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PRONET User Manual

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1. Mas A 01H 0101H 2 ADR CRC 3794H 94H 37H ADR CMD Ch 01H 01H Endl EndO ASCII Lh BWIT V carriage return A OAH newline 1428 45 jee IL BIB WOO PR 4 ATF HUNE TRIER LE BN BOB VER C CRC unsigned char data unsigned char length unsigned integer CRC f unsigned int crc chk unsigned char data unsigned char length int 1 1 unsigned int crc While length crc reg data for j 03j lt 83j If crc reg amp 0x01 1 crc reg cre reg gt gt 1 70 001 crc reg crc reg gt gt return crc reg
2. ALM ALM 1D OFF E eae DC30V erue DC50mA Wirings and Connections Cables and connectors Connector kit 1 Connector kit 6 2 2 2 ES Incremental Encoder Cables EMJ series servo motor Incremental Encoder Cables EMG series EML series EMB series Servo motor Encoder Incremental Encoder Cables EMJ series servo motor Incremental Encoder Cables EMG series EML series EMB series Servo motor Power cable EMJ series servo motor Power cable EMG 10A EMG 15A EML 10A servo motor Power cable EMG 20A servo motor Servo drive terminal Power cable EML 20A servo motor Power cable EMG 30A EMG 50A EML 30A EML 40A Servo motor Power cable EMB 75D EMB 1AD Servo motor Power cable EMB 1ED servo motor PC connection cable connector 10150 3000PE 3M MEN connector shell 10350 52 0 008 connector 10120 3000PE 3M connector shell 10320 52 0 008 EN md f Operation introduction Digital Operator operation introduction Press to display the parameter settings and INC key set values Press INC key to increment the set value DEC key Press DEC key to decremen
3. ON COIN ON TGON ON S RDY ON CLT ON BK ON TRY ALM 1D OFF DC30V DC50mA Wirings and Connect ion Three phase 400V power supply specification R S T 1QF TH 50 60Hz AC380 480V 2 1Ry Q IKM 18 1SUP _ 1KM Log ne 2 2 OL3 Te EE eee ee 99 dd m OL2C DB1 1 9B2 CN3 MEE 10 ______________ 21 5 20 56 4854 30 1 Boss FER B a o ee 485 60 CANH 70 80 VREF 11 ical mal 0 FY uM 1V 10V af VREF zx gt We AGND 3
4. 100H 0200H IT 0201H Response information 6 MAS bau ODHYCR mode Instruction information 02H 00H 00H i 64H CRC 89H CRC 99H 6 0 0 6 9 3 0200H CATT Response information ADR CMD 02H C CREER cee 00 BUNA CRC 89H CRC 99H LRC ASCI mode mode checksum s calculation LRC calculation ASCII mode ASCII mode use LRC checksum The exceeded part E G the total value is 128H of hex then take 28H 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 checksum word wa IU 527 0 2 0 0 0 0 q ODHXCR CATT Add from ADR data to the last data 01H 03H 02H 01H 00H01H 08H The compensate value is F8H when 2 is selected from 08H so LRC 1s F 8 CRC calculation of RUT mode RTU mode
5. RES ee ES 5 PSS Sas 4 pomo Ces L 4 0062 2 7 L 1m PO ELDE e 4 7 data bits 10 bits characte A 2 Modbus ASC m I Communication protocol structure Q d p data bits Communication protocol data format ASCII de mode bits character frai Start charactor gt Communication address gt 1 byte contains 2 pcs of ASCII code Reference code gt 1 byte contains 2 pcs of ASCII code LRC Data content gt n word 2n byte contains 4 pcs of ASCIIcode A AES 1 odbus ASC HRS C Checking code gt 1 byte contains 2 pcs of ASCII code End code 1 gt 8 3 4 End code 0 gt apit data bits 11 bits character 8 O 1 Modbus ASC RTU mode At least stop transimission for 10ms Communication address gt 1 byte Reference code gt I byte DATA n 1 Data content gt n word 2n byte 012 CRC CRC CRC Verifying code gt 1 byte At least stop transimission for 10ms Communication protocol data format instructions below
6. Encoder connector specification connector 172169 1 AMP pin 170359 3 AMP Increamental wire saving 17 digit absolute Blue black 5 Brown b lack PG5V red black shield ESTUN Servo motor EMG Features High speed driving of feed shafts for various Wide Selection 1 0kW to 5 0kW holding brake options Mounted wire saving encoder 2500P R Optionalmounted 17 bit serial encoder Protective Structure IP65 Application Examples Machine tools Material handling machines Food processing equipment Textile machines Model Designations EMG 10 1 1 ESTUN servo motor 1 21 4 5 6 7 EMG series 1 2 rated output power 4 encoder 7 options 1 0kW Increamental Without option wire saving encoder 2500P R 17 bit absolute encoder 131072P R With oil seal 3 With holding brake DC24V 5 design revision order 4 With oil seal holding brake DC24V Design revision order 6 shaft end 3 power supply voltage Straight without key standard Em Straight with key ESTUN Servo motor Ratings and Specifications ___ S _ ette Nm 716 os Rated Current Rated Speed gt Increamantal wire saving 2500P R Encoder Insulation Class o o Ambient Tempe
7. 01H 0201 1 word 2 3 0 0 0 word 0 I q 2 E F 0DHYCR ADR 01H 03H 02H 01H 00H01H 08H xj OSH BX 2 FE8H LRC 8 RTU CRC RTU CRC Cyclical Redundancy Check CRC FFFFH 16 bit CRC bit0 16 bit CRC LSB CRC 68 CRC LSB tO M CRC 1 CRC A001H XOR 8 CRC CRC CRC CRC CRC
8. Point position 0230767 0 No need Pn663 Point position once filtering 0 32767 0 No need Pn679 Stopping time 0 300 Name and description ter NEN NENNEN Hex Pn681 0 One time recycle reset referring point selection Pn68 Pn681 1 Change step and reset mode 0 x0333 0x0000 No need Pn681 2 Change step input signal mode Pn681 3 Reserved a Rpm 0 1 m No need 0 15 0 No need 0 15 No need Rpm 0 3000 No need Rpm 0 3000 No need Teaching postion pulse iP 9999 0 No need p Pn700 0 MODBUS communication baud rate Pn700 1 MODBUS communication 0 0x0182 0x0151 Need protocols Pn700 2 Communication protocols selection Pn700 3 Reserved 701 MODBUS shaftaddress 154 i Illustration of parameter form Function selection switch Pn000 Pn006 Control mode stop mode other function selection Servo gain parameter and so 100 129 Position gain speed gain rigidity and so on on Position control relationship Pn200 Pn205 PG frequency division electronic gear and on Speed control relationship Pn300 Pn312 Speed instruction input soft reset and so pom ee Torque control relationship Pn400 Pn406 Torque limit and so on ome Parameter to control 500 520 Distribution of input output end functions input output ends Relevant paramete
9. illustration Communication inching speed Torque instruction gain forward rotation torque X inside limit Backward torque X inside limit Forward rotation outside torque limit Backward outside torque limit Plug braking torque limit Torque control speed limit Wave trap 1 frequency Wave trap 1 depth Wave trap 2 frequency Wave trap 2 depth Position offset Same speed offset Zero clamp speed Rotation inspection speed TGON Offset counter Power on again No need N effective Function and meaning control mode Bus inching s communication speed s value can be set to positive and negative T It means the needed analog input voltage s unit is 0 1 100 order to get to the rated torque Motor output torque limit value Motor output torque limit value Motor output torque limit value Motor output torque limit value P S T Motor output torque limit value T Torque control speed limit value 1 Setting wave trap might P S T Wave trap 1 frequency gt enlarge the mechanical vibration and response 5 Wave trap 1 depth delay under certain work PST condition
10. 2 Offset counter clear when both S off and also over travel except zero clamp Pn004 2 Instruction pulse mode 0 Symbol pulse 1 CW CCW 2 Corthogonal 1 frequency doubling 3 A B rthogonal 2 frequency doubling 4 A B Corthogonal 4 frequency doubling Pn004 3 Pulse negation 0 PULS instruction no negation SIGN instruction no negation 1 PULS instruction no negation SIGN instruction negation 2 PULS instruction negation SIGN instruction no negation 3 PULS instruction negation SIGN instruction negation Pn005 0 Torque feedforward mode 0 Outside analog Tref feed forward invalid use regular torque feed forward 1 Outside analog Tref feed forward valid use high speed torque feed forward Outside analog Tref feedforward invalid use high speed torque feedforward Outside analog Tref feedforward valid use regular illustration The effective control mode Function and meaning torque feedforward Pn005 1 Control mode 0 Speed control analog instruction PCON OFF PI control ON P control 1 Position control pulse train instruction PCON OFF PI control ON P control 2 Torque control analog instruction PCON invalid 3 Speed control node instruction Speed control zero instruction PCON OFF motor forward rotate ON motor backward rotate PCL NCL OFF motor stop 4 Speed control node instruction Speed control an
11. AC Servo Drive PRONET User Manual SERVODRIVE PRONET 154E www estun servo com Product Line up EMJ 3000min EMG 2000min EML 1000min EMB 1500min 200W 400W 750W 1000W 1 0kW 1 5kW 2 0kW 3 0kW 5 0kW 1 0kW 2 0kW 3 0kW 4 0kW 7 5kW 11kW 15kW EMJ 02APA EMJ 04APA EMJ 08APA EMJ 10APA EMG 10AL1A EMG 15AL1A EMG 20AL1A EMG 30ALJA EMG 50ALJA EML 10ALJA EML 20ALJA EML 40ALJA EMB 75DLJA EMB 1ADLIA EMB 1EDLIA Servo drive 200V 400V PRONET 10ALJA PRONET 15ALJA PRONET 20ALJA PRONET 30ALJA PRONET 50ALJA PRONET 75DLIA PRONET 1ADLJA PRONET 1EDLJA ESTUN Servo Motor EMY sones Fetures Medium inertia Instantaneous peak torque 300 of rated torque Wide selection 200W to 1000W holding brake options Maximum speed 4500r min Mounted 2500P R incremental encoder Optional mounted 17 bit absolute encoder B Application Examples Chip mounters PCB drilling stations Robots Material handling machines Food processing equipment Textile machines B Model Designations EFJ 08 P A 1 1 ESTUN servo motor 1 2 41 5 61 71 EMJ series 1 2 Rated output power 4 Encoder Options wire saving encoder 1 Without options 2500P R 17digit absolute 2 With oil seal With holding brake DC24V 5 Design revis
