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EDC Series User`s Manual Operation of Version 2

1. 119 SANA Que melo E E N 119 9 1 1 Technical specification and features 119 9 1 2 Servomotor mounting dimension sss 121 9 1 3 Servomotor connection diagram sssesess 122 9 2 Servo drive Loan an 122 9 2 1 Technical specification and model 122 9 2 2 Servo drive mounting dimension 124 APPEND Asse oe ELEME CDI E M eee ee ere 124 Parameter Na UU nica AAA AA 124 Ap peng Ba aon 132 ATA NS aa una BK RN 132 Chapter 1 Checking products on delivery and product specification 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 ot incorrect contact your dealer from whom you purchased the products or the service personnel of Estun 1 1 1 Servo motor Nameplate
2. 41 Chapter 4 Function setting and description CCW e 907 cew 90 A Phase LILl A Phase 8phse SPae LI L t gm Set pulse dividing frequency ratio Set pulse dividing frequency ratio with following parameters Parameter Meaning Unit Range eos setting Pn010 Set PG dividing scoop 4 2500 390 frequency ratio Inverts dividing frequency output phase Set output pulse numbers of PG output signal PAO PAO PBO PBO which is transmitted outward subject to servomotor runs for one revolution cervo drive Linear drive output Servo motor encoder A CICN 8 ICN 18 CICN 9 ICN 19 2 CICN I0 1CN 20 Divide pulse frequency of servomotor encoder PG and output according to pulse number setting oetting value means the individual output of pulse numbers for PAO PAO PBO and PBO signal when servomotor runs for one revolution If Pn010 is set as 1000 it means output of PAO signal is 1000 pulses subject to motor runs for one revolution so do the PAO PBO and PBO signal output Please make setting according to machine and reference unit of controller Note e After parameter changing turn power OFF and then turn power ON again 42 Chapter 4 Function setting and description 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
3. 89 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 oervo OFF motor power is OFF Running oervo ON motor power is ON Ra 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 Fla bb 3 Press ENTER key to display parameter data selected in step 2 90 bb 4 Press INC or DEC to change the data to the desired number 85 Hold the button to accelerate the value changing When the data reaches the max or Min value the va
4. T 106 sign Jl oo J Lo Character C E F E 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 ccc pec Sem Carpe qa MR Mmm PR qM MM MN 4 l 25 i ra l l l l l p 4 l i i i peas l l l l l l r 4 l i i segre I l 4 p p gt E 4 Pn062 0 7 N 2 Mo Me BEDA 11bit character format for data tart qop o o 7 data bits 10 bits characte s1076 Pn062 1 Ta E 1 Mo Start u Jj n 7 8 E 1 Modbus ASCII RTU Start i Even Stop Meio isa ei tial als r 8 data bits gt 4 11 bits character frame gt 8 O 1 Modbus ASCII RTU Start i i Odd Stop ei elias lata aly r 8 data bits 4 11 bits character frame gt Communication protocol structure Data format of communication protocol ASCII mode STX Start bit gt 3AH COM address gt 1 byte including two ASCII codes Reference c
5. A phase A phase Referen i Encoder signal Encoder signal m DUE feedbacked from ee nacked Tram motar motor M ag A phase I A phase Referen l e es nan nnnm ce Er d nini ms A H nanm B phase E phase The encoder signals by motor feedback as shown in above diagrams are the PA PA PB PB signals from PG output of servo drive m Set REV mode Rotation direction of motor is selected by setting the parameter as follows Select rotation direction 0 view from side of motor load 0 1 CCW direction represents 28 Chapter 4 Function setting and description forward direction standard mode 1 view from side of motor load CW direction represents forward direction CREV 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 Input PN OT Pn001 1 Pn052 bit021 Forward direction drive 1CN 6 is OFF input PN OT Pn001 2 Pn052 bit021 Reverse direction drive 1CN 6 is ON EDC servo drive only has one overtravel input signal 1CN 6 so user can only select overtravel limit in single direction Please
6. 1 Ambient Temperature 0 to 55 C 2 Humidity 90 RH or less no condensing 3 Vibration 4 9 m s2 or less To ensure a long term stability of the drive it 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 C and 85 C zd ga Chapter 3 Wiring 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 There 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 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 Dont 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
7. Name and meaning Pn054 Inverts input signal 0 63 o0 Pn055 Inverts output signal OF 0 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 BIT3 BIT2 BIT1 BITO Sign al L L L L level 44 Chapter 4 Function setting and description In above table H it means input signal is at high level L input signal is at low level 0 setting value in Pn054 0 means input signal low is active 1 setting value in Pn054 1 means input signal high is active N input signal is inactive 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 Digit BIT2 BIT1 BITO ndn BRK COIN ALM Meaning Signal Release braking arrive Not arrive alarm No alarm meaning braking Pno55 0 1 0 1 0 1 0 1 0 1 0 1 Output hig l hig Note When ALM is in normal
8. Surge Sunpeesser 1 1RY FL mamas UL EI MES AL OFF AMC 1RY vo shut dosm power NIRE NERA an at m of sara whe NO NO KEAR Spark Extinguisher tuni ai SLR RAN AN Me ic ener n FL Motor IMG 5 uy 1 rae i j Voy IMC i z M E ccs amp PG EDC AHAA Jap 88 is xd E En e P EDC Servo Drives Encoder x 2cN PG gt Lu r 1CN TAT ip eS Ee Se Rd Panser Please handie cannescters of shielded wires pragery aoi Ps B Me ee muti pair PULS amp IP A 12 PY 2 d PAO a pL His Kuan i o Beene SIGN F SIGN d 13 150 pim g pita CAR oan Ifi FSO Baek KAN 10 M H PeO le C Bab dau pi eK 2 ipco Differntia Quint 24 VIN 16 1 COIN JP fir Sc Bt COIN Postion Comp SERRE seron 4r 21 San DN NON whan poolonl open When O serv funcion is atis maa OH H BA sf RE UNI LE BRAKE Interiock Output RE Hm ren so la 4 PS RFID RARE A ON ON than bri mand CON SHEET Wigs CLT stem gt us Lira Te Os Wan ON alam ia rezat ALM RST T p E dee b AM JE SEES Cear signa input i xu ox L S ADYITARHE ATIN S ADY Servo Ready Output ON Ft aa ic ig AE D CLR pcr EE RESET STON HON when servo is ready When DN displacement is coad 7 s ie Zero position signal apre CON E FE IPS BEANIA 1 17 E d few When ON enanch fot zem position E let Sa TE ALMAS i d Ime m ana EH Alam Output Ai COM E us REN OFF when alarm is iniggered Dorput common point pg BRUT ciiin Hi Photo Couplar Put
9. Woo oma 2 4 5 6 Regenerative braking Unit ooo Woo 13 AO SMON TUNNING see e Te An en Se RENA tan ss ata 14 46 1 DIMOOTMIN erraren aR DTI f4 4 6 2 Acceleration deceleration time sssssese 4 4 6 3 Speed detection smoothing time constant 16 4 6 4 Torque reference filter time constant 16 4 4 MOn speed POSINONINg ma RA pb t tuin hd En Ed abe teo sod 16 4 7 1 58 Vo galli SCUINOS iius ee RM BBB 16 4 7 2 Speed offset settings o WoWoooW Wo oom 19 Chapter 5 Troubleshooting Wo ooo 81 Os dT MS Erana O NN 81 5 2 Alarm reasons and Troubleshootings oo oooWo 82 20 CIGAR AlN eU NL RUN 85 Chapter 6 Panel Operator o ooo Woo oom aan 86 oO T Baslc FUN NON RD NN Ea 86 Ol FUN CO des NI PON rir eR rod etu blc ett voc eCon ro 86 6 1 2 Iseset Servo Ala TUIS cue bro scar eM na 86 6 1 3 Display mode selectiOn oooo oWoWoWoWooc er 0 1 4 Status DiSDIayMOGG as emet e pRRt tek tORED dee OG REP Oe Poe RE que beta a did 88 6 1 5 Parameter Setting Mode Wo oooWo Woo WWW Ja 90 9 16 Monitor IMI OGG en aa aa aa an Aa 91 Contents 6 2 Auxiliary functions 325258 coed e celo tania ot Peso dantes sea dandas waste viene de 94 6 2 1 Alarm history diSDlelysssnd ostio dna od oda eee pa
