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ProNet Series AC Servo User`s Manual

1. ae EE circuit ESTUN i z 5 Power on indicator power supply is ON and stays SERVODORIVE Ei Lights when the control power supply is on lit as long as the main circuit Connector for communication power supply capacitor Used to communicate with other devices remains charged p VO signal connector Encoder connector in i Used for reference input signals Connects to the encoder in the and sequence I O signals servomotor in I PEOD fa a E ate bela power supply lerminals ee J Used for main circuit power i A supply input iy elon Oo EE GEED EHTED SEED CIETS ED EES Servomotor terminals Control power supply gt ll eobcome Gee EED SEED EEES FE GES Connects to the servomotor terminals mon oop AOE TOD Gee E are CED 1D IED ii G e G ar anio EE ao CIE ew GAD e D power line Used for control power 2 External regenerative resistor supply input terminals 14 Chapter 2 Installation 2 1 Servomotor Servomotor can be installed either horizontally or vertically However if the servomotor is installed incorrectly the service life of the servomotor will be shortened or unexpected problems
2. L1 L2 L3 Three phase 380 440V t s 50 60Hz Molded case Circuit Breaker A Surge Protector 1Ry 1PL Servo Alarm Display i x Noise Filter P OFF P on an ower ower 1KM Ty l 7 7 g 1KM 1Ry 1SUP 4 Be sure to connect a surge suppressor to the Pe excitation coil of the magnetic contactor and relay Magnetic Contactor ui ProNet A 1 Servomotor L2 Series Servodrives uc i l BQ L3 Ve M a i c 3 gt ye y Option CN2 1 i A 1 1 LIC Incremental Wire saving Encoder 2500P R L2c i Serial Encoder ae wt nY G 7 1 At Resolver i Encoder B1 B1 2L A SN Telst 8 S A 2 Be besos O7 ea 1 i B2 B2 sf ce 71 608 External Regenerator Resisotr 6 C 9 Rt 9 PG5V ee BS eeey pof R fao Peo Sa i AA aa i rasi PGOV i Shell Shield _ Shell Shield Shell Shield Be sure to ground r Ae NN Be sure to prepare the end of the 2 N C shielded wire properly 3 485 LON ee ees 4 _ ISO_GND 5 ISO_GND Use special communication cable to connect a l aok Stet 6 485 PC Personal Computer Speed Reference 40 10VIRated Spee L_ VREF 2 Paty 7 CANH 10K AD 8 CANL Note Do not short terminal 1 and 2 of CN3 ret J TREF 26 lt Shell Shield Torque Reference t0 10V Rated Torque TREF 27 A i CN4 1 N C f 2 N C PPI 34 3 485 Open collector Re
3. Hinstallation Orientation Install servodrive perpendicular to the wall so that the front panel containing connectors faces outward Cooling Provide sufficient space around each servodrive to allow cooling by natural convection or fans Winstalling side by side When installing servodrives side by side provide at least 10 mm space between them and at least 50 mm space above and below them as shown in the figure above Make sure that the temperature inside the control panel is evenly and prevent the temperature around each servodrive from increasing excessively Install cooling fans above the servodrives if required Working conditions 1 Temperature 0 55 C 2 Humidity 90 RH or less 3 Vibration 4 9m s or less 4 Ambient temperature to ensure long term reliability 45 C or less 18 Chapter 3 Wiring 3 1 Main Circuit Wiring Please observe the following instructions while wiring the main circuit AXCAUTION Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 300 mm e Use twisted pair shielded wires or multi core twisted pair shielded wires for signal and encoder feedback lines The maximum length is 3 m for reference input lines and is 20 m for encoder feedback lines e Do not touch the power terminals for 5 minutes after turning power OFF beca
4. 6 Press ENTER key to return to the utility function mode display Fn003 7 Thus the speed reference offset automatic adjustment is completed 5 2 5 Manual Adjustment of the Speed Reference Offset Manual adjustment of the speed torque reference offset is used in the following cases E fa position loop is formed with the host controller and the error is zeroed when servolock is stopped m To deliberately set the offset to some value Use this mode to check the offset data that was set in the automatic adjustment mode of the speed torque reference offset This mode operates in the same way as the automatic adjustment mode except that the amount of offset is directly input during the adjustment The offset adjustment range and setting unit are as follows Torque reference Offset adjustment range Offset adjustment range gt 1024 1024 Analog voltage input Offset setting unit Note When the offset using in automatic adjustment exceeds manual adjustment range 1024 1024 manual adjustment will be invalid Adjust the analog reference offset manually in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn004 3 Press the ENTER key to enter into the speed reference offset manual adjustment mode
5. L1 L2 L3 Three phase 380 440V 50 60Hz Molded case Circuit Breaker y ye a Surge Protector 4 P 4 1Ry 1PL Servo Alarm Display 7 f RS Noise Filter Bee baud UN L ower ower WF T s l i E t 1KM 1Ry 1SUP Be sure to connect a surge suppressor to the l excitation coil of the magnetic contactor and relay Magnetic Contactor L1 _ ProNet nay somo L2 Series Servodrives Uc i B 2 L3 VO 2 M C3 Wo 3 D 4 a CN2 OLIC External Regenerative Resistor P LC Option SerlaliEncoder eine i Resolver 7 m 8 i A N BI o fa Bare it PG 8 _SIN 18 BAT H B2 17 cose a tt External Dynamic Braking Resistor 18 COS 9 PG5V PAE 4 9 Ri 19 PGOV it med R2 Shell Shield T A Shell Shield 1 fons 1 NC Be sure to prepare the end of the 2 TONG shielded wire properly Be te d PEE 3 485 je sure to groun fob TEA I I 5 ISO_GND Use special communication cable to connect L ret I PC Personal Computer VREF 1 SO a Speed Reference 0 10V Rated Speed 4 J VREF 2 FORS eg e I 8 CANL Note Do not short terminal 1 and 2 of CN3 TREF 26 k l Shell Shield Torque Reference t0 10V Rated Torque TREF 27 l CN l 1 NG l 2 N C PPI 34 3 485 Open collector Reference Use xa 7 IS0_GND PULS 30 H 5 _ISO_GND Position Reference lt PULS CW A el _F pots 31 k 6 485 r 2K 7 CANH 1
6. In addition press MODE and ENTER keys at the same time to enter into parameter number shifting status to modify parameter number and then execute the same action to exit parameter number shifting status In step 3 and 4 press the ENTER key for longer time to enter into parameter shifting status to modify parameter and then press the MODE key to save and exit or press the ENTER key to return to parameter number display 111 5 1 6 Operation in Monitor Mode The monitor mode allows the reference values input into the servodrive I O signal status and servodrive internal status to be monitored Using the Monitor Mode The example below shows how to display 1500 the contents of monitor number Un001 1 Press MODE key to select the monitor mode 2 Press the INC or DEC key to select the monitor number to display 3 Press the ENTER key to display the data for the monitor number selected at step 2 4 Press the ENTER key once more to return to the monitor number display 112 E List of Monitor Modes Contents of Monitor Mode Display Monitor Number Monitor Display Un000 Actual servomotor speed Unit rpm Un001 Input speed reference Unit rpm RO02 Input torque reference Unit with r
7. 119 4 Turn ON the servo ON signal the display is shown as follows 5 Hold the ENTER key for one second the speed reference offset will be displayed 6 Press the INC or DEC key to change the offset 7 Hold the ENTER key for one second to return to the display in step 4 8 Press ENTER key to return to the utility function mode display Fn004 Thus the speed reference offset manual adjustment is completed 5 2 6 Offset adjustment of Servomotor Current Detection Signal Automatic servomotor current detection offset adjustment has performed at ESTUN before shipping Basically the user need not perform this adjustment Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset This section describes the automatic and manual servomotor current detection offset adjustment Note Offset adjustment of the servomotor current detection signal is possible only while power is supplied to the main circuit power supply and with the servo is OFF e Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other servodrives e If this function particularly manual adjustment is executed carelessly it may worsen the characteristics E Automatic Offset adjustment of Servomotor Current Detection Sig
8. A e i p Waa m Nameplate ESTUN SERVODRIVE Sevodiiverrod gt MODEL PRONET 10AMA Applicable power jp AC INPUT AC OUTPUT lt 4 Appiicciessvorrotor supply 3PH 200 230V 50 60Hz 3PH 0 200V 0 333Hz apaty 4 8A 6 0A 1 0kW Seid nmr S N 6600004F001 OTT N Estun Auto mation Technology Co Ltd Made in China HEEN Satta i R AN OB oh 38 Sry TR A A E f ja E ER WARNING Disconnect all power and wait 5 min before servicing May cause electric shock EB FJBRKAH ARR CAUTION Do not touch heatsink May cause burn a Be Ha Sin Fs Zan BE t Use proper grounding techniques 10 1 2 Part Names 1 2 1 Servomotor Servomotor without gea Output shaft 1 2 2 Servodrive m ProNet 02A 04A Charge indicator Lights when the main circuit power supply s o ON and stays lit as long as the main circuit power supply capacitor remains charged Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Control power supply terminals Used for control power supply input Regenerative resistor connecting termi Used to connect external regenerative resistors Servomotor term
9. 145 Parameter Nane Unit Setting Factory soting No Range Setting invalidation Pn313 Reserved Pn314 Reserved a Pn315 Reserved Pn316 Internal speed 1 rpm 6000 6000 100 Immediately Pn317 Internal speed 2 rpm 6000 6000 200 Immediately Pn318 Internal speed 3 rpm 6000 6000 300 Immediately Pn319 Internal speed 4 rpm 6000 6000 100 Immediately Pn320 Internal speed 5 rpm 6000 6000 200 Immediately Pn321 Internal speed 6 rpm 6000 6000 300 Immediately Pn322 Internal speed 7 rpm 6000 6000 500 Immediately Pn400 Torque reference gain 0 1V 100 10 100 33 Immediately Pn401 Forward torque internal limit 0 300 300 Immediately Pn402 Reverse torque internal limit 0 300 300 Immediately Pn403 Forward external torque limit 0 300 100 Immediately Pn404 Reverse external torque limit 0 300 100 Immediately Pn405 Plug braking torque limit 0 300 300 Immediately Pn406 Speed limit during torque control rpm 0 6000 1500 Immediately Pn407 Notch filter 1 frequency Hz 50 5000 5000 Immediately Pn408 Notch filter 1 depth 0 11 1 Immediately Pn409 Notch filter 2 frequency Hz 50 5000 5000 Immediately Pn410 Notch filter 2 depth 0 11 1 Immediately Pn411 Low frequency jitter frequency 0 1Hz 50 500 100 Immediately Pn412 Low frequency jitter damp 0 200 25 Immediately Pn413 Torque
10. 5 Thus the absolute encoder multiturn data and alarm reset is completed Important This function will clear the absolute position of the encoder the mechanical safety must be noted When the multiturn data is cleared other encoder alarms will be reset at the same time 5 2 11 Absolute Encoder Related Alarms Reset 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn011 3 Press the ENTER key the display will be shown as below 4 Press the MODE key to clear the alarms 5 Thus the absolute encoder related alarms reset is completed 123 6 1 RS 485 Communication Wiring Chapter 6 MODBUS Communication ProNet series servodrives provide the MODBUS communication function with RS 485 interface which can be used to easily set parameters or to perform monitoring operations and so on The definitions of the servodrive communication connector terminals are as follows CN3 Terminal No Name Function i Reserved 2 Z 3 485 RS 485 communication terminal ee Isolated ground 5 ISO_GND 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal Note Do not short terminal 1 and 2 of CN3 CN4 Terminal No Name Function 1 Reserved 2 Reserved 3 485 RS 485 communicati
11. oT 5 E 4 BE i d fl a ae N ESTU ProNet 10D 15A 15D o 3 A A amp za li 6 ICY O i cal mnf TA on SEDANE el o m Ne lyi i D g lee ate 8 fa fs lt c EREesr S a 2 f mm gE Z ProNet 75D 1ED ProNet 2BD y fo GA Sf ey gp ogy al EsTun oe SERVODRIVE Bs run
12. Model EML 10a 20a 30A 40A 10 EMB 75D 1AD 1ED 2BD Continuous Output Current Arms 1 4 2 8 4 0 6 0 9 0 12 0 18 0 28 0 3 0 4 8 18 0 28 0 38 55 Max Output Current Arms 4 2 8 4 12 0 18 0 28 0 42 0 56 0 84 0 9 0 14 4 56 0 70 0 84 138 Fae eT Three phase 380 440VAC Main Circuit Three phase 200 230VAC 10 15 50 60Hz 10 15 50 60Hz Control Circuit Single phase 200 230VAC 10 15 50 60Hz Single phase iat ontrol Circui ingle phase 200 z Input Power Supply gle p o o 10 15 50 60Hz Power Suppl HAW 0 5 0 9 1 3 1 8 2 5 3 5 4 5 7 5 1 8 2 5 12 0 18 0 22 0 32 0 Capacity kVA Control Method SVPWM Control Serial Encoder 131072P R Wire saving Incremental Encoder 2500P R Feedback Resolver 32768P R Max Ambient Storage Ambient temperature 0 55 C Temperature Storage temperature 20 85 C Ambient Storage lent g 90 RH or less with no condensation Operating Conditions Humidit Humidity Elevation 1000m or less Vibration Shock aa 2 2 Vibration Resistance 4 9m s Impact Resistance 19 6m s Resistance Configuration Base mounted Speed Control Range 1 5000 Load 0 100 load 0 01 or less at rated speed Regulation Performance Speed Voltage Rated voltage 10 0 at rated speed Regulation Regulation Temperature E 25 25C 0 1 or less at rated speed Regulation Reference
13. Pn006 0 when pulse is difference input servo receiving pulse frequency lt 4M 1 when pulse is difference input servo receiving pulse frequency lt 650K 2 when pulse is difference input servo receiving pulse frequency lt 150K When Pn840 0 6 Pn006 0 when pulse is difference input servo receiving pulse frequency lt 700K 1 when pulse is difference input servo receiving pulse frequency lt 200K 2 when pulse is difference input servo receiving pulse frequency lt 60K 73 3 Setting a Reference Pulse Form Set the input form for the servodrive using parameter Pn004 2 according to the host controller specifications Reference Input Pulse Forward Rotation Reverse Rotation Parameter Pulse Form Multiplier Reference Reverse Si l trai PULS PULS gn pu se rain enea 1 l CN1 30 I I H 00 positive logic a A i factory setting AS fk oni 5 a CW CCW SeN CN1 30 H 1 m oN SIGN Pn004 positive logic CNI 32 L H 02 Two phase pulse x1 He or le H 03 train with 90 x2 Enia CNB phase differential Nis CNIS H 04 D j x4 positive logic E Note The input pulse multiplier can be set for the two phase pulse train w
14. Sets the range in which the rotation detection output signal TGON is output in this parameter e When the servomotor rotation speed is above the value set in the Pn503 it is judged that servomotor rotation speed signal TGON is output e The rotation detection signal can also be checked on the panel operator 4 11 3 Servo Ready S RDY Output Type Signal Name Connector Pin Number Setting Meaning CN1 9 CN1 10 ON low level Servo is ready Output S RDY factory setting OFF high level Servo is not ready e This signal indicates that the servodrive received the servo ON signal and completed all preparations e It is output when there are no servo alarms and the main circuit power supply is turned ON 4 11 4 Encoder C Pluse Output PGC Type Signal Name Connector Pin Number Setting Meaning Not including this setting in ON low level With encoder C pluse output the default setting Output PGC please choose terminal Without encoder C pluse OFF high level output by setting output parameter Pn511 This signal indicates that when servodrive circumrotate to position of C pluse there is a correlation between the width of C pluse and the speed of servodrive 103 4 11 5 Over travel signal output OT Type Signal Name Connector Pin Number Setting Meaning Not including this Without forward rotation ON low level prohibited POT and reve
15. 2 3 sccesecdeceeadeceeeedyeees eZeckeysctgdeg ea EE raa ia eaei aiaa aiea aa re iE 7 TA A SOMvOMOlOl secs gniti a ea a e a aa i apie E raaa E i erent aan 7 T2 SErNVOJVE nauni i e E ar E A A Aa E a N a ea a aa 8 1 2 Part Names Iasnaia a e i a a ia lia e i 11 EA ES peA OILO EEEE E ETEA TS TT EA E E E NTE TE 11 122 ServodriVE ernir pna ea aaa apean Laana paea patadas painoa aiee aae aaea aE Eana aaaeei 11 Chapter 2 cz n e a e a a a a a a a a ees eaten tide eee e a 15 Installation karane E R ee dee need He aie ee eee E 15 2 Ve SOTVOMOLON UPPER EEE EAT A TEE E T A S T E T A 15 PAAIE ol T10 C E E T A E E E E E E E 15 2 142 Installation Sites e a a e A a ae ea E a AE a A aS aa E RA R ES 15 21 3 Installation Alignmenti vice ais ng ee Ae E dive a E A GAN 16 2 1 A Installation Orientation icir i a e be ceca i a eE E ede aden ste aaae tin 16 2 1 5 Handling OQiland Waters sansi oii lial edie e a ed eee i e aria 16 2 1 6 Cable TENSION sinai e eats eb E adel eaa i fee SARA ae a ea eae 17 D2 SCVO VEn Mo code veces estes toed a ses ese ees ca ave a a A aea lence eluded ietduevev de eivaceeewdade Ee Ea aE 17 DDN LOTAGS amp occ c ih deed shee eee cdee ad ccct seusccheavascdceas sae deas gases sayered ouaesadcdonn E A S T 17 2 2 2 Installation SILOS ssicczc esses caceagetensetensacnek ope cctusyecteesugebeesectee tenuhtpeesbadee stenctevbemnedivsamnent iada iea eaat 17 2 2 3 Installation Orientation siaaa e a
16. 3 How to operate m Measuring Vibration frequency Write the frequency data that measured unit 0 1Hz directly to Parameter Pn411 if the vibration frequency can be measured by instrument such as laser interferometer And it also can be measured indirectly by communication software ESView or FFT analyse function 81 Position error counter f 1 AT m Related Parameters Parameter Meaning anne H 00 0 Low frequency vibration suppression function disabled n H O1 1 Low frequency vibration suppression function enabled Low f ibration f ow frequency vibration frequency Padi Setting Range Setting Unit Factory Setting Setting Validation 50 500 0 1Hz 100 Immediately Low frequency vibration damp Pn412 Setting Range Setting Unit Factory Setting Setting Validation 0 200 25 Immediately e Writing the frequency data to parameter Pn411 can adjust Pn411 slightly to obtain best suppression effect If the servomotor stopped with continuous vibration Pn412 Do not change in general should be increased properly e Parameter Pn411 and Pn412 are enabled when Pn006 2 1 Setting validation after restart 82 4 6 6 Positioning Completion Output Signal This signal indicates that servomotor movement has been completed during position control Use the signal as an interlock to confirm that positioning has been completed at the host
17. DICOM 73 T 20 Paor S ON Servo ON S ON 14 Far PAO P CON P Control _P CON 15 gt _22 PBO PG Divided Ratio Output P OT Forward Run Prohibited _P OT 16 L933 PBO Applicable Line Receiver N OT Reverse Run Prohibited NoT 17 ta Poor AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 L T25 PCO CLR Clear Error Pulse iY CLR 40 r150 DGND P CL Forward Torque Limit PEL 41 N CL Reverse Torque Limit NCL 42 i Signal Allocations can be Modified V CMP Speed Coincide SHOM Home l j eo COIN Positioning Completion ORG Zero Position 1 6 TGON TGON Rotation Detection 9 S RDY S RDY Servo Ready f CLT Torque Limit Detection 1 10 S RDY BK Brake interiock a 11 V CMP PGC Encoder C Pulse Output l k OT Over Travel l 45h 12 V CMP RD Servo Enabled Motor Excitation Output l i HOME Home Completion Output f IRy 24V 7 ALM Connect Shield to Connector Shell Shield Shell t bea T i n 1D a aa ye a a e a a a ov af Represents Twisted pair Wires Note 1 The L1 L2 L3 and L1C L2C terminals wiring method of ProNet 02 04 servodrives is different from other ProNet ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA series servodrives Please note the specific terminal definition while wiring 2 External regenerative resistor for ProNet 02 04 is provided by customer the model of ASQ60W50QKGO res
18. 175 Mounting Pitch Cooling Fan Mounting Hole Diagram 4M4 Screw Holes Figure E ProNet 20A 30A 50A rit mim 270 5 258 5 TMounting Pitch Mounting Hole Diagram 112 Mounting Pitch 125 4M5 Screw Holes 270 5 Lay Pac Flow F E 186 Air Flow Thwe Terminals j SAER 2M4 Screw 100 32 peneana Lf 7 Nameplate i j 48 75 180 Poe Flow Terminal 14 4 Screw Ground Terminal 2 M4 Screw 125 Bai Flow 24 Extended M Pov Flow 32 Nameplate 75 204 5 5 5 139 Cooling Fan E ProNet 75D 1AD 1ED SESE JEA wi l Cooling Fan 7 l j j i i i j fe ene nit mm ee 1 E Lo L Lot 1 it Lt LI Lot pai o Lo Lot Lot Cooling Fan 140 E P
19. Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock 12 Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices VO signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor Power on indicator Lights when the control power supply is on Connector for communication Used to communicate with other devices VO signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor E ProNet 20A 50A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main ___________tiy circuit power supply capacitor remains charged Main circuit power supply term
20. Unit mm Nameplate fa iilii z fe 5 b i ay E r So J Teal J F lin E ME a o h HO t LH ale lf m E ProNet 08A 10A Unit mm Nameplate i 32 pi Flow Extended Module ag qe oo all Pee an i rion J lt A s le i I g z H E r ha at E Air Flow zi F il aE o j Fi A il os To oo i Hh 4g Air Flow gt Cooling Fan Mounting Hole Diagram Hy E e a pen SSS eS ES ES EAER BBISHHBES EEH EBERERESEH RN TLC U LPL LU U DPE Et _ 7 Le Air Flow 138 E ProNet 10D 15A 15D ruts met 186 94 4 HH iMi L U HEE 96 HHEH E
21. lt Pn6s0 10000 Pnest gt ae ORG i Encoder C pulse Begin to counter offset distance after the first C pulse is produced when leaving zero posiion Orpm T 89 Corresponding position Mechanical shaft Machine moves return to search pujse C 1 Motor slow down reverse Begin to counter offset distanffe after the first C pulse is produced when leaving zero posiion I I gt i l l Encoder C puls Rising edge After hitting the origin signal ORG the motor will find C pulse directly the figure is shown as below Speed Pn 685 rpm Pn 686 Find C pulse without eturning Homing offset distance Rising edge SHOM ORG Encoder C pulse Orpm t I l Pn 690 x 10000 Pn 691 l p Begin to counter offset distance after the first C pulse is produced when leaving zero posiion Corresponding position Mechanical shaft l l Machine moves return to search pulse C 1 l l Begin to counter offset distance after a the first C pulse is produced when Motor slow down an leaving zero posiion 1 an l Encoder C pulse l E o a ORG I f Rising edge SHOM 90 4 7 Operating Using Torque Control 4 7 1 Setting Parameters The following parameters must be set for torque control operati
22. of the shaft reverse The output signal polarity such as encoder pulse output and analog monitor signal from the servodrive does not change The standard setting for forward rotation is counterclockwise as viewed from the servomotor load end Reference Parameter Name Forward reference Reverse reference b 0 Standard setting CCW forward factory setting Foii viaou Brodrpisedvisionoupt i PAO H PAO PBO PBO Pn001 b 1 Reverse rotation mode CW forward Encoder pulse division output PAO PBO The direction of P OT and N OT change For Pn001 b Pn001 b 1 reverse rotation mode clockwise is P OT O standard setting counterclockwise is P OT For 52 4 3 3 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch 1 Connecting the overtravel signal To use the overtravel function connect the following overtravel limit switch to the sorresponding pin number of servodrive CN1 connector correctly For
23. 0 Immediately 4 5 7 Using the Zero Clamp Function 1 Zero Clamp Function The zero clamp function is used for systems where the host controller does not form a position loop for the speed reference input When the zero clamp signal P CON is ON a position loop is formed inside the servodrive as soon as the input voltage of the speed reference V REF drops below the servomotor zero clamp speed The servomotor ignores the speed reference and then quickly stops and locks the servomotor The servomotor is clamped within 1 pulse when the zero clamp function is turned ON and will still return to the zero clamp position even if it is forcibly rotated by external force Speed Reference V REF Host Controller Zero Clamp P CON 69 When the P CON signal is turned ON a speed reference below the Pn502 setting is detected Stops precisely 2 Parameter Setting Parameter Meaning Pn005 H A Control mode Speed control analog voltage reference lt gt Zero Clamp Zero Clamp Conditions Zero clamp is performed with Pn005 H A e P CON is ON low level e Speed reference V REF drops below the setting of Pn502 Servodrive Speed when the following two conditions are satisfied V REF speed reference CN1 Preset value for zero
24. 3 2 2 I O Signal Names and Functions E Input Signals contol Function Mode Servo ON Turns the servomotor on Function selected by parameter Proportional Switches the speed control loop from PI to P control when control reference ON Direction With the internally set speed selection Switch the rotation reference direction Control mode Ponte Enables control mode switching switching Zero clamp Speed control with zero clamp function Reference speed is reference zero when ON Reference pulse Position control with reference pulse Stops reference pulse block input when ON we Forward run Position prohibited Torque Reverse run prohibited Speed Overtravel prohibited Stops servomotor when OFF Function selected by parameter Forward external torque limit ON Reverse external torque limit ON Current limit function enabled when ON Internal speed With the internally set speed selection Switches the internal switching speed settings ALM RST Alarm reset Releases the servo alarm state DICOM Control power supply input for I O signals Provide the 24V DC power supply VREF Speed reference input 10V VREF PULS Pulse reference input mode PULS Sign pulse train SIGN CCW CW pulse l l Two phase pulse 90 phase differential SIGN 7 DPI Power supply input for open collector reference 2KO 0 5W resistor is built into the Positi
25. Indicates the output torque current of motor is limited Type Signal Name Connector Pin Number Setting Meaning Motor output torque under limit Not including this setting in ON L Internal torque reference is higher than the default setting please setting value Output CLT choose terminal output by No torque limit setting parameter Pn511 OFF H Internal torque reference is lower than setting value Please use the following user constants to define output signals and pins when using CLT signal Connector Pin Number Para No Meaning Terminal Terminal Pn511 H 3 CN1 11 CN1 12 Output signal of CN1 11 CN1 12 is CLT Pn511 H oo3 CN1 05 CN1 06 Output signal of CN1 5 CN1 6 is CLT Pn511 H o3 CN1 09 CN1 10 Output signal of CN1 9 CN1 10 is CLT al Pn511 0 3 1CN 11 1CN 12 ICLT Torque limit iH Pn511 1 3 output 1CN 05 1CN 06 Pn511 2 3 1CN 09 1CN 10 Parameter Pn511 description as following Output terminal 0 COIN V CMP output 1 TGON rotation detecting output 2 S RDY servo drive get ready output 3 CLT torque limit output 4 BK brake interlock output 5 PGC encoder C pulse output 6 OT overtravel signal output 7 RD servo enabled motor excitation output 8 HOME home completion output 105 4 12 Online Autotuning 4 12 1 Online Autotunin
26. OFF stops the servomotor by plug braking when S OFF overtravel and then places it into coast power OFF Overtravel mode Stops the servomotor by dynamic braking DB when servo OFF stops the servomotor by plug braking when overtravel and then places it into zero clamp mode Zero Clamp Makes the servomotor coast to a stop state when servo H 5 OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode 54 After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings Servodrive Servomotor Stop by dynamic brake Stops by using the dynamic brake with short circuiting by a circuit of servodrive Co ye a Coast to a stop Stops naturally with no brake by using the friction resistance 3 Bi of the servomotor in operation ee e Plug braking Stops by using plug braking limit torque eS Zero Clamp Mode A mode forms a position loop by using the position reference zero e Dynamic brake is an emergency stop function and one of the general methods to cause a servomotor sudden stop e Dynamic brake suddenly stops a servomotor by shorting its electrical circuit If the servomotor is frequently started and stopped by turning the power ON OFF or using the servo ON signal S
27. multiplier mode 6 Connection Example The pulse train output form from the host controller corresponds to the following e Line driver Output e 24V Open collector output e 12V 5V Open collector output a Connection Example for Line driver Output Applicable line driver SN75174 manufactured by TI or MC3487 or the equivalent Host controller Servodrive Line driver CNI Photocoupler _ PULS 30 150 Q 4 4 VEG PULS 31 2 32 150Q IGN SIGN SIGN S 33 Z Represents twisted pair wires 75 b Connection Example for Open collector Output Host controller Servodrive aie CNMI PPI 34 2k gt 30 photocoupler PULS gt 502 VOR gt PULS 31 be Trl gt 24V When voltage is 12V a 1k resistance should be k 2kQ connected at PULS and SIGN A prr 34 When voltage is 5V a 1809 resistance should gt gt gt be connected at PULS and SIGN 150 Q SS 32 Note When i photocoupler output is used the SIGN YG signal logic as follows 1 5V max at ON 5 N gt 33 J SIGN When Trl isON High level input or equivalent gt When Trl is OFF Low level input or equivalent Lyf V v Z Represents twiste
28. 3 Autotuning is invalid when mechanical clearance is too big during operation Manual gain adjustment is used 4 Autotuning is invalid when the difference of different speed load is too great Manual gain adjustment is used The response speed of servo system is determined by this parameter Normally the rigidity should be set a Machine rigidity little larger However if it is too large it would suffer Pn101 Immediately P S setting mechanical impact It should be set a little smaller when large vibration is present This parameter is only valid in autotuning y This parameter determines speed loop gain Pn102 Speed loop gain Immediately P S Unit Hz Decreases the value of this parameter to shorten Speed loop integral Pn103 g Immediately P S positioning time and enhance speed response time constant Unit 0 1ms This parameter determines position loop gain A Decreases this value to enhance servo rigidity but Pn104 Position loop gain Immediately P vibration will occur if the value is too large Unit 1 s Torque reference filter can eliminate or lighten Torque reference Pn105 Immediately P S T mechanical vibration But incorrect setting will result to filter time constant mechanical vibration Unit 0 1ms Load inertia Setting value load inertia rotor inertia Xx 100 Pn106 Immediately P S percentage Unit Pn107 2nd speed loop gain Immediately P S The meanings of these parameters are the same as 2nd speed loop Pn102
29. ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50MA 3 5 4 Three phase 400V ProNet 75D 1ED L1 L2 L3 Three phase 380 440V 12 50 60Hz Molded case Circuit Breaker io Surge Protector 4 1Ry 1PL Servo Alarm Display Q Noise Filter Power OFF Power ON R ji T T 4 i 7 1KM 1Ry 1SUP 4 Be sure to connect a surge suppressor to the L excitation coil of the magnetic contactor and relay Magnetic Contactor 4 f Out ProNet Servomotor i A 1 OL2 Series Servodrives u V B 2 OLS v M W C3 A e pi CN2 Lic Option L2c i Serial Encoder a i Resolver i 7 SF Encoder H 7 SiN 8 S Lt woo i eR SINE i gi 17 BAT PG B2 1 47 cos tt External Regenerator Resisotr 181 CoS 18 BAT 1
30. L2 L3 Three phase 380 440V i 50 60Hz d i 1 1Ry 1PL Servo Alarm Display i a t Power OFF Power ON iku 7 3 i gael 1KM IRy 150P lt Lt l l Hl A 1 Fp L2 ProNet 40 a I i bts Series Servodrive v Be M c 3 gt ws 3 A 1 D 4 T r Lic Lac l External Regenerative Resistor y CN2 PG f I B1 l i 0 B2 pei aa SS E External dynamic braking resistor i l DB1 l l Ry 24V l DB2 EN 7 AMF g ERER AE G Zu e AM 1D gt amp gt a Ground Terminal ov Notes 1 The resistor of 3000W and 10R is recommended for the external regenerative of ProNet 2BD 2 Please connect a dynamic braking resistor if dynamic braking function is used according to customer requirement The resistor of 1000W and 1R is recommended 3 The EBK 5 series special noise filters produced by Changzhou Jianli Electronic Company are recommended for ProNet 2BD 22 3 2 I O Signals 3 2 1 Examples of I O Signal Connections ProNet Series Servodrive VREF 1 E a Speed Reference 0 10V Rated Spe
31. SeN ae L l 8 CANL SIGN CCW B ta Fak SIGN _ 88 shell Shield LC n 1 1 Signal allocatons can be modified 2 DICOM 13 tH 20 PAO S ON Servo ON s on i eet LT 21T Pao P CON P Control P CON 15 Beis gt 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited _ P OT 16 B L T 323 PBO Applicable Line Receiver N OT Reverse Run Prohibited NOT 17 H a4 l PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 B L 25 PCO CLR Clear Error Pulse _CLR_ 40 Bee 150 DGND P CL Forward Torque Limit _P CL 41 7 N CL Reverse Torque Limit NeL 42 B Signal Allocations can be Mod SHOM Home 5 TGON COIN Positioning Completion ORG Zero Position 6 TGON TGON Rotation Detection S RDY Servo Read l far 9 S RDY ELT Torque Limit Detection 1 10 S RDY BK Brake Interlock 11 V CMP PGC Encoder C Pulse Output l r OT Over Travel tn 12 V CMP RD Servo Enabled Motor Excitation Output i i HOME Home Completion Output i i 1Ry 24V n 7 rA ALM Connect Shield to Connector Shell C Shield Shei Er e AN 3 T T tad Eos Patience ha 5 TE ov a Represents Twisted pair Wires Notes ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 1 The resistor of 3000W and 10R is recommended for the external regenerative of ProNet 2BD 2 Please connect a dynamic braking resist
32. according to parameter 2 SIGN Pn004 2 setting F 33 a Check Method and Remarks Match the reference pulse form with the pulse output form Set the reference pulse form with Pn004 2 from the host controller en a a TT Set the electronic gear ratio with Pn201 or coincides with the host controller setting Pn203 Pn202 3 Tum the power and the servo ON input signal ON J ooo y O Send the slow speed pulse reference for the number of Set the servomotor speed of several 100rpm for the servomotor rotation easy to check for example one reference pulse speed because such speed is safe servomotor revolution from the host controller in advance Check the number of reference pulses input to the Refer to 5 1 6 Operation in Monitor Mode for how servodrive by the changed amount before and after the itis displayed Un013 and Un014 input reference pulse counter pulse were executed Check whether the actual number of servomotor rotation Refer to 5 1 6 Operation in Monitor Mode for how Un009 Un010 coincides with the number of input reference itis displayed pulse Check that the servomotor rotation direction is the same as Check the input pulse polarity and input reference the reference pulse form Input the pulse reference with the large number of Set the servomotor speed of serval 100rpm for servomotor rotation from the host controller to obtain the the reference pulse speed because such speed is co
33. f zero bias Speed reference External speed given input analog Analog speed given zero bias X Speed reference input gain Pn302 Reserved Pn303 Reserved The parameter can be set to positive or negative When control mode is set to D it determines the Pn304 Parameter speed Immediately S speed of motor The servomotor speed is determined by this parameter when Pn005 1 D It is used to set JOG rotation speed and the direction Pn305 JOG speed Immediately S is determined by the pressing key during JOG operation Soft start acceleration The time for trapeziform acceleration to accelerate to Pn306 Immediately S time 1000rpm 157 Parameter Setting Control Description Function and Meaning No Validation Mode Unit ms The time for trapeziform deceleration to decelerate to Soft start Pn307 TEE Immediately S 1000rpm deceleration time Unit ms Speed filter time 1st order filter time constant Pn308 Immediately S constant Unit ms S curve The time for transition from one point to another point Pn309 Immediately S risetime in S curve 0 Slope Speed reference 1 S curve Pn310 curve form After restart S 4 2 1 order filter 3 2 order filter Pn311 S form selection After restart S This value determines the transition form of S curve DP communication Communication speed of bus JOG Pn
34. this value Outputs VCMP signal when the difference between Coincidence Pn501 Immediately P speed reference value and speed feedback value is difference less than this value The servomotor is locked in the form of temporary Pn502 Zero clamp speed Immediately S position loop when the speed corresponding to the analog input is less than this value When the servomotor speed exceeds this parameter Rotation detection Pn503 Immediately P S T setting value it means that the servomotor has speed TGON already rotated steadily and outputs TGON signal When the value in error counter exceeds this Offset counter Pn504 Immediately P parameter setting value it means that error counter overflow alarm alarm has occurred and outputs alarm signal These parameters are only enabled when the port Servo ON waiting output parameters are allocated with BK signal Pn505 Immediately P S T time output These parameters are used to keep braking prevent 159 Parameter No Description Setting Validation Control Mode Function and Meaning Pn506 Basic waiting flow Immediately Pn507 Brake waiting speed Immediately Pn508 Pn509 Brake waiting time Allocate input port to signal one port with four bits hex Immediately After restart from gravity glissade or continuous outside force on servomotor time sequence Servo ON waiting time For the parameter is plus BK signal
35. to prevent the servomotor from moving during operation Do not connect the servomotor shaft to the machine The servomotor may tip over during rotation With the I O signal connector CN1 disconnected check the power supply circuit and servomotor wiring Refer to 3 1 Main Circuit Wiring If the power is correctly supplied the panel operator display on the front panel of the servodrive will appear as shown on the left The display on the left indicates that forward run prohibited P OT and reverse run prohibited N OT If an alarm display appears the power supply circuit servomotor wiring or encoder wiring is incorrect If an alarm is displayed turn OFF the power find the problem and correct it Please refer to 4 3 4 Setting for Holding Brakes Please refer to 4 5 Operating Using Speed Control with Analog Reference Description Check Method and Remarks Use the panel operator to operate the servomotor with utility function Fn002 JOG Mode Operation Check that the servomotor rotates in the forward direction by INC key Panel Operator and reverse direction by DEC key Power Supply The operation is completed when the operation is performed as described below and the alarm display does not appear Complete the Fn002 JOG Mode Operation and turn OFF the power 5 For operation method of the panel operator refer to Chapter 5 Panel Operator The servomotor speed can be changed using the Pn305 JOG Spe
36. 1 9600bps 2 19200bps Pn700 1 Communication protocol selection 0 7 N 2 MODBUS ASCII 1 7 E 1 MODBUS ASCII 2 7 O 1 MODBUS ASCII 3 8 N 2 MODBUS ASCIID 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 Pn700 2 Communication protocol selection 0 SCI communication with no protocol 1 MODBUS SCI communication Pn700 3 Reserved Pn701 Axis address After restart ALL Axis address of MODBUS protocol communication 125 6 3 MODBUS Communication Protocol MODBUS communication protocol is only used when Pn700 2 is set to 1 There are two modes for MODBUS communication ASCII American Standard Code for information interchange mode and RTU Remote Terminal Unit mode The next section describes the two communication modes 6 3 1 Code Meaning ASCII Mode Every 8 bit data is consisted by two ASCII characters For example One 1 byte data 64 H Hexadecimal expression is expressed as ASCII code 64 which contains 6 as ASCII code 364 and 4 as ASCII code 34 ASCII code for number 0 to 9 character A to F are as follows Character 0 T 2 3 4 5 6 T ASCII Code 304 314 324 33H 344 354 36H 37 H Character 8 Q A B C D E P ASCII Code 38 H 394 41H 424 43H 444 454 464 RTU Mode Every 8 bit data is consiste
37. 1 LIC 1 ncremental Wire saving Encoder 2500P R o 2C Serial Encoder se si ape ais 1 4 a Resolver i z a os Encoder OBI gt B1 3 Bt 7 SIN 5 5 He SiS e 4 B EEEN 17 BAT PG i B2 B2 6 o HH COs E j n 18 COS 18 BAT mr External Regenerator Resisotr 6 C pot B3 L B3 zsa Pe5v HRI SRBOV 7 ki 1 19 R2 1 19 PGOV m a s2 Ae s rasas PGOV r m Snell Shieid Shel Shield Shell Shield 5 y Jo 4 Be sure to ground CN3 4 N C i Be sure to prepare the end of the 2 NC shielded wire properly 3 485 OM Se zi 4 ISO_GND 5 ISO_GND Use special communication cable to connect L 1S ret 6 485 PC Personal Computer VREF 1 HSS Speed Reference 0 10V Rated Speed J VREF 2 ONSE 7 CANH 10K AD 8 CANL Note Do not short terminal 1 and 2 of CN3 ret TREF 26 Shell Shield Torque Reference 0 10V Rated Torque Ea TREF 27 z e AE CN4 T NC i 2 N C PPI 34 FA 3 485 Open collector Reference Use xa 4_lISO_GND J PULS 30 a 5 ISO_GND Position Reference lt PULS CW A L PULS 31 J 6 485 i 2 7 CANH J SIGN 32 8 CANL SIGN CCW B tl SIGN 133 Jak ne Shell Shield SSS a L Signal allocatons can be modified 2 DICOM 13 T 20 PAO A 33KO S ON Servo ON __S ON 14 Far PaO P CON P Control P CON 15 gt 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 16 L433 PBO gt Applicable Line Receiver 4 N OT Reverse Run
38. 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 Pn700 2 Communication protocol selection 164 Parameter No Description Setting Validation Control Mode Function and Meaning 0 No protocol SCI communication 1 MODBUS SCI communication Pn700 3 Reserved Pn701 MODBUS Axis address After restart ALL Aix address of MODBUS protocol communication Pn702 Reserved Pn703 CAN communication speed After restart ALL Pn703 0 CAN communication baud rate 0 50Kbps 1 100Kbps 2 125Kbps 3 250Kbps 4 500Kbps 5 1Mbps Pn704 CAN communication contact After restart ALL CANopen Aix address of communication Pn840 Hex After restart ALL Pn840 0 Encoder model selection 0 2 Reserved For factory using 3 17 bit absolute encoder 4 17 bit incremental encoder 5 Resolver 6 Incremental Wire saving Encoder 2500P R Pn840 1 Reserved For factory using Pn840 2 Reserved For factory using Pn840 3 Reserved For factory using 165 Appendix B Alarm Display Alarm Alarm Alarm Name Meaning Display Output A 01 x Parameter breakdown The checksum results of parameters are abnormal A 02 x AD shift channels breakdown AD related electrical circuit is faulty The ser
39. 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal Note Do not short terminal 1 and 2 of CN3 1 2 3 485 RS 485 communication terminal 4 5 Isolated ground 3 4 2 Communication Connector CN4 Terminal Layout Terminal No Function Reserved 485 RS 485 communication terminal ISO_GND ISO_GND 485 RS 485 communication terminal Isolated ground CANH CAN communication terminal 1 2 3 4 5 6 7 8 CANL CAN communication terminal 31 3 5 Standard Wiring Examples 3 5 1 Three phase 200V ProNet 02A 04A L1 L2 L3 Three phase 200 230V t 50 60Hz Molded case Circuit Breaker Surge Protector __4 s 1Ry 1PL Servo Alarm Display T Noise Filter ile Power OFF Power ON IKM 4 T p5
40. 67 x Receiving heartbeat timeout The master station sends heartbeat time timeout A 69 x lt Synchronization signal monitoring The filling time and the cycle of the synchronous signal f cycle is longer than setting does not match A 00 O Not an error Normal operation status O Output transistor is ON X Output transistor is OFF A 45 A 46 A 47 A 51 only can be reset when the absolute encoder related alarm is cleared The multiturn data should be cleared because of the multiturn information is incorrect 168 ESTUN AUTOMATION TECHNOLOGY CO LTD H ADD 155 Jiangjun Road Jiangning Economical amp Technical Development Zone Nanjing 211100 P R C TEL 025 52785866 52785915 52785916 FAX 025 52785576 52785966 Web www estun servo com E mail info estun com AJOS WINNYINAVINN S 9 9 e C n wi
41. 9 R1 9 3 RGV ri 1 Mo RZ i 19 PGOV t 1 4 D Shell Shield Shell Shield N 3 9 ES gi Be sure to ground CN3 1 N C Be sure to prepare the end of the 2 TONG shielded wire properly 3 485 GNI aia ee al 4 ISO_GND 5 ISO_GND Use special communication cable to connect VREER ae 6 485 PC Personal Computer Speed Reference 0 10V Rated Speed VREF 2 mle l 7 a Tal Note Do not short terminal 1 and 2 of CN3 _TREF 26 i l Shell Shield Torque Reference 0 10V Rated Torque TREF 27 l T l l l l T Nc f l 2 N C PPI 34 3 485 Open collector Reference Use xa 3 S0 GND 4 PULS 30 a 5 ISO_GND Position Reference lt PULS CW A e surg 31 a 6 465 r xa Bi SIGN 32 l 3 CANG SIGN CCW B H 4 SIGN 33 tak l Shell Shield l l l Daen A i 24V L 1 N Signal allocatons can be modified DICOM 13 gt 20 PAO S ON Servo ON s on 14 He L21 Pao P CON P Control P CON 15 7 Tp 22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 16 a S93 PBO gt Applicable Line Receiver i Tok Re ENa N OT Reverse Run Prohibited NOT 17 B gt 24 Pcor anuigctured By itT et he Equlvalant ALM RST Alarm Reset ALM RST 39 B 5 PCO CLR Clear Error Pulse __ CLR 40 HSI r50 DGND P CL Forward Torque Limit __P CL 41 B 7 p N CL Reverse Torque Limit NCL 42 ash i V CMe Shen a in SHOM Home Fee 1 5 TGONe COIN Positioning Completion ORG
42. Controller JOG Operation Servomotor speed Check servomotor speed as Check the parameter setting at Constan speed reference follows Pn300 to see if reference input from host controller e Use the servomotor speed speed gain is correct monitor Un000 on the panel operator e Run the servomotor at low speed For example input a reference speed of 60rpm and check to see if the servomotor makes one revolution per second Simple positioning Number of Input a reference equivalent to one Check the parameter setting at servomotor servomotor rotation and visually Pn200 to see if the number of rotation check to see if the shaft makes one PG dividing pulses is correct revolution Overtravel P OT and Whether the Check to see if the servomotor Review P OT and N OT wiring N OT Used servomotor stops rotating when P OT and N OT signals are input stops when P OT and N OT signals if the servomotor does not are input during continuous stop servomotor operation 49 4 2 Control Mode Selection The control modes supported by the ProNet series servodrives are described below Parameter Control Mode Reference Section Pn005 Speed Control Analog voltage reference Controls servomotor speed using analog voltage speed reference Use in the following instances e To control speed e For position control using the encoder feedback division output from the
43. DEC key to adjust the offset 7 Press the ENTER key for one second to return to the display in step 3 or 4 offset adjustment 8 Press the ENTER key to return to the utility function mode display Fn006 Thus the manual offset adjustment of the servomotor current detection signal is completed Note The adjusting range of the servomotor current detection offset is 1024 to 1024 121 5 2 7 Software Version Display Set the Fn007 to select the software version check mode to check the servodrive software version 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn007 3 Press the ENTER key to display the DSP software version the highest bit displays d or E or F or 0 4 Press the MODE key to display the FGPA CPLD software version the highest bit displays P 5 Press the MODE key to return to DSP software version display 6 Press the ENTER key to return to the utility function mode display Fn007 5 2 8 Position Teaching Function Perform the position teaching function in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC
44. E A AE E ETA Chapter 1 Checking Products and Parts Names 1 1 Checking Products on Delivery Check Items Comments Are the delivered products the Check the model numbers marked on the nameplate on the ones that were ordered servomotor and servodrive Is th a n Check the overall appearance and check for damage or scratches s there any damage E R that may have occurred during shipping Dose the servomotor shaft rotate If the servomotor shaft is smoothly turned by hand it is normal smoothly However if the servomotor has brakes it cannot be turned manually If any of the above items are faulty or incorrect contact your ESTUN representative or the dealer from whom you purchased the products 1 1 1 Servomotor m Servomotor Model Designation EMG 10 A D A 1 1 ESTUN Servomotor ea 1 2 3 4 5 6 7 1 2 Rated Output 4 Encoder 7 Option Code Rated Output Code Encoder Code Option 10 1 0kW D Incremental encoder 131072P R 1 None 15 1 5kW S Absolute encoder 131072P R 2 With oil seal 20 2 0kW R Resolver 3 With brake DC 24V 30 3 0kW P Wire saving Encoder 2500P R 4 With oil seal and brake DC 24V 50 5 0kW 5 Designing Sequence Code Designing Sequence A Designing sequence 3 Voltage 6 Shaft End Code Voltage Code Shaft End A 200V AC 1 Straight without key Stand
45. EML 3 EMB Pn006 0 Bus type selection 0 No bus 1 PROFIBUS DP VO V1 2 PROFIBUS DP V2 3 CANopen Pn006 1 Reserved Pn006 2 Low frequency vibration suppression switch 0 Low frequency vibration suppression function disabled 1 Low frequency vibration suppression function enabled Pn006 3 Reference input filter for open collector signal When Pn840 0 3 4 5 0 when pulse is difference input servo receiving pulse frequency lt 4M 1 when pulse is difference input servo receiving pulse frequency lt 650K 2 when pulse is difference input servo receiving pulse frequency 150K When Pn840 0 6 0 when pulse is difference input servo receiving pulse frequency lt 700K 1 when pulse is difference input servo receiving Parameter Setting Control Description Function and Meaning No Validation Mode pulse frequency s200K 2 when pulse is difference input servo receiving pulse frequency lt 60K 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Note 1 Autotuning is invalid when servomotor max speed is Online autotuning less than 100rpm Manual gain adjustment is used Pn100 setting After restart P S 2 Autotuning is invalid when servomotor acceleration deceleration speed is less than 5000rpm s Manual gain adjustment is used
46. ON the DB circuit will also be repeatedly operated degrading the servodrive s internal elements e Use the speed input reference and position reference to control the starting and the stopping of the servomotor 4 Setting the Stop Torque for Overtravel Plug braking torque limit Pn405 Setting Range Setting Unit Factory Setting Setting Validation 0 300 1 300 Immediately e This sets the stop torque for when the overtravel signal P OT N OT is input The setting unit is a percentage of the rated torque the rated torque is 100 The value large enough to be the servomotor maximum torque 300 is set as the factory setting for plug braking limit torque However the actual output plug braking limit torque is determined by servomotor ratings 55 4 3 4 Setting for Holding Brakes The holding brake is used when the servodrive controls a vertical axis A servomotor with brake prevents the movable part from shifting due to gravity when the servodrive power goes OFF Refer to 4 1 4 Trial Operation for Servomotor with Brakes Vertical axis Shaft with external force applied Servomotor Servomotor Holding brake External force Prevents the servomotor I from shifting due to gravity when the power is gt OFF Prevents the servomotor from shifting due to external force 1 The brake b
47. Onl MS AULOtUni gy 222 igrae edera a e A EE N EA 106 4 12 2 Online Autotuning Procedure issiriicieiierii iieii iiidid iieii iride dadia ieii 106 4 12 3 Setting Online Autotuning 0 eee eeenne ee eeee eter eaeeeeeeeaeeeseeaaeeeeaeeeeesaaeeeseeaaeesseeeeeeesnaeeesenaeeeeneeaees 107 4 12 4 Machine Rigidity Setting for Online AUtOtUNING 0 eee eee eneeeeeeeeeeeeeeaeeeeeeaaeeeeeeeeeeeenaeeeenenaeeeennaees 107 Chapter Size ec Satake fick ecbzn cea val cose adhce dosteds bial E a E a vats E aE EEE Ea aa 108 Panel Operatorist n iets Maen hie ei wi a ei ee he hie ede ee ot 108 5 1 Basie OperatOri risente ian aeaa at paaie na phewsecbed ens tuipeepesdtinrss dencnpudonenad eateedscegestunebsubaunnedescuesuenects 108 5 1 1 Functions on Panel Oper tor nirai E a E aa N Ea EAE a A Ea A E aaa Ea ea EAEE 108 1 2 Resetting Servo Alarms nrcs inneu ie a ei sie a e eel 108 5 1 3 Basic Mode Selection sezizet ieaie e atic aa cee dats a E eevee tn cide 109 5 1 4 Status Display Moden ieira e sad esses ede a a i aiaa 109 5 1 5 Operation in Parameter Setting Mode eee ceeeeeeeceeeneeeeeeeeeeeeeaeeeeeeaaeeeceneeeeesaeeeeeeaeeesneeeeeeeeeeeneaas 111 5 1 6 Operation in Monitor Mode ee eeecceeeeeeeeeeeneeeeeeeeeeeeeaaeeeceeeeeeeeaeeeseeaaeeeseneeeeeeaeeeseeaeeeenneeeseeaeeeeseaas 112 5 2 Operation in Utility Function Mode oo cece c cence cnet eeeeeeaeeeeeeeaeeeeeeeeeeeaaeeeeeeeaeeeeeneeeeesaeees
48. P CON P Control ERCON AS a 4 ontrol EEEN P OT Forward Run Prohibited Spe OT Nte FEL gt me NOT 17 l N OT Reverse Run Prohibited fe ALM RST 39 ALM RST Alarm Reset CIR 140 CLR Clear Error Pulse _ per M P CL Forward Torque Limit wel 42 N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V en 8 ALM z 1D Connect Shield to Connector Shell Shield Shell ov ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mMA a represens Twisted pair Wires 38 3 5 8 Torque Control Mode ProNet Series Servodrives J gt 20 PAO L T 21 PAO 22 PBO PG Divided Ratio Output L23 PBO gt AMP6ESS2A Manufactured by TI or the Equivalent gt l24 PCO Torque Reference 0 10V Rated Torque ee 2 ren _ E BEND Signal Allocations can be Modified 5 TGON V CMP Speed Coincidence ae e TGON SQN Bost Comnetin Signal allocatons can be modified PICOM 13 Sake 128 S RDY gt Sia cere cise S ON Servo ON _S ON_ 14 107 S RDY BK Brake Interlock
49. Pn105 Pn108 Immediately P S integral time constant These parameters are only needed to set when two 154 Parameter Setting Control Description Function and Meaning No Validation Mode 2nd position loop types of gain function are enabled Pn109 f Immediately P gain 2nd torque reference Pn110 Immediately P S T filter time constant This parameter setting can shorten positioning time However if it is too large or does not cooperate with Pn111 correctly vibration will occur The relationship with speed reference error counter positioning error is shown in the following chart Speed reference Pn111 Speed bias Immediately P Error counter v It is used to set position feedforward The response speed is faster and position error is less when this Pn112 Feedforward Immediately P parameter setting is higher Vibration will occur if the value is set too large Unit It is used to ease mechanical vibration due to position feedforward The feedforward lag will be enlarged and Pn113 Feedforward filter Immediately P result to vibration if the value is set too large Unit 0 1ms It is used to set torque feedforward and enhance response speed Pn114 Torque feedforward Immediately P S Set the load inertia percentage Pn106 correctly to enable this function in manual gain adjustment mode Unit It is used to ease mechanical vibration due to torque Torque feedforward Pn115 fi
50. Prohibited sA NOT 17 M 24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset ALM RST 39 LT 25 PCO CLR Clear Error Pulse CLR 40 c L50 DGND Aa a P CL Forward Torque Limit _ P CL 41 2 v N CL Reverse Torque Limit E NEGE 42 i Signal Allocations can be Modified V CMP Speed Coincidence SHOM Home l J 5 TGON COIN Positioning Completion ORG Zero Position l 6 TGON TGON Rotation Detection 9 S RDY S RDY Servo Ready f CLT Torque Limit Detection 3 10 S RDY Birako Interlock o PGC Encoder C Pulse Output tah 11 V GMIES OT Over Travel ji 12 V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output i IRy 24V y 7 7 ALM mas T Connect Shield to Connector Shell Ajr Shield Shell f 5 ALM T a t A j 1D ov ALM Servo Alarm Output af Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50MA 33 3 5 3 Three phase 400V ProNet 10D 15D
51. REA aAA E AE AA AE A Aaaa aa R a Eai 17 2 2 4 nstallation Methodi niri i a ipi vies oni ei de teed a odde te aiir i 18 Chapter Z eiun e a a a a a e aa a aa a o enaa eriak 19 WINDING iiipin aaa a aa a a eaa aa a a aiani 19 3tMain Circuit Wiring isaretenan anani ea ae ee aE A ene eee We 19 3 1 1 Names and Functions of Main Circuit Terminals ceecceeeeneeeeeeeeeeeeneeeeeenaeeeeeeeaeeeenaeeeseenaeeeeeaees 19 3 1 2 Typical Main Circuit Wiring Examples ce ce eesceeceeeeeeeeneeeeeeeenaeeeeeeeeeeesaeeeeeeaeeesenaeeesneeesneeeenenaees 20 32 VO SIQMAlS ine ea a r aE e E A EE a A ESA AN cei bl eee et 23 3 2 1 Examples of I O Signal Connections 00 00 eee ceneeeeeeeeeeeeeneeeeeeaeeeeeeeeeeesaeeeseeaeeeseeeaeeesnneeesnaneeeeenaees 23 3 2 2 I O Signal Names and Functions 2 0 00 ceeecceeeeeneeeceeneeeeeeneeeeeeaaeeeceeeeeeeesnaeeeseeaaeeeseeeaeeessneeeenaeeeseeeaees 24 3 2 3 I O Signal Connector CN1 Terminal Layout 0 eee ceeeeeeeeneeeeeeeeeeeeeaeeeeeeaaeeeseeeaeeeenaeeeesenaeeeeneaees 26 3 2 4 Interface Circuit sino aae a abe A A ded A E R A ASE A A E AE A T AS 27 3 3 Wiring EncodelS orcs iang e i nee ae A A ee ee ee 28 3 3 1 Connecting an Enc der CN2 yei rh e a E a a aa A aea a ieat 28 3 3 2 Encoder Connector CN2 Terminal Layout oe eeceee cence eeeneeeeeeeeeeeeraeeeeeeaaeeeseeeaeeesnaeeeeeenaeeeeneaees 30 3 4 Communication COMMECHION 2 2 c02cc cecee ses seceeceschessiec enseec de be
52. Reserved 19 Reserved 44 Reserved PG dividing 45 Reserved pulse output PG 46 DGND DGND phase A dividing PG dividing pulse 47 Reserved pulse output output 48 DGND DGND phase B PG dividing 49 Reserved Zero point pulse output pulse 50 DGND DGND phase C Note The functions allocated to the following input and output signals can be changed by using the parameters Input signals S ON P CON P OT N OT ALM RST CLR PCL NCL SHOM ORG Output signals TGON S RDY COIN HOME Please refer to A 3 Parameters in details for detailed information 26 3 2 4 Interface Circuit This section shows examples of servodrive I O signal connection to the host controller m Interface for Analog Reference Input Circuit Analog signals are either speed or torque reference signals at about 40kOimpedance and the maximum allowable voltages for input signals is 10V Reference speed input Reference torque input Servodrive Servodrive 4702 1 2W min 4702 1 2W min eed tov 2ko ke2 d V REF w oo ke2 TREF i About 40K Q i About 40K Q SOND j GND DA VY ov ov Winterface for sequence input circuit The sequence input circuit interface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will re
53. Zero Position 6 TGON TGON Rotation Detection 9 S RDY S RDY Servo Ready fan ie CLT Torque Limit Detection 10 S RDY BK Brake Interlock x PGC Encoder C Pulse Output l sk 4 V CMP OT Over Travel l 12 V CMP RD Servo Enabled Motor Excitation Output i i HOME Home Completion Output IRy 24V L 1 n 7 ALM Connect Shield to Connector Shell C Shield Shell Hl e AM 7 T T Poe E Oe ee 7 1D ov A Represents Twisted pair Wires Notes ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 1 The resistor of 1500W and 20R is recommended for the external regenerative resistor of ProNet 75D 2 The resistor of 1500W and 15R is recommended for the external regenerative resistor of ProNet 1AD 1ED 35 3 5 5 Three phase 400V ProNet 2BD
54. completely during response characteristics if necessary the trial operation Therefore let the system run for a sufficient amount of additional time to ensure that it is properly broken in 8 Thus the trial operation with the servomotor connected to the machine is completed 48 4 1 4 Trial Operation for Servomotor with Brakes Holding brake operation of the servomotor with brake can be controlled with the brake interlock output BK signal of the servodrive When checking the brake operation take advance measures to prevent vibration due to gravity acting on the machine or external forces Check the servomotor operation and holding brake operation with the servomotor separated from the machine lf both operations are correct connect the servomotor with the machine and perform trial operation Refer to 4 3 4 Setting for Holding Brakes for wiring on a servomotor with brakes and parameter settings 4 1 5 Position Control by Host Controller As described above be sure to separate the servomotor and machine before performing trial operation of the servomotor without a load Refer to the following table and check the servomotor operation and specifications in advance Host Controller Analog speed reference Servodrive Mt Trial operation for Position control Speed control servomotor without load Reference from the Host Check Item Check Method Review Items
