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EDC Series User`s Manual Operation of Version 2 Preface Anaheim

1. 4 5 5 Handling instant power 4 5 6 Regenerative braking 4 6 Smooth running 4 6 1 Smoothing 4 6 2 Acceleration deceleration 4 6 3 Speed detection smoothing time constant 4 6 4 Torque reference filter time constant High speed positioning oooooo oooo oo Wo 4 1 1 Servo SEING Sebesar ANN 4 7 2 Speed offset SE EP ai Chapter 3 Troubleshooting cc aman 5 1 Alarm list 5 2 Alarm reasons and 5 5 3 Clear alarm Chapter 6 Panel Operator 6 1 Basic Function 0 1 t Function descrip plom AN ES Lea 89 6 1 2 Reset Servo Alarms esses nennen nnns 89 6 1 3 Display mode selection 90 6 1 4 Status Display Mode WWW man 91 6 1 5 Parameter Setting Woo Woo 93 0 6 MONIO MOJE 94 2 97 0 2 Alarm NISIOFY CIS Olay NA EN 97 6 2 2 Restore to factory settings 98 0 2 9 JO Gro era On 98 6 2 4 Automatic offset signals adjustment of moto
2. 12 2 1 2 Installation site bie n epit 12 2 1 3 Installation 12 2 1 4 Installation direction mss mai uisa co iem BN 13 2 1 5 Hanadlirig oll and Water 13 20 Cable ten ON 14 2 2 BN na 14 2 21 Storage CON Ol Of EE rr T 14 2 2 2 Installation Er aa an BAN a 14 2 2 3 Installation orientation ooooo oom 15 2 2 4 Installation of several servo 15 Chapter 3 o 17 3 1 Wiririg and 17 3 1 1 Names and Functions of Main Circuit Terminals 17 eZ SIGMA 19 3 2 1 Standard connection diagram example 19 3 2 2 Connector termilhials kemasan ea 19 2 2 9 Funcuoh dst of TO 2 erie ab 20 3 2 4 Interface circuit example 23 3 ENCOOEP due en an 24 2 97 Encoder WING C GIN nue i 24 3 3 2 Signal list of connectors 2CN 25 324 MOO 2 Bea HA 26 3 4 1 Motor encoder terminals 3 4 2 Motor power terminal Woo WWW 3 5 Standard
3. Cigar signal inpul M S ADY Sera Output When OM ckeplacement is cames PP NE ER d Zero position signal i j ore CONJ rus 3 When Ofemerch for zara positon ZPS _ D ow T x 24 pa i h Adag ouipul I Ri 5 AT AA Alarm Output E COM el OFF whan alam is Iniggered common point Photo Coupiar Puipui FG Connecter Frame 0630 Shia wima am pormacind in tha connector frame dang peu Maxrri m working currens DOSOma 28 pin cupul can be defined Chapter 4 Function setting and description 4 1 Machine related settings 4 1 1 Servomotor rotation direction Select With servo drive a motor can rotate reversely which is called REV mode with no need to make any changes in motor wiring The standard setting for forward rotation is the counterclockwise as viewed from motor load REV mode only changes motor s rotation direction in this condition the travel direction of shaft reverses no other changes are made Standard mode Encoder signal Encoder signal Mi Feedbacked from Feedbacked from FWD i motor motar Run L 2 A phase phase Referen LL ig TA ce ho phase B phase uuum Encader signal Encoder signal fpedbacked from REV feedbacked from matar motor phase LT phase Referen GIE xe nnan uio Eo B phase Ade B phase T
4. 024 Matched drive 05PS A016 Rated W 500 750 output 126 torque Instantaneo 4 78 us Peak N m 7 16 Torque amm ame CU omo current speed Max 3600 speed RES sag inertia Mechanic al time constant Electrical time speed rimin 200 E oggi ir 4 Torque N m5 Torque tN m EMS type 90 series Motor model EMS 08AH C024 Matched drive 08PS C024 model EDC Rated W 750 output wwe o N m torque Instantanec 7 1 us Peak N m Torque 4 00 127 Rotor inertia Mechanic al time constant Electrical time Ann Wot speed Crimin 2000 2 4 i 4 la torque 9 1 2 Servomotor mounting dimension SET UC e a 2 Ji i 1 Ji AN f Td YA 1 3 Al c Lf LA xy P4 T Lei Se x gt 2 1 LE a LM RI eg n EN PO LL IR Lc 128 02 200 90 60 3 7 6 90 60 3 7 04 201 70 80 3 13 3 70 80 3 13 05 01 80190139 6 EMS 08AHunu A02 4 EMS 08AHunu CO2 4 9 1 3 Servomotor connection diagram Cable specification Motor model Encoder cable EMS 02AHno Z006 EDC 04PS Z00 CMP ZB26
5. ale ae laU a C a Appendix A Parameter list Para Name and Meaning Setting Factory No range setting Enable Disable Servo On input signal S ON Pn000 0 Enable Servo ON input 0 1 signal S ON 1 Enable internal servo ON 132 joi Name and Meaning Setting Factory range setting Enable Disable input signal prohibited PN OT When 1CN 2 is set as PN OT signal limiting direction enabling are selected according to this parameter Pn001 O disable input signal prohibited 1lenable forward run input signal prohibited 2 enable reverse run input signal prohibited Pn02 Reserved 4 0 0 Pn003 Pn004 Pn005 Pn006 Select operation upon momentary power interruption 0 Servo alarm output 1 not available ALM 0 1 1 Servo alarm output 1 available ALM Stopping method for servomotor after Servo OFF or alarm occurrence 0 Stop the motor by applying DB dynamic brake 1 Stop the motor by coasting 2 Stop the motor by applying DB dynamic brake then the motor coasts to a stop 3 Stop the motor by coasting without usi
6. oee the signal definition details in the following table Signification VCC internal 5V power supply of servo drive TX RS232 COM transmission foot 105 RX RS232 COM receiving foot GND grounding of internal power supply of servo drive FG connect the shield layer of COM to the earth Following diagram shows how to connect a PC to EDC s COM port T 10 Servo communication PC Connector EDC HTX WRX 4 GND 5 FG Notes 1 Depending on different environment situations and communication speeds effective communication distance also varies When communication baudrate exceeds 38400bps a communication cable within one 1 meter long is required to ensure transmission accuracy 2 Its suggested shielded cables are used for communication subject to the two shield layers are connected to their own pitches 3 When external interface is RS422 or RS485 it s required to use external converting module for connection to servo drive 8 2 Communication relevant parameters When the value 0 is selected as the panel shaft number of EDC servo drive then servo drive is able to communicate with panel operator and PC via the internal protocol which has nothing to do with the communication parameters Pn060 Pn061 or 062 When the values in the range of 1 is selected as the panel shaft numbers MODBUS communication function should also be enabled then it s avail
7. i S ADY SOY Serva Ready Oulpul CON LR i PL ON when sermo i ready When ON cisplacement ks Gn 7 PES Zara position signal T CON Pn When CN moseeh far germ position 2 8 BU T HN 4 Alan i ie di 5 Alarm Output hee COM OFF OFF when alam is iniggered Octet comman point Photo Coupiar Putpul FG Connecter Frame DC30V wiraos are connected to Ha connector frame DESIM warking curree DO Suma 9 pedale pin cutput can be deti ned 3 2 2 Connector terminals Termi Termi nal Comments nal Comments no no Power supply for 1 PL open collector 11 PULS Reference pulse circuit Remain braking PULS Reference pulse 3 COIN 13 SIGN Reference symbol DRE C E Alarm pES SIGN Reference symbol grounding ALM_R Reset Alarm 24VIN O power supply 225 ve postion signal oignal Signal be difference difference Signal B Signal B m difference difference oignal C Signal C difference difference d Notices 1 Spare terminals cannot be used for relay purpose 2 Connect shielded cable wires of I O signals to connector shell frame grounding 3 2 3 Function list of I O signals Signal Reference name items 24VIN Control power supply input for 4 2 4 signals Users need to prepare the 24 power supply 20
8. Motor is mechanically counter overflow stuck Increase value of position feed gt Input reference pulse is forward Pn017 abnormal gt Reduce load value and speed Motor runs for several cycles no C pulse signal appears Cable problems improper Check cable connection do not bind During system encoder signal cables together with running gt Cable not well shielded motor input power wires gt Encoder damaged Check interface circuit of encoder gt Shielded grounding wires are not connected well Circuit failure of encoder interface Check connection cables of motor During system At least one of PA PB encoder mieten PC PU PV or PW is Check encoder signals j gt If the above items are OK there might system running disconnected be some problem in th internal parts of servo drive 86 Encoder UVW code Please make sure power supply of violation is detected encoder is 5V 5 This has to be UVW signals are all high met especially when the cables are level or all low level very long Don t bind encoder input Please be noted the UVW cables together with motor input power signal of encoder is wires and shield wired have to be different from UVW of connected to the frame power signal Incorrect encoder cable connection gt Correct encoder cable connection according to connection diagram Encoder damaged gt Replace servo molor Take away the motor pow
9. high bit of Start info 02 l address address CMD 06H raig bit of Start info O2H address address OOH 00 low bit of address Comment of info ALI high bit of 64 li data Ap low bit of D low bit of REI high bit of high bit of CRC examination 99 anakan Info comment n 64 low bat of data bal of l 1 of CRC examination 891 tia A high bit af high bit of ICRC ecaminaten 99H examination Take following steps to calculate value of LRC ASCII mode and CRC RTU mode LRC calculation in ASCII mode In ASCII mode LRC Longitudinal Redundancy Check is used LRC value is calculated according to following way first make a sum result of the values from ADR to contents of a finishing stroke then the result is divided by 256 later on take away the part that goes beyond after that calculate its fill in number final result will be the LRC value Following example shows the steps to read a word from 01H servo drive at the address of 0201 Start info address End 0 OAIIWLF Sum ADR s data from beginning to the last data 01H 03H 02H 01H 00H0O1H 08H Take fill in number of 2 from 08H therefore LRC is F 8 CRC calculation in RTU mode 116 CRC Cyclical Redundancy Check error detection value is used mode Take following steps to calculate CRC err
10. 1 32767 134 Name and Meaning Setting Factory No range setting _ muerto Pn023 Electronic gear ratio 1 32767 1 denominator Pn024 1 position reference filter 0 1000 0 o Pn025 Feedback filter 0 1000 Pn026 Forward torque limit E 0 300 250 Pn027 ROVETSE torque limit 0 300 250 Pn029 Speed coincidence error ES 100 Tn 256 Pn031 Error counter overflow range reference 1 32767 1024 unit Pn032 JOGspeed rimin 0 3000 500 Ceo e Pn034 rseved 0 0 Pn085 reserved 0 0 reserved Pn037 reserved Automatic gain adjustment 0 without automatic gain Pn038 adjustment 1 after inertia detection gain is adjusted automatically reserved o reserved 0 0 0 __ P PI Switching Terms 0 setting torque Pn039 1 error pulse 2 acceleration 3 motor speed 4 disable mode switch function PA ms Pn040 P PI switching threshold Control mode selection 0 Position control pulse train reference Pn041 2 position contact control internal position reference 3 Speed control contact reference Pn042 Pn043 Waiting time for Servo ON Ne NemeendMeeing unt soting range setting Pn044 Basic waiting procedure ms 0 5000 10 Pn045 Waiting speed for brake signal r min 10 500 100 Pn046 Waiting time for brake signa
11. ASCII mode Each 8 bit data consists of two ASCII characters Here s an example of a 1 byte data 64H expressed in hex system if the data is expressed in ASCII mode it includes ASCII code of 6 36H and ASCII code of 4 34H Follow table shows the ASCII code from O to 9 and from A to F Character T 2 3 4 9 T sign E EM Character sign ASCII code 39H 41H 42H 43H RTU mode Each 8 bit data consists of two 4 bit data expressed in hex system For example the number 100 in decimal system will be expressed as 64H if RTU data of 1 byte is used Data structure 10bit character format for 7 bit data 111 00 71 21 Modbusl ASCII Pn062 4 1 4 J 4 E 7 data bits 10 bits character frame Pn062 10 71 El Modbus ASCIII Nia ena eMe alle Aoc rh JE sn eat he en Dgn RA 7 data bits 10 bits character frame 21 7 Ol 10 Modbusl ASCIII Pn062 112 ASCII 7 data bits 10 bits character frame 8 data bits Modbus 8 data bits 8 data bits 11 bits character frame 1 11 bits character frame 11 bits character frame E 81 NI 20 Modbusl ASCH 8 11bit character format for 8 bit data Data format of communication protocol Com
12. Name and Settin Factory meanings setting T Select cycle run 0 multiple cycle Pn068 run 1 multiple single run When PCON signal is used as step change 1 BIT1 of Pn051 is required to be set as 1 2 PCON active is generated at the edge of input signal from inactive to active Paramete r number Programming method iiA 0 incremental 1 absolute Pn072 n Peu position data is used as start program Stop point of program Enable Disable PCON signal as step change signal Pn069 0 delay step change 11 PCON signal step change Which of the 8 groups of point Which of the 8 groups of position data is used as stop point Pn073 0 7 3 Required moving distance of motor is calculated according to actual moving distance then moving distance data is filled in each contact position register Paramete Name and meanings Setting Facto r Number range ry settin 9 52 7 _ Pnogo Moving distance 10 referenc 30000 3000 revolution 0 e pulse Pn081 moving distance O 9999 9999 Pn082 moving distance 10 referenc M 3000 m revolution e pulse Pn083 moving distance 1 low men 9999 9999 EH Pn084 moving X distance 10 referenc 3000 m revolutions e pulse Pn085 moving distance 2 low me 9999 9999 Ea Pn086 moving X distance 10 referenc 3000 revolutions e pulse Pn087 moving distance 3 low ae 9999 9999 Pn088 moving distance 10 refer
13. Servo ON Servo OFF DB Stop or free stop Break waiting time Break signal PnO45 1 ene effective BRKinvalid CICN Break waiting time Prode Motor Speed r min For a running brake sticking motor if S OFF is caused by variation of S ON or alarm occurrence it s required to set brake waiting speed of servomotor or brake waiting time Brake waiting time Pn046 refers to the period of time delay between motor stops S OFF and brake sticking takes action This parameter should be adjusted while observing mechanical movements When servo motor is running if any of following conditions is true the output signal of BRK will be ON 1 After servo OFF motor speed is lower than setting value of Pn045 2 After servo OFF motor speed is higher than setting value of Pn046 4 5 Protection sequence design 4 5 1 Servo alarm output The following diagram shows the right way to connect Alarm Output Power 24 DV Servo drive opticoupler output every output node ax output voltage 20 Max output current sr A External 24 power supply is required since there is no 24V power supply available inside servo drive Output ALM 1CN 4 Servo alarm output COM 1CN 5 Servo alarm output uses grounding signal 69 Normally the external circuit consists of ALM should be able to switch off power of servo drive Servo drive Inspec
14. Vol lati Rated voltage 10 0 rated speed T t emperature 0 40 0 1 below at rated speed regulation Characteristics when Ji S Jm SIGN PULSE train sin Pulse phase and phase B CCW CW pulse train pasha Pulse SA RUE n referen control ce mode Line driving 5V level open collector 5V 12V 24V level 500Kpps difference 200 Kpps collector Control signals CLEAR Phase A phase B and phase C line Pulse output signal s driving output Servo ON Alarm Reset error counter oequence control input clear signal zero clamp signal Pun Servo Alarm positioning complete speed oequence control output coincidence brake release limiting torque Power module error overload overspeed voltage error position error counter overflow encoder disconnected parameter damaged etc With RS232 interface for communication with host controller s special software Parameter setting Run operation and status display can be done in Windows mode Same functions are enabled using panel operator Compatible with Modbus communication protocol CanOpen COM Charge indicator Power amp ALM indicator Protection Built in functio n COM function LED display five 7 segment tube on panel operator 131 9 2 2 Servo drive mounting dimension With cooling fan Be slm Im
15. r min Input speed reference value r min Percentage of feedback Digits to display Un002 torgue internal status relative rated torgue 9 876543210 Percentage of input w Un003 torque HIHIHIBIH relative rated torque Un004 Number of pulses of Encoder angles Un005 I O signal monitor Un006 Encoder signal monitor Speed given by pulse Un007 when electronic gear ratio is 1 1 Current motor position is 5 digits lower x1 pulse Current motor position is Un009 5 digits higher x10000 pulse Position reference is 5 digits lower x1 pulse Position reference is 5 digits higher 10000 pulse Position offset is 5 digits lower x1 pulse Position offset is 5 digits higher 10000 pulse Un000 Un001 Un008 Notes 1 Position pulse value is subject to electronic gear ratio of 1 1 2 Unit of pulse guantity is the internal pulse unit of servo system Pulse 05 quantity is represented with 5 digits higher 5 digits lower whose calculation method is as below Pulse quantity value of 5 digits higher x 10000 value of 5 digits lower Value of pulse quantity will not change any more when it reaches 327679999 The decimal point at top digit of Un 010 Un 012 and Un 014 means the value Is negative For instance Un010 is displayed as IS It means the value of Un010 is 3560000 3 When the speed given by pulse is below electric gear ratio of 1 1 encoder shows the theoretical rotation s