10. runni ultiplication factor to um T the allowance ensure reference pulse frequency is less than 500Kpps Reference pulse frequency input reference frequency x dividing multiplication frequency 84 Chapter 5 Troubleshooting Check if parameter settings are correct or nol p Parameter saved in di L i MTM CAN GS ane CO 0 arameter in oad in default parameters check is the data 16 During system external storage has d Tapa by is OFTEN r PON error MUI 3 emus Li Rer lace U nir wire saving encoder is ignored encoder is not connected or gt i Encoder During system tea incorrect motor model 17 REPE gym comtused by general incremental Power ON encoder with wire saving Poids setting error encoder Instantane A power interruplion 21 eps During system exceeding 20ms NIS PUN l 1 h an dus Check ul voltage of drive is norma por running occurred in AC power Check if input voltage of drive is normal 055 error SUD Ff pply Current detection error Watchdog During system 25 Y Ng Syste System reset by watchdog ie sb i reset running gt External serial COM is abnormal 5 3 Clear alarm B Clear current alarm When an alarm occurs press ENTER for seconds in hand held panel operators status display mode then current alarm is deleted Besides the alarm can also be cleard by using 1CN 6 ALM_RST input signal Notes 1 Only current alarms with sign in 5 2 can be deleted 2 Eliminate alar
11. 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 Paramete Name and Settin Factory r number meanings g setting range Select cycle run 0 multiple cycle run 1 multiple single run Enable Disable When PCON signal is used PCON signal as as step change step change signal 1 BIT1 of Pn051 is required 0 delay step 1 to be set as 1 change 2 PCON active is generated O O 1 PCON signal at the edge of input signal step change from inactive to active Programming method 0 0 incremental 1 absolute O Which of the 8 groups of ae poin MI position data is used as start program point 7 Which of the 8 groups of Stop point of n 0 position data is used as stop program point 3 Required moving distance of motor is calculated according to actual moving distance then moving distance data is filled in each contact position register Paramete Name and meanings Setting Facto r Number range ry settin g 1 l pnogo BOYS distance 10 referenc 30000 3000 revolution 0 e pulse Pn081 moving distance 0 pen 9999 9999 E 5 Chapter 4 Function setting and description moving distance 10 referenc 30000 3000 revolution 0 e pulse Pn083 moving distance 1 low 9999 9999 E pulse moving distance 0 referenc 3000 revolutions e pulse Pn085 moving distance 2 low 9999 9999 E pulse moving dista
12. If the bit is set as 1 then COM control is applied to this bit Paramet Setting Factory rang au wer Tee COM input lOcontrol 0 15 0 15 15 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 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 signal and enables it 2 Set Pn059 first to make servo ignore external input signal then write in corresponding value to the data whose address is OxOOF5 when controlling of external input signal is required The value of the data whose address is 105 OxOOF5 is not saved after a powe
13. The following illustration shows an example of the servo motor s nameplate Rated output power Motor Model AC SERVO MOTOR MODEL EMJ 08APA 750 2 39 3000 r min W N m CO M000001Y20030409 Estun Industrial Automation CO Ltd Production No Rated rotatron speed Chapter 1 Checking products on delivery and product specification Identification of motor model EMJ 08APA11 EMJ EMJ series servo motor 02 04 05 08 200V AC Incremental Wire saving Type 2500P R EN Flat without keys SERALI e screw thread With oil seal DC24V brake DC24V brake with oil seal 1 1 2 Servo drive Nameplate Chapter 1 Checking products on delivery and product specification ESTUN SERVODRIVE AC OUTPUT Type 1PH 200 230V 50 60Hz 3PH 0 200V 0 333Hz S C s 4 0A 750W SIN 6200887G028 qi IHRE MA Estun Automation Technotagy Co Ltd High Temperature Do not touch heatsink Made in China Hazardous Voltage Bo riot touch drive urit and wiring wilhin 15 A wien pewar is ON minutes after power off Risk af burn Risk of electric shock Identification of drive model EDC 08APE EDC series servo drive 02 04 05 08 P Position control Chapter 1 Checking products on delivery and product specification 1 2 Servo components description 1 2 1 servo motor Following illustration shows the names of the components of a servo motor
14. amp White PinNo Signa Color 4 FG 8 8 Green Yellow 1 At if Blue 2 B Green 3 C4 1 Yellow oo SEA din aM i Brake Connector Specifications A H A Blue Black 41 j Qo 83kPlug 172165 1 AMP ey P s aeo 2 F C 2 Yellow Black e Pin 170360 1 AMP E 7 PG5V T Red us 8 8 PGOV Black Pin No Signal Color B FG Ri Shield 1 B1 Blue 2 B2 8 White 9 2 Servo drive 9 2 1 Technical specification and model Servo drive model EDC OIP 02P 05P 08P Applicable servomotor modelEMx 01A 02A 05A 08A 122 Power supply Single phase AC220V 7 50 60Hz Control mode SVPWM Feedback Incremental encoder 2500P R temperature humidity resistance Mass approximately opeed control range 1 5000 Load Regulation 0 100906 0 01 below at rated speed Voltage regulation Rated voltage 10 O at rated speed lati iid i Temperature 0 40C 0 1 below at rated speed regulation Positio Pulse and phase B CCW CW pulse train Corse ires 4 5V 4 12V 24V level Pulse Frequency Max 500Kpps difference 200 Kpps collector Control signals CLEAR Phase A phase B and phase C line driving output Servo ON Alarm Reset error counter I O Sequence control input clear signal zero clamp signal signals Servo Alarm positioning complete speed coincidence brake release limiting Basic data Speed Speed control mode mode Pulse output signal
15. avoid 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 The 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 It s 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 B Apply a fast response leakage protector Its required to use a fast response leakage protector or a leaka
16. Hz 173000 80 Speed loop integral time constant Speederror mmi 0 300 0 0 100 0 0 500 0 Soft start decceleration time 0 10000 S shaped acceleration and decceleration time ms et NM Electronic gear ratio 1 32767 1 numerator Lm T Electronic gear ratio 32767 Soft start acceleration time 0 10000 ms 126 Para Pn024 Pn025 Pn026 Pn027 Pn029 Pn030 Pn031 Pn03 Pn033 Pn034 Pn03 Pn036 Pn037 Ql Pn038 Pn039 Pn040 Pn041 Pn042 Pn043 Pn044 Pn045 HO Po i BREE 2 2228822 ag N O Co N Name and Meaning denominator 1 position reference filter Feedback filter Forward torque limit Reverse torque limit Positioning complete detection filter Speed coincidence error In position error Error counter overflow range JOG speed reserved reserved reserved reserved reserved Automatic gain adjustment 0 without automatic gain adjustment 1 after inertia detection gain is adjusted automatically P PI Switching Terms 0 setting torque 1 error pulse 2 acceleration 3 motor speed 4 disable mode switch function Control mode selection 0 Position control pulse train reference 2 position contact control internal position reference 3 Speed control contact reference Waiting time for Servo ON Basic waiting procedure Waiting speed for brake signal r min Reference unit 256 r
