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EDC-E series AC Servo User's Manual

1. In A am a ig Je Es E id gt O o T EsTuri EA U JH TOUAOE Without cooling fan A i gei S Ecg mee 04 50 ae ge gt s a g C p SERVODRIVE l r oF 1 0 o A r CHARGE POWER e U WIEN E e We e We conl E fe gf UI No SCH mM a B N i Je ES i L hr Jr r Di DH E KC eN H ESTUN o A A 106 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Appendix A Parameter list Para No Name and Meaning Unit Setting range Default Remarks Pn000 Enable Disable Servo On input signal S ON 0 Enable Servo ON input signal S ON 1 Enable internal servo ON S ON
2. AUTOMATION EDC Series AC Servo User s Manual 6mm Ball screw Load movement amount of bearing shaft one round rotation 6000 Reference unit 0 001mm conto Bearing shaft B 2500x4x1 Pn022 A Electrical gear ratio __ J eg ii A 6000 Pn023 Incremental encoder Ball screw pitch 6mm 2500P R Setting Pn022 5 value Pn023 3 Platform i ion Z IT Load movement amount of bearing shaft one round rotaion 3600 0 1 T BN _2500x4x3 Pn022 Reference unit 0 10 Electrical gear ratio 3600 Pn023 A Reduction ratio 3 1 Bearing shaft Setting Pn022 75 Incremental encoder value Pn023 9 2500P R m Dynamic electronic gear If system pulse frequency is low and only one electronic gear is used it s hard to give consideration to use both processing efficiency and position resolution Therefore the servo has a second electronic gear numerator and both can be switched dynamically In position control mode Pn041 0 after 2 electronic gear is enabled Pn056 1 dynamic electronic gear becomes active Switching electronic gear requires PCON signal input signal select Pn051 s biti 1 It is better to switch electronic gear without any pulse input otherwise pulse loss may occur Since electronic gears will not switch until there is no pulse input that is within 1ms Numerator of electronic gear after switching is the value of Pn056 The sequence is as shown below P
3. UDUODDDA See the signal definition details in the following table Pitch Signification 1 VCC internal 5V power supply of servo drive 2 TX RS232 COM transmission foot 3 RX RS232 COM receiving foot 4 GND grounding of internal power supply of servo drive 5 FG connect the shield layer of COM to the earth Following diagram shows how to connect a PC to EDC s COM port 86 ESTUN EDC E Series AC Servo Users Manual PC DB9 connector EDC communication connecto Shell FG Note e Depending on different environment situations and communication speeds effective communication distance also varies When communication baud rate exceeds 38400bps a communication cable within one 1 meter long is required to ensure transmission accuracy e It s suggested shielded cables are used for communication subject to the two shield layers are connected to their own pitches e When external interface is RS422 or RS485 it s required to use external converting module for connection to servo drive 8 2 Communication relevant parameters When the value 0 is selected as the panel shaft number of EDC servo drive then servo drive is able to communicate with the panel operator and PC via the company s internal protocol which has nothing to do with the communication parameters Pn060 Pn061 or Pn062 When the values in the range of 1 E is selected as the panel shaft numbers
4. EDC servo drive have only one overtravel input signal 1CN 6 so users can only select overtravel limit in a single direction Please be aware that when you are running the system for the first time it s required to identify forward and reverse direction before making settings in the overtravel parameter It is advised that the user connects the limit switch according to following diagram to avoid possible mechanical damage Reverse Forward Servo drive Servo motor Limit switch P OT 1CN 6 N OT 1CN 7 Following table shows the drive status when input signal is ON and OFF Signal Status Parameter Input level Comments Pn001 0 ON 1CN 6 L level Forward direction is allowed Normal Pn051 3 P OT Seen Pn001 0 Forward direction is OFF Reverse OFF 1CN 6 H level GE Pn051 3 direction is available Pn002 0 ON 1CN 7 L level Reverse direction is ON Normal Pn052 4 N OT Pn002 0 Reverse direction is OFF Forward OFF 1CN 7 H level Kee Pn052 4 direction is available m Switching between Enable Disable overtravel input signal By setting the parameter as in the following table user may select Enable or Disable the overtravel input signal Default is ON Para f Setting Description Unit Default No range Enable Disable input signal prohibited P OT Pn001
5. ESTUN Servomotor 1 2 3 4 5 6 7 EMJ Model 1 2 Rated Output 4 Encoder 7 Option 02 200W p Wire saving Incremental 1 None 04 400W Encoder 2500P R 2 With oil seal 08 750W 3 With brake DC 24V 10 1000W 5 Designing Sequence 4 With oil seal and brake DC 24V 3 Voltage A Designing Sequence A 200VAC 6 Shaft End 1 Flat Without Keys Standard Flat With keys With Screw Thread 1 1 2 Servo drive H Appearance and Nameplate 1PH 200 230V 50 60Hz 6 8A OUTPUT 3PH __0 230V _ 0 240Hz 4 00 A Serial No Operating Ambient Temperature 0 55 C Hazardous Voltage High Temperature Do not touch terminals Do not touch within 15 minutes after heatsink when disconnect the power power is ON Risk of electric shock Risk of bum ESTUN Industrial Automation Co Ltd Made in China EDCE Series AC Servo User s Manual ESTUN AUTOMATION RH Servo drive Model Designation EDC 08 APE EDC Model Servo Drive E TI Designing Sequence E Designing Sequence Rated Output Power 02 0 2kW 04 0 4kW Control Mode 08 0 75 kW P position control 10 1 0kW Voltage A 200VAC 1 2 Servo components description 1 2 1 Servo motor Following illustration shows the names of the components of a servo motor without gearbox and brake Nameplate Mounting hole Encoder Output shaft Shell Flange ESTUN AUTOMATION EDCE Series AC Servo User s Manual 1 2 2 Servo d
6. Para No Name and meanings Unit Setting range Default f 10 reference Pn080 move distance O revolution 32767 32767 1 pulse Pn081 move distance 0 reference pulse 9999 9999 0 e 10 reference Pn082 move distance 1 revolution 32767 32767 2 pulse Pn083 Move distance 1 low reference pulse 9999 9999 0 e 10 reference Pn084 Move distance 2 revolutions 32767 32767 3 pulse Pn085 Move distance 2 low reference pulse 9999 9999 0 e 10 reference Pn086 Move distance 3 revolutions 32767 32767 4 pulse Pn087 move distance 3 low reference pulse 9999 9999 0 f 10 reference Pn088 move distance 4 revolutions 32767 32767 5 pulse Pn089 move distance 4 low reference pulse 9999 9999 0 f 10 reference Pn090 move distance 5 revolutions 32767 32767 6 pulse Pn091 move distance 5 low reference pulse 9999 9999 0 10 reference Pn092 Move distance 6 revolutions 32767 32767 7 pulse Pn093 Move distance 6 low reference pulse 9999 9999 0 f S 10 reference Pn094 Move distance 7 revolutions 32767 32767 8 pulse Pn095 moving distance 7 low 1reference pulse 9999 9999 0 36 ESTUN EDC E Series AC Servo Users Manual Set parameters such as run speed acceleration deceleration time stop time and so on according to field working situation Para No Name and meanings Unit Setting range Default Pn096 Move distance 0 speed r min 0 3000
7. 24VIN Host Y IS ON Jo Optocoupler input S ON 1CN 15 Servo On ON Switch servomotor between Power on and Power of when low level is active Signal Status Input level Comments Servo ON servo is energized run servomotor ON 1CN 15 L level S ON according to input signal OFF 1CN 15 H level Servo OFF servo is not energized can t run Pn043 is used to set waiting time during Servo On which means the period of time from internal relay s action to motor electrification Parameter Name and z Setting Unit Default No meanings range Waiting time when Pn043 ms 20 2000 200 servo On Note e ts not good to start stop servomotor frequently with S ON signal Always use input reference to complete response operation otherwise servo motor s lifetime will be 51 ESTUN EDC E Series AC Servo Users Manual shortened When S ON high is active if external cable is disconnected input signal is high S ON will keep active e During deceleration of Servo OFF S ON signal is accepted only when motor speed is lower than 30r m Switch Enable Disable Servo On input signal with the following parameter Para No Name and meanings Unit Setting range Default 0 Enable Servo ON input signal S ON Decided by 1CN 15 signal 1 Disable Servo ON input signal Pnooo SON 0 1 0 Internal
8. m Parameter setting for zero adjustment 1 Select zero adjustment according to the application i Setting Para no Name and meanings Unit Default range Return method of origin Z 0 disable origin return function Z 1 origin return starts automatically only after first S ON Z 2 origin return starts automatically every prozi L o 211 0 Y 0 search Pulse C after origin has returned Y 1 does not search Pulse C after origin has returned X 0 origin returns at forward run direction X 1 origin returns at reverse run direction 2 Setting zero adjustment speed E setting Para No Name and meanings Unit Default range Speed 1 during reference searching Chit position Pn074 KC r min 0 3000 1000 limit switch Speed 3 during reference searching after Pn075 Ee r min 0 3000 5 releasing position limit switch gz 10000 Pn077 Origin return offset revolution 9999 0 pulse Pn078 Origin return offset pulse number 1 pulse 9999 0 3 Comments When zero adjustment method is selected according to practical requirements set Pn071 zero adjustment will be implemented according to this setting When zero adjustment is made the servomotor will run at the set speed of Pn074 When ZPS 1CN 17 signal is active if the parameter setting requires the servo motor to return and search Pulse C then motor will run reverse at the set speed of Pn075 otherwise motor will run fo
9. 97 ESTUN AUTOMATION EDCE Series AC Servo User s Manual rite Meaning Comments Operation address 080AH Pulse number of Encoder rotation read only 080BH input signal status read only 080CH status of encoder signal read only 080DH status of output signal read only 080EH Pulse given read only 080FH Current position low Unit 1 reference pulse read only S Unit 10000 reference 0810H Current position high read only pulse 0811H error pulse counter low 16 position read only 0812H error pulse counter high 16 position read only 0813H Given pulse counter low Unit 1 reference pulse read only 0814H Given pulse counter high A ter arene read only pulse 0817H Current alarm read only 07F1 07FAH Alarm information storage area 10 History Alarms read only 0900H IO signal of ModBus No saving in case of readable and Communication power interruption writable 0901H Drive status read only 0904H Runtime of servo drive Unit minute read only Version expressed in 090EH DSP software version read only number Host controller reads 1000H Drive model information from servo read only drive 1021H Reset History Alarm 01 Reset readable and writable 1022H Reset current alarm 01 Reset readable and writable 1023H JOG Servo ON 01 enable readable and 00 disable writable 1024H JOG forward run 01 forward run readable and 00 stop writable 10
10. H level Start brake Note If power peak occurs servo drive will give no output of BRK signal and periphery circuit decides the status of brake hold which has to be considered when designing and control circuit When using BRK signal set output with following parameters n Setting Para No Name and meanings Default range Pn049 output signal1CN 2 pin definition 0 4 0 Pn050 output signal1CN 3 pin definition 0 4 s ESTUN AUTOMATION EDCE Series AC Servo User s Manual Setting Para No Name and meanings Default range Pn055 Inverts output signal 0 7 0 Relevant parameters to Timing sequence are shown below Para No Name and meanings unit Se Default range Pn044 Basic waiting flow ms 0 5000 10 Pn045 brake waiting speed R min 10 500 100 Pn046 brake waiting time ms 10 1000 500 E Brake ON OFF time During the moment of brake active on off if servomotor travels for any distance owing to external forces like gravity adjust with Pn044 as below p Unit setting Para No Name and meanings Default range Pn044 Basic wamng flow Servo OFF ae 0 5000 10 delay time The illustration below shows the timing sequence relation between signal SON and BRK when motor stops speed is lower than 30 r m SON input Se
11. Pn001 Enable Disable input signal prohibited P OT When 1CN is set as P OT signal limiting direction and enable are selected according to this parameter 0 Enable forward run input signal prohibited 1 Disable forward run input signal prohibited Pn002 Enable Disable input signal prohibited N OT When 1CN is set as N OT signal limiting direction and enabling are selected according to this parameter 0 Enable reverse run input signal prohibited 1 Disable reverse run input signal prohibited Pn003 Select operation upon momentary power interruption 0 Servo alarm output is not available CALM 1 Servo alarm output is available ALM Pn004 Stopping method for servomotor after Servo OFF or alarm occurrence 0 Stop the motor by applying DB dynamic brake 1 Stop the motor by coasting 2 Stop the motor by applying DB dynamic brake then the motor coasts to a stop 3 Stop the motor by coasting without using DB 0 3 107 ESTUN AUTOMATION EDCE Series AC Servo User s Manual ig Name and Meaning Unit Setting range Default Remarks Clear error pulse signal is turn ON or not Pn005 after Servo OFF 7 ont 0 o 0 Turned on 1 turned off Select rotation direction 0 side view from load of servomotor Pn006 CCW means forward run O 1 0 1 side view from load of servomotor CW
12. CEA If an alarm occurs right now the alarm codes will be updated immediately The alarm with a serial number of O is the current alarm and the alarm with a serial number of 9 is the last alarm If the user wants to clear all alarm history data press ENTER key and hold on for one second while alarm codes are being displayed then all alarm history is deleted UIA 6 2 2 Restore to Defaults This function is used when returning to the Defaults after changing parameter settings 1 Press MODE key to select auxiliary function mode 2 Press INC or DEC key to select function number for restoring to Defaults CRT 3 Press ENTER to enter parameter restoring mode KD 4 Press ENTER key and hold on for one second to restore all the parameters to default values Eich 5 Release ENTER key to return to function number display Flaoo 6 In Step 3 the parameter restoring operation can be cancelled and quit current operation by a short press on the ENTER key 6 2 3 JOG operation This mode is not available when servo is on or some alarm occurs Take following operation steps to make JOG operation 1 Press MODE key to select auxiliary function mode 2 Press INC or DEC key to select JOG Function number Flaoo 3 Press ENTER key to enter JOG mode meanwhile servo is OFF motor power is OFF Cl VI LI LI LI 78 ESTUN EDCE Series AC Servo User s Manual julio 5 Press MODE key to turn servo ON and OFF
13. DC5V 24V N Relay ee A c Servo drive side 8 O aan eaaa el 1 H 1 H 1 1 LU rz 1 H 1 fen Ce 1 H 1 H 1 Petes Ie A I 1 OV 10 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Note Maximum voltage should be no more than 30VDC and maximum current should be no more than 50mA 3 3 Encoder wiring 3 3 1 Encoder wiring 2CN Incremental encoder EDC Servo drive Host controller 2CN 1CN 4 CC DA 2 3 AN 2 5 e PA 24 Encoder A pulse 2 8 PAO bag A PB 2 a 218 pg W LG P i Si T Encoder B pulse 2 9 PBO Deeg 2 19 PBO P Ge 9 Ir cl 29 RK Encoder C pulse 2 10 PCO P GE Ch a 220 ico Output line drive e Equivalent product of Line GC iida equivalent product o AM26LS31 CM z a GE H l ect 2 7 gt PG5V GND 214 pao THT 1 P FG Connector shell k Shield wire Connector shel R P Represent multi twisted shield wire Note The sequence No of encoder pin s corresponding relation with signal will change because of different types of motors 2112 ESTUN EDC E Series AC Servo Users Manual 3 3 2 Signal list of connectors 2CN See following list for description of 2CN terminals Pin No Name Comments Pin No Name Comments Encoder B 8 1 PB 8 PC Encoder C input Input Encoder B f 2 PB 9
14. When reference speed input exceeds allowable value lamp is lit When reference speed input is lower than allowable value lamp goes extinct Allowable value 10 of rated speed Reference torque input is continuing When reference torque input exceeds allowable value lamp is lit When reference torque input is lower than allowable value lamp is extinct Allowable value 10 of rated torque Main circuit power supply is ready Lamp is lit when main circuit power supply is OK Lamp is extinct when main circuit power supply is OFF Contents of simple code display Code Meaning On standby h h Servo OFF Servomotor power is OFF Run 8 A Servo ON motor power is ON DH PI Alarm Jt Blinks the alarm number J ESTUN EDC E Series AC Servo Users Manual When in Position Control mode Bit data Code eal TN GC al Rotation detection output Main circuit power ready CLT signal input Positioning complete Base block Control Power On Pulse reference input Contents of digit display Digit data Description Control power is ON Lamp lights on when control power of servo drive is ON Seet Lamp lights on when servo is on standby an d Lamp extinguishes when servo is ON When offset value between position reference and actual Speed coincidence motor position is within allowable value lamp lights on Allowable value Pn
15. drive Servo drive Be detected abnormal ke ALM Output Cut off the main circuit power Signal Status Output level Comments Normal state output signal is high when alarm ON 1CN 4 L level occurs CR Al tate output signal is high wh l arm state output signal is high when alarm OFF 1CN 4 H level EES g occurs 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 6 alarm reset input 50 ESTUN AUTOMATION EDC Series AC Servo User s Manual Signal Status Input level Comments ON 1CN 6 L level Reset servo alarm ALM RST OFF 1CN 6 H level Does not reset servo alarm Normally the external circuit can switch off power supply of servo drive when alarm occurs When servo drive is re switched on it removes alarm automatically so normally alarm reset signal is not required to be connected In addition reading alarm information and alarm reset are enabled with hand held operator Note When alarm occurs always remove alarm reasons before resetting alarms e Only alarms with alarm number being 3 4 13 14 15 and 21 can be removed by ALM RST 4 5 2 S ON input Host controller is used to control enable or disable servo system Following illustration shows the way to connect S ON Power supply IO 24V Servo drive
16. Connector Shell D 9 Represent multi twisted cable heen A0 D pi _ E Output signal Output encoder signal after frequency is divided Output PAO 1CN 8 l A phase pulse differential Output Output gt PAO 1CN 18 Output PBO 1CN 9 B oh Ise diff ono ase pulse differential Outpu Output gt PBO 1CN 19 eon p Output gt PCO 1CN 10 C phase pulse differential Output Output PCO 1CN 20 The following illustration shows the style of perpendicular pulse output of Phase A and Phase B Parameter Pn011 0 CCW CW als aj ee EE t gt 90 Phase A CIE t Parameter Pn011 1 zos ESTUN EDCE Series AC Servo User s Manual CCW rHe om CW 90 Phase A TEE Phase A Ek Phase B rN Phase B leen cb t t m Set pulse dividing frequency ratio Set pulse dividing frequency ratio with following parameters Parameter Meaning Unit Range Default Set PG dividing Pn010 2500P R 1 2500 2500 frequency ratio Inverts dividing Pn011 frequency output 0 1 0 phase Set output pulse numbers of PG output signal PAO PAO PBO PBO which is transmitted outward subject to servomotor running for one revolution Servo drive Linear drive output Servo motor encoder Phase A Phase A 1CN 8 1CN 18 Frequency Phase B ICN 9 1CN 19 Dividing Output Phase C 1CN 10 1CN 20 Divides pulse frequency of servom