16. COM DEF when alarm is Iniggered commen point Photo Coupler Pulpul FG Connecter Frama wires ang connected to tha connector frame aa working current DOSOms Speciallic pin culput can ba defined 18 3 2 signals 3 2 1 Standard connection diagram example 1055 5D 80 Hz 2 neaker Sue Suppress SN EM Nowe Fiter 1 PL 1 m t e n S Eincromagani centackor OFF iMG 1RY fo shut down posar mr FL regenerative unti i in Briten Mia Motor IMC 4 uy 4 me x EDC Seno Drives 2GN PG c N d L dd 1CN p P issa handle of shielded wires pragery P Rapreeants PULS 41 180 _ miwsepr PULS T PO ia wires PULS Ese at pay tte t sian gt SIGN T 1 B al Foetion Fralarence P 14 T 5 E 1 Men Differentia Quiput Encoder Signet Output SIGN 10 POCO _ ipco PL 424 VIN 16 1 COIN CON Position Complete piis I Bake n C ON HON when pestioning completes 1 1 M T H T rns BR BRAKE intenock Output When ON seran funeson ig x S ON 46 d CF oan CON ON then brain ts hs OTO Lansing Tous Oupa A j IDN C alam rest ALM RST T L A 26 UH e j JON whan torque goes car limiting torqua Cigar signal input
17. 8 3 3 Parameters servo status data communication address In MODBUS communication mode all the communication parameters of EDC servo are shown in the following table Address of Comments Operatio communication n data Parameter area Parameters in Readabl corresponding e parameter table writable Monitored data consistent with Read data displayed on only handheld operator or drive panel 0806H Speed feedback 0807H HUE SPEEL Unit r min read read ony reference value 0808H Pereemage Ol InpHt Relatively rated torque read only torque reference Percentage 0809H Internal s Relatively rated torque read only reference Pulse number of 080BH input signal status readonly 080CH status of encoder readonly signal signal 080EH Pulse given readoniy 080FH position 0810H n position Unit 10000 reference high pulse error pulse counter sadan low 16 position y 0000 0078H Unit 1 reference pulse read only error pulse counter read onl high 16 position Given puise Unit 1 reference pulse read only counter low DEA Given pulse Unit 10000 reference read only counter high pulse 0817H Current alam readonly 07F1 07FAH BIS TOR Aan storage area 0900H lO signal of readable No saving in case of Modbus and Communication writable 0901H Drivesttus readonly 0904H LS Unit minute read only drive DSP software Version expressed in read
18. ALM RST signal current alarm is removed immediately 3 During effective period of 1CN 6 ALM RST signal motor is in free status that equals to SERVO OFF status Clear alarm history In the auxiliary function mode of panel operator with Fn000 the latest eight 8 alarms can be deleted Refer to instructions in 6 2 1 8 Chapter 6 Panel Operator 6 1 Basic Function 6 1 1 Function description An external panel operator as shown below can be connected to EDC series of servo drives to make parameter setup status monitoring and auxiliary functions The description of the keys on the panel operator and their functions are followed by a panel operator on initial display status as an example INC key Press INC key to increase the set value a long and hold on press will implement fast increasing DEC key Press DEC key to decrease the set value a long and hold on press will implement fast decreasing Press this key to select the status display mode parameter MODE key setup mode monitor mode or auxiliary function mode Press this key to cancel setting when setting the parameters ENTER key Press this key to display the parameter settings and set values 6 1 2 Reset Servo Alarms In alarm status display mode of the operator press ENTER key and hold on for seconds to reset current alarm Refer to 5 1 and clear alarm code The alarm can also be removed by using 1CN 6 ALM_RST input signal If th
19. During mechanical movement when an overtravel signal occurs mechanical parts do not stop immediately owing to the action of their own inertia in this situation the overtravel signal is canceled and the motor will continue running Please pay close attention to the duration of overtravel signal that is make sure there s some distance for overtravel signal on the machine consideration When P OT and N OT are not used the short circuit wiring as shown in the following diagram will not be required Another way is to shield this with parameter use may set Pn001 as 0 or set Pn052 bit 0 cerva drive 4 1 3 Stop function m Select stop mode When servo is OFF or servo alarm occurs following User Constants should be set according to actual requirements on stopping motor Parameter Hane No 9 Stop modes when servo is on or Pn004 0 3 servo alarm occurs 35 Parameter Comments No 0 When servo is OFF or alarm occurs DB is enabled 1 When servo is OFF or alarm occurs motor coasts to a stop 2 When servo is OFF or alarm occurs DB is enabled and will not release until motor stops 3 When servo is OFF or alarm occurs motor coasts to a stop then DB is enabled m Select motor stop mode when servo is OFF EDC series servo drive stop motor running in following situation When S ON input signal 1CN 15 turn into OFF When alarm is detected e When power supply is OFF To select appropriat
20. When ZPS signal is inactive after first Pulse of motor encoder is detected calculation of zero balance offset pulse is started motor stops after offset pulse completes Zero adjustment operation is completed Motor will not return and search Pulse C after it hits the zero adjustment position limit switch Back to zero switch speed 2074 Motorspeed pan Leave back to zero switch speed Pofl 5 No return to search Z pulse Back to zero offset distance 120077 10000 078 Zero 1 signal Encoder C pulse Leave back to zero switch after the first C pulse start to caculate offset distance Corresponding position 5 Machanial movement return to find C pulse leave back to zero switch after the first C pulse start to calulate offset distance Motor ad decelerate Encoder pulse Zero position ZPS signal Return and search Pulse C after touching zero adjustment switch Back to zero switch speed Motor speed rpm Leave back to zero switch speed 75 return to find 7 pulse Back to zero offset distance ZPS 13 TR CPn077x 10000 078 J Encoder C Pulse 11111 H Leave back to zero switch after the first C pulse start to caculate offset distance Corresponding position Machanical movement P motor deceleration back to find cow C pulse Leav
21. gt Adjust value of Pn022 and Pn023 eiae Al loo high has exceeded decrease the multiplication factor to allowance ensure reference pulse frequency is less than 500Kpps Reference pulse frequency input reference frequency x dividing multiplication frequency _ 87 Check if parameter setings are correct or nol Parameter saved in Load in default parameters check is the dala Parameter During system 16 external storage has Tes tea pip 5 correct or nol error UNE emors Replace US chip wire saving encoder is ignored encoder is not connected or incorrect motor model Encoder ning svstem i 17 MNA During syste comtused by general incremental Power ON encoder with wire saving Pn225 setting error encoder Instantane power interruption During system exceeding 20ms 2 21 ous power running occurred in AC power Check if input voltage of drive is normal Current detection error Watchdog During system 25 jin iniu System reset by watchdo reset running 1 External serial COM is abnormal 5 3 Clear alarm Clear current alarm When an alarm occurs press ENTER for seconds in hand held panel operator s status display mode then current alarm is deleted Besides the alarm can also be cleared by using 1CN 6 ALM_RST input signal Notes 1 Only current alarms with sign in 5 2 can be deleted 2 Eliminate alarm cause first then input 1CN 6
22. servo drive m Parameter setting for zero adjustment 1 Select zero adjustment according to practical application Paramete Name and meanings Setting Factory r number range setting Return method of origin Z 0 disable origin return function Z 1 origin return starts automatically only after first S ON Z 2 origin return starts automatically every time S ON Y 0 search Pulse C after origin has 0 244 returned Y 1 does not search Pulse C after origin has returned 0 origin returns at forward run direction X71 origin returns at reverse run direction 2 Set zero adjustment speed Paramet Name and meanings setting Factory er range setting number 56 opeed 1 during reference searching hit r min 0 3000 1000 position limit switch opeed 3 during reference searching after releasing position limit r min 0 3000 5 switch 1000 Origin return offset revolution r 9999 puls e 1 Origin return offset pulse number puls e 3 Comments When zero adjustment method is selected according to practical requirements set Pn071 zero adjustment will be implemented according to setting When zero adjustment is started servomotor will run at the set speed of Pn074 When ZPS 1CN 17 signal is active if the parameter setting requires the servo motor to return and search Pulse C then motor will run reverse at the set speed of Pn075 otherwise motor will run forward at the set speed of Pn075
23. 00 CDM ZB18 an 6 EMS 04AHno Z013 EDC 04PS Z01 CMP ZB26 00 CDM ZB18 an 3 EMS 05AHno A016 EDC 05PS A01 CMP ZB26 o0 CDM ZB18 o0 6 EMS 08AHno A024 EDC 08PS A02 CMP ZB26 o0 CDM ZB18 o0 4 08 024 EDC 08PS C02 CMP SB26 o0 CDM SB18 o0 4 EDC servo drive series and EMJ servo motor series Connection 129 O 0 Motor Connector 5pecification Encoder Connector Specification 21 31211 4 3 o Plug 172167 1 AMFP 8 5 4 Plug 172169 o Pin 170360 1 AMP 987 o Pin 170359 Pin No Signal Color U Red Incremental Encoder 2 V Blue 3 Ww White Pin No Signal Color 4 FG Green Yellow 1 Blue 2 Green 3 C4 Yellow Brake Connector Specifications A PALE ERA 1 B Green Black 5 Plug 172165 1 3reen Blac C Yellow Black Pin 170360 1 AMP 7 FGSV Red PGOV Black Pin No Signal Color 9 FG Shield 1 H1 Hlue 2 B2 White 9 2 Servo drive 9 2 1 Technical specification and model Power supply Single phase AC220V 96 50 60Hz Control mode SVPWM Feedback Incremental encoder 2500P R Operating storage 0 55 20 85 temperature Operating storage Below 90 RH non condensing humidity Shock vibration 4 9m s 19 6 m s resistance Mass approximately Speed Speed control range 1 5000 trol Speed Load Regulati KONTOL Speed KORG NE 0 100956 0 01 below at rated speed mode regulatio 130
24. 6 x _ 54 acceleration deceleration time constant moving distance ms 0 32767 acceleration deceleration time constant time S time S time S time S time S Pn117 moving distance 5 stop 0 30000 time S time S time S 4 After Servo ON position contact runs Position contact control is like single contact position controller user can make cycle run operation easily with this function As for Pn070 for example position reference PO Pn080x 10000 Pn081 is ten revolutions position reference P1 Pn082x10000 Pn083 js thirty revolutions when running from P1 to P2 the difference between incremental type and absolute type is as below Note 1 In position contact control mode electronic gear does not work which can be regarded as the electronic gear ratio is always 1 1 2 In position contact control mode all the position control parameters will affect motor running such as position proportional gain Pn015 feed forward Pn017 position first filter Pn024 feed forward filter Pn025 etc 55 4 2 6 Zero adjustment In position control mode servomotor is often required to run at a fixed position this position is normally regarded as Zero position Sometimes after host controller is energized zero position adjustment is required before processing operation After that this position will be regarded as the reference point for every subsequent running The zero position adjustment can be done with
25. When low level is active Signal Status input level ON 1CN 15 L Servo ON servo is energized run aval servomotor according to input signal S ON 1CN 15 Servo OFF servo is not energized can t OFF run level Pn043 is used to set waiting time during Servo On which means the period of time from internal relay s action to motor electrification s us Paramete Name and Setting Factory r number meanings range setting Waiting time PROSS when servo On 20 2000 100 Note 1 It s not good to start stop servomotor frequently with S ON signal Always use input reference to complete response operation otherwise servo motor s lifetime will be shortened 2 When S ON high is active if external cable is disconnected input signal is high S ON will keep active 3 During deceleration of Servo OFF S ON signal is accepted only when motor speed is lower than 30r m owitch Enable Disable Servo On input signal with the following parameter Setting Factor Name and meanings range y setting Parameter number 0 Enable Servo ON input signal S ON Decided by 1CN 15 signal 1 Disable Servo ON input 0 1 signal S ON Internal Servo ON normally is Servo ON which is equivalent to 1CN 15 being active 4 5 3 Positioning complete output Positioning complete COIN signal output after positioning completes Make connection according to the follow
26. connection Chapter 4 Function setting and 4 1 Machine related settings Wooo ooW Wook 4 1 1 Servomotor rotation direction Select 4 1 2 Overtravel SLOP TUMCUON ete Qd aa Ext tM V eu aM du AA TORQUC RET m 4 2 Settings complying with host controller 2 21 POSITION eec ala 4 2 2 Encoder signal 4 2 3 Sequence I O Signal oWo W WWW Wo A ZA EICCWOMICOCAl c 4 2 5 Position contact 4 2 6 Zero 4 2 7 Parameter speed 4 3 Servo drive Settings oce eee E ES EN Seas 4 3 1 JOG speed 4 3 2 Cohlrol SelecllOn sodio o 4A Stop UNCION 3 3 A 4 4 1 Dynamic brake mom mn 24 42 POTONG DA KE Rute Puedes 4 5 Protection sequence 4 5 1 Servo alarm 4 5 2 S ON input ejes LL 4 5 3 Positioning complete 4 5 4 Speed coincidence
27. d 1 re Reference unit Reference unit Reference unit 5 Solve for electronic gear ratio B A Gear ratio of motor shaft and load shaft is n m Motor revolves for m revolutions load shaft revolves for n revolutions Electronic gear ratio B A encoder pulse number x 4 moving distance when load shaft finishes one revolution x m n It s suggested the electronic gear set within following range 0 01selectronic gear ratio B A 3100 6 Set parameter _ 48 Make reduction of B A to get A and B and select most proximal whole number which is lower than 32767 Thus setting of electronic gear ratio is completed Parameter Range Factory setting electronic gearB 1 32767 1 numerator electronic gearA 1 732767 1 denominator Electronic gear ratio B A Pn022 023 B Encoder pulse number 4 x rotation speed of motor shaft A reference pulse number of each unit load movement when load shaft finishes one revolution rotation speed of load shaft m Setting example of electronic gear The following illustrations show the settings for varies kinds of mechanical structures Belt Pulley Reference Unit 0 02mm Load movement amount of bearing shaft s one round rotation 314x 100 mm _ 15700 Bearing shaft 0 02 mm voy coarse 2500 4 2 22 E 4 E T 05 n 100 mm 15700 x 1 Pn023 lt 200 e zo QUEM Incremental 2500
28. dirve DC24V DC24V Merge 50MALLE If the relay contact input is used the relay must be suitable for tiny electric current otherwise it causes signal receiving faults easily m interface of encoder output and drive output Output signals PAO PAO PBO PBO of the two phase pulse of the encoder and origin pulse signal PCO PCO make outputs by means of BUS drive output circuit Generally it s used on the condition that the host controller side forms the position control system Wire reception circuit should be used when it s by the side of host controller See Encoder wiring for an example of a practical circuit connection m interface of sequence output circuit Photo coupling isolation output is required for output signals of servo alarm positioning complete and brake interlock csy 24y Relay Servo drive de Note 1 Maximum voltage should be no more than 30VDC current should be no more than 50mA 3 3 Encoder wiring 3 3 1 Encoder wiring 2CN Incremental encoder EDC Servo Drive 3 Encader B Pulse 19 PHO Encader C Pulse Output line drive Equivalent product of AM26L531 Po Connector Shell x Fog Represent multi twisted shield wire Ps 1 The sequence of encoder pin s corresponding relation with signal will change because of different types of motors Please connect the wires according to actual corresponding situation 2 When
29. eee Input torque percentage 515151515 Relatively rated torgue 080CH Encoder signal monitor 080DH Output signal monitor 080EH Pulse given speed when electronic gear ratio is 1 1 080FH Current motor position is 5 digit low x1 pulse 0810H Current motor position is 5 digit high x10000pulse position error 5 digit low x1 pulse 122 position error 5 digit high 10000 pulse Position reference 5 digit low x1 pulse Position reference 5 digit high x10000pulse Monitoring of I O signals is shown below Monitorin Digit Contents Relative IO signal g No E 1CN 15 S ON pi 1CN 6 ALM RST 2 9 nal g E error 1CN 7 CLR E TOTEM zero position 1CN 17 ZPS signal 1CN 4 ani positioning signal let d complete Speed ew 5 COIN etc arrives mechanical brake 1CN 2 BRK etc release 2 Alarm memory block 07F1 07FAH History Address Alarm No History Alarm 1 Latest alarm History Alarm 2 07F2H 123 History Alarm 3 O7F3H History Alarm 4 O7F4H History Alarm 5 O7F5H 7 History Alarm 10 O7FAH longest time 2 Modbus communication IO signal 0900H Use communication to control input digital IO signals the data is not saved after power is interrupted 5 System status 0901H 1 word shows current system status The following illustration shows the
