y MEC i gt Phase A if X L tpi sm 8 med 20 PAO D T COS 17 a 21 AO y s T cos 18 Phase B_ 22 PBO a 23 po iP Phase C 24 PCO a 235 wco fP Output line driver AM26LS31 manufactured by TI E or equivalent e H RI 9 gt G R2 19 m
187. wrong 2nd channel of current Something wrong with the inside chip of the 2nd channel NT 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 Overvoltage PS Ig IER RN dnd es e UTOR Dor pea recae naar ne X jenes ercer EXI Par rr o EET EIU FUIL MI rey Motor temperature detection sensor Encoder cable is error is break off PCIE Brake overcurrent alarm Bleeder resistor is too small Or bleeder module is faulty 178 Alarm Alarm Alarm Name re EE The parameter setting of servo drive does not match the A 42 bs Servomotor type error servomotor The parameter setting of servo drive does not match the Servo drive type error servomotor SERE lm e 3 Absolute encoder multiturn P A 45 X Absolute encoder multiturn information is faulty information error Absolute encoder multiturn Absolute encoder multiturn information is overflow information overflow PINO Battery voltage below 2 5V Absolute encoder multiturn information is loss c Battery voltage below 3 1V Battery voltage is too low Serial encoder communication Encoder disconnected encoder signal disturbed encoder overtime error or encoder decoding circuit error Absolute encoder multiturn information may be faulty Error reasons 1 The battery is not connected or the battery voltage is Absolute encoder overspeed alarm u
188. y 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 E ProNet 30A 50A ProNet E 30A 50A Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices I O signal connector Used for reference input signals and sequence l O signals Encoder connector OBEH O M A V 4 CHARGE a d3 L1 L2 z H da B bead B f B2 d o l V o vj g p gt E 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 su
189. y 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 Apauris Man lala ais a aA 1 o o decus tee iita AE EEE N tent acest sd eran dien NEEE Ua r 2 esie T T QaQ 7 Checking Products and Pans Name Santi tidad 7 dal GHeCKING Products on DGIIVENY e cand A a Ese 7 LE o ES ENOMOTO NE ER tne ON MOD IPRC LOTTE NTP OR EET ONERE UIT 7 a A ore upbeat eeu AE A 8 O 14 RATES O Di T c TREES 14 SA A IA 14 Glo rmm 18 A EDT mE MT ean leas 18 2 MeL VO MIO LO Beso sei are age ELM Mauer A EAA ou 18 ZO a A A E 18 ZW ce NN tala OSOS toi del 18 2 ko Iarri reas leisure 19 21 42 Installation COGO 2 e Boos eh a eet a e lacada 19 2 to Handing Oran Water cscccetsatcs rossi I I th steticereudasalsincat 19 ZA E AA A tect ttet cankacauell 20 21 7 Aostako the CeT mia ida 20 22 A c eates 20 2 2 a AAA A 20 222 MS talla ion ot
190. y when servomotor exceeds the 2 times rated overload It is used in frequent power ON OFF occasions 162 Parameter No Pn004 Pn005 Description Setting Control pis Function and Meaning Validation Mode Pn004 0 ALL Pn004 1 P Pn004 2 P Pn004 3 P After restart Pn005 0 pos Pn005 1 After restart ALL Pn005 2 P 163 Pn004 0 Stop Mode 0 Stops the servomotor by applying DB and then releases DB 1 Coast to a stop 2 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 3 Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 4 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode 5 Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode Pn004 1 Error counter clear mode 0 Clear error pulse when S OFF do not when overtravel 1 Do not clear error pulse 2 Clear error pulse when S OFF orovertravel excep for zero clamp Pn004 2 Reference pulse form 0 Sign Pulse 1ICW 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 inv

pronet e 10 a

Contents

Download Pdf Manuals

Related Search

Related Contents