12. braking motion servo off at the same time Now the machine moves a little sometimes caused by gravity Braking waiting No because of the machine s constitution and characters of braking speed need Now the movement can be eliminated by using user constant relay servo off motion The parameter can only be valid when the motor is stop or at low speed Braking waiting speed BK signal is output when the speed of motor after servo off is dropped below the set value of the parameter Braking waiting No OT Braking waiting time Wine iced BK signal is output when the delay after servo off surpass the set value of the parameter The BK signal can be output either the barking waiting speed or the braking waiting time is met Pn509 0 corresponding to ICN 14 509 1 corresponding to ICN 15 Pn509 2 corresponding to ICN 16 ends Pn509 3 Corresponding to ICN 17 eo Need 510 0 corresponding to ICN 39 Pn510 1 corresponding to ICN 40 Pn510 2 corresponding to ICN 41 Pn510 3 corresponding to 42 Every data s corresponding signal as following Match the ends Need to signals Need S ON P CON P OT N OT ALMRST CLR P CL N CL G SEL PWN C 2 5 11 Pn512 Pn513 Pn514 Pn515 Pn516 Name and illustration Match the output signals to signals Bus control input node low bit enable Bus control input node high bit enable input end filtering In
13. ESTUN Servo drive Ratings and specifications _Servo Drives Model 154 _ wo 1 Applicable Applicable Applicable Applicable Continous output current 40 120 28 0 28 0 38 0 A r m S 3 phase 200 230VAC 10 15 50 60Hz 3 phase380 440VAC 10 15 50 60Hz Single phase 380 440 10 15 Single phase 200 230VAC 10 15 50 60Hz 50 60Hz Bw ow 25 35 45 75 29 IGBT control SVPWM control Increamental wire saving encoder 2500P R feedback Ambient temperature 0 to 55 C storage temperature 20 to 85 C Operating 90 RH or less no condensation Conditions Speed control range 1 5000 Load Regulation Voltage Regulation temperature 054 25 0 1 max at rated speed Regulation Reference 10VDC at rated torque variable setting range 1 to 10VDC voltage Max input voltage 12V Torque Analog input About 47K control impendance Circuit time constant Input power supply 0 100 load 0 01 max at rated speed Performance Speed Rated voltage 4 109 0 at rated speed Regulation Reference DC 10V rated speed variable setting range 1 to 10VDC voltage Max input voltage 12V Analog input kriput About 47K Q impendance Speed constant Rotation control Direction Switches the direction by P CON Selection Speed Speed 1 to 3 selection Selection A SEL 0 105 be set individually for acc
14. requenc ET E 2 2 wave trap 15 invalid e Xe P when the frequency of wave tr L trap is set to 5000 signal is output if the offset counter value 15 less than it 9 same speed signal VCMP 15 output if the differ between speed instruction value and speed feedback value 15 lees than the set value of the parameter The motor is locked by the temporary position loop mode when the speed corresponding to input analog 15 lees than the set value of the DH parameter The motor is considered to be rotated steady and TGON signal 15 output when the speed of motor surpass the set value of the parameter It is considered that offset counter alarm occur and alarm signal 15 Name and effective Function and meaning illustration control again mode overflow alarm need output when the value of offset counter 15 larger than the set value of the parameter These parameter are only valid when there is BK output set by end output parameter waiting time aed These parameters is used to keep braking prevent from gravity glissade or continuous outside force on motor time sequence Servo on waiting time BK signal is output at first when servo on is input then motor Basic waiting No stimulant signal is created after the parameter setting time is course need delayed The basic waiting course The standard is BK output
15. signal i mipul T ue eis bongs sega T amm ortu conim 1 pe cori apad cantral representa that thas La a apina TER PR TES E un METER TR power suppk signal fiat ihre haa power al diea P amp T SERE DO EE EG 2583 gels 1 ti AY 1 6 software edition 090 It represents drive s 10 pk If the number is D201H it means the software edition is 62511 1 417 T BIT PARAMETER LIST Parame Name and description Unit Range Default ter Binary 000 0 parameter servo Pn000 1 Forward rotation prohibited input P OT pogo Jee 0 1111 Need 000 2 Forward rotation prohibited input N OT Pn000 3 instant power off output servo alarm output ALM Binary Pn001 0 CCW CW selection 001 1 analog speed limited enable 001 0 1111 Pn001 2 analog torque limited enable Pn001 3 the second electronic gear enable Binary Pn002 0 switch method of electronic ge
16. 1 Reserved Pn002 2 Reserved Pn002 3 Reserved Pn003 0 Code panel error code alarm enable 0 A 30 A 33 Alarm invalid 1 A 30 A 33 Alarm valid Pn003 1 C pulse protection 0 No C pulse protection 1 with C pulse protection Pn003 2 Low speed compensation 0 No low speed verifying illustration The effective control mode Pn004 0 ALL 004 1 004 2 004 3 005 0 5 005 1 ALL Pn005 2 Function and meaning 1 With low speed verifying to prevent motor crawling but the intensity of motor low speed verifying has to be determined by value of Pn129 sometimes Pn003 3 overload enhancement 0 No overload enhancement function 1 With overload enhancement function In some frequent start stop applications the function can enhance the overload which surpass 2 times rated overload in instantaneous time Pn004 0 Stop mode 0 Cancel braking after DB braking and running stop 1 Stop freely 21 DB when servo off DB when servo off plug braking stop servo off when over travel 3 Stop freely when servo off plug braking stop servo off when over travel 41 DB when servo off zero clamp after plug braking stop when over travel 5 Freely stop when servo off zero clamp after plug braking stop when over travel Pn004 1 Offset counter clear mode 0 Offset counter clear when S off does not clear when over travel 1 Offset counter does not clear
17. 10K XD 485 30 rr 40 TREF 26 DGND 59 a TREF gt CANH 70 80 AGND _ 28 20 Paos _ PPI 34 2K0 3 E E PULS 1500 22 PBO PGS Ait per et A uo t mamaq PULS PBO TI AM26LS32A 2 9 24 PCO f Feud DGND 5 504 DGND_ x x DICOM 1 13 7 TGON SON SON 14 2 TGON V CMP ON COIN ON PECON 15 Lc uem 9 SRDY REK ERN TGON ON E EK E i 7 D ALM RST 7 ON E a z 40 Kp rane BK ON peL IRY uc N CL
18. 2 1 No need No need No need No need No need No need No need No need No need No need need 150 100 00 00 00 00 00 3 00 00 100 100 00 1 1 Name and description Default ter Pn500 Discrepancy of positioning 0 5000 Pn501 Discrepancy of speed 0 100 Pn502 Zero clamp speed 0 3000 Pn503 Rotation inspection speed 0 3000 Pn504 Offset counter overflow alarm 256Puls 132767 1024 Pn506 Basal waiting process 0 500 01 No need Pn507 Braking waiting speed 10 100 Pn508 Braking waiting time 10 100 Match input end t d of signal h Pigeon te ee ee 0 Oxbbbb 0x3210 Need 4 bit Match input end t d of signal h 1 Pn511 Output signal distribute 0 0 0444 0 0210 512 Bus control input node low bit enable r 0 1111 0 No need Pn513 Bus control input node high bit enable 0 1111 0 Noneed Pn514 Input end filtering 0 1000 515 Pn516 Select contrary of input end signal o 0 1111 0 need Pn517 Select the contrary of input end signal 0 1111 0 Noneed Pn600 Point position control position pulse 10000P 9999 9999 0 Noneed Pn601 Point position control position pulse 999 999 o Noneed Pn631 Point position control position pulse 999 999 0 Noneed Pn632 Point position speed control 0 6000 Pn647 Point position speed control 0 6000
19. Alarm Displays Alarm display on Alarm Alarm Name Meaning digital output operator Checksum results of parameters are A 0l X Parameter breakdown F abnormal relevant electrical circuit A D breakdown Continuous running which surpass Overloaded rated torque Position error counter Inslde counter overflow overflow A 06 x position error pulse Position error pulse has exceeded the overflow value set in parameter Pn 036 The setting of electrical gear Electrical gear setting is not reasonable and setting of given pulse pulse frequency 15 too high frequency are not reasonable Something wrons with the MEM E Something wrong with inside chip of the first tunnel of electric first tunnel current Something wrong with the Something wrong with inside chip of the second tunnel of electric second tunnel current Encoder PA PB or PC At least one of PA PB or PC is A 10 X disconnected disconnected Encoder PU PV or PW At least one of PU PV PW 15 A 11 X disconnected disconnected An overcurrent flowed through the IPM A 12 X Overcurrent module Voltage supply for the main motor circuit exceeds rating A 14 x Undervoltage Voltage supply for the main motor circuit is too low Bleeder resistor damaged Bleeder resistor damaged Power lines One phase is not connected in A 20 X Open phase The main power supply x instantaneous power off There are more t
20. NM a s _ NN _ s w NN MEIN 5 BAT T ZEN HE BE N ESTUN Servo drive PRONET senes Features series servo drive added function of current forward feedback control acceleration forward feedback control speed viewer and inertia viewer which in turn enable our PRONET series servo drive to improve response performance more than three times than previous products What is more it is available to on line real time workload inertia check and adjustment of gain at any time to achieve the best control effect Added switching control mode function which could effectively reduce overshoot and adjustingtime by setting reasonable switch conditions PRONET series servo drive is able to match 17 digit serial encode which in turn enhanced position precision and low speed stability amp response performance PRONET series servo drive designed expansion module interface At represent Profibus DP bus communication module is available Model Designation PRONET 10 A M ESTUN Servo drive 1 2 31 4 5 1 2 rated output power 3 power supply voltage 5 design revision order 08 __ 750W 200VAC 1 0kW D 400 1 5kW 2 0kW 4 1 control mode 3 0kW 50 5 0kW Used controlling speed mai and position 1A 11kW Used for controlling speed torque and position support option unit