30. example 65 Servo drive Servo motor with brake BRK RY brake sticking control relay Brake opeed control Output BRK interlock position control output BRK is used to control the status of brake sticking When brake sticking is not used the connection is not required ON L level Release brake OFF H level Diane Note If power beak occurs servo drive will give no output of BRK signal and periphery circuit decides the status of brake sticking which has to be considered when designing and control circuit When using BRK signal set output with following parameters Paramete Setting Factory Name and meanings r number Pn049 output signal1CN 2 pin definition Pn050 output signal1CN 3 pin definition 66 Paramete Setting Factory Name and meanings r number s Pn055 Inverts output signal Relevant parameters to Timing seguence are shown below Setting Factor Paramete Name and meanings range r number setting OM p m de Pn045 brake waiting speed 10 300 100 Pn046 brake waiting time 10 1000 E Brake ON OFF time During the moment of brake sticking on off if servomotor travels for tiny distance owing to external forces like earth gravity adjust with Pn044 as below setting Factor Name and meanings range y setting Paramete r number Basic waiting flow Servo OFF delay time The il
31. is detected V CMP 2 torque limit CLT output when output torque exceeds the value of Pn026 Pn027 this signal gives output 3 Servo ready S RDY output When servo drive detects no alarm subject to a power supply input this signal gives output The value of Pn051 decides the output signal see the details as follows 0 brake interlock BK output 1 positioning complete same speed detected in position control method it means positioning is completed COIN while in speed control method it means same speed is detected V CMP 2 torque limit CLT output when output torque exceeds the value of Pn026 or Pn027 this signal gives output 3 Servo ready S RDY output When servo drive detects no alarm subject to a power supply input this signal gives output common grounding 8 IPAO Differential output of Encoder A signals 5 Differential output of Encoder B signals 10 Differential output of Encoder C signals kes Shell Connect shielded wires of signal cables to shell of 1CN that is equal to the FG connection of the shell and the frame grounding wire 209 3 2 4 Interface circuit example Following illustrations show the connection of I O signals of servo drive and host controller m Input interface circuit Following illustrations show an example of the connection of input signals using relay contact or open collector transistor circuit Servo dirve Servo
32. meaning of each digit BITS EIT LIE HII BITI BIT i4 HIT9 BITE BIT gnal 1 means alarm ockur Reserve over travel 1 PN OT valid 1 motor speed higher than setting value val motor unenale 1 means wait P control 1 means alarm clear signal ALM RST input 1 means positioning finish Speed c 1 AL eit ras higher than 10 of setting 1 means motor speed reach setting speed P Control 1 means pulse inputting jnal 1 means there are power input at N T terminal of drive Speed C 1 means speed higher than setting EDC servo drive s default speed is 10 of rated motor speed 6 Run time 0904H It means the run time required from servo power on to read this data It s expressed in decimal system and the unit is minute If the read data is OOCDH and it s expressed as 205 in decimal system then it means current system has run for 3 hours and 25 minutes 7 DSP Software Version 090EH DSP software version of servo drive is expressed in numbers If the read data is 00C9H and it s expressed as 200 in decimal system then it means the software version is 2 00 124 Notes 1 After COM address is changed that is parameter Pn060 or the dialing switch on drive panel is changed servo drive will feedback data using current COM address until new COM address is updated and becomes available in around 40ms 2 After communication speed is changed that is parameter 061 is changed
33. only version number power interruption Host controller reads information from servo read only readable and writable Reset current readable alarm and writable JOG Servo ON readable and disable writable JOG forward run ADONIS readable and stop writable JOG reverse run reverse run readable and writable 121 Notes 1 parameter area COM address is from 0000 to 0078H Parameters in related parameter table for example parameter with 0000H as COM address is expressed as 000 parameter with 0065H as COM address is expressed as Pn101 and read write of data at 0000H is the same as operating on parameterPn000 If data coming from communication is not within the parameter range the data will be abandoned and servo drive will feedback a message of operation fail If the parameter is changed successfully this parameter will be saved automatically after a power interruption 2 Monitoring data area 0806 0814H The monitoring data does not correspond totally to display of Un000 Un013on handheld operator For example the data that communication reads from address of 0807H is FB16H then specified speed is 1258 r min Following table shows the meaning of each monitoring data Monitore Comments d data 0806H Actual motor speed r min 0807H Input speed reference value r min Digit of Internal Feedback torque percentage Status u Relatively rated torque pe Ee
34. p glow bit of Joa slow bit of L examination 94 examination r high bit of high bit of s CRC examination 37 End1 0 Communication complete ASCII mode Communication ends with the character r carriage returna and OAH n new line 117 RTU mode The freeze time for communication time required by four bytes at a speed exceeding current communication speed means communication comes to an end For example Use C language to generate CRC value This function needs two parameters unsigned char data unsigned char length This function will transmit back CRC value of unsigned integer unsigned int crc chk unsigned char data unsigned char length int i j unsigned int crc_reg oxFFFF While length crc reg for j 0 j lt 8 j If crc reg amp 0x01 crc_reg crc reg gt gt 1 0 001 lelsef crc reg 521 return crc reg 8 3 2 Communication error handling Error may occur during communication Normal error sources are as below When reading and writing parameters data address is incorrect When reading parameters data value is higher than this parameter s maximum value or lower than its minimum value gt Communication is disturbed data transmission error or checking code error When above communication error occurs it does not affect running of servo drive meanwhile the drive will give a feedback of error f
35. servo motor is the same as reference speed It can be used as the base of host controller s judgment Connect and use this signal according to the following diagram Servo drive opticoupler output every output node Max output voltage 30 Max output current sp speed coincidence Speed control speed coincidence Speed control COM output grounding signal It refers to output signal of input speed reference and speed coincidence of actual motor rotation When output status at low is active ON status N CMP4 L Speed coincidence speed level error is under setting value OFF status V CMP Speed coincidence speed level error is over setting value 74 Motor rolling speed Pns Instruction speed In this range output With the user s constant as below the range of output V CMP can be designated Parameter setting Factory Using number range setting method peed Speed coincidence r min 0 100 10 control error When difference between speed reference and actual motor speed is under setting value output V CMP signal 4 5 5 Handling instant power cut Select if alarm output is made or not upon a sudden power interruption setting Factor Name and meanings range y setting Parameter number Select operations to be made upon power interruption 0 gives no output of servo ene alarm signal
36. shape acceleration 0 1000 deceleration time Servo drive sets internal acceleration and deceleration time and implements control of speed acceleration and deceleration according to these parameters e Soft start function is available when control mode is internal speed control parameter speed control and JOG running In position control mode soft start function is unavailable e When input speed reference is stair stepping smooth speed control can be implemented by setting Soft start time Normally speed control is set to O Meaning of parameter is described below B Pn019 the period of time from stop status to a speed of 1000r min B Pn020 the period of time from the speed of 1000r min to stop status Speed Instruction Pn019 and Pn020 are linear acceleration deceleration time In the event of rather large impact which may occur because linear acceleration deceleration 60 times are applied Pn021 can be selected and set to get a smooth running 021 per Pn z1l Pn 21 4 Torque limit Setting Pn026 and Pn027 to limit torque is available in any control mode Parameter Setting Factory number range setting f limit Pn027 reverse run torque 1 limit Note 1 System response may be slowed down if torque limit is set to an undersized value 4 3 Servo drive settings 4 3 1 JOG speed JOG speed control is enabled with PC communication or hand held operator oet JOG speed with P
37. the auxiliary functions for general users 2 Hidden operations When the panel operator is in simple code menu press and start to use the auxiliary functions 6 2 1 Alarm history display The last ten 10 alarms are displayed in the alarm history library Take following steps to check the latest alarm 1 Press MODE key to select auxiliary function mode 2 Press INC or DEC to select function number of alarm history display 3 Press ENTER key the latest alarm code is displayed Alarm No Alarm code 4 Press INC or DEC key to display other alarm codes occurred recently 97 4 91 18015 5 Press ENTER to return to function number display If an alarm occurs right now the alarm codes will be updated immediately The alarm with a serial number of is the current alarm and the alarm with a serial number of 9 is the last alarm If the user wants to clear all alarm history data press ENTER key and hold on for one second while alarm codes are being displayed then all alarm history is 6 2 2 Restore to factory settings This function is used when returning to the factory settings after changing parameter settings 1 Press MODE key to select auxiliary function mode 2 Press INC or DEC key to select function number for restoring to factory settings 3 Press ENTER to enter parameter restoring mode 4 Press ENTER key and hold on for one s
38. when servo is OFF illl Name and comments Setting range ee No setting Pn005 0 When S OFF clear error ot 0 40 counter 1 When S OFF does not clear error counter Position reference 1st filter time Position reference 1st filter can improve system s respond smoothness to given reference pulse e If reference input is comparatively rough the dividing frequency multiplication is set too large or frequency of pulse input is low which can implement more smoothly controlling of servo system If position reference 1st filter time constant that is Pn024 is set too large servo system s dynamic performance will be depressed Parameter Factory position reference 1st filter time ms 0 1000 constant 4 2 2 Encoder signal output EDC servo drive outputs pulse signal of encoder A B C which facilitate using of host controller Seno drive Hast Servo motor Encoder Output circuit is bus drive output Make circuit connection with reference to following circuit 41 EDC Servo drive Host Line receiver Encoder A Ih Pulse gt a 2 18 P Encoder B 2 9 i Pulse 7 I9 Encoder B 5 10 Pulse A Linear drive aut equivalent with AM26L53 Connector represent multi twisted R 2207 470 cable P L of Output signal Output encoder signal after frequency is divided Output gt PAO 1CN 8 phase pul
39. ALM i 1 Output servo alarm signal ALM lf power supply of servo drive is interrupted suddenly over 20ms and detected 5 by servo drive Servo drive will decide if 5 and output servo alarm are required according to the value of Pn003 Instananeous power off happen 220Vy power voltage 1004 0 SEE s ALM a omo 7 Normally set Pn003 to zero 0 4 5 6 Regenerative braking unit When servo motor runs in dynamo mode electric power feedback goes to servo drive side this kind of power is normally called regenerative electric power Regenerative electric power is absorbed by means of charging the smoothing capacitor inside servo drive with its power If the power exceeds the capacity of the smoothing capacitor additional Regenerative braking unit is required to transform regenerative electric power into heat energy consumption of a bleeder or drain resistor otherwise servo drive may output overvoltage alarm Servo motor runs in dynamo mode subject to following conditions during deceleration to stop inertia load on perpendicular axis servo motor runs continuously due to load side negative load Note 1 EDC servo drive does not provide a built in regenerative resistor so external regenerative unit must be equipped if required 2 Terminal P and Terminal N from servo drive are leading to drive s main circuit power high voltage on DC generatrix therefore it s prohibit
40. ALM RST P N OT CLR PCON Effective voltage range 11V 25V Servo ON Servo motor is switched on According to of Pn051 0 ALM RST input which means to reset alarm 1 limit signal PN OT input which means to input mechanical limit signal According to of Pn051 0 Clear signal input to clear offset counter during position control 1 Limit signal PCON input means different things for different control methods Zero position signal input zero switch 4 1 2 outputs this signal when returning to zero position 1 Reference open collector power supply To provide 5VDC power supply when PULS and SIGN reference signals are open collector input signals Input modes SIGN Pulse Reference pulse 11 train 12 Input 13 Line drive or CCW CW 14 open collector Pulse 2 phase positive pulse x4 Output signal 1CN Reference items Servo alarm OFF status output is given 4 5 1 when the drive detects an error COIN 3 The value of Pn050 decides the output signal see the details as follows 0 brake interlock BK output positioning complete same speed detected position control method it means 71 positioning is completed COIN while in speed control method it means same speed is detected V CMP 1 positioning complete same speed detected in position control method it means positioning is completed COIN while in speed control method it means same speed
41. EDC Series User s Manual Operation of Version 2 Preface This manual describes the operation of the Anaheim Automation servo drive type EDC and is meant for operators who are instructed for operation of the device Anaheim Automation Limited Warranty This manual does not entitle you to any rights Anaheim Automation reserves the right to change this manual without prior notice All rights reserved No part of this publication can be copied or reproduced without written permission from 1 Anaheim Automation General Precaution B Power supply voltage should be AC 220V The EDC servo system requires a power supply of AC 220V 15 voltage B Don t connect the servo motor directly to local electric network Its prohibited to connect the servo motor directly to local electric network Otherwise the servo motor is very likely to get damaged The servo motor will not rotate without support of servo drive B Don t plug in or unplug the connectors when power is ON Internal circuit and motor encoder might be damaged if the plug in or unplug operations are performed during power ON Always turn the power OFF first before plugging in or unplugging the connectors B Wait for at least 5 minutes before doing inspection work on the servo system after turning power OFF Please be noted that even when the power is turned off there will still be some electric energy remained in the capacitors of the internal circuit In order to avo
42. JOG operation 7 3 Trial operation in position control mode 1 Preparation Check if 1CN cable power cables of servo drive and servomotor encoder cables are connected in the right way Operation steps 1 Set Parameter 008 according to output style of servo drive set Pn041 as O then Power On again 2 When Servo On is enabled S On signal becomes active motor will keep in excitation status 3 Alow frequency signal is sent from host controller to servo drive motor Is set to run at low speed 4 Check motor speed with panel operator by its Un000 display monitor motor speed with host controller Make sure feedback speed of servomotor agrees with the setting value Inspection When reference pulse stops motor should stop running Relation between motor speed and pulse frequency input Input pulse Motor frequency other frequency Hz pulse direction 104 Chapter 8 Communication 8 1 RS232 communication hardware structure EDC servo drive supports RS232 communication Via the RS232 COM function in its front panel parameters reading out or writing in and system status monitoring are available 8 1 1 External connection diagram Following diagram shows external connection between servo drive and PC 8 1 2 Cable connection Following illustration shows the plug shape of the RS232 COM port on EDC servo drive UJ Lp ug 12345
43. OR MODEL EMJ 08APA 2 39 13000 r min N m CO 200 V Ins F M000001Y20030409 Production Rated rotation speed Identification of motor model Flat without keys standard screw thread Incremental Wire saving Type 2500P R DC24V brake with oil seal 1 1 2 Servo drive Nameplate Identification of drive model SERVODRIVE AC OUTPUT 200 230V 50 60Hz 3PH 0 200V 0 333Hz QU LL 4 0A 750W SIN 62008876028 Estim Automation Technology Co Ltd Made in China ini Hazardous Voltage High Temperature touch drive urit nat touch heatsink and wiring within 15 By wien power is ON minutes after power off Risk of burn Risk of electrio shock EDC 08 APE EDC series servo drive 02 04 05 08 P Position control gt 200 1 2 Servo components description 1 2 1 Servo motor Following illustration shows the names of the components of a servo motor without gear down device and brake Encoder Shell Mounting hole Transmission axis Flange 10 1 2 2 Servo drive Following illustration shows the names of the components of a servo drive Charge indicator It lights on when power is switched on And it may keep lighting on when power is switched off since there is some electricity remained in the capacitors POWER amp ALARM Green light is