55. controller Type Signal Name Connector Pin Number Setting Meaning CN1 11 CN1 12 ON low level Positioning has been Factory settin completed Output COIN x 9 P OFF high level Positioning is not completed e This output signal can be allocated to an output terminal with parameter Pn511 Refer to 3 2 2 I O Signal Names and Functions e The factory setting is allocated to CN1 11 12 Positioning Error pnd Setting Range Setting Unit Factory Setting Setting Validation 0 5000 1Puls 10 Immediately e The positioning completion COIN signal is output when the difference position error pulse between the number of reference pulses output by the host controller and the travel distance of the servomotor is less than the value set in this parameter Set the number of error pulses in reference unit the number of input pulses defined using the electronic gear Too large a value at this parameter may output only a small error during low speed operation that will cause the COIN signal to be output continuously e The positioning error setting has no effect on final positioning accuracy Reference Speed Ve Servomotor speed Error pulse Un011 Un012 COIN CN1 11 12 HNote e COIN is a position control signal e This signal is used for the speed coincidence output V CMP for speed control and it always OFF high level for torque control
56. externally regenerative resistor 0 connect externally regenerative resistor between B1 and B2 Pn521 1 dose not connect externally _ Pe i ininediaisiy regenerative resistor relay on interna capacitance This parameter is in effect only on ProNet 02 04 gt Pn522 Reserved Pn523 Reserved Pn600 Position pulse in point to point control 10000P 9999 9999 0 Immediately Pn601 Position pulse in point to point control 1P 9999 9999 0 Immediately Pn630 Position pulse in point to point control 1P 9999 9999 0 Immediately Pn631 Position pulse in point to point control 1P 9999 9999 0 Immediately Pn632 Point to point speed control rpm 0 3000 500 Immediately Pn647 Point to point speed control rpm 0 3000 500 Immediately Pn648 Point to point 1st order filter 0 1ms 0 32767 0 Immediately Pn663 Point to point 1st order filter 0 1ms 0 32767 0 Immediately Pn664 Stop time 50ms 0 300 10 Immediately Pn679 Stop time 50ms 0 300 10 Immediately Pn680 Reserved Hex Pn681 0 Single cyclic start reference point Pn681 ae 0 x0333 0x0000 Immediately Pn681 1 Change step and start mode Pn681 2 Change step input signal mode Pn681 3 Reserved Pn682 Programme mode 0 1 0 Immediately Pn683 Programme start step 0 15 0 Immediately Pn684 Programme stop step 0 15 1 Immediately Search travel speed in position Immediately control contact reference Pn685 Speed of finding reference point Hitting the rpm 0 3000 1500 origi
57. following 0 S ON P CON P OT N OT ALMRST A O N Parameter No Description Setting Validation Control Mode Function and Meaning mo ouw PrP DON DA CLR P CL N CL G SEL JDPOS JOG JDPOS JOG JDPOS HALT HmRef SHOM ORG Pn511 Output signal allocation After restart Pn511 0 corresponding port CN1_11 CN1_12 Pn511 1 corresponding port CN1_05 CN1_06 Pn511 2 corresponding port CN1_09 CN1_10 Corresponding signal of each data is shown as follows ON DO BR WNHY O COINVVCMP TGON S RDY ICLT IBK PGC OT RD HOME Pn512 Pn513 Bus control input node low bit enabled Bus control input node low bit enabled Immediately Immediately Bus communication input port enabled 0 Disabled 1 Enabled Pn512 0 gt CN1_14 Pn512 1 gt CN1_15 Pn512 2 gt CN1_16 Pn512 3 gt CN1_17 Pn513 0 gt CN1_39 Pn513 1 gt CN1_40 Pn513 2 gt CN1_41 Pn513 3 gt CN1_42 Pn514 Input port filter Immediately It is used to set input port filter time The signal will be lagged if the parameter setting is too high Pn515 Reserved Pn516 Input port signal inversion Immediately 0 Do not inverse signal 1 Inverse signal Pn516 0 gt CN1_ 14 inversion Pn516 13CN1_ 15 inversion 161 Parameter Setting Control Descrip
58. forward rotation prohibited P OT signal Allows constant forward rotation Inputs the reverse rotation prohibited N OT signal from CN1 17 factory setting Disables the reverse rotation prohibited N OT signal Allows constant reverse rotation e Applicable control modes Speed control position control and torque control e After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON againg to enable the new settings eA parameter can be used to re allocate input connector number for the P OT and N OT signals Refer to 3 2 2 I O Signal Names and Functions 3 Selecting the Servomotor Stop Method This is used to set the stop method when an overtravel P OT N OT signal is input while the servomotor is operating Mode After Parameter Stop Mode Meaning Stopping Stop by dynamic Rapidlly stops the servomotor by dynamic braking DB brake then places it into coast power OFF mode Coast Stops the servomotor in the same way as when the H 1 Coast to a stop servo is OFF coast to a stop then places it into coast power OFF mode Stops the servomotor by dynamic braking DB when H 2 servo OFF stops the servomotor by plug braking when overtravel and then places it into coast power OFF mode Coast Pn004 Makes the servomotor coast to a stop state when servo
59. in Output Torque during External Torque Limiting Example External torque limit Pn401 Pn402 set to 300 P CL Forward External Torque Limit Input High level Low level Pnd02 2 2 22 Torque T X orque High 0 level Speed N CL Pnd01 2 2 2222 nnn Reverse External Torque pata Limit Input Low 0 level Pn401 Note Select the servomotor rotation direction by setting Pn001 b 0 standard setting CCW Forward direction 99 4 9 3 Torque Limiting Using an Analog Voltage Reference Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T REF terminals CN1 26 27 This function can be used only during speed or position control not during torque control Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed control Servodrive Pn401 forward rotation torque limit T REF gt Torque reference input gain Pn400 Torque limit value Speed reference AREF Speed reference input __ ty Speed loop gain _ 50 a Q O gain Pn300 a Pn102 i gt Torque reference Fd Speed loop x integral time constant Pn103 L Pro reverse rotation torque limit Speed feedback Importa
60. is OFF high level the control mode will switch Example When Pn005 1 5 Speed control contact reference lt gt gt Position control pulse train Input Signal Speed IP CON IP CL IN CL OFF H OFF H Pulse train reference input position control OFF H ON L SPEED1 OFF H ON L OFF H SPEED2 ON L ON L SPEED3 OFF H OFF H SPEED4 OFF H ON L SPEED5 ON L ON L OFF H SPEED6 ON L ON L SPEED7 97 4 9 Limiting Torque The servodrive provides the following three methods for limiting output torque to protect the machine NO Limiting Method Reference Section 1 Internal torque limit 4 9 1 2 External torque limit 4 9 2 Torque limiting by analog voltage reference 4 9 3 4 9 1 Internal Torque Limit Maximum torque is always limited to the values set in the following parameters Forward Torque Limit alias Setting Range Setting Unit Factory Seeting Setting Validation 0 300 1 300 Immediately Pn402 Setting Range Setting Unit Factory Seeting Setting Validation 0 300 1 300 Immediately e The setting unit is a percentage of rated torque e The maximum torque of the servomotor is used even though the torque limit is set higher than the maximum torque of the servomotor as is the case with the 300 factory setting With No Internal Torque Limit Maximum torque can be output With Internal To
61. is output firstly when servo ON signal is input and then servomotor excitation signal is created after delaying the parameter setting time For the parameter is minus servomotor excitation signal is output firstly when servo ON signal is input and then BK signal is created after delaying the parameter setting time Basic waiting flow Standard setting BK output braking action and servo OFF are at the same time Now the machine movable part may shift slightly due to gravity according to mechanical configuration and character But it can be eliminated by using parameters which are only enabled when the servomotor is stop or at low speed Brake waiting speed BK signal is output when the servomotor speed is decreased to the below of this parameter setting value at servo OFF Brake waiting time BK signal is output when the delay time exceeds the parameter setting value after servo OFF BK signal is output as long as either of the brake waiting speed or brake waiting time is satisfied Pn510 Allocate input port to signal one port with four bits hex After restart 160 Pn509 0 corresponding port CN1_14 Pn509 1 corresponding port CN1_15 Pn509 2 corresponding port CN1_16 Pn509 3 corresponding port CN1_17 Pn510 0 corresponding port CN1_39 Pn510 1 corresponding port CN1_40 Pn510 2 corresponding port CN1_41 Pn510 3 corresponding port CN1_42 Corresponding signal of each data is shown as
62. key to select the utility function number Fn008 3 Press the ENTER key the display will be shown as below 4 Press the ENTER key the display will be shown as below iN LF A 47 NN 5 Release the ENTER key to complete position teaching function 5 2 9 Static Inertia Detection 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn009 3 Press the ENTER key the display will be shown as below 4 Press the MODE key to rotate the servomotor and the servomotor dynamic speed will be displayed 5 The unit of the servomotor and load total inertia displayed when servomotor stops is kg cm 122 Thus the static inertia detection is completed Note Make sure that the servomotor has 6 circles travel displacement in the CCW direction at least before detection 5 2 10 Absolute Encoder Multiturn Data and Alarm Reset 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn010 3 Press the ENTER key the display will be shown as below 4 Press the MODE key to reset the absolute encoder multiturn data and alarm
63. l ing Pn502 4 Speed reference VREF _ camping 1n gt 2_ i ______ A gt ESEE 4 1 Lames H Time P Open OFF Closed ON Zero clamp CONS CON 15 P CON input i i H Zero clamp is performed j OFF OFF ON i i ON ON Zero clamp speed Pn502 Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm 10 Immediately Sets the servomotor speed at which the zero clamp is performed if zero clamp speed control PnO05 H AD is selected Even if this value is set higher than the maximum speed of the servomotor the maximum speed will be used 3 Input Signal Setting Type Signal Name Connector Pin Number Setting Meaning Input P CON CN1 15 P CON is the input signal to switch to the zero clamp function ON low level OFF high level Zero clamp function ON enabled Zero clamp function OFF disabled 70 4 5 8 Encoder Signal Output Encoder feedback pulses processed inside the servodrive can be output externally Type Signal Name Connector Pin Number Name PAO CN1 20 Encoder output phase A Output IPAO CN1 21 Encoder output phase A PBO CN1 22 Encoder output phase B Output PBO CN1 23 Encoder output phase B Sutu PCO CN1 24 Encoder output phase C zero point pulse utpu PCO CN1 25 Encoder output phase C zero point pulse These outputs expla
64. other numbers to obtain the final results in step 7 and complete the settings 5 Electronic Gear Ratio Equation DAM MWA a Servomotor n cd lt gt Reference pulse gt B Sr Ea Position Speed A O loop loop O A Al mm P Q L Al mm P Reference unit sh a Pa P rev Pa P rev Encoder pulses P mmrrev m n nx p Ae B A Ball screw pitch Deceleration ratio x 4x Pexm B _4xPoxmxAl _4xPa m A nxp E Al n A Pn202 79 Set A and B with tl B Pn201 he following parameters Pitch P mm rev 4 6 4 Smoothing A filter can be applied in the servodrive to a constant frequency reference pulse 1 Selecting a Position Reference Filter Parameter Description 0 1 order filter 1 2 order filter Pn205 After changing the parameter turn OFF the power once and turn it ON again to enable the new setting 2 Filter related Parameters Position Reference Acceleration Deceleration Time Constant aa Position Ene Setting Range Setting Unit Factory Setting Setting Validation 0 32767 0 1ms 0 Immediately Hilmportant When the position reference acceleration deceleration time constant Pn204 is changed a value with no reference pulse input and a position error of O will be enabled To ensure tha
65. the load shaft Please refer to step 1 4 The servomotor is operated without connecting the shaft to the machine in order to confirm the following wiring is correct ppsouae I O signal wiring with host controller e Rotation direction speed and number of rotations of servomotor e Check the operation of the brake overtravel and other protective Secure the servomotor flange to the machine but do not connect the functions gt servomotor shaft to the load shaft Sete S5 Y Please refer to step 5 8 3 Trial operation for servomotor and machine combined Refer to 4 1 3 P 3 H Purpose Perform the trial operation with the servomotor Teponer sane E connected to the machine The servodrive is adjusted to match the poo machine characteristics e Servomotor speed and machine travel distance e Set the necessary parameters Secure the servomotor flange to the machine and connect the servomotor shaft Please refer to step 9 11 40 Step Item Description CC Reference Install the servomotor and servodrive according to the installation conditions 1 Installation Do not connect the servomotor to the machine because the servomotor will be operated first under the no load condition for checking Connect the power supply circuit L1 L2 and L3 servomotor wiring U V W I O signal wiring CN1 and encoder wiring CN2 But during 1 Trial Operation for Servomotor Without Load disconnect t
66. will occur Please observe the installation instructions described below to install the servomotor correctly Before installation Anticorrosive paint is coated on the edge of the servomotor shaft Clean off the anticorrosive paint thoroughly using a cloth moistened with thinner Avoid getting thinner on other parts of the servomotor when cleaning the shaft Anticorrosive paint 2 1 1 Storage When the servomotor is not used store it in the temperature between 20 C and 60 C with the power cable disconnected 2 1 2 Installation Sites The servomotor is designed for indoor use nstall the servomotor in an environment which meets the following conditions Free from corrosive and explosive gases Well ventilated and free from dust and moisture Ambient temperature from 0 to 40 C Relative humidity from 26 to 80 non condensing Facilitates inspection and cleaning 15 2 1 3 Installation Alignment Align the shaft of the servomotor with that of the machinery to be controlled and then connect the shafts with elastic couplings Install the servomotor so that alignment accurancy falls within the range shown below 1 r a Measure this distance at four different positions in the circumference The difference between the maximum and minimum measurements must be 0 03mm or less Turn together with couplings Note e If the alignment accurancy is incorrect vibration wil
67. 0 12 180 720 55 13 210 840 50 14 250 1000 40 15 300 1200 30 107 Chapter 5 Panel Operator 5 1 Basic Operation 5 1 1 Functions on Panel Operator Panel operator is a built in operator that consists of display part and keys located on the front panel of the servodrive Parameter setting status display and execution of utility function are enabled using the panel operator The names and functions of the keys on the panel operator are shown as follows Panel Corresponding Function Symbol Key Name A INC key e To display the parameter settings and setting values e To increase the setting value DEC k Y a To decrease the setting value To select a basic mode such as the display mode parameter setting M MODE key mode monitor mode or utility function mode To save the setting during parameter setting and exit lt ENTER key To display the parameter settings and setting values and release ararm Note In this manual the Panel Symbol is represented by Corresponding Key Name for easy understanding 5 1 2 Resetting Servo Alarms Servo alarms can be reset by pressing the ENTER key when the panel operator in display mode Servo alarms can also be reset the CN1 39 ALM RST input signal There is no need to clear the servo alarms if it turns the main circuit power supply OFF Note After an alarm occurs remove the cause of the alarm before resetting it 108 5 1 3 Basic Mo
68. 10VDC at rated torque Variable setting range 0 10VDC Voltage Max input voltage 12V Analog Input Torque Control Reference Impedance About 10MQ or above Input Circuit Time 10us Constant 136 EMJ 02A 04A O8A 10A _ Applicable Servomotor EMG 10A 15A 20A 30A 50A 10D 15D Model EML 10A 20A 30A 40a 10 EMB 75D 1AD 1ED 2BD Reference 10VDC at rated speed Variable setting range 0 10VDC Voltage Max input voltage 12V Analog Input a Anpait About 10MQ or above Reference Circuit Time 10yus Speed Constant Control Rotation Speed Direction With P CON signal Selection Selection Speed Speed 1 to 7 Soft Start ae Function 0 10s Can be set individually for acceleration and deceleration Setting T Sign pulse train CCW CW pulse train e p 90 phase difference 2 phase phase A phase B Form Non insulated linde driver about 5V open collector Pulse x1 multiplier 4Mpps Reference iplier Position z i ee Pia x x Control requency multiplier pps Open collector 200Kpps Frequency will begin to decline when the duty ratio error occurs Position Position Reference 16 postion nodes can be set Setting Setting Encoder Dividing Pulses Phase A phase B phase C line drive
69. 312 Immediately P S T JOG speed It can be set to positive or negative Pn313 Reserved Pn314 Reserved Pn315 Reserved _ Pn316 Speed internal 1 Immediately S Internal speed is enabled when Pn005 1 3 6 Pn317 Speed internal 2 Immediately S inp t signal operang speed Pn318 Speed internal 3 Immediately S IP CON IP CL IN CL Pn319 Speed internal 4 Immediately S Pn320 Speed internal 5 Immediately S OFF OFECH OREH Zero sped r switch Pn321 Speed internal 6 Immediately S OFF H ON L SPEED1 ON L OFF H SPEED2 ON L ON L SPEED3 ON L OFF H OFF H SPEED4 Pn322 Speed internal 7 Immediately S OFF H ON L SPEED5 ON L OFF H SPEED6 ON L ON L SPEED7 Torque reference i The meaning of this parameter is the needed analog Pn400 Immediately T gain input voltage to reach the rated torque Forward torque Pn401 Immediately P S T Servomotor output torque limit value internal limit Reverse torque i a Pn402 Immediately P S T Servomotor output torque limit value internal limit Forward external Pn403 Immediately P S T Servomotor output torque limit value torque limit Reverse external Pn404 Immediately P S T Servomotor output torque limit value torque limit Plug braking torque Am Pn405 ian Immediately P S T Servomotor output torque limit value imi 158 Parameter Setting Control Description Functio
70. 5 Press the ENTER key the display will return to Fn000 Note Hold the ENTER key for one second with alarm code displaying all the alarm traceback datas will be cleared Li Ma m ut I m 115 5 2 2 Parameter Settings Initialization Follow the procedures below to execute the parameter settings initialization 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of parameter settings initialization iS Press the ENTER key to enter into parameter settings mode 4 Hold the ENTER key for one second the parameters will be initialized NN 1 7 7 Lal Z L ALINN 5 Release the ENTER key to ruturn to the utility function mode display Fn001 a Note Press the ENTER key during servo ON does not initialize the parameter settings Initialize the parameter settings with the servo OFF 116 5 2 3 Operation in JOG Mode Follow the procedures below to operate the servomotor in JOG mode 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of JOG mode operation 3 Press the ENTER key to enter into JOG opera
71. 83 4 6 7 Reference Pulse Inhibit Function INHIBIT 1 Description This function inhibits the servodrive from counting input pulses during position control The servomotor remains locked clamped while pulses are inhibited Reference pulse Servodrive Pn005 1 ie i i I i Pn005 H 1 Pn005 H B 4 Error Counter _ iON m PEON gE s Foe castes i Feedback pulse 2 Setting Parameters Parameter Meaning Pn005 H B Control mode selection position control pulse train reference INHIBIT W inhibit INHIBIT switching condition e P CON signal ON low level ON OFF ON P CON Reference pulse 4 gt tl 12 lt 0 5ms Input reference pulses are not counted during this period 3 Setting Input Signals Signal Connector Pin Type Setting Meaning Name Number Turns the INHIBIT function ON ON low level Inhibit the servopack from counting Input P CON CN1 15 reference pulses OFF high level Turns the INHIBIT function OFF Counters reference pulses 84 4 6 8 Position Control contact reference Position control under contact reference parameter Pn005 1 C In this mode servo drive can position with a single axes without a host controller There are 16 position control points with e
72. E Aa EE a A AAE AEA EAA ANTEA k 101 4 10 1 S tting Parameters ised siete eee a en oe ee se 101 4 10 2 Switching the Control MOde ee eeeeceeeenneeeeeeeeeeeseneeeeeeaeeeseeeaeeeceeeeeesaeeeeeeaaeeeseeeeeeeeneeesenaeeeeeeeaees 101 411 Other Output SIQnalSxs c2s ccetecpetadoatgeieetiedt de vieeie cee dedidad ee goteed ea rede dia eies bladed oe eeieteads behead lehadceeeetanteely 102 AAT SOrvOsalarm OU OUb ros cose ssdoen sed geese ke oan bsbighese a de tens besa aane yea te daeep ea eae 102 4 11 2 Rotation Detection Output Signal TGON eee eeeeceeeeeneeeeeeneeeeeneeeeesaeeeseeaaeeeseeeeeeesaeeeeeeaeeseneees 103 4 11 3 Servo Ready S RDY Output oo eee eee eeneeeeeeeneeeeeneeeeeeaeeeeeeaaeeeeneeeeesaaeeeseeaaeeeseeeeeeesnaeeeesneeenenaees 103 4 11 4 Encoder C Pluse Output PGC viccccccccscecsssceeeeccncsnesauhentsscensiescueseeesteeeesscbeedvneeteneesuenesssbonteeeieectiaes 103 4 11 5 Over travel signal OUtDUL OT eee eect ee eeeeeeeenneeeeeeaaeeeseeeaeeeeaeeeeesaeeeseeaaeeeseeeeeeeesaeeeenaeeeeneneees 104 4 11 6 Servo Enabled Motor Excitation Output RD occ cece eeeeeeeeeeneeeeeeeaeeeeeeaaeeeseeeeeeesnaeeeenenaeeeeeeeees 104 4 11 7 Torque Limit Detection Output CLT oo ee cecee center eeneeeeeeeaeeeeeneeeeesaeeeeeeaaeeeseeeeeeeesnaeeeeneneeenenaees 104 412 Online Autotuning is ai Goede ce ces cdeebis tue da bscdiees a sack sebeoedin Genes Seed e eed nena ane a gone ade ide 106 4121
73. I or the equivalent ie Applicable line H Kai receiver SN75175 H manufactured by TI or the equivalent H 5 PGSV 9 2 Go PGOV 19 k DGND i i ov 8 a ov i wer XT f FG Connector shell Shel w shielded wires Connector shell z i Represents multi core twisted pair shielded wires Note 1 There are no BAT and BAT signals in incremental encoder 2 The pin numbers for the connector wiring differ depending on the servomotors E Resolver Host controller Resolver Servodrive PENNA CNI K i o SIN i i X Phase A L TP SIN eet 20 PAO gt 7 cost 21 Pao s___ EP cos se Dee pB i 23 PBO o Bee fo ee ke i a 25 PCO gs j Output line driver i i AM26LS31 i manufactured by TI or equivalent i et ae G i R2 19 gt ov oih DGND j i i FG Connect shell eae N gt gt amp shielded wires aa Connector shell Shell Applicable line receiver SN75175 manufactured by TI or equivalent i i P Represents multi core twisted pair shielded wires 28 ov Incremental wire saving encoder 2500P R Incremental Wire saving Encoder Servodrive 2CN 1 A a N PA 2 1 gt 2B Tp PA 22 AM 3 C PB 23 4D e mpl 24 BHI 5 E PC une ETE 6 F t P PC 2 6 CH Vs PG Se O
74. Immediately P S feedforward ilter Unit 0 1ms 0 Torque reference percentage 1 Value of offset counter P PI switching Pn116 After restart P S 2 Value of acceleration speed setting condition 3 Value of speed setting 4 Fixed PI Torque switching Threshold of torque to switch PI control to P control Pn117 After restart P S threshold Unit 155 Parameter Setting Control Description Function and Meaning No Validation Mode Threshold of error counter to switch PI control to P Offset counter Pn118 Immediately P control switching threshold Unit pulse Setting acceleration Threshold of acceleration speed to switch PI control to Pn119 speed switching Immediately P S P control threshold Unit 10rpm s Setting speed i Threshold of speed to switch PI control to P control Pn120 Immediately P S switching threshold Unit rpm 0 Fix to 1st group gain 1 External switch gain switching G SEL Gain switching 2 Torque percentage Pn121 condition After restart P S 3 Value of offset counter 4 Value of acceleration speed setting 10rpm 5 Value of speed setting 6 Speed reference input ay i Delay time of switching gain when switching condition Pn122 Switching delay time Immediately P S is satisfied Pn123 Switch threshold level Immediately P S Gain switching trigger level Pn124 Reserved Position gain This parameter is used to smooth tran
75. P CON P Control _P CON 15 Ja 11 V CMP PGC Encoder C Pulse Output ve __ Pa k CMP OT Over Travel P OT Forward Run Prohibited P OT 16 12V RD Servo Enabled Motor Excitation Output N OT Reverse Run Prohibited SNOT 17 HOME Home Completion Output ALM RST Alarm Reset TA AEMERSN 99 CLR Clear Error Pulse E ER P CL Forward Torque Limit N CL Reverse Torque Limit LN cL 42 SHOM Home ORG Zero Position 1Ry 24V rap ZAM Connect Shield to Connector Shell T B ALM 5 Shield Shell 1D L a ov ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V afrepresenis R T Maximum Output Current DC50mMA 39 Chapter 4 Operation 4 1 Trial Operation Make sure that all wiring has been completed prior to trial operation Perform the following three types of trial operation in order Instructions are given for speed control mode standard setting and position control mode Unless otherwise specified the standard parameters for speed control mode factory settings are used 1 Trial Operation for Servomotor Without Load Refer to 4 1 1 lt a E Purpose The servomotor is operated without connecting the shaft to the Dii machine in order to confirm the following wiring is correct e Power supply circuit wiring e Servomotor wiring e Encoder wiring Secure the servomotor flange to the machine but do not connect the motor e Rotation direction and speed of servomotor shaft to
76. P OT Forward Run Prohibited _P OT 16 N OT Reverse Run Prohibited _N OT 17 ALM RST Alarm Reset ALM RST 39 CLR Clear Error Pulse CIR 40 P CL Forward Torque Limit __P CL_ 41 N CL Reverse Torque Limit L_N CL_ 42 SHOM Home ORG Zero Position IRy 24V n 7 ALM E Sy Connect Shield to Connector Shell Shield Shell 2h 8 ALM 1 y z 1D ov ALM Servo Alarm Output Represents Twisted pair Wires Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 37 3 5 7 Speed Control Mode ProNet Series Servodrives VRE a s um STT PAD Speed Reference 0 10V Rated Speed 3 VREE 7 S he Por PS Died Ratio Output wR AD L123 PBO gt ARBSESS2q Manutactared by TI or the Equivalent gt 24 PCO S25 PCO iz 50 DGND Signal Allocations can be Modified _ V CMP Speed Coincidence cat 5 TGON COIN Positioning Completion 24 e TOON TGON Rotation Detection S RDY Servo Ready Ja 9 S RDY CLT Torque Limit Detection 0 l S RDY BK Brake Interlock p curr Bia paro Se Oe 142 T V CMP RD Servo Enabled Motor Excitation Output 24V Signal allocatons can be modified T DICOM 113 axo E HOME ome Completion Gutput S ON Servo ON _S ON 14 3
77. ProNet Series AC Servo User s Manual Version V1 25 V i y i S S Vana z e e g E E i ii ESTUN AUTOMATION TECHNOLOGY CO LTD LMA Drive Your Success Revision History Date Rev No Section Revised Content Remark 2009 09 V1 00 V1 05 First edition 2010 02 V1 06 All chapters Completely revised Revision Pn002 Revision Pn840 Appendix A Revision Pn006 2 2010 06 1 07 Addition Pn411 Addition Pn412 465 Addition Low frequency vibration Bi suppression function 4 6 3 Revision Position reference 2010 10 V1 08 Appendix A Revision Pn006 3 Addition ProNet 02A 04A All chapters M 2010 11 v1 09 Addition Pn139 and Pn140 5 1 6 Addition Un017 2011 04 V1 10 4 9 2 Revision External Torque Limit Addition Wire saving incremental encoder Revision Internal setting speed All chapters Addition Description of OT signal Addition Description of ALM signal 2011207 wie Addition Description of CLT signal 46 Addition 4 6 8 Position Control contact reference Chapter 4 Addition 4 12 Online Autotuning 2011 08 V1 21 Appendix A Revision Pn006 3 Revision Pn102 Pn107 Pn139 Pn14 Appendix A 2011 09 V1 22 Pn413 Pn414 Pn511 Chapter 4 Addition Descripti
78. SIGN reference 1 Do not inverse PULS reference Inverses SIGN reference 2 Inverse PULS reference Do not inverse SIGN reference 3 Inverse PULS reference and SIGN reference Pn005 0 Torque feedforward form 0 Use general torque feedforward external analog Tref feedforward input is invalid 1 Use high speed torque feedforward external analog Tref feedforward input is valid 2 Use high speed torque feedforward external analog Tref feedforward input is invalid 3 Use general torque feedforward external Parameter No Description Setting Validation Control Mode Function and Meaning analog Tref feedforward input is valid Pn005 1 Control mode 0 Speed control analog reference PCON OFF Pl control ON P control 1 Position control pulse train reference PCON OFF PI control ON P control 2 Torque control analog reference PCON is invalid 3 Speed control contact reference gt speed control zero reference PCON PCL NCL OFF Switches to position control zero reference 4 Speed control contact reference gt speed control analog reference PCON PCL NCL OFF Switches to position control analog reference 5 Speed control contact reference position control pulse train reference PCON PCL NCL OFF Switches to position control pulse train reference 6 Speed control contact reference torque control analog reference PCON PCL NCL OFF Switches to p
79. Z servomotor 13 on signals Control power supply terminals Used for control powe input Main circuit power supply terminals Used for main circuit power supply input in the servomotor Power on indicator Lights when the control power supply is Connector for communication Used to communicate with other devices VO signal connector Used for reference input signals and sequence O Encoder connector Connects to the encoder Servomotor terminals Connects to the servomotor power line o 9 0m umn MIMIMALILID amp TOON DAE TOON AAE E TO ADAT O e E DATE I O TOO AWC TOO ao bane TEED CE EDADA O ca TAAL TAAL TAnmannn p c ooo EEOONOOODAHOO Soo ooo ooo EEDAN oo ooo ooo TOMATO Oo Teo oe KEOMO oo ae woo IWMIMIMAAEIDCMIE oo ao oor EOMME OO Too oe EOOD oo Soo ooo IWUIIMEIAEIDOMIME DD oo Goo oor CUI CITI oOo ooo mo al erminals Used to connect ex cocotesisters Seoooooo es fe a es fe ns f Sboooooco oooga Regenerative resistor connecting ernal regenerative 4 obooaooocw ooooooc ogoogo Soooooc ooo E ProNet 2BD