17. EDC E series AC Servo User s Manual Version V2 22 ESTUN AUTOMATION TECHNOLOGY CO LTD Total Solution Supplier ESTUN EDCE Series AC Servo User s Manual AUTOMATION Revision History Date Rev No Section Revised Content Remark 2007 09 V1 00 First edition 2008 2009 V1 11 V2 10 Completely revised 2010 07 V2 20 All chapters Revision change graph into vector graph 8 3 3 Revision ModBus communication IO signal 2010 10 V2 21 C0900H Appendix A Addition remark 2013 08 V2 22 SS Format update ESTUN EDCE Series AC Servo User s Manual General Precaution H Power supply voltage should be AC 220V The EDC servo system requires a power supply of AC 220V 15 voltage H Do not connect the servo motor directly to local electric network It s prohibited to connect the servo motor directly to local electric network Otherwise the servo motor is very likely to get damaged The servo motor will not rotate without support of servo drive H Do not plug in or unplug the connectors when the power is ON Internal circuit and motor encoder might be damaged if you plug in or unplug during power ON Always turn the power OFF first before plugging in or unplugging the connectors Wait for at least 5 minutes before doing inspection work on the servo system after turning power OFF Please note that even when the power is turned off there will still be som
18. input 24VIN 1CN 16 External I O power input Connect contact point of output signal 29 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Servo drive JO Power Supply 24V OV Pn049 0 BK 1 COIN 2 CLT 3 S RDY 4 C Pulse Pn050 0 BK 1 COIN 2 CLT Optocoupler output each 3 S RDY 4 C Pulse lt s output node Max output voltage 30V Max output current 50mA Handling of I O signals Input signals are smoothed with filters to the servo drive Set filter time with parameter Pn053 Active power level of input signal is controlled by Pn054 and active power level of output signal is controlled by Pn055 Following signals are I O signals subject to default parameters Para oe Name and meaning Unit Setting range Default Pn053 input signal filter time ms 0 1000 100 Pn054 Inverts input signal 0 15 0 Pn055 Inverts output signal Ss 0 7 0 During filter time of input signal if signal spikes occur input signal will not be received by servo drive Input signal will be received by the drive only after it keeps stable for the set time that is signal need to keep on a constant level within period of Pn053 before it can be accepted by the servo drive Drive estimates signal validity according to Pn054 Following table shows operations to invert input signal Pn054 Digit BIT3 BIT2 BIT1 BITO
19. 1 SIGN SIGN gr CCW pulse ucvas 1CN 13 Eet eus J U L 2 phase CONE 1CN 11 S 1 1 90 1 1 90 2 perpendicular SIGN SIGN 1CN 13 1CN 13 pulse User may select to invert input signal or not by setting Pn009 according to actual requirements m Pulse input sequence Input of pulse reference must meet following conditions on level and sequence Pulse form Electrical specification Remark SIGN an 2 gt Ant Ak Hol ke d 6 13 Uli Max frequency 500kpps S e G t6 gt 3ps H Forward 1 0ps Open Collector 200kpps t x100 50 L Reverse Forward reference Reverse reference T n ccw N 7 CW CCW S e cw Max frequency 500kpps IN Open Collector 200kpps Forward reference gt D ni Reverse reference tt t2 0 1us t3 gt 3us t 1 0us t T x100 50 ti Phase A W Phase B N t H 90 phase different signal A B Max frequency t2 ar A N ZS Forward Instruction Lem tigis Reverse Instruction ti t2 0 1us t T x100 50 x4 multiplier 200kpps fro Phase B is 90 forward Phase B is 90 m phase A behind phase A 24 ESTUN AUTOMATION EDCE Series AC Servo User s Manual m Clear error counter Follow the steps below to clear Error counter input CLR 1CN 7 Clear error counter input When CLR signal is Low level error counter is cleare
20. 3 2 3 Function list of UO signals HR Input signal 1CN Signal Pin no Function Control power supply input for I O signals Users need to 24VIN 16 prepare the 24V power supply Effective voltage range 11V 25V S ON 15 Servo ON Servo motor is switched on Select signal according to Pn051 1CN 6 input signal selection 0 ALM_RST clear servo alarm status signal ALM RST 6 1 CLR clear offset counting in position control 2 P CON different meanings for different control modes 3 P OT forward direction limit signal input 4 N OT reverse direction limit signal input CLR 7 According to Pn052 meaning as above ZPS 17 Zero position signal input zero switch outputs this signal when returning to zero position Reference open collector power supply PL 1 To provide 5VDC power supply when PULS and SIGN reference signals are open collector input signals PULS 11 Reference pulse Input modes PULS 12 input SIGN Pulse train SIGN 13 Line drive or CCW CW Pulse SIGN 14 open collector 2 phase positive pulse x4 ESTUN EDCE Series AC Servo User s Manual Output signal CN Signal Pin no Function ALM j Servo alarm OFF status output is given when the drive detects an error The value of Pn050 decides the output signal see the details as follows 0 brake interlock BK output positioning complete same speed detected in position control method it means positioning is compl
21. If user wants to run motor Servo On has to be used 6 Press INC or DEC key motor runs when pressing the keys The servomotor will rotate at the present setting speed as below o VE Moter forward rotation Motor reverse rotation During motor s FWD or REV direction LED display is as below 7 Press ENTER to return to function number display At this moment servo motor is turned OFF m c3 m Floola 6 2 4 Automatic offset signals adjustment of motor current detection The servo drive will check motor current detection signals every time the servo is initializing upon power on and will adjust automatically if required therefore the user needn t do any manual adjustment in normal situations If the user thinks the torque is a bit too large by judging from motor current offset user may manually adjust motor current to lower down the torque further or to get higher running accuracy This section gives a know how instruction on the operation steps to make offset signal automatic and manual adjustment Note The offset signal adjustment of motor current detection is only available when servo is OFF m Adjust motor current detection offset signal automatically Take following steps to make automatic offset adjustment 1 Press Mode key to select auxiliary function mode 2 Press INC or DEC key to select function number Finials 3 Press ENTER key and enter automatic adjusting mode Clue Lol 4 Press MODE and hold o
22. MODBUS communication function should also be enabled then it s available for EDC servo drive to communicate with ESVIEW software The selected panel shaft number is the communication address The speed is set according to Pn061 settings and the communication protocol is set according to Pn062 settings Only when the value F is selected as the panel shaft number shaft number address Pn060 is used by the servo drive 1 COM address Para NO Name Unit Setting range Default Pn060 COM address 1 254 1 When the dial switch on the drive panel is set as F this parameter is used as the communication address 2 COM speed Para NO Name Unit Setting rang Default RS232 COM speed Pno61 HE bps K 1 0 4800bit s 87 ESTUN EDC E Series AC Servo Users Manual 1 9600bit s 2 19200bit s When communication function is used same communication speed between host controller and servo drive is required 3 COM protocol Para NO Name Unit Setting rang Default RS232 COM protocol 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCIl 2 7 O 1 Modbus ASCII Probe 3 8 N 2 Modbus ASCID B 0 8 5 4 8 E 1 Modbus ASCII 5 8 O 1 Modbus ASCII 6 8 N 2 Modbus RTU 7 8 E 1 Modbus RTU 8 8 O 1 Modbus RTU This parameter decides which COM protocol to be used the number 7 or 8 means digit numbers of data for data tr
23. input signal ZPS CLR ALM RST S ON Signal level H L H L H L H L Pn054 07 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Signal active N Y N Y N Y N Y N In above table H it means input signal is at high level L input signal is at low level 0 setting value in Pn054 0 means input signal low is active 1 setting value in Pn054 1 means input signal high is active N input signal is inactive 30 ESTUN EDCE Series AC Servo User s Manual Y input signal is active For example if CLR is set high and all other signals are set at a low level are to become active then it is expressed as 000100 in a binary system it will be 4 if converted into decimal system that is Pn054 must be set as 4 Take similar operation steps to set Output signal Digit BIT2 BIT1 BITO Output BRK COIN ALM Meaning Signal Release braking arrive Not arrive alarm No alarm meaning braking Pn055 0 1 0 1 0 1 0 1 0 1 0 1 Output A s eee low high high low low high high low high low low high V Note When ALM is in normal status Output level is high inverts other two signals For example If output level is required to meet following conditions high when braking signal releases braking low when COIN signal is active ALM output is high when alarm occurs then it will be express
24. 10 237 ESTUN EDCE Series AC Servo User s Manual 4 After Servo ON position contact runs Position contact control is a single contact position controller the user can use cycle run operation with this function As for Pn070 for example position reference PO Pn080x10000 Pn081 is ten revolutions position reference P1 Pn082x10000 Pn083 Dis thirty revolutions when running from P1 to P2 the difference between incremental type and absolute type is as below pulse i Pn070 0 pulse i Pn070 1 P2 400000 Ire TT P2 800000 eS SS SS eS Gg lt P1 Pt 100000 100000 gt Time gt Time Note 1 In position contact control mode electronic gear function does not work which can be regarded as the electronic gear ratio is always 1 1 2 In position contact control mode all the position control parameters will affect motor running such as position proportional gain Pn015 feed forward Pn017 position first filter Pn024 feed forward filter Pn025 etc 4 2 6 Zero adjustment In position control mode servomotor can run to a fixed position this position is normally regarded as Zero position After the host controller is switched on zero position adjustment is required before processing operation This position will be regarded as the reference point for every subsequent movement The zero position adjustment can be done with the servo drive 38 ESTUN EDCE Series AC Servo User s Manual AUTOMATION
25. 3 Speed detection smoothing time Constant 59 4 6 4 Torque reference filter time Constant 59 4 7 High speed Dosttonimg SEENEN 60 4 7 1 Servo gain settings 0 eee eee eeeneeeeeenteeeeteeeeeeeteeeeeeeeeeeeeeseaaeeeeeeaaaes 60 4 7 2 Speed offset setttngs uk 62 Chapter egene devine en ENER Ea a eaS EE aa EEr Eaa ERARE 64 TROUDIGSHOOUING E 64 SAANS EE 64 5 2 Alarm outputs and Troubleshootimg 65 5 3 Clearing alaiM Sei sectii acsetueietieasivviceieebeeisdietastis reeds dieveneeeehetdaeteentens 69 GALS E 70 PanelOperator sere oa a deeg ge EE dessen gea eE ed REES Eiai 70 Gal BASIC FUNCTION E 70 ESTUN AUTOMATION EDCE Series AC Servo User s Manual 6 1 1 Function deScription EE 70 6 1 2 Resetting Servo Alarms Ae 70 6 1 3 Display mode selecton cece eee eeeeeneeeeeeeeneeeeeteeaeeeeenaaeeeeteeneeeee 71 6 1 4 Status Display Mode ek 71 6 1 5 Parameter Setting Mode A 74 6 1 6 Monitor Mode svs ee eszusssgkkeeded egeegSgEEER ge eaae aaea arse a aaa 75 6 2 Auxiliary ul EE 77 6 2 1 Alarm history display AAA 77 6 2 2 Restore to Defaults sssusssssresssirnesrrnrserrnnnrerrnnnrentnnnrnnnernnannennnnnnnnna 78 6 2 3 JOG Ope atl D 78 6 2 4 Automatic offset signals adjustment of motor current detection 79 6 2 5 Servo software version display ceeceeeeeeeeeneeeeeeeeeeeeeeesaeeeetenaeeeees 80 6 2 6 Systemi UNUM
26. 66 ESTUN EDC E Series AC Servo Users Manual Item Alarm name Possible reason Method PC is disconnected or have interference 1 cable s problem disconnected or misconnected 1 Pls check the power cable connection A09 Pulse loss of 2 power cable shield is not power cable and encoder signal wire encoder C good shouldn t be tied together 3 encoder damaged 2 Pls check the interface circuit of encoder 4 screen wire ground disconnect 5 interface circuit of encoder fault 1 Pls check the connection between encoder and the motor Encoder oe A 2 Pls check the encoder signal A 10 PC PU PV or PW is disconnected 3 if the above mentioned is correct may be disconnected ae the fault of servo drive internal components Encoder U V or W code Vviolation Please note that the U V W signal of please make sure the power supply voltage encoder is different from lof encoder is 5V 5 especially the wire is Encoder U V or W the strong current signal Jong power cable A 11 nae U V W which the servo and encoder signal wire shouldn t be tied code violation drive connected with the together motor 1 pls check the wiring of encoder 1 the connection of 2 change the servo motor encoder is wrong 2 encoder is damaged 1 Disconnect the U V W and power if this status still happens under s off it means power module is damaged 2 Check if the wiring of U V W is correct Check the resistor between U V W and the current p
27. Control Function Unit Default number range method Speed coincidence Speed Pn029 r min 0 100 10 error control When difference between speed reference and actual motor speed is under setting value output V CMP signal 4 5 5 Handling instant power cut Select if alarm output is made or not upon a sudden power interruption Parameter ERT A Name and Description Unit setting range Default number Select operations to be made upon Pn003 power interruption 0 1 0 0 gives no output of servo alarm 54 ESTUN EDCE Series AC Servo User s Manual signal ALM 1 Output servo alarm signal ALM If power supply of servo drive is interrupted suddenly over 20ms and detected by servo drive Servo drive will decide if S ON and output servo alarm are required according to the value of Pn003 Instantaneous power off happen 220V P PP Power voltage Pn003 0 ALM 1CN 4 Pn003 1 Normally set Pn003 to zero 4 5 6 Regenerative braking unit When the servo motor is driven by dynamotor the electric power goes back to servo amplifier this is called regenerative power Regenerative power is absorbed by means of charging the smoothing capacitor inside servo drive with its power If the power exceeds the capacity of the smoothing capacitor additional Regenerative braking unit is required to transform regenerative electric pow
28. Position error pulse overflow alarm Pn047 0 1 0 output 109 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Para No Name and Meaning Unit Setting range Default Remarks 0 disable 1 enable Pn048 Run speed of programmed speed r min 6000 6000 500 Pn049 1CN 2output signal selection 0 BK 1 COIN 2 CLT 3 S RDY 4 C Pulse 0 4 Pn050 1CN 3output signal selection 0 BK 1 COIN 2 CLT 3 S RDY 4 C Pulse 0 4 Pn051 1CN 6 input signal selection 0 ALM_RST 1 CLR 2 P CON 3 P OT 4 N OT 0 4 Pn052 1CN 7 input signal selection 0 ALM_RST 1 CLR 2 P CON 3 P OT 4 N OT 0 4 Pn053 Input IO signal filter time 0 10000 Pn054 Inverts input signal 0 15 Pn055 Inverts output signal 0 7 Pn056 2 electronic gear numerator 1 32767 Pn057 Dynamic electronic gear enable 0 1 oOoj ojojo Pn058 pulse input frequency selection 0 when pulse is difference input servo receiving pulse frequencys500K 1 when pulse is difference input servo receiving pulse frequencys300K 2 when pulse is difference input servo receiving pulse frequencys100K 0 2 Pn059 RS232 COM input IO contact control 0 15 Pn060 RS232 COM address 1 254 Pn061 RS232 COM baud rate 110 bit s ESTUN AUTOMATION EDCE Se
29. Standard connection example Single Phase AC220 10 50 60Hz SI Non fuse circuit breaker gt Surge Lightning protect __ suppresser D Noise filter E ot 1RY PL z N Q Noise filter em ON 1MC Design with O Oo NAN European oFF iMG RY T standard 2 O O O e CO Spark suppresser Motor U R gt V M T W D gt FG EDC Servo drive Encoder gt P CH P Regenration 2CN SE N my TCN Please handle connector P Represents multi twisted wire of shield wires properly wN PULS 11 a 8 PAO PULS lt P 12 Ss 18 PUL ao PAO 1 1 a a Position SIGN SEN Ji IPE peasy gt PBO L PG dividin AIP 14 19 PBO ae reference SIGN gt i ratio output gt PCO Power supply __ 20 Peo foropen PL CAN collector I GND 2 CANH 3 CANL 24VIN 4 to COM ZE COIN positioning complete 3 RxD ON when positioning completes Servo ON SON 4 GND BK brake interlock output Servo ON When ON ON when BK signal output Alarm reset ALM RST 3 CLT t ect geuf h N 4 d k lorque limit outpu Reset when ON NW 4 ON when exceed preset value Clear deviation CER ie Ee a S RDY servo ready Clear when ON ON when ready k C Pulse Encoder C Pu
30. Use communication to control input digital IO signals the data is not saved after power is interrupted The following illustration shows the meaning of each digit BIT4 a BIT3 BIT2 BIT1 BITO Leo seal 7CLR 7 ALMRST S ON Servo ON Alarm Reset Clear deviation Zero point signal 5 System status 0901H 1 word shows current system status The following illustration shows the meaning of each digit 100 ESTUN EDCE Series AC Servo User s Manual BIT15 BIT14 BIT9 BIT8 BIT7 BIT6 BITS BIT4 BITS BIT2 BIT BITO ALM RES S RDY WAIT COIN AC IN PS IN PA ST TGON N OT P OT 1 alarm occur Reserve 17 MOT effective 1 Servo ready 1 speed higher than setting 1 Servo off Position mode 1 ALM RST signal input Position mode 1 positioning accomplished Speed mode 1 torque higher than 10 of sett Speed mode 1 reached preset speed Position mode 1 Pulse inputting 1 Power supply input from R T terminals Speed mode 1 Speed higher than setting EDC servo drive s default speed is 10 of rated motor speed 6 Runtime 0904H It means the run time required from servo power on to read this data It s expressed in decimal system and the unit is minute If the read data is OOCDH and it s expressed as 205 in decimal system then it means current system has run
31. When ON alarm is reset ICOIN complete Clear signal input ICLR Sg When ON clear deviation ll pulse BK Brake interlock output Z int signal e SC ero point signa OER whsnal wt When ON search for zero position ALM Alari Oot V Kee COM FG Connector frame Note ON 0 Low voltage OFF 1 High voltage gt Shield wire are connected to the connector frame 3 2 2 Connector terminals Output common point Photocoupler 1 COIN ALM Max voltage DC30V Max current DC50mA 2 BK Max voltage DC30V Max current DC80mA Pin S Pin a Name Description Name Description No No P supply fo 1 PL RE e r 11 PULS Reference pulse open collector circuit BRK Remain braking 12 PULS Reference pulse COIN Positioning complete 13 SIGN Reference symbol 4 ALM Alarm 14 SIGN Reference symbol V Oc 5 COM sci 15 S ON Servo enabled grounding ESTUN AUTOMATION EDCE Series AC Servo User s Manual 6 ALM_RST Reset Alarm 16 24VIN I O power supply 7 CLR Clear 17 ZPS Zero position signal 8 PAO Signal A difference 18 PAO Signal A difference 9 PBO Signal B difference 19 PBO Signal B difference 10 PCO Signal C difference 20 PCO Signal C difference Shell FG Connector s shell Note e Spare terminals can not be used for relay purpose e Connect shielded cable wires of I O signals to connector shell frame grounding
32. alarm occurs Para No Description 0 When servo OFF or alarm occurs DB braking active 1 When servo OFF or alarm occurs coasts to a stop 2 When servo OFF or alarm occurs DB braking active and is released after motor stops 3 When servo OFF or alarm occurs coasts to a stop DB active after Pn004 motor stops 45 ESTUN EDCE Series AC Servo User s Manual In following situation the servo drive will switch off the supply to the servomotor gt When GON 1CN 15 signal is OFF gt When servo alarm occurs gt When power supply is OFF Note Dynamic brake DB forces servomotor to stop immediately upon emergency therefore following notes must be considered e Do not start stop servomotor frequently with power On OFF switch this will cause fast aging and reduced performance of the internal elements in the servo drive e Do not start stop servomotor frequently with S ON 1CN 15 otherwise built in energy consumption resistor is damaged easily Dynamic brake DB is one way to force servomotor to stop immediately upon emergency By shorting power cable of servo motor to achieve emergency stop of servo motor This circuit is already built in EDC servo drive Servo drive Servo motor 4 4 2 Holding brake Servo motor with brake active Holding brake is required on the condition that perpendicular axis the axis which withstands external force is used to prevent non e