44. P R 157 encoder Value 49 Ball screw Load movement amount of_ gnood Reference O 00004in 0 0001 mm bearing shaft ane round 0 O00 lam Unit Bearing shaft rotation 2500 x d x Pni m Electrical gear 5 Incremental Ball screw 92 imm d 60000 23 encoder pitch 2500 pr Rolling table Load movement amount of Reference heari haft d 04 saring shaft ane roun 360 Unit C Redutian rotation 3600 Au 0 1 xps ratio Load shaft E ta i Electrical E 2500 KAMI P272 ncremental encader a s gear ratio ul 3600 Pni 3 2500 pr Seting 2022 Value pno2s oo Dynamic electronic gear If system pulse frequency is low and only one electronic gear is used it s hard to give consideration to both processing efficiency and position resolution Therefore EDC servo has a second electronic gear numerator and both can be switched dynamically In position control mode Pn041 0 after 2 electronic gear is enabled Pn056 1 dynamic electronic gear becomes active Switching electronic gear requires PCON signal input signal select Pn051 s bit1 1 Its better to switch electronic gear without any pulse input otherwise pulse loss may occur Since electronic gear will not switch until there s no pulse input within 1ms Numerator of electronic gear after switching is the value of Pn056 The seguence
45. able for EDC servo drive to communicate with ESVIEW software The selected panel shaft number is the communication address The speed is set according to Pn061 settings and the communication protocol is set according to Pn062 106 settings Only when the value is selected as the panel shaft number shaft number address Pn060 is used by the servo drive COM address range When the dial switch on the drive panel is set as F this parameter is used as the communication address 2 COM speed rang 9232 COM speed 0 4800bit Is 1 9600bit Is 2 19200b it s When communication function is used same communication speed between host controller and servo drive is required 3 COM T o Parameter Setting Factory rang setting RS232 NK protocol Pn062 0 7 N 2 Modbus ASCII 107 1 Modbus 1 Modbus 1 Modbus 1 Modbus 2 Modbus 1 Modbus RTU 8 8 0 1 Modbus RTU This parameter decides which COM protocol to be used the number 7 or 8 means digit numbers of data for data transmission is 7 digits or 8 digits English alphabet N E and O means odd or even N means this digit is disabled E means 1 digit even O means 1 digit odd the number 1 or 2 means stop is 1 digit or 2 digits communication protocol between host controller and servo drive are required to be the same when communication function is used 4 COM input IO contro
46. ar more Simm or more Installation orientation Install the servo drive vertically onto the wall so the front panel connection board side of servo drive faces the operator ll Cooling As shown in the illustration above give sufficient space between each servo 15 drive so that cooling by cooling fans or natural convection is good Side by side installation When installing servo drives side by side as shown in the illustration above reserve at least 10 mm between two horizontal sides and at least 50 mm between two vertical sides The temperature in the control cabinet needs to be kept evenly distributed subject to no overheat at any part of servo drive If necessary install forced air cooling fans above the servo drives to avoid excessive temperature rise ll Normal Working Conditions for Servo Drive 1 Ambient Temperature 0 to 55 2 Humidity 9096 RH or less no condensing 3 Vibration 4 9 m s2 or less To ensure a long term stability of the drive it s suggested the drive be used in a place with a temperature below 45 C 4 Storage condition When the servo drive is not in use it should be kept in a place with an environment temperature between 20 and 85 16 Chapter 3 Wiring 3 1 Wiring and connection Always comply with the following instructions when making wiring or connections Notes Neither run power wires and signal wires in the same conduit pipe nor bind them together The
47. arm digital operator output Alarm Name Parameter breakdown Checksum results of parameters are abnormal Current detection error Internal detection circuit problem Rotation speed of the motor has Overspeed exceeded 1 1 times of maximum speed Overload The motor was running for several seconds to several tens of seconds under a torque largely exceeding ratings Position error counter overflows Internal position error counter has exceeded the value Position error pulse has exceeded the value Position error pulse overflows parameter Pn 031 gt gt gt gt gt gt Pulse loss of Encoder C PC is disconnected or have interference At least one of PA PC PU PV or PW is disconnected Encoder disconnected Encoder UVW code violation Encoder UVW code violation Power module error Power module failure overheat Power module overheat Voltage error Overvoltage or undervoltage of main circuit Frequency error of input pulse Pulse frequency input is too high has exceeded the allowance A A A A A A A Parameter error Parameter saved in external storage has errors data error such as ALM BRK Relay LED lamps etc errors A power interruption A 21 Power loss error exceeding one cycle occurred in AC power supply 4 5 Watchdog reset system reset by watchdog o pura meses Photo coupler is ON ON gt data error Photo coupler is OFF OFF Alarm can be delet
48. as step change signal Pn069 0 Enable delay step change 1 use P CON signal as step changing signal Programming method Pn070 O incremental 1 absolute Origin searching method 071 7 0 turn off origin search function Z 1 Power on after the 1 0 211 C C ax IX 137 Name and Meaning Setting Factory No range setting S ON start origin search function automatically Z 2 start origin search function automatically everytime after S ON Y 0 Search Pulse C after origin search is done Y 1 don t search Pulse after origin search is done 0 forward run origin search ZPS as origin X71 reverse run origin search ZPS as origin Lxx Pn072 Start point of program 0 7 NE NENNEN Pn073 End point of program e d oo X p o r min Speed 1 when searching reference point hit STROKE 0 3000 1000 travel distance switch opeed 3 when searching reference point away from Ph 0 300 5 STRKE travel distance switch Pn076 reserved 0 30 0 4 Cycle number of origin search 1 9999 offset reference pulse Pn078 Pulse number of origin search 1 pulse 9999 offset Pn079 Reserved 4 moving distance i 32767 32 revolutions reference 167 pulse Pn074 Pn075 PnO77 Pn080 138 joi Name and Meaning Setting Factory range setting Pn081 moving distance 0 prey EH 10 ref
49. atures 125 9 1 2 Servomotor mounting dimension 128 9 1 3 Servomotor connection 129 92 err oeque C 130 9 2 1 Technical specification and model 130 9 2 2 Servo drive mounting dimension 132 ADPONOD na Mei ne II I UM a ud 132 Parameter ls cda tdt 132 ADDODODCD sm ena ain 141 an Sa ANA 141 Chapter 1 Checking products on delivery and product specification 1 1 Checking products on delivery Check following items when EDC series products are delivered Check Items Are the delivered products the Check the model numbers marked on the ones that were ordered nameplate of servo motor and servo drive Check the overall appearance and check for Is there any damage damage or scratches that have occurred during shipping Motor rotors can rotate gently with hand Can the rotors run well there s no abnormal noise and a motor with brake mustn t rotate If any of above items are faulty or incorrect contact your dealer from whom you purchased the products or the service personnel of Anaheim Automation 1 1 1 Servo motor Nameplate The following illustration shows an example of the servo motor s nameplate Rated output power Motor Model AC SERVO MOT
50. data to the desired number 85 Hold the button to accelerate the value changing When the data reaches the Max or Min value the value will stay unchanged even if INC DEC key is pressed 9 Press ENTER the data glimmers and then the date is saved 6 Press ENTER again to go back to parameter number display Plus if Mode key is pressed during step 3 or step 4 parameter setup operation will go directly to step 6 and no changes will be saved If the user needs to change any data later just repeats the operation from step 2 to step 6 If Pn080 needs to be set as 32767 then a decimal point is used on bottom right corner of the top number to show current value is negative For instance the value 3276 is displayed as below ale 6 1 6 Monitor Mode The monitor mode can be used for monitoring the external reference values I O signal status and internal status of servo drive User can make changes Monitor Mode even if motor is running B Following are the operation steps to use Monitor Mode The example as below shows the operation steps for monitoring Data 1500 of Un001 1 Press MODE key to select monitor mode 1010 2 INC key or DEC key to select the monitor number to be displayed 3 Press ENTER to display the monitored data selected in Step 2 DELL 4 Press ENTER again to return to monitor number display B Contents of Monitor Mode display Actual motor speed
51. ddress 0200H from a servo at the address of 01H ASCII mode Reference information Response information ADR infa amaunt by byte oT i DN start info i address the pa comment af p i EN he second infarmatian T infa address quantity PT The comment of 0201H B E E g xc examine 5 ODHNCR OAHXLF RTU mode Reference information Response information 114 Start info 021 Fish address of address Low bit 001 I of address Info quantity QOH by word 02H Low bit of Low bit of SINE examination examination ADR CMD 3H Info quantity Start info address OUT High bit of data comment of 0200H The second info f F H High bit of data address comment of 0201H bit of data low bit of Low hit of C K C examination 3 li examination CRC High bit of D3 ji High bit of examination examination Low bit of data Reference code 06H write in one word For instance write 100 0064H into 01H servo at the address of 0200H ASCII mode Reference information Start infa Comment of infa CDCR RTU mode Reference information pau oe i address To oT 6 OOOO an EM Response information sx 0 Into address Lec examine CES Response information 115 CMD
52. ds under a torque largely exceeding ratings Position error counter overflows Internal position error counter has exceeded the value Position error pulse has exceeded the value set in parameter Pn 031 Position error pulse overflows Pulse loss of Encoder C PC is disconnected or have interference E Al least one of PA PB PC PU PV or PW is A Encoder disconnected Encoder UVW code violalion Encoder UVW code violation A Power module error Power module failure x overheat Power module overheat X Voltage error Overvoltage or undervoltage of main circuit A 15 Frequency error of input pulse Pulse frequency input is too high has exceeded the allowance A 16 X Parameter error Parameter saved in external storage has errors 17 VO data error data error such as ALM BRK Relay LED lamps etc errors A power interruption Power loss error exceeding one cycle occurred in AC power supply Watchdog reset System reset by watchdog Normal operation status 84 Photo coupler is ON ON x Photo coupler is OFF OFF Alarm can be cleared Clear alarms in following ways when alarm occurs Set 1CN 6 signal active alarm reset signal ALM_RST Clear alarm with hand held operator please see 6 1 2 for reference gt Through matched PC communication software gt Turn power OFF and then ON again Notes 1 When alarm occurs always find out the alarm r
53. e back to zero switch after the first C pulse start to caculate offset distance Encoder C pulse Zero zps signal 58 4 2 7 Parameter speed control Being a simple way of speed control user can preset the running speed as regulated value in User Constant When Servo is On motor will run constantly at the preset speed Speed change goes along with the value change in Pn048 serva drive 40N 7 motor run at the speed set in the parameter Set parameter speed When using parameter speed control take following steps to make the setting 1 Set Pn041 properly to enable internal speed selection function Paramete Name and Setting Factory Application cases r number meanings range setting Control mode 0 2 Position control and selection speed control In internal speed control mode set Pn041 to 2 Pn041 Comments setting Run at regulated speed of Pn048 Note 1 OFF input signal is inactive 0 input signal is active 2 Set Pn048 to wanted speed value Value of Pn048 can be changed manually or via communication to make motor run at specified speed If the speed is set over maximum rotation speed _ 59 then motor will run at maximum speed instead 3 Set soft start time Parameter Setting Factory Name and meaning number range setting Pn019 start acceleration 0 10000 Pn020 Soft start deceleration a 0 10000 E time Pn024 5
54. e power supply is switched OFF due to a servo alarm then alarm reset operation is not necessary Note When any alarm occurs always remove alarm reasons first before performing alarm reset 6 1 3 Display mode selection By toggling among the different basic modes on the panel operator operations like current running status display and parameter setup can be performed The operator consists of following basic modes Status display Parameter setup Monitor mode and Auxiliary function mode Press MODE key to select a display mode in the following order Power ON j Status display mode 1 Function Mode 90 6 1 4 Status Display Mode In status display mode the digits and simple code are used to show the status of servo drive Selection of Status Display Mode The status display mode is displayed when the power is turned ON If current mode is not the status display mode press MODE key to switch to required mode K Contents displayed in Status Display Mode Contents displayed in the mode are different in Position Control Mode and Speed Control Mode When in Speed Control mode Speed coincidence Digits simple code Jelo Standby Control power ON Speed refekence being input Rotation detection output Main circuit power supply is ready Torque reference being input Contents of digit display Digit data ON Lamp extinguishes when servo is ON Speed coincidence When offset value b
55. e stop mode set value of Pn004 according to actual application requirements 4 1 4 Limiting torque For protection of mechanical structures maximum output torque can be limited by setting the following parameters to adjust the maximum value of forward reverse direction torque on the servo drive 26 Forward Intemal 0 300 250 torque limit Enos evene demas 0 300 250 torque limit Set maximum torque for forward and reverse direction it s used when limiting torque is required according to mechanical requirements e If value of current torque exceeds motor s maximum allowable torque follow the maximum torque of motor Example to show protection of mechanical structures 33 Torque limit Motor speed Torque Note e Its suggested the value of limited torque not exceed motors maximum torque e If limited value is set too low motor may have insufficient torque during its acceleration deceleration 4 2 Settings complying with host controller Different control modes can be selected by setting Pn041 as described in following table Paramete Rang Comment r No e Select control mode 0 position control 1 internal speed control 2 parameter speed control position control position contact control and parameter speed control Set Pn041 and select a certain control mode cane Control mode setting Position control pulse reference Servo drive receives pulse train gene
56. easons and remove alarm failures before clearing alarm 2 Only the alarm codes listed below can be cleared A 03 A 04 A 13 A 14 A 15 A 21 5 2 Alarm reasons and Troubleshooting Find out the alarm reasons with help of the alarm codes displayed on the hand held operator or view via the communication software in a PC Only the last 8 alarm records are saved in the servo drive which can be viewed via the operator or PC communication software The alarms without the sign of are not able to be removed To clear the alarms user has to turn power OFF and ON again No Name Status Possible reasons Treatments _ Power On again and check if the During system Checksum results of same problem still exists acceleration or parameters saved in gt If problem still exists the chip needs deceleration external storage are to be replaced because external During system abnormal storage of the drive has been running damaged gt Check reference power supply of A D circuit on the servo drive to see if the Current Sampling circuit 02 detection System is Power ON damaged reference supply has been damaged error Check if the mainboard and control plate are reliably connected 85 Motor speed has When motor overspeed happens exceeded 1 1 times of rep please take following actions maximum speed wer 5 re d af gt Reduce sel speed reference value E ad RES A ap