80. a aa e A AE ent putes RAE EE NEEESE E NEA 6 1 RS 485 Communication Wiring ee eeeeeeeeeeeeeeeneeeeeee nese eeaeeeeeeaaeeeeeneaeeeeaaeeeeeeaeeeseeeeeeenneeeeeeeeeeenaeeesnneeeeee 6 2 MODBUS Communication Related Parameters 0 cccecececeeeneeeeeeeeeeeeneeeeeeaeeeeeeeaeeeenneeeeesnaaeeeeeenaeeeeneeeee 6 3 MODBUS Communication Protocol 0 cc eecceeenneeeeeereeeeeneeeeeeaeeeseeeaeeesaeeeeeeaeeeseeeaeeeeneeeeeeaeeseaeeesnneeeeee 6 3 1 Code Meaning wei weiiian sieves eden ee aren eel ae eter a 6 3 2 Communication Error Disposal cece eeeeceeeeeeeeeeeeeeeeeeaeeeeeeeeeeeeaeeeeeeaeeeeseeeaeeesnneeeenenaeeeeneeeeenneeeenes 6 3 3 Data Communication Address of Servo State ccccccccccccsesesceceeeceaueseeeeeeeeceaueneeeeeeeeseaseeeeeeseaueaeeess Chapter 7 Specifications and Characters lt oii esecescnceecee coe iiie aaia tens eie ieaie aea Ea E N ia ia iied i iaa 7 1 Servodrive Specifications and Models 00 0 ee ceeceeeeeeeeeenneeeeeeeaeeeceneeeeeeaeeeeeeaaeeeseeeeeeeesnaeeeeeeaeeeeeeeeeeneeesseaes 7 2 Servodrive Dimensional DrawingS ccccceeseeeeeeeeeeeeeeneeeeeeaeeeseeeeeeeeaeeeseeaaaeeeeeeeeeeesaeeeeeeaaeeeeeeeesenaeeeeseaas Appendix A Parameter E Peo AEA E ad Eo EEA A E A EE AA AE E A AE A A AEE AE A 2 Descriptionof Parameter Type cnie i a Aaaa ai a a aiee vende a aa cd Al Para ES M de A a a e a Ea aa ae EN N Appendix B yae UDA ETE M EE ETE E LE E E TET AA E TEA TE E E EEE
81. a reference point would be affected Besides PCL and NCL is no longer functioned to limiting external current when looking for a reference point 86 E Related parameter Para No Description Observation Choose between cycle run and single run l Changing steps will be performed till 0 cycle run PCL as start signal NCL reverse to look the end point completed and the for reference point next change will start from the start 1 Single run PCL as start signal NCL reverse to i point during multi points cycle run Pn681 0 look for reference point i Point control program will not 2 Cycle run NCL as start signal PCL reverse to f change steps after the end point look for reference point 5 completed during multi points single 3 Single run NCL as start signal PCL reverse to run look for reference point Change step and start mode Change steps by external P CON 0 Delay changing steps the start signal is not signals The signal will be valid when needed drive output reaches the desired Pn681 1 1 Change steps by P CON no need of the start position When input signal changes signal the signal is valid then steps will be 2 Delay changing steps need start signal changed by consequence from start 3 Change steps by P CON need start signal point to end point Change step input signal mode Pn681 2 0 High or low level 1 sign pulse Incremental relative moving distance distance from
82. ach could set move distance running speed constants for position reference filter time and the stop time when positioning completed Two speeds 1 speed moving towards distance switch speed of looking for reference point 2 Speed moving away from distance switch moving speed of reference points could be set as Two position modes 1 Absolute position mode 2 Relative position mode Two running modes 1 Circling mode 2 Non circling mode Two step switching method 1 Delay step switching 2 P CON signal switching Method of looking for reference points 1 Forward direction 2 Reverse direction Adjusting offset Offset of each points has two correspondent parameters one unit of the parameter is x 10000 reference pulse and the otheris x 1 reference pulse Setting range of both parameters is 9999 9999 while offset value equals sum of those two values For example No 0 offset correspond to parameter Pn600 x 10000 reference pulse and Pn601 x 1 reference pulse Set Pn600 100 Pn601 100 No 0 offset value Pn600x10000 reference pulse Pn601x1 reference pulse 100x10000 reference pulse 100 x1 reference pulse 999900 reference pulse With the same principle we can conclude in order to get the same results we also can set Pn600 99 and Pn601 9900 Thus we can see when the two parameters are not zero we can get same result by two ways one is to set the two parameters both negative or both positive o
83. ard D 400VAC 2 Straight with key and tap Notes 1 The EMG 30ALJA EMG 50ALJA servomotors are not mounted the incremental encoder 2 There is no brake in EMG DA servomotor 3 EMG 10 15 servomotors add the supply voltage of 400V models E Appearance and Nameplate ESTUM SERVOMOTOR MODEL EMG 20ADA22 2 0kW ee 2000 r min name 12 0 A 200 V CONT Ins F S N erT UN wi fn Estun Automation Technology Co Ltd Made in China a Servomotor model Serial number 1 1 2 Servodrive E Servodrive Model Designation PRONET 10 A M A ProNet Model on We Encoder A 17 bit serial encoder Rated Output B Resolver 02 0 2kW C Incremental wire saving 04 0 4 kW encoder 08 0 75 kW 10 1 0kW 15 1 5 kW 20 2 0kW 30 3 0 kW 50 5 0 kW 75 7 5 kW 1A 11 kW 1E 15Kw 2B 22kW Voltage A 200VAC D 400VAC Control Mode M Speed control torque control position control E Speed control torque control position control support extended module Note Resolver with the feature of high reliability and long service life is suitable for harsh environment and wide temperature or humidity range conditions The factory setting for resolver precision used in ESTUN servodrive is 4096 Appearance ProNet 02A 04A ProNet 08A 10A Sif a fo H f imj ja E
84. ated with the programme mode of Pn631 pulse in point to point Immediately P point to point control control JPOSO Point to point JPOSO Point to point speed control Pn632 Immediately P f speed control Unit rpm hse The speed of other point to point control JPOS15 Point to The speed of JPOS15 point to point control Pn647 Immediately P point speed control Unit rpm JPOSO 1st order filter time of JPOSO point to point control can Pn648 Point to point Immediately P stop or start the servomotor mildly 1st order filter hints 1st order filter of other point to point control JPOS15 Point to f 1st order filter time of JPOS15 point to point control Pn663 Immediately P point 1st order filter can stop or start the servomotor mildly 162 Parameter Setting Control Description Function and Meaning No Validation Mode Pn664 JPOSO paint to point imedai p araa point to point control stop time control stop time Unit 50ms eee Other point to point control stop time JPOS15 point to F Pn679 point control stop Immediately P uy point te ben contol ton ine i Unit 50ms time Pn680 Reserved Pn681 0 Single cyclic start reference point selection 0 Cyclic operation PCL start signal NCL search reference point in forward direction 1 Single operation PCL start signal NCL search reference point in forward direction 2 Cyclic operation NCL start operation PCL search reference point in
85. bit bit 0 of instruction information and 16 bit CRC register s low bit LSB and the result is saved to CRC register Step 3 Check the lowest bit LSB of CRC register if it is 0 CRC register moves one bit to right if it is 1 CRC register moves one bit to right then run XOR calculation with A0011 Step 4 Go to step 5 till the third step has been executed for 8 times otherwise return to step 3 Step 5 Repeat the steps from 2 to 4 for the next bit of instruction information the comment of CRC register is the CRC error detection value while all the bits have been executed by the same way Note After calculating out the CRC error detection value the CRC low bit should be filled first in instruction information and then fill the high bit of CRC Please refer to the following example Read 2 words from the 01014 address of 014 servo The final CRC register content calculated from ADR to the last bit of data is 3794y and then the instruction information is shown as follows Please be sure that 944 is transmitted before 371 ADR 014 CMD 03H Data start address STAID 014 low bit Data number 00 4 high bit count as word 024 low bit CRC checking 941 low bit CRC checking 374 high bit End1 End0 Communication is complete 130 ASCII mode Communication is end with 0Dy namely character r carriage return and OAH namely character n newline RTU mode When the
86. control delay time 0 1ms 1 2000 100 Immediately Pn414 Torque control speed hysteresis rpm 10 1000 50 Immediately Pn415 Analog torque given zero bias 10mv 1000 1000 0 Immediately Pn500 Positioning error Puls 0 5000 10 Immediately Pn501 Coincidence difference rpm 0 100 10 Immediately Pn502 Zero clamp speed rpm 0 3000 10 Immediately Pn503 Rotation detection speed TGON rpm 0 3000 20 Immediately Pn504 Offset counter overflow alarm 256Puls 1 32767 1024 Immediately Pn505 Servo ON waiting time ms 2000 2000 0 Immediately Pn506 Basic waiting flow 10ms 0 500 0 Immediately Pn507 Brake waiting speed rpm 10 100 100 Immediately Pn508 Brake waiting time 10ms 10 100 50 Immediately Pn509 Allocate input signal to terminal 0 0xEEEE 0x3210 After restart Pn510 Allocate input signal to terminal 0 0xEEEE 0x7654 After restart Pn511 Allocate output signal to terminal 0 0x0888 0x0210 After restart Pn512 Bus control input node low bit enable 0 1111 0 Immediately Pn513 Bus control input node low bit enable O 1111 0 Immediately Pn514 Input port filter 0 2ms 0 1000 1 Immediately Pn515 Reserved mn Pn516 Input port signal inversion 0 1111 0 Immediately 146 Parameter i Setting Factory Setting No mame ii Range Setting invalidation Pn517 Input port signal inversion 0 1111 0 Immediately Pn518 Reserved Pn519 Reserved Pn520 Reserved If connect
87. current point to next point programming 0 Incremental Pn682 Absolute absolute moving distance 1 Absolute distance between operating platform and the reference point programming 87 4 6 9 Position Homing Control Homing Function In position control mode servomotor always need to operate in a fixed position this position is normally regarded as zero position When the host controller is turned on zero position adjustment is required before processing This zero position will be regarded as the reference point ESTUN servo drive can perform this by the homing function 1 Homing Mode Setting Para No Description 0 Homing in the forward direction 1 Homing in the reverse direction 0 Return to search C Pulse when homing Pn689 Directly search C Pulse when homing 0 Homing function disabled Too o o 1s 1 Homing triggered by SHOM signal rising edge e Applicable control mode position control e Homing operation can only be operated when COIN is ON e Pulses sending from the host controller is disabled when homing e Homing operation is disabled when switching control mode e Control mode switching is not allowed during homing e After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings e A parameter can be used to
88. d by two 4 bit hexadecimal data that is to say a normal hexadecimal data For example decimal data 100 can be expressed as 64 by 1 byte RTU data Data Structure 10 bit character form 7 bit data Pn700 1 0 7 N 2 Modbus ASCII lt 7 data bits gt i lt 10 bits character frame Pn700 1 1 7 E 1 Modbus ASCID lt 7 data bits gt i lt 10 bits character frame Pn700 1 2 7 O 1 Modbus ASCII lt 7 data bits gt i lt 10 bits character frame gt 126 11 bit character form 8 bit data 8 N 2 Modbus ASCII RTU 4 8 data bits id 11 bits character frame 8 E 1 Modbus ASCII RTU lt 4 8 data bits 1 m 11 bits character frame 8 O 1 Modbus ASCII RTU id 8 data bits 1 m 11 bits character frame Communication protocol structure Data format of communication protocol ASCII Mode STX Start character gt 3A 4 ADR Communication address gt 1 byte contains two ASCII codes CMD Reference code gt 1 byte contains two ASCII codes DATA n 1 Data content gt n word 2n byte contain 4n ASCII codes n 12 DATA 0 LRC Checking code gt 1 byte contains two ASCII codes End 1 End code 1 gt ODx CR End 0 End code 0 gt 0Ap LF RTU Mode STX Sleep interval o
89. d pair wires Note When the host controller applied by open collector signal output input signal noise margin lowers When a position error caused by the noise occurs set the parameter Pn006 3 76 4 6 2 Setting the Clear Signal 1 Setting the Clear Signal Type Sign Name Connector Pin Numbe Function Input CLR 1CN 40 error counter clear When the CLR signal is set to low level clear error counter e The error counter inside the servo drive is set to 0 e Position loop operation is disabled 2 Setting the Clear Signal Mode In position control mode pulses will be still presented in the servo drive when servo OFF thus it should be cleared when servo drive is turned ON Setting Pn004 to choose whether clearing the pulses automatically when servo OFF Pn004 0 Clear the error pulse when S OFF do not when overtravel 1 Do not clear the error pulse 2 Clear the error pulse when S OFF or overtravel excep for zero clamp 4 6 3 Setting the Electronic Gear 1 Electronic Gear The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to any value One reference pulse from the host controller i e the minimum position data unit is called a reference unit When the Electronic Gear is Not Used When the Electronic Gear is Used workpiece workpiece Cari Refere
90. de Selection The basic modes include status display mode parameter setting mode monitor mode and utility function mode Each time the MODE key is pressed the next mode in the sequence is selected Select a basic mode to display the operation status set parameters and operation references The basic mode is selected in the following order Power ON is Status display mode Parameter setting mode Monitor mode l Utility function mode 5 1 4 Status Display Mode The status display mode displays the servodrive status as bit data and codes Selecting Status Display Mode The status display mode is selected when the power supply is turned ON If it is not displayed select this mode by pressing MODE key Note that the display differs between the speed torque control and position control types Bit Data Code 109 Bit Data Display N Speed Torque Control Mode Position Control Mode o Bit Data Description Bit Data Description Lit when the difference between the _ e f Lit if error between position reference servomotor and reference speed is the fe ae oes and actual servomotor position is below Speed same as or less than the preset value Positioning ae preset value Coincidence Preset value Pn501 factory setting is Co
91. del of ASQ60W500KGO resistor is recommended ProNet 02 04 servo drives are also available for single phase connection Change Pn521 from 1 to 0 when using the external regenerative resistor in ProNet 02 04 servo drives 20 E Three phase 200V ProNet 08A 50A Lt Molded case Circuit Breaker urge Protector Three phase 200 230V is 50 60Hz L2 External Regenerator Resistor E Three phase 400V ProNet 10D 15D L1 L2 L3 Three phase 380 440V s 50 60Hz olded case Circuit Breaker w 1 1 Protector t 4 ee heen 1Ry 1PL Servo Alarm Display Noise Filter E paar On I ower ower corn i z g 4 r g 1KM IRy 1SUP Be sure to connect a surge suppressor to the a excitation coil of the magnetic contactor and relay Magnetic Contactor r OL n ervomotor Liz ProNet a lan i Series Servodrives Be on vo cay NY Si we 3 i 1 Da s T 1 LIC EA l l Encoder l PG T 1 B1 1 1 B2 L oB3 24V 1Ry q ae g sl h a AM T i 1D n Ground Terminal ov 4 1Ry 1PL Servo Alarm Display r x Noise Filter Pe OFF P ON ower ower iki L n Lr Jj L 1KM 1Ry 1SUP t Be sure to connect a surge suppressor to the excitati
92. e e a i eaa den dee cenoendusebenedeeeubacieh daai 31 3 4 1 Communication Connector CN3 Terminal Layout eee ee eeeeeeeeeneeeeeeeeeeeeaeeeeeeeaeeeeaeeeeeeaaeeeseeaes 31 3 4 2 Communication Connector CN4 Terminal Layout eee eeeneeeceeeeeeeeeneeeeeeaeeeseeeeeeesnaeeeeeeaeeeeeeaas 31 3 0 Standard Wiring EXAMPlE S cse sucensesseeacedsencnckttscecebeus ie eaaa piegi a inikan t tiae oati teetin aeo oe aadatan 32 3 5 1 Three phase 200V ProNet O2A 04A ce eecccceeeseeeeeeeneeeeeeeeeeesaeeeeeeaaeeeceneeeeesaeeeseeaeeeenneeeeeenaneeeeeaas 32 3 5 2 Three phase 200V ProNet O8A 50A 3 5 3 Three phase 400V ProNet 10D 15D 3 5 4 Three phase 400V ProNet 75D 1ED 3 5 5 Three phase 400V ProNet 2BD ecce 3 5 6 Position Control Mode eeen 3 5 7 Speed Control Mode 3 5 8 Torque Control Mode seeen Chapter 4 iiai a e eh Binet deen Operatlonccciiz teeth sesien heres hee fice casted eeeih leek eels eis eel e 4 1 Trial Operation nsare aeia eieaa 4 1 1 Trial Operation for Servomotor Without Load 4 1 2 Trial Operation for Servomotor without Load from Host Reference cc eeeceeeeeeeeeeeeneeeeeeneeeenneeeees 4 1 3 Trial Operation with the Servomotor Connected 4 1 4 Trial Operation for Servomotor with Brakes 4 1 5 Position Control by Host Controller 4 2 Control Mode Selection 4 3 Setting Common Basic Functions cesses 4 3 1 Setting the Serv
93. e eeeree erent ee eeeaaeeeseeeeeeeeaeeeeeeaeeeeenaeeeneeeeee 88 4 7 Operating Using Torque Controles iier e i a iaaea 91 47 1 Setting Parameters e nipeni eien e ae eo E Ea ben a e Eaa E aai 91 4 7 2 Torque Reference In puteess cs ciesvesicnlevecccec cies sone cdcgccen e eieiei ie ada iadi iaaiiai 92 4 7 3 Adjusting the Reference Offset ccc eeseeeeeeeeeeeeneeeeeenaeeeeeeeeeeeeeneeeeeesaaeeeseeeaeeeeneeeesenaeeeenaeeeenneeeene 93 4 7 4 Limiting Servomotor Speed During Torque Control eee ceeeeeeeeeeeeeeeeneeeeeeeeeeeeeneeeeeenaeeeseeneeeeeeneeee 94 4 8 Operating Using Speed Control with an Internally Set Speed ooo eee eeeeeeeeeneeeeeeeeeeeeneeeeeeaeeeeeeaeesneeeeee 95 4 8 1 Setting Parameters s c su ssi eines ene A E TEVE E E tape TA ie eet uur ETa 96 4 8 2 Input Signal Settings inier ha techs Meet a i te bee ben deatea te agp E a a aie eee 97 4 8 3 Operating Using an Internally Set Speed eee ee enneeeeeeeeeeeeeeeeeeeeaeeeeeeeaeeeseeeeeneaeeeeeeeaeenneeeene 97 AO Limiting Tgi Ei ar e A a A E A ae OAR eai 98 4 9 1 Internal Torq e Limit eissa nea seen cede vec dtenshcn ddan elie i e tends e aei E a aa 98 4 9 2 External Torque M aaar e E aa E a a aa a S ear E Eade Aaa aaaea raa derine iani 99 4 9 3 Torque Limiting Using an Analog Voltage Reference ee eeccceceeeseeeeeeeeeeeenneeeseeaeeeeneeeeeenaeeeenenaeees 100 4 10 Control Mode Selection nnar nnee ienaa aa a Ea EAS EAEAN AA
94. e fraction both numerator and denominator until you obtain integers within the range e Be careful not to change the electronic gear ratio B A Hilmportant e Electronic gear ratio setting range 0 01 lt electronic gear ratio B A s 100 e If the electronic gear ratio is outside this range the servodrive will not operate properly In this case modify the load configuration or reference unit 3 Procedure for Setting the Electronic Gear Ratio Use the following procedure to set the electronic gear ratio Step Operation Description i Check the deceleration ratio ball screw pitch and pulley 1 Check machine specifications diameter Check the number of encoder 2 Check the number of encoder pulses for the servomotor used pulses Determine the reference unit from the host controller 3 Determine the reference unit used considering the machine specifications and positioning accuracy 4 Calculate the travel distance per load shaft Calculate the number of reference units necessary to turn the load shaft revolution one revolution based on the previously determined reference units s Calculate the electronic gear ratio Use the electronic gear ratio equation to calculate the ratio B A 6 Set parameters Set parameters using the calculated values 78 4 Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurat
95. e g the total value is Response information Response information STX Tan 0 ADR 4 0 CMD 6 0 Data start address oi o 0 Content of data start 0 address 0200 6 4 g LRC checking a End 1 OD n XCR End 0 OA H LF ADR 014 CMD 06H 02 4 high bit Data start address 00 n low bit 00 4 high bit Data content 64 4 low bit CRC checking 89 4 low bit CRC checking 99 p high bit 1284 of hex then take 28 only is taken off by the unit of 256 in the total value from ADR to the last information then calculate and compensate the final result is LRC error detection value 129 For example read 1 word from 01 servo address 02014 STX i g ADR q 0 CMD 3 g o Data start address o 4 g Data number 0 count as word 0 q P LRC checking g End 1 OD y CR End 0 OA y LF Add from ADR data to the last data 01 H 03 H 02 H 01 H 004 01 H 08 4 The compensate value is F8 when 2 is used to compensate 084 so LRC is F 8 CRC calculation of RTU mode RTU mode uses CRC Cyclical Redundancy Check error detection value The process of CRC error detection value calculation is shown as follows Step 1 Load in a 16 bit register of FFFFu named CRC register Step 2 Run XOR calculation between the first
96. e parameter range the data will be aborted and servodrive will return an operation unsuccessful signal 2 Alarm information storage area 07F1 07FAn Historical alarm number Description Communication address i Historical alarm 1 O7F1H the latest alarm 1 8 Historical alarm 1 9 0O7F2u O7F9u 9 Historical alarm 10 the furthest alarm O7FAH 3 Monitor data area 0806 0816 The monitor data is corresponding to servodrive panel displays Un000 Un016 For example the corresponding data of communication address 08074 speed setting is FB16n Therefore the speed setting is 1258r m 134 4 MODBUS communication IO signal Use communication to control digital IO signal This data will not be saved after power off It is operated with Pn512 and Pn513 as the communication input IO signal That is to say when the parameters setting in Pn512 and Pn513 enable the IO bit the IO can be controlled by communication 5 Software version O90FH Use digit to represent servodrive software version For example if the read out data is D201 it means the software version is D 2 01 135 Chapter 7 Specifications and Characters 7 1 Servodrive Specifications and Models EMJ 02A 04A 08A 10A m Applicable Servomotor EMG E 10A 15A 20A 30A 50A 10D 15D
97. e reference point is for establishing a zero physical point of the operating platform which is used as zero point in the coordinates during point position control And users may choose to find a reference point either in forward side or reverse side How to find a reference point Mount a limit switch in the forward or reverse side find a reference point in the forward direction after connect to PCL and in the reverse direction after connect to NCL When the operating platform bump into the limit switch motor will first stop according to the way set by Pn004 0 and then rotates again against limit switch When the operating platform leaves the limit switch and the motor reaches the position of first photo encoder Phase C pulse Then position of operating platform is set to be the zero point of the coordinates How to find related parameters of reference point Speed towards limit switch is called speed of looking for reference point and the speed moving away from limit switch is called moving speed These two speeds could be set by following parameters Para No Description Unit Setting range Default Speed of looking for reference point hits Pn685 rpm 0 3000 1500 the limit switch Moving speed move away from limit Pn686 rpm 0 200 30 switch Usually if the set speed of the reference point Pn685 is high and the Moving speed Pn686 is low Note if moving speed is too high precision of finding
98. e reference to control the servomotor speed in proportion to the input voltage Type Signal Name Connector Pin Number Name andi V Ref CN1 1 Speed Reference Input npu V Ref CN1 2 Speed Reference Input The above inputs are used for speed control analog voltage reference Pn005 1 0 4 7 9 A Pn300 is used to set the speed reference input gain Refer to 4 5 1 Setting Parameters 2 Proportional Control Reference P CON Connector Pin Tpye Signal Setting Meaning Number Operates the servodrive with proportional ON low level control Input P CON CN1 15 OFF high level Operates the servodrive with proportional integral control P CON signal selects either the Pl proportional integral or P proportional Speed Control Mode Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift Input reference At OV the servomotor rotation due to drift will be reduced but servomotor rigidity holding force drops when the servomotor is stopped Note A parameter can be used to reallocate the input connector number for the P CON signal Refer to 3 2 2 I O Signal Names and Functions 64 4 5 3 Adjusting Reference Offset When using the speed control the servomotor may rotate slowly even if OV is specified as the analog voltage reference This happens if the host controller or external circuit has a slight of
99. ears Pn133 Reserved _ Pn134 Reserved Pn135 Reserved z Pn136 Reserved Pn137 Reserved T Pn138 Reserved Pn139 Reserved ak Pn140 Reserved nE Pn141 Reserved pa Pn142 Reserved a Pn143 Reserved Pn144 Reserved 16 16384 16384 Pn200 PG divided ratio Puls aia aaa After restart 1 2500 2500 Pn840 0 6 Pn840 0 6 Pn201 1st electronic gear numerator 1 65535 1 After restart Pn202 Electronic gear denominator 1 65535 1 After restart Pn203 2nd electronic gear numerator 1 65535 1 After restart Pn204 Position reference Acceleration errs EA finmsciataly deceleration time constant Pn205 Position reference filter form selection O 1 0 After restart Pn300 Speed reference input gain rpm v 0 3000 150 Immediately Pn301 Analog speed given zero bias 10mv 1000 1000 0 Immediately Pn302 Reserved Pn303 Reserved Pn304 Parameter speed rpm 0 6000 500 Immediately Pn305 JOG speed rpm 0 6000 500 Immediately Pn306 Soft start acceleration time ms 0 10000 0 Immediately Pn307 Soft start deceleration time ms 0 10000 aes noe Pn308 Speed filter time constant ms 0 10000 0 Immediately Pn309 S curve risetime ms 0 10000 0 Immediately Speed reference curve form 0 Slope Pn310 1 S curve 0 3 0 After restart 2 1 order filter 3 2 order filter Pn311 S form selection 0 3 0 Immediately Pn312 DP communication JOG speed rpm 6000 6000 500 Immediately
100. ed VREF 2 ak 130 PAO gt as aD 21 PAO ref TREF 26 ieee gt 22 PBO Torque Reference 0 10V Rated Torque i _ PG Divided Ratio Output TREF 27 23 PBO Applicable Line Output Hy 24 PCO AM26LS32A Manufactured by TI or the Equivalent 25 PCO r150 DGND Open Collector Reference PPI 34 Use xo pq PULS 30 rn Position Reference lt PULS CW A PULS 31 ia gt SIGN 32 e e SIGN CCW B SIGN 33 yak Signal Allocations can be Modified 5 TGON V CMP Speed Coincidence k COIN Positi Ci leti 24 e Tron TGON Rotation Detection 9 S RDY S RDY Servo Ready 1al HoT sRoY ekira Limit Detection EN 11 V CMP Ree Encoder T Pulse Output g Over Travel ss 12 V CMP RD Servo Enabled Motor Excitation Output PDN HOME Home Completion Output Signal Allocations can be Modified 4 DICOM 13 3ko __S ON 14 S ON Servo ON k _P CON 15 P CON Proportion Control T POT 16 P OT Forward Run Prohibited pti _N OT 17 N OT Reverse Run Prohibited _ ALM RST 39 ALM RST Alarm Reset CLR 40 1 CLR Clear Error Pulse J POL 44 P CL Forward Torque Limit NCL 42 N CL Reverse Torque Limit SHOM Home ORG Zero Position 1Ry 24V fae 7 ALM ieee 4 Sh 7 Connect Shield to Connector Shell _ _ Shield 8 ALM in ov ALM Servo Alarm Output Photocoupler Output af Represents Twisted pair Wires Maximum Operating Voltage DC30V Maximum Output Current DC50MA 23
101. ed The factory setting for JOG speed is 500rpm Press the MODE key to select the function MODE key mode The servomotor will run in forward direction when INC key pressed or in reverse direction when DEC key FOAME pressed The servomotor will operate as long as the 5 key is pressed Press the MODE key This will turn OFF the power to the servomotor Press the ENTER key to return to the Fn002 display of the utility function mode Now the servodrive is servo OFF ea 3 Ne Reverse running Note The servomotor s rotation direction depends on the setting of parameter Pn001 0 Direction Selection The example above describes operation with Pn001 0 in the factory setting 43 JOG Speed p Speed Position Torque Setting Range Setting Unit Factory Setting Setting Validation Set the utility function Fn002 JOG Mode Operation to the reference value of servomotor speed The servomotor can be operated using only the panel operator without reference from the host controller Pay attention that the Forward Run Prohibited P OT and Reverse Run Prohibited N OT signals are invalid during JOG mode operation 4 1 2 Trial Operation for Servomotor without Load from Host Reference Check that the servomotor move reference or I O signals are correctly set from the host controller to the servodrive Also check the wiring a
102. eeaeeseeeeeeetneeeeeeaas 115 5 2 1 Alarm Traceback Data Display eecceceeeceeeeseeeeeeenaeeeeeeeeeeeeaeeeeeeaaeeeseeeeeeesaeeeseeaeeeseneeeenaeeeeseaas 115 5 2 2 Parameter Settings Initialization ee eee ee eeee ee eeeeeeeeeeeeeeeeeeaeeeeeeaaeeeceeeeeeesaeeeseeaeeesneeenenaeeeeneaas 116 2 3 Operation in JOG Mode ein we iiel eee eens eee E ender veces 117 5 2 4 Automatic Adjustment of the Speed Reference Offset eeceeeeneeeeeeeeeeeneeeeeeeaeeeeeeaeeeenneeeeneaa 118 5 2 5 Manual Adjustment of the Speed Reference Offset ee eeeeeeeeenneeeeeeeeeeeeneeeeeenaeeeeeeaeeeenneeeeneas 119 5 2 6 Offset adjustment of Servomotor Current Detection Signal 0 0 0 cece ceeeneeeeeeeeeeenneeeeeeneeeeenneeeeneas 120 5 2 1 Software Version DISplay lt i z csed cccesccecesascebeddeac deseo cect de aebbeadnaes Ueki dene dicta ceedacaeueedetdeeaaueege iee tea diieas 5 28 Position TEACHING FUNCOM issiria enient eien a usces Leys nadensegenessuvdeedieuvgesesdiveyscentevties 5 2 9 Static Inertia DEte Ct ON iisccdsscsocnestsdics a uaa latececy covesleeskenaus dvovoovbens couadysteus vepevecnen se iannes voce 5 2 10 Absolute Encoder Multiturn Data and Alarm ReSet cccccccccceeceaseseeeeeeeeeeaueeeeeeeseeseaaeeeeeeeteanenes 5 2 11 Absolute Encoder Related Alarms Reset c cseececececeeseseeeececeseaueeeeeeeeeeceaaeeceeeeseeseeneneeeeeneeeseeaa Chapter 6 MODBUS Communication isein a eaea h