17. RTU CAN COM address Pose 17 1 3 CAN COM baudrate 0 50K 1 100K 2 125K Kbit s 0 5 2 3 250K 4 500K 5 1M 128 COND OF ON Para Name and Meaning Setting Factory No range setting Pn065 Pn068 Pn069 Pn070 Pn071 Pn072 Pn073 Pn074 Pn075 CAN COM selection O disable 1 enable Select cycle run O multi point cycle run 1 multi point single run Enable disable P CON signal as step chang signal 0 Enable delay step change 1 use P CON signal as step changing signal Programming method O lincremental 1 absolute Origin searching method Z 0 turn off origin search function Z 1 Power on after the 1 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 C after oigin search is done X 0 forward run origin search ZPS as origin X 1 reverse run origin search ZPS as origin Start point of program End point of program Speed 1 when searching reference point hit STROKE travel distance switch opeed 3 when searching reference point away from STRKE travel distance switch Para Pn076 Pn077 Pn078 Pn079 Pn080 Pn081 Pn082 Pn083 Pn084 Pn085 Pn086 Pn087 Pn088 Pn089 Pn090 Pn091 22822 22 22 2 8 PP ds O Name and Meaning reserved Cycle number of origin
18. available ALM 1 Servo alarm output is available ALM Stopping method for servomotor after Servo OFF or alarm occurrence 0 Stop the motor by applying DB dynamic brake Pn004 1 Stop the motor by coasting 2 Stop the motor by applying DB dynamic brake then the motor coasts to a stop 3 Stop the motor by coasting without using DB Clear error pulse signal is turn ON or not after Servo OFF S 0 Turned on 1 turned off Select rotation direction 0 side view from load of eam servomotor CCW means forward run Pn001 Para c o Pn007 Pn008 Pn009 Pn010 Pn011 Pn012 Pn013 Pn014 Pn015 Pn016 Pn017 Pn018 Pn019 Pn020 Pn02 Pn022 Pn023 __Nameand meaning unt Sange cating e range setting 1 side view fromload of servomotor CW means forward run Speed control mode selection 0 ADRC control 0 1 1 PI control Reference pulse form 0 SIGN PULSE 1 CW CCW 0 2 D 2 Phase A Phase B x4 positive logic Reference pulse form 0 does not invert PULSE reference does not invert SIGN reference 1 does not invert PULSE reference inverts SIGN 0 3 D reference 2 inverts PULSE reference does not invert SIGN reference 3 inverts PULSE reference inverts SIGN reference PG pulse dividing ratio 1 2500 2500 Dividing output phase selection 0 1 0 Speed feedforward selection 0 disable 0 1 Speed loop gain
19. info 7T comment af ER ta EC pa Information quantity by word address the Fo j F E DIDXCR DIT CR RTU mode Reference information Response information 109 CMD 03H Info quantity Start info address DIT High bit of dat pt nt of BII Low bit of data m Start info 02 Kr ADR uu address gemere 001 le address The second info F H High bit of data address comment i of 0201H 4H Low bit of data a low bit of Low bit of ASH iater RC High hit af 1 ia bit of examination examination m DAA Reference code 06H write in one word For instance write 100 0064H into 01H servo at the address of 0200H ASCII mode Reference information Response information start infa address Into address Comment of infa LINI TAU LRC Examine F RTU mode Reference information Response information CMD 6H Start info 3 Teilen high bit of add ress rR Start info 07 H addas poH dress address Q0H low bit of address high bit of i Comment of QU l data 00 N high bit of data i info ALI high bit of dH daa Gl ers date slow bit of low bitof seme ST Np mre Hh BIH Cention CRED RH an high bit of high bit of l T OOH ee CROWS SOHC 110 Take following steps to calculate value of LRC ASCII mode and CRC RTU
20. layer of COM to the earth Following diagram shows how to connect a PC to EDC s COM port 102 PC DB9 Connector EDC Servo communication connector I VCC ATX WRX 4 GND X F 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 Estun company s internal protocol which has nothing to do with the communication parameters Pn060 Pn061 or Pn062 When the values in the range of 1 E is selected as the panel shaft numbers MODBUS communication function should also be enabled then it s available for EDC servo drive to communicate with ESVIEW software The selected panel shaft number is the communication address The speed is set according to Pn061 settings and the communication protocol is set according to Pn062 settings Only when the value F is selected as the panel shaft
21. 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 15 50 60HZ U V W Connects to power supply terminal terminals of servo motor E 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 zd Chapter 3 Wiring Its prohibited to connect a regenerative resistor directly between P and N dH am HO SigePhas C 200V 155 SE it BS ae Non tuse Circuk Breaker i TIS ZH MARS Thubder oroal lor Syetem Protection d Sume Suppmesser ZEN WT Noise Filler 1RY PL Elactromagant contactor dubiis Zea OFF IMC 1RY i in zhut nmm E UE LI Le supp o ani wen UR PEE No NOI JGIESIRBE Spark Extinguisher FAL Motor IMG U C R V p IMC T M E on lt PG EDC SR EA T E IE al D p EDC Servo Drives E Encoder 2CN E PG M i wu EI 5x A b TCN xp ER M E A AE EE PRS ie BILE ee Teh Pisana handle connectors of shasided wires property P Represents 2 Bes wos si PLE mitwa PULS P ye 4 5 I Bo x sian gt san 13 Ns 5 SS iwi VP Q4 be i 5 PBO gohi eS Poairinn
22. status Output level is high inverts other two signal 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 Note The validity of I O signals mentioned in this manual are all refering to normal situation that is active when input signal is at low level active when BRK COIN output is at low level ALM output is at high level 45 Chapter 4 Function setting and description 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 gear sd En ms A Heference Rp i dum k Work ni Encoder TM ork piece P 29 Ball screw pitch eed rg Fence il ete gear identify machanical condition Encoderpulse2so0 Ball screw pitch 6mm Fence il ete gear unit with electrical gear Meed ta move workpiece 10mm Due to once rotate bmm 10 6 1 6666 rotations 2500 X 4 Pulse create ane rotation ts 10000 pulse Need ta move workpiece 10mm Reference unit is lum so 1 6
23. torque is available in any control mode Parameter Setting Factory number range setting forward run torque 1 0 300 limit 59 Chapter 4 Function setting and description 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 Pn032 Nanang setting range Factory number meanings setting Pn032 JOG speed 0 3000 Note 1 No matter what value Pn041 is or whether S ON is active or not JOG running is always possible on the condition that cable connection of servomotor is correct and servo drive has no problem 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 descirbed below rela Control and description Range oy er No setting O position control 1 internal speed control 0 2 2 reference speed control 60 Chapter 4 Function setting and description m General information of above control methods are introduced as follows 0 position control pulse train reference Servo drive accepts pulse train generated by host controller and speed and positioning are be
24. uoo oda to anna diodes 94 6 2 2 Restore to factory settings oWoo W W Woo 95 ol IQ Cola iio EN 95 6 2 4 Automatic offset signals adjustment of motor current detection 96 6 2 5 Servo software version display oo 97 C2 05 Se UNUM E eseese 98 6 2 7 Software version of panel operator 98 C0 ensi dc MEE E UL EU 98 5 2 9 Inerta INSDECHION ena aan QU RO PIU ROREM 98 Chapter 7 Mal OD era aa Ba 99 7 1 Inspection and checking before trial operation 99 1 2 JOG operation oooooo Woo mah 100 7 3 Trial operation in position control mode 101 Chapter S CommuhisatiOh ea ea ank ani ia 102 8 1 RS232 communication hardware structure 102 8 1 1 External connection diagram ooooWoWo 102 8T Z Cable conneellol ss esos ainsi E SETRSESMISSKHE SU SENE akasia ansmmesaa 102 8 2 Communication relevant parameters oo ooooo 103 8 3 MODBUS communication protocol ooo oo 106 8 3 1 Code signification eeeeeeseesseeeseeeeeeeneeee 106 8 3 2 Communication error handling 113 8 3 3 Parameters servo status data communication address 114 Chapter 9 Technical specification and features