33. eet dien bosas edel ce i i fa 8 data bits gt i i H lt 11 bits character frame gt 11bit character format for 8 bit data Communication protocol structure Data format of communication protocol ASCII mode ee eee 1 Modbus ASCII RTU SSSeer Stee SSeS qs Se SSar E AE E Oe ee kee l E 8 data bits 11 bits character frame gt STX Start bit gt 3AH ADR COM address gt 1 byte including two ASCII codes CMD Reference code gt 1 byte including two ASCII codes DATA n 1 Data contents gt n word 2n byte including four ASCII code no more re than 12 DATA 0 LRC Checkout code gt 1 byte including two ASCII codes End 1 stop biti gt ODH CR End 0 stop bit0O gt OAH LF RTU mode STX Freeze time for transmission time of over 4 bytes at current transmission speed ADR COM address gt 1 byte CMD Reference code gt 1 byte DATA n 1 Data content gt n word 2n byte nis no more than 12 DATA 0 CRC CRC checkout code gt 1 byte End 1 Freeze time for transmission time of over 4 bytes at current transmission speed 01 ESTUN EDC E Series AC Servo Users Manual See followings for an introduction on data format of COM protocol STX COM start ASCII mode byte RTU mode Freeze time for transmission time of over 4 bytes which varies automatically according to
34. error will not affect final accuracy of positioning By default 1CN 3 is used as Positioning complete signal COIN in position control mode while in speed control mode it s used as the speed coincidence output V CMP 4 5 4 Speed reached output Speed coincidence Output V CMP gt signal photocoupler output signal referring to output is given when rotation speed of servo motor is the same as reference speed It can be used as the base of host controller s judgment Connect and use this signal according to the following IO Power supply 24V ov Servo drive Optocoupler output Each output node Max output voltage 30V Max output current 50mA 53 ESTUN AUTOMATION EDC Series AC Servo User s Manual diagram Output V CMP speed coincidence output Speed control speed coincidence output grounding signal COM Speed control It refers to output signal of input speed reference and speed coincidence of actual motor rotation When output status at low is active Speed coincidence speed error is ON status V CMP L level P p under setting value Speed coincidence fail speed error OFF status V CMP H level oP p is over setting value Motor rolling speed Pn029 Reference speed In this range output V CMP With the user s constant as below the range of output V CMP can be designated Parameter Setting
35. for 3 hours and 25 minutes 7 DSP Software Version 090EH DSP software version of servo drive is expressed in numbers If the read data is OOC9H and it s expressed as 200 in decimal system then it means the software version is 2 00 Notes After COM address is changed that is parameter PnO60 or the dialing switch on drive panel is changed servo drive will feedback data using current COM address until new COM address is updated and becomes available in around 40ms After communication speed is changed that is parameter Pn061 is changed servo drive will feedback data using current communication speed until new speed is updated and becomes available in around 40ms After communication protocol is changed that is parameter Pn062 is changed servo drive will feedback data using current communication protocol until new protocol is updated and becomes available in around 40ms e In RTU communication mode intervals between data frames are longer than 10ms 101 ESTUN EDC E Series AC Servo Users Manual Chapter 9 Technical specification and features 9 1 Servomotor 9 1 1 Technical specification and features Voltage 200VAC Servo Motor Model EMJ 02APA 04APA O8APA Rated Output Power WwW 200 400 750 Rated Torque N m 0 64 1 27 2 39 Instantaneou
36. of the which makes the speed __ following range input pulse overshoot is too large frequency electronic gear ratio 3 the electronic gear ratio 500KHZ is too large 4 Pn015 is too small the motor was running for several seconds under the torque exceeding ratings q g S 1 increase the time for acceleration or 1 The time for acceleration a deceleration S or deceleration is too short A 04 Overloaded 2 change large capacity servo system 2 The capacity of servo 3 check the load capacity drive and servo motor is 4 cut down the frequency of start stop too small 3 overload 4 start stop frequently internal position error counter has exceeded the 1 check if the motor rotated according to Positi value the reference pulse osition error A 05 1 the motor is locked by 2 check the load mechanics counter overflow the mechanics 3 check the reference pulse 2 input reference pulse is check the connection of motor encoder abnormal internal position error pulse has exceeded the value 1 check the load mechanics set in the parameter 2 check the connection of motor encoder A06 Position error Pn 031 3 increase the value of Pn015 Pn031 and pulse overflow 1 the motor is locked by Pn017 the mechanics 4 check the reference pulse 2 input reference pulse is 5 reduce the overload capacity and speed abnormal The setting of g The value of electronic A07 _ electronic gear Reduce the value of electronic gear ge gear is too large err
37. protector or a leakage protector for a PWM inverter designated by supplier Do not use a time delay leakage protector m Avoid extreme adjustments or changes Don t make extreme adjustments or changes to the servo drive s parameters which may cause mechanical vibration and result in damage H The servomotor cannot be operated by turning the power on and off Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate resulting in unexpected problems Always start or stop the servomotor by using reference pulses ESTUN AUTOMATION EDCE Series AC Servo User s Manual Contents General PreCaution sec secede ieee Hane eee ities Ra 2 EIER eene Ee ees 3 SE EE bebe eebe 5 Checking products and product Speer secisisccccccstcecesipetencscceccstitssheredecntdewesccces 5 1 1 CHECKING PrODUCIS tsarra aeo asii aa aeaa AA aiaa E 5 HN Re Nr et 5 VR We el 6 1 2 Servo Components description 7 1 2 1 Servo Buet TE 7 1 22 SNO Bel 8 ES Eeer 9 CT te E 9 2 1 Servo Ru TE 9 2 1 1 Storage temperature eee ceeeeeeeeneeeeeeeeeaeeeeeeaeeeeeeaaeeeeteaaeeeeeeeeeeeees 9 2 1 2 Installation SHE israiska iaiaaeaia inado 9 2 1 3 Installation concentricity 20 eee eect eeeeeeeee eee aeeeeeeaeeeeeeaaeeeeeeeaeeeeees 9 2 1 4 Installation direction c ccccccceceeeceeeeneeeeeeeeeeeeeeceeeeeeeeeeeseenenseeeeeeeeeess 10 2 1 5 Handling oil and water 0 0 eeeeeeeeeeneeeeeenee
38. s Manual forward and reverse for four 4 revolutions meanwhile motor is not controlled by external signals Make sure the running stroke of load is within required range to avoid possible damage to user s equipments This operation is unavailable if servo is on or servo alarm occurs 82 ESTUN EDCE Series AC Servo User s Manual Chapter 7 Trial operation 7 1 Inspection and checking before trial operation To ensure safe and correct trial operation inspect and checking the following items before starting 1 Wiring All wiring and connections are correct The correct power supply voltage is being supplied to the main circuit and servomotor All groundings are good If trial operation only refers to JOG function 1CN wiring will not be required Refer to 3 1 2 2 Check power supply specification and make sure input voltage is correct 3 Fix servomotor securely Fix servomotor on the base as secure as possible to avoid the risk of danger which is caused by the counterforce coming from motor speed change 4 Remove motor load In case servo drive or moving structures are damaged or indirect person hurt or injury make sure motor load is removed including the connector and its accessories on the motor shaft 7 2 JOG operation No other wiring such as 1CN is required for trial JOG operation it s suggested JOG operation is done with low speed If motor can run properly in JOG operation which means motor and servo d
39. s Manual the value 1 to servo drive s 0x0900 address 8 3 MODBUS communication protocol 8 3 1 Code signification ASCII mode Each 8 bit data consists of two ASCII characters Here s an example of a 1 byte data 64H expressed in hex system if the data is expressed in ASCII mode it includes ASCII code of 6 36H and ASCII code of 4 34H Follow table shows the ASCII code from 0 to 9 and from A to F Character sign 0 A 2 3 ER D 6 T ASCII code 30H 31H 32H 33H 34H 35H 36H 37H Character sign 8 Q A B C D E E ASCII code 38H 39H 41H 42H 43H 44H 45H 46H RTU mode Each 8 bit data consists of two 4 bit data expressed in hex system For example the number 100 in decimal system will be expressed as 64H if RTU data of 1 byte is used Data structure 10bit character format for 7 bit data Pn062 0 7 N 2 Modbus ASCII lt 7 data bits ek U t lt 10 bits character frame gt Pn062 2 7 O 1 Modbus ASCII SE BA 1 Lee Ir LG a l Odd Sp DE CC i Stop bit 0 Lo 2o 3 E 3 6 i parity pit E EE E EEN BEER es Ben SE ee lt 7 data bits KH Kn i 1 id 10 bits character frame gt 90 ESTUN AUTOMATION EDCE Series AC Servo User s Manual 8 N 2 Modbus ASCII RTU tae fn he E e WEE SEENEN SEET 1 1 1 H 1 1 1 1 1 op top RE EE E Er AT er E we Cie a EERE
40. stop or free stop Motor speed Cr min Brake waiting time Pn045 BRKoutput 1CN 2 BRK effective BRK disable Le Brake waiting time Pn046 For running a brake motor if S OFF is caused by variation of S ON or alarm occurrence it s required to set brake waiting speed of servomotor or brake waiting time Brake waiting time Pn046 refers to the period of time delay between motor stops S OFF and brake active is implemented This parameter should be adjusted while observing mechanical movements When servo motor is running if any of following conditions is true the output signal of BRK will be ON 1 After servo OFF motor speed is lower than setting value of Pn045 2 After servo OFF motor speed is higher than setting value of Pn046 49 ESTUN EDCE Series AC Servo User s Manual AUTOMATION 4 5 Protection design 4 5 1 Servo alarm output The following diagram shows the right way to connect Alarm Output Servo drive Optocoupler output Each output node Max output voltage 30V Max output current 50mA External 24V I O power supply is required since there is no 24V power supply available inside servo drive Output gt ALM 1CN 4 Servo alarm output COM 1CN 5 Servo alarm output uses grounding signal Normally the external circuit consists of ALM should be able to switch off power of servo
41. time Par No Name Unit Setting range Default Pn033 position reference smoothing Se Gage 0 filter time constant 25 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Different results between positioning after the change position reference 1st filter time Pn024 position reference smoothing filter time Pn033 Before smoothii After smoothing D Before smoothing After smoothing 100 100 T t t gt JN Le Kl t Pn033 __ Pn033 Step response waveform Step response waveform Pn033 Before smoothing lt gt After smoothing OOo bates ceeslac Pn033 Trapezoid reference response waveform 4 2 2 Encoder output signal The servo drive outputs pulse signal from the encoder A B C which is used with the host controller Servo drive Servo motor Encoder Phase A Phase B Phase C Host controller Linear drive output Phase A Output circuit is bus drive output Make circuit connection with reference to following circuit 26 ESTUN AUTOMATION EDCE Series AC Servo User s Manual EDC Servo drive Host controller Line receiver Encoder A 2 8 PAO A o 2 18 PAO AP Encoder B 2 9 J PBO A aA 2 19 PBO 4P Encoder C 2 10 PCO A a 2 20 PCO AP Linear drive output equivalent with AM26LS31
42. wall firmly fixed on the surface with two mounting holes Mounting surface LLLLILLLLLLLLLLLLLL AL LLL Ventilation A cooling fan can be mounted for forced air cooling of the servo drive at request 2112 ESTUN EDCE Series AC Servo User s Manual AUTOMATION 2 2 4 Installation of several servo drives When several servo drives are required to be installed side by side inside one control cabinet installation must be performed according to the gap requirement as shown below a Fan ER An Fan ec 50mm or more SERVOORIVE SERVOORIVE SERVODRIVE SERVODRIVE er ieee SEN dn A n co ran ofl a oi of ra fe II r E 0 E 7 U E P P E P var N Nan C Ir i i v meee v W wf eH E 0 Sr Sen lt gt 50mm or more 30mm or more 10mm or more m Installation orientation Install the servo drive vertically onto the wall so the fron
43. 0 1000 position reference Pn033 smoothing filter time ms 0 1000 0 constant By adjusting the parameters the smoothing performance of position control can be changed 4 6 2 Acceleration deceleration time Servo drive can perform acceleration and deceleration on speed reference to have soft start function Unit Setting Para NO Name Default range Pn019 Soft start acceleration time ms 0 10000 100 Pn020 Soft start deceleration time ms 0 10000 100 Pn021 S shape EEN and we 0 1000 0 deceleration time gt Pn019 time from halted status to speed of 1000r min gt Pn020 time from speed of 1000r min to halted status Pn019 and Pn020 are linear acceleration deceleration time When large impact happens because linear acceleration deceleration is used to start stop the machine Pn021 can be set to have smooth running Speed reference Pn019 Pn020 gt d 58 ESTUN EDCE Series AC Servo User s Manual Inside servo drive perform acceleration and deceleration of the set value on speed reference to implement speed control Speed Eet Pnpz Pn021 ve Pn021 g Pn021 gt lt gt Pn019 Pn020 When inputs step like speed reference smooth speed control can be implemented 4 6 3 Speed detection smoothing time constant By adjusting speed checkout filter time constant mechanical vibration caused by servo system can be remove
44. 00 0 113 ESTUN AUTOMATION EDC Series AC Servo User s Manual Para F e No Name and Meaning Unit Setting range Default Remarks acceleration deceleration time constant moving distance 6 first 1st Pn110 E ms 0 1000 0 acceleration deceleration time constant moving distance 7 first 1st Pni11 ERC ms 0 1000 0 acceleration deceleration time constant Pni12 Move distance Ostop time 50ms 0 32767 10 Pni13 Move distance istop time 50ms 0 32767 10 Pni14 Movie distance 2stop time 50ms 0 32767 10 Pn115 Move distance 3stop time 50ms 0 32767 10 Pni16 Move distance 4stop time 50ms 0 32767 10 Pni17 Move distance 5stop time 50ms 0 32767 10 Pni18 Move distance 6stop time 50ms 0 32767 10 Pni19 Move distance 7stop time 50ms 0 32767 10 Pni20 Current feed forward compensation 0 4096 1024 Note After changing the setting always turn the power OFF then Power ON again This makes the new setting valid The parameter may vary for motors of different models This parameter s input source is decided by digital input port control through bit setting bit0 bit3 are relevant to input as follows Pn059 0 gt CN1_15 S ON Pn059 1 gt CN1_6 ALM_RST Pn059 2 gt CN1_7 CLR Pn059 3 gt CN1_17 SPD_SELO bit setting as follows 0 input pins are controlled by outside terminals 1 input pins set as communication c
45. 00 of Un001 1 Press MODE key to select monitor mode fa a i 2 Press INC key or DEC key to select the monitor number to be displayed fae 3 Press ENTER to display the monitored data selected in Step 2 LKA d Press ENTER again to return to monitor number display H Contents of Monitor Mode display SE Contents O Un000 Actual motor speed r min Input speed reference value Un001 emit Percentage of feedback H Un002 torque relative rated Digits to display internal status torque ENN 9876543210 Un003 ee age of input torque R relative rated torque A dadiadaedng Un004 Number of pulses of Encoder e UI III III UI III angles Un005 I O signal monitor Un006 Encoder signal monitor Un007 Speed given by pulse when electronic gear ratio is 1 1 Current motor position is 5 GE digits lower x1 pulse Dt Ses ae Un010 GE Sieten is 5 digits Te ee Un012 EE is 5 digits lower ee Note 75 ESTUN AUTOMATION EDCE Series AC Servo User s Manual e Position pulse value is subject to electronic gear ratio of 1 1 e Unit of pulse quantity is the internal pulse unit of servo system Pulse quantity is represented with 5 digits higher 5 digits lower whose calculation method is as below Pulse quantity value of 5 digits higher x 10000 value of 5 digits lower Value of pulse quantity will not change any more wh
46. 030 The standard value is 10 pulse When motor speed exceeds allowable value lamp is lit When motor speed is lower than allowable value lamp goes Rotation detection output Ge Allowable value 10 of rated speed Reference pulse input is When reference pulse input is continuing lamp is lit continuing When there is no reference pulse input lamp goes extinct Clear signal input is When clear signal input is continuing lamp is lit continuing When there is no clear signal input lamp goes extinct Main circuit power supply Lamp is lit when main circuit power supply is OK is ready Lamp is extinct when main circuit power supply is OFF Contents of simple code display Code Meaning L L On standby Servo OFF motor power is OFF Running PA Servo ON motor power is ON D PI Alarm Status Lt The alarm code is displayed 23 5 ESTUN EDCE Series AC Servo User s Manual 6 1 5 Parameter Setting Mode Parameters related to the operation and adjustment of the servomotor are set in this mode See the Parameter List in Appendix A for details m Change parameters Please see the Parameter List in Appendix A to know exactly the range of parameter change Following is an operational example of changing the data of Pn 019 from 100 to 85 1 Press MODE key to select parameter setup mode 2 Press INC key or DEC ke
47. 25H JOG reverse run 01 reverse run readable and 00 stop writable 1 parameter area COM address is from 0000 to 0078H Parameters in related parameter table for example parameter with 0000H as COM address is 98 ESTUN AUTOMATION EDCE Series AC Servo User s Manual expressed as Pn000 parameter with 0065H as COM address is expressed as Pn101 and read write of data at 0000H is the same as operating on parameterPn000 If data coming from communication is not within the parameter range the data will be abandoned and servo drive will feedback a message of operation fail If the parameter is changed successfully this parameter will be saved automatically after a power interruption 2 Monitoring data area 0806 0814H The monitoring data does not correspond totally to display of Un000 Un0130n handheld operator For example the data that communication reads from address of 0807H is FB16H then specified speed is 1258 r min Following table shows the meaning of each monitoring data Monitored GES Comments 0806H Actual motor speed r min 0807H Input speed reference value r min 0808H Feedback torque percentage Relatively rated torque 0809H Input torque percentage Relatively rated torque 080AH Encoder angle pulse number 080BH input signal monitor 080CH Encoder signal monitor 080DH Output signal monitor 080EH Pulse given speed when elect