57. econd to restore all the parameters to default values 5 Release ENTER key to return to function number display 6 In Step 3 the parameter restoring operation can be cancelled and quit current operation by a short press on the ENTER key 6 2 3 JOG operation Note This mode is not available when servo 1 on or some alarm occurs 98 Take following operation steps to make JOG operation 1 Press MODE key to select auxiliary function mode 2 Press INC or DEC key to select JOG Function number 3 Press ENTER key to enter JOG mode meanwhile servo is OFF motor power is OFF 5 Press MODE key to turn servo ON and OFF If user wants to run motor Servo On has to be used 6 Press INC or DEC key motor runs when pressing the keys The servomotor will rotate at the present setting speed as below jp IS at 4 j rz Lo P E 1 x di vL a ca k X Y ec A TJ IT Li J 2 A _ Ne Moter forward rotation Motor reverse rotation During motor s FWD or REV direction LED display is as below 7 Press ENTER to return to function number display At this moment servo motor is turned OFF 6 2 4 Automatic offset signals adjustment of motor current detection The servo drive will check motor current detection signals every time the servo is initializing upon power on and will adjust automatically if required
58. ed 41 142
59. ed to be connected directly to bleeder or drain resistor Connect external regenerative unit according to following diagram 16 E Servo drive single Phase Ry 24V D or Y IMC Short connection wire Please remove short connection wire while use external regeneration resistence ipm Wg IMC Ry y Regeneration unit Note Before connection and installation please refer carefully to all the precautions in the instruction of the regenerative unit which is to be used 4 6 Smooth running 4 6 1 Smoothing Servo drive can perform smoothing filtering on reference pulse input of certain frequency Parameter Setting Factory number range setting Pn024 position reference Ms 0 1000 1st filter Pno25 Feed MEE 0 1000 filtering By adjusting the parameters the smoothing performance of position control can be changed 4 6 2 Acceleration deceleration time Servo drive can perform acceleration and deceleration on speed reference to have soft start function J Unit Setting Factory Name number range setting Pn019 M 0 10000 100 acceleration time Pn020 MEE tae 0 10000 deceleration time o shape Pn021 acceleration and 0 1000 deceleration time Pn019 time from stop status to speed of 1000r min B 20 time from speed of 1000r min to stop status Pn019 and 020 are linear acceleration deceleration time When large impact happe
60. ed to connect a regenerative resistor directly between P and N 10 sings Phase 00V iga 50 60 Hz 2 Mor busa Circus Breaker Sune 8 Thubder aeat lor System Protection ER Nose Fiter 1RY PL Eacbamagani contactar QFF IMC 1RY 1n shut deen power ud o DER D T pid supply of savo whan NO NO Spark Extinguisher naganarative urdi is in aa A Motor 1MC E e H 1 ds PG EDC Servo Drives Encoder 2CN PG N M 164 P Pisesa handie connectors of shaeided wies propery par 12 EB PAG uis IPULS med i TN ea C e 13 150 SIGN RS T EL ui 3 PBO Foatian Flalenemoa 14 i i 18 18 J PaO B Encoder Signa Output SIGN 10 n PCO 82K Meat oat PL 424 VIN 18 COIN Fasion Compete QNO T 33k 3 mem em SSS canis Hog BRAKE irterbcik Outpsr Wnan OH seruo funcion banana S ON 15 b d i a CON PON then braban ts rei nasnci panu 5 CLT GiT timing Tomus Cugat itai ON hon Cif alarm is rasat ALM RST fa k J Evi 1 Clear signal piil ie iie 4 SADY SAS Senco LON HET CUM OM HOM when serm is reach When OM ckeplarsament is conma CLR 7 EI IPs ETTA When DN fot era pasion e 1r a XM t edv E I 4 ALI 5 I p Alarm S OFF
61. eleration deceleration time ms 0 32767 constant moving distance 1 first 1st acceleration deceleration time ms 0 32767 constant moving distance 2 first 1st acceleration deceleration time 0 32767 Tang constant moving distance 3 first 1st FEM acceleration deceleration time ms 0 32767 constant moving distance 4 first 1st acceleration deceleration time ms 0 32767 constant moving distance 5 first 1st acceleration deceleration time 0 32767 Tan constant moving distance 6 first 1st acceleration deceleration time ms 0 32767 constant moving distance 7 first 1st acceleration deceleration time ms 0 32767 constant Pn112 moving distance Ostoptime 50ms 0 32767 10 Pn113 moving distance 1stop time 50ms 0 32767 10 Pn114 moving distance 2stop time 50ms 0 32767 10 Pn115 moving distance 3stoptime 50ms 0 32767 10 Pn116 moving distance 4stoptime 50ms 0 32767 10 Pn117 moving distance 5stoptime 50ms 0 32767 10 Pn118 moving distance 6stop time 0 32767 10 Pn119 moving distance 7stop time 0 32767 compensation Pn104 Pn105 Pn106 Pn107 Pn108 Pn109 Pn110 Pn111 140 A Note After changing the setting always turn the power OFF then Power ON again This makes the new setting valid The parameter may vary for motors of different models Appendix B Alarm list Alarm display Al
62. emperature between 20 C and 60 C 2 1 2 Installation site Servomotor should be installed indoors and the environment should meet following conditions a Free from corrosive inflammable or explosive gases b Well ventilated and free from dust and moisture c Ambient temperature is between 0 and 40 d Relative humidity is between 26 and 80 RH non condensing e Maintenance and cleaning can be performed easily 2 1 3 Installation concentricity Use elastic shaft connectors as many as possible for mechanical connections The axis centers of servo motor and mechanical load should be kept in the 12 same line If a shaft connector is used when installing servo motor it has to meet the requirement of concentricity tolerance as shown in the illustration below Measure this at four quartering positions of a cycle The difference between the maximum and minimum measured value must be less than 0 03mm Rotate together with shaft connectors Measure this at four quartering positions of a cycle The difference between the maximum and minimum measured value must be less than 0 03mm Rotate together with shaft connectors Note If the concentricity tolerance is too big mechanical vibration will occur resulting in damage to the bearings of servo motor Never strike at the axis direction when installing shaft connectors this could damage easily the encoder of servo motor 2 1 4 Installation direction The servomo
63. enc 3000 m revolutions e pulse Pn089 moving distance 4 low ae 9999 9999 Es Pn090 moving X distance 10 referenc 3000 revolutions e pulse ET moving distance 5 low 9999 9999 pulse moving distance 0 referenc 3000 revolutions e pulse ETE moving distance 6 low 9999 9999 Ea pulse moving distance 0f referenc 30000 3000 revolutions 0 e pulse Pn094 Set parameters like run speed acceleration deceleration time stop time and so on according to field working situation 53 Paramete Name and meanings Setting range Factory r No setting Pn096 moving distance 0 speed 0 3000 r mi Pn097 moving distance 1 speed 0 3000 r mi Pn098 moving distance 2 speed 0 3000 r mi Pn099 moving distance 3 speed 0 3000 r mi Pntoo moving distance 4 speed 0 3000 r mi ETS moving distance 5 speed 0 3000 r mi ETE moving distance 6 speed E 0 3000 ET moving distance 7 speed 0 3000 moving distance M 0 32767 acceleration deceleration time constant moving distance TISSU ms 0 32767 acceleration deceleration time constant moving distance 2 TS ms 0 32767 acceleration deceleration time constant moving distance 3 ms 0 32767 acceleration deceleration time constant moving distance 4 A ms 0 32767 acceleration deceleration time constant moving distance 5 M ms 0 32767 acceleration deceleration time constant moving distance
64. ence pulse input Reference Pulse signal Form Electrical Specifications Sign pulse train input gt c 0 sign SIGN PULS signal Forward reference Max reference frequency 500 kpps JEN FX FA PX M gt L Reverse reference when 200kpps collector open output CCW pulse CVV pulse Maximum reference frequency 500 kpps when 200kpps collector open output CCW P Forward reference Reverse reference 90 different two phase pulse train phase A phase B Maximum reference frequency x 4 multiplier 200 kpps Forward reterence Reverse refere Phase B is 90 Phase B is 90 forward from phase behind phase A m Clear error counter Follow the steps below to clear Error counter input CLR 1CN 7 Clear error counter input When CLR signal is Low level error counter is cleared Way to clear error counter Servo drive s internal error counter is zero 0 This signal means power level active it s required to retain some time before the signal takes effect The signal has to be canceled after pulse is cleared otherwise the counter is always in the zero Clear status which will result in no action of servo position loop In position control mode some pulse will remain in error counter when servo is OFF Therefore the error counter has to be cleared immediately after servo is re enabled With Pn005 setting pulse signal of error counter can be cleared automatically
65. er wire signal U V W power ON Servo is disabled is this problem still happens it s most likely the power module has been damaged Check connection of U V and W Check isolation resistance between mE U V W and grounding wires if the Too high current flow resistance is a bit lower that means motor through the power module isolation is worse motor needs to be or VCC4 control voltage is e drive is matched or not Check 10 see if the control power VCCA of the power module is OK or not Alarm occurs when it s a little lower gt Increase acceleration deceleration time gt Check to see is DB relay is damaged or not During system power on or system running Possible reasons Treatments Power module overheat gt Drive is running at heavy During system toad for a long time which Overheat nei causes module overheat Change environment condition improve gt Frequent start stop air ventilation or convection Ambient temperature 5 too high or air ventilation is bad Measure vollage at input During Power ON Overvoltage or terminal between R and T to see if the or during system undervoltage of main input voltage is within required range unning circuit Increase Acceleration Deceleration time Lower down start stop frequency Please set an appropriate reference frequency Frequency ii Take aclions to remove the noise During system 98 lequency MPULIS
66. erenc 32 e pulse Pn083 moving distance 1 low 1 reference 9999 999 pulse 9 4 moving distance M 32767 32 Pn084 3 revolutions reference 167 pulse Pn085 moving distance 2 low 1 reference 9999 999 pulse 9 4 moving distance M 32767 32 Pn086 4 revolutions reference 167 pulse Pn087 moving distance 3 low 1 9999 999 pulse 9 4 m 32767 32 5 reference 767 pulse Pn089 moving distance 4 low pulse 9 10 referenc 32767 32 167 e pulse Pn091 moving distance 5 low 1 reterence 9999 999 pulse 9 10f referenc 32767 32 7 767 e pulse Pn093 moving distance 6 low 1 reference 9999 999 pulse 9 10 referenc 32767 32 767 e pulse 095 moving distance 7 low 999 Pn096 moving distance Ospeed 0 E 500 097 moving distance 1speed 0 3000 500 139 Pn082 moving distance 1 revolution Pn088 moving distance 4 revolutions Pn090 moving distance 5 revolutions Pn092 moving distance revolutions Pn094 moving distance 7 revolutions range setting Pn098 moving distance 2speed 0 3000 500 Pn099 moving distance 3speed 0 3000 500 Pn100 moving distance 4speed r min 0 3000 500 Pn101 moving distance 5speed r min 0 3000 500 Pn102 moving distance 6speed 0 3000 500 Pn103 500 p moving distance first 1st acc
67. erse rotation Forward rotation side Side Servo motor Limited switch Servo drive N OT rOvowing table shows the drive status when input signal is ON and OFF Pn001 1 Pn052 bit0 1 Forward direction driving allowed Normal 001 1 Forward direction driving Pn052 bit0 Ed OFF Reverse direction 1 available 001 2 Pn052 bitO 1 Pn001 2 Reverse direction driving Pn052 bit0 OFF Forward direction 1 available Reverse direction driving 1 ON Normal mSwitching between Enable Disable overtravel input signal By setting the parameter as in following table user may select Enable or Disable overtravel input signal Default factory setting is ON Prohibit input signal ON OFF PN OT 0 do not use overtravel signal 1 Prohibit forward direction input signal is ON Forward direction is prohibited when 1CN 6 is OFF and forward direction is allowed when 1CN 6 is OV 3 2 Prohibit reverse direction input signal is ON Reverse direction is prohibited when 1CN 6 is OFF and reverse direction is allowed when 1CN 6 is OV Notes 1 When motor running is stopped by overtravel in position control mode there s no pulse lag 2 Only one overtravel direction can be used make sure overtravel direction is set before using the function subject to actual running 3 Please be noticed that overtravel signal does not work if motor is running in JOG mode 4
68. etween speed reference and actual motor speed is within allowable value lamp lights on Allowable value Pn029 The standard value is 10 min r Rotation detection When motor speed exceeds allowable value lamp is output lit When motor speed is lower than allowable value lamp goes extinct Allowable value 10 of rated speed Reference speed input When reference speed input exceeds allowable is continuing value lamp is lit When reference speed input is lower than allowable 91 value lamp goes extinct Allowable value 10 of rated speed Reference torque When reference torque input exceeds allowable input is continuing value lamp is lit When reference torque input is lower than allowable value lamp is extinct Allowable value 10 of rated torque Main circuit power Lamp is lit when main circuit power supply is OK supply is ready Lamp is extinct when main circuit power supply is OFF Contents of simple code display On standby Servo OFF Servomotor power is OFF Servo ON motor power is ON HU When in Position Control mode opeed coincidence Digits simple code TE a Control power ON reference pWlSe being input Rotation detection output Main circuit power supply is ready Clear signal being input Contents of digit display Digit data ON Lamp extinguishes when servo is ON Speed coincidence When offset value between position reference and actual motor position is within al
69. executed instead a message abort is displayed on the panel operator as below Alalalr If the user wants to cancel the function during inertia inspection or after entering the function menu just press ENTER key 5 When inertia inspection completes inertia value of load and motor are displayed in the unit of 0 1 Kg m x10 6 Press ENTER key again to return to function number display page Notes 1 Please be very careful during inertia inspection operation because motor will run forward and reverse for four 4 revolutions meanwhile motor is not controlled by external signals Make sure the running stroke of load is within required range to avoid possible damage to user s equipments 2 This operation is unavailable if servo is on or servo alarm occurs Chapter 7 Trial operation 7 1 Inspection and checking before trial operation To ensure safe and correct trial operation inspect and checking the following items before starting 1 Wiring All wiring and connections are correct The correct power supply voltage is being supplied to the main circuit and servomotor All groundings are good If trial operation only refers to JOG function 1CN wiring will not be required Refer to 3 1 2 2 Check power supply specification and make sure input voltage is correct 3 Fix servomotor securely Fix servomotor on the base as secure as possible to avoid the risk of 102 danger which is caused by the co
70. he encoder signals by motor feedback as shown in above diagrams are the PA PA PB PB signals from PG output of servo drive m Set REV mode Rotation direction of motor is selected by setting the parameter as follows Select rotation direction 0 view from side of motor load 0 1 CCW direction represents 29 forward direction standard mode 1 view from side of motor load CW direction represents forward direction REV mode Note The change only takes effect when motor power is shut down and re switched on 4 1 2 Overtravel The overtravel limit function forces movable machine parts to stop when they exceed the allowable range of motion m Overtravel function setting Before using overtravel function please connect correctly the input signals of following overtravel limit switch to corresponding pin numbers of servo drive s 1CN connector gt Input PN OT B vm Forward direction drive input PN OT B 44 Reverse direction drive 1CN 6 001 2 Pn052 bitO 1 is ON EDC servo drive only has one overtravel input signal 1CN 6 so user can only select overtravel limit in single direction Please be noticed that when performing first system running it s required to identify forward and reverse direction before make settings in overtravel parameter Its strongly required that user connect the limit switch according to following diagram to avoid possible mechanical damage 30 Rev
71. hen standard setting is used adjust this parameter to a larger value the vibration can also be restricted effectively The reason of vibration may be by incorrect gain adjustment or machine problems 79 4 7 High speed positioning 4 7 1 Servo gain settings m Setting speed loop gain para Setting Factory range setting Pn007 Select speed loop 0 4 control method ADRC control 1 Pl control Please be noticed when this parameter is changed corresponding Pn013 and Pn014 will change too Generally when 007 1 value of Pn013 and Pn014 need to be reduced m Speed feed forward RS Setting Factory range setting forward 0 disable speed feed forward 1 enable speed feed forward Inertia inspection is required before using this function With this function speed response is enhanced and setting time is reduced Setting speed loop gain S Setting Factory range setting Speed loop Pn013 2 1 3000 160 opeed loop integral time constant T i The above information shows internal speed loop gain and integral time constant of servo drive The larger the speed loop gain is set or the smaller the speed loop integral 80 time constant is set the easier to have fast response speed control and this is limited by mechanical features The larger the speed loop integral time constant is set servo has better steady state performance But too large value may cause system vibrat