25. 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 or monitor motor speed with host controller Make sure feedback speed of servomotor agrees with the setting value Inspection When reference pulse stops motor should stop running Relation between motor speed and pulse frequency input Input pulse Motor frequency other frequency Hz Cr min pulse 4 direction 500K 3000 Electronic gear ratiois 1 1 250K 1500 line number of motor encoder is 100K 600 2500ppr 101 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 J U U U y 123423 see the signal definition details in the following table Pitch Signification VCC internal 5V power supply of servo drive TX RS232 COM transmission foot RX RS232 COM receiving foot GND grounding of internal power supply of servo drive FG connect the shield
26. 0 500 0 3000 500 0 3000 500 S 0 32767 0 32767 3 o o S 0 32767 Pn107 m 0 32767 o Pn108 m 0 32767 o 0 32767 3 0 32767 3 7 ms 0 32767 acceleration deceleration time constant moving distance O stop 0 30000 10 2 55 6 Chapter 4 Function setting and description time aan 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 Pn080x10000 Pn081 is ten revolutions position reference P1 Pn082x10000 Pn083 is 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 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 Some times after host controller is engergized zero position adjustment is requir
27. 00 001011 Un003 torque A eS 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 x10000 pulse Position offset is 5 digits lower x1 pulse Position offset is 5 digits higher x10000 pulse UnOO0 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 209 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 DE 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 speed 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 regar
28. 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 06H into Parameter Pn002 Because maximum and minimum value of Pn002 are both zero 0 the data which is to be written in will not be accepted instead servo drive will feedback an error frame with error code 03 The frame is as 13 below Data frame of host controller Slave station Data address address references etc 03H 06H 0002H 0006H Servo drive s feedback error frame Slave station Response Error code address code B MEN Plus if the slave station address of data frame transmitted by Host controller is 00H it means this frame of data is broadcasting data and servo drive will not feedback a frame 8 3 3 Parameters servo status data communication address In MODBUS communication mode all the communication parameters of EDC servo are shown in the following table Address of Comments Operatio communication n data 0000 0078H Parameter area Parameters in Readabl corresponding e parameter table writable NENNEN NNNM Monitored data consistent with 0806 0814H data displayed on handheld operator or drive panel 0806H Speed feedback 0807H Ope pres Unit r min read only reference value 0808H paca cnet Relatively rated torque read only torque reference Percentage of 0809H Internal torque Relatively
29. 08 1 JCW CCW 0 2 2 A BC perpendicular x 4 237 2 Chapter 4 Function setting and description Inverts input pulse O does 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 1CN 11 SIGN 1CN 13 2 phase perpend icular pulse 08 User may select to invert input signal or not by setting PnOO9 according to actual requirements PULS 1CN 11 m Pulse input sequence Input of pulse reference must meet following conditions Sh Nee and sequence 1CN 1 PULS 1CN 11 S SIGN 1CN 13 Chapter 4 Function setting and description Time for reference pulse input Reference Pulse signal Farm Electrical Specifications Sign pulse train input Fap tl t2 0 1ps Sign SIGN PULS signal 2 T NEM t3 t7 0 1ys H Forward reference Max reference frequency 500 kpps t4 t5 16 gt 3us L Reverse reference when 00kpps collector open output c 1 0ps aa Alio t T X100 50 5 ad Forward reference Reverse reference CCW pulse CW pulse l Maximum reference H frequency 500 kpps a i when 200kpps collector open output cow ar t2 n cw p Farward reference Reverse reference 1 Ouls x 100 50 phase A phase B us i Maximum reference frequency Fhase A To T T Phase el ie x 4 multiplier 200 kpps Forward reterence Reverse refe
30. 1 2 Installation Site oooooooWoWoWoWoW mmm 12 2 1 9 Installation CONGCENIMCILY uut EEEE EEEIEI IERT 12 2 14 Installation dIrectlonissod ec exer ee aan IR EC Puce 13 Ako Handling ell and Wale oa 13 2 1 6 Cable tension oo o oo Wo mm 14 242 SCTV OWNING oue usdiadcud quee nune ERU Un IN M An PA 14 2 21 Storage CON ON OR an Be 14 2 AA Sta anon Sea 14 2 2 3 Installation orientation oo oooo 15 2 2 4 Installation of several servo drives 15 Chapter SIANG ee SES BB 17 9 1 VVInrig and Connie Bai 17 3 1 1 Names and Functions of Main Circuit Terminals 17 SA gE eais EET 19 3 2 1 Standard connection diagram example 19 S52 COnnectertermlllals annn E 19 3 2 3 Function list of I O signals seeseeeeeeesessee 20 3 2 4 Interface circuit CEXAMPIE cc A 22 Id EN eem O ereinen a E ee arene an 24 3 021 Encoder wiring ZGN sisrate aa 24 3 3 2 Signal list of connectors 2CN o o WW W Wa 25 SAMOO NG KA AN A 25 3 4 1 Motor encoder terminals ooooooWcoW mn 25 3 4 2 Motor power terminal eene TERR AE MBE 3 5 Standard connection example o ooooo oo oom 2f Chapter 4 Function setting and description
31. 666 X 2500 X 4 16666 pulse Reference input 16666 pulse The caculate must be done at the upper device m 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 or the minimum reference unit of host controller 46 Chapter 4 Function setting and description Reference move the worktable by O UICIT mm unit Reference unit 0 007mm 74 Please decide the the reterence unit by machanical form and position precision For example reference unit can be 0 01mm 0 001mm 0 1 0 01 inch reference of input one pulse the distance or angle of moving a pulse equivalent If pulse equivalent is 1um input reference pulse 50000 then moving distance will be 50000x 1um 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 Ball screw Revolving table Belt roller Bearing shaft gt p S Bearing shaft Teeth space Bearing shaft z D Be
32. 767 10 compensation A Note D After changing the setting always turn the power OFF then Power ON again This makes the new setting valid 2 The parameter may vary for motors of different models Appendix B Alarm list Alarm display on Alarm digital operator Parameter breakdown Checksum results of parameters are abnormal Current detection error Internal detection circuit problem J 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 seconds under a lorque largely exceeding ratings Position error counter overflows Internal position error counter has exceeded the value Overload Position error pulse has exceeded the value Position error pulse overflows _ parameter Pn 031 Pulse loss of Encoder C PC is disconnected or have interference Al least one of PA PB PC PU PV or PW is Encoder disconnected 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 freq aency input is too high has exceeded the allowance Parameter error Parameter saved in external storage has errors VO data error such as ALM BRK COIN u TO O data error Relay LED lamps etc errors 132 A power interruption Power loss error exceed