48. 500 Pn097 move distance 1 speed r min 0 3000 500 Pn098 Move distance 2 speed r min 0 3000 500 Pn099 move distance 3 speed r min 0 3000 500 Pn100 move distance 4 speed r min 0 3000 500 Pn101 move distance 5 speed r min 0 3000 500 Pn102 move distance 6 speed r min 0 3000 500 Pn103 Move distance 7 speed r min 0 3000 500 move distance 0 first 1st Pn104 acceleration deceleration time ms 0 1000 0 constant move distance 1 first 1st Pn105 acceleration deceleration time ms 0 1000 0 constant move distance 2 first 1st Pn106 acceleration deceleration time ms 0 1000 0 constant move distance 3 first 1st Pn107 acceleration deceleration time ms 0 1000 0 constant move distance 4 first 1st Pn108 acceleration deceleration time ms 0 1000 0 constant move distance 5 first 1st Pn109 acceleration deceleration time ms 0 1000 0 constant move distance 6 first 1st Pn110 acceleration deceleration time ms 0 1000 0 constant move distance 7 first 1st Pnii1 acceleration deceleration time ms 0 1000 0 constant Pnii2 Move distance 0 stop time 50ms 0 32767 10 Pn113 Move distance 1 stop time 50ms 0 32767 10 Pni14 Move distance 2 stop time 50ms 0 32767 10 Pni15 Move distance 3 stop time 50ms 0 32767 10 Pni16 Move distance 4 stop time 50ms 0 32767 10 Pni17 Move distance 5 stop time 50ms 0 32767 10 Pn118 Move distance 6 stop time 50ms 0 32767 10 Pni19 Move distance 7 stop time 50ms 0 32767
49. CON effective PCON disable PCON disable l j l l i i i i i i i nu l D UUL Molecule of electrical I Molecule of electrical gear Pn056 gear Pn022 Molecule of electrical gear Pn022 tl t2 t3 t4 gt lms 34 ESTUN EDC E Series AC Servo Users Manual Position control diagram Servo drive _ position control Speed offset feedback gain feedback filte Pn016 Pn017 Pn025 COIN signal iti Servo motor Pulse Input mod numerator Position Speed adjustor reference Input mode Pn022 reference Positional be filterin DRONA Position oop i Direction Pn008 Pn023 PeO deviation gt Pnoi5 gt Gain Pn013 H gt Current loop denominator counter S Intergrator Pn014 Speed inspection filte Pn028 A Speed inspection A AB Phase on k x PG 4 times L C phase frequency Pulse output 4 2 5 Position contact control Reference of position control control modeparameterPn041 0 comes from pulse input of host controller Reference of internal speed control control mode Pn041 1 comes from internal parameter value Pn080 Pn095 of servo drive Parameter Pn080 Pn081 Pn094 Pn095
50. E siirre ara aa rrr Ee EES es ai 80 6 2 7 Software version of panel operator eee cee eeeeeeee eee eeeeeeseneeeeeeeneeeees 81 02 8 Facto EE 81 6 2 9 Inertia TUNING CNECKING 0 00 0 eee cece eect ceeeeneeeeeteaeeeeeteeaeeeeesaaeeeeneaeeeee 81 Chapter EE 83 UC HTC 83 7 1 Inspection and checking before trial operation ee ceeeeeeeeeeeeeeeeetneeeeeenaees 83 KE Te LE operati E 83 7 3 Trial operation in position Control mode eee eee ceee eee eeteeeeeeeeeeeeeeeeneaes 84 Ee TE 86 luan Uer en TE 86 8 1 RS232 communication hardware structure eceeeceeeeeeeeeeeeeeeeeeeeenteeeeeeeaes 86 8 1 1 External connection diagram 0 00 0 eceeeceeceeeeeeeeeneeeeeseneeeeeeeeeaeeeeteaeeeee 86 8 1 2 Cable CONNMGCHON BE 86 8 2 Communication relevant parameters eeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeerenaeaes 87 8 3 MODBUS Communication Protocol eeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaes 90 8 3 1 Code significatiomie cainesnn alginate aaan a an oar aai 90 8 3 2 Communication error handling A 96 8 3 3 Parameters servo status data communication address 0010 97 EE eege a 102 Technical specification and features 102 Gel ue e 102 9 1 1 Technical specification and features ecceeeeeeeeeeeeeeeeeeeeeeeeeeeetees 102 Ee EE 104 9 2 1 Technical specification ANd model 104 9 2 2 Servo drive
51. LUT Ka e p TT Phase B ann Phase B kasel Encoder signal i eg feedbacked from ot mer meer Encoder signal WI Ss feedbacked from Gell ol motor Be a REV Run Ref Il eea E Ia l Je manar e IO SUL A U Phase A Phase B a e UL enn Phase B The encoder signals by motor feedback as shown in above diagrams are the PA PA PB PB signals from PG output of servo drive m Set REV mode Rotation direction of motor is selected by setting the parameter as follows Para No Name amp Comments Unit Range Default Select rotation direction 0 view from side of motor load CCW direction represents forward direction Pn006 standard mode 0 1 0 1 view from side of motor load CW direction represents forward direction REV mode Note The change only takes effect when motor power is shut down and re powered on 15 ESTUN EDCE Series AC Servo User s Manual 4 1 2 Overtravel The overtravel limit function stops movable machine parts when they exceed the allowable range of motion m Overtravel function setting Before using overtravel function please connect correctly the input signals of following overtravel limit switch to the corresponding pin numbers of servo drive s 1CN connector Input POT 1CN 6 Pn001 0 Pn051 3 Forward direction rotation is prohibited input N OT 1CN 7 Pn002 0 Pn052 4 Reverse direction rotation is prohibited
52. PC Encoder C input input Encoder A 3 PA 10 input E A 4 pa GEES 11 f m input 5 12 6 13 E E 7 PG5V ncoder power 14 GND di power supply supply 5V grounding FG Connect shielded wires to shell of connectors Note Large diameter wires or multi core wires are used for power supply and grounding 3 4 Motor wiring 3 4 1 Motor encoder terminals Shell 172169 1 AMP Pin 170359 3 AMP Incremental type Pin No Signal Color 1 A Blue SEIN 2 B Green s 3 C Yellow ees 4 A Blue Black 5 B Green Black View from cable side 6 C Yellow Black 7 PG5V Red 8 PGOV Black 9 FG Shield Note The corresponding relations between pin number of encoder and signal may be different for different types of motors Please refer to the motor instructions 12 ESTUN EDCE Series AC Servo User s Manual 3 4 2 Motor power terminal Shell 172167 1 AMP Pin 170360 1 AMP Pin NO Signal Color 1 U Red 2 V Blue View from cable side 3 w White 4 FG Green Yellow Note The corresponding relations between pin number of motor s power wire and signal may be different for different models of motors Please refer to the motor instructions 13 ESTUN EDCE Series AC Servo User s Manual 3 5
53. Servo ON normally is Servo ON which is equivalent to 1CN 15 being active 4 5 3 Positioning complete output Positioning complete COIN signal output after positioning completes Make connection according to the following diagram lO Power supply Servo drive HAV OV Optocoupler output Each output node Max output voltage 30V Max output current 50mA Positioning complete Output Positioning complete Output grounding signal Output COIN position control Output COM position control Host controller can judge if servo action is completed or not with COIN 52 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Speed Reference speed Ai a speed Offset pulse Pn030 Un012 Un013 F ICON Un012 error pulse counter low position monitoring Un013 error pulse counter high position monitoring When output is active at low level Positioning has completed Position offset is lower ON status COIN L level than setting of Pn030 OFF status COIN H level deele is not completed Position offset is lower than setting of Pn030 Set In position error to control output time of COIN setting Using Para No Function Unit Default range method In position reference position Pn030 0 500 10 error unit control Setting of In position
54. When 1CN is set as P OT signal limiting direction O 1 0 and enable are selected according to this parameter 16 ESTUN EDCE Series AC Servo User s Manual 0 Enable forward run input signal prohibited 1 Disable forward run input signal prohibited Enable Disable input signal prohibited N OT When 1CN is set as N OT signal limiting direction and enabling are selected according to this Pn002 lt O 1 0 parameter 0 Enable reverse run input signal prohibited 1 Disable reverse run input signal prohibited Notes 1 When the motor is stopped by the overtravel in position control mode there is no pulse lag 2 After overtravel motor is in excitation state 3 Only one overtravel direction can be used make sure overtravel direction is set before using this function Subject to actual running 4 Please be aware the overtravel signal does not work if a motor is running in JOG mode 5 During mechanical movement when an overtravel signal occurs mechanical parts do not stop immediately owing to the action of their own inertia In this situation the overtravel signal is canceled and the motor will continue running Please pay close attention to the duration of the overtravel signal make sure there is some distance for overtravel signal on the machine When P OT and N OT are not used the short circuit wiring as shown in the following diagram will not be required Anothe
55. air wires are required for signal wires and encoder feedback wires the shield layer must be connected to the shell of the plugs Wire length requirement reference signal input wires are maximum 3 meters and encoder feedback wires are 20 meters to the maximum Please note even when the power is turned off there will still be some electric energy remaining in the internal circuit In order to avoid electrical shock please make sure inspection or wiring work is started five minutes after Charge indicator is OFF Do not turn power ON and OFF frequently If required turning power ON and OFF should be controlled only once a minute There are some high capacity capacitors installed in the internal circuit of servo drive when power is switched on a high charging electric current will flow though the capacitors within several milliseconds therefore frequent power on off will cause fast deteriation to the servo s internal elements ESTUN EDCE Series AC Servo User s Manual 3 1 1 Typical main circuit wiring Single phase AC220V 15 15 50 60Hz A o Non fuse circuit braker Surge Lightning protect gt suppresser d K Noise filt d alse TI er 1RY PL L fe Noise filter N 1MC Design with ooo OFF 1MC RY Europen Blea o ole 2 O O O RI tandard lectromagnetic et contactor Cutting off NO NO Spa
56. ansmission is 7 digits or 8 digits English alphabet N E and O means odd or even N means this digit is disabled E means 1 digit even O means 1 digit odd the number 1 or 2 means stop is 1 digit or 2 digits The communication protocol between host controller and servo drive are required to be the same when communication function is used A COM input IO control When using COM control function the parameter Pn059 can be used to shield input IO signals if the user does not want external input signals to affect servo drive When some bit is set as 0 zero the signal of this bit is then controlled by the external input signal If the bit is set as 1 then COM control is applied to this bit Settin Para NO Name Unit g Default rang Pn059 COM input IO control 0 15 0 This parameter is used to set whether the number input of servo drive is controlled by external IO or by COM When the parameter is set as zero it means all numerical IO input pitches are controlled by external signals When it is set as 15 it means all of the four IO inputs are COM controlled and all external input signals are ignored Input signal source is decided by value of Pn059 88 ESTUN EDC E Series AC Servo Users Manual Pn059 Comments on every bit Decides SON 1CN 15 source of signal input 0 controlled by external input signal 1 controlled by COM Decides ALM RST 1CN 6 source of signal input 0 controlled by
57. arameter 1 Mechanical forms relates to electronic gear gear ratio ball bearing screw pitch pulley radius 2 Encoder pulses of servo motor 3 Equivalent pulse reference unit Reference unit refers to the unit of minimum move distance required by load or the minimum Reference move the workpiece by 0 001mm unit Reference unit 0 001mm hmmm Please decide the reference unit by mechanical form and position precision reference unit of the host controller For example reference unit can be 0 01mm 0 001mm 0 1 0 01 inch reference of input one pulse the distance or angle of pulse equivalent If pulse is equivalent to 1um input reference pulse 50000 then the move distance will be 50000x1um 50mm 4 With pulse equivalent load move distance is calculated subject to load shaft turning for one revolution Movie distance of load reference unit Moving distance of load pulse equivalent If ball bearing screw pitch is 5mm pulse equivalent is 0 001mm 5mm 0 001mm 5000 reference unit Ball screw Rotation table Belt pulley a gt Bearing shaft pD D Belt roller diameter P Pitch Ball screw SS gu O 7 d Bearing shaf E P 360 ons HI 1 mation 1 rotation 1 rotat forenes unit Reference unit Reference unit 32 ESTUN EDCE Series AC Servo User s Manual 5 Example for electronic gear ratio B A Gear ratio of motor shaft and load shaft is
58. are the internal eight groups of position reference register Programming method can be defined according to Pn070 There are two method a incremental b absolute It can also be used with external I O 1CN 7 input as PCON signal m Setting of position contact control 1 Set Pn041 1 Cinternal speed control 2 Select cycle run or not whether PCON is used as step change signal or not the programming method start and stop point of program etc Para Name and meanings Setting Default Other No range Select cycle run Pn068 0 multiple cycle run O 1 0 1 multiple single run Enable Disable PCON When PCON signal is used signal as step change as step change signal 1 Set Pn051 or Pn052 as 2 Pn069 O 1 0 i 0 delay step change 2 PCON active is generated 1 PCON signal step at the edge of input signal change from inactive to active Pn070 Programming method O 1 0 35 ESTUN AUTOMATION EDCE Series AC Servo User s Manual 0 incremental 1 absolute Which of the 8 groups of Pn072 Start point of program 0 7 0 position data is used as start point Which of the 8 groups of Pn073 Stop point of program dech 1 position data is used as stop point 3 Required moving distance of motor is calculated according to actual moving distance then moving distance data is filled in each contact position register
59. assed on i l ground If it is small it means the insulating Power module power module is too large l A 12 property of the motor is lower Change the error or control voltage of VCC4 i motor is too low 3 Check if the capacity of motor is matched with the servo drive s 4 Check if the control power of power module VCC4 is normal lt will alarm when it is lower 67 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Item Alarm name Possible reason Method 5 Increase the time of acceleration and deceleration 6 Check if the relay of DB is damaged power module overheat 1 bad air flow of radiator or 1 Change the servo drive match with the temperature around the S load capacity servo drive is too high D A 13 Overheating 2 lmprove environment condition to 2 start and stop frequently S enhance the ability of convection and 3 servo drive operate S ventilation under over load capacity for a long time Over voltage or under voltage of main circuit 1 power off for a moment the voltage of main power g P 1 Check the input voltage if it is in the supply is too low 8 Cover of rated range A 14 Voltage error 2 the energy of the load is 2 Increase the time of deceleration too large which leads to 3 Low down the frequency of start stop main voltage is too large when decelerating 3 frequency of start stop is too high Reference pulse frequency ae 1 Please set reas
60. changing of communication speed ADR COM address Range of legal COM address from 1 to 254 The example below shows communication with a servo whose address is 32 if expressed in hex system the address will be 20 ASCII mode ADR 2 0 gt 2 32H 0 30H RTU mode ADR 20H CMD Command reference and DATA Data Data format depends on following command codes Command code 03H when reading N words maximum value of N is 20 For example read the first two words from start address 0200H from a servo at the address of 01H ASCII mode Reference information Response information a e STX ic ADR i or T i U ane CMD 3 Information 0 Start information 2 E 4 address 0 Start information 0 address B 0 0200 Information T T quantity by word a The second T y information PF e address 4 LRC verify e 0201p 0 End 1 ODp CR LRC verify End 0 OA LF End 1 0D CR End 0 OA LF 92 AUTOMATION EDCE Series AC Servo User s Manual RTU mode Reference information Response information Oln Olh 03h 03 02 high n high 04 00 low 00h 00 high 2 02h B1p low C5 low B3 high 1F high 40 low A3n low D3B high Reference code 06H write in o
61. codes displayed on the hand held operator or view via the communication software in a PC Only the last 8 alarm records are saved in the servo drive which can be viewed via the operator or PC communication software The alarm without the sign of to turn power OFF and ON again x are not able to be removed To clear the alarms user has Item Alarm name Possible reason Method 1 Turn on the power supply again to see if checksum results of it still happen A 01 Di parameters saved in 2 lf it still happens external storage of EES external storage has errors servo drive has been damaged Please change a chip 1 Check the reference power supply of servo A D circuit if it is damaged Am Current detection jinternal detection circuit 2 Check the connection between the main error problem board and control board is good 3 Check if the channel of A D sampling is damaged 65 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Item Alarm name Possible reason Method rotation speed of the motor has exceed 1 1 times of max speed Please take the following measures when 1 input reference pulse the motor is over speed frequency is too high 1 reduce setting speed reference value 2 time constant of 2 increase the value of Pn024 and Pn015 A 03 Over speed acceleration and 3 check the electronic gear ratio which deceleration is too small should be set under the coverage
62. cted by switch on off input signals J parameter speed control parameter reference Run at constant speed as the value in Pn048 Using the CLT signal Following illustration shows the way to use the contact output signal CLT torque limit test 24V Power supply Servo drive 24V MOLT eegen Photocoupler ie Max voltage DC30V A Max current DC50mA 2 CLT K gt output CLT Torque limit detection Speed conirol torque control output position control The following signal can be output to indicate the servomotor output torque is being limited or not ICLT L level when ON The servomotor output torque is being limited internal torque reference is above setting value ICLT H level when OFF The servomotor output torque is not being limited internal torque reference is below setting value 19 ESTUN EDCE Series AC Servo User s Manual The setting value Pn026 Forward direction torque internal limit Pn027 Reverse direction torque internal limit When CLT signal is used the output signal and output pin number are required to be defined according to the user constants in following table Para No Name amp Description Range Default Pn049 Output signal 1CN 2 pin No signification 0 4 0 Pn050 Output signal 1CN 3 pin No signification 0 4 1 Servo d
63. d Way to clear error counter Servo drive s internal error counter is zero 0 This signal means power level active it s required to retain some time before the signal takes effect The signal has to be canceled after the pulse is cleared otherwise the counter is always in the zero Clear status which will result in no action in the servo position loop In position control mode some pulses will remain in error counter when servo is OFF Therefore the error counter has to be cleared immediately after servo is re enabled With Pn005 setting pulse signal of error counter can be cleared automatically when servo is OFF Parameter N Name and comments Setting range Default o 0 When S OFF clear error counter Pn005 1 When S OFF does not clear 0 1 0 error counter m Position reference 1st filter time gt position reference 1st filter can improve system s respond smoothness to given reference pulse gt If reference input is comparatively rough the dividing frequency multiplication is set too large or frequency of pulse input is low which can implement more smooth control of servo system gt f position reference 1st filter time constant that is Pn024 gt is set too large servo system s dynamic performance will be reduced Parameter N Name Unit Setting range Default o position reference ist Pn024 ms 0 1000 0 filter time constant m Position reference smoothing filter