72. id electrical shock please make sure inspection work is started 5 minutes after Charge indicator is OFF B There should be a space of at least 10mm between the servo drive and any other devices mounted in the electrical cabinet he servo drive produces heat during working heat dissipation should be considered in design of mounting layout At least 10 mm space in lateral direction and 50 mm space in longitudinal direction are required from servo drive to other equipments when doing installation Please install the servo drive in an environment which is free from condensation vibration and shock B Noise rejection treatment and grounding The noise from signal wires causes easily the mechanical vibration and malfunctions Please comply with the following rules strictly Route high voltage power cables separately from low voltage power cables Make short cable route as possible Single point grounding is required when mounting the servo motor and servo drive and grounding resistance should be lower than 1000 Its prohibited to apply power input noise filter between servo drive and servo motor B Withstand voltage test of servo drive should meet following conditions Input voltage AC 1500Vrms 1 minute Interrupt Break current 100mA Frequency 50 60Hz Forcing point Between Terminal R Terminal T and Terminal E S B Apply a fast response leakage protector Its required to use a fast response leakage protector or a lea
73. ignal and enables it 2 Set Pn059 first to make servo ignore external input signal then write in corresponding value to the data whose address is OxOOF5 when controlling of external input signal is required The value of the data whose address is OxOOF5 is not saved after a power interruption The table below gives an instruction of the value of the data whose address is OxOOF5 Value of data Comments on every bit whose address is 0x00F5 Decides SON 1CN 15 signal 0 signal is invalid 1 signal is valid Decides ALM RST 1CN 6 signal 0 signal is invalid S OFF 1 signal is valid Decides CLR 1CN 7 signal 0 signal is invalid S OFF 1 signal is valid Decides ZPS 1CN 17 signal 0 signal is invalid S OFF 1 signal is valid For example when COM is used control signals of external input set 110 Pn059 as 15 which means all external digital input IO are controlled by COM When servo On is required write in the value 1 to servo drive s OxOOF5 address 8 3 MODBUS communication protocol When axis number on front panel of EDC servo drive is not selected as zero MODBUS protocol is used for communication There re two modes available MODBUS communication that is ASCII Mode American Standard Code for information interchange or RTU Remote Terminal Unit mode See pages below for a simple introduction of these two communication modes 8 3 1 Code signification
74. ime with parameter Pn053 Active power level of input signal is controlled by Pn054 and active power level of output signal is controlled by Pn055 Following signals I O signals subject to default parameters Name and sering range Factory meaning setting aoe input signal filter time ms 0 1000 During filter time of input signal if signal jump occurs input signal will not be received by servo drive Input signal will be received by drive only after it keeps stable for the set time that is signal needs to keep on constant level within period of Pn053 before it can be accepted by servo drive Drive estimates signal validity according to Pn054 Following table shows operations to invert input signal Pn054 Digit BIT2 BIT1 BITO gis ALM RST In above table it means input signal is at high level L input signal is at low level 0 setting value in Pn054 means input signal low is active 1 setting value in Pn054 1 means input signal high is active N input signal is inactive Y input signal is active For example if CLR at high level and all the rest of signals at low level are required to be active then it is expressed as 000100 in binary system it will be 4 if converted into decimal system that is Pn054 must be set as 4 Take similar operation steps to set Output signal BIT2 BIT BITO d COIN ALM Meaning oignal Release PIT arrive Not arrive alar
75. in number of encoder and signal may be different for different types of motors Refer to motor instructions os 3 4 2 Motor power terminal Comments Sie Matar side connector View from cable side Notes The corresponding relations between pin number of motor s power wire and signal may be different for different models of motors Refer to motor instructions Toy 3 5 Standard connection example 10 36 Singe Phase 200V iga 50 60 Hz F Hor tuse Circuit Breaker Th bder araal tor Syeterm Protection i Surge Suppresser Te Noise Fitter iRY PL e hr gol a c ON 1MC DRM OAM BE Me IHE supply of sarva whan NO Spark Extingussher regenerative unit is in ao Motor 1MC _ Ut 1MC W I M 5 PG y P Servo Drives n Encoder 2CN PG 1CN Pisase handie connectors cf shisidad wies property ip poe Pss pai PULS TP i2 LI 5 oA b Cifioranii PULS er s decl 18 1 1580 Bian T T fel px a REN Position Ralarence 14 ti o 1 PBO Encoder Signa Outpul SIGN 10 le Diffemntia pau 2K 20 pro PL 24 VIN 18 1 COIN CON Pesisan Complete T 33K 3 eee INS BRAKE Interibok Output Wee mr trenes m nint CAS GLT GLT Limiting Torque Cute A wil ON Whan ON alarm is rasat ALM RST DR Le 0 E 2
76. ing diagram oom IO Power Servo drive aay OV opticoupler output every output node ax output voltage output current sgm Output COIN Positioning complete position control Output Positioning complete position control Output COM Output grounding signal Host controller can judge if servo action is completed or not with COIN Instruction Speed f Motor v n n Speed Offset Pn030 Pulse Un012 Un013 COIN Un012 error pulse counter low position monitoring Un013 error pulse counter high position monitoring When output is active at low level ON status COIN L Positioning has completed Position offset is level lower than setting of Pn030 OFF status COIN Positioning is not completed Position offset level is lower than setting of Pn030 Set In position error to control output time of COIN Paramete setting Factory Using r number range setting method In position reference 0 500 10 position error unit control Setting of In position error will not affect final accuracy of positioning By default 1CN 3 is used as Positioning complete signal COIN in position control mode while in speed control mode it s used as the speed coincidence output V CMP 4 5 4 Speed coincidence output opeed coincidence Output V CMP signal photocoupler output signal referring to output is given when rotation speed of
77. ion easily Speed loop gain Speed instruction Speed feedback m Setting position loop gain Position loop gain The larger the position loop is set the easier to have position control with high response and small offset and this is limited by mechanical features Owing to affection of load vibration and overshoot may occur easily if the gain Is set too large Position loop gain Position instruction Position feedback Paramet Setting Factory er range setting 256 overflow range of reference 1 32767 error counter unit This parameter is used to check offset pulse number of overflow alarm 81 AlarmA 06 Paramet Setting Factory er range setting Enable Disable alarm when position error overflows 0 no alarm output 1 output alarm This parameter is used to decide whether offset overflow alarm alarmA 06 is required or not Offset pulse When Pn047 is set to 1 if the range of error counter overflow Pn031 is set too small alarm A 06 may occur when running at high speed m Position feedforward With feed forward control positioning time is reduced Paramete Setting Factory range setting Pn017 Position feed forward gain Inside servo unit feed forward compensation is used for positioning control to reduce positioning time But if the gain is set too large overshoot and machine vibration may occur As for normal machines please set the gai
78. is as shown below 50 PCON effective LU i PCON Unable PCON Unable i i i i MEE MEM Pulse JubudLt malecure Molecure af i Molecure af Pu22 of electrical electrical gear electrical gear gear tl t2 13 t4 gt 1ms m Position control diagram Servo drive position control Forward feedback Forward feedback speed offset fliter gain molecule position instruction Servo motor Pulse flitering Position loop Instruction positio gain Direction CHE offset MERRIE T STE counter 1 1 Phage o Pulse output denominator Encoder 4 2 5 Position contact control Reference of position control control modeparameterPn041 0 comes from pulse input of host controller Reference of internal speed control control mode 041 1 comes from internal parameter value Pn080 Pn095 of servo drive 5 Parameter Pn080 Pn081 Pn094 Pn095 are the internal eight groups of position reference register Programming method can be defined according to Pn070 There are two methods a incremental b absolute It can also co operate with external l O 1CN 7 input as PCON signal Setting of position contact control 1 Set Pn041 1 internal speed control 2 Select cycle run or not whether PCON is used as step change signal or not programming method start and stop point of program etc
79. kage protector for PWM inverter designated by supplier Do not use a time delay leakage protector B Avoid extreme adjustments or changes Dont make extreme adjustments or changes to servo drive s parameters which will cause terrible mechanical vibration and result in unnecessary property loss B Don t run the servo motor by switching On Off the power supply directly Frequent power On Off will cause fast aging to servo s internal components which will reduce the lifetime of servo drive It s required to use reference signals to control the running of servo motor Contents wire eee 1 Anaheim Automation Limited Warranty oooWo WWW 1 aman ana ee e dd 2 Table OF CONUS soar 3 4 Chapter 1 Checking products on delivery and product specification f 1 1 Checking products on delivery W WWW ma 7 UP TEE TT f Nameplate e e EET Identification of motor model 8 1v1 2 SENO BA Maa 9 Ra aa aah 9 Identification of drive 9 1 2 Servo components 10 9 ee 10 SEO 11 Chapter 2 InstallatiO na 12 21 SevO Moto ono 12 AA Storage
80. l When using COM control function the parameter Pn059 can be used to shield input IO signals if the user does not want external input signals to affect servo 108 drive When some bit is set as O zero the signal of this bit is then controlled by the external input signal If the bit is set as 1 then COM control is applied to this bit Paramet Setting Factory rang mi as Te COM input IO control This parameter is used to set whether the number input of servo drive is controlled by external IO or by COM When the parameter is set as zero it means all numerical IO input pitches are controlled by external signals When it is set as 15 it means all of the four IO inputs are COM controlled and all external input signals are ignored Input signal source is decided by value of Pn059 Pn059 Comments on every bit Decides SON 1CN 15 source of signal input 0 controlled by external input signal 1 controlled by COM Decides ALM RST 1CN 6 source of signal input 0 controlled by external input signal 1 controlled by COM Decides CLR 1CN 7 source of signal input 0 controlled by external input signal 1 controlled by COM Decides ZPS 1CN 17 source of signal input 109 0 controlled by external input signal 1 controlled by COM Following are the two ways for COM function to operate on digital input IO signals 1 Change the value of Pn054 directly inverts required s
81. l ms 10 1000 500 Position error pulse overflow alarm output 1 enable me ene 0 _ speed 0 Pn049 1CN 20utputsignal selection 0 3 0 Pn050 1CN 3output signal selection 0 3 1 Pn051 1CN two input signal selection 0 3 0 Pn082 Reserved 0 32 0 Pn053 Input IO signal filter time 0 10000 100 Pn054 Inverts inputsignal J 0 5 0 Pn055 Inverts output signal 07 0 Pn056 2 electronic gear numerator em 1 32767 1 Pn057 Dynamic electronic gear enable 01 0 Pn058 reserved Pn059 RS232 COM input IO contact 0 45 control Pn060 RS232 COM address 4259 14 RS232 COM baudrate 4800bit s Pn061 4 9600bit s bit s 0 2 1 2 19200bit s RS232 COM protocol 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCII Pn062 2 7 1 Modbus ASCII 5 3 8 N 2 Modbus ASCII 4 8 E 1 Modbus ASCII 5 8 1 Modbus ASCII 136 Setting Factory range setting A17 A oo 6 8 N 2 Modbus 7 8 E 1 Modbus 8 8 0 1 Modbus RTU Pn063 CAN COM address CAN COM baudrate 0 50K 1 100K DUTIES Kbit s 0 5 3 250K 4 500K 5 1M CAN COM selection O disable 1 enable Pn066 Pn067 Select cycle run Pn068 O multi point cycle run 1 multi point single run Enable disable P CON signal
82. lowable value lamp lights on Allowable value Pn030 The standard value is 10 92 Rotation detection When motor speed exceeds allowable value lamp is output lit When motor speed is lower than allowable value lamp goes extinct Allowable value 1096 of rated speed Reference pulse input When reference pulse input is continuing lamp is lit Is continuing When there is no reference pulse input lamp goes extinct Clear signal input is When clear signal input is continuing lamp is lit continuing When there is no clear signal input lamp goes extinct Main circuit power Lamp is lit when main circuit power supply is OK supply is ready Lamp is extinct when main circuit power supply is OFF Contents of simple code display On standby Servo OFF motor power is OFF Running Servo ON motor power is ON S IE 6 1 5 Parameter Setting Mode Parameters related to the operation and adjustment of the servomotor are set in this mode See the Parameter List in Appendix A for details B Change parameters Please see the Parameter List in Appendix A to know exactly the range of parameter change Following is an operational example of changing the data of Pn 019 from 100 to 85 1 Press MODE key to select parameter setup mode 2 Press INC key or DEC key to number 3 Press ENTER key to display mM rda selected in step 2 93 4 Press INC or DEC to change the
83. lustration below shows the timing sequence relation between signal SON and BRK when motor stops speed is lower than 30 r m 267 amp ONINPLIT Serva CON Servo OFF Serva ON KL NH 153 valid et a rat ERKinvalid tl Erake discharge Brake discharge Motor power on il 33 Motor power on Motor status Motor power UL Basic waiting process servo on waiting ime pmg4a 1 t2 determined by external relay and brake loop move time By factory setting S OFF works with BRK output at the same time If load travels for tiny distance owing to action of earth gravity Pn044 is required to be set so that action of S OFF is delayed normally this unwished movement can be removed Note When alarm occurs servo drive will switch off main circuit loop of servo motor immediately meanwhile machine may move for tiny distance Brake sticking setting During motor running movement setting of brake sticking is controlled by Pn045 and Pn046 By controlling brake s sticking movement timing sequence brake sticking is started correctly after servomotor stops running setting Factor Paramete Name and meanings range y r number setting Pn045 Brake waiting speed 10 300 Pn046 Brake waiting time 10 1000 EN The illustration below shows the timing sequence relation between signal SON and BRK when motor stops speed is higher than 30 r m 68
84. m No alarm meaning braking Pm55 0 1 0 Output hig Note When ALM is in normal status Output level is high inverts other two signals For example If output level is required to meet following conditions High when braking signal releases braking Low when COIN signal is active ALM output is high when alarm occurs then it will be expressed as 100 in binary system if it is converted into decimal system it would be 4 that is Pn055 should be set as 4 46 Note The validity of signals mentioned in this manual are all referring to normal situation that is active when input signal is at low level active when output is at low level ALM output is at high level 4 2 4 Electronic gear With Electronic gear function workpiece movement which is equivalent to input reference pulse can be set to any value Host controller that sends reference pulse can implement control operation with no need to care for mechanical gear ratio and pulse number of encoder so control calculation becomes easier Without electrical qear Jl Heference d dum Work ni Encoder T DrR PIECE P rM Ball screw pitch eed identify machanical condition Encoderpuls amp 5eg Ball screw pitch 6mm reference unit with electrical Meed to move workpiece 10mm Need ta move workpiece 10mm Due ta ance rotate mmm E Reference unit is Tum so 10 6 1 6666 rotati
85. munication protocol structure ASen mode Start bit gt SAH COM address gt 1 byte including two ASCII codes Reference code gt 1 byte including two ASCII codes Data contents gt n word 2n byte including four ASCII code no more than 12 LN Checkout code gt 1 byte including two ASCII codes End 1 stop bit gt ODH CR End 0 stop gt OAH LF UE time for transmission time of over 4 bytes at current transmission speed COM address gt 1 byte Reference code gt 1 byte Data content gt n word 2n byte n is no more than 12 LN checkout code gt 1 byte End 1 Freeze time for transmission time of over 4 bytes at current transmission speed See followings for an introduction on data format of COM protocol STX COM start ASCII mode byte RTU mode Freeze time for transmission time of over 4 bytes which varies automatically according to changing of communication speed 13 ADR COM address Range of legal COM address from 1 to 254 The example below shows communication with a servo whose address is 32 if expressed in hex system the address will be 20 ASCII mode ADR 2 0 2 2 232H 0 30H mode ADR 20H CMD Command reference and DATA Data Data format depends on following command codes Command code 03H when reading N words maximum value of N is 20 For example read the first two words from start a