33. Al least one of PA PB PC PU PV or PW is Encoder disconnected disconnected A Encoder UVW code violation Encoder UVW code violation A Power module error Power module failure A overheat Power module overheat Voltage error Overvoltage or undervoltage of main circuit A 15 ya 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 F VO dat such as ALM BRK COIN A 17 X I O data error sia Bagas aga Relay LED lamps etc errors A power interruption A 21 X Power loss error exceeding one cycle occurred in AC power supply Watchdog reset System reset by watchdog Normal operation status 81 O Photo coupler is ON ON x Photo coupler is OFF OFF Alarm can be cleared Clear alarms in following ways when alarm occurs Chapter 5 Troubleshooting Set 1CN 6 signal active alarm reset signal ALM RST Clear alarm with hand held operator please see 6 1 2 for reference Through matched PC communication software Turn power OFF and then ON again Notes 1 When alarm occurs always find out the alarm reasons 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 A21 5 2 Alarm reasons and Troubleshootings Find out the alarm reasons
34. C 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 C 2 2 2 Installation site The notes on installation of servo drive are as below Installed inside aj A unified design for the cabinet size configuration control cabinet of servo drive and the cooling method is required so that the ambient temperature around the servo 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 a site Appropriate measures should be taken to prevent exposed to corrosive corrosive from getting in Corrosive gases does gases not have immediate influence on the servo drive but they will eventually cause problems on electronic components which will definitely have 14 Chapter 2 Installation aa influence on the running stability of servo drive Other situations Do not install the servo drive in hot humid locations or locations subject
35. DH 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 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 Pn061 is changed 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 Pn062 is changed servo drive will feedback data using current communication protocol until new protocol is updated and becomes available in around 40ms 118 4 In RTU 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 mEMJ series servomotor specification and model description Rated time continuous Isolation class F Vibration 49M S2 Withstand voltage AC1500 V Isolation resistor SDC50V 10MO minimum Protection method fully closed self cooling IP65 except for shaft op
36. E E cn 3 4 BR Sisi UH BRAKE ore Op Vidit ere SON la F4 Tow OBS al P3 5 ON NON then brain is reinased pie ul a on When ON alanm in rezat ALM RST LEES l zi M 2 ON when torque goes over limiting torque HHE S Cear sgnalinpul 7 jal ions infa S ADY MARAK 87 48 Hi S ROY Servo Ready Output UON Er aa Be fir e E D CLR pepa DERRE ON NON when ser Is ready When ON displacement is clar i 7 TRI Ipin MAL Zaro position signal Me CON Efe rum m e Lm Ira TE pao pip CU awau amom Pad COM ar PRE when alarm is Inggesed Copat comman point Sess i ae Shia wims am ponneciad i tha connector fame 2002 SER Hj Photo Coupiar Puipui BARRE DC3OV Mazmun working voltage OCA Sp REB rt DCSOmA Maxmum working current DOSma 5 Re HRE oe Specialtic pin cutput can ba defined Chapter 4 Function setting and description 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 NENNEN Standard mode Encoder signal Encoder signal Faadbacked from IG Feedbacked from FWD motor rotor
37. Following illustration shows how to connect sequence input signal EDC servo dirve 244 IH 16 ira m ALM RST Lg E ane Notes e 24V I O power supply is required since there is no internal power supply servo drive External power supply specification DC24Vx1V 500mA higher e Its suggested that input circuit and output circuit use the same power supply le Voltage range of input circuit is 11V 25V 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 31CN External I O power 9 input m Connect contact point of output signal sup Chapter 4 Function setting and description Servo drive ID power y oi CH Pull 495 CEON KEK SDLT S5 RDY Eni 3 UR LER SULT e RDY Max output voltage 3Ds ra pru rem Max output current Cin F a 4 ALM a Optacoupler output every output nada m Handling I O signal Input signal is smoothed with filter and then received by servo drive Set filter time with parameter Pn053 Active power level of input signal is controlled by Pn054 and active power level of output signal is controlled by Pn055 Following signals are I O signals subject to default parameters Setting range Factory setting Param eter no Pn053 input signal filter time 0 1000
38. Halerenca i SIGN eee Encoder Signa Output mil e 1 fco C EON E 7 UD O e II L I ILLULLLLLLLI Kd Kid JA i So SS 5 24VIN 16 COIN SERE COIN Posti SIRE Sena ON 7 Go Pa Bag Hei ne ANNE an ON sre fy A A on BA fay HHE Ul H BRAKE Interiock Output Mattis menes S ON 1b T a E Lene Cic eh pH ON YON then braim Is reinased hon CiN alarm in resat ALM RST i IE gi i f n 2 d JON whan sorque goes over limiting torque TRES Cear signal input j aer oo S RDYTSSOR de EHI EH S ADY Serva Ready Output CON Ptah e 3E CLA i Her E dE BERE YON HON when carve ls ready When OM deplacement is cipem 7 L2 guod Zen position signal i CON EH FC 5 7PS T rim P 17 b 24V When ON sosro for era positon A iat I ALM ig ficti Hi Fd a Aamowpd HUBER Alarm Output PA Bon Fl PES iN OFF wher alarm is Iniggered Gutpet comman point pg End JEM Hi Photo Coupiar Putput i Connecter Frame RAPERE DCIOV Maxenum working votage DEA FRESE ER REL Bit Ed DCSOMA Shia wis am connecind to tha connector frame Minerba wording cures DOBOT SMA So dE Specialfic pin cutput can ba defined 18 3 2 I O signals Chapter 3 Wiring 3 2 1 Standard connection diagram example i dH Single Phase 50 80 Hz nm 10 08 AC 200V iso SEGARA Nor tuse Circuk Breaker Mia Noise Filler S Lala AE MARET RIP Tubder aroal tor Syetem Protection
39. Preface EDC Series User s Manual Operation of Version 2 EO TUM awam Preface This manual describes the operation of the Estun servo drive type EDC and is meant for operators who are instructed for operation of the device Estun Limited Warranty This manual does not entitle you to any rights Estun reserves the right to change this manual without prior notice All rights reserved The copyright is held by Estun No part of this publication can be copied or reproduced without written permission from Estun General Precaution General Precaution B Power supply voltage should be AC 220V The EDC servo system requires a power supply of AC 220V 15 voltage B Dont 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
40. Sequence control output torque Built in Dynamic braking functio n Power module error overload overspeed voltage error position error counter overflow encoder disconnected parameter damaged etc With RS232 interface for communication Protection with host controller s special software Parameter setting Run operation and COM function status display can be done in Windows mode Same functions are enabled using panel operator Compatible with Modbus communication protocol 123 pf CanOpen COM LED displa Charge indicator Power amp ALM indicator pay five 7 segment tube Con panel operator 9 2 2 Servo drive mounting dimension With cooling fan aj Appendix A Parameter list Para Name and Meaning Setting Factory No range setting Enable Disable Servo On input signal S ON 0 1 CD 0 Enable Servo ON input e NameaiMemhg Unt iee ening reo No range setting signal S ON 1 Enable internal servo ON S ON Enable Disable input signal prohibited PN OT When 1CN 2 is set as PN OT signal limiting direction and enabling are selected according to this parameter O disable input signal prohibited 1lenable forward run input signal prohibited 2 enable reverse run input signal prohibited Pn0o2 Reserved 0 0 Select operation upon momentary power interruption 0 Servo alarm output is not FnOUS