103. ence lt gt Position control inhibit 4 10 2 Switching the Control Mode Switching Speed Control Pn005 1 4 5 6 With the sequence input signals in the factory setting the control mode will switch when both P CL and N CL signals are OFF high level Type Signal Name Connector Pin Number Setting Meaning Input P CL CN1 41 factory setting OFF high level Switches control mode Input N CL CN1 42 factory setting OFF high level 101 4 11 Other Output Signals 4 11 1 Servo alarm output The following diagram shows the right way to connect Alarm Output Servo drive 1CN 1 0 Power supply 24V QV Optocoupler output aC RDI 6 ALM Each output node iw wy t 50mA max Max output voltage 30V y L i ALM Max output current 50mA 8 External 24V I O power supply is required since there is no 24V power supply available inside servo drive Output gt ALM 1CN 7 Servo alarm output Output gt ALM 1CN 8 Servo alarm output uses grounding signal The signal outputs when servodrive is detected abnormal Servo drive Be detected abnormal ALM Output Cut off the main circuit power Normally the external circuit consists of ALM should be able to switch off power of servo drive Signal Status Output level Comments ALM ON 1CN 7 L level Normal s
104. ence input between the V REF and Refer to the above figure for input signal circuit V REF is 0 V If the servomotor rotates at extremely slow speed refer Turn the servo ON input signal S ON ON E A ciate kee Offset and use the reference voltage offset to keep the servomotor from moving Send the command for the number of servomotor Refer to 5 1 6 Operation in Monitor Mode for how it is rotation easy to check for example one servomotor displayed revolution from the host controller in advance and Un004 rotation angle pulse The number of pulses check the sent number of rotation and actual number from the zero point of rotation by visual inspection and the Un004 rotation angle pulse If the sent number of rotation and actual number of Refer to 4 5 8 Encoder Signal Output for how to set rotation in step 11 are not equal correctly set the PG divided ratio Pn200 P Rev The Pn200 PG divided ratio outputting the encoder pulse number of encoder pulses per revolution from the servodrive When the speed reference input is set to 0 V and servo OFF status enters the trial operation for position control with the host controller is completed 46 3 Operating Procedure in Position Control Mode Pn005 H 0010 The following circuit is required External input signal circuit or equivalent Servodrive 17 gt gt 40 y 30 2 PULS X 31 Reference pulse 3 SIGN Sy 32
105. er Soft Start Acceleration Time Speed Pn306 A ae Setting Range Setting Unit Factory Setting Setting Validation 0 10000 ims 0 Immediately Soft Start Deceleration Time Speed Pn307 Setting Range Setting Unit Factory Setting Setting Validation 0 10000 ims ProNet 2BD 100 Immediately Others 0 The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally set speeds Set both Pn306 and Pn307 to 0 for normal speed control Set these parameters as follows e Pn306 The time interval from the time the servomotor starts until the servomotor maximum speed is reached e Pn307 The time interval from the time the servomotor is operating at the servomotor maximum speed until it stops Servomotor maximum speed After soft start Before soft start 4 5 5 Speed Reference Filter Time Constant Speed Reference Filter Time Constant Speed Setting Range Setting Unit Factory Setting Setting Validation 0 10000 ims 0 Immediately Pn308 This smoothens the speed reference by applying a 1 order delay filter to the analog speed reference V REF input A value that is too large however will slow down response 68 4 5 6 S curve Risetime S curve Risetime eee Setting Range Setting Unit Factory Setting Setting Validation 0 10000 ims
106. ervomotor exceeds the 2 times rated overload It is used in frequent power ON OFF occasions 150 Parameter No Description Setting Validation Control Mode Function and Meaning Pn004 Pn005 Hex Hex After restart After restart Pn004 0 ALL Pn004 1 P Pn004 2 P Pn004 3 P Pn005 0 P S Pn005 1 ALL Pn005 2 P 151 Pn004 0 Stop Mode 0 Stops the servomotor by applying DB and then releases DB 1 Coast to a stop 2 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 3 Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 4 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode 5 Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode Pn004 1 Error counter clear mode 0 Clear error pulse when S OFF do not when overtravel 1 Do not clear error pulse 2 Clear error pulse when S OFF orovertravel excep for zero clamp Pn004 2 Reference pulse form 0 Sign Pulse 1 JCW CCW CW CCW 2 A B x1 3 A B x2 4 A B x4 Pn004 3 Inverses pulse 0 Do not inverse PULS reference and
107. espect to rated torque TN Internal torque reference Unit Internal status bit display with respect to rated torque 76543210 Un004 Number of encoder rotation angle pulses Un005 Input signal monitor AAAA Un006 Encoder signal monitor Un007 Output signal monitor Un008 Frequency given by pulse Unit 1kHZ Un009 Number of servomotor rotation pulses Un010 Pulse rate of servomotor rotated x104 Un011 Error pulse counter lower 16 digit Un012 Error pulse counter higher 16 digit Un013 Number of pulses given Un014 Number of pulses given x10000 Un015 Load inertia percentage Un016 Servomotor overload ratio Un017 Servomotor winding temperature Chee cane ore ene mene caren equipped with resolver 113 Contents of Bit Display Monitor Number Display LED Number Content Un005 0 IS ON CN1 14 PCON CN1 15 P OT CN1 16 N OT CN1 17 IALM RST CN1 39 ICLR CN1 40 PCL CN1 41 NI OO oa RR orn INCL CN1 42 Monitor Number Display LED Number Content Un006 0 Not used Not used Not used Phase C Phase B Phase A Not used NI OO oa RR ol ny Not used Monitor Number Display LED Number Content Un007 0 CN1_05 CN1_06 1 CN1_07 CN1_08 2 CN1_09 CN1_10 3 CN1_11 CN1_12 114 5 2 Operation in Utility Function Mode In utility
108. et value Pn503 factory setting is rpm 20 rpm m Codes Display a E Baseblock Run Servo OFF servomotor power OFF Servo ON servomotor power ON Forward Run Prohibited CN1 16 P OT is OFF Reverse Run Prohibited CN1 17 N OT is OFF Alarm Status Press ENTER key to clear the present servo alarm 110 Displays the alarm number 5 1 5 Operation in Parameter Setting Mode The servodrive offers a large number of functions which can be selected or adjusted by the parameter settings Refer to A 1 Parameter List for details Parameter Setting Procedures The parameter settings can be used for changing parameter data Before changing the data check the permitted range of the parameter The example below shows how to change parameter Pn102 from 100 to 85 1 Press MODE key to select the parameter setting mode 2 Press INC key or DEC key to select parameter number 3 Press ENTER key to display the current data of Pn102 4 Press the INC or DEC key to change the data to the desired number 00085 Hold the key to accelerate the changing of value When the maximum value or minimum value is reached pressing INC or DEC key will have no effect 5 Press the ENTER or MODE key once to return to the display of Pn102
109. etting Range Setting Unit Factory Setting Setting Validation 0 6000 rpm 1500 Immediately e Set the servomotor speed limit value during torque control e The setting in this parameter is enabled when Pn001 b 0 e The servomotor s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the servomotor used 94 3 External Speed Limit Function Type Signal Name Connector Pin Number Name V REF CN1 1 Input E J External Speed Limit Input V REF CN1 2 e Inputs an analog voltage reference as the servomotor speed limit value during torque control e The smaller value is enabled the speed limit input from V REF or the Pn406 speed limit during torque control when Pn005 H 1 The setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect Pn300 Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm v 150 Immediately e Set the voltage level for the speed that is to be externally limited during torque control e With Pn300 150 factory setting and 6V input from V REF CN1 1 2 the actual servomotor speed is limited to the rated speed of the servomotor used 4 8 Operating Using Speed Control with an Internally Set Speed The function of internally set speed selection allows speed control operation by exter
110. f at least 4 bytes transmission time ADR Communication address gt 1 byte CMD Reference code gt 1 byte DATA n 1 Data content gt n word 2n byte n 12 DATA 0 CRC CRC checking code gt 1 byte End 1 Sleep interval of at least 4 bytes transmission time Communication protocol data format instructions are as follows STX communication start ASCII mode character 127 RTU mode Sleep interval of at least 4 bytes transmission time automatically changed according to different communication speed ADR communication address Valid communication address 1 to 254 For example communicate with the servodrive which address is 32 20 in hex ASCII mode ADR 2 0 gt 2 32y 0 30H RTU mode ADR 20H CMD command reference and DATA data Data structure is determined by command code Regular command code is shown as follows Command code 03H read N words word N 20 For example read 2 words starting from 0200 from the servodrive which address is 01 H ASCII mode Reference information STX ne ADR a 4 CMD p 3 o Data start address gt o 0 Data number 0 count as word 0 LRC checking 7 End 1 OD 4 CR End 0 OA y LF RTU mode Reference information ADR 014 CMD 034 Data start address Sei oigh bih 00 y low bit Data number 004 count as word 024 CRC chec
111. fal 4 Ar l Q 1KM 1Ry 1SUP 4 Be sure to connect a surge suppressor to the ji excitation coil of the magnetic contactor and relay Magnetic Contactor OLA ProNet Sorvomotor gt A 1 OL2 Series Servodrives Ue B 2 OLS Vo a M o 1 w etn L da2 D 4 OLIC L2C ae aa tap oe Serial Encoder go erat ates et tae Es 4 Encoder ie h neEncoger 25000IR 7 _S External Regenerator Resistor 7 l 8 5 H RE m a 17_ _BAT Lq PG l l B1 ll 2 A 18 BAT tot j l L l l 3 B tt l Be B2 74 B 9 Pev 1 l bes 5 ee 19 PGOV ot OB3 6 fom I Shell Shield 3 h E ae E T TSF 789 Posy x 17 18 19 PGOV CN i a R Shield I lt Dna ae en e J 4 N C Be sure to prepare the end of the Be sure to ground gt NC shielded wire properly 3 485 SeA Sia a 4 ISO_GND I 5 ISO_GND Use special communication cable to connect VREF L 7 ao oS ret l 6 485 PC Personal Computer Speed Reference 0 10V Rated Speed VREF on f SANH te Note Do not short terminal 1 and 2 of CN3 TREF 26 Shell Shield Torque Reference 0 10V Rated Torque TREF 27 z l l CN4 1 I l I 1 N C l Z NC PPI 34 l 3 485 Open collector Reference Use r xo 1 ISO GND gt PULS 30 eo 5 ISO_GND Position Reference lt PULS CW A PULS 31 Fen 6 485 r xo 4 SIGN 32 amp l EENE SIGN CCW B H4 SeN 35 fer s Shell Shield I E A el fi Signal allocatons can be modified
112. fer to 5 1 6 Operation in Monitor Mode Un001 rpm Check the Un000 motor speed rpm Refer to 5 1 6 Operation in Monitor Mode Check that the Un001 and Un000 values in steps 4 Change the speed reference input voltage and check that and 5 are equal Un001 and Un000 are equal for multiple speed references Switching the Servomotor Rotation Direction Perform the operation from step 2 again after the servomotor rotation direction is changed When the speed reference input is set to 0 V and servo OFF status enters trial operation for Refer to the following equation to change the speed reference input gain Pn300 Un001 V REF Voltage V xPn300 Check the speed reference input gain and Piet To change the servomotor rotation direction without changing 7 servomotor rotation direction polarity for speed reference input voltage refer to 4 3 2 servomotor without load is completed 45 E When Position Control is configured at the Host Analog speed reference gt Host Servodrive Controller a Trial operation for Resinomecnmel Speed control servomotor without load When the servodrive conducts speed control and position control is conducted at the host controller perform the operation below following the operation in Operation Procedure in Speed Control Mode Pn005 H O0O000 Check Method and Remarks Check the input signal circuit again and check that the speed refer
113. ference Use i 2kQ 4 ISO_GND T gt PULS 30 1 5 _ ISO_GND Position Reference Pune LONE SS CE PULS 31 6 485 i 6 7 CANH SIGN 32 8 CANL SIGN CCW B t Bi Fek SIGN _ 33 sheli Shield ae aes ees L L Signal allocatons can be modified ty DICOM 13 1 4 gt _20 PAO S ON Servo ON s on 14 22s St 247 PAO P CON P Control P CON 15 gt _22 PBO PG Divided Ratio Output P OT Forward Run Prohibited P OT 16 BSI 133 PBO Applicable Line Receiver N OT Reverse Run Prohibited T NOT 17 itk M24 PCO AM26LS32A Manufactured by TI or the Equivalent ALM RST Alarm Reset IALM RST 39 pst 25 PCO CLR Clear Error Pulse CLR 40 atl 50 DGND RA I J T P CL Forward Torque Limit __P CL 41 7 H N CL Reverse Torque Limit N CL 42 5 A Signal Allocations can be Modified V CMP Speed Coincidence SHOM Home 7 5 TGON COIN Posttioning Completion ORG Zero Position 6 TGON coon nonion Detection RDY Servo Rea I 9_ S RDY gt CLT Torque Limit Detection z 10 S RDY BK Brake Interlock 41 V CMP PGC Encoder C Pulse Output OT Over Travel 12 V CMP RD Servo Enabled Motor Excitation Output HOME Home Completion Output i 1Ry 24V i 7 7 ALM Connect Shield to Connector Shell Shield Shell 8 ALM 7 if ov a Represents Twisted pair Wires 34
114. forward direction 3 Single operation NCL start operation PCL search reference point in forward direction Pn681 1 Change step and start mode 0 Delay to change step no need of start signal delay to start after S ON Pn681 eg mediti gt 1 PCON change step no nged Qr start signal PCON delay to start after S ON but inside pulse can not stop when PCON off 2 Delay to change step need start signal canceling start signal can immediately stop inside pulse Return to programme start point process step when reset S PCON change step need start signal canceling start signal can immediately stop inside pulse Return to programme start point process step when reset Pn681 2 Change step input signal mode 0 Change step input signal electrical level mode 1 Change step input signal pulse mode Pn681 3 Reserved Pn682 Programme mode Immediately P 0 Ineremental programme 1 Absolute programme Pn683 Programme start step Immediately Select the start point of the point to point control Pn684 Programme stop step Immediately Select the stop point of the point to point control Search travel speed in position control contact reference Pn685 Speed of finding iinediaieiy 5 Search the servomotor speed in the direction of reference point Hitting the origin signal ORG in position homing control reference point towards travel switch 163 Parameter Settin
115. from the encoder per revolution are divided inside the servodrive by the number set in Pn200 before being output Set according to the system specifications of the machine or host controller The setting range varies with the number of encoder pulses for the servomotor used E Output Example Pn200 16 when 16 pulses are output per revolution Preset value 16 PAO PBO 1 revolution 4 5 9 Speed coincidence output The speed coincidence V CMP output signal is output when the actual servomotor speed during speed control is the same as the speed reference input The host controller uses the signal as an interlock Type Signal Name Connector Pin Number Setting Meaning CN1 11 12 ON low level Speed coincides Output V CMP COIN i factory setting OFF high level Speed does not coincide Coincidence Difference Pn501 Setting Range Setting Unit Factory Setting Setting Validation 0 100 rpm 10 Immediately The V CMP signal is output when the difference between the speed reference and actual servomotor speed is less than Pn501 H Example The V CMP signal turns ON at 1900 to 2100rpm if the Pn501 parameter is set to 100 and the reference speed is 2000rpm Servomotor speed g Pn501 ae Reference speed N CMP is output in this range HNo
116. fset in the unit of mV in the reference voltage Adjustments can be done manually or automatically by using the panel operator Refer to 5 2 Operation in Utility Function Mode The servodrive automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage Reference Voltage Speed Reference gt Automatic offset adjustment Reference Voltage Offset automatically adjusted in servodrive Speed Reference After completion of the automatic adjustment the amount of offset is stored in the servodrive The amount of offset can be checked in the speed reference offset manual adjustment mode Fn004 Refer to 4 5 3 2 Manual Adjustment of the Speed Reference Offset 1 Automatic Adjustment of the Speed Reference Offset The automatic adjustment of reference offset Fn003 cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the speed reference offset manual adjustment Fn004 described in the next section for a position loop The zero clamp speed control function can be used to force the servomotor to stop while the zero speed reference is given Refer to 4 5 7 Using the Zero Clamp Function Note The speed reference offset must be automatically adjusted with the servo OFF Adjust the speed reference offset automatically in the foll
117. function mode the panel operator can be used to run and adjust the servodrive and servomotor The following table shows the parameters in the utility function mode Parameter No Function Fn000 Alarm traceback data display Fn001 Parameter setting initialization Fn002 JOG mode operation Fn003 Automatic adjustment of speed reference offset Fn004 Manual adjustment of speed reference offset Fn005 Automatic adjustment of servomotor current detection Fn006 Manual adjustment of servomotor current detection Fn007 Software version display Fn008 Position teaching Fn009 Static inertia detection Fn010 Absolute encoder multiturn data and alarm reset Fn011 Absolute encoder related alarms reset Note Fn010 Fn011 only can be used when the servomotor mounted the absolute encoder 5 2 1 Alarm Traceback Data Display The alarm traceback display can display up to 10 previously occurred alarms The alarm is displayed on Fn000 which is stored in the alarm traceback data Follow the procedures below to confirm alarms which have been generated 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of alarm trace back data display 3 Press the ENTER key once the latest alarm data is displayed Alarm Sequence Number Alarm Code 4 4 Press the INC or DEC key to display other alarms occurred in recent dg v a
118. g Online autotuning calculates the load moment of inertia during operation of the servo drive and sets parameters so that the servo gains consistent with the machine rigidity are achieved Online autotuning may not be effective in the following cases e The motor high speed is lower than 100 rpm e The motor acceleration or deceleration is lower than 5000rpm s e Load rigidity is low and mechanical vibration occurs easily or friction is high The speed load moment is changed greatly e Mechanical gas is very large If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotuning set the value in Pn106 Load inertia percentage and performthe adjustment manually 4 12 2 Online Autotuning Procedure AXwernine Do not perform extreme adjustment or setting changes causing unstable servo operation Failure to observe this warning may result in injury and damages to the machine Adjust the gains slowly while confirming motor operation Operate with factor setting 0 Set Pn100 11 Operation OKI Yes No x oad moment of inertia m No jac varies Yes v Continuous online autotuning 0 Pn100 10 20 30 40 50 6 Operation OK LN y Adjust the machine rigidity setting 0 Set at Pn1010 y Operation OKI Yes gt No Y hd Write the result of autotuning in the parameter Do not perfo
119. g Control Description Function and Meaning No Validation Mode Leave travel switch speed in position control contact reference Pn686 Speed of finding iminediatei 7 Search the servomotor speed when the reference reference point leaves travel switch point Leaving the origin signal ORG in position homing control Position teaching The two parameters are used in combination and the Pn687 Immediately P pulse algebraic sum of them is the current position of position teaching When perform the position teaching osion aching by utility function the algebraic sum of the two Pn688 Baise Immediately P parameters are given to the current position Pn687 unit 10000P Pn688 unit 1P Pn689 0 Homing Mode 0 Homing in the forward direction 1 Homing in the reverse direction Pn689 1 Search C Pulse Mode 0 Return to search C Pulse when homing Pn689 Homing Mode Setting Immediately P 1 Directly search C Pulse when homing Pn689 2 Homing trigger starting mode 0 Homing function disabled 1 Homing triggered by SHOM signal rising edge Pn689 3 Reserved Pn690 Number of error mineuiaten z unit 10000P pulses during homing Number of error Pn691 Immediately P unit 1P pulses during homing Pn700 0 MODBUS communication baud rate 0 4800bps 1 9600bps 2 19200bps Pn700 1 MODBUS protocol selection 0 7 N 2 MODBUS ASCII 1 7 E 1 MODBUS ASCII Pn700 Hex After restart ALL 2 7 O 1 MODBUS ASCII 3 8 N 2 MODBUS ASCII 4 8 E
120. gravity acting on the machine or external forces before checking the brake operation Check that both servomotor and brake operations are correct For details refer to 4 3 4 Setting for Holding Brakes 2 Set the necessary parameters for control mode used Refer to 4 5 Operating Using Speed Control with Analog Reference 4 6 Operating Using Position Control and 4 7 Operating Using Torque Control for control mode used 3 Connect the servomotor to the machine with coupling etc while the power is turned OFF 4 Check that the servodrive is servo OFF status and Refer to 4 3 Setting Common Basic Functions then turn ON the power to the machine host For the following steps take advance measures for controller Check again that the protective function in emergency stop so that the servomotor can stop safely step 1 operates normally when an error occurs during operation 5 Perform trial operation with the servomotor connected Check that the trial operation is completed with as the to the machine following each section in 4 1 2 Trial trial operation for servomotor without load Also check Operation for Servomotor without Load from Host the settings for machine such as reference unit Reference 6 Check the settings of parameters for control mode Check that the servomotor rotates matching the used set in step 2 again machine operating specifications 7 Adjust the servo gain and improve the servomotor The servomotor will not be broken in
121. he CN1 connector Turn the power ON Using the panel operator to make sure that the Turn the power ON servodrive is running normally If using a servomotor equipped with an absolute encoder please perform the setup for the absolute encoder 4 Execute JOG Execute JOG operation with the servomotor alone under the no load JOG operation condition Operation 5 Connect input Connect the input signals CN1 necessary for trial operation to the signals servodrive Use the internal monitor function to check the input signals Turn the power ON and check the emergency stop brake overtravel and other protective functions for correct operation Check input signals Input the Servo ON Input the Servo ON signal and turn ON the servomotor signal Input the reference necessary for control mode and check the servomotor Host Input reference for correct operation Reference Turn the power OFF and connect the servomotor to the machine Protective If using a servomotor equipped with an absolute encoder set up the absolute operation encoder and make the initial settings for the host controller to match the machine s zero position Host Reference Using the same procedure as you did to input a reference in step 8 operate Set necessary the servomotor via the host controller and set the parameter to make sure parameters the machine s travel direction travel distance and travel speed all correspond to the reference Hos
122. ic adjustment mode Fn003 except that the amount of offset is directly input during the adjustment The offset adjustment range and setting unit are as follows Torque reference Offset adjustment range Offset adjustment range yp 1024 1024 Analog voltage input Offset setting unit 93 4 7 4 Limiting Servomotor Speed During Torque Control During torque control the servomotor is controlled to output the specified torque which means that the servomotor speed is not controlled Accordingly when an excessive reference torque is set for the mechanical load torque it will prevail over the mechanical load torque and the servomotor speed will greatly increase This function serves to limit the servomotor speed during torque control to protect the machine Without Speed Limit With Speed Limit A Danger of damage due to Servomotor speed as Safe operation with speed limit Servomotor speed excessive of machine speed 7 Maxspeed 2 ae Seana eS gt t gt t 1 Speed Limit Enable Parameter Description b 0 Use the value set in Pn406 as the speed limit internal speed limit function Pn001 i Use V REF as an external speed limit input Applies a speed limit using the input voltage of V REF and the setting in Pn300 external speed limit function 2 Speed Limit During Torque Control Speed Limit During Torque Control Pn406 S
123. inals Connects to the servomotor power line Ground terminal p eet gt r and brake CHARGE jy io FR inals rl Be sure to connect to protect electric shock wh SES Nae xX i at E Led 1 Encoder Shell Flange Connector for communication Used to communicate with other devices VO signal connector Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor E ProNet O8A 10A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged Main circuit power supply terminals Used for main circuit power supply input Connecting terminal of DC reactor Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servomotor power line Ground terminal ________ d Be sure to connect to protect electric shock m ProNet 10D 15A 15D
124. inals Used for main circuit power supply input p Connecting terminal gt of DC reactor Control power supply terminals Used for control power rr CHARGE G 7 supply input Regenerative resistor H _ gt connecting terminals Used to connect external regenerative resistors Servomotor terminals gt Connects to the servomotor power line Ground terminal Be sure to connect to protect electric shock ProNet 75D 1ED E gezrun SE DRIVE Power on indicator Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the mail circuit power supply capacitor remains charged Connector for commun Lights when the control power ication Used to communicate with other Used for reference input signals and sequence 1 O signals p gt supply is on g 6 z EIl devices VO signal connector 7 4 g Z is Fd 3 Encoder connector Ill Connects to the encoder in the F
125. ined here Servodrive i Host Controller Encoder CNI a i N CN2 Phase APAO Serial Data Frequency Phase B PBO PG f gt dividing ase POBO See ae ae Phase C PCO circuit gt The dividing output phase form is the same as the standard setting Pn001 0 0 even if in the reverse rotation mode Pn001 0 1 E Output phase form Forward rotation phase B leads 90 Reverse rotation phase A leads 90 oe 90 oe 90 Phase A Phase B Phase C If a servomotor is not equipped with the absolute encoder servomotor needs two circles rotation before using the serivedr ive s phase C pulse output for zero point reference Dividing The dividing means that the divider converts data into the pulse density Pn200 based on the pulse data of the encoder installed on the servomotor and outputs it The setting unit is the number of pulses revolution 71 m Pulse Dividing Ratio Setting PG Dividing Ratio Pn200 Setting Range Setting Unit Factory Setting Setting Validation 16 16384 Pn840 0 3 4 5 16384 Pn840 0 3 4 5 1Puls After restart 1 2500 Pn840 0 6 2500 Pn840 0 6 Set the number of pulses for PG output signals PAO PAO PBO PBO externally from the servodrive Feedback pulses
126. ions Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit 0 1 Reference unit 0 01mm Reference unit 0 001mm Losiishath Step Operation ena eceleration ratio E 1 Deceleration ratio Pulley diameter 17 bit encoder Ball screw pitch 6mm 2 1 F 100mm Load shaft 17 bit encoder 17 bit encoder i Pulley diameter 100 mm Check machine Ball screw pitch mm Rotation angle per revolution 1 i i pulley circumference 314 mm specifications Deceleration ratio 1 360 eceleration ratio 3 1 i f Deceleration ratio 2 1 2 Encoder 17 bit 32768P R 17 bit 32768P R 17 bit 32768P R Determine the i 1 reference unit 3 rference unit 1 reference unit 0 1 1 reference unit 0 01mm 0 001mm 1um used Calculate the travel distance 4 6mm 0 001mm 6000 360 0 1 3600 314mm 0 01mm 31400 per load shaft revolution Calculate the B 32768x4 1 B 32768x4 3 B 32768x4 2 5 electronic gear x x X A 6000 1 A 3600 1 A 31400 1 ratio Pn201 131072 Pn201 393216 Pn201 262144 6 Set parameters Pn202 6000 Pn202 3600 Pn202 31400 Pn201 32768 Pn201 32768 Pn201 32768 T Final Result Pn202 1500 Pn202 300 Pn202 3925 e Reduce the fraction both numerator and denominator if the calculated result will not be within the setting range e For example reduce the above numerators and denominators by four or
127. ircuit and control power supplies and then turn them ON again to enable the new settings 60 4 4 2 Handling Battery In order for the absolute encoder to retain position data when the power is turned OFF the data must be backedup by a battery Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used 1 Install the battary to the servodrive A Open the shell of the battery case B Install the battery according to the following diagram C Cover the shell of the battery case 61 4 4 3 Replacing Battery The servodrive will generate an absolute encoder battery alarm A 48 when the battery voltage drops below about 3 1V m Battery Replacement Procedure 1 Replace the battery with only the servodrive control power supply turned ON 2 After replacing the battery using the panel operator with utility function Fn011 to cancel the absolute encoder battery alarm A 48 3 Turn ON the servodrive power back again If it operates without any problems the battery replacement has been completed Note e The servodrive will generate an absolute encoder battery alarm A 48 when the battery voltage drops below about 3 1V If an absolute encoder battery alarm A 47 occurred it represents that the battery voltage drops below about 2 5V and the multiturn data is lost Please reset the absolute encoder after changing the battery 4 4 4 Absolute Encoder Setup Fn010 Fn011 Se