64. d or eliminated Parameter Name unit setting range Default Speed checkout Pn028 1 0 500 0 filter time constant The smaller the value of the constant the better control response is shown Actual situation will be restrained by mechanical structure If mechanical vibration occurs when default setting is used adjust this parameter to a larger value normally the vibration can be restricted effectively 4 6 4 Torque reference filter time constant When mechanical vibration is caused by servo drive Torque reference filter time constant can be adjusted to remove or eliminate vibration Parameter Name unit setting range Default Torque reference Pn018 filter time 1 0 5000 0 constant The smaller the value of constant is the better control response is shown Actual situation will be restrained by mechanical conditions If mechanical vibration caused by servo occurs when standard setting is used adjust this parameter to a larger value the vibration can also be restricted effectively The reason of 59 ESTUN EDC E Series AC Servo Users Manual vibration may be by incorrect gain adjustment or machine problems 4 7 High speed positioning 4 7 1 Servo gain settings m Setting speed loop gain Parameter Name Unit Setting range Default Select speed loop control Pn007 _ 0 1 0 method 0 speed control method 1 speed control method Please
65. e 3 low 9999 9999 0 pulse 10 reference Pn088 moving distance 4 revolutions 32767 32767 5 pulse 1 reference Pn089 moving distance 4 low 9999 9999 0 pulse 10 reference Pn090 moving distance 5 revolutions 32767 32767 6 pulse 1 reference Pn091 moving distance 5 low 9999 9999 0 pulse 10 reference Pn092 moving distance 6 revolutions 32767 32767 7 pulse 1 reference Pn093 moving distance 6 low 9999 9999 0 pulse 10 reference Pn094 moving distance 7 revolutions 32767 32767 8 pulse e 1reference Pn095 moving distance 7 low 9999 9999 0 pulse Pn096 moving distance Ospeed r min 0 3000 500 Pn097 moving distance 1speed r min 0 3000 500 Pn098 moving distance 2speed r min 0 3000 500 Pn099 moving distance 3speed r min 0 3000 500 Pni00 moving distance 4speed r min 0 3000 500 Pn101 moving distance 5speed r min 0 3000 500 Pni02 moving distance 6speed r min 0 3000 500 Pn103 moving distance 7speed r min 0 3000 500 moving distance 0 first 1st Pn104 ee ms 0 1000 0 acceleration deceleration time constant moving distance 1 first 1st Pn105 es ms 0 1000 0 acceleration deceleration time constant Pn106 moving distance e first 1st SS 0 1000 0 acceleration deceleration time constant moving distance 3 first 1st Pn107 es ms 0 1000 0 acceleration deceleration time constant Pn108 moving distance first 1st eg 0 1000 0 acceleration deceleration time constant Pni09 moving distance 5 first 1st ms 0 10
66. e electric energy remained in the capacitors of the internal circuit In order to avoid electrical shock please make sure inspection work is started 5 minutes after Charge indicator is OFF m There should be a space of at least 10mm between the servo drive and any other devices mounted in the electrical cabinet The servo drive produces heat when running heat dissipation should be considered in the design of mounting layout At least 10 mm space in lateral direction and 50 mm space in longitudinal direction are required from servo drive to other equipment during installation Please install the servo drive in an environment which is free from condensation vibration and shock H Noise immunity and grounding The noise from signal wires causes mechanical vibration and faults Please comply with the following rules Run high voltage power cables separately from low voltage power cables Make cables as short as possible Single point grounding is required when mounting the servo motor and servo drive and grounding resistance should be lower than 1000 Please do not apply a input noise filter between servo drive and servo motor m Voltage test of the servo drive should meet following conditions Input voltage AC 1500Vrms 1 minute Interrupt Break current 100mA Frequency 50 60Hz Forcing point Between Terminal R Terminal T and Terminal E m Apply a fast response leakage protector It s required to use a fast response leakage
67. easier to have position control with high response and small offset and this is limited by mechanical features Owing to affection of load vibration and overshoot may occur easily if the gain is set too large Position loop gain Position reference X _ Kp Position feedback Para NO Name Unit Setting range Default overflow range of error 256 reference Pn031 1 32767 1024 counter unit This parameter is used to check offset pulse number of overflow alarm AlarmA 06 Para NO Name Unit Setting range Default Enable Disable alarm when position error pulse overflows Pn047 0o 1 0 0 no alarm output 1 output alarm This parameter is used to decide whether offset overflow alarm CalarmA 06 is required or not fo Alarm A 06 Deviation pulse 0 When Pn047 is set to 1 if the range of error counter overflow Pn031 is set too small alarm A 06 may occur when running at high speed 61 ESTUN EDC E Series AC Servo Users Manual m Position feed forward With feed forward control positioning time is reduced Para NO Name Unit Setting range Default Position feed Pn017 0 100 0 forward gain Inside servo unit feed forward compensation is used for positioning control to reduce positioning time But if the gain is set too large overshoot and machine vibration may occur As for normal machines please set the ga
68. ed as 100 in binary system if it is converted into decimal system it would be 4 that is Pn055 should be set as 4 Note The validity of I O signals mentioned in this manual are referring to a normal situation that is active when input signal is at low level active when BK COIN output is at low level ALM output is at high level 4 2 4 Electronic gear With Electronic gear function the workpiece travel which is equivalent to input reference pulse can be set to any value The Host controller sends a reference pulse that can implement control operation with no consideration in mechanical gear ratio and output pulses of the encoder so the control calculation becomes easier Without electrical gear With electrical gear Workpiece Workpiece ee i i Reference unit 1pm Encoder pulse 2500 Encoder pulse 2500 Ball screw pitch 6mm Ball screw pitch 6mm Need to move distance 10mm Due to once rotate 6mm 10 6 1 6666 rotations 2500x4 pulse generated by one rotaion 1 6666x2500x4 16666 pulse Reference input 16666 pulse Need to move distance 10mm The calculate must be done at the upper Reference unit is lum so device 31 10mm 1pm 10000 pulse ESTUN EDCE Series AC Servo User s Manual Setting the electronic gear function Take following steps to calculate electronic gear ratio B A its value is set in Pn022 and Pn023 of the user p
69. ed as follows 0 position control pulse train reference Servo drive accepts pulse train generated by host controller and speed and positioning are behaving according to host control s demand 1 position contact control internal position reference Enable speed control by contact reference Please refer to 4 2 7 internal speed control of the manual 2 parameter speed control parameter reference Run at constant speed as specified in Pn048 44 ESTUN EDCE Series AC Servo User s Manual AUTOMATION The following table shows the meaning of some input signals in different modes Pn041 Control mode Servo drive 7 PULS position control pulse train reference Position 0 Normally position control input reference reference SIGN refers to pulse train Internal position control internal position reference 1 No external input signal is required Run according to value in internal position register parameter speed control parameter reference Servo motor rotates according to speed and status specified in Pn048 setting 4 4 Stop function settings 4 4 1 Dynamic brake Set the value of Pn004 to select stop mode of servo motor DB braking or coast stop If dynamic brake is not used motor stops naturally with no brake by using the friction resistance of the motor in operation Para No Function Range Default Stop mode of servomotor when servo OFF or Pn004 0 3 0
70. ed with diluting agent or thinners before installing the motor NOTE The diluting agent should not touch any other parts of the servomotor when wiping the shaft H Antirust agent oe D 4 2 1 1 Storage temperature When the servomotor is not in use it should be kept in a place with an environment temperature between 20 C and 60 C 2 1 2 Installation site Servomotor should be installed indoors and the environment should meet following conditions e Free from corrosive inflammable or explosive gases Well ventilated and free from dust and moisture Ambient temperature is between 0 C and 40 C Relative humidity is between 26 and 80 RH non condensing Maintenance and cleaning can be performed easily 2 1 3 Installation concentricity Use flexible shaft connectors as many as possible for mechanical connections The axis centers of servo motor and mechanical load should be kept in the same line If a shaft connector is used when installing servo motor it has to meet the requirement of concentricity tolerance as shown in the illustration below Measure this at four quarter positions of a cycle The difference between the maximum and minimum measured value must be less than 0 03mm Rotate together with shaft connectors ESTUN EDCE Series AC Servo User s Manual Measure this at four quarter positions of a cycle The difference between the maximum and minimum measured value must be less tha
71. eeeeeeeaeeeeseeeeeeeeseaeeeeeeeagaes 10 2 16 Cable tensSiON riisin riesege Aegd ere Eege dE es 10 212 SOIVO ONIN sicheraiiseetsti keete Seege GERS EE Handa ieee 10 Ee Ee tt 11 2 2 2 Installation Site ninkin nasaan raian anana a nanai aaah aaaea 11 2 2 3 Installation orientation seseeseeeesererneeeereeerrrrneteretrnrrnnnnetrernnnnnnnneeene 11 2 2 4 Installation of several servo drives sssesesesrireereerreerrrerrrrresrrnnnes 12 Chapt r EE 5 WINO DEET 5 3 1 WIFING ANG CONNSCHON D 5 3 1 1 Typical main circuit Wiring eee eect ee eeneteeeeeeaeeeeeeaeeeeeenaeeeeeeeaeeeeees 6 3 1 2 Names and Functions of Main Circuit Terminals e 6 SPNO Ee E ET 7 3 2 1 Standard connection diagram eeeceeeeeeeeeeeeeneeeeeeenteeeeteneaeeeeeeeaeeeeees 7 3 2 2 Connector terminals sssseeeeeeeeseserettteeerettrr nnne tettrtntntererttrerennnnneeerene 7 3 2 3 Function list of UO SiQnals 0 cece eeeeceeeeeneneeeeeeneeeeeeaeeeeeeaeeeeeeeeeeeees 8 3 2 4 Interface circuit example ee eee ceteeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeseaeeeeeenaaes 10 De Ree E WIFI e DEE 11 3 3 1 Encoder ee Ee KEE 11 3 3 2 Signal list of connectors 2CN sssssssssssseerrsrressererrrrrnesrerrerrnnreneserene 12 SA MOTON WIRING WE 12 3 4 1 Motor encoder terminals AAA 12 3 4 2 Motor power Terminal 13 3 5 Standard Connection example A 14 ESTUN AUTOMATION EDCE Series AC Servo User s Ma
72. en it reaches 327679999 The decimal point at top digit of Un 010 Un 012 and Un 014 means the value is negative For instance Un010 is displayed as olola It means the value of Un010 is 3560000 When the speed given by pulse is below electric gear ratio of 1 1 encoder shows the theoretical rotation speed of the gain type 2500 lines of electric motor e Pulse numbers of encoder angles show the rotor s position in relate to stator in one complete revolution one revolution is regarded as one cycle e As for wire saving encoder motor its encoder signal only represents the data during power on the contents of non wire saving encoder signal display is shown in the following table No of Contents Monitor No digit UO displayed Relevant I O Signals Signal of 0 Encoder W 2CN 12 13 PG W Input Signal of Un006 1 signal Encoder V 2CN 5 6 PG V Signal of 2 Encoder U 2CN 10 11 PG U e Contents of I O terminal signals are in the following table No of VO Contents Relevant UO etl Ne digits displayed Signals 0 Input Servo ON 1CN 15 S ON 1 signal Alarm reset 1CN 6 ALM_RST 2 Clear error counter 1CN 7 CLR 3 Zero position signal 1CN 17 ZPS 4 5 6 No display No signal Un005 7 Output Servo alarm 1CN 4 ALM signal Positioning 8 complete speed 1CN 3 COIN achieves Mechanical braking 9 released 1CN 2 BRK The relative LED is
73. er into heat energy consumption of a bleeder or drain resistor otherwise servo drive may output over voltage alarm Servo motor runs in dynamo mode subject to following conditions e During deceleration to stop e Inertia load on perpendicular axis e Servo motor runs continuously due to load side negative load Note e EDC servo drive does not provide a built in regenerative resistor so external regenerative unit must be equipped if required e Terminal P and Terminal N from servo drive are leading to drive s main circuit power high voltage on DC generator therefore it s prohibited connect directly to bleeder or drain resistor 55 ESTUN EDCE Series AC Servo User s Manual Connect external regenerative unit according to following diagram 1MC Servomotor Single phase 220VAC Short circuit connection Please remove short connection wire while use external regeneration resistance 2 Regenetation unit Note Before connection and installation please refer carefully to all the precautions in the instruction of the regenerative unit which is to be used 57 ESTUN EDC E Series AC Servo Users Manual 4 6 Smooth running 4 6 1 Smoothing Servo drive can perform smoothing filtering on reference pulse input of certain frequency Parameter Setting name unit Default number range Pn024 position reference 1st filter ms 0 1000 Pn025 Feed forward filtering ms
74. eted COIN while in speed control method it means same speed is detected V CMP 1 positioning complete same speed detected in position control COIN 3 method it means positioning is completed COIN while in speed control method it means same speed is detected V CMP 2 torque limit CLT output when output torque exceeds the value of Pn026 or Pn027 this signal gives output 3 Servo ready S RDY output When servo drive detects no alarm subject to a power supply input this signal gives output 4 Encoder C pulse signal output One C pulse signal output per revolution The value of Pn049 decides the output signal see the details as follows 0 brake interlock BK output 1 positioning complete same speed detected in position control method it means positioning is completed COIN while in speed control method it means same speed is detected V CMP BK 2 2 torque limit CLT output when output torque exceeds the value of Pn026 or Pn027 this signal gives output 3 Servo ready S RDY output When servo drive detects no alarm subject to a power supply input this signal gives output 4 Encoder C pulse signal output One C pulse signal output per revolution COM 5 UO common grounding PAO 8 Differential output of Encoder A signals PAO 18 PBO 9 i Differential output of Encoder B signals PBO 19 PCO 10 Differential output of Encoder C signals PCO 20 Connect shielded wires of I O signal cables to shell of 1CN whic
75. external input signal 1 controlled by COM Decides CLR 1CN 7 source of signal input BIT2 0 controlled by external input signal 1 controlled by COM Decides ZPS 1CN 17 source of signal input BIT3 0 controlled by external input signal 1 controlled by COM BITO BIT1 Following are the two ways for COM function to operate on digital input IO signals 1 Change the value of Pn054 directly inverts required signal and enables it 2 Set Pn059 first to make servo ignore external input signal then write in corresponding value to the data whose address is 0x0900 when controlling of external input signal is required The value of the data whose address is 0x0900 is not saved after a power interruption The table below gives an instruction of the value of the data whose address is 0x0900 Data value of Comments on every bit 0x0900 Decides SON 1CN 15 signal BITO 0 signal is invalid 1 signal is valid Decides ALM RST 1CN 6 signal BIT1 0 signal is invalid S OFF 1 signal is valid Decides CLR 1CN 7 signal BIT2 0 signal is invalid S OFF 1 signal is valid Decides ZPS 1CN 17 signal BIT3 0 signal is invalid S OFF 1 signal is valid For example when COM is used control IO signals of external input set Pn059 as 15 which means all external digital input IO are controlled by COM When servo On is required write in 89 ESTUN EDCE Series AC Servo User
76. g to the last data 01H 03H 02H 01H 00H01H 08H Take fill in number of 2 from 08H therefore LRC is F 8 STX SCH 0 ADR d 8 0 CMD CN 0 EA Start info address Deg sA 3 0 Info quantity by 0 word 0 4 A F LRC verify PT 94 ESTUN EDCE Series AC Servo User s Manual End 1 OD h CR End 0 OA LF CRC calculation in RTU mode CRC Cyclical Redundancy Check error detection value is used in RTU mode Take following steps to calculate CRC error detection value Step 1 Load in a 16 bit register whose content is FFFFH which is called CRC register Step 2 Make OR calculation of the 17 bit bit0 of reference information and the low bit LSB of 16 bit CRC register then save the result into CRC register Step 3 Check lowest LSB of CRC register if this bit is 0 then move the value to the right for one digit If this bit is 1 then move the value to the right for one digit after that make OR calculation with A001H Step 4 Go back to Step3 when knows Step 3 has been done eight times moves on to Step5 Step 5 Repeat operations from Step 2 to Step 4 for the next bit of reference information when knows all bits have been processed in the same way the wanted CRC error detection value is just the current content in the CRC register Instruction After CRC error detection value is calcu
77. give three types of pulse reference as follows linear driving output 24V open collector output 12V and 5V open collector output Connection example 1 when host controller is linear driving output Applicable linear drives T1 company AM26LS3 SN75174 or MC3487 and other substitutes Host controller Servo drive Photo coupler 1CN 11 150 Pe 1CN 12 ETA x 1CN 13 150 Dall Grounding Connect to shell shielding Example 2 When host device is open collector output subject to 24VDC signal power 21 ESTUN EDCE Series AC Servo User s Manual Host controller Servo drive Photo coupler 1CN 11 150 1CN 12 1CN 1 Grounding Connect to shell shielding Example 3 When host device is open collector output subject to 12VDC or 5VDC signal power Host controller Servo drive Photo coupler 1CN 11 150 1C0N 12 1CN 13 150 1CN 14 Grounding Connect to shell shielding The right current limiting resistor R1 should be used according to current requirements i 10 15mA When Vcc is 12V R1 560 8200 When Vcc is 5V R1 82 2000 22 ESTUN EDC E Series AC Servo Users Manual Selecting reference pulse mode input PULS 1CN 11 input reference pulse input PULS 1CN 12 input reference pulse input SIGN 1CN 13 input reference sign inp
78. h is FG Shell equal to the connection of the shell and the frame grounding wire ESTUN EDCE Series AC Servo User s Manual 3 2 4 Interface circuit example Following illustrations show the connection of I O signals of servo drive and host controller a Input interface circuit Following illustrations show an example of the connection of input signals using relay contact or open collector transistor circuit Servo drive Servo drive DC24V DC24V 50mA or more 24VIN 50mA or more 3 3KQ 24VIN 3 3KQ d areas rman e f hd gt EE a gt i A Ws lie S ON ee g i See S ON L If the relay contact input is used the relay must be suitable for low electric current otherwise it causes signal receiving faults a Interface of encoder output and drive output Output signals PAO PAO PBO PBO of the two phase pulse of the encoder and the origin pulse signal PCO PCO make the outputs by means of BUS drive output circuit Generally it s used on the condition that the host controller side forms the position control system Wire reception circuit should be used when it s near the host controller See Encoder wiring for an example of a practical circuit connection a Interface of sequence output circuit Photo coupling isolation output is required for output signals of servo alarm positioning complete and brake interlock