41. al BxX 9500x4x2 Pn022 T gear ratio AJ 15700X1 Pn023 _ 200 Incremental 5 555 mp 157 encoder We eo Value _ 48 Chapter 4 Function setting and description Ball screw Load movement amount of_ Som amp 0000 Reference 0 00004in 0 0001mm bearing shaft one round Ch O00 Lam l Unt Bearing shaft rotation l ei 2500 x 4 x Pn 27 Electrical gear 51 Incremental Ball screw 924 immi M sal LA Pn encoder pitch aS pr Faoss a Falling table Load movement amount of Reference heari haft d HAE 04 garing shaft ane roun 360 Unit ue Redution falation 3600 hn ratios Load shaft 5 va T Electrical KB 2500 x 4 x 3 Pril22 ncremental encoder MI m o gear ratio AJ 3600 Pnil23 2500 pr Value Proz o O m 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 n
42. ameterPnOOO 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 d data 0806H Actual motor speed r min 0807H Input speed reference value r min Digit of Internal status 0808H Feedback torque percentage Relatively rated torque 9876543210 Relates tated trago o Cer IER ipd Relatively rated torque Pulse given speed when electronic gear ratio is 1 1 x1 pulse 16 0810H Current motor position is 5 digit high x10000pulse 0811H position error 5 digit low x1 pulse position error 5 digit high x10000 pulse Bd b pulse baal reference 5 digit high x10000pulse Monitoring of I O signals is shown below Monitenn Digit Contents Relative IO signal g No NE UE 1CN 15 S ON ae 1CN 6 ALM_RST signal 080BH ER 9 me error 4CN 7 CLR counter zero position 1CN 17 ZPS Se a ee ag 4 ALM BL tou positioning signal complete speed 1CN 3 COIN etc arr
43. an 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 BRK controls Power On Off of brake sticking which consists of the control circuit of holding brake The illustration below shows a typical connection example 63 Chapter 4 Function setting and description Servo drive Servo motor With brake BRK RY brake sticking control relay Brake Speed 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 Start brake 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 range setting Pn049 output signal1CN 2 pin definition O83 o Pn050 outputsignalTCN 3 pin definition 0 3 1 Paramete Nameand meanings Setting Factory 64 Chapter 4 Function setting and description Pn055 Invert
44. appens it s most likely the power module has bean damaged Check connection of U V and W Check isolation resistance between U V Wand grounding wires if the Too high current flow resistance is a bit lower that means motor through the power module isolation is worse molor needs to be or VCC4 control voltage is mei a little lower drive is matched or nol Check to see if the control power VCC4 of the power module is OK or not Alarm occurs when it s a little bower Increase acceleration deceleration time Check to see is DB relay is damaged or not During system power on or system running Status Possible reasons Treatments Power module overheat gt Drive is running at heavy i Duri load for a long time which Replace the drive uring system NET running causes module overheat Change environment condition improve gt Frequent start stop air ventilation or convection Ambient temperature Is En PR 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 circuit Increase Acceleration Deceleration time Lower down start stop frequency Please set an appropriate reference frequency F a Take actions to remove the noise bici Pulse frequency input is gt Adjust value of Pn022 and Pn023 error of During system too high has exceeded Nigri Enti con
45. 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 29 Chapter 4 Function setting and description Reverse rotation Forward rotation side Side Servo motor Limited switch servo drive Pn001 1 Pn052 bit0 1 Pn001 1 Forward direction driving is Pn052 bit0 bd OFF Reverse direction is 1 available Pn001 2 Pn052 bit0 1 Pn001 2 Reverse direction driving is Pn052 bitO I OFF Forward direction is 1 available Forward direction driving is allowed Normal Reverse direction drivi is ON Normal m owitching 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 2 Prohibit reverse direction input signal is ON 30 Chapter 4 Function setting and description 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 b
46. coder 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 startt JOG operation 1 Turn on servo drive s power supply Panel operator gives a display as Press MODE key Press MODE key again DAOG Press MODE key a third time to switch onto the menu for auxiliary functions Flos Press INC key and increase the value to 2 Fini 100 Press ENTER key and go into JOG operation mode BETET Press MODE key and select Servo On 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 S kS Press MODE key and select Servo OFF 10 Press ENTER key and exit JOG operation 7 3 Trial operation in position control mode 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
47. d manual adjustment 96 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 x diustiho mode LlulcL lo 4 Press MODE and hold on for one second donE is displayed and glimmers the offset signal is then REN iic Care NN Release the key LlulcL lo 5 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 ln 3 Press ENTER key current software version is displayed bb 4 Press ENTER key again to return to function number display Finoh 207 6 2 6 System runtime Take following steps to display system runtime 1 Press MODE key and select Auxiliary Function Mode 2 Press INC key or DEC key to select function number Holgi 3 Press ENTER key to display system runtime Following picture shows system runtime is 1 hour and 28 minutes Pico 4 Press ENTER key again to return to function number display a nius The displayed time is
48. ded 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 No of O Contents Relevant I O digits displayed Signals Signal of Input Signal of Signal of 6 Contents of I O terminal signals are in the following table No of I O Contents Relevant I O digits displayed Signals Input Servo ON 1CN 15 Alarm reset 1CN 6 ALM R ST Clear error 1CN 7 CLR counter a Zero position 1CN 17 ZPS signal 456 Nodisplay Output 1CN 4 ALM signal Positioning complete speed 1CN 3 COIN achieves 1 2 3 1 2032 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 A ww jo No Fn000 Display alarm history Fn001 Restore to factory settings Fn002 JOG operation Automatic offset signal adjustment Open operation Fn003 of motor current detection Hidden operation Notes 1 Open operations refer to the auxiliary functions for general users 2 Hidden operations When the panel operator is in simple code menu press xxx and start to use the auxiliary functions 6 2 1 Alarm history display The last ten 10 alarms are displayed in the alarm hi
49. der 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 posv 24 y Relay Note 1 Maximum voltage should be no more than 30VDC and maximum current should be no more than 50mA 293 Chapter 3 Wiring 3 3 Encoder wiring 3 3 1 Encoder wiring 2CN Incremental encoder EDC Servo Drive User side Encoder 4 Pulse gt bi Encoder B Pulse 1 4 immo a om ro try LIS Pi Output line drive Line receiver Equivalent product o oh 5175 Equivalent product of AMP2BLS31 amp POS Pav Cofnector Shell Shield wire Connector shell A n Represent multi twisted shield wire nm Ps 1 The sequence No of encoder pin s corresponding relation with signal will change because of different types of motors Please connect the wires according ta actual corresponding situation 2 When the drive connect wire saving made encoder motor just do not connect Uy My signal 202 Chapter 3 Wiring 3 3 2 Signal list of connectors 2CN See following list for description of 2CN terminals ia ba Comments Comments Encoder B EncoderB tinput Encoder C EncoderC Input ELE EE nr DINE URBE EL NER RE PG5Y Encoder power 14 GND Encoder power supply supply 5V grounding Connect shielded wires to FG shell of connectors Note 1 I