128. istor is recommended 3 ProNet 02 04 servo drives are also available for single phase connection 4 Change Pn521 from 1 to 0 when using the external regenerative resistor in ProNet 02 04 servo drives 32 3 5 2 Three phase 200V ProNet 08A 50A L1 L2 L3 Three phase 200 230V i 50 60Hz Molded case Circuit Breaker Surge Protector 4 1Ry 1PL Servo Alarm Display i I Q amp S Noise Filter B OFF lt P N d ower ower 1KM t we T m l ok sears 1KM 1Ry 4SUP 4 Be sure to connect a surge suppressor to the L excitation coil of the magnetic contactor and relay Magnetic Contactor i ie ProNet A 1 Servomotor L2 Series Servodrives Ue B 2 t OL3 Vo M at we C 3 Les 4s D 4 ee Option CN2 1
129. it Factory Setting Setting Validation 6000 6000 rpm 200 Immediately Internal set speed 6 Pna2a Setting Range Setting Unit Factory Setting Setting Validation 6000 6000 rpm 300 Immediately Internal set speed 7 ee Setting Range Setting Unit Factory Setting Setting Validation 6000 6000 rpm 500 Immediately Note The servomotor s maximum speed will be used whenever a speed setting for the Pn316 Pn322 exceeds the maximum speed 96 4 8 2 Input Signal Settings The following input signals are used to switch the operating speed Type Signal Name Connector Pin Number Meaning Input P CON CN1 15 Selects the internally set speed Input P CL CN1 41 Selects the internally set speed Input IN CL CN1 42 Selects the internally set speed 4 8 3 Operating Using an Internally Set Speed Use ON OFF combinations of the following input signals to operate with the internally set speeds When Pn005 1 3 Selects the internally set speed contact reference lt gt Speed control zero reference Input Signal Speed IP CON IP CL IN CL OFF H OFF H Speed control zero reference OFF H ON L SPEED1 OFF H ON L OFF H SPEED2 ON L ON L SPEED3 OFF H OFF H SPEED4 OFF H ON L SPEED5 ON L ON L OFF H SPEED6 ON L ON L SPEED7 Note OFF High level ON Low level E Control Mode Switching When Pn005 1 4 5 6 and either P CL or N CL
130. ith 90 phase differential reference pulse form PULS CN1 30 SIGN CN1 32 Internal processing x2f gt Forward Rotation lt _ Reverse Rotation 4 Inverses PULS and SIGN reference Pn004 0 Do not inverse PULS reference and SIGN reference 1 Do not inverse PULS reference Inverses SIGN reference 2 Inverse PULS reference Do not inverse SIGN reference Inverse PULS reference and SIGN reference 74 5 Reference Pulse Input Signal Timing Reference pulse signal form Electrical specifications Remarks Sign pulse train input SIGN PULS signal SIGN i woe B l PULS u SIGN H forward reference Maximum reference frequency Ny J Nt ats L reverse reference 500kpps For open collector output i Ea S 200kpps 5 CW pulse CCW pulse Maximum u reference frequency 500kpps ais We T y For open collector output 200kpps a Ing y Two phase pulse train with 90 phase A parameter differential phase A B a ie aie P Pn004 2 can be Maximum reference frequency rmes f N f EAR S oy used to switch of x1 input pulse multiplier 500kpps as eee the input pulse x2 input pulse multiplier 400kpps Phase B leads A by 90 Se x4 input pulse multiplier 200kpps
131. king C5 p low bit CRC checking B3 u high bit Response information Response information 128 STX ee ADR 2 4 CMD 2 3 Data number 0 count as byte 4 0 Content of data start 0 address 0200 B 4 4 Content of second data P address 0201 y 4 0 LRC checking E End 1 OD 4 CR End 0 OA x LF ADR 014 CMD 03H Data number 044 count as byte Content of data start 00 p high bit address 0200 B1 p low bit Content of second data 1F 4 high bit address 0201 4 40 4 low bit CRC checking A3 x low bit CRC checking D3 p high bit Reference code 06x write in one word For example write 100 0064 4 into 01H servo address 0200 y ASCII mode Reference information STX 30 o ADR 4 0 CMD 6 o p Data start address g 0 0 0 Data content 6 4 g LRC checking A End 1 OD 4 CR End 0 OA y LF RTU mode Reference information ADR 01H CMD 06 H 02 4 high bit Data start address 00 p low bit 00 4 high bit Data content 64 4 low bit CRC checking 89 p low bit CRC checking 99 4 high bit LRC ASCII mode and CRC RTU mode error detection value calculation LRC calculation in ASCII mode ASCII mode uses LRC Longitudinal Redundancy Check error detection value The exceeded parts
132. l CN1 11 12 Pn511 H 8 CN1 5 CN1 6 The signal is output from output terminal CN1 5 6 Pn511 H L18 CN1 9 CN1 10 The signal is output from output terminal CN1 9 10 After changing Pn510 turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings e HOME signal is only enabled at low level 4 Description of Homing Operation Please set Pn689 according to the actual operation in position control mode Starting homing function the servomotor will run at the speed of Pn685 when detecting the rising edge of SHOM signal the servomotor will run at the speed of Pn686 according to the setting of Pn689 1 when detecting the valid ORG signal When ORG is disabled and detecting encoder C pulse servo drive will begin to calculate the number of homing offset pulses When offset pulses is completed the servomotor stops and outputs homing completion signal HOME then homing control is completed Pn685 Hitting the origin signal ORG is usually set at high speed Pn686 Leaving the origin signal ORG is usually set at low speed Please be attention that if Pn686 is setting too high the precision of mechanical zero position will be affected After hitting the origin signal ORG the motor will return to find C pulse the figure is shown as below Speed Pn 685 rpm Pn 686 Return to find C pulse gt 1 SHOM Rising edge Homing offset distance
133. l occur resulting in damage to the bearings e Mechanical shock to the shaft end is forbidden otherwise it may result in damage to the encoder of the servomotor 2 1 4 Installation Orientation Servomotor can be installed ethier horizontally or vertically 2 1 5 Handling Oil and Water If the servomotor is used in a location that is subject to water or oil drops make sure of the servomotor protective specification If the servomotor is required to meet the protective specification to the through shaft section by default use a servomotor with an oil seal Through shaft section It refers to the gap where the shaft protrudes from the end of the servomotor Through Shaft Section 16 2 1 6 Cable Tension When connecting the cables the bending radius should not be too small do not bend or apply tension to cables Since the conductor of a signal cable is very thin 0 2 to 0 3 mm handle it with adequate care 2 2 Servodrive ProNet series servodrive is a base mounted type Incorrect installation will cause problems Always observe the installation instructions described below 2 2 1 Storage When the servodrive is not used store it in the temperature between 20 C and 85 C with the power cable disconnected 2 2 2 Installation Sites Notes on installation are shown below Situation Notes on installation When installed in a control Design the control panel size unit layout and cooli
134. lue of offset counter _ gaj erreso 2 Value of acceleration speed setting 3 Value of speed setting 4 Fixed PI Pn117 Torque switching threshold 0 300 200 Immediately Pn118 Offset counter switching threshold oe 0 10000 0 Immediately Pn119 Setting acceleration speed switching torpiars mane 4 iameciately threshold Pn120 Setting speed switching threshold rpm 0 10000 0 Immediately Gain switching condition 0 Fix to 1st group gain 1 External switch gain switching Pn121 P E wes 0 6 0 After start 3 Value of offset counter 4 Value of acceleration speed setting 5 Value of speed setting 6 Speed reference input Pni22 Switching delay time 0 1ms 0 20000 0 Immediately Pn123 Threshold switching level 0 20000 0 Immediately Pn124 Reserved Pn125 Position gain switching time 0 1ms 0 20000 0 Immediately Pn126 Hysteresis switching 0 20000 0 Immediately Pn127 Low speed detection filter 0 1ms 0 100 10 Immediately Speed gain acceleration relationship Immediately Pn128 i 0 3 3 during online autotuning Pn129 Low speed correction coefficient 0 30000 0 Immediately Pn130 Friction load 0 1 0 3000 0 Immediately 144 Parameter Setting Factory Setting No name SAN Range Setting invalidation Friction compensation speed hysteresis Immediately Pn131 rpm 0 100 0 area Pn132 Sticking friction load a gael 0 1000 0 n
135. mount of offset is directly input during the adjustment The offset setting range and setting unit are as follows Speed Reference A Offset adjustment range Offset adjustment range 1024 1024 Offset setting unit gt Analog voltage input Adjust the speed reference offset manually in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select parameter Fn004 3 Press the ENTER k ey to enter into the speed reference offset manual adjustment mode 4 Turn ON the servo ON S ON signal The display will be shown as below 5 Press the ENTER k ey for one second to display the speed reference offset amount 6 Press the INC or DEC key to adjust the amount of offset 7 Press the ENTER k 8 Press the ENTER k ey for one second to return to the display in step 4 ey to return to the Fn004 display of the utility function mode 9 Thus the speed reference offset manual adjustment is completed 67 4 5 4 Soft Start The soft start function converts the stepwise speed reference inside the servodrive to a consistent rate of acceleration and deceleration Pn310 can be used to select the soft start form 0 Slope 1 S curve 2 1 order filter 3 2 order filt
136. mpletion 10 Preset value Pn500 10 pulse is factory rpm j RA setting Always lit in torque control mode Base lock Lit for base block Not lit at servo ON Base block Lit for base block Not lit at servo ON Control Control i Lit when servodrive control power is ON Lit when servodrive control power is ON power ON power ON Lit if input speed reference exceeds preset Speed value Not lit if input speed reference is Lit if reference pulse is input Reference reference below preset value Not lit if no reference pulse is input o pulse input input Preset value Pn503 factory setting is 20 rpm Lit if input torque reference exceeds preset Torque value Error Lit when error counter clear signal is reference Not lit if input torque reference is below counter clear input Not lit when error counter clear input preset value signal input signal is not input Preset value 10 of rated torque Lit when main circuit power supply is ON Lit when main circuit power supply is and normal ON and normal Power ready ae eed __ Power ready a Not lit when main circuit power supply is Not lit when main circuit power supply is OFF OFF Lit if servomotor speed exceeds preset Lit if servomotor speed exceeds preset Rotation value Not lit if servomotor speed is below Rotation value Not lit if servomotor speed is detection preset value detection below preset value ITGON Preset value Pn503 factory setting is 20 ITGON Pres
137. n rigidity etc Position control related parameters Pn200 Pn205 PG divided ratio electronic gear etc Speed control related parameters Pn300 Pn322 Speed reference input soft start etc Torque control related parameters Pn400 Pn406 Torque limit etc Parameters to control I O port Pn500 Pn520 Allocation of I O port function Point to point control related parameters Communication parameters Pn600 Pn686 Pn700 Pn701 Internal point to point control related parameters Setting of communication parameters 148 A 3 Parameters in detail Parameter No Description Setting Validation Control Mode Function and Meaning Pn000 Binary After restart ALL Pn000 0 Servo ON 0 External S ON enabled 1 External S ON disabled servomotor excitation signal is turned ON automatically after S RDY is output Pn000 1 Forward rotation input signal prohibited P OT 0 External P OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs 1 External P OT disabled Pn000 2 Reverse rotation input signal prohibited N OT 0 External N OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs 1 External N OT disabled Pn000 3 Alarm output when instantaneous power loss 0 Instantaneous power loss for one period with no alarm output 1 Instantaneous power loss for one period witho
138. n and Meaning No Validation Mode Speed limit during Servomotor output torque limit value during torque Pn406 Immediately T torque control control Notch filter 1 1 In some conditions Pn407 Immediately P S T Notch filter 1 frequency frequency vibration will be picked Pn408 Notch filter 1 depth Immediately P S T Notch filter 1 depth up and response will be Notch filter 2 lagged after notch filter Pn409 Immediately P S T Notch filter 2 frequency frequency is set 2 When notch filter Pn410 Notch filter 2 depth l diatel Notch filter 2 depth TEE R n otch filter 2 dept mmediate P S T otch filter 2 dept P A P 5000 the notch filter is invalid Low frequency er i Pn411 Immediately P S Frequency of low frequency vibration with load vibration frequency Low frequency Attenuation damp of low frequency vibration with load Pn412 Immediately P S vibration damp It does not need to change Torque control delay i Pn413 Immediately T time These parameters are only enabled in position control Torque control speed mode Pn414 Immediately T hysteresis This parameter is used to set zero bias of analog torque given and it is related with torque reference Analog torque given input gain Pn400 Pn415 cones Immediately T ce zero bias Torque reference External torque given input analog Analog torque given zero bias X Torque reference input gain Outputs COIN signal when error counter is less than Pn500 Positioning error Immediately P
139. n of the automatic adjustment the amount of offset is stored in the servodrive The amount of offset can be checked in the speed reference offset manual adjustment mode Fn004 Refer to 4 5 3 2 Manual Adjustment of the Speed Reference Offset The automatic adjustment of reference offset Fn003 cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the speed reference offset manual adjustment for a position loop The zero clamp speed control function can be used to force the servomotor to stop while the zero speed reference is given Note The speed reference offset must be automatically adjusted with the servo OFF Adjust the speed reference offset automatically in the following procedure 1 Turn OFF the servodrive and input the OV reference voltage from the host controller or external circuit Servodrive Servomotor o OV Speed Host Reference Controller Servo OFF gt Slow rotation Servo ON 2 Press the MODE key to select the utility function mode 3 Press the INC or DEC key to select the utility function number Fn003 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode 5 Press the MODE key for more than one second the reference offset will be automatically adjusted 118
140. n signal ORG in position homing control 147 Parameter Setting Factory Setting Name Unit Ae No Range Setting Invalidation Leave travel switch speed in position Immediately control contact reference Pn686 Speed of finding reference point Leaving rpm 0 200 30 the origin signal ORG in position homing control Pn687 Position teaching pulse 10000P 9999 9999 0 Immediately Pn688 Position teaching pulse 1P 9999 9999 0 Immediately Pn689 Homing Mode Setting 0 0111 0 After restart Pn690 Number of error pulses during homing 10000pulse 0 9999 0 Immediately Pn691 Number of error pulses during homing 1pulse 0 9999 0 Immediately Hex Pn700 0 MODBUS communication baud rate Pn700 Pn700 1 MODBUS protocol selection 0 0x0182 0x0151 After restart Pn700 2 Communication protocol selection Pn700 3 Reserved Pn701 MODBUS axis address 1 247 1 After restart Pn702 Reserved Pn703 CAN communication speed 0x0005 0x0004 After restart Pn704 CAN communication contact 1 127 1 After restart Hex Pn840 0 Encoder model selection Pn840 Pn840 1 Reserved eee After restart Pn840 2 Reserved ree Pn840 3 Reserved A 2 Description of Parameter Type Type Parameter No Description Funtion selection switches Pn000 Pn006 Control mode stop mode and some functions selection Parameters of servo gain Pn100 Pn129 Position gain speed gai
141. n203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator PCON enabled Electronic gear numerator 1 PCON disabled i PCON disabled Reference pulse i i i tl t2 tl t2 gt lms 1 Corresponding time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse j i fl i tl 2 tl t2 gt Ims Time sequence when Pn002 0 0 or 1 Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse j i i i koi tl 2 B t4 tl t2 t3 t4 gt lms Error time sequence Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse i i i i tl 2 tl t2 gt Ilms Pn002 1 Reserved Pn002 2 Absolute encoder selection 0 Use absolute encoder as an absolute encoder 1 Use absolute encoder as an incremental encoder Pn002 3 Reserved Pn003 0 Reserved Pn003 1 Reserved Pn003 2 Low speed compensation 0 Without low speed correction 1 With low speed correction to avoid servomotor creeping but the degree of correction is Pn003 Binary After restart ALL determined by the setting in Pn219 Pn003 3 Overload enhancement 0 Without overload enhancement function 1 With overload enhancement function which can enhance the overload capacity when s
142. nal Adjust the servomotor current detection signal automatically in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn005 3 Press the ENTER key to enter into the automatic adjustment of the servomotor current detection signal mode 4 Press the MODE key the display will blinks for one second The offset will be automatically adjusted NN 177 7 N S 5 Press the ENTER key to return to the utility function mode display Fn005 120 Thus the automatic offset adjustment of the servomotor current detection signal is completed E Manual Offset adjustment of Servomotor Current Detection Signal Adjust the servomotor current detection signal manually in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn006 3 Press the ENTER key to enter into the manual adjustment of the servomotor current detection signal mode 4 Press the MODE key to switch between the phase U o _ CuA and phase V 1_ Cub servomotor current detection 5 Hold the ENTER key for one second to display the phase V offset amount 6 Press the INC or
143. nally selecting an input signal from among seven servomotor speed setting made in advance with parameters in the servodrive The speed control operations within the three settings are valid There is no need for an external speed or pulse generator Servodrive CN1 Internally set speed parameters SPEED1 Pn316 Servomotor P CON Y SPEED2 Pn317 i Speed reference N SPEED3 Pn318 gt fi M i F Fr Contact inputs lt 41 AS i ee SPEED4 Pn319 7 SPEEDS Pn320 Ser N 2 SPEED6 Pn321 N CL 4 yi SPEED7 Pn322 95 4 8 1 Setting Parameters Parameter Meaning Pn005 H 3 Control mode selection Speed control contact reference 4 gt Speed control zero reference Pn316 Internal set speed 1 speed Setting Range Setting Unit Factory Setting Setting Validation 6000 6000 rpm 100 Immediately Internal set speed 2 eM Setting Range Setting Unit Factory Setting Setting Validation 6000 6000 rpm 200 Immediately Internal set speed 3 Png18 Setting Range Setting Unit Factory Setting Setting Validation 6000 6000 rpm 300 Immediately Internal set speed 4 RE Setting Range Setting Unit Factory Setting Setting Validation 6000 6000 rpm 100 Immediately Internal set speed 5 Pn320 Setting Range Setting Un
144. nce offset Fn003 automatically measures the offset and adjusts the reference voltage The servodrive performs the following automatic adjustment when the host controller or external circuit has an offset in the reference voltage Reference voltage Reference voltage __ Offset automatically adjusted in the servodrive Torque reference gt Automatic offset adjustment Torque referen e After completion of the automatic adjustment the amount of offset is stored in the servodrive The amount of offset can be checked in the manual adjustment of torque reference offset Fn004 The automatic adjustment of analog reference offset Fn003 cannot be used when a position loop has been formed with the host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the torque reference offset manual adjustment Fn004 Note The analog reference offset must be automatically adjusted with the servo OFF 2 Manual Adjustment of the Torque Reference Offset Manual adjustment of the torque reference offset Fn004 is used in the following cases If a position loop is formed with the host controller and the error is zeroed when servolock is stopped e To deliberately set the offset to some value e Use this mode to check the offset data that was set in the automatic adjustment mode of the torque reference offset This mode operates in the same way as the automat
145. nce unit lym No of encoder No of encoder pulses 32768 Ball screw pitch 6mm Ball screw pitch 6mm pulses 32768 To move a workpiece 10mm using reference units To move a workpiece 10mm One revolution is 6mm Therefore 10 6 1 6666 revolutions 32768x4 pulses is one revolution Therefore 1 6666x32768x4 218445 pulses 218445 pulses are input as reference pulses The equation must be calculated at the host controller The reference unit is 1 um Therefore to move the workpiece 10mm 10000um lpulse 1 um so 10000 1 10000 pulses Input 10000 pulses per 10mm of workpiece movement 77 2 Related Parameters Electronic Gear Ratio Numerator oe Position Pn201 F RA Setting Range Setting Unit Factory Setting Setting Validation 1 65535 1 After restart Electronic Gear Ratio Denominator p Position Pn202 a at Setting Range Setting Unit Factory Setting Setting Validation 1 65535 1 After restart If the deceleration ratio of the servomotor and the load shaft is given as n m where m is the rotation of the servomotor and n is the rotation of the load shaft Electronic gear ratio B Pn201 A Pn202 No of encoder pulses x 4 mn Travel distance per load n shaft revolution reference units If the ratio is outside the setting range reduce th
146. nd polarity between the host controller and servodrive and the servodrive operation setting are correct This is final check before connecting the servomotor to the machine 1 Servo ON Command from the Host The following circuits are required External input signal circuit or equivalent Speed Control Standard Setting Pn005 H 00 Position Control Pn005 H 1 44 2 Operating Procedure in Speed Control Mode Pn005 H 1000 The following circuit is required External input signal circuit or equivalent Servodrive CN1 24V 13 1S 0 14 P OT 46 NOT 17 ov V REF y yen V REF 1 V REF a y V REF 2 Max Voltage 12V GND 3 p Check the power and input signal circuits again oo i Refer to the above figure for input signal circuit and check that the speed reference input voltage between the V REF and V REF is OV If the servomotor rotates at extremely slow speed refer to Turn ON the servo ON S ON input signal 4 5 3 Adjusting Reference Offset and use the reference voltage offset to keep the servomotor from moving Generally increase the speed reference input TER 3 The factory setting is 6V rated rotation speed voltage between V REF and V REF from 0 V Check the speed reference input to the servodrive ae 4 Re
147. ng method so that the temperature panel around the periphery of the servodrive does not exceed 55 C Suppress radiation heat from the heating unit and a temperature rise caused by When installed near a convection so that the temperature around the periphery of the servodrive does not heating unit exceed 55 C When installed near a See ee i i Ps Install a vibration isolator underneath the servodrive to prevent it from receving vibration source of vibration When installed in a location Take appropriate action to prevent corrosive gases Corrosive gases do not immediately subject to corrosive gases affect the servodrive but will eventually cause contactor related devices to malfunction oir Avoid installation in a hot and humid site or where excessive dust or iron powder is ers present in the air 2 2 3 Installation Orientation Install the servodrive perpendicular to the wall as shown in the figure The servodrive must be oriented this way because it is designed to be cooled by natural convection or a cooling fan if required Firmly secure the servodrive through two mounting holes Wall A A Ventilation 17 2 2 4 Installation Method When installing multiple servodrives side by side in a control panel observe the following installation method Cooling Fan Cooling Fan y K 4 Omm rin
148. nstant speed safe Check the reference pulse speed input to the servodrive using the Un008 input reference pulse speed rpm it is displayed Check the servomotor speed using the Un000 servomotor speed rpm it is displayed To change the servomotor rotation direction without changing the input reference pulse form refer to ji n Check the servomotor rotation direction 4 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 8 again after the servomotor rotation direction is changed When the pulse reference input is stopped and servo OFF status enters the trial operation for servomotor without load in position control mode is completed 47 4 1 3 Trial Operation with the Servomotor Connected to the Machine e Follow the procedure below for trial operation precisely as given e Malfunctions that occur after the servomotor is connected to the machine not only damage the machine but may also cause an accident resulting death or injury Secure the servomotor flange to the machine and connect the servomotor shaft To host controller Step Description Check Method and Remarks 1 Turn the power ON and make the settings for Refer to 4 3 Setting Common Basic Functions mechanical configuration related to protective When a servomotor with brake is used take advance functions such as overtravel and brake measures to prevent vibration due to
149. nt e There is no polarity in the input voltage of the analog voltage reference for torque limiting e The absolute values of both and voltages are input and a torque limit value corresponding to that absolute value is applied in the forward or reverse direction Related Parameters Parameter Meaning Pn001 b O1 Use the T REF terminal to be used as an external torque limit input 100 4 10 Control Mode Selection The methods and conditions for switching servodrive control modes are described below 4 10 1 Setting Parameters The following combinations of control modes can be selected according to the application of customers Parameter Control Method Pn005 Speed control contact reference gt Speed control analog voltage reference Speed control contact reference Position control pulse train reference Speed control contact reference lt gt Torque control analog voltage reference Position control pulse train referencek gt Speed control analog voltage reference Position control pulse train reference lt gt Torque control analog voltage reference Torque control analog voltage reference lt gt Speed control analog voltage reference Speed control analog voltage reference Zero clamp Wile Ol aI NI oy oye Position control pulse train refer
150. o ON Signal 4 3 2 Switching the Servomotor Rotation Direction 4 3 3 Setting the Overtravel Limit Function 00 4 3 4 Setting for Holding Brakes eeeeeeeeeeeees 4 3 5 Instantaneous Power Loss Settings 0 4 4 Absolute Encoders eccceeeseeeeeneeeeenneeeeeenaeeeeseeeees 4 4 1 Selecting an Absolute Encoder 4 4 2 Handling Battery eee eeeeeeeeenneeeeeeneeees 4 4 3 Replacing Battery 0 eeeeeeeeeeesneeeeeeeees 4 4 4 Absolute Encoder Setup Fn010 Fn011 4 5 Operating Using Speed Control with Analog Reference 4 5 1 Setting Parameters 4 5 2 Setting Input Signals 4 5 3 Adjusting Reference Offset eee 4 5 4 Soft Start aa e ene pE aao eaae IELA aA Eai 4 5 5 Speed Reference Filter Time Constant 4 5 6 S curve Risetime eeen 4 5 7 Using the Zero Clamp Function ee 4 5 8 Encoder Signal Output nee 4 5 9 Speed coincidence output eee 4 6 Operating Using Position Control 4 6 1 Basic Setting in Position Control 4 6 2 Setting the Clear Signal 4 6 3 Setting the Electronic Gear 4 6 4 SMOOTHING siini a ainak 4 6 5 Low Frequency Vibration Suppression 4 6 6 Positioning Completion Output Signal 4 6 7 Reference Pulse Inhibit Function INHIBIT 4 6 8 Position Control contact reference to the Ma Chine ccccccccceceeseseeceeeeeseeaeeeeeeneeaeeas 4 6 9 Position Homing Control Homing FUNCTION ec eee e
151. oint grounding is required for the servomotor and servodrive grounding resistance 100Q or below 4 Never use a line filter for the power supply in the circuit Conduct a voltage resistance test for the servodrive under the following conditions 1 Input voltage AC 1500Vrms 1 minute 2 Braking current 100mA 3 Frequency 50 60Hz 4 Voltage applied point Between L1 L2 L3 terminals and frame ground m Use a fast response type ground fault interrupter For a ground fault interrupter always use a fast response type or one designed for PWM inverters Do not use a time delay type m Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation m 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 Contents anelon i kial kean ake lale Te EAn E E E T E igre sveetepncevechestubantpoeeauet ond vnonieesuedeeuhbrdesuobes tusattpodweteh T 1 Dalety manetes ID ilala EA EEPE TE E ETE A AS E ET E EE T 2 Chapter Tersirat te en eee en E ee eee ee teed on en ee eee eee 7 Checking Products and Parts NAM S 2 ccseceesecdsecenesscnentecceedegsedeneee e aa suuctensed deessebdensvecteensetsbe dence 7 1 1 Checking Products on DelVOry
152. omer terminal DC reactor for Normally short 1and 2 harmonic If a countermeasure against power supply harmonic waves cee suppression 209 i is needed connect a DC reactor between G 1and 2 terminal Main circuit 200 A Normally not connected 3 1 2 Typical Main Circuit Wiring Examples minus terminal E Three phase 200V ProNet 02A 04A Note 1 L Molded case Circuit Breaker Surge Protector EEEE The L1 L2 L3 and L1C L2C terminals wiring method of ProNet 02 04 servodrives is different from other 1 L2 L3 Three phase 200 230V s 50 60Hz SES External regenerator resistor 0 2 0 L1C OL2C 2222 fe aan 1988 A Ground Terminal 1Ry 1PL Servo Alarm Display Noise Filter Power OFF Power ON 1KM i g 1KM 1Ry TSUP lt Magnetic Contactor OL oe ProNet u l L3 Series Servodrive ve roe 1 we Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay A 1 Servodrive t y B 2 ce gt M l 1 D 4 LJ ae ov IRy 24V 4 T i l Encoder l PG ProNet series servodrives Please note the specific terminal definition while wiring External regenerative resistor for ProNet 02 04 is provided by customer the mo