86. n for Pn049 correspond to pin 1CN 2 output Pn050 correspond to pin 1CN 3output 2 BK brake interlock output 1 positioning complete V CMP speed coincidence output CLT torque limit output S RDY servo ready output 4 2 1 Position control In position control mode Pn041 0 servo drive make driving servo motor run according to position reference given by host controller It is required to select optimal style from varies styles according to requirements of host control device m Pulse input Host device controls the rotation speed and position of servo system by sending a series of pulse trains Seno dine Photo coupler PULS 1074 11 150 Pulse referenc input l SION Pulse direction input represent multi twisted cable Host control device may give three types of pulse reference as follows 36 linear driving output 24V open oollector output 12V and 5 open oollector output Connection example 1 when host controller is linear driving output Applicable linear drives TT company AM26LS3 SN75174 or MC3487 and other substitutes Hast Servo drive Linear drive Photo Coupler ICH 11 150 fe m 3 A connector shell shield Example 2 When host device is open collector output subject to 24VDC signal power Host Serwo drive Photo Coupler CH 11 150 PULS RID grounding Connect with con
87. n to 8096 or lower 82 Instruction Pulse Forward feedback pulse 4 7 2 Speed offset settings By setting internal speed reference offset of servo unit adjusting time for positioning control can be reduced Barameior Setting Factory range setting Pn016 Speed r min 0 300 offset Inside servo unit the specified speed reference offset for positioning control are used to reduce positioning time Make the setting according to mechanical conditions Internal speed instruction Pn016 _ Offset Pulse Note When positioning error is set low while speed offset is set a bit large overshoot or vibration may occur during system running Please pay close attention when using this parameter _ 3 Chapter 5 Troubleshooting 5 1 Alarm list Servo drive will output an alarm when abnormal event is detected The LED for POWER amp ALM on the front panel of the servo drive will turn red when alarm occurs The LED is green in normal status meanwhile the drive outputs an alarm If an external hand held operator is installed current alarm code can be displayed on the operator Alarm display Alarm 3 Em digital operator output Alarm Name Meaning 01 Parameter breakdown Checksum results of parameters are abnormal Internal detection circuit problem x Rotation speed of the motor has Overspeed exceeded 1 1 times of maximum speed The motor was running for several seconds To several tens of secon
88. n032 setting range number Pn032 JOG speed 0 3000 500 Factory meanings setting 61 Note 1 No matter what value Pn041 is or whether S ON is active or not JOG running 1 always possible on the condition that cable connection of servomotor is correct and servo drive has no problem 2 During JOG running servo drive will ignore host controller s control signal and status of limit switch and property loss is easily caused due to improper operation Therefore JOG must be prohibited during normal production 4 3 2 Control selection Control modes can be selected with parameter Pn041 as described below Paramet Control and description Range adn setting O position control Pno41 1 internal speed control 2 reference speed control m General information of above control methods are introduced as follows 0 position control pulse train reference oervo drive accepts pulse train generated by host controller and speed and positioning are behaving according to host control s demand 1 position contact control internal position reference Enable speed control by contact reference Please refer to 4 2 7 internal speed control of the manual 2 parameter speed control parameter reference Run at constant speed as specified in Pn048 The following table shows the meaning of some input signals in different modes 162 Control method position c
89. nal output Please make setting according to machine and reference unit of controller Note e After parameter changing turn power OFF and then turn power ON again 43 4 2 3 Sequence I O signal To control sequence input and output signal of servo drive s movement please connect according to demand m Connect sequence input signal Following illustration shows how to connect sequence input signal EDC servo dirve 24 IH 16 sr ALM RST E Notes e 24V I O power supply is required since there is no internal power supply servo drive e External power supply specification DC24Vx1V 500mA higher e Its suggested that input circuit and output circuit use the same power supply Voltage range of input circuit is 11 25 If power voltage is low and mechanical joints like relay is used micro current switch or relay are required to avoid bad contact Always check and confirm the electrical specification of the relay or relevant parts before starting to use input 24VIN 1 External I O power 9 input m Connect contact point of output signal 44 Servo drive 0 power DV 1CH i 2 Eni 432 2 EDLT NXSRDT 20 DEUH ADT Optocoupler output every output node output voltage 20 um output current 2 uH 5m m Handling signal Input signal is smoothed with filter and then received by servo drive Set filter t
90. nect shell shield cT Example 3 When host device is open collector output subject to 12VDC or 5VDC signal power Hast Servo drive Photo coupler 154 11 150 Ls meer Ld p eus Ir icwi2 i3 SIGH ICN 13 150 _ sion r yrounding Connect with connecta shell shields The right current limiting resistor R1 should be used according to current requirements i 10 15mA When Vcc is 12V R1 560 8200 When Vcc is 5V R1 82 2000 Select reference pulse mode 1CN 11 1CN 12 1CN 13 1CN 14 38 Use parameter Pn008 009 to select reference pulse mode Paramete Code Comments Facto ry settin 9 input pulse mode O SIGN pulse Pn008 1 JCW CCW 2 perpendicular x 4 Inverts input pulse Pn009 0 40 not invert pulse reference 1 inverts pulse reference Following are available reference pulse styles please make the setting according to specification of host controller PULS PULS 1CN 11 1CN 11 SIGN SIGN 1CN 13 1CN 13 PULS ics PULS 1CN 11 ICN 11 SIGN SIGN ICN 13 1CN 13 2 phase PULS PULS perpend 1CN 11 1CN 11 1 90 icular SIGN SIGN pulse 1CN 13 1CN 13 User may select to invert input signal or not by setting PnOO9 according to actual requirements _ 39 Pulse input sequence Input of pulse reference must meet following conditions on level and sequence Time for refer
91. ng DB Clear error pulse signal is turn ON or not after Servo OFF 0 Turned on 1 turned off Select rotation direction 0 side view from load of 0 1 133 joi Name and Meaning Setting Factory range setting servomotor CCW means forward run 1 side view from load of servomotor CW means forward run Speed control mode selection Pn007 0 ADRC control 0 1 1 PI control Reference pulse form 0 SIGN PULSE Pn008 1 CW CCW 0 2 2 Phase Phase x4 positive logic Reference pulse form 0 does not invert PULSE reference does not invert SIGN reference 1 does not invert PULSE Pn009 reference inverts SIGN 0 3 reference 2 inverts PULSE reference does not invert SIGN reference 3 inverts PULSE reference inverts SIGN reference Pn010 PG pulse dividing ratio pulse dividing ratio PG pulse dividing rato 1 2500 2500 Pn011 Dividing output phase selection 04 O0 Speed feed forward selection Pn012 0 disable D A RA enable Speed loop gain Hz 1 300 80 Pn044 opeed loop integral time im 1 2000 180 constant Pn015 Position loop gain 1 1000 Pn016 0 300 0 LPmOtr Postion feedforward 3 0 00 0 ee Soft start acceleration time 0 10000 100 Soft start deceleration time 0 10000 100 Pn024 S shaped acceleration 0 1000 deceleration time Pn022 Electronic gear ratio
92. ns because linear acceleration deceleration are used to start stop the machine Pn021 can be set to have smooth running Speed Instruction Speed Pode Inside servo drive perform acceleration and deceleration of the set value on speed reference to implement speed control When inputting step like speed reference smooth speed control can be implemented gt _ 78 4 6 3 Speed detection smoothing time constant By adjusting speed checkout filter time constant mechanical vibration caused by servo system can be removed or eliminated Paramet setting Factory er range setting Speed checkout filter time constant The smaller the value of constant is the better control response is shown Actual situation will be restrained by mechanical structure If mechanical vibration occurs when default setting is used adjust this parameter to a larger value normally the vibration can be restricted effectively 4 6 4 Torque reference filter time constant When mechanical vibration is caused by servo drive Torque reference filter time constant can be adjusted to remove or eliminate vibration Parameter Peng deos id range setting Torque reference filter time constant The smaller the value of constant is the better control response is shown Actual situation will be restrained by mechanical conditions If mechanical vibration caused by servo occurs w
93. nsidered 1 Do not start stop servomotor frequently with power On OFF switch this will cause fast aging and reduced performance of the internal elements in the servo drive 2 Do not start stop servomotor frequently with S ON 1CN 15 otherwise built in energy consumption resistor is damaged easily Dynamic brake DB is way to force servomotor to stop immediately upon emergency By shorting power cable of servo motor to achieve emergency stop of servo motor This circuit is already built in EDC servo drive 64 Servo unit Servo motor Q Q 4 4 2 Holding brake Servo motor with brake sticking Holding brake is required on the condition that perpendicular axis the axis which withstands external force is used to prevent non electrified servo motor from revolving around owing to action of the earth gravity The action of brake sticking is controlled by servomotor s brake interlock output signal Upright n forced axis es Servo motor out Servo motor hold breakr force Prevent from movement by gravity when power off Make sure servomotor is mechanically separated before confirming action of servomotor and brake sticking holding brake If all the parts are moving well connect servo motor to the machine Connection example controls Power On Off of brake sticking which consists of the control circuit of holding brake The illustration below shows a typical connection
94. on when power is On and red light is on when servo drive generates an alarm CAN COM ID address selection switch It s available for CAN communication CAN COM port CAN It s available for CAN communication RS232 COM port COM Available for communicating with a panel operator or a computer I O signal connector 1CN To connect with reference input signal sequence I O signal Encoder connector 2CN To connect with the encoder on the servo motor Servo motor connection terminal The terminal to connect the power cable of servo motor Power terminal and regenerative unit connection terminal 11 Chapter 2 Installation 2 1 Servo motor Servomotor can be installed either horizontally or vertically However if the servomotor is installed with incorrect mechanical fittings the servo motor s lifetime will be greatly shortened and unexpected accidents will occur Please make installation according to the instructions as below Precaution There s some antirust agent on the edge of the motor shaft to prevent it from rusting during storage Please wipe off the agent thoroughly by using a cloth dipped with diluting agent or thinner before installing the motor NOTE The diluting agent should not touch any other parts of the servomotor when wiping the shaft Antirust agent 2 1 1 Storage temperature When the servomotor is not in use it should be kept in a place with an environment t
95. ons 2500 X 4 Pulse create one rotation H 10000 pulse 1 6666 X 2500 x 4 16666 pulse Reference input 16666 pulse The caculate must be done at the upper device Way to set electronic gear Take following steps to calculate electronic gear ratio B A and its value is set in Pn022 and Pn023 of user parameter 1 Mechanical forms related to electronic gear gear ratio ball bearing screw pitch pulley radius 2 Encoder pulse number of servo motor 3 Equivalent pulse reference unit Reference unit refers to the unit of minimum moving distance required by load 47 or the minimum reference unit of host controller Reference move the warktable by 0 001 unit Reference unit 0 001mm Please decide the the reference unit by machanical farm and position precision For example reference unit can be 0 01mm 0 001mm 0 1 and 0 01 inch reference of input one pulse the distance or angle of moving a pulse equivalent If pulse equivalent is input reference pulse 50000 then moving distance will be 50000x1um 50mm 4 With pulse equivalent load moving distance is calculated subject to load shaft revolves for one revolution Moving distance of load reference unit Moving distance of load pulse equivalent If ball bearing screw pitch is 5mm pulse equivalent is 0 001mm 5mm 0 001mm 5000 reference unit Bearing shaft Beanng shaft Belt roller diameter P 360 P
96. ontrol pulse Servo drive train reference Postion SIGN Normally position control Instruction input reference refers to pulse train Internal position control internal position reference No external input signal is required Run according to value in internal position register parameter speed control parameter reference Servo motor rotates according to speed and status specified in 048 setting 4 4 Stop function settings 4 4 1 Dynamic brake Set the value of Pn004 to select stop mode of servo motor DB braking or coast stop If dynamic brake is not used motor stops naturally with no brake by using the friction resistance of the motor in operation 6d number Pn004 Stop mode of servomotor when servo OFF or alarm occurs Parameter Factory range setting Parameter Gamma RN number 0 When servo OFF or alarm occurs DB braking active 1 When servo OFF or alarm occurs coasts to a stop 2 When servo OFF or alarm occurs DB braking active and is released after motor stops 3 When servo OFF or alarm occurs coasts to a stop DB active after motor stops In following situation servo drive will switch off power supply of servo motor e When S ON 1CN 15 signal is OFF e When servo alarm occurs e When power supply is OFF Note Dynamic brake DB forces servomotor to stop immediately upon emergency therefore following notes must be co
97. or detection value Step 1 Load in a 16 bit register whose content is FFFFH which is called CRC register Step 2 Make OR calculation of the 1 bit bitO of reference information and the low bit LSB of 16 bit CRC register then save the result into CRC register Step 3 Check lowest LSB of CRC register if this bit is 0 then move the value to the right for one digit If this bitis 1 then move the value to the right for one digit after that make OR calculation with AOO1H otep 4 Go back to Step3 when knows Step 3 has been done eight times moves on to Step5 Step 5 Repeat operations from Step 2 to Step 4 for the next bit of reference information when knows all bits have been processed in the same way the wanted CRC error detection value is just the current content in the CRC register Instruction After CRC error detection value is calculated it s required to fill in first the low bit of CRC in reference information then fill in the high bit of CRC Refers to the example below Example Read two words from 0101H address of 01H servo drive Final content of CRC register is calculated and turns to be 3794 by summing the date from ADR to last bit then its reference information is shown below Please be noticed 94H should be transmitted before 37H Am m CMD high bit of Start info 01 address Ioue Dinar 01 AC tures Info quantity ro word 02 li low bit of data
98. peed of the gain type 2500 lines of electric motor 4 Pulse numbers of encoder angles show the rotor s position in relate to stator in one complete revolution one revolution is regarded as one cycle 5 As for wire saving encoder motor its encoder signal only represents the data during power on the contents of non wire saving encoder signal display is shown in the following table digits displayed Signals mei 6 Contents of I O terminal signals are in the following table diepayed Signals digits displayed Signals signal S ON ST counter Un005 Zero position 1CN 17 ZPS signal 456 Nodisplay Nosignal Output a signal Positioning complete speed 1CN 3 COIN achieves 96 Mechanical braking 1CN 2 BRK released The relative LED is lit to show some l O signal is active 6 2 Auxiliary functions In Auxiliary Function Mode some application operations can be done with the digital operator The functions details are shown as below NO Fn000 Display alarm history Fn001 Restore to factory settings Fn002 Fn002 JOG operation JOG operation Automatic offset signal adjustment Open operation Fn003 motor current detection Fn004 software version of servo version of servo Fn005 System runtime Fn006 Software version of panel operator Hidden operation Fn007 Factory test Fn008 Inertia inspection Notes 1 Open operations refer to