79. in to 80 or lower ntegral Pn017 Pulse Reference K og H Forward feedback pulse E Current feed forward compensation Setting the following user constants can increase the response speed of the inner loop and improve system rigidity Para NO Name Unit Setting range Default Current feed forward Pn120 0 4096 1024 compensation Increasing this value can increase the inner response of the system this value should be adjusted based on actual occasions But over larged value could easily cause tiny vibration to the motor 4 7 2 Speed offset settings By setting internal speed reference offset of servo unit adjusting time for positioning control can be reduced Setting Para NO Name Unit Default range Pn016 Speed offset r min 0 300 0 Inside servo unit the specified speed reference offset for positioning control are used to reduce positioning time Make the setting according to mechanical conditions 62 ESTUN EDCE Series AC Servo User s Manual Internal speed reference Pn016 Deviation pulse Note When positioning error is set low while speed offset is set a bit larger overshoot or vibration may occur during system running Please pay close attention when using this parameter 63 ESTUN AUTOMATION EDCE Series AC Servo User s Manual 5 1 Alarm list Chapter 5 Troubleshooting Servo dri
80. ion Check if 1CN cable power cables of servo drive and servomotor encoder cables are connected in the right way Operation steps 1 Set Parameter 008 according to output style of servo drive set Pn041 as 0 then Power On again 2 When Servo On is enabled S On signal becomes active motor will keep in excitation status 3 A low frequency signal is sent from host controller to servo drive motor is set to run at low speed 4 Check motor speed with panel operator by its Un000 display or monitor motor speed with host controller Make sure feedback speed of servomotor agrees with the setting value Inspection When reference pulse stops motor should stop running 84 AUTOMATION EDCE Series AC Servo User s Manual Relation between motor speed and pulse frequency input 500K 3000 250K 1500 100K 600 50K 300 Electronic gear ratio is 1 1 Motor encoder is 2500ppr 85 ESTUN EDCE Series AC Servo User s Manual Chapter 8 Communication 8 1 RS232 communication hardware structure EDC servo drive supports RS232 communication Via the RS232 COM function in its front panel parameters reading out or writing in and system status monitoring are available 8 1 1 External connection diagram Following diagram shows external connection between servo drive and PC 8 1 2 Cable connection Following illustration shows the plug shape of the RS232 COM port on EDC servo drive
81. itor mode Assistant function mode 6 1 4 Status Display Mode In status display mode the digits and simple code are used to show the status of servo drive E Selection of Status Display Mode The status display mode is displayed when the power is turned ON If current mode is not the status display mode press MODE key to switch to required mode B Contents displayed in Status Display Mode Contents displayed in the mode are different in Position Control Mode and Speed Control Mode sle ESTUN AUTOMATION EDCE Series AC Servo User s Manual When in Speed Control mode Speed coincidence Base block Control Power ON Speed reference input Contents of digit display Bit data SS EN lala Rotation detection Main circuit power ready Torque reference input Code Digit data Description Control power is ON Lamp lights on when control power of servo drive is ON Standby Lamp lights on when servo is on standby Lamp extinguishes when servo is ON Speed coincidence When offset value between speed reference and actual motor speed is within allowable value lamp lights on Allowable value Pn029 The standard value is 10 min r Rotation detection output When motor speed exceeds allowable value lamp is lit When motor speed is lower than allowable value lamp goes extinct Allowable value 10 of rated speed Reference speed input is continuing
82. lated it s required to fill in first the low bit of CRC in reference information then fill in the high bit of CRC Refers to the example below Example Read two words from 0101H address of 01H servo drive Final content of CRC register is calculated and turns to be 3794H by summing the date from ADR to last bit then its reference information is shown below Please be noticed 94H should be transmitted before 37H ADR Olh CMD 03h 01 n High bits Start info address 01 n Low bits 00 n High bits Info quantity by word 02 Low bits CRC Low bits 94 Low bits of checksum CRC High bits 37n High bits of checksum Endi End Communication complete ASCII mode Communication ends with the character wv carriage return and OAH n newline RTU mode The freeze time for communication time required by four bytes at a speed exceeding current communication speed means communication comes to an end For example Use C language to generate CRC value This function needs two parameters unsigned char data unsigned char length This function will transmit back CRC value of unsigned integer 95 ESTUN EDC E Series AC Servo Users Manual unsigned int crc_chk unsigned char data unsigned char length int i j unsigned int crc_reg oxFFFF While length crc_ reg data for j 0 j lt 8 j If crc_reg amp 0x01 crc_reg crc_reg gt gt 1 0xA001 else crc_
83. lectrified servo motor from turning due to the action of gravity Vertical axis Forced axis Servo motor Hold brake e Servo motor Outside force Prevent from movement by gravity when power off Prevent from movement by force 46 ESTUN EDC E Series AC Servo Users Manual The action of brake holding is controlled by servomotor s brake interlock output signal BRK Make sure servomotor is mechanically separated before confirming action of servomotor and brake active holding brake If all the parts are moving well connect servo motor to the machine m Connection example BRK controls Power On Off of brake sticking which consists of the control circuit of holding Servo drive Servo motor with brake Power supply ud U 42 ger gt R vD N Wee wiai M T Ed FGI TA z a 7 E 24V 6 N 24V BRK RY BRK ov 7 i BK t AW i gt FS Ze COM Encoder ZCN 6 BRK RY 24V AC DC DV brake The illustration below shows a typical connection example BRK RY brake sticking control relay Output BRK Brake interlock output Speed control position control BRK is used to control the status of brake sticking When brake active is not used this connection is not required ON L level Release brake OFF
84. lit to show some I O signal is active 76 ESTUN EDCE Series AC Servo User s Manual 6 2 Auxiliary functions In Auxiliary Function Mode some application operations can be done with the digital operator The functions details are shown as below Function No Content Other Fn000 Display alarm history Fn001 Restore to Defaults Fn002 JOG operation Fn003 Automatic offset signal adjustment of motor Open operation current detection Fn004 software version of servo Fn005 System runtime Fn006 Software version of panel operator Hidden operation Fn007 Factory test Fn008 Inertia inspection Note Open operations refer to the auxiliary functions for general users e Hidden operations When the panel operator is in simple code menu press xxxx and start to use the auxiliary functions 6 2 1 Alarm history display The last ten 10 alarms are displayed in the alarm history library Take following steps to check the latest alarm 1 Press MODE key to select auxiliary function mode 2 Press INC or DEC to select function number of alarm history display IDIIN fan a 3 Press ENTER key the latest alarm code is displayed Alarm No Alarm code S OCH i 4 Press INC or DEC key to display other alarm codes occurred recently Sei 2 0 g 27 fe ESTUN EDCE Series AC Servo User s Manual 5 Press ENTER to return to function number display
85. ll 172167 1 AMP Pin 170360 1 AMP C Pin l Signal Color NO 1 U Red 2 V Blue 3 W White 4 FG Green Yellow e Encoder connector specification Shell 172169 1 AMP Pin 170359 3 AMP Incremental encoder type w signalllicel igna olor NO S 1 J 1 A Blue 2 2 2 B Green 6 5 4 91 3817 3 C Yellow a 4 A Blue Black 5 B Green Black 6 C Yellow Black 7 PG5V Red 8 PGOV Black 9 FG Shield 9 2 Servo drive 9 2 1 Technical specification and model Servo drive model EDC O2APE O4APE O8APE Applicable servomotor model EMIL O2APA O4APA O8APA Power supply Single phase AC220V n 50 60Hz Control mode SVPWM Feedback Incremental encoder 2500P R Operating storage Basic 0 55 C 20 85 C temperature data Working Bs Operating storage Condition e 90 RH or less non condensing humidity Shock vibration resistance 4 9m s7 19 6 m s Structure Base mounted Mass approximately 2kg 104 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Speed control range 1 5000 GE Load Regulation 0 100 0 01 below at rated speed ee Be Speed Voltage regulation Rated voltage 10 0 at rated speed GEN regulation Temperature 0 40 C 0 1 belo
86. lly every time after S ON Y 0 Search Pulse C after origin search is done Y 1 don t search Pulse C after origin search is done X 0 forward run origin search ZPS as origin X 1 reverse run origin search ZPS as origin Pn072 Start point of program 0 7 0 Pn073 End point of program 0 7 1 DECH Speed 1 when searching reference point Un 0 3000 4000 n min Chit STROKE travel distance switch Speed 3 when searching reference point Pn075 away from STRKE travel distance r min 0 300 5 switch Pn076 reserved 0 SS 10 reference Pn077 Cycle number of origin search offset 0 9999 0 pulse Pn078 Pulse number of origin search offset 1 pulse 0 9999 Pn079 Reserved 0 oo 10 reference Pn080 moving distance 0 revolutions 32767 32767 1 pulse reference Pn081 moving distance 0 9999 9999 0 pulse 4 Pn082 moving distance 1 revolution 1O reference _35767 32767 2 pulse 1 reference Pn083 moving distance 1 low 9999 9999 0 pulse 10 reference Pn084 moving distance 2 revolutions 32767 32767 3 pulse l 1 reference Pn085 moving distance 2 low 9999 9999 0 pulse Pn086 moving distance 3 revolutions 10 reference 32767 32767 4 112 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Para No Name and Meaning Unit Setting range Default Remarks pulse 1 reference Pn087 moving distanc
87. lse output Zero point signal ZPS 24V ane N GEN GEN A ALM Alarm output i 5 lt ov lt OFF for an alarm Photocoupler Max Voltage DC30V BE Max Current DC50mA FG Connector sheild The functions allocated to the output signals Pin3 to Pin4 can be changed by Connect sheild to connector shell using the parameters 14 ESTUN EDCE Series AC Servo User s Manual AUTOMATION Chapter 4 Function setting and description 4 1 Machine related settings 4 1 1 Servomotor rotation direction Select With the servo drive a motor can rotate in one direction which is called REV mode without any need to make changes in motor wiring The standard setting for forward rotation is the counterclockwise as viewed from motor load REV mode only changes motor s rotation direction in this condition the travel direction of shaft rotation no other changes are made Standard mode Reverse mode wonm Encoder signal Bone Encoder signal A a feedbacked from F AR S feedbacked form BH motor D A i i fE FWD Run Ref Sack ia Phase A TO
88. ltage error over voltage or under voltage of main circuit 8 Frequency error of CHE A 15 x a y reference pulse frequency is higher than 500kpps input pulse A 16 x Parameter error parameter saved in external storage has errors encoder type error misusing wire saving A 17 x Encoder type error incremental encoder or incremental encoder a power interruption exceeding one cycle A 21 x Power loss error occurred in AC power supply A 25 x Watchdog reset system reset by watchdog 64 ESTUN AUTOMATION EDCE Series AC Servo User s Manual A 26 x Program error program execute error A 28 Motor and servo A 42 x Pn042 mode selection not correct mismatch A 60 CAN communicate DEM a x CAN communication fault A 66 error A 99 O Not an error normal status O Photo coupler ON ON x Alarm can be cleared Clear alarms in following ways when alarm occurs eSet 1CN 6 signal active alarm reset signal ALM_RST eClear alarm with hand held operator please see 6 1 2 for reference eThrough matched PC communication software eTurn power OFF and then ON again Notes When alarm occurs always find out the alarm reason and remove alarm failures before clearing alarm lt Photo coupler OFF Alarm status OFF Only the alarm codes listed below can be cleared A 03 A 04 A 14 A 15 A 21 5 2 Alarm outputs and Troubleshooting Find out the alarm reason with help of the alarm
89. lter ms 0 1000 0 Pn025 Feedback filter ms 0 1000 0 Pn026 Forward torque limit 0 300 250 Pn027 Reverse torque limit 0 300 250 Pn028 Positioning complete detection filter 0 500 0 Pn029 Speed coincidence error r min 0 100 10 Pn030 In position error Reference unit 0 500 10 Pn031 Error counter overflow range eee oo 1 32767 1024 Pn032 JOG speed r min 0 3000 500 Pn033 position reference smoothing filter time 0 25ms 0 1000 0 constant Pn034 Notch filter 1 frequency Hz 50 3000 3000 Pn035 Notch filter 1 depth 0 10 1 Pn036 Notch filter 2 frequency Hz 50 3000 3000 Pn037 Notch filter 2 depth 0 10 1 Automatic gain adjustment 0 without automatic gain adjustment Pn038 ENNEN ES 0 1 0 1 after inertia detection gain is adjusted automatically P PI Switching Terms 0 setting torque 1 error pulse Pn039 0 4 0 2 acceleration 3 motor speed 4 disable mode switch function Pn040 P PI switching threshold 0 5000 200 Control mode selection 0 Position control pulse train reference Pn041 1 position contact control internal 0 2 0 position reference 2 Speed control contact reference Servo motor model selection Pn042 0 set as 0 for EDC 02 04 08 0 1 0 1 special model servo motor Pn043 Waiting time for Servo ON ms 20 2000 200 Pn044 Basic waiting procedure ms 0 5000 10 Pn045 Waiting speed for brake signal r min 10 500 100 Pn046 Waiting time for brake signal ms 10 1000 500
90. means forward run Speed control mode selection Pn007 0 ADRC control 0 1 0 1 PI control Reference pulse form Padog 0 SIGN PULSE E R 1 CW CCW 2 Phase A Phase B x4 positive logic Reference pulse form 0 does not invert PULSE reference does not invert SIGN reference 1 does not invert PULSE reference Pn009 inverts SIGN reference 0 3 0 2 inverts PULSE reference does not invert SIGN reference 3 inverts PULSE reference inverts SIGN reference Pn010 PG pulse dividing ratio P R 1 2500 2500 Pn011 Dividing output phase selection 0 1 0 Speed feed forward selection Pn012 0 disable O 1 0 1 enable Pn013 Speed loop gain Hz 1 3000 160 Pn014 Speed loop integral time constant ms 1 2000 250 Pn015 Position loop gain 1 s 1 1000 40 Pn016 Speed error r min 0 300 0 Pn017 Position feed forward 0 100 0 Pn018 Torque reference filter 0 5000 0 Pn019 Soft start acceleration time ms 0 10000 100 Pn020 Soft start deceleration time ms 0 10000 100 Pn021 enapan acceleration and deceleration me 0 1000 0 time Pn022 Electronic gear ratio numerator 1 32767 1 108 ESTUN AUTOMATION EDCE Series AC Servo User s Manual oi Name and Meaning Unit Setting range Default Remarks Pn023 Electronic gear ratio denominator 1 32767 1 Pn024 1 position reference fi
91. mounting dmeneion cee eset eeeeeeneeeeeeenaeeeeesaeees 106 eene EE 107 ell 107 ESTUN EDCE Series AC Servo User s Manual Chapter 1 Checking products and product specification 1 1 Checking products The following procedure is used to check the AC servo drivers of EDC series products on delivery Check Items Comments Are the delivered products the ones that Check the model numbers marked on the nameplates on the were ordered servo motor and servo drive The servomotor shaft is normal if it can be turned smoothly Does the servo motor shaft rotate by hand Servomotors with brakes however cannot be smoothly turned manually Check the overall appearance and check for damage or Is there any damage f dee scratches that may have occurred during shipping If any of above items is faulty or incorrect contact your dealer from whom you purchased the products or the service personnel of Estun 1 1 1 Servo motor H Nameplate The following illustration shows an example of the servo motor s nameplate Rated output power Motor Model AC SERVO MOTOR MODEL EMJ 08APA 750 W 2 39 N M 3000 r min 4 00 A 200 V CONT Ins F S N M000001 Y20030409 Estun Automation Technology CO Ltd Serial No Rated rotation speed ESTUN EDCE Series AC Servo User s Manual H Servomotor Model Designation EM 08 A P A 1 1
92. mum rotation speed then motor will run at maximum speed instead 3 Set soft start time Para NO Name Unit Setting range Default Pn019 Soft start acceleration time ms 0 10000 100 Pn020 Soft start deceleration time ms 0 10000 100 S shape acceleration Pn021 Oe ms 0 1000 0 deceleration time 42 ESTUN EDCE Series AC Servo User s Manual gt Servo drive sets internal acceleration and deceleration time and implements control of speed acceleration and deceleration according to these parameters gt Soft start function is available when control mode is internal speed control parameter speed control and JOG running In position control mode soft start function is unavailable gt When input speed reference is stair stepping smooth speed control can be implemented by setting Soft start time Normally speed control is set to 0 Explanation of the parameter is described below gt Pn019 the period of time from stop status to a speed of 1000r min gt Pn020 the period of time from the speed of 1000r min to stop status Speed reference bung Pn020 gt lt Pn019 and Pn020 are linear acceleration deceleration time In the event of rather large jolt which may occur because linear acceleration deceleration time are applied Pn021 can be selected and set to smooth running A Speedi gt e gt ri Pn021 Pn021 Pn021 lt gt l
93. n 0 03mm Rotate together with shaft connectors Note e f the concentricity tolerance is too big mechanical vibration will occur resulting in damage to the bearings of the servo motor e Do not knock the axis direction when installing shaft connectors this could damage the encoder of servo motor 2 1 4 Installation direction The servomotors can be installed horizontally vertically or in any direction 2 1 5 Handling oil and water If the servomotor is installed at a location subject to water oil or condensation the motors requires special treatment to meet protection requirements If the motors are required to meet the protection requirement before leaving the factory it is necessary to designate the exact motor models with oil seal Shaft cross section means the gap as shown in the following picture Shaft cross section lA S e 2 1 6 Cable tension When connecting the cables the bending radius should not be to small do not apply big pulling force to cables Please note that the diameter of signal cable wires is very small from 0 2 mm to 0 3 mm therefore handle the cables with adequate care and do not cause excessive cable tension while wiring 2 2 Servo drive EDC series of servo drives are all base mounted Incorrect mounting will cause problems Always mount the servo drives according to following installation instructions 10 ESTUN EDCE Series AC Servo User s Manual 2 2 1 Storage co