50. ds Zero position signal input zero switch outputs this signal when returning to zero position Reference open collector power supply To provide 5VDC power supply when PULS and SIGN reference signals are open collector input signals Input modes Reference pulse SIGN Pulse input train Line drive or x CCW CW open collector Pulse 2 phase positive pulse x4 Reference items The value of Pn050 decides the output signal see the details as follows 0 brake interlock BK output positioning complete same speed detected in position control method it means positioning is 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 EM LLL Chapter 3 Wiring same speed is detected V CMP 2 torque limit CLT output when output torque exceeds the value of Pn026 or Pn02 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 outpu
51. ed 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 servo drive E Chapter 4 Function setting and description 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 Pn071 Y 0 search Pulse C after origin has 0 2441 returned Y 1 does not search Pulse C after origin has returned X 0 origin returns at forward run direction X 1 origin returns at reverse run direction 2 Set zero adjustment speed Paramet Name and meanings setting Factory er range setting number Pn074 Speed 1 during reference searching hit min 0 3000 1000 position limit switch Speed 3 during reference Pn075 searching after releasing position limit r min 0 3000 5 switch 1000 Pn077 Origin return offset revolution x 9999 e 1 Pn078 Origin return offset pulse number puls 9999 e 3 Comments When zero adjustment method is selected according to practical requirements set Pn071 zero adjustment will be implemented according to setting 55 Chapter 4 Function setting and description When zero adjustme
52. ed manually or via communication to make motor run at specified speed If the speed is set over maximum rotation speed then motor will run at maximum speed instead 3 Set soft start time Parameter Setting Factory Name and meaning number range setting Soft start deceleration time Pn024 o 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 EVE Chapter 4 Function setting and description 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 time are applied Pn021 can be selected and set to get a smooth running Pn 21 IPn 21 Pn z1l Pn 21 Mnoga engga 4 Torgue limit Setting Pn026 and Pn027 to limit
53. eference unit r min r min 127 Setting range 0 1000 0 1000 0 300 0 300 0 500 0 100 0 500 1 32767 0 3000 0 5000 0 1 0 4 0 2 0 2000 0 5000 10 500 Factory setting 250 250 10 10 1024 500 200 200 10 100 Para Pn046 Pn047 Pn048 Pn049 Pn050 Pn05 Pn052 Pn053 Pn05 Pn055 Pn056 Pn05 Pn058 J Pn060 Pn061 Pn062 Pn063 Pn064 O C1 o cO I Nameand weaning umt ange eting imi range setting Waiting time for brake signal ms 10 1000 500 Position error pulse overflow 0 disable 1 enable speed 0 1CN 20utput signal selection 0 3 0 1CN 3outputsignalseletion 0 3 1 1CNtwoinputsignalselecion 0 3 0 Reseved o 032 0 0 10000 100 Inverts input signaal 015 0 Inverts output signal 07 0 2 electronic gear numerator 1732767 1 Dynamic electronic gear enable 01 0 D reserved 0 0 RS232 COM input IO contact o of 0 15 control RS232COMaddess 1 254 1 RS232 COM baudrate 0 4800bit s 1 9600bit s DIU oe 2 19200bit s RS232 COM protocol 0 7 N 2 Modbus ASCII 1 Modbus ASCII 1 Modbus ASCII 2 Modbus ASCII 5 1 Modbus ASCII 1 CModbus ASCII gt 8 N 2 Modbus RTU 8 E 1 Modbus RTU 8 O 1 Modbus
54. ening and connectors Ambient temperature 0 40 C Ambient humidity 20 to 80 non condensing Excitation permanent magnet Connection method direct Mounting flange mounted B EMJ type 60 series Motor model EMJ 02APAua 04APAna us Peak Torque Mechanical 1 203 time ms 0 864 constant Electric time mE 2 391 2 979 constant BE EMJ type 80 series Motor model EMH 08APAun Matched drive model EDC DOARE Rated W 750 output torque Instantaneo us Peak 7 16 Torque current speed speed 2 Mechanic al time ms 1 183 constant 120 Electrical time constant LEE S d Tap Dept 153 159 1230163 t zem im T Notes The dimension in parentheses are for yerveimolors with holding brakes 121 9 1 3 Servomotor connection diagram Ip B1 E56 Table of Cable Models LG b R LI LR ER EDC 02APE EMJ 02APADO Ip EDC 04APE EMJ O4APACIC L CDM4BI18 CMP JB26 EDC OBAPE EMJ 08APAOO CSC CC24A OP 01A EDC servo drive series and EMJ servo motor series Connection BUS REGAT OO MEA 15 Motor Connector Specification o Encoder Connector Specification Ba BIA ala o xkPlug 172167 1 AMP 6 5 4 o ik Plug 172169 1 AMP o Pin 170360 1 AMP 9 8 7 o Pin 170359 3 AMP ts As He iiio i SL LEM MM O ER AA 1 U 2T Red Incremental Encoder 2 V If Blue S ds Me 3 W
55. eration Note This mode is not available when servo is on or some alarm occurs 95 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 EZ TE L je ol ln 7 Lh _ Moter forward rotation Motor reverse rotation During motor s FWD or REV direction LED display is as below Forward direction Reverse direction S S 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 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 an
56. formation and alarm reset are enabled with hand held operator Note 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 S ON input Host controller is used to control enable or disable servo system Following illustration shows the way to connect S ON C Power servo drive 1M 24YIN 1CH 15 33k Kan Host 1 l I I l S OH Jacmas onc Ur input S ON 1CN Servo On ON 15 68 Chapter 4 Function setting and description Switch servomotor between Power on and Power off When low level is active Signal Status input level 1CN 15 L Servo ON servo is energized run level servomotor according to input signal ON ON IS O OFF 1CN 15 H Servo OFF servo is not energized can t level run Pn043 is used to set waiting time during Servo On which means the period of time from internal relay s action to motor electrification Paramete Name and Setting Factory r number meanings range setting Pno43 Wang time ms 20 2000 100 when servo On 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 motors 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 Dur
57. ge protector for s Contents 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 Dont 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 FNC NN Mn SN 1 E Siu Limied Wara ne 1 Contents General Precaution o ooooWo Wa 2 Table OF COMLEIES cceccccactcacscactsaacceatssascaataaradanaiandaandonndaacanacaiaudane Andani kaan pak 3 Chapter 1 Checking products on delivery and product specification f 1 1 Checking products on delivery Wo Wo mm f 1 1 1 Servo MOEOT oo o oem f Ne aa an An aM o Loc RDUM f Identification of motor model Wo oo an 8 Nile SO Ve ee Rei 9 Ke REED LETTURE tan anta 9 Identification of drive model rrpcrnerrnrer rnar 9 1 2 Servo components descCriptiON o oooWooW oo 10 US 1 SERVO MOO na 10 1 2 2 Servo drive Lo eennnnnnna nan 10 Chapter 2 Instal AO ia an RaR 12 VES NOO O Pa na aa M SA E 12 2 1 1 Storage temperature Wo Wo WWW Wc WWW maan 12 2
58. having according to host control s demand 1 position contact control Cinternal 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 position control pulse train reference Normally position control 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 Pn048 setting ANS Pastian SIGH Instruction Control method Servo drive Chapter 4 Function setting and description 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 Paramet er number Pn004 Stop mode of servomotor when servo 0 3 OFF or alarm occurs Parameter Factory range setting Parameter L NN 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 a