21. ODH carriage return and OAH new line mean the end of communication RTU mode The silent period of 4 bits communication time exceeding present communication speed means communication end Example The following C language create CRC value the function need two parameters unsigned char data unsigned char length The function will return unsigned integer mode s CRC value unsigned int crc chk unsigned char data unsigned char length int 1 1 unsigned int crc reg oxFFFF While length crc reg data for j 0 j 8 y 1 If crc reg amp 0x01 1 crc reg crc reg gt gt 1 70 001 crc reg crc reg gt gt return crc reg Communication fault disposal While communication faults may occur Normal faults as follows gt While read write parameter datum address wrong gt While write parameter the datum exceeds the maximum value of this parameter or is less than the minimum value of this parameter Communication is disturbed datum transmission fault or verifying code fault When above mentioned communication faults occur servo drive running won t be affected Meanwhile servo drive will feed back a faulty frame The faulty frame form as follows Host controller datum frame Servo drive Instruction Datum address Verifying Address data mam Servo rive Response Fault code Verifying address code Fault frame response
22. ______________ Readonly _ wm __ wm Ry us present location high bits Unit 10000 instruction Read only pulse 0811 Deviation pulse counter low 16 bits 71 Read only 0812 Deviation pulse counter high 16 bits 221 Read only 0813 setting pulse counter low bits Unit 1 instruction pulse Read only ou Setting pulse counter high bits Unit 10000 instruction Read only pulse 0816 Motor overload percentage Modbus communication IO signal Power off without save Read and Read only 0900 0902 Relevant phase value writable Read only Read only Read only digit digit Clear former alarms 01 Clear Read and writable 35 Clear current alarms 01 Clear Read and writable 01 Enable Read and 1023 JOG servo on 00 No enable writable 01 Forward rotation Read and 1024 JOG forward rotate 00 Stop writable 01 Backward rotation Read and 1025 JOG backward rotate 00 Stop writable 1026 JOG forward rotate at node 01 Forward rotation position start signal has been set 00 Stop 1027 JOG backward rotate at node 01 Backward rotation position start signal has been set 00 Stop 1028 Ol Pause Pause at node position 00 Cancel pause Instruction 1 parameter area communication address 0000 00DE 1 It is relevant to parameters in the parameter list For instance parameter 000 is relevant to communication address 0000 p param
23. backward direction reference point s motor Pn68 switch speed hun speed If these two parameters are used combinedly their algebraic sum is the present position of teaching the two parameters algebraic sum will Teaching Pn687 be given to present position at the assistant function teaching Pn600 unit 10000P Pn601 unit Teaching Pn688 position pulse Pn700 0 MODBUS Communication baud rate 0 4800bps 1 9600bps 2 19200bps Pn700 1 communication protocols selection 0 7 2 Modbus ASCII 1 7 1 Modbus ASCII 217 1 CModbus ASCID 318 2 Modbus ASCII 700 Hex Need 418 1 Modbus ASCID 1518 1 CModbus ASCID 1618 2 Modbus RTU 718 1 Modbus RTU 1818 1 CModbus RTU Pn700 2 communication protocols selection 0 No protocols SCI communication 1 MODBUS SC communication Pn700 3 Reserved MODBUS axis ye Pn701 The axis address when MODBUS protocols communication address If the selected driver is BUS mode the pulse input and analog input are invalid This moment the e position pulse 2 ON motor is controlled by bus circular data If controlling motor speed is needed the control mode can be set to analog instruction speed control mode It equals that the bus data 1s used directly to indicate speed instruction now instead of using analog to match along with speed And now the other functions are the same with None bus control List of
24. is applied 485 network end point need to separately connect 1200 resistor If need to join more appliance a relay should be applied to expand Need to separately connect a 120 resistor If you want to connect with more appliance a relay must be need to expand connection units 3 CN3 of servo drive is always taken as input terminals and CN4 is always take as communication cable output terminals If still need to connect appendix station connect cable from this terminal to the next appliance if needn t add balance resistor in this terminal connect more than one sets pronets servo drive it is prohibited to directly connect CN3 of servo drives For example RS 485 network is composed of a pcs of PLC A B C three sets of Pronets Cable wirring is as follows PLC gt and of A servo drive gt gt CN3 and CN4 of B servo drive and of servo drive 120 terminal resistor MODBUS communication relative parameters If need Which Paramet Name and to control MOON Function and introduction ers No discription 15 available Pn700 0 MODBUS communication baud rate 0 4800bps 1 9600bps 2 19200bps Pn700 1 communication protocol selection 0 7 2 Modbus ASCID 1 7 1 Modbus ASCID 2 7 1 Modbus ASCID Pn700 16 bit datum 3 8 2 Modbus ASCID 4 8 1 Modbus ASCID 5 8 1 Modbus ASCID 6 8 2 Modbus RTU 7 8 1 Modbus RTU 8 8 1 Modbus RT
25. limit 1 Tref Tref input corresponding value act as torque limit Pn001 3 The second electric gear enable 0 There is no the second electric gear PCON signal acting as P PI switch 1 The second electric gear effective PCON signal can only act as the second electric gear when Pn005 3 1 Pn002 0 Switch mode of electric gear Pn002 Binary ALL 0 Corresponding time sequence effective Function and meaning illustration control Pn203 201 ELT A yo n 1 PCON fuf TI E Wn Eder de 32 we eli PCON tl t2 gt Ims 1 Corresponding time sequence Pn203 Pn201 2 201 1 1 PCON PCON H kal tl t2 gt 1ms set to the time sequence 0 and 1 both available fault time sequence Pn203 Pn201 2 Pn201 HT EZ PCONA 1 PCON PCON He kon t2 tl t2 gt 1ms Pn002
26. of motor current detection offset manual adjustment 3 Press ENTER key to enter into motor current detection offset manual adjustment 4 Press MODE key to switch U phase Cul and V phase Cu2 current detection offset adjustment mode lo jo 5 Hold ENTER key for a second current phase current detection data will be displayed gt 6 Press INC key or DEC key to adjust offset GOGG Es 7 Hold ENTER key for a second to return display of step 3 or step 4 8 Press ENTER again to go back to function number display This ends operation of motor current detection offset manual adjustment Note motor current detection offset manual adjustment range 102 102 Checking Software Version Use the following procedure to check the software version l Press MODE key and select assistant function mode 2 Press INC key or DEC to select the function number for servo software version 3 Press ENTER to display software version D E F is displayed at highest position di 4 Press Mode key to display FPGA CPLD software version P is displayed at the highest position 5 Repress Mode key and switch back to display the DSP software version 6 Press ENTER key to return to display the function number Teaching position Following procedure 15 for teaching position
27. use Redundancy Check checksum The process of CRC checksum calculation is as following The first step Load in a 16 bit register of FFFFH named register The second step Run XOR calculation between the first bit bit 0 of instruction information and 16 bit CRC register s Low bit LSB save back the result to CRC register The third step Check the lowest bit LSB of register if it 15 0 register right move a bit if it is 1 CRC register right move a bit then run calculation with A001H The fourth step turn back to the third step know that the third step has been operated for 8 times then go to the fifth step The fifth step repeat the second step to the fourth step to the next bit of instruction information know all the bits haven been operated the same way then comment of CRC register is CRC checksum Illustration after calculate out the CRC checksum in the instruction information the CRC low bit should be filled first and then fill the high bit of CRC please check the following example Read 2 word from the 0101H address of 01H servo The final CRC register comment calculated from ADR to the last bit of information 15 3794H then the instruction information 15 as following please note that 94H 15 transmitted before 37H 01H AE word Endl End0 Communication check is done ASCII mode
28. ETZ iJ 485 30 IDGND 40 IDGND 59 485 60 E FER 51 10 FE 34 PULS 22 PBO PULS _ us Wege A A PULS p PRO 24 SIGN leco _ CCW SIGN 50 DGND B gt BEND DICOM 7 TGON _ no unir peon 9 S RDY pori il K gt m 10 IE Se ALM RST s Exp eue HERRAT ac PcL la N 5 ALM 9269 EL ALM RUM L l aaa __ _ E 1 PC TI AM26LS32A V CMP
29. P 1 1 ESTUN servo motor 1 21 41 5 6 71 EMB series 1 2 rated output power 4 encoder 7 option 7 5kW Increamental wire saving encoder 2500P R 17 bit absolute encoder 131072P R 1 2 With oil seal Without option 3 With holding brake DC24V 5 design revision order 4 With oil seal holding brake DC24V D A400VAC 6 shaft end 3 power supplu voltage Straight without standard Straight with key and tap ESTUN Servo motor Ratings and specifications m mS m 0 400010 om Rated torque Rated Current Rated Speed Roormomenoimena S Encoder e Torque Motor Speed Characteristics A Continuous Duty Zone llIntermittent Duty Zone EMB 1AD EMB 1ED Motor Speed Motor Speed min Motor Speed min 0 0 0 50 100 150 200 0 50 100 150 200 Torque N m Torque N m Torque N m ESTUN Servo motor Dimention mm Cross Sectlon Y Y Shaft End With Key and Tap j Motor receptacle specification receptical MS3102A32 17P connector MS3108B32 17S cable clamp MS3057 12A receptacle specification Receptacle MS3102A20 29P Connector MS3108B20 29S Cable clamp MS3057 12A Increamental wire saving encoder 17 bit absolute HE Blue b lack yellow