94. n for one second donE is displayed and glimmers the offset signal 79 ESTUN EDCE Series AC Servo User s Manual is then adjusted automatically L p s GE s N N a 7 Release the key CY Co mal mal D 5 Press ENTER key to return to function number display al a CJ CJ ug 6 2 5 Servo software version display Take following steps to display software version of the servo drive 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number of software version display Ss 2 C3 CJ Dg m 3 Press ENTER key current software version is displayed Ss s cJ co 4 Press ENTER key again to return to function number display Ss 2 C3 CJ Dg 6 2 6 System runtime Take following steps to display system runtime 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number Floola 3 Press ENTER key to display system runtime Following picture shows system runtime is 1 hour and 28 minutes ilca 4 Press ENTER key again to return to function number display Flaoo The displayed time is the runtime after system is started up the date is not refreshed in real time If user wants to refresh the data please repeat the operations in Step 3 and Step 4 80 ESTUN EDCE Series AC Servo User s Manual 6 2 7 Software version of panel operator Activate the hidden functio
95. n m Motor revolves for m revolutions load shaft revolves for n revolutions Electronic gear ratio B A encoder pulse number x 4 moving distance when load shaft finishes one revolution x m n It is suggested that the electronic gear is set within the following range 0 01 lt electronic gear ratio B A lt 100 6 Set parameter To make reduction of B A to get A and B and select the most proximal whole number which is lower than 32767 Thus setting of electronic gear ratio is completed Par NO Name Unit Range Default electronic gear B Pn022 1 32767 1 numerator electronic gear A Pn023 1 32767 1 denominator Electronic gear ratio B A Pn022 Pn023 B Encoder pulse number x 4 x rotation speed of motor shaft A reference pulse number of each unit load movement when load shaft finishes one revolution x rotation speed of load shaft a Example of an electronic gear The following illustrations show the settings for different mechanical structures Belt Pulley 3 14x100mm Reference unit 0 2mm Load movement amount of bearing shaft s one round rotation 15700 0 2mm E Bearing shaft B 2500x4x2 Pn022 Electrical gear ratio E 15700x1 Pn023 s 200 Redution ratio SEI 157 Pulley diameter 100mm 2 Setting Pn022 00 value Pn023 E Incremental encoder 2500P R 33 ESTUN
96. ndition When the servo drive is not in use it should be kept in an environment with a temperature between 20 and 85 C 2 2 2 Installation site Notes on installation of servo drive are as below Condition Safety notes A unified design for the cabinet size configuration of servo Installed inside a control drive and the cooling method is required so that the cabinet ambient temperature around the servo drive is always below 55 C Installed near a heating unit Minimize the heat radiating from the units by taking advantage of heat dissipation measures such as natural convection current forced air cooling to ensure working temperature around the servo drive is always below 55 C Installed near a vibration A vibration isolator should be mounted underneath the base source surface to prevent vibration Installed at a site exposed Appropriate measures should be taken to prevent corrosive to corrosive gases gases from getting in Corrosive gases does not have immediate influence on the servo drive but they will eventually cause problems on electronic components which will definitely have influence on the running stability of servo drive Other situations Do not install the servo drive in hot humid locations or locations subject to excessive dust or powder in the air 2 2 3 Installation orientation As shown in the following picture the installation direction should be vertically mounted onto the
97. ne word For instance write 100 0064H into 01H servo at the address of 0200H ASCII mode Reference information Response information mE mE q q mE mE 6 7 mE mE PE 9 mE mE mE mE lt 0 mE mE mE 6 7 WE WE g g g g 0D CR Du Ch OA LF OA LF 93 ESTUN AUTOMATION EDC Series AC Servo User s Manual RTU mode Reference information Response information ADR Olh ADR Olh CMD 06h CMD 06h Start information 02 high Start information 02 high address 00 low address 00 low 00 high Information nug Information ay 64 low 64 low CRC verify 89 low CRC verify 89 low CRC verify 99 high CRC verify 99 high Take following steps to calculate value of LRC ASCII mode and CRC RTU mode LRC calculation in ASCII mode In ASCII mode LRC Longitudinal Redundancy Check is used LRC value is calculated according to following way first make a sum result of the values from ADR to contents of a finishing stroke then the result is divided by 256 later on take away the part that goes beyond after that calculate its fill in number final result will be the LRC value Following example shows the steps to read a word from 01H servo drive at the address of 0201H Sum ADR s data from beginnin
98. note when this parameter is changed corresponding Pn013 and Pn014 will change too Generally when Pn007 1 value of Pn013 and Pn014 need to be reduced Speed feed forward Parameter Name Unit Setting range Default Pn012 Speed feed forward 0 1 0 0 Disable speed feed forward 1 Enable speed feed forward Inertia inspection is required before using this function With this function speed response is enhanced and setting time is reduced Setting speed loop gain Parameter name Unit Setting range Default Pn013 Speed loop gain Kv Hz 1 3000 160 Speed int I ti Pn014 EES ag 1 2000 250 constant Ti The above information shows internal speed loop gain and integral time constant of servo drive The larger the speed loop gain is set or the smaller the speed loop integral time constant is set the easier to have fast response speed control and this is limited by mechanical features The larger the speed loop integral time constant is set servo has better steady state performance But too larger value may cause system vibration easily Speed loop gain Speed y A reference 3 Tis Speed feedback 60 ESTUN EDCE Series AC Servo User s Manual AUTOMATION m Setting position loop gain Parameter name Unit Setting range Default Position loop gain Pn015 1 s 1 1000 40 Kp The larger the position loop gain is set the
99. ns first before making operations in Section 6 2 7 6 2 8 and 6 2 8 Take following steps to display software version of the panel operator 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number 4 Press ENTER key again to return to function number display 6 2 8 Factory test 6 2 9 Inertia Tuning Checking Take following steps to make inertia inspection 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number 3 Press ENTER key and go into inertia inspection page as shown below 4 Press Mode key again to start inertia detection Following page is displayed l l i E m If servo alarm occurs or servo is ON inertia inspection will not be executed instead a message abort is displayed on the panel operator as below If the user wants to cancel the function during inertia inspection or after entering the function menu just press ENTER key 5 When inertia inspection completes inertia value of load and motor are displayed in the unit of 0 1 Kg m x10 6 Press ENTER key again to return to function number display page Notes e Please be very careful during inertia inspection operation because motor will run tt 81 ESTUN AUTOMATION EDCE Series AC Servo User
100. nual Chapter 4 EEN 15 Function setting And description 15 4 1 Machine related settings AA 15 4 1 1 Servomotor rotation direction Geet 15 a Be TEE 16 GN CETA 17 GE H Billie Cer UE 18 4 2 Settings complying with host Controller AA 19 4 2 1 Position CONtOlls sicistccceeeetentess Agencies wieteeeedi AER 20 4 2 2 Encoder Output sigma 26 4 2 3 Sequence I O sonal EEN 29 4 24 EISCIOMIC ET 31 4 2 5 Position Contact Control 35 4 2 6 Zero Ee EE 38 4 2 7 Parameter speed Control 41 4 3 Servo drive SetWINgS sieiiiiiiieatintd Mate AH dee eed st eee 44 4 3 1 JOG Re EE 44 4 3 2 Control Mode selection AEN 44 4 4 Stop function Settings eee eee ceneeeee tent eter teeaeeeeeaaeeeeteaaeeeeeetnaeeeeeteaeeeeeeas 45 441 DY E ee 45 4 4 2 Holding Drake Seet ira AE rE ae fae ieee 46 4 5 ProvectiOn COSIQM issiskiria EEN evecare EEEE aa aea KEELE aa aaa 50 4 5 1 Servo alarm oufput eee cee eeeeeeeeeenneeeeeeeneeeeeeseaeeeeseeeeeeeeseaeeeeseaaes 50 4 52 S ON WAU E 51 4 5 3 Positioning complete outut eee eeeeeeeeeeeeeeeeneeeeeeeneeeeeeeeaeeeeeeeaeaee 52 4 5 4 Speed reached output neen 53 4 5 5 Handling instant power CU eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeteaeeeeeenaeaee 54 4 5 6 Regenerative braking unt 55 4 6 Smooth PUNNING assier ieee pa eaea E r eevee Alene a 58 461 SMON DEE 58 4 6 2 Acceleration deceleration me 58 4 6
101. o drive is 03H and we want to write data 06H into Parameter Pn002 Because maximum and minimum value of Pn002 are both zero 0 the data which is to be written in will not be accepted instead servo drive will feedback an error frame with error code 03 The frame is as below Data frame of host controller Slave station Data address start command checkout address references etc 03H 06H 0002H 0006H Servo drive s feedback error frame Slave station Response start P Error code checkout address code 03H 86H 03H Plus if the slave station address of data frame transmitted by Host controller is OOH it means this frame of data is broadcasting data and servo drive will not feedback a frame 8 3 3 Parameters servo status data communication address In MODBUS communication mode all the communication parameters of EDC servo are shown in the following table Data i Meaning Comments Operation address Parameters in Readable and 0000 0078H Parameter area corresponding writable parameter table Monitored data consistent with 0806 0814H data displayed on handheld Read only operator or drive panel 0806H Speed feedback Unit r min read only 0807H Input speed reference value Unit r min read only Percentage of Input torque 0808H Relatively rated torque read only reference Percentage of Internal torque 0809H Relatively rated torque read only reference
102. onable reference pulse is higher than 500kpps 1 pulse input frequency is DT ch i Kiah 7 2 Take measures to deal with the noise requency error of too hi A 157 S I l 3 Aadjust the value of input pulse 2 noise mixed in the Pn022 Pn023 reference pulse reference pulse frequency pulse input 3 the value of frequency Pn022 Pn023 Pn022 Pn023 is not correct l 1 Check carefully if the parameter setting is parameter saved in A 16 Parameter error correct external storage has errors i 2 Set default value and check if the data is 68 ESTUN EDC E Series AC Servo Users Manual Item Alarm name Possible reason Method correct replace chip U3 Please make sure which type encoder Selecting wrong type of SR A 17 Encoder type error Cwire saving incremental encoder or 17 encoder bits serial encoder equipped with a power interruption E exceeding one cycle Check if the voltage of servo drive inlet wire A 21 Power loss error occurred in AC power is normal supply 1 Current detect abnormal A 25 Watchdog reset system reset by watchdog l 2 Serial peripheral abnormal A 26 Program running Please check the interference of drive Program running error A 28 Jerror motor The type of yP The type of motor set in motor is not A 42 Pn042 is not match the Set Pn042 is 0 match the type of yP type of the servo drive the servo drive CAN communication is hotter CAN erro
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104. otor encoder PG and output according to pulse number setting Setting value means the individual output of pulse numbers for PAO PAO PBO and PBO signal when servomotor runs for one revolution If Pn010 is set as 1000 it means output of PAO signal is 1000 pulses subject to motor runs for one revolution so do the PAO PBO and PBO signal output Please make setting according to the machine and reference the units of the controller Note After parameter changes turn power OFF and then turn power ON again 28 ESTUN EDCE Series AC Servo User s Manual 4 2 3 Sequence I O signal To control sequence input and output signal of the servo drive s please connect according to your application requirements m Connect sequence input signal Following illustration shows how to connect the sequence input signal EDC Servo drive 24VIN 16 TL 33K S ON is ee ALM RST HTT H 6 Zi CLR 7 IT ei Notes 24V HO power supply is required since there is no internal power supply servo drive External power supply specification DC24V 1V 500mA higher It s suggested that input circuit and output circuit use the same power supply Voltage range of input circuit is 11V 25V If power voltage is low and relays are used low value current switches or relay are required to avoid bad contact Always check and confirm the electrical specification of the relay or relevant parts before use
105. r because of 1 Check communication cables A 66 communication Interference or 2 Check the trace of communication error communication connection cables abnormal 5 3 Clearing alarms E Clearing current alarm When an alarm occurs press ENTER for a few seconds in hand held panel operator s status display mode then current alarm is deleted Besides the alarm can also be reset by using 1CN 6 ALM_RST input signal Notes e Only current alarms with sign in 5 2 can be deleted e Eliminate alarm cause first then input 1CN 6 ALM_RST signal current alarm is removed immediately e During effective period of 1CN 6 ALM_RST signal motor is in free status that equals to SERVO OFF status E Clearing alarm history In the auxiliary function mode of panel operator with Fn000 the latest eight 8 alarms can be deleted Refer to instructions in 6 2 1 69 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Chapter 6 Panel Operator 6 1 Basic Function 6 1 1 Function description An external panel operator HMI as shown below can be connected to EDC series of servo drives to make parameter setup status monitoring and auxiliary functions The description of the keys on the panel operator and their functions are followed by a panel operator on initial display status as an example ZLU Name Function INC key Pres
106. r way is to shield this with parameter use may set Pn001 as 0 or set Pn052 bit 0 Servo drive OV 4 1 3 Stop function E Select stop mode When servo is OFF or servo alarm occurs the following User Constants should be set according to the actual requirements on stopping the motor Parameter No Function Range Default Stop modes when servo is on or servo alarm Pn004 0 3 0 occurs 2172 ESTUN EDCE Series AC Servo User s Manual Parameter No Comments 0 When servo is OFF or alarm occurs DB is enabled 1 When servo is OFF or alarm occurs motor coasts to a stop Prod 2 When servo is OFF or alarm occurs DB is enabled and will not release until motor stops 3 When servo is OFF or alarm occurs motor coasts to a stop then DB is enabled m Select motor stop mode when servo is OFF EDC series servo drive stop motor running in following situation gt When S ON input signal 1CN 15 turns OFF gt When alarm is detected gt When power supply is OFF To select appropriate stop mode set value of Pn004 according to actual application requirements 4 1 4 Limiting torque For protection of mechanical structures maximum output torque can be limited by setting the following parameters to adjust the maximum value of forward reverse direction torque on the servo drive Para d Name amp Function Unit Range Default o Pn026 Forward inte
107. reg crc_reg gt gt 1 return crc_reg 8 3 2 Communication error handling Error may occur during communication Normal error sources are as below gt When reading and writing parameters data address is incorrect gt When reading parameters data value is higher than this parameter s maximum value or lower than its minimum value gt Communication is disturbed data transmission error or checking code error When above communication error occurs it does not affect running of servo drive meanwhile the drive will give a feedback of error frame The format of error frame is shown in following table Data frame of host controller Slave station Data address start command checkout address references etc Servo drive s feedback of error frame Slave station Response start p Error code checkout address code Comments Error frame response code Command 80H Error code 00H communication is good 01H servo drive can t identify requested function 02H given data address in the request does not exist in servo drive 03H given data in the request is not allowed in servo drive higher than maximum value or lower than minimum value of the parameter 96 ESTUN AUTOMATION EDCE Series AC Servo User s Manual 04H servo drive has started processing the request but unable to finish this request For example Let s suppose the axis number of serv
108. ries AC Servo User s Manual Para No Name and Meaning Unit Setting range Default Remarks 0 4800bit s 1 9600bit s 2 19200bit s Pn062 RS232 COM protocol 0 7 N 2 Modbus ASCII 7 E 1 Modbus ASCII 7 O 1 Modbus ASCII 8 N 2 Modbus ASCID 8 E 1 Modbus ASCIl 8 O 1 Modbus ASCII 8 N 2 Modbus RTU 8 E 1 Modbus RTU 8 O 1 Modbus RTU o Jo Om P WD 0 8 Pn063 CAN COM address 1 127 Pn064 CAN COM baud rate 50K 100K 125K 250K 500K 1M ap wo M O Kbit s 0 5 Pn065 CAN COM selection Ojdisable 1 enable Pn066 Reserved Pn067 Power Supply input selection 0 Use AC 220V Power Supply input 1 Use DC 310V Power Supply input Pn068 Select cycle run O multi point cycle run 1 multi point single run Pn069 Enable disable P CON signal as step change signal 0 Enable delay step change 1 use P CON signal as step changing signal Pn070 Programming method O incremental 1 absolute Pn071 Origin searching method Z 0 turn off origin search function 0 211 111 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Para No Name and Meaning Unit Setting range Default Remarks Z 1 Power on after the 7 SON start origin search function automatically Z 2 start origin search function automatica
109. rive Pn049 0 COIN V CMP Pn049 1 BK Pn049 2 CLT TS Pn049 3 S RDY Pn049 4 C Pulse Output Pn050 0 COIN V CMP Pn050 1 BK Pn050 2 CLT Pn050 3 S RDY Pn050 4 C Pulse 1CN 3 The following table shows the pin number definition for Pn049 correspond to pin 1CN 2 output Pn050 correspond to pin 1CN 3output BK brake interlock output COIN positioning complete V CMP speed coincidence output CLT torque limit output S RDY servo ready output AJOJN o Encoder C Pulse Output This signal couldn t be inverted Please pay attention that encoder C pulse signal which is output by relative pin number will be affected by external circuit since the signal gets through photo coupler if Pn049 or Pn050 are selected as 4 4 2 1 Position control In position control mode Pn041 0 the servo drive make drive runs according to the position reference given by the host controller It is required to select optimal input according to requirements of the host control device as follows m Pulse input Host device controls the rotation speed and position of servo system by sending a series of pulse trains 20 ESTUN EDCE Series AC Servo User s Manual Servo drive Photo coupler Pulse reference _PULS 1CN 11 150 input PULS P 1CN 12 K Pulse direction SIGN 1CN 13 150 input SON TP 1CN 14 L f PRepresents multi twisted wire Host control device may