99. propriately the value of gt Acceleration smoothing time constant Pn024 03 Overspeed Deceleration time Increase appropriately the value of constant too short which position proportional gain Pn015 cause speed overshoot gt Check gear ratio the ratio should gt Electric gear ratio is too be set within the range as below big input pulse frequency x Electric P Gain value Pn015 is gear 500 KHZ too small System run over rated torque for seconds and gt Nerease Acceleration Deceleration During system tens of seconds time i Acceleration Deceleration 4 dinh re time constant too short gt Use drive and motor of larger i gt capacity of drive and molor power instead During system ol gt Check load running gt start stop frequency istoo gt Reduce start stop frequency high Absolute value of Check and see if motor rotates position error counter d 9 according to reference pulse During is MP Check mechanical parts of load M lt gt Check reference pulse Input reference pulse is abnormal Check motor encoder cables Status Possible reasons Treatments Check motor encoder cables Check mechanical parts of load Readjust increment increase P Gain Position error pulses has exceeded limit value of position error counter value Pn015 During system overfiow Pn031 gt Increase value of Pn031 position error
100. r current detection 99 6 2 5 Servo software version display 100 0 2 6 System KUN ME 101 6 2 7 Software version of panel operator 101 0 2 0 FACON dc MT T 101 6 2 9 Inertia Wo W Wo WWW W Wan 101 Chapter 4 Ra ue eoo ole tee tst 102 7 1 Inspection and checking before trial operation 102 Ober allo en Ns naas 103 7 3 Trial operation in position control mode 104 Chapter o Communication 105 8 1 RS232 communication hardware structure 105 8 1 1 External connection diagram 105 9 1 2 Cable CONMECUHON ent os doe da ai 105 8 2 Communication relevant parameters 106 8 3 MODBUS communication protocol 111 O05 117 lios 111 8 3 2 Communication error handling 118 8 3 3 Parameters servo status data communication address 120 Chapter 9 Technical specification and features 125 D DTE 125 9 1 1 Technical specification and fe
101. rame The format of error frame is shown in following table Data frame of host controller start Slave station Data address address references 118 Servo drive s feedback of error frame start Slave station Response Error code address code Comments Error frame response code Command 80H Error code 00H communication 1 good 01H servo drive can t identify requested function 02H given data address in the request does not exist in servo drive 03H given data in the request is not allowed in servo drive higher than maximum value or lower than minimum value of the parameter 04H servo drive has started processing the request but unable to finish this request For example Let s suppose the axis number of servo drive is O3H and we want to write data O6H into Parameter Pn002 Because maximum and minimum value of Pn002 are both zero 0 the data which is to be written in will not be accepted instead servo drive will feedback an error frame with error code 03 The frame is as below Data frame of host controller start Slave station Data address address references etc __ m Servo drive s feedback error frame start Slave station Response Error code address code Plus if the slave station address of data frame transmitted by Host 119 controller is 00H it means this frame of data is broadcasting data and servo drive will not feedback a frame
102. rated by host controller and the control of rotation speed and positioning are achieved according to requirements from host controller contact speed control I O reference Running at set speed is selected by switch on off input signals _ 34 parameter speed control parameter reference Run at constant speed as the value in Pn048 Way to use CLT signals Following illustration shows the way to use contact output signal CLT torque limit test DC30V DC50mA Torque limit Speed control torque gt output detection output control position control The following signal be output indicate the servomotor output torque is being limited or not CLT L level when servomotor output torque is being limited ON internal torque reference is above setting value CLT level when The servomotor output torque is not being OFF limited internal torque reference is below setting value The setting value Pn026 Forward direction torque internal limit Pn027 Forward direction torque internal limit When CLT signal is used the output signal and output pin number are required to be defined according to the user constants in following table setting Pn049 Output signal 1CN 2 signification signification _35 COIN V CMP BK 1CN 2 CLT SEN S RDY COIN V CMP BK 1CN 3 CLT S RDY Following table shows the pin number definitio
103. re should be at least 30 cm s space between power wires and signal wires e Whole shielded twisted pair wires are required for signal wires and encoder feedback wires shield layer must be connected to the shell of the plugs Wire length requirement reference signal input wires are maximum 3 meters and encoder feedback wires are 20 meters to the maximum e Please be noted that even when the power is turned off there will still be some electric energy remained in the internal circuit In order to avoid electrical shock please make sure inspection or wiring work is started five minutes after Charge indicator is OFF e Don t turn power ON and OFF frequently If required turning power ON and OFF should be controlled under once a minute There are some high capacity capacitors installed in the internal circuit of servo drive when power is switched on high charging electric current will flow though the capacitors within several dozen of ms therefore frequent power on off will cause fast aging to servo s internal elements 3 1 1 Names and Functions of Main Circuit Terminals symbol input terminal 1596 50 60HZ Servo Motor connection Connects to power supply terminal terminals of servo motor G grounding terminals Connected individually to power supply grounding terminals and servo motor grounding terminal Connection terminals of To connect an external external regenerative unit regenerative unit Note ds Its prohibit
104. se Output PAO 1CN 18 differential Output Output PBO 1CN 9 phase pulse Output PBO 1CN 19 differential Output Output PCO 1CN 10 iff ial Output 5 PCO 1CN 20 differential Output The following illustration shows the style of perpendicular pulse output of Phase A and Phase B C phase pulse Parameter 011 0 CCW lt geo CW A Phase UOU A Phase Tio B Fhase Phase t Parameter Pn011 1 42 cew Heo cw 90 Phase A Phase LLLI B Phase LI Phase t gt Set pulse dividing frequency ratio Set pulse dividing frequency ratio with following parameters setting Pnoto SetPG dividing 5coopR 1 2500 2500 frequency ratio Inverts dividing Pn011 freguency output 0 1 phase Set output pulse numbers of PG output signal PAO PAO PBO PBO which is transmitted outward subject to servomotor runs for one revolution cerva drive Linear drive output Servo motor encader A CICN 8 ICN 183 CICN 9 ICN 19 2 C ICN 10 1014 20 Divide pulse frequency of servomotor encoder PG and output according to pulse number setting Setting value means the individual output of pulse numbers for PAO PAO PBO and PBO signal when servomotor runs for one revolution If Pn010 is set as 1000 it means output of PAO signal is 1000 pulses subject to motor runs for one revolution so do the PAO PBO and PBO sig
105. servo drive will feedback data using current communication speed until new speed is updated and becomes available in around 40ms 3 After communication protocol is changed that is parameter Pn06z is changed servo drive will feedback data using current communication protocol until new protocol is updated and becomes available in around 40ms 4 In communication mode intervals between data frames are longer than 10ms Chapter 9 Technical specification and features 9 1 Servomotor 9 1 1 Technical specification and features mEMS series servomotor specification and model description Rated time continuous Isolation class F Vibration class V15 Withstand voltage AC1500 V Isolation resistor SDC50V 10MQ minimum Protection method fully closed self cooling IP67 except for shaft opening Ambient temperature 0 40 Ambient humidity 2096 to 8096 non condensing Excitation permanent magnet Connection method direct Mounting flange mounted B EMS type 60 series 125 Motor model EMS 02 2006 04AHn Z013 Matched drive model 02PS Z006 04PS Z013 EDC Rated output E REGN NEN torque Instantaneo 1 911 current Rated 3000 speed P 3600 Mechanical time constant Electrical time constant 4000 1000 S000 Speed rim 2000 3000 Speed rim 2000 I 1 Torque N B EMS type 80 series Motor model EMH 05AHco A016
106. ted mistake ALM output Shut down main power Signal Status Output level alarm occurs ON 1CN 4 L Normal state output signal is high level when alarm occurs ALM OFF 1CN 4 Alarm state output signal is high when level 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 alarm reset input 6 Signal Status Input level ON 1CN 6 L level Reset servo alarm ALM RS 1CN 6 level Does not reset servo alarm Normally the external circuit can switch off power supply of servo drive when alarm occurs When servo drive is re switched on it removes alarm automatically so normally alarm reset signal is not required to be connected In addition reading alarm information and alarm reset are enabled with hand held operator Note 70 When alarm occurs always remove alarm reasons before resetting alarms Note Only alarms with alarm number being 3 4 13 14 15 and 21 can be removed by ALM RST 4 5 2 IS ON input Host controller is used to control enable or disable servo system Following illustration shows the way to connect S ON Power servo drive FHU 24 TH IC K 15 33k Host nr ICH 15 Opticoupler input S ON 1CN 15 Servo On ON Switch servomotor between Power on and Power off
107. the drive connect wire saving mode encoder motor just do not connect signal DAS and maximum User side Line receiver Equivalent product aN 5175 3 3 2 Signal list of connectors 2CN See following list for description of 2CN terminals Termi Comments nal Comments No Encoder B PC Encoder C input Input 2 Encoder Encoder C input input 3 Encoder 10 PU Encoder U input input 4 Encoder 11 Encoder U input input 5 Encoder 12 PW Encoder W input input Encoder 13 PW Encoder W input input Encoder Encoder ower 7 PG5V power supply 14 GND supply grounding 5V Connect shielded FG wires to shell of connectors Note 1 It s suggested overstriking wires or multi core wires are used for power supply and grounding 2 Do not connect the U V and W signal of a wire save encoder 25 3 4 Motor wiring 3 4 1 Motor encoder terminals Terminal Comments No FG shield 5V power supply NEN GND power supply 004 Channel A output Channel A output Channel B output Channel B output Channel C output ow Channel C output Channel U output 11 1 2 4 5 T Channel U output Channel V output 1 Channel V output Channel W output 1 Channel W output Motor side connector 2130110516178 Looking from the cable side View from cable side Note The corresponding relations between p
108. therefore user needn t do any manual adjustment in normal situations If the user thinks the torque is a bit too large by judging from motor current offset user may manually adjust motor current to lower down the torque further or to get higher running accuracy This section gives a know how instruction on the operation steps to make offset signal automatic and manual adjustment 99 Note The offset signal adjustment of motor current detection is only available when servo is OFF B Adjust motor current detection offset signal automatically Take following steps to make automatic offset adjustment 1 Press Mode key to select auxiliary function mode 2 Press INC or DEC key to select function number 3 Press ENTER key and enter automatic Pads mode lo 4 Press MODE and hold on for one second donE is displayed glimmers the offset signal is then ao Release the key LlolcLlo 9 Press ENTER key to return to function number display 6 2 5 Servo software version display Take following steps to display software version of the servo drive 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number of software version display Fn Io 3 Press ENTER key current software version is displayed 4 Press ENTER key again to return to function number display 100 6 2 6 System runtime Take following steps to displa
109. tors can be installed horizontally vertically or in any direction 2 1 5 Handling oil and water If the servomotor is installed at a location subject to water oil or condensation the motors require special treatment to meet protection requirements If the motors are required to meet the protection requirement before leaving the factory it s necessary to designate the exact motor models with oil seal Shaft through section means the gap as shown in the following picture TI i Shaft Opening P ad 2 1 6 Cable tension When connecting the cables the bending radius shouldn t be too small do not apply big pulling force to cables Please be noted in particular that the diameter of signal cable wires is very small from 0 2 mm to 0 3 mm therefore handle the cables with adequate care and do not cause excessive cable tension while doing wiring 2 2 Servo drive EDC series of servo drives are all base mounted Incorrect mounting will definitely cause problems Always mount the servo drives according to following installation instructions 2 2 1 Storage condition When servo drive is not in use it should be kept in an environment with a temperature between 20 and 85 2 2 2 Installation site The notes on installation of servo drive are as below Installed inside Aunified design for the cabinet size configuration control cabinet of servo drive and the cooling method is required so that the ambient temperature around the ser
110. unterforce coming from motor speed change 4 Remove motor load In case servo drive or moving structures are damaged or indirect person hurt or injury make sure motor load is removed including the connector and its accessories on the motor shaft 7 2 JOG operation No other wiring such as 1CN is required for trial JOG operation it s suggested JOG operation is done with low speed If motor can run properly in JOG operation which means motor and servo drive are in good condition and their connection is correct If motor cannot run check connection of UVW and encoder cables If motor runs improperly check if the phase order of UVW cables is correct or not Notes 1 Before JOG operation make sure motor load is removed from 1CN 2 Load default parameters and initializes user parameters to factory settings 3 Power On again to start trial running With help of panel operator follow the steps below and start JOG operation 1 Turn on servo drive s power supply Panel operator gives a display as below 4 Press MODE key a third time to switch onto the menu for auxiliary functions 103 Press ENTER key and go into JOG operation mode Press INC key motor runs counterclockwise Press DEC key motor runs clockwise Motor speed depends on Pn032 setting If the above key is released motor should stop running Reverse Press MODE key and select Servo OFF 10 Press ENTER key and exit
111. vo drive is always below 55 C Installed near a Minimize the heat radiating from the heating units heating unit by taking advantage of heat dissipation measures such as natural convection current forced air cooling to ensure working temperature around the servo drive is always below 55 C A vibration isolator should be mounted vibration source underneath the base surface to prevent vibration Installed at site Appropriate measures should be taken to prevent exposed to corrosive corrosive from getting in Corrosive gases do not gases have an immediate influence on the servo drive but they will eventually cause problems on electronic components which will definitely have 14 influence on the running stability of servo drive Other situations Do not install the servo drive in hot humid locations or locations subject to excessive dust or powder in the air 2 2 3 Installation orientation As shown in the following picture the installation direction should be vertically mounted onto the wall firmly fixed on the surface with two mounting holes ventilation A cooling fan can be mounted for forced air cooling of the servo drive at request 2 2 4 Installation of several servo drives When several servo drives are required to be installed side by side inside one control cabinet installation must be performed according to the gap requirement as shown below 5 mn or more or mare
112. y system runtime 1 Press MODE key and select Auxiliary Function 2 Press INC key or DEC key to select function number 3 Press ENTER key to display system runtime Following picture shows system runtime is 1 hour and 28 minutes 4 Press ENTER key again to return to function number display The displayed time is the runtime after system is started up the date is not refreshed in real time If user wants to refresh the data please repeat the operations in Step 3 and Step 4 6 2 7 Software version of panel operator Activate the hidden functions first before making operations in Section 6 2 7 6 2 8 and 6 2 8 Take following steps to display software version of the panel operator 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number 3 Press ENTER key current software version is displayed Adii 4 Press ENTER key again to return to function number display 6 2 8 Factory test 6 2 9 Inertia inspection Take following steps to make inertia inspection 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number 101 3 Press ENTER key and go into inertia inspection page as shown below 4 Press Mode key again to start inertia detection Following page is displayed EP If servo alarm occurs or servo is ON inertia inspection will not be

EDC Series User`s Manual Operation of Version 2 Preface Anaheim

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