30. STX communication start ASCII mode character RTU mode Sleep interval no pulse of transmission time which equals to four bytes at present transmission speed Cautomatively changed according to different communication speed ADR communication address Acceptable communication addresses range from to 254 For example communicate with the servo drive which address is 32 Chex as 20 ASCII mode ADR 2 0 gt 2 32H 0 30H RTU mode ADR 20H CMD Corder instruction and DATA datum Datum structure is formed by order code Regular order code as follows Order code 034 read N words N is not more than 20 For instance read 2 words from address 0200 from servo addressed at 01 p ASCII mode Order information sen O p CDCR CATT RTU mode Order information ADR CMD 02H 00H CRC C5H CRC B3H Order code 06 write in one character word For instance write 100 0064p in address 0200 of servo addressed 01 p ASCII mode Instruction information Response information _byte 0200H LRC CAH Response information a PIRE LO word
31. Speed instruction curve mode Selection of S shape Power on again Need 2 Need Need The effective control mode S S S S S Function and meaning 0 Once filtering 1 Twice filtering The corresponding speed to Each voltage s analog Inside speed the parameter 15 valid as the control mode 15 3 6 Name of State of Actual Inside speed Zero speed or switch to other control modes ie Inside speed 1 NCL OFF ON Inside speed 2 ON PCON OFF forward rotation ON backward rotation The parameter can be set to positive value and negative value When control mode 15 set to D it determines the speed of motor The speed of JOG running direction is decided by the keys Inside speed 3 The time to 1000rpm acceleration of trapezoid acceleration Unit ms The time to 1000rpm deceleration of trapezoid acceleration Unit ms Once filtering time constant unit ms The time from one speed spot to another by S curve transferring 0 Incline 1 S curve 2 Once filtering 3 Twice filtering It determines the transfer mode of S curve 312 Pn400 401 402 Pn403 Pn404 Pn405 Pn406 Pn407 Pn408 Pn409 Pn410 il Pn500 Pn501 Pn502 Pn503 Pn504 Name and
32. Speed reference input 10V Pulse input form signal d pulse string CCW CW pulse two phase pulse 90 phase differential Col lector open circuit reference power source Separately preset 2KQ 0 5W resistor inside of the drive CLR Position error pulse clearing clear position error pulse during position T control T Torque Torque reference input 10V T REF 2 Wirings and Connections Name and function of output signal Control mode Signal Pinno Function Speed Servo alarm Position AW 6 Turn off when check abnormal status Torque Motor rotation detect 8 Turn on when motor rotation is over the setting value S RDY 9 Servo ready S RDY Turnon if there is no alarmwhen control circuit andmain circuit are powered A phase signal Two phase A phase B phase PG frequency dividing output B phase signal C phase signal Zero point pulse phase signal If the shield of connector cable CN1 is connected with the metal shell it FG Metal shell Is connected with shell ground CUM Consistent speed Speed Turn on when the speed of motor is in the same condition with reference speed COIN Position COIN Position complete When after position complete deviation pulse reach to the setting value CLT Maintain functions could al located to TGON S RDY COIN signal pins by amending parameter setting CLT T
33. U Pn700 2 communication protocol selection 0 no protocol SCI communicate 1 MODBUS SCI communicate Pn700 3 maintain Aix address of MODBUS protocol Pn701 Aix address Yes ALL HUE communication MODBUS communication Only when Pn213 is set as 1 2 communication be put into operation with MODBUS protocol There are two modes for MODBUS communication They are ASCII C American Standard Code for information interchange mode orRTU Remote Terminal Unit mode The brief introduction as follows Code Meaning ASCII mode Every 8 bit datum is consisted by two ASCII characters For instance One 1 byte datum 64 p Hex expression is expressed as ASCII code 64 It contains 6 as ASCII code 364 and 4 as ASCII code 344 ASCII code for Number 0 to 9 character A to are as follows Relevant ASCII code Relevant RTU mode Every 8 bit datum is consisted two 4 bit hex datum That is to say a normal hex number For instance algorism 100 can be expressed into 1 byteRTU datum as 64 Datum structure 10bit character form apply in 7 bit datum ae d 1 4
34. aft End With Key and Tap 2s 210 134 165 no m ss 4 12 15 sss 228 79 2 200 sm 200 79 32116 180 200 mca ma 33 248 79 2 eo 200 43 Motor receptacle specification receptacle MS3102A20 4P EML 10A MS3102A22 22P EML 20A 30A 40A uim connector MS3108B20 4S EML 10A 53108 22 225 EML 20A 30A 40A cable clamp 53057 12 ka Encoder receptacle specification receptacle MS3102A20 29P connector 53108820 295 cable clamp 53057 12 Increamental wire saving encoder 17 bit absolute x code x S B green Blue black D B yel lon BAT Yellov black T BAT w 9 Fe shield B EM R EN Servo motor Features Power supply voltage 400V Driving of feed shafts for various Wide Selection 1 0kW to 5 0kW holding brake options Mounted 2500P R incremental encoder Optional mounted 17 bit serial encoder Protective Structure IP65 Application Examples Machine tools Material handling machines Food processing equipment Textile machines Model Designation EMB 1E D
35. alog instruction PCON OFF Motor forward rotate ON motor backward rotate PCL NCL OFF switch to speed control analog instruction 5 Speed control node instruction Position control pulse train instruction PCON OFF motor forward rotate ON Motor backward rotate PCL NCL OFF switch to position control pulse train instruction 6 Speed control node instruction Torque control analog instruction PCON OFF motor forward rotate ON motor backward rotate PCL NCL OFF switch to torque control analog instruction 7 Position control pulse train instruction lt Speed control analog instruction PCON OFF position control pulse train instruction ON speed control analog instruction 8 position control pulse train instruction Torque control analog instruction PCON OFF position control pulse train instruction ON Torque control analog instruction 9 Torque control analog instruction Speed control analog instruction PCON OFF Torque control analog instruction effective on Function and meaning control Power Name and illustration again mode ON Speed control analog instruction A Speed control analog instruction zero clamp control PCON OFF speed control analog instruction ON zero clamp control B position control pulse train instruction lt position control pulse prohibited PCON OFF position control pulse train instr
36. ar Pn002 0 0011 0010 Need Pn002 1 reserve Pn002 2 reserve Pn002 3 reserve Need 0 1111 Need Binary Pn003 0 code wheel fault code alarm enale Pn003 Pn003 1 C pulse protection Pn003 2 low speed compensation Pn003 3 overload increase 0 0 3425 9 Need Hex Pn004 0 Stop way 004 Pn004 1 offset counter clear mode Pn004 2 instruction pulse form Pn004 3 reverse pulse 1Hex Pn005 0 torque forward feedback form Pn005 1 Control method 0 Speed control analog instruction Pn005 1 Positioning control pulse train instruction 2 Torque control analog instruction 3 Speed control node instruction 0 0 3343 Need 006 100 Name and description Speed control zero instruction 4 Speed control node instruction lt peed control analog instruction 5 Speed control node instruction lt gt Positioning control pulse train instruction 6 Speed control node instruction lt gt Torque control analog instruction 7 Positioning control pulse train instruction lt Speed control analog instruction 8 Positioning control pulse train instruction gt control analog instruction 9 Torque control analog instruction Speed control analog instruction A Speed control analog instruction lt Zero clamp control B positioning control pulse train instruction Positioning cont
37. ated details please reference to parameter detail explanation Pn509 Pn510 and Pn511 Encoder signal connection Encoder connector CN2 terminal array m imap w w PG power source 5V GND NO O Communication signal connection Communication connector CN3 terminal array Terminal Function 5VDC power source 3 RS 485 communication terminal 4 DGND Grounding 5 DGND Function PG input U phase PG input U phase PG input V phase PG input V phase PG input W phase PG input W phase Battery absolute encoder Battery absolute encoder PG power source 6 485 RS 485 communication terminal CANH CAN communication terminal 8 CANL CAN communication terminal Communication connector terminal array Terminal Function 1 DEBERE maintain 2 Pp maintain 3 5 485 communication terminal grounding 6 RS 485 communication terminal 7 CAN communication terminal 8 CAN communication terminal Wirings and Gonnections Connection diagrams Three phase 200V power supply specification R S T 200 230 12 50 60Hz MEE OFF ON 1Ry T 3 1KM OL1 PRON
38. ce more to display monitor number 5 Above is the procedure for display 1500 in monitor number Un001 Monitor Mode Displays Below is the monitor mode dispalys Monitor content No Un000 Actual motor speed Units r min Un001 Input speed reference Units r min Input torque reference Units with respect Un002 to rated torque internal status bit Un004 Un005 Encoder signal monitor Un008 Speed given by pulse when gear ratio is 1 1 Un009 Pulse count of motor rotated Un010 Pulse rate of motor rotated n 2104 Un011 Error pulse counter lower 16 digit Un012 Error pulse counter higher 16 digit Un013 Received pulse counter lower digit Un014 Received pulse counter high digit x10 Un015 Load inertia percentage Bit data display Monitor BENE 0 IN mu EJ 6 Monitor No O 6 Content ICN 05 ICN 06 Monitor ICN 07 ICN 08 Operation in Assistant function mode If it is in the assistant function mode some operations could be select in digital operator The detailed functions are shown as below Function No Content mnooo Display historical alarm data Turn to default value m9 OGmi Set speed reference offset Fn003 automatically Fn004 Set speed reference manually automatically adjustment of offset Fn005 detected by motor current Manually adjustment of offset Fn006 detected by motor cu