110. rive Following illustration shows the connections of the servo drive L t 3 lt Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged Therefore do not touch the servo drive even after the power supply is turned OFF if the indicator is lit POWER amp ALARM Lights when power On and in red when servo drive generates an alarm CAN COM ID address selection switch Set CAN communication address CANBUS port CAN CAN pin out RS232 port COM Communicating with a digital palm operator or a computer UO signal connector 1CN Used for reference input signals and sequence UO signals Encoder cable terminals 2CN To connect between motor and drive Servo motor terminals To connect with the encoder on the servo motor Power supply terminals regenerative unit connection ESTUN EDCE Series AC Servo User s Manual Chapter 2 Installation 2 1 Servo motor Servomotor can be installed either horizontally or vertically However if the servomotor is installed with incorrect mechanical fittings the servo motor s lifetime will be greatly shortened and unexpected accidents will occur Please make installation according to the instructions as below Precaution There s some antirust agent on the end of the motor shaft to prevent it from rusting during storage Please wipe off the agent thoroughly by using a cloth dipp
111. rive are in good condition and their connection is correct If motor can not run check connection of UVW and encoder cables If motor runs improperly check if the phase order of UVW cables is correct or not Note e Before JOG operation make sure motor load is removed from 1CN e Load default parameters and initializes user parameters to Defaults e Power On again to start trial running With help of panel operator follow the steps below and startt JOG operation 1 Turn on servo drive s power supply Panel operator gives a display as below 2 Press MODE key 83 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Res z ma CJ es Press MODE key again co ag Cy LO CJ Press MODE key a third time to switch onto the menu for auxiliary functions ma S cJ CJ CJ Press INC key and increase the value to 2 nlg Press ENTER key and go into JOG operation mode LI Press MODE key and select Servo On JK CITT Press INC key motor runs counterclockwise Press DEC key motor runs clockwise Motor speed depends on Pn032 setting If the above key is released motor should stop Re cJ CJ Pu RE s SS Cq running f Ss C3 Forward E Lk Reverse ONT Press MODE key and select Servo OFF BETHA CHE cg Ea 10 Press ENTER key and exit JOG operation 7 3 Trial operation in position control mode 1 Preparat
112. rk suppresser electricity supply in the emergence Motor IMC U aa geet R y o Se IMC W __ J T A afb E EDC Servo drive Encoder P SPN 2CN AG N 24V dert 8 ALM TRY T 18 COM A SC Le Alam output OFF when alarm occurs 3 1 2 Names and Functions of Main Circuit Terminals Terminal Function Description RT Main circuit power supply input Single phase 220VAC 10 15 terminal 50 60HZ U V W Servo Motor connection Connects to power supply terminal of terminals servo motor Connected individually to power supply E Grounding terminals grounding terminals and servo motor grounding terminal To connect an external regenerative unit Note prohibited to connect a regenerative resistor directly between P and N Connection terminals of external P N regenerative unit ESTUN AUTOMATION EDCE Series AC Servo User s Manual 3 2 I O signals 3 2 1 Standard connection diagram EDC Servo drive P Represent multi twisted pair wire PULS Ges 1 PAO PUL Differential Output IPAO SIGN SIGNI 13 9Y Encoder Pulse Ip PBO Gu Differential Output gt signal reference SIGN PBO output Power supply PCO p for Open PL Kee Differential Output collector 24VIN Servo ON When ON servo function S ON Alarm reset ALM RST Hrn Position complete ON when position
113. rnal torque limit 1 0 300 250 Pn027 Reverse internal torque limit 1 0 300 250 Set maximum torque for forward and reverse direction its used when limiting torque is required according to mechanical requirements f value of current torque exceeds motor s maximum allowable torque follow the maximum torque of motor Example to show protection of mechanical structures Torque limit Motor speed Torque Note It s suggested the value of limited torque should not exceed motor s maximum torque If limited value is set too low motor may have insufficient torque during its acceleration deceleration 18 ESTUN EDC E Series AC Servo Users Manual 4 2 Settings complying with host controller Different control modes can be selected by setting Pn041 as described in the following table Para No Name Range Default Comment Select control mode SS a Si position control position 0 position control Pn041 0 2 0 contact control and 1 internal speed control parameter speed control 2 parameter speed control Set Pn041 and select a certain control mode Pn041 setting Control mode Position control pulse reference Servo drive receives pulse train generated by host controller and the control of S rotation speed and positioning are achieved according to requirements from the host controller i contact speed control I O reference Running at set speed is sele
114. ronic gear ratio is 1 1 080FH Current motor position is 5 digit low x1 pulse 0810H Current motor position is 5 digit high x10000pulse 0811H position error 5 digit low x1 pulse 0812H position error 5 digit high x10000 pulse 0813H Position reference 5 digit low x1 pulse 0814H Position reference 5 digit high x10000pulse Digit of Internal status 9876543210 par E E E 1 pasasase Monitoring of I O signals is shown below Monitoring Digit UO Contents Relative I O signal No NO g 080BH 0 Servo ON 1CN 15 S ON 99 ESTUN AUTOMATION EDCE Series AC Servo User s Manual input signal alarm reset 1CN 6 ALM_RST 2 Clear error counter 1CN 7 CLR 3 zero position signal 1CN 17 ZPS 0 servo alarm 1CN 4 ALM positioning complete 080DH 1 1CN 3 COIN etc output signal C speed arrives mechanical brake 2 1CN 2 BRK etc release 3 Alarm memory block 07F1 07FAH History Meaning Address Alarm No 0 History Alarm 1 Latest O7F1H alarm 1 History Alarm 2 07F2H 2 History Alarm 3 07F3H 3 History Alarm 4 07F4H 4 History Alarm 5 07F5H 5 History Alarm 6 07F6H 6 History Alarm 7 07F7H 7 History Alarm 8 07F8H 8 History Alarm 9 07F9H 9 History Alarm 10 longest O7FAH time 4 ModBus communication IO signal 0900H
115. rvo ON Servo OFF Servo ON CACN 15 i q l rea BRK effective BRK disable BRK effective i o1 T E er 1 L Brake status Brake release 4 gt Braking Brake release a e U I 1 i 1 1 t i Motor status Motor power on Motor power off i Motor power on 1 1 I t 1 T d I Lod lt gt lt gt Basic waiting process Pn044 Waiting time after Servo ON Pn043 t1 t2 determined by external relay and brake loop move time By Default S OFF works with BRK output at the same time If load travels for tiny distance owing to action of gravity Pn044 is required to be set so that action of S OFF is delayed normally this movement can be removed 48 ESTUN EDCE Series AC Servo User s Manual Note When alarm occurs servo drive will switch off main circuit loop of servo motor immediately meanwhile machine may move a small distance E Brake active setting During motor running movement setting of brake active is controlled by Pn045 and Pn046 By controlling brake active movement timing sequence brake active is started after the servomotor stops running setting Para No Name and meanings Unit Default range Pn045 Brake waiting speed r min 10 500 100 Pn046 Brake waiting time ms 10 1000 500 The illustration below shows the timing sequence relation between signal SON and BRK when motor stops speed is higher than 30 r m SON input or Alarm CACN 15 Servo ON Servo OFF DB
116. rward at the set speed of Pn075 39 ESTUN EDC E Series AC Servo Users Manual When ZPS signal is inactive after first Pulse of motor encoder is detected calculation of zero balance offset pulse is started motor stops after offset pulse completes Zero adjustment operation is completed Motor will not return and search Pulse C after it detects the zero adjustment position limit switch Back zero switch speed Motor spee Pn074 rpm Leave back to zero switch speed Pn075 No return to search Z pulse ZPS Offset distance of back to zero zero signal Pn077x 10000 Pn078 gt Encoder Cpuse IIIITII eee Leave back to zero swith after the first C pulse start to calculate offset distance Corresponding position Mechanical movement l no return to find C pulse _ a I Leave back to zero switch after the first C pulse start to calculate offset distance Motor deceleration Encoder C pulse ZPS signal En Return and search Pulse C after reaching zero adjustment switch 40 ESTUN EDC E Series AC Servo Users Manual Back to zero switch speed Motor spee Pn074 rpm Leave back to zero switch speed Pn075 i Return to find Z pulse Back to zero offset distance ZPS Pn077x10000 Pn078 t Encoder C pulsq III H E Leave back to zero s
117. s INC key to increase the set value a long and hold on press will implement fast increase DEC key Press DEC key to decrease the set value a long and hold on press will implement fast decreasing Press this key to select the status display mode parameter setup mode MODE key monitor mode or auxiliary function mode Press this key to cancel setting when setting the parameters ENTER key Press this key to display the parameter settings and set values 6 1 2 Resetting Servo Alarms In alarm status display mode of the operator panel press ENTER key and hold on for seconds to reset servo alarm Refer to 5 1 and clear alarm code 70 ESTUN EDC E Series AC Servo Users Manual The alarm can also be removed by using 1CN 6 ALM_RST input signal If the power supply is switched OFF due to a servo alarm then alarm reset operation is not necessary Note When any alarm occurs always remove alarm fault first before performing alarm reset 6 1 3 Display mode selection By toggling among the different basic modes on the panel operator operations like current running status display and parameter setup can be performed The operator consists of following basic modes Status display Parameter setup Monitor mode and Auxiliary function mode Press MODE key to select a display mode in the following order Power ON Status display mode Parameter setting mode Mon
118. s Peak Torque N m 1 91 3 82 7 16 Rated current Arms 1 3 2 7 4 0 Instantaneous Peak current Arms 3 9 8 1 12 0 Rated speed minP 3000 Max speed minP 4500 Sg x10P k Rotor moment of inertia aE 0 19 0 32 1 48 g mP Encoder Standard Incremental 2500P R Insulation Class B Ambient temperature 0 to 40 C no freezing Ambient humidity 20 to 80 RH non condensing Totally Enclosed Self cooled IP55 Except for shaft Enclosure opening and connector Vibration 49m s EMJ 02A EMJ 04A EMJ 08A _ 5000 _ 5000 __ 5000 S 4000 S 4000 E 4000 3000 3000 3000 P A B amp B amp A B 5 2000 5 2000 5 2000 ZS 1000 ZS 1000 ZS 1000 0 0 0 0 05 10 15 2 0 0 1 2 3 4 0 2 4 6 8 Torque N m Torque N mi Torque N m A Continuous working area RB Repeatable working area 102 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Encoder connector Motor connector LF Cross Section Y Y Shaft End With Key and Tap Flange Key TapxDe EMu L LL S Q w I e ee e A e EE pth QK i W U O2APA 153 123 30 3 6 60 70 50 5 5 14 M5x10L 16 14 5 3 04APA 183 153 30 3 6 60 70 50 5 5 14 M5x10L 16 4 5 3 O8APA 191 156 35 3 10 80 90 70 6 19 M6x15L 22 4 6 3 5 103 ESTUN EDC E Series AC Servo Users Manual e Power connector specification She
119. t gt Pn019 Pn020 4 Torque limit 43 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Setting Pn026 and Pn027 to limit torque is available in any control mode Para NO Function Unit Setting range Default Pn026 forward run torque limit 1 0 300 250 Pn027 reverse run torque limit 1 0 300 250 Note System response may be slowed down if torque limit is set to an undersized value 4 3 Servo drive settings 4 3 1 JOG speed JOG speed control is enabled with PC communication or hand held operator Set JOG speed with Pn032 Default 500 Unit r min Para No Pn032 Name and meanings JOG speed setting range 0 3000 Note e No matter what value Pn041 is or whether S ON is active or not JOG running is always possible on the condition that cable connection of servomotor is correct and servo drive has no problem e During JOG running servo drive will ignore host controller s control signal and status of limit switch and property loss is easily caused due to improper operation Therefore JOG must be prohibited during normal production 4 3 2 Control mode selection Control modes can be selected with parameter Pn041 as described below Para No Description Range Default O position control Pn041 1 internal speed control 0 2 0 2 reference speed control General information of above control methods are introduc
120. t panel connection board side of servo drive faces the operator m Cooling As shown in the illustration above give sufficient space between each servo drive so that cooling fans or natural convection is adequate WR Side by side installation When installing servo drives side by side as shown in the illustration above reserve at least 10 mm between two horizontal sides and at least 50 mm between two vertical sides The temperature in the control cabinet needs to be kept evenly distributed subject to no overheating at any part of servo drive If necessary install forced air cooling fans above the servo drives to avoid excessive temperature rise Normal Working Conditions for Servo Drive 1 Ambient Temperature 0 to 55 C 2 Humidity 90 RH or less no condensing 3 Vibration 4 9 m s2 or less To ensure a long term stability of the drive it is suggested the drive be used in a place with a temperature below 45 C 4 Storage condition When the servo drive is not in use it should be kept in a place with an environment temperature between 20 C and 85 C 12 ESTUN EDCE Series AC Servo User s Manual Chapter 3 Wiring 3 1 Wiring and connection Please observe the following instructions while wiring the main circuit ACAUTION Do not run or combine power wires and signal wires together in the same conduit There should be at least 30 cm s space between power wires and signal wires Shielded twisted p
121. ut SIGN 1CN 14 input reference sign Use parameter Pn008 Pn009 to select reference pulse mode Parameter Code Comments Unit Range Default input pulse mode Pn008 OJSIGN pulse ER 0 n baken weien 1 CW CCW 2 JA B perpendicular x 4 Reference pulse form 0 does not invert PULSE reference does not invert SIGN reference 1 does not invert PULSE reference inverts SIGN Pn009 0 3 0 reference 2 inverts PULSE reference does not invert SIGN reference 3 inverts PULSE reference inverts SIGN reference pulse input frequency selection 0 when pulse is difference input servo receiving pulse frequencys500K 1 when pulse is difference Pn058 WW 0 2 0 input servo receiving pulse frequencys300K 2 when pulse is difference input servo receiving pulse frequencys100K 23 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Following are available reference pulse styles please make the setting according to specification of host controller Pn008 Reference servomotor forward run servomotor reverse run n style reference reference PULS PULS 1CN 11 1CN 11 Sign pulse 0 7 p SIGN SIGN train 1CN 13 H 1CN 13 D ZE PULS D I PULS 1CN 11 1CN 11 CW pulse
122. ve will output an alarm when abnormal event is detected The LED for POWER amp ALM on the front panel of the servo drive will turn red when alarm occur The LED is green in normal status meanwhile the drive outputs an alarm JI an external hand held operator is installed current alarm code can be displayed on the operator Alarm Alarm Alarm Name Meaning Code output A O1 G Parameter checksum results of parameters saved in external breakdown storage has errors Current detection SS A 02 x internal detection circuit problem error o rotation speed of the motor has exceed 1 2 times A 03 x Over speed of max speed 8 the motor was running for several seconds under A 04 x Overloaded l the torque largely exceeding ratings A 05 Position error internal position error counter has exceeded the counter overflow value A 06 8 Position error pulse internal position error pulse has exceeded the overflow value set in the parameter Pn 031 Pulse loss of D A 09 x PC is disconnected or have interference encoder C A Ap e Encoder at least one of PA PB PC PU PV or PW is disconnected disconnected Encoder U V or W Ee A 11 x er encoder U V or W code violation code violation power module alarm the current passed on power Power module A 12 x ae module is too large or control voltage of VCC4 is error too low A 13 x overheat power module overheat A 14 x Vo
123. w at rated speed regulation Frequency Characteristics 250Hz when J S Jy Type SIGN PULSE train sin Pulse phase A and phase oa ay B CCW CW pulse train osition ulse fell E Form Line driving 5V level open collector 5V contro d 12V 24V level mode Frequency Max 500Kpps difference 200 Kpps collector Control signals CLEAR Pulse output signal Phase A phase B and phase C line driving output Servo ON Alarm Reset error counter clear signal el Sequence control input zero clamp signal signals TE Servo Alarm positioning complete speed Sequence control output Si a coincidence brake release limiting torque Dynamic braking function Built in Power module error overload over speed voltage Protection function error position error counter overflow encoder disconnected parameter damaged etc With RS232 interface for communication with host GE controller s special software Parameter setting Run uilt i operation and status display can be done in Windows function COM function mode Same functions are enabled using panel operator Compatible with Modbus communication protocol CanOpen COM Charge indicator Power amp ALM indicator LED display five 7 segment tube on panel operator 105 ESTUN EDC E Series AC Servo Users Manual 9 2 2 Servo drive mounting dimension With cooling fan
124. witch after the first C pulse start to calculate offset distance Corresponding position Mechanical Motor deceleration movement back to CCW find C pulse SE a Leave back to zero switch after the first C pulse start to calculate offset l l distance l Encoder C pulse LI ZPS 4 2 7 Parameter speed control Being a simple way of speed control user can preset the running speed as regulated value in User Constant When Servo is On motor will run constantly at the preset speed Speed change goes along with the value change in Pn048 41 ESTUN AUTOMATION EDCE Series AC Servo User s Manual Servo drive S ON 1CN 15 Motor run at the speed Pn048 set in the parameter m Set parameter speed When using parameter speed control take following steps to make the setting 1 Set Pn041 properly to enable internal speed selection function Para No Name Setting range Default Application cases Control mode Position control and speed Pn041 l 0 2 0 selection control In internal speed control mode set Pn041 to 2 Pn041 Comments 2 Run at regulated speed of Pn048 Note 1 OFF input signal is inactive 0 ON input signal is active 2 Set Pn048 to wanted speed value Value of Pn048 can be changed manually or via communication to make motor run at specified speed If the speed is set over maxi
125. y to select parameter numbe 3 Press ENTER key to display parameter data selected in step 2 4 Press INC or DEC to change the data to the desired number 85 Hold the button to accelerate the value to change When the data reaches the max or Min value the value will stay unchanged even if INC DEC key is pressed 5 Press ENTER the data glimmers and then the date is saved NN L727 7 6 Press ENTER again to go back to parameter number display Plus if Mode key is pressed during step 3 or step 4 parameter setup operation will go directly to step 6 and no changes will be saved If the user needs to rechange any data later just repeats the operation from step 2 to step 6 If PnO80 needs to be set as 32767 then a decimal point is used on bottom right corner of the top number to show current value is negative For instance the value 32767 is displayed as below 74 ESTUN EDCE Series AC Servo User s Manual 6 1 6 Monitor Mode The monitor mode can be used for monitoring the external reference values I O signal status and internal status of servo drive User can make changes in Monitor Mode even if motor is running H Following are the operation steps to use Monitor Mode The example as below shows the operation steps for monitoring Data 15

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