153. on Operation Hex abe ED Parameter area Corresponding parameters in Read write parameter list 07F1 07FA Alarm information memory area Ten alarms historical record Read only 07FB Speed reference zero offset Read only O7FC Torque reference zero offset Read only 07FD lu zero offset Read only 07FE lv zero offset Read only a eer Monitor data corresponding with displayed data 0806 Speed feedback Unit rpm Read only 0807 Input speed reference value Unit rpm Read only go Input torque reference percentage Relative rated Read only torque pana Internal torque reference Relative rated Read only percentage torque 080A Number of encoder rotation pulses Read only 080B Input signal state Read only 080C Encoder signal state Read only 080D Output signal state Read only 080E Pulse settign Read only 080F Low bits of present location Unit 1 reference pulse Read only asio High bits of present location Unit 10000 Read only reference pulses 0811 Error pulse counter low 16 bits Read only 0812 Error pulse counter high 16 bits Read only 0813 Setting pulse counter low bits Unit 1 reference pulse Read only 0814 Setting pulse counter high bits Unit 10000 reference pulses Read only 0815 Load inertia percentage Read only 0816 Servomotor overloading proportion Read only 0817 Current alarm Read only aan MODBUS communication IO signal Donot save when Read write power off 090E DSP version Version is expressed by digit Read only 090F CPLD version Version is expres
154. on coil of the magnetic contactor and relay Magnetic Contactor OL1 ervomotor ProNet laa x i n Y Series Servodrives Ba 7 Vo M C3 N A wh BOA ail 1 D 4 Do LIC OL2C Encoder CN2 PG a ji ts 9B1 I i B2 B2 B3 o0B3 ATE 24V 1Ry 7 ALM g J 8 ALM i j 1D a 7 wy Ground Terminal ov 2 d E Three phase 400V ProNet 75D 1ED L1 L2 L3 Three phase 380 440V 50 60Hz traii 1Ry 1PL Servo Alarm Display fa r amp T Power OFF Power ON na ir t Q 1KM 1Ry 150P Olt 1 1 A0 Le ProNet Lo re l Lig Series Servodrive ve B m ce wt ODA i 104 1 T 1 LIC Uae I 1 I 1 CN2 PS External Regenerative Resistor _ I i obt 1 1 L oB IRy 24V a7 Aw J l Hl e T Am ji pan 1D A D eas Ground Terminal ov Notes 1 The resistor of 1500W and 20R is recommended for the external regenerative resistor of ProNet 75D 2 The resistor of 1500W and 15R is recommended for the external regenerative resistor of ProNet 1AD 1ED E Three phase 400V ProNet 2BD L1
155. on of RD signal All chapters Addition ProNet 2BD 2011 12 V1 23 3 3 1 Revision Encoder wiring 45 8 Revision Encoder signal output phase form 4 6 9 Addition Homing function 2012 02 V1 24 All chapters Addition ProNet 10D 15D Appendix B Addition Alarm A67 and A69 2012 03 V1 25 Chapter 1 and 3 Appendix Revision ProNet 7 5kW 15kW appearance Addition Resolver description Addition Reserved some parameters Addition Pn301 and Pn415 Copyright 2011 ESTUN AUTOMATION TECHNOLOGY CO LTD All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of ESTUN No patent liability is assumed with respect to the use of the information contained herein About this manual m This manual describes the following information required for designing and maintaining ProNet series servodrives Specification of the servodrives and servomotors Procedures for installing the servodrives and servomotors Procedures for wiring the servodrives and servomotors Procedures for operation of the servodrives Procedures for using the panel operator Communication protocols Ratings and characteristics m Intended Audience Those designing ProNet series servodrive systems Those installing or wiring P
156. on servodrive Positional error pulse clear input Clear the positional error pulse during position CLR control SHOM Homing trigger signal effective at the rising edge allocated by Pn509 or Pn510 ORG Zero Position effective at high level allocated by Pn509 or Pn510 T REF Torque reference input 10V T REF 24 Output signals Control Mode Function TGON 5 Detects when the servomotor is rotating at a speed higher than the motor TGON 6 speed seeting ALM 7 Servo alarm ALM 8 Turns off when an error is detected S RDY 9 Servo ready ON if there is no servo alarm when the control main circuit power supply S RDY 10 Speed is turned ON Position PAO 20 Phase A signal Torque PAO 21 Converted two phase pulse phases A and B PBO 22 encoder output Phase B signal PBO 23 PCO 24 Phase C signal Zero point pulse Phase C signal PCO 25 Connected to frame ground if the shield wire of the FG Shell I O signal cable is connected to the connector shell N CMP 11 Speed coincidence Speed Detects whether the motor speed is within the setting range and if it N CMP 12 matches the reference speed value Positioning completion COIN 11 bodii Turns ON when the number of positional error pulses reaches the value osition set The setting is the number of positional error pulses set in the COIN 12 reference units Reserved
157. on terminal 2 eee Isolated ground 5 ISO_GND 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal Note 1 The length of the cable should be less than 100 meters in a less disturbed environment However if transmission speed is above 9600bps please use the communication cable within 15 meters to ensure the accuracy of transmission 2 Amaximum of 31 servodrives can be connected when RS485 is used Terminating resistances are used at both ends of the 485 network If more devices are wanted to connect use the repeaters to expand 3 CN3 of servodrive is always used as communication cable input terminal and CN4 is always used as communication cable output terminal If still need to connect slave stations the communication cable is connected from CN4 terminal to the next slave station if need not add balance resistor in CN4 terminal It is prohibited to connect CN3 of any two servodrives directly when multiple ProNet series servodrives are connected 124 Example When RS 485 network is composed of a PLC and A B C three servodrives the cable wiring is shown as follows PLC CN3 of A CN4 of A gt CN3 of B CN4 of B gt CN3 of C CN4 of C1200 terminating resistance 6 2 MODBUS Communication Related Parameters Parameter No Description Setting Validation Control Mode Meaning Pn700 Hex After restart ALL Pn700 0 MODBUS baud rate 0 4800bps
158. on with analog voltage reference Parameter Meaning Pn005 H 2 Control mode selection Torque control analog voltage reference Torque Reference Input Gain Eee Setting Range Setting Unit Factory Setting Setting Validation 10 100 0 1V 100 33 Immediately This sets the analog voltage level for the torque reference T REF that is necessary to operate the servomotor at the rated torque H Example Pn400 30 The servomotor operates at the rated torque with 3V input factory setting Pn400 100 The servomotor operates at the rated torque with 10V input Pn400 20 The servomotor operates at the rated torque with 2V input Reference torque Rated torque 7 eference voltage V This reference voltage is set 91 4 7 2 Torque Reference Input By applying a torque reference determined by the analog voltage reference to the servodrive the servomotor torque can be controlled in proportion with the input voltage Type Signal Name Connector Pin Number Meaning T REF CN1 26 Input Torque Reference Input T REF CN1 27 Used during torque control analog voltage reference 300 Pn005 1 2 6 8 9 The torque reference input gain is set in Pn400 For setting details refer to 4 7 1 Setting Parameters H input specifications Input range DC 0 10V rated torque Factory setting Pn400 30 Rated torque at 3V 3V in
159. or if dynamic braking function is used according to customer requirement The resistor of 1000W and 1R is recommended 3 The EBK d series special noise filters produced by Changzhou Jianli Electronic Company are recommended for ProNet 2BD 36 3 5 6 Position Control Mode ProNet Series Servodrives gt _20 PAO L 27 PAO 4 22 PBO PG Divided Ratio Output L 33 pgo Applicable Line Receiver AM26LS32A Manufactured by TI or the Equivalent 24 PCO te Open collector Reference Use __ PPI 34 ai 4 PULS 30 Position Reference _ PULS CW A e PULS 31 k xa 1 SIGN CCW B T a 3 Signal Allocations can be Modified FER 81 TCO CoN Bottionng Completon 6 TGON TGON Rotation Detection 9 S RDY S RDY Servo Ready t 97 SRD CLT Torque Limit Detection BK Brake Interlock t 11 COIN PGC Encoder C Pulse Output hl 42 COIN OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output og 24V Signal allocatons can be modified DICOM 13 tae GSI S ON Servo ON _S 0N 14 l P CON P Control _P CON 15
160. or power ON Servomotor can be operated Input IS ON Servomotor power OFF Servomotor cannot be Factory setting OFF high level operated almportant Always input the servo ON signal before inputting the input reference to start or stop the servomotor Do not input the input reference first and then use the S ON signal to start or stop Doing so will degrade internal elements and result to malfunction A parameter can be used to re allocate the input connector number for the S ON signal Refer to 3 2 2 I O Signal Names and Functions 2 Enabling Disabling the Servo ON Signal A parameter can be always used to set the servo ON condition This eliminates the need to wire S ON but care must be taken because the servodrive can operate as soon as the power is turned ON Parameter Meaning b 0 External S ON signal enabled Factory setting Pn000 External S ON signal disabled the servomotor excitation signal is j i opened automatically after outputting the S RDY signal e After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings 51 4 3 2 Switching the Servomotor Rotation Direction The rotation direction of the servomotor can be switched without changing the reference pulse to the servodrive or the reference voltage polarity This causes the travel direction
161. osition control analog reference 7 Position control pulse train reference gt speed control analog reference PCON OFF position control pulse train reference ON speed control analog reference 8 Position control pulse train reference Torque control analog reference PCON OFF position control pulse train reference ON torque control analog reference 9 Torque control analog reference speed control analog reference PCON OFF Torque control analog reference ON Speed control analog reference A Speed control analog reference zero clamp Control PCON OFF Speed control analog reference ON zero clamp control B Positin control pulse train reference lt position control INHIBIT PCON OFF Position control pulse train reference ON position control INHIBIT 152 Parameter No Description Setting Validation Control Mode Function and Meaning Pn006 Hex After restart 153 C Position control contact reference PCON Used to change step PCL NCL Used to search reference point or start D Speed control parameter reference PCON PCL NCL invalid E Special control PCON invalid Pn005 2 Out of tolerance alarm selection 0 Out of tolerance alarm disabled 1 Out of tolerance alarm enabled Outputs alarm when the value of error counter exceeds Pn504 setting value 2 Reserved 3 Reserved Pn005 3 Servomotor model selection OJEMJ 1JEMG 2
162. owing procedure 1 Turn OFF the servodrive and input the OV reference voltage from the host controller or external circuit Servodrive Servomotor gt OV Speed Host Reference Controller Servo OFF Slow rotation Servo ON 2 Press the MODE key to select the utility function mode 3 Press the INC or DEC key to select parameter Fn003 65 4 Press the ENTER key to enter into the speed reference offset automatic adjustment mode 5 Press the MODE key for more than one second the reference offset will be automatically adjusted NN Ls Leyes 77 7 7 7 Press ENTER key to return to the Fn003 display of the utility function mode 8 Thus the speed reference offset automatic adjustment is completed 66 2 Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment Fn004 in the following situations If a loop is formed with the host controller and the postion error pulse is set to be zero when servolock is stopped To deliberately set t he offset to some value To check the offset data set in the speed reference offset automatic adjustment mode This function operates in the same way as the reference offset automatic adjustment mode Fn003 except that the a
163. pm 10 100 100 Pn508 Brake waiting time 10ms 10 100 50 57 4 Setting the Brake ON OFF Timing after the Servomotor Stops With the factory setting the BK signal is output at the same time as the servo is turned OFF The servo OFF timing can be changed with a parameter Servo ON waiting time eae Setting Range Setting Unit Factory Setting Setting Validation 2000 2000 ms 0 Immediately Basic waiting flow Enpo Setting Range Setting Unit Factory Setting Setting Validation 0 500 10ms 0 Immediately When using the servomotor to control a vertical axis the machine movable part may shift slightly depending on the brake ON OFF timing due to gravity or an external force By using this parameter to delay turning the servo ON OFF this slight shift can be eliminated e For details on brake operation while the servomotor is operating refer to 5 Setting the Brake ON OFF Timing When Servomotor Running in this section S ON CN1 14 Servo ON Servo OFF L Servo ON JBK Output Brake released Using brakes Brake released brake Power to Power to No power to jp Power to Servomotor servomotor PE i servomotor gt Pn506 Pn505 Hilmportant e The servomotor will turn OFF immediately when an alarm occurs regardless of the setting of this parameter The machine movable part may shift due to gravity or external force du
164. power off alarm An power off for more than one period is occurred in AC A 41 x Reserved Reserved The parameter setting of servodrive does not match the A 42 x Servomotor type error servomotor 166 Alarm Alarm Alarm Name Meaning Display Output The parameter setting of servodrive does not match the A 43 x Servodrive type error servomotor A 44 x Reserved Reserved Absolute encoder multiturn T A 45 x Absolute encoder multiturn information is faulty information error Absolute encoder multiturn i REN A 46 x Absolute encoder multiturn information is overflow information overflow A 47 x Battery voltage below 2 5V Absolute encoder multiturn information is loss A 48 x Battery voltage below 3 1V Battery voltage is too low A 60 x Serial encoder communication Encoder disconnected encoder signal disturbed encoder i overtime error or encoder decoding circuit error Absolute encoder multiturn information may be faulty Error reasons 1 The battery is not connected or the battery voltage is Absolute encoder overspeed alarm A 51 x insufficient detected ue 2 The power supply to servodrive is not turned ON when the battery voltage is normal or the servomotor running acceleration is too high due to external reason Absolute state of serial encoder oe A 52 x Encoder or the encoder decoding circuit is faulty error A 53 x Se
165. put Rated torque in forward direction 9V input 300 rated torque in forward direction 0 3V input 10 rated torque in reverse direction The voltage input range can be changed with parameter Pn400 H input circuit example Use twisted pair wires as a countermeasure against noise Reference torque z 12 00 100 j Factory setting 12V 4700 1 2W min 2KO 0 3 4 8 12 Input voltage V 100 200 Set the slope with Pn400 300 T REF fa T REF Servodrive CN1 27 GND E Checking the internal torque reference 1 Checking the internal torque reference with the panel operator Use the Monitor Mode Un003 Refer to 5 1 6 Operation in Monitor Mode 2 Checking the internal torque reference with an analog monitor The internal torque reference can also be checked with an analog monitor 92 4 7 3 Adjusting the Reference Offset 1 Automatic Adjustment of the Torque Reference Offset When using torque control the servomotor may rotate slowly even when OV is specified as the analog reference voltage This occurs when the host controller or external circuit has a slight offset measured in mv in the reference voltage In this case the reference offset can be adjusted automatically and manually using the panel operator The automatic adjustment of analog speed torque refere
166. r one negative the other positive Speed Speed mention here refers to the steady speed during motor running which is similar to the pulse frequency given from external in ordinary position control However this speed has nothing to do with electronic gear it is just the actual speed of the motor Position reference filter time constant Same as position reference filter time constant Pn204 in common position control Time for change steps after desired position reached Apply internally delay of changing steps to valid parameter Pn681 1 Time for change steps outputs from positioning completed signal CON from Servo ON or from the time when reference point is found till the Servo performs the program to control position of the point Such period of time depends on step changing time required by a point number among start point in program When running point control program if error counter is set as not clear error counter when Servo OFF then the error counter might flood If it does not flood then the servo drive will probably run at the max running speed when Servo ON again PLEASE PAY ATTENTION TO THE SAFETY OF INSTRUMENT 85 Settin Para No Name and description g Default range 0 Clear error pulse when S OFF not clear error pulse when overtravel Pn004 1 0 2 0 1 Not clear error pulse 2 Clear error pulse When S OFF or over travel Looking for the reference point Looking for th
167. r output Output Number of dividing pulses any Number of 8 channels channels Sequence thane Signal allocations and positive negative logic modifications io signals Function Servo ON S ON P control P CON alarm reset ALM RST position error clear CLR forward run i 9 prohibited P OT reverse run prohibited N OT forward current limit P CL reverse current limit N CL Number of 4 channels channels Sequence i m A a Output Signal allocations and positive negative logic modifications Function Positioning completion COIN speed coincidence V CMP servomotor rotation detection TGON servo ready S RDY torque limit output CLT brake interlock output BK encoder C pulse PGC Dynamic Brake Operated at main power OFF servo alarm servo OFF or overtravel Regenerative Functions 750W 5 0kW internal regenerative resistor 7 5kW 22kW external regenerative resistor Internal Protection Functions Overcurrent overvoltage low voltage overload regeneration error overtravel Functions Utility Function Alarm trace back JOG operation inertia detection etc Display Function CHARGE Red POWER Green five 7 segment LEDS Built in panel operator Communication Functiion RS 485 communication port MODBUS protocol CAN communication port CANOpen protocol 137 7 2 Servodrive Dimensional Drawings E ProNet 02A 04A
168. re allocate input connector number for the SHOM and ORG signals Refer to 3 2 2 I O Signal Names and Functions 2 Related parameter Speed of finding reference point Hitting the origin signal ORG Pn685 Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm 1500 Immediately Speed of finding reference point Leaving the origin signal ORG Pn686 Setting Range Setting Unit Factory Setting Setting Validation 0 200 rpm 30 Immediately Number of error pulses during homing Pn690 Setting Range Setting Unit Factory Setting Setting Validation 0 9999 10000 pulses 0 Immediately Number of error pulses during homing Pn691 Setting Range Setting Unit Factory Setting Setting Validation 0 9999 1 pulse 0 Immediately 88 3 Input Signal Setting Type Signal Connector Pin Setting Meaning ipui SHON Must be allocated by ON t rising edge Homing is enabled Pn509 Pn510 OFF not rising edge Homing is disabled Input ORG Must be allocated by ONS ORG is enabled Pn509 Pn510 OFF L ORG is disabled e After changing Pn509 and Pn510 turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings Allocating Homing Output Signal HOME Connector Pin Number Parameter Meaning Terminal Terminal Pn511 H 8 CN1 11 CN1 12 The signal is output from output termina
169. ress Response code Error code Checking command 80 y Error frame responses code command 80H Error code 00y Normal communication 01y Servodrive cannot identify the required functions 02 The required data address does not exist in the servodrive 03y The required data in servodrive is not allowed Beyond the maximum or minimum value of the parameter 04y Servodrive starts to perform the requirement but cannot achieve it For example Servodrive axis number is 03y write data 064 into parameter Pn100 is not allowed because the range of parameter Pn100 is 0 6 The servodrive will feedback an error frame the error code is 034 Beyond the parameter s maximum value or minimum value Host controller data frame start Slave station address Command Data address content Checking 03H 06H 00024 00064 Servodrive feedback error frame start Slave station address Response code Error code Checking 034 86H 034 Besides if the data frame sent from host controller slave station address is 00 it represents this data is broadcast data servodrives will not feed back any frames 132 6 3 3 Data Communication Address of Servo State The communication parameters addresses are shown in the following table Communication data address Meaning Descripti
170. rial encoder calcaution error Encoder or the encoder decoding circuit is faulty A 54 x lt Parity bit or end bit in serial encoder Encoder signal is disturbed or the encoder decoding circuit f control domain error is faulty A 55 x Serial encoder communication data Encoder signal is disturbed or the encoder decoding circuit i checking error is faulty Eg T End bit in serial encoder control Encoder signal is disturbed or the encoder decoding circuit f domain error is faulty A 58 x Serial encoder data empty The EEPROM data of serial encoder is empty A 59 X Serial encoder data format error The EEPROM data format of serial encoder is incorrect a x Communication module not Communication module is not plugged or the f detected communication module is faulty A 61 X Communication unsuccessful CPU of communication module operated abnormally Servodrive can not receive the oot Receive channel of servodrive data or send channel of A 62 x period data of communication A te i communication module is faulty module Communication module can not A 63 x receive the servodrive response Communication module is faulty data Communication module and bus TETTEN A 64 x Bus communication is faulty connectionless MAS CAN communication is faulty because of abnormal A 66 X CAN communication abnormal communication connection or disturbance 167 Alarm Alarm Alarm Name Meaning Display Output A
171. ring the time until the brake operates 58 5 Setting the Brake ON OFF Timing When Servomotor Running The following parameters can be used to change the BK signal output conditions when a stop reference is output during servomotor operation due to the servo OFF or an alarm occuring Brake Waiting Speed a Speed Position Torque Pn507 ae Setting Range Setting Unit Factory Setting Setting Validation 10 100 irpm 100 Immediately Pn508 p wig Setting Range Setting Unit Factory Setting Setting Validation 10 100 10ms 50 Immediately BK Signal Output Conditions When Servomotor Running The BK signal goes to high level brake ON when either of the following conditions is satisfied e When the servomotor speed falls below the level set in Pn507 after servo OFF e When the time set in Pn508 is exceeded after servo OFF Servo OFF S ON input Servo ON or alarm or power OFF Servomotor stopped by applying DB or coasting Pn004 0 Pn507 Servomotor Speed ji 1 1 1 1 1 1 1 1 N 1 1 1 1 1 1 1 1 J IBK Output Brake released Brake held Pn508 4 3 5 Instantaneous Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage to the servodrive main circuit is instantaneously interrupted Parame
172. rm online autotuning 1 Set Pn100 01 The result will be used as the default value for next autotuning 106 4 12 3 Setting Online Autotuning Related parameters Parameter i Setting Factory Setting Name Unit SPST No Range Setting Invalidation Online autotuning setting 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load Pn100 0 6 1 After restart 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Pn101 Machine rigidity setting 0 15 5 Immediately Speed gain acceleration relationship during online autotuning Pn128 ee o 0 3 3 Immediately If the setting is greater the servo gain will increase 4 12 4 Machine Rigidity Setting for Online Autotuning There are 16 machine rigidity settings for online autotuning When the machine rigidity setting is selected the servo gains speed loop gain speed loop integral time constant position loop gain are determined automatically The factory setting for the machine rigidity setting is 5 Machine Position Loop Gain s Speed Loop Gain Hz Speed Loop Integral Time Rigidity Setting Pn104 Pn102 Pn104 Pn128 1 Constant 0 1ms Pn103 0 10 40 800 1 15 60 600 2 20 80 450 3 25 100 400 4 30 120 300 5 40 160 200 6 65 260 140 7 80 320 110 8 100 400 90 9 120 480 80 10 140 560 70 11 160 640 6
173. roNet 2BD Unit mm Air Flow Mounting Hole Diagram J 7 o 374 a EsTun Extended Module Ar SERVODORIVE T T 2 _ _ i lt Nameplate a me 141 A 1 Parameter List Appendix A Parameter Parameter No Name Unit Setting Range Factory Setting Setting Invalidation Pn000 Binary Pn000 0 Servo ON Pn000 1 Forward rotation input signal prohibited P OT Pn000 2 Reverse rotation input signal prohibited N OT Pn000 3 Alarm output when instantaneous power loss 0 1111 0 After restart Pn001 Binary Pn001 0 CCW CW selection Pn001 1 Analog speed limit enabled Pn001 2 Analog torque limit enabled Pn001 3 2nd electronic gear enabled 0 1111 0 After restart Pn002 Binary Pn002 0 Electronic gear switching mode Pn002 1 Reserved Pn002 2 Absolute encoder selection Pn002 3 Reserved 0 0111 0010 After restart Pn003 Binary Pn003 0 Reserved Pn003 1 Reserved Pn003 2 Low speed compensation Pn003 3 Overload enhancemen
174. roNet series servodrives Those performing trial operation or adjustments of ProNet series servodrives Those maintaining or inspecting ProNet series servodrives Safety Precautions m Do not connect the servomotor directly to the local electrical network Failure to observe this may result in damage to servomotor m Do not plug or unplug connectors from servodrive after power is on Failure to observe this may result in damage to servodrive and servomotor m Note that residual voltage still remains in the servodrive even after the power is turned off Please be noted that even after the power is turned off residual voltage still remains in the capacitor inside the servodrive If inspection is to be performed after the power is turned off always wait at least 5 minutes to avoid the risk of an electrical shock m Keep servodrives and other devices separated by at least 10mm The servodrive generates heat Install the servodrive so that it can radiate heat freely When installing servodrives with other devices in a control panel provide at least 10mm space between them and 50mm space above and below them Please install servodrives in an environment free from condensation vibration and shock m Perform noise reduction and grounding properly Please comply with the following instructions strictly to avoid the noisy generated by signal lines 1 Separate high voltage cables from low voltage cables 2 Use cables as short as possible 3 Sigle p
175. rque Limit a Speed Maximum torque Pn402 Pn401 Limiting torque Note Too small a torque limit setting will result in insufficient torque during acceleration and deceleration 98 4 9 2 External Torque Limit This function allows the torque to be limited at specific times during machine operation for example during press stops and hold operations for robot workpieces An input signal is used to enable the torque limits previously set in parameters 1 Related Parameters Forward External Torque Limit Pnaos Setting Range Setting Unit Factory Setting Setting Validation 0 300 1 100 Immediately Reverse External Torque Limit Poe Setting Range Setting Unit Factory Setting Setting Validation 0 300 1 100 Immediately Note The setting unit is a percentage of rated torque i e the rated torque is 100 2 Input Signals Signal Connector Pin Type Setting Meaning Limit Value Name Number CN1 41 ON low level Forward external torque limit Pn403 Input P CL factory setting OFF high level Forward internal torque limit Pn401 CN1 42 ON low level Reverse external torque limit Pn404 Input N CL factory setting OFF high level Reverse internal torque limit Pn402 When using this function make sure that there are no other signals allocated to the same terminals as P CL and N CL 3 Changes
176. rse rotation prohibited NOT signal setting in the default Output OT setting please choose With forward rotation OFF high level prohibited POT and reverse rotation prohibited NOT signal terminal output by setting parameter Pn511 When machine is on over travel state OT signal is OFF Host controller can use this signal to stop sending reference Related parameter POT NOT Setting Range Unit Factory Setting Setting Validation O 1111 0 After restart Pn000 Pn000 1 1 external POT disabled Pn000 2 1 external NOT disabled Pn000 1 1 and Pn000 2 1 OT signal is ON 4 11 6 Servo Enabled Motor Excitation Output RD Type Signal Name Connector Pin Number Setting Meaning Not including this setting in ON L Servo enabled motor excitation the default setting please Output RD i ae ae i a alae OFF H Servo disabled motor not excitation setting parameter Pn511 RD is on when servo enabled motor excitation 4 11 7 Torque Limit Detection Output CLT The application of output signal CLT is as follows Servo Drive 24V Power supply Photocoupler output EE EE 24V Max applicable Voltage os 1CN CLT Aan J DC30V ei oe K Max applicable current 1CN ICLT up DC50mA Pe al taal gt Output CLT Torque limit output Speed torque control position control 104