39. code order 80h Fault code 00h communication in gear 0lh servo drive can not identify the required functions 02h The required address does not exist in the servo drive 03h The required datum in the servo is not workable Beyond maximum or minimum value of the parameter 04 Servo drive starts to execute the requirement but cannot achieve it For instance servo drive addressed at 03h write in 06h into parameter Pn002 the written data are not valid because the range of Pn002 15 from 0 1 the driver will feedback a fault frame the fault code is 03H beyond the maximal and minimal value here following the structure Host controller datum frame Start Servo driver Instruction Datum address Verifying address data Start Servo driver Response Fault code Verifying address code Besides if the datum from host controller indicated servo drives address as 00 h it represents this datum is broadcasting datum servo dries will return any frames Servo state data communication address Communication data address Meaning Illustration Operation Hex Parameter area Corresponding parameter to Read write 0000 02FD f parameter list 0721 07 Alarm information memory area Read only wc Redody _ wm uma em eno Monttor data corresponding with Read only 0806 0814 displayed data uw Eeermmin emm __
40. ction search reference point 1 once run PCL start signal NCL forward direction search reference point 2 recycle run NCL start signal PCL forward direction search reference point 3 once run NCL start signal PCL forward direction search reference point Pn681 1 change step and start mode 0 Change step delay no need of start signal start delay after S ON 1 PCON change step no need of start signal PCON start delay after S ON but inside pulse can not stop when PCON off 2 Change step delay need start signal canceling start signal can immediately shut down inside pulse turn back to programme start point process step when reset 3 Change PCON step need start signal canceling start signal can immediately shut down inside pulse turn back to programme start point process step when reset Pn681 2 Change step input signal valid mode 0 Change step input signal electrical level mode 1 Change step input signal pulse mode Pn681 3 Reserved 0 Increase programming 1 Absolute programming Select the start point of point position control rogrammin I T poss 8 Select the stop point of point position control stop step need Name and effective 0 Function and meaning illustration control again mode Search travel Search the travel switch forward direction reference s motor Pn685 speed leave travel Search the travel switch
41. displays m ANNI Base block Not lit at servo ON Lit if the error between motor speed and the reference Speed Coincidence speed 15 below preset value Preset value Pn501 default valuelOmin r Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value set in Pn503 default value 20r min Lit if input speed reference exceeds preset value Speed Reference Input Not lit if input speed reference is below preset value Preset value set in Pn503 default value 20r min Lit if input torque reference exceeds preset value Torque Reference Input Not lit if input torque reference is below preset value Preset value 10 rated torque Lit when main power supply circuit 15 normal Power Ready Not lit when power is OFF or main power supply circuit 1s faulty Code displays g Base block Servo OFF motor power OFF Run Servo ON motor power ON Forward Rotation Prohibited P OT P OT OFFstatus Reverse Rotation Prohibited N OT N OT OFF status Alarm Status JL A Displays the alarm number For position control Bit data Code Positioning Complete Base block TGON Control power ON P wer ready Reference pulse input Error Counter Clear Input Bit data dispaly Not lit at servo ON Lit if error between position reference and actual motor Position position 15 below preset value Preset value Pn501 standard setting 10 pulse Lit if motor sp
42. e tor 22 Normally short 1 2 If countermeasure against power supply harmonic l l l harmonic waves is needed connect an suppression DC reactor between 1 82 terminal Main circuit minus Normal not connected terminal Wirings and Connections input and output signal connection Name and function of input signal Position Choose this signal function through setting parameter Torque Proportion If switch speed circuit control mode control to IP switch control Rotation Use this signal for switching rotation direction when want direction P CON 15 switch to use the function internal set speed selection Control mode Switch control mode switch Speed control if ON command speed value is 0 Command pulse Position control stop command pulse input prohibit 0 Forward drive N OT 16 prohibit Over travel prohibit when ON stop the servo motor s 17 Reverse drive rotation prohibit PCL 41 Choose this signal function through setting parameter NCL 42 Forward current limit Current limit function is available if on Reverse current limit Speed inside Choose different setting speed inside selection ALM RST 39 Alarm reset release servo alarm status DICOM 13 1 0 signal power supply source should provide 24VDC by the client Speed VREF PULS 0 PULS 1 SIGN 2 SIGN Position
43. eed exceeds preset value TGON Not lit if motor speed is below preset value Preset value set in Pn50 standard setting 20r min Lit if reference pulse is input Reference pulse input Not lit if no reference pulse is input Lit when error counter clear signal is input Error Counter Clear Input Not lit when error counter clear signal is not input Lit when main power supply circuit is normal Main circuit Power Ready Not lit when power is OFF or main power supply circuit is faulty Code display Servo OFF motor power OFF Run Servo ON motor power Li ICN 12 P OT OFF Reverse Rotation Prohibited L 1 13 N OT OFF 00 Displays alarm number Press ENTER to release alarm if present status is alarm Operation in Parameter Setting Mode Select or adjust the functions by setting parameters The parameter list 15 in the appendix l Parameter changing procedures are described below he constant settings Cn 03 to Cn 23 allow setting of a constant Check the permitted range of the constant in Appendix List of Parameters before changing the data The example below shows how to change user setting 012 100 to 85 l Press MODE to select parameter setting mode 2 Press INC key DEC key to select parameter number Aoc 3 Press ENTER key to display parameter data in step 2 4 Press INC DEC to cha
44. eleration and deceleration Type Select one signtpulse CCW CW 90 phase difference 2 phase pulse A phase B phase Form Line driver Cabout 5V collector open Line drive signtpulse train CCW CW 4Mpps 90 phase difference 2 phase pulse 1Mpps Collector open 51 CCW CW 200kpps 90 phase difference 2 phase pulse 200kpps note Frequencies drop when the dutues have errors Set Speed Reference Reference ulse Positon frenquency control Setting position reference A phase B phase C phase line drive output Ens The number of dividing pulse Any setting ratio is available NM s Channels Channels Position Can set 16 position reference setting Sequence Signal allocations and positive negative logics can be modified 1 0 signal Input Function Servo ON 5 P control alarm reset ALM RST clear error pulse CLR forward run prohibited P OT reverse run prohibited N OT forward torque limit P CL reverse torque limit N CL Number of output Servo alarm Signal allocations and positive negative logics be modified Positioning completion COIN speed agree detection V CMP motor rotation detection TGON servo ready S RDY torque limit detection CLT brake interlock BK Dynamic Brake DB Functions Operates during main power OFF servo alarm servo OFF or overtravel Regenerative Processing Fiinc
45. eter 101 is relevant to communication address 0065 read write operation to address 0000 15 the read write operation to 000 If the input datum 15 out of the parameter range the datum shall be abnegated and servo drive will return an operation unsuccessful signal 2 Alarm information storage area 07F1 07FAHD Previous alarm Instruction Communication address Previous alarm record 1 last 07 1 Previous alarms record 1 9 07F2H 07F9H De Previous alarm record the longest time 07F3H 3 monitor data area 0806 0814 These monitor data are relevant to servo drive display panel Un000 Un014 For instance read address 0807 p speed setting through communication as 16 Therefore the speed setting 15 1258 4 modbus communication IO signal Use communication to control input number IO signal This datum won t be reserved after power off 5 drive state 0901 4 This 1 word represents the current state of the system Meaning of each bit as follows HIT 3 BITE BIT BITS BITS HIT HIT T wm Tros 9s xor 927 BIT7 posiian overshoot PROT avaiable Tapia sarda Timo ra year sure 1 ra rq D Da W m renmvesiling Sonal makris nal pn T waira T represents aban
46. h between servo ON and Servo OFF If motor running is required servo must be ON 6 Press INC or DEC motor runs when press the keys ie lt 6 b Moter forward rotation Motor reverse rotation is Press ENTER to return to function number display Servo is OFF I Reference Offset Automatic Adjustment The motor may rotate slowly when the reference voltage 15 intended to be 0 V This occurs when the host controller or external circuit has a small offset measured in mV in the reference voltage The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage It adjusts both speed and torque references The following diagram illustrates automatic adjustment of an offset the reference voltage from the host controller or external circuit Offset Reference voltage Automatically Adjusted in Servopack Reference voltage Offset Reference Speed or Reference Torque Reference Speed or Reference Torque After completion of offset automatic adjustment the amount of offset 15 stored in the Servodrive The amount of offset can be checked in the speed reference offset manual adjustment mode Refer to Reference Offset Manual Adjustment Mode for details The reference offset automatic adjustment mode cannot be used where a position loop 15 formed with the host controller and the error pulses are zeroed when servo lock is stopped In thi
47. han one power cycle s alarm power off Encoder UVW illegal code U V W all 1 or 0 Encoder UVW wrong code U V W code sequence is fault Encoder C pulse is not 32 X C pulse appears in wrong position correct No C pulse appear after one round of encoder mE Encoder disconnect encoder signal is Encoder communication 50 X disturbed encoder or encoder decode exceed time Stee electric circuit is damaged A 52 x Encoder absolute state is Encoder or encoder decode electric wrong circuit is damaged Encoder or encoder decode electric A 53 X Encoder count error circuit is damaged o The parity bit cut off point Encoder signal is disturbed or encoder decode electric circuit 15 damaged Encoder communication Encoder signal is disturbed or encoder verifying error decode electric circuit is damaged Encoder status field cut off Encoder signal 15 disturbed or encoder decode electric circuit is damaged detect No communication module or something communication e wrong with communication module Can not managed to connect CPU of communication does not work with communication module well drive receive There are something wrong with The 2 X from drive data receiving tunnel communication module communication module sending tunnel The communication module Something wrong with communication can not receive the drive s module respon
48. ignal lines are kept apart from power lines by at least 30 cm Twisted pair wire and multi core twisted pair shielding wires should be used for signal lines encoder PG feedback line The length for wiring is 3m maximum for the reference input line 20 m maximum for the PG feedback line Do not touch the power terminal even if power is turned off High voltage may still remain in Servo drive Perform inspection only after the CHARGE LED extinct Names and functions of main circuit terminals Main Servo unit Terminal circuit mode Function Symbo power voltage V Three phase 200 230VAC Main circuit power 50 60Hz Li L2 L3 supply Three phase 380 440VAC 50 60Hz U W Servo motor Connect with the servo motor connection terminals Control circuit 10 15 Single phase 200 230VAC power supply input terminals 50 60Hz 116 120 10 15 Single phase 380 440 50 60Hz Connects to the power supply ground D Ground terminal terminal and servo motor ground terminal Normal short B2 B3 for the inside regenerative resistor Remove the Outs i de wire between B2 and B3 and connect an B1 B2 B3 regenerative external regenerative resistor resistor between and B2 if the capacity of connect ion inside regenerative resistor is terminal insufficient Connect external regenerative B1 B2 400 resistor between B1 B2 1 2 w rec
49. int Pn647 position speed control JPOSO point Pn648 position once filtering JPOSO point No position control P position pulse JPOS15 point No Pn663 position once need The two parameters are used combinedly their algebraic sum is the position that JPOSO s point position need to reach How many rounds the real motor really rotate is relevant to the programming mode when point position control Pn602 unit 10000P Pn603 unit The two parameters are used combinedly their algebraic sum is the position that JPOSO s point position need to reach How many rounds the real motor really rotate is relevant to the programming mode when point position control Pn630 unit 10000P Pn631 unit 1P JPOS15 point position control speed rpm JPOSO Point position control s once filtering time it makes motor start stop More tender 2 Pn664 Pn679 Pn680 Pn681 Pn682 Pn68 5 QN Co illustration JPOSO point position stop time JPOS15 point position stop programming mode programming start step I effective control P Function and meaning JPOSO point position control s stop time unit 50ms JPOS15 point position control stop time unit 50ms Pn681 0 once recycle start reference point selection 0 recycle run PCL start signal NCL forward dire
50. ion order With oil seal and holding brake DC24V 3 1 Power supply voltage 200VAC 6 Shaft end Straight without key standard 2 Straight with key and tap ESTUN Servo motor Ratings and specifications Rated output power fw 40 70 100 Rated torque Instantaneous Peak 9 55 Torque Rated Current Instantaneous Arms Current Rated Speed mn 3000 Max Speed mas 4500 Increamental wire saving 2500P R Encoder 17 digit absolute 131072P R Insulation Class B Ambient Temperature 0 to 40 non freezing Ambient Humidity 20 to 80 RH non condensing enclosed self cooled 55 except shaft opening and connectors e Torque Motor Speed Characteristics Continuous Duty Zone Duty Zone EMJ 04A EMJ 08A Motor Speed min Motor Speed Motor Speed min Torque N m Torque N m Motor Speed 0 0 2 5 5 7 5 10 Torque N m ESTUN Servo motor Dimension mm Encoder connector Motor connector L LE 43 3 TT NT LF e f Cross Section Y Y Shaft End B With Key and Tap e O 1 5 i LW 4 oum ws s0 3 6 ow ior ise as 3 10 iw en 1 as s 7 Motor connector specification connector 172167 1 AMP pin 170360 1 AMP
51. ione 0 5kW to 5 0kW built in regenerative resistor 7 5kW to 15kW External regenerative resistor optional Built in Protective Functions Overcurrent overvoltage low voltage overload regeneration error overspeed etc Functions Utility Functions Alarm trace back JOG operation Inertia detections etc Display Functions CHARGE red POWER green 7 segment 5 digit LED Communications RS 485 communication port use MODBUS protocol CAN communication port use CANOpen protocol ESTUN Servo drive E Dimention mm Three phase 200V 0 5kW 1 OkW 1 5kW PRONET 08A 10A 15A _ LE a al nd 9n T Ded aS mL i Z i ij il s 2222 eer ewe FUTT ew EE Se Se 89 100 Three phase 200V 2 OkW 3 OkW 5 OkW PRONET 20A 30A 50A j LL TE T 125 ESTUN Servo drive Three phase 400V 7 5kW 11kW 15kW PRONET 75D 1AD 1ED 0000000000 0000000000 6 6648686088 800000009 g89 99 8006000880 10 4 5 7L I HHT ud I iu 20 5 145 186 Wirrings and connections Do not wire power lines and signal lines in the same duct or bundle them together Wire such that s
52. l Press MODE key and select assistant function mode 2 Press INC key or DEC to select the function number for servo software version 3 Press ENTER to display as follows EJEJRIE H 4 Press ENTER for a second then it will display as follows Elng 5 Teaching has been completed and release ENTER MODBUS Communication Functions RS 485 communication cable wiring PRONET series have MODBUS communication function with RS 485 interface which can modify parameters and monitor servo drive Definitions of servo drive communication interface are as follows interface definition Interface Function 1 Power supply 5VDC lt 485 RS 485 communication interface ground RS 485 communication interface CANH CAN communication interface communication interface CNA interface definition Interface No Function 1 maintain maintain 485 RS 485 communication interface ground RS 485 communication interface CANH CAN communication interface communication interface Inductions 1 The cable length is less than 100 meters when in a less disturbed environment However if transmission speed is above 9600Kbps it s strongly recommended that the cable length is less than 15 meters to ensure the accuracy of transmission 2 It s available for up to 31 PCS servo drives to work together when RS485
53. lable when checking the data of offset automatic adjustment The basic function is the same as analog reference offset automatic adjustment But must directly input offset while adjusting Offset can be set as speed reference or torque reference Offset Adjustment Range and Setting Units are as follows gt SEES E EE 1024 1024 Note When offset seting by automatic adjustment is over the range of adjusting reference offset manually 1024 1024 manually adjustment is not available The following 15 procedures of adjusting reference offset manually 1 Press MODE to select assistant function mode 2 Press INC or DEC to select reference offset manual adjustment function number 3 Press ENTER to enter mode manually adjust reference offset 4 Select ON signal S ON ON it displays as follows 5 Press ENTER key for a second to display speed reference offset 6 Press INC or DEC to adjust offset Press ENTER for a second to display the interface on step 4 8 Press ENTER again to go back to function display This ends procedure Motor Current Detection Offset Adjustment Current detection offset adjustment is performed at Estun before shipping Basically the customer need not perform this adjustment Perform this adjustment only if high
54. ly accurate adjustment is required when the Digital Operator 1s combined with a specific motor This section will describe the operation of automatic offset and manual offset Note Current detection offset manual adjustment could only be performed when the Servo 15 OFF Any accidentally activation of this function especially the manual adjustment deteriorated situations might occur If the torque pulse is obviously too high compared with other Servodrives Please adjust the offset automatically i Motor current detection offset automatic adjustment Follow the procedure below to perform current detection offset automatic adjustment 1 Press MODE key to select assistant function mode 2 Press INC key or DEC key to select function number of motor current detection offset automatic adjustment 3 Press ENTER to enter motor current detection offset automatic adjustment lo 4 Press MODE key and adjustment will be finished after it flashes for a second N N I 7 l N SN 5 Press ENTER to return function number display This ends operation of adjusting motor current detection offset automatic adjustment m Motor current detection offset manual adjustment Follow the procedure below to perform current detection offset manual adjustment l Press MODE key and select assistant function mode 2 Press INC key or DEC key to select function number