177. s not used with the factory setting The output signal must be allocated by Pn511 It does not need to be connected for servomotor without a brake 3 Allocating Brake Interlock Output Bk Brake interlock output BK is not used with the factory setting The output signal must be allocated Connector Pin Number Parameter Meaning Terminal Terminal The BK signal is output from output Pn511 H 4 CN1 11 CN1 12 terminal CN1 11 12 The BK signal is output from output Pn511 H 4 CN1 5 CN1 6 terminal CN1 5 6 The BK signal is output from output Pn511 H 04 CN1 9 CN1 10 i terminal CN1 9 10 E important When set to the factory setting the brake signal is invalid For the allocation of servodrive output signals other than BK signal refer to 3 2 2 I O Signal Names and Functions Parameter Pn511 description as following 0 COIN V CMP output 1 TGON rotation detecting output 2 S RDY servo drive get ready output 3 CLT torque limit output 4 BK brake interlock output 5 PGC encoder C pulse output 6 OT overtravel signal output 7 RD servo enabled motor excitation output 8 HOME home completion output Related parameter Parameter Name Unit Setting Default No Range Pn505 Servo ON waiting time ms 2000 2000 0 Pn506 Basic waiting flow 10ms 0 500 0 Pn507 Brake waiting speed r
178. sed by digit Read only 133 Communication data address Meaning Description Operation Hex iot 17 bit encoder multi turn Unit 1 revolution Read only information Only for 17 bit F Unit 1 pulse Encoder 17 bit encoder single turn 1011 Multi turn 16 bits information Single turn 17 bits 17 bit encoder single turn 1012 information high bits 1021 Clear historical alarms 01 Clear Write only 1022 Clear current alarms 01 Clear Write only 01 Enable 1023 JOG servo enabled Read write 00 Disable 01 Forward rotation 1024 JOG forward rotation Read write 00 Stop 01 Reverse rotation 1025 JOG reverse rotation Read write 00 Stop T026 JOG forward rotation at node 01 Forward rotation position start signal has been set 00 Stop 7 JOG reverse rotation at node 01 Reverse rotation position start signal has been set 00 Stop m 01 Pause 1028 Pause at node position 00 Cancel pause 1040 Clear encoder alarm 01 Clear Write only 1041 Clear encoder multi turn data 01 Clear Only 17 bit encoder Note 1 Parameter area communication address 0000 00DEp Parameter address is relevant to the parameters in the parameter list For example parameter Pn000 is relevant to communication address 0000 parameter Pn101 is relevant to communication address 0065 Read write operation to address 0000 is the read write operation to PnOOO If the communication input data is not within th
179. servodrive to form a position loop in the hsot controller 4 5 Position Control Pulse train reference Controls the position of the servomotor using pulse train position reference Controls the position with the number of input pulses and controls the speed with the input pulse frequency Use when positioning is required 4 6 Torque Control Analog voltage reference Controls the servomotor s output torque with analog voltage torque reference Use to output the required amount of torque for operations such as pressing 4 7 Speed Control contact reference lt Speed Control zero reference Use the three input signals P CON P CL and N CL to control the speed as set in advance in the servodrive Three operating speeds can be set in the servodrive In this case an analog reference is not necessary 4 8 These are swithing modes for using the four control methods described above in combination Select the control method switching mode that best suits the application 50 4 3 Setting Common Basic Functions 4 3 1 Setting the Servo ON Signal This sets the servo ON signal S ON that determines whether the servomotor power is ON or OFF 1 Servo ON signal S ON Connector Pin Type Name Setting Meaning Number eniai ON low level Servomot
180. sition if the Pn125 eee Immediately P aa switching time change of the two groups of gain is too large This parameter is used to set the operation hysteresis Pn126 Hysteresis switching Immediately P S i eon of gain switching This parameter is used to filter in low speed detection Low speed detection Pn127 fi Immediately P S The speed detection will be lagged if the value is too ilter large Speed gain The increasing multiple of speed loop gain in the same acceleration rigidity during online autotuning The speed loop gain Pn128 i Immediately P S as 3 f cin k pa relationship during is larger when this value is higher online autotuning Low speed correction The intensity of anti friction and anti creeping at low Pn129 f Immediately P S oe f Cae coefficient speed Vibration will occur if this value is set too large Pn130 Friction Load Immediately P S Frictin load or fixed load compensation Friction Pn131 compensation speed Immediately P S Threshold of friction compensation start hysteresis area Pn132 Sticking friction load Immediately P S Sticking damp which is in direct proportion to speed Pn133 Reserved Pn134 Reserved Pn135 Reserved Pn136 Reserved Pn137 Reserved me Pn138 Reserved 156 Parameter Setting Control Description Function and Meaning No Validation Mode Pn139 Reser
181. sult Servodrive Servodrive DC24V DC24V 50mA min RANIN 3 3KQ 50mA min 24VIN 3 3KQ hd e EE Pa gt l SRO SN 7N dy e gt f a A a i IS ON etc Le ead tie Lee S ON etc eee eee Winterface for line driver output circuit The amount of two phase phase A and phase B pulse output signals PAO PAO PBO PBO and zero point pulse signals PCO PCO are output via line driver output circuits Normally the servodrive uses this output circuit in speed control to comprise the position control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller Winterface for sequence output circuit Photocoupler output circuits are used for Servo Alarm ALM Servo Ready S RDY and other sequence output signal circuits Connect a photocoupler output circuit through a relay circuit 27 3 3 Wiring Encoders 3 3 1 Connecting an Encoder CN2 E 17 bit Incremental Absolute Encoders Incremental Absolute Encoders Servodrive Host controller 3 CN2 CN1 Kd fl PS 7 i 1 Phase A 7 LO Ie W 8 nase 20 PAO 4 TG BAT 17 ga PAO te 4 1 fer 3 S 4 t BAT 18 nee 22 PBO 4 i tp a 23 PBO_ t Phase C l iase C Ts 24 Pco i 4p oo a 25 PCO i Output line driver i i AM26LS31 manufactured H by T
182. t 0 1111 0 After restart Pn004 Hex Pn004 0 Stop mode Pn004 1 Error counter clear mode Pn004 2 Reference pulse form Pn004 3 Inverses pulse 142 0 0x3425 0 After restart Parameter No Name Unit Setting Range Factory Setting Setting Invalidation Pn005 Pn006 Hex Pn005 0 Torque feedforward mode Pn005 1 Control mode 0 Speed control analog reference 1 Position control pulse train 2 Torque control analog reference 3 Speedcontrol contact reference speed control zero reference 4 Speed control contact reference speed control analog reference 5 Speed control contact reference position control pulse train 6 Speed control contact reference torque control analog reference 7 Position control pulse train speed control analog reference 8 Position control pulse train torque control analog reference 9 Torque control analog reference speed control analog reference A Speed control analog reference zero clamp B Position control pulse train position control inhibit C Position control contact reference D Speed control parameter reference E Pressure control analog reference Pn005 2 Out of tolerance alarm selection Pn005 3 Servomotor model Hex Pn006 0 Bus mode Pn006 1 Reserved Pn006 2 Low frequency jitter suppersion switch Pn006 3 Reference input fil
183. t Reference The servomotor can now be operated Adjust the servo gain if necessary r 41 4 1 1 Trial Operation for Servomotor Without Load e Release the coupling between the servomotor and the machine and secure only the servomotor without a load To prevent accidents initially perform the trial operation for servomotor under no load conditions with all couplings and belts disconnected In this section confirm the cable connections of the main circuit power supply servomotor and encoder Incorrect wiring is generally the reason why servomotors fail to operate properly during the trial operation Confirm the wiring and then conduct the trial operation for servomotor without load according to the following steps Secure the servomotor Secure the servomotor flange to the machine Do not connect anything to the shaft no load conditions Check the power supply circuit servomotor and encoder wiring Turn ON the control power supply and main circuit power supply Normal Display EUP EL Inlet Alternate Display Example of Alarm Display Release the brake before driving the servomotor when a servomotor with brake is used When using a servomotor equipped with an absolute encoder encoder setup is required before driving the servomotor 42 Secure the servomotor flange to the machine in order
184. t the setting value is correctly reflected stop the reference pulse from the host controller and input the clear signal CLR or turn OFF to clear the error This function provides smooth servomotor operating in the following cases When the host controller that outputs a reference cannot perform acceleration deceleration processing e When the reference pulse frequency is too low When the reference electronic gear ratio is too high i e 10x or more 80 4 6 5 Low Frequency Vibration Suppression 1 Note For the low rigidity load low frequency vibration will be occurred continually at the front end of the load during fast starting or fast stopping The vibration may delay positioning time and affect the productive efficiency The function of low frequency vibration suppression is embedded in ProNet series servodrives by calculating the load position and compensating Low Frequency Vibration Coupling Ball Screw Workbench Servomotor 2 Application Low frequency vibration suppression function is enabled in both speed control mode and position control mode Low frequency vibration suppression function is disabled or can not reach the expected effect in the following condition Vibration is pricked up due to external force Vibration frequency is out of 5 0Hz to 50 0Hz There is mechanical clearance at the mechanical connection part The time for movement is less than one vibration period
185. tate OFF 1CN 8 H level Alarm state When servo alarm ALM happens always remove alarm reasons first and then turn the input signal ALM RST to ON position to reset alarm status Input ALM RST_ 1CN 39 alarm reset input Signal Status Input level Comments ON 1CN 39 L level Reset servo alarm ANRT OFF 1CN 39 H level Do not reset servo alarm Normally the external circuit can switch off power supply of servo drive when alarm occurs When servo drive is re switched on it removes alarm automatically so normally alarm reset signal is not required to be connected In addition alarm reset are enabled with panel operator Note When alarm occurs always remove alarm reasons before resetting alarms 102 4 11 2 Rotation Detection Output Signal TGON Type Signal Name Connector Pin Number Setting Meaning Servomotor is operating Servomotor ON low level speed is above the setting in Pn503 CN1 5 CN1 6 Factory setting OFF high level Servomotor is not operating Servomotor speed is below the setting in Pn503 This signal is output to indicate that the servomotor is currently operating above the setting in parameter Pn503 Output ITGON Related parameter Rotation Detection Speed TGON Pn503 Setting range Setting unit Factory setting Setting validation 0 3000 rpm 20 Immediately
186. te This pin outputs the COIN signal in position control mode and the V CMP signal in speed control mode 72 4 6 Operating Using Position Control Set the following parameters for position control using pulse trains Parameter Pn005 H 1 Meaning Control mode selection position control pulse train reference A block diagram for position control is shown as below Servodrive in position control Pn113 Pn112 Pn201 Feed forward Pall Differential _ Feed forward B filter fime Offset A constant j T Pn500 Pn202 y Positioning complete Pn004 2 Pn204 Pn201 Pn104 Servomotor or x 1 t ATON Reference pulse Al S smoothing _ Ll Kp O Speed loop Currentloop M x4 2 Error counter s Say Pn202_5 ae 4 pa PG signal output F200 j N lt dividing Encoder 4 6 1 Basic Setting in Position Control 1 Setting a reference pulse sign Type Signal Name Connector Pin Number Name PULS CN1 30 Reference pulse input PULS CN1 31 Reference pulse input nput SIGN CN1 32 Reference sign input ISIGN CN1 33 Reference sign input 2 Setting reference input filter for open collector signal When Pn840 0 3 4 5
187. ter Signal Name and Meaning b 0 Continue operation when the power supply voltage to servodrive main circuit is Pn000 instantaneously interrupted b 1 An alarm occurs when the power supply voltage to servodrive main circuit is instantaneously interrupted 59 4 4 Absolute Encoders Absolute Encoder Type Output Range of Multiturn Data Resolution Action when limit is exceeded ProNet Series 16 bit multiturn 17 bit singleturn 32768 32767 e When the upper limit 32767 is exceeded in the forward direction the multiturn data is 32768 e When the lower limit 32768 is exceeded in the reverse direction the multiturn data is 32767 The absolute position can be read by the MODBUS protocol In the actual control the MODBUS protocol can read the initial position when the servomotor is stopped S OFF then the real time position during the servomotor is running can be learnt from the number of PG divided output pulses 4 4 1 Selecting an Absolute Encoder An absolute encoder can also be used as an incremental encoder Parameter Meaning Pn002 b 0 Use the absolute encoder as an absolute encoder Factory setting b O1 Use the absolute encoder as an incremental encoder e The back up battery are not required when using the absolute encoder as an incremental encoder After changing these parameters turn OFF the main c
188. ter for open collector signal 0 0x33E3 0 0x2133 0x0020 After restart After restart Pn100 Pn101 Online autotuning setting 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Machine rigidity setting 0 6 0 15 After restart Immediately Pn102 Speed loop gain Hz 1 2500 160 Immediately 143 Parameter Setting Factory Setting Name Unit Ka No Range Setting invalidation Pn103 Speed loop integral time constant 0 1ms 1 4096 200 Immediately Pn104 Position loop gain 1 s 0 1000 40 Immediately Pn105 Torque reference filter time constant 0 1ms 0 250 4 Immediately Pn106 Load inertia percentage 0 20000 Immediately Pn107 2nd speed loop gain Hz 1 2500 40 Immediately Pn108 2nd speed loop integral time constant 0 1ms 1 4096 200 Immediately Pn109 2nd position loop gain Hz 0 1000 40 Immediately Pn110 2nd torque reference filter time constant 0 1ms 0 250 4 Immediately Pni11 Speed bias rpm 0 300 0 Immediately Pni12 Feedforward 0 100 0 Immediately Pn113 Feedforward filter 0 1ms 0 640 0 Immediately Pn114 Torque feedforward 0 100 0 Immediately Pn115 Torque feedforward filter 0 1ms 0 640 0 Immediately P PI switching condition 0 Torque reference percentage Pn116 1 Va
189. terminals The functions allocated to TGON S RDY and V CMP COIN can be ICLT changed by using the parameters CLT Torque limit output Turns on when it reaches the value set BK Brake interlock output Releases the brake when ON Reserved PGC C pulse output BK OT Over travel signal output RD Servo enabled motor excitation output HOME Home completion output 4 18 19 29 35 36 37 38 43 Not used 44 45 47 49 25 3 2 3 I O Signal Connector CN1 Terminal Layout Terminal Terminal Function Function No No 1 VREF 26 T REF l Speed reference input 10V Torque referenceinput 10V 2 VREF 27 T REF 3 DGND DGND 28 DGND DGND 4 Reserved 29 Reserved 5 TGON 30 PULS Running signal output Reference pulse input 6 TGON 31 PULS 7 ALM 32 SIGN Servo alarm Reference sign input 8 ALM 33 SIGN Open collector reference 9 S RDY 34 PPI Servo ready power supply 10 S RDY 35 Reserved 11 COIN 36 Reserved Positioning completion 12 COIN 37 Reserved I O signal power supply 24V 13 DICOM ae rey 38 Reserved DC 14 S ON Servo ON 39 ALM RST_ Alarm reset 15 P CON P PI control input 40 CLR Position error pulse clear input 16 P OT Forward run prohibit input 41 PCL Forward torque limit input 17 N OT Reverse run prohibit run 42 INCL Reverse torque limit input 18 Reserved 43
190. time exceeds the sleep interval of at least 4 bytes transmission time in current communication speed means the communication is finished Example The following example uses C language to generate CRC value The function needs two parameters unsigned char data unsigned char length The function will return unsigned integer type CRC value unsigned int crc_chk unsigned char data unsigned char length int i j unsigned int crc_reg oxFFFF While length crc_ reg data for j 0 j lt 8 j If crc_reg amp 0x01 crc_reg crc_reg gt gt 1 0xA001 else crc_reg crc_reg gt gt 1 return crc_reg 131 6 3 2 Communication Error Disposal Problems that occur during communication are resulted by the following reasons m Data address is incorrect while reading writing parameters m The data is not within the parameter setting range while writing m Data transmission fault or checking code fault when communication is disturbed When the first and second communication faults occur the servodrive is running normally and will feed back an error frame When the third communication fault occurs transmission data will be recognized as invalid to give up and no error frame is returned The format of error frame Host controller data frame start Slave station address Command Data address content Checking command Servodrive feeds back error frame start Slave station add
191. tion Function and Meaning No Validation Mode Pn516 2 gt CN1_16 inversion Pn516 35CN1_17 inversion Input port signal Pn517 0 gt CN1_39 inversion Pn517 inversion Immediately P S T Pn517 15CN1_40 inversion Pn517 23CN1_41 inversion Pn517 35CN1_42 inversion Pn518 Reserved Immediately S T For factory using Pn519 Reserved Immediately S T For factory using Pn520 Reserved Immediately For factory using If connect externally regenerative resistor 0 connect externally regenerative resistor between B1 and B2 Pn521 Binary Immediately P S T 1 dose not connect externally regenerative resistor relay on internal capacitance This parameter is in effect only on ProNet 02 04 gt Pn522 Reserved Pn523 Reserved T JPOSO Position pulse The two parameters are used in combination and the Pn600 in point to point Immediately P algebraic sum of them is the position of JPOSO needs control to reach The number of servomotor rotation revolutions is related with the programme mode of JPOSO point to point control Pn601 Position pulse in Immediately P Pn600 Unit 10000P point to point control Pn601 Unit 1P The meaning of other point to point control related parameters are the same JPOS15 Position The two parameters are used in combination and the Pn630 pulse in point to point Immediately P algebraic sum of them is the position of JROSO needs control to reach The number of servomotor rotation JPOS15 Position revolutions is rel
192. tion mode 4 Press the MODE key to enter into servo ON servomotor power ON status 5 Press the MODE key to switch between the servo ON and servo OFF status The servodrive must be in servo ON status when the servomotor is running 6 Press the INC or DEC key to rotate the servomotor A a aw L gt tL 7 s A TaN ye a T S G l g Torward rotation Reverse rotation 7 Press the ENTER key to return to utility function mode display Fn002 Now the servo is OFF servomotor power OFF 117 5 2 4 Automatic Adjustment of the Speed Reference Offset When using the speed torque analog reference control the servomotor may rotate slowly even if OV is specified as the analog voltage reference This happens if the host controller or external circuit has a slight offset in the unit of mV in the reference voltage The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage It can adjust both speed and torque reference offset The servodrive automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage Reference Voltage Speed Reference gt Automatic offset adjustment Reference Voltage Offset automatically adjusted in servodrive Speed Reference After completio
193. tting up the absolute encoder in the following cases e When starting the machine for the first time set Pn002 2 to 0 e When an encoder error alarm A 45 A 48 A 51 is generated Use the panel operator in the servodrive for setup Note 1 Encoder setup operation is only possible when the servo is OFF 2 If the absolute encoder alarms A 45 A 48 A 51 are displayed cancel the alarm by using the same method as the setup They cannot be canceled with the servodrive alarm reset input signal ALM RST 3 Any other alarms that monitor the inside of the encoder should be canceled by turning OFF the power 62 4 5 Operating Using Speed Control with Analog Reference 4 5 1 Setting Parameters Parameter Meaning Pn005 H 0 Control mode selection Speed control analog reference factory setting Speed Reference Input Gain Speed Position Torque Pn300 Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm v 150 Immediately Sets the analog voltage level for the speed reference V REF necessary to operate the servomotor at the rated speed MEXAMPLE Pn300 150 1V input is equivalent to the servomotor speed of 150rpm factory setting Reference speed Cmin la Set this slope gt Reference voltage V 63 4 5 2 Setting Input Signals 1 Speed Reference Input Input the speed reference to the servodrive using the analog voltag
194. uilt into the servomotor with brakes is a deenergization brake which is used to hold and cannot be used for braking Use the holding brake only to hold a stopped servomotor 2 When operating using only a speed loop turn OFF the servo and set the input reference to OV when the brake is applied 3 When forming a position loop do not use a mechanical brake while the servomotor is stopped because the servomotor enters servolock status 1 Wiring Example Use the servodrive sequence output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servodrive Servomotor with brake Power supply Pa R i Ll U ss s aie 12 Vv N i M a Ww T gt L3 LIC S L2C ia CNI CN2 PG BERN BY A f 24V a aK 2 a N Y BK Brake power supply A BK RY Yellow or blue Red j White AC DC Black BK RY Brake control relay 1 2 The output terminals allocated with Pn511 56 2 Brake interlock output Type Signal Name Connector Pin Number Setting Meaning ON Low level Releases the brake Output BK Must be allocated OFF High level Applies the brake This output signal controls the brake and is used only for a servomotor with a brake This output signal i
195. use high voltage may still remain in the servodrive 3 1 1 Names and Functions of Main Circuit Terminals Terminal Main Symbol Circuit ProNet Functions y Voltage V Main circuit Three phase 200 230VAC 50 60Hz L1 power supply 10 input terminal Three phase 380 440VAC_ lt 50 60Hz Servomotor connection Connect to the servomotor terminals Control circuit 200 A Single phase 200 230VAC_ 50 60Hz LIC L2C power supply Ao 400 D Single phase 380 440VAC_ 50 60Hz input terminal Connects to the power supply ground terminals and D Ground terminals E servomotor ground terminal Connect an external regenerative resistor provided by 02A 04A customer between B1 and B2 200 If use an internal regenerative resistor please short B2 and xterna Bl B2 B3 08A 50A B3 Remove the wire between B2 and B3 and connect an regenerative i i external regenerative resistor provided by customer resistor connection between B1 and B2 if the capacity of the internal terminal 400 10D 15D E regenerative resistor is insufficient Connect an external regenerative resistor between B1 and B1 B2 400 75D 2BD B2 19 Main ae Name Circuit ProNet Functions y Voltage V Dynamic braking Connect a dynamic braking resistor option between DB1 DB1 DB2 resistor connection 400 2BD and DB2 provided by cust
196. ut alarm output Pn001 Binary After restart Pn001 0 ALL Pn001 1 T Pn001 2 P S Pn001 3 P Pn001 0 CCW CW selection 0 Sets CCW as forward direction 1 Sets CW as forward direction Pn001 1 Analog speed limit enabled 0 Sets the value of Pn406 as the speed limit value during torque control 1 Sets the value conrresponding to Vref input analog voltage as the speed limit value during torque control Pn001 2 Analog torque limit enabled 0 Sets Pn401 Pn404 as torque limit 1 Sets the value corresponding to Vref input analog voltage as torque limit Pn001 3 2nd electronic gear enabled 0 Without 2nd electronic gear PCON signal is used to switch P PI 1 2nd electronic gear is enabled PCON signal is only used as 2nd electronic gear when Pn005 3 is set to 1 Pn002 Binary After restart ALL Pn002 0 Electronic gear switching mode 0 Corresponding time sequence 149 Parameter a Setting Control s Description ean Function and Meaning No Validation Mode P
197. utput line driver AM26LS31 manufactured by TI or equivalent 1 L 2 7 2 8 2 9 peasy G 2 17 2 18 29 PGOV Connect shell 9 J FG shielded wires Shell 29 Host controller ICN 4 1 34 PAO aa a 1 35 Pao tp 1 32_ PBO a 1 33 BO tp 1 30_ PCO a 131 co tp Applicable line XN receiver SN75175 manufactured by TI or equivalent SG ov 38 ov 3 3 2 Encoder Connector CN2 Terminal Layout E 17 Bit Incremental Absolute Encoder Terminal No Terminal No Function PG serial signal input Function Battery For an absolute encoder PG serial signal input Battery For an absolute encoder E Resolver Terminal PG power supply 5V Terminal No Function Differential Sine Signal PG power supply OV Function Differential Cosine Signal Differential Sine Signal Differential Cosine Signal Excitation signal m Incremental Wire saving Encoder 2500P R Terminal x Terminal Function PG input phase A Excitation signal Function PG input phase C PG input phase A PG input phase C PG input phase B PG power supple 5V PG input phase B 17 18 19 30 PG power supple 0V 3 4 Communication Connection 3 4 1 Communication Connector CN3 Terminal Layout Terminal No Name Function Reserved ISO_GND ISO_GND
198. ved Pn140 Reserved Pn141 Reserved Pn142 Reserved Pn143 Reserved Pn144 Reserved Analog encoder output orthogonal difference pulses PG divided The meaning of this value is the number of analog Pn200 After restart P S T ratio encoder output orthogonal difference pulses per one servomotor rotation ist electronic gear The electornic gear enables the reference pulse relate Pn201 After restart P numerator with the servomotor travel distance so the host Electronic gear controller need not to care mechanical deceleration Pn202 After restart P Si denominator ratio and encoder pulses ln fact it is the setting of frequency doubling or frequency division to the 2nd electronic gear reference pulses Pn203 After restart P numerator Numerator Pn201 or Pn203 Denomin ator Pn202 Position reference i This value is used to smooth the input pulses The acceleration Pn204 Immediately P effect of smoothness is better when the value is deceleration time higher But lag will occur if the value is too large constant Position reference 0 1st order filter Pn205 I After restart P filter form selection 1 2nd order filter Speed reference Pn300 Immediately S The corresponding speed to 1V analog input input gain This parameter is used to set zero bias of analog speed given and it is related with speed reference Analog speed given input gain Pn300 Pn301 3 i Immediately S pang
199. vomotor speed is excessively high and the A 03 x Overspeed servomotor is out of control The servomotor is operating continuously under a torque A 04 x Overload f E 9 y q largely exceeding ratings A 05 x Position error counter overflow Internal counter overflow A 06 x Position error pulse overflow Position error pulse exceeded parameter Pn504 The setting of electronic gear or The setting of electronic gear is not reasonable or the A 07 x given pulse frequency is not given pulse frequency is too high reasonable The 1st channel of current o A 08 x ae Something wrong with the inside chip of the 1st channel detection is wrong The 2nd channel of current a A 09 x eo Something wrong with the inside chip of the 2nd channel detection is wrong A 10 x Incremental Encoder is break off At least one of Incremental Encoder PA PB PC is break off A 12 x Overcurrent An overcurrent flowed through the IPM Main circuit voltage for servomotor rotation is excessively A 13 x Overvoltage high Main circuit voltage for servomotor rotation is excessively A 14 x Undervoltage low A 15 x Bleeder resistor error Bleeder resistor is faulty A 16 x Regeneration error Regenerative circuit error A 17 x Resolver error The communication of resolver is abnormal A 18 x IGBT superheat alarm IGBT temperature is too high A 20 X Power line open phase One phase is not connected in the main power supply A 21 x Instantaneous
200. ward rotation allowed Normal ON low level CN1 16 operation status Input P OT factory setting P Forward rotation prohibited OFF high level Forward overtravel Reverse rotation Normal operation ON low level CN1 17 status factory setting Reverse rotation prohibited OFF high level Reverse overtravel Connect limit switches as shown below to prevent damage to the devices during linear motion gt Servomotor forward rotation direction Rotation in the opposite direction is possible during Servodrive overtravel Servomotor CNL For example reverse rotation is possible during forward Limit switch Limit switch overtravel almportant When using overtravel to stop the servomotor during position control the position error pulses are present A clear signal CLR input is required to clear the error pulses When using the servomotor on a vertical axis the workpiece may fall in the overtravel condition To prevent this always set the zero clamp after stopping with Pn004 0 5 53 2 Enabling Disabling the Overtravel Signal A parameter can be set to disable the overtravel signal If the parameter is set there is no need to wire the overtravel input signal Parameter Meaning OOOO O Inputs the forward rotation prohibited P OT signal from CN1 16 factory setting Disables the

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