55. nge data to desired number 00085 Hold button to accelerate the change of value When the data reaches the max or Min the value will remain unchanged if press INC DEC 5 Press ENTER again to go back to parameter display In addtion press MODE and ENTER at the same time to enter parameter mode then modify parameter after that press both key to back off Operate displacement of parameter in step 3 and 4 Press ENTER for a long timeto ender edit condition then press MODE to save and quit or perss ENTER for a long timeto quit then press ENTER to back off parameter display Note If the left side of digital operator display b t will display parameter in binary system If display will display in Hexadecimal and this parametercan only be modified displacement editing condition or can not be modified 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 The monitor mode can be set during motor operation Using the Monitor Mode The example below shows how to display 1500 the contents of monitor number Un 001 1 Press MODE to select monitor mode URDU 8 18 2 Press INC key DEC key to select the monitor number to display N 3 Press ENTER to display data for the monitor number selected at step 2 4 Press ENTER on
56. oop integral time constant The second loop gain The second torque instruction filter constant Speed offset NO need NO NO c need The effective control Function and meaning deceleration be lower than 5000rpm s It should be set to user manual gain When leak of machine is too big to be suitable for auto adjustment during movement course it should be set to user manual gain When speed load are different too much to be suitable for auto adjustment during movement course it should be set to manual gain The value determines the response speed of servo system normally the rigid should be set larger but if it is too large it would suffer the Mechanical impaction It should be set smaller when vibration 1s big The value is valid only when auto adjustment time The value determines speed loop gain s value and load inertia percentage The right corresponding unit is HZ when Pn 106 15 set correctly Decreasing the value can shorten position time the speed response raising unit is 0 1 ms Setting torque filtering can remove or decrease the mechanical vibration but wrong setting will cause mechanical vibration sometimes 0 The percentage between load inertia and motor rotor inertia The unit is Setting value load inertia rotor inertia x100 These parameters meaning is same with Pn102 Pn105 These parameters are only need to set when two level gain switch mode is o
57. orque limit output Above setting value ON BK Breaker linkage output Release break when on 4 18 19 29 35 36 37 38 43 Unused pins Maintain 44 45 47 49 Wirings and Connections Input and output connector CN1 terminal array 1 VREF Torque reference input Speed reference input 10V Servo alarm Command pulse input Motor rotation detection Command pulse input la O AJOJN 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 NENNEN NENNEN s maintain 44 Position complete PAO PBO Encoder A Two phase phase signal pulse PG DGND C1 A frequency Encoder E dividing A phase signal DGND output signal Zero point O PCO phase signal pulse signal DGND reference power source maintain maintain maintain maintain Alarm release Clear position bias pulse Forward external torque limit Reverse external torque limit maintain maintain maintain Digital ground maintain Digital ground maintain Digital ground Note 1 The following input and output can be allocated or change the function by user parameters setting 1 C e Wirings Gonnections Input 5 0 0 N OT ALM RST CLR PCL NCL Output TGON S RDY COIN Rel
58. pen The value is to shorten the position time But if it 1s set too big or not corresponded well with Pnlll vibration occurs The relationship between the value and speed instruction offset counter is as following Name and effective Function and meaning illustration control again mode Pn112 Feed forward Feed forward Pn113 filtering Torque feed 114 orwar while the manual adjustment mode Torque feed Mechanical impaction caused by smooth torque feed forward 115 no need P S forward filtering Unit 0 1 ms 3 setting speed value 0 torque instruction percentage itch Pnll Need P 5 conditions 4 fixed PI T itch Pn117 ld Sue P S The torque threshold value unit from PI control to P control resho 15 used to set position feed forward value more higher position lead to faster response less position offset It would cause vibration and overswing when 1t 1s set too big The mechanical impaction caused by smooth position feed forward It would enlarge feed forward lag and cause vibration if it 1s set too big Unit 0 1ms it is used to set torque feed forward value in order to fasten the speed response Pls set load rotation inertia percentage correctly 1 offset counter value 2 setting acceleration value Offset t N 118 5a 7 The offset counter th
59. put end signal negate Power on again NO need NO need NO need Reserved _ No need The effective control mode Function and meaning 9 JDPOS JOG A JDPOS JOG B JDPOS HALT 511 0 corresponding tolcn 11 12 Pn511 1 corresponding tolcn 07 1CN 08 Pn511 2 corresponding tolcn 09 ICN 10 Every data s corresponding signal as following COIN VCMP TGON S RDY CLT BK Bus communication input ends enable 0 no enable 1 enable Pn512 091CN_ 14 Pn512 191CN_ 15 Pn512 291CN_ 16 Pn512 391CN_ 17 Pn513 091CN 39 Pn513 191CN_ 40 Pn513 291CN 41 Pn513 391CN 42 Input end filtering time too long set time will make the input end signal delay For user 0 No negate 1 Negate Pn516 091CN_ 14 Negate 516 1 gt 1 15 Negate 2 effective on illustration control again mode Output end No signal negate need Pn517 Function and meaning 516 2 gt 21 16 Negate 516 3 gt 1 17 Negate Pn517 0 1CN 39 Negate 517 1 gt 1 40 Negate Pn517 291CN_ 41 Negate Pn517 391CN_ 42 Negate JPOSO point Pn600 position control position pulse Pn601 515 point N Pn630 position control P need mode pulse JPOS15 point Pn631 position control mode pulse JPOSO point Pn632 position speed control JPOS15 po
60. r various Wide Selection 1 0kW to 5 0kW holding brake options Mounted 2500P R incremental encoder Optional mounted 17 bit serial encoder Protective Structure IP65 Application Examples Machine tools Material handling machines Food processing equipment Textile machines Model Designation EML 10 A P 1 1 ESTUN servo motor 1 2 41 5 61 71 EML series 1 2 rated output power 4 encoder 7 option Increamental With oil seal wire saving 2500P R 3 With holding brake S 17 bit absolute 131072P R DC24V 5 design revision order 4 With oil seal and holding brake DC24V 3 1 power supply voltage 200VAC 6 shaft end Straight without key standard 2 Straight with key and tap ESTUN Servo motor Ratings and specification r 1 Rated Speed o CC ___________________ Insulation Class E LLLI IPSS xcept for shat opening Torque Motor Speed Characteristics A Continuous Duty Zone 1 Duty Zone EML 10A EML 20A EML 30A 70 a 2 72 5 5 5 gt gt gt 0 0 0 0 8 16 24 32 0 16 32 48 64 0 24 48 72 96 Torque m Torque N m EML 40A E 8 o 9 gt Torque N m ESTUN Servo motor Dimention mm Cross Sectlon Y Y Sh
61. r of point Pn600 Pn686 Relevant parameter of inside point position position control control Detail explanation of parameters The N Name and effective 0 illustration control mode 001 0 ALL 001 1 001 2 5 001 3 Pn001 Binary Need Function and meaning Pn000 0 parameter servo on 0 outside S ON valid 1 Outside S ON outside S ON invalid after S RDY output motor excitation signal 15 turned on automatically Pn000 1 Forward direction input prohibited 0 Outside P OT valid it moves according to the time sequence movement set by Pn004 0 when it reach the travel limit 1 Outside P PT invalid Pn000 2 Reversed direction input prohibited 0 Outside N OT valid it moves according to the time sequence movement set by Pn004 0 when it reach the travel limit 1 Outside P PT invalid 000 3 Momentary power off alarm output 0 No alarm in one momentary power off circle 1 Alarm in one momentary power off circle Pn001 0 CCW CW selection 0 CCW counter clockwise is the forward direction 1 CW clockwise is the forward direction Pn001 1 analog speed limit enable 0 Inter parameter Pn406 is the limited value of speed while torque control period 1 Vref input analog voltage corresponding value is the speed limit value while torque control All control modes of the parameter are effective Pn001 2 analog torque limit enable 0 Pn401 Pn404 Pn401 Pn404 act as torque
62. rature 4 OSOS Ambient Humidity __ 8 Enclosure __ Vibration Vibration e Torque Motor Speed Characteristics A Continuous Duty Zone llIntermittent Duty Zone EMG 10A EMG 20A aT e T I 2500 o 2000 9 3 2 8 1500 5 5 1000 500 0 0 8 16 24 32 Torque N m Torque N m Torque N m EMG 30A EMG 50A Motor Speed min Motor Speed min Torque N m Torque N m ESTUN Servo motor Dimensions mm Cross Sectlon Y Y Shaft End With Key and Tap 118 79 240 185 109 160 118 79 55 4 118 215 160 84 135 n ca ser 260 26 79 79 5 2 18_ Motor receptacle specification receptacle MS3102A20 4P EMG 10A 15A 20A MS3102A22 22P EMG 30A 50A connector MS3108B20 4S EMG 10A 15A 20A 53108 22 225 EMG 30A 50A cable clamp 53057 12 rc Green yel low Encoder receptacle specification receptacle MS3102A20 29P connector MS3108B20 298 cable clamp 53057 12 Increamental wire saving encoder 17 bit absolute x x 5 5 L S Blue b lack wx D B CM yel lou C C PGOV S Yellowblack w 9 Fe shield EEN Dl R e EA EE Servo motor EML Features High speed driving of feed shafts fo
63. reshold value unit from PI control to P Pulse switch threshold need Settin 5 The acceleration threshold value unit from PI control to P 10rpm s Pn119 acceleration switch threshold 120 Setting speed P 5 need 9 9 9 N N 121 122 123 124 125 126 127 128 129 Pn202 Name and illustration switch threshold Gain switch condition switch delay Switch threshold level Position gain switch time Hysterics switch speed inspection filtering at low speed Real time adjustment speed gain increase relationship Low speed verifying constant PG frequency division Electrical gear denominator second gear Power on again need id The effective control Function and meaning The speed threshold value unit from PI control to P rpm Fixed to the first group gain Outside power switch gain transfer G SEL Torque percentage Offset counter value Setting acceleration value 10r min Setting speed value there are position instructions input How long should the gain switch be delayed when it get to the switch condition Gain switch s trigger level It can smoothly by the parameter if change between two groups gain is too large It is used to set gain switch movement delay It sets the filtering during
64. rol pulse prohibited C Positioning control parameter instruction D Speed control parameter instruction Pn005 2 0ur of tolerance alarm enable Pn005 3 Motor type Hex Pn006 0 Bus mode Pn006 1 Reserved Pn006 2 Reserved Pn006 3 Reserved Real time auto tune setting 0 User manual gain 1 2 3 Regular mode 4 5 6 Upright load 1 4 No change of overload inertia 2 5 Small change of overload inertia 3 6 Big change of overload inertia i mau Pnl0l Load rigid selection 045 5 102 Pn103 104 105 106 107 108 109 110 111 112 113 114 115 Pnll6 Pnl17 Pnl18 119 120 121 122 Pn123 Pn124 Pn125 126 127 128 Name and description The second speed loop integration time count The second position loop gain The second torque instruction filter constant P PI switch condition 0 Torque instruction percentage 1 Offset counter value 2 Setting acceleration value 3 Setting speed value 4 PI Fixed PI Torque switch threshold Offset counter switch threshold Setting acceleration switch threshold Setting speed switch threshold Gain switch condition The first group gain is fixed Outside power switch gain swap Torque percentage Setting acceleration value 10r min 0 1 2 3 Offset counter val
65. rrent Fn007 Servo software version display Fn008 Teaching function Alarm Trace back Data In alarm trace back data latest ten times alarms could be displayed The following shows the procedure to display the historical record 1 Press MODE to select assistant function mode 2 Press INC or DEC to select function number of alarm historical record FEET 1 Press ENTER to display the latest alarm code Alarm number Alarm code y 3 Press INC or DEC to display other recent occurred alarm code H 2 Press ENTER to return to function number display If the user wants to clear all record just hold ENTER one second then all the historical data will be deleted LI Operation of recovering to default value The follows are procedures to recovery of default value 1 Press MODE to select assistant mode 2 Press INC or DEC to select function number of recovering to default value 3 Press ENTER to enter parameter default recovery mode 4 Hold ENTER w for one second to recover the parameter to default setting u 5 Release ENTER key 1 to return to function number display Operation in JOG mode The following 15 steps in mode 1 Press MODE to select assistant mode 2 Press INC or DEC to select Function number of JOG mode 3 Press ENTER to enter JOG mode 5 Press MODE to switc
66. s case use the speed reference offset manual adjustment mode Refer to Reference Offset Manual Adjustment Mode for details Zero clamp speed control 15 available to force the motor to stop during zero speed reference Refer to Using Zero Clamp for details Note Please automatively adjust analog reference offset on the servo OFF condition Follow the procedure below to automatically adjust the reference offset l Input the intended 0 V reference voltage from the host controller or external circuit 0V speed Servomotor reference TT n Slow rotation Servo OM Servo OFF Servodrive 2 Press Mode to select assistant function mode 3 Press INC or DEC key to select function number of speed reference offset a L UM uo 5 Press MODE When flashing lasts for one minute the speed offset is adjusted automatically Pnzo3 Pn201 t f io 2 Pn201 PCON TI 28 B PCIE I POON AX PECON AXR bic at 11 12 6 Press ENTER to return to function number display 7 This is end of reference offset automatic adjustment Reference Offset Manual Adjustment Mode Speed reference offset manual adjustment is very convenient in the following situations If a loop 15 formed with the host controller and the error is zeroed when servo lock is stopped To deliberately set the offset to some value It is avai
67. se data No connection between module and Bus communication 15 abnormal ater No display of error Display normal motion state Output transistor Open ON X Output transistor Cut off Alarm state OFF ASCII 0 2 mee RTU ADR 0lH CMD 06H ___ AME 02H OOH Ax Hi tet v B 64H CRC 89H CRC 99H ___ T 2 ____ O ___ 0200H Ce xy 2 ADR 0oH CMD ___ 02H suas RIED BRE CRC 189H CRC 99H 2 2 2 2 2 2 2 2 LRC ASCH RTU ASCII LRC ASCII LRC Longitudinal Redunancy Check LRC ADR 256 128H 28H LRC
68. speed inspection at low speed if it 1s too large the speed inspection at low speed will delay It 1s the increase times of speed loop gain at the same rigid in the real time auto adjustment The real time auto adjustment speed loop gain is larger as the value is set larger The anti crawl strength anti outside friction at low speed But it will cause vibration if it is set too large Analog encoder output orthogonal differential pulse the value means the encoder output orthogonal pulses No When motor rotate a round Using electrical gear can match the instruction pulse along with the amount of motor movement corresponding to the motor it makes the upper device do not need to care mechanical deceleration ratio and encoder pulse No essentially it 15 a setting of frequency doubling or frequency division to instruction pulse Pnz202 The smooth effect is better if the smoothness of input pulse 15 bigger Delay will occur when it is too big 0 Pn205 Pn300 Pn301 Pn302 Pn303 Pn304 Pn305 Pn306 Pn307 Pn308 Pn309 Pn310 Pn311 Name and illustration filtering constant Selection of position instruction filtering mode Speed instruction input gain Inside speed 1 Inside speed 2 Inside speed 3 JOG speed Soft reset acceleration time Soft reset deceleration time Speed filtering S curve rising
69. t the set value Press to select the status display mode setting mode monitor mode or error trace MODE key back mode Press to cancel setting when set the parameters ENTER k Press to display the parameter settings and e set values and release alarm Basic Mode Selection Through swithching among basic mode of digital operator be able to operate status display parameter setting operating reference ect Digital Operator operation allows status display parameter setting operating reference and auto tuning operations Each time the mode key 15 pressed the next mode in the sequence 15 selected Power ON 5 Status display mode 4 Parameter setting mode 4 Monitor mode Assistant function Operation in Status Display Mode The status display mode displays the Servodrive status as bit data and codes ll Selecting Status Display Mode The status display mode is displayed when the power is turned ON If the status display mode is not displayed select the mode by using Mode Key to switch Keys to the status display are shown below The display varies in different modes amond speed control torque control and position control For Speed and torque Control Bit data Code Speed coincidence le Iolo Base bloe TGON Control Power ON Power ready Speed Reference Input Torque Reference Input It is highlighted when in torque control mode Bit
70. tion filtering form Pn205 0 1 Need selection BEEN UO No need No need No need No need No need No need No need No need 10000 NEN 150 100 20 0 00 00 0 10000 0 No need o 500 33 300 300 100 WS 30 1500 0 3000 0 6000 0 6000 0 6000 0 6000 6000 0 0 0 0 10000 10000 Pn308 Speed filtering time constant Pn309 S Rising time of S curve Speed instruction curve form 0 Incline 1 S curve 0 Need Pn310 2 Once filtering 3 Twice filtering Pn311 Pn312 DP communication inching 3 3 No need No need 0 6000 6000 Torque instruction gain No need No need No need No need No need 0 300 No need 0 6000 1500 5 0 5000 5000 0 11 m i 7 50 5000 0 11 m No need Pn400 401 Forward direction torque inside limit Pn402 Reversed direction torque inside limit 100 10 100 0 300 0 300 0 300 0 300 406 Speed limit in torque control period 1 1 1 2 3 3 3 5 3 3 3 3 Yo Yo Yo Yo Yo Z Rp 0 0 0 0 0 e No need 5 Need Need Ned Need No need No need No need No need No need No need No need No need No need need No need No need
71. uction ON Position control pulse prohibited C Position control node instruction PCON be as changing step PCL NCL can as searching reference point or start D Speed control parameter instruction PCON PCL NCL invalid Pn005 2 Overproof alarm enable 0 Overproof alarm no enable 1 overproof alarm enable alarm when offset counter value surpass the corresponding value of Pn504 2 Reserved 3 Reserved Pn005 3 Selection of motor type 0 1 2 3 006 0 0 1 PROFIBUS DP V0 V1 2 PROFIBUS DP V2 Pn006 1 Reserved Pn006 2 Reserved Pn006 3 Reserved 0 User manual gain 1 2 3 Regular mode 4 5 6 Upright load 1 4 No change of load inertia 006 Need Real time auto 2 5 Small change of load inertia Pn100 Need adjustment 3 6 Big change of load inertia Attention The auto adjustment below the highest speed 100 is set invalid while the movement of servo motor 7 The adjustment is invalid while the acceleration and 2 101 102 Pn103 104 105 106 107 108 109 110 111 illustration Load selection Speed loop gain Speed loop integral time position loop gain Torque instruction filter constant Load inertia percentage The second speed loop gain The second speed l
72. ue 4 5 Setting speed value 6 Input of instruction with position The increase of speed gain Unit 0 1ms Hz 1 0 11116 Hz 0 1ms 0 ms R min H 1 0 11116 0 11116 Instruction pulse 1 Orpm s Rp 0 1ms 0 1ms 0 1ms Range 1 2500 1 4096 1 0 1000 0 250 0 20000 2500 1 4096 0 1000 0 250 0 300 0 100 0 640 0 100 0 640 0 4 300 0 0 10000 0 3000 0 10000 0 6 0 20000 0 20000 0 20000 0 20000 0 100 3 Default 4 l 40 150 00 10 3 2 Need No need No need No need No need Need No need No need No need No need No need No need 5 need No need No need No need No need No need No need No need No need No need No need No need No need No need No need NEN No need No need No need No need Name and description Unit Range Default 0 30000 0 No need NE 16384 129 Low speed verifying constant relationship in real time adjustment period Pn200 Pulse 16 16384 16384 Need on Tsss 1771 Ned Position instruction filtering time Pn20 0 1ms 0 32767 constant Position instruc

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