59. ile 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 99 danger which is caused by the counterforce coming from motor speed change 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 its 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 connnection is correct If motor can not run check connection of UVW and en
60. ing 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 Parameter Name and meanings range number 0 Enable Servo ON input signal S ON Decided by 1CN 15 signal 1 Disable Servo ON input 0 4 signal S ON internal Servo ON normally is Servo ON which is equivalent to 1CN 15 being active 69 Chapter 4 Function setting and description 4 5 3 Positioning complete output Positioning complete COIN signal output after positioning completes Make connection according to the following diagram IK Power Servo drive RAY ov opticoupler output every output node Max output voltage Ig Max output current sr A 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 E ko Offset Fagan Pulse Pa Un 12 p Un013 COIN _ RM Un012 error pulse counter low position monitoring Un013 error pulse counter high position monitoring When output is active at low level N status COIN L Positioning has completed Position offset is level lower than setting of Pn030 OFF status COIN H Positioning is not completed P
61. ing one cycle occurred in AC power supply Watchdog reset system reset by watchdog A 99 O Notanemor Normal operation status O Photo coupler is ON ON X Photo coupler is OFF OFF Alarm can be deleted 133
62. ion Motor E rolling Pa speed AT GA Pn029 JE sz AF 3 Instruction speed AD In this range output A ut cp With the user s constant as below the range of output V CMP can be designated Parameter setting Factory Using number range setting method Speed control eror 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 Parameter Name and meanings range number i Select operations to be made upon power interruption 0 gives no output of servo 0 1 alarm signal ALM 1 Output servo alarm signal ALM If power supply of servo drive is interrupted suddenly over 20ms and detected by servo drive Servo drive will decide if S ON and output servo alarm are required according to the value of Pn003 s72 Chapter 4 Function setting and description Instananeous power off happen 2v power voltage PavO3 0 co E EM ALM ICN 4 Pid 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 smoo
63. ion 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 Pare Name amp Description menge Factory No setting Pn049 Output signal 1CN 2 pin no 0 3 signification Pn050 Output signal 1CN 3 pin no 0 3 signification fi RK as COIN V CMP as 1CN 2 CLT S RDY Tan H Sma T COIN V CMP BK 1CN 3 CLT S RDY Following table shows the pin number definition for Pn049 correspond to pin 1CN 2 output Pn050 correspond to pin 1CN 3outpuD 34 Chapter 4 Function setting and description 00 BK brake interlock output COIN 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 Servo dive Photo coupler Pulse referenc PULS input l Pulse direction input P represent multi twisted cable Host control device may give three types of pulse reference as follows linear driving output 24V open col
64. ition loop gain Position instruction Position feedback er range setting 256 error counter an This parameter is used to check offset pulse number of overflow alarm CAlarmA 06 Paramet Setting Factory er range setting Enable Disable alarm when position Pn047 error pulse 0 overflows 0 no alarm output 1 output alarm This parameter is used to decide whether offset overflow alarm CalarmA 06 is required or not _ 78 Chapter 4 Function setting and description Regular control 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 r range setting Pn047 Position feed 0 100 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 gain to 8096 or lower 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 79 Chapter 4 Function setting and description rae es Setting Factory range setting offset Inside servo unit the specified speed reference offse
65. ives mechanical brake 1CN 2 BRK etc release 2 Alarm memory block 07F1 07FAH Meme rm em Alarm No alarm History Alarm 2 O7F2H History Alarm 3 07F3H erc History Alarm 4 07FAH 4 HistoyAarm5 O7FBH 00 0 5 HistoryAlarm6 07F H 6 HistoryAlaam7 O07F7H 0 0 8 HistoryAlaram9 07FOH 9 History Alarm 10 117 Congest time EE UO 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 meaning of each digit TE ta BIT i4 HIT9 BITE BIT RITA BITS HI TS BIT HIT BITU gnal 1 means alarm occur 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 mE 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 Runtime 0904H It means the run time required from servo power on to read this data It s expressed in decimal system and the unit is minute If the read data is OOC
66. l motor stops 3 When servo is OFF or alarm occurs motor coasts to a stop then DB is enabled m oelect motor stop mode when servo is OFF EDC series servo drive stop motor running in following situation e When S ON input signal 1CN 15 turn into OFF e When alarm is detected e When power supply is OFF To select appropriate stop mode set value of Pn004 according to actual application requirements 4 1 4 Limiting torque For protection of mechanical structures maximum output torque can be limited by setting following parameters to adjust the maximum value of forward reverse direction torque on the servo drive Name amp Function No Pnoog Forward internal 4 0 300 250 torque limit pno27 Reverse internal 0 300 250 torque limit Set maximum torque for forward and reverse direction its 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 Torque limit Motor speed Torque ze Chapter 4 Function setting and description Note Its suggested the value of limited torque not exceed motor s 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 setti
67. larm 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 When S ON C1CN 15 signal is OFF 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 considered 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 one way to force servomotor to stop immediately upon emergency By shorting power cable of servo motor to achieve emergency stop of servo 269 Chapter 4 Function setting and description motor This circuit is already built in EDC servo drive Servo unit Servo motor 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 BRK Upright forced axis
68. lector output 12V and 5V open collector output Connection example 1 when host controller is linear driving output Applicable linear drives CT1 company AM26LS3 SN75174 or MC3487 and other substitutes lm Chapter 4 Function setting and description Hast Servo drive Linear drive Photo Coupler Ps PULs ICH l 150 S d yes Jp SIGN amp Tiser Ir icwus 8 ELI grounding Connect with connector shell shield Example 2 When host device is open collector output subject to 24VDC signal power Host Sero drive Photo Coupler 1CN 11 150 PULS eet SIGN lier amie yous ol ede Connect with cannectp shell shield Example 3 When host device is open collector output subject to 12VDC or 5VDC signal power 6 Chapter 4 Function setting and description Hast Servo drive Photo coupler CN 11 50 1 EA se i se SIGN 1CN 13 150 ee p uraundind Connect with connecti shall shield 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 m Select reference pulse mode 1CN 11 1CN 12 input SIGN input reference sign 1CN 13 input SIGN input reference sign 1CN 14 Use parameter Pn008 Pn009 to select reference pulse mode Paramete Code Comments TN Facto ry settin g input pulse mode O SIGN pulse Pn0
69. lue will stay unchanged even if INC DEC key is pressed Ulu 5 Press ENTER the data glimmers and then the date is saved 6 Press ENTER again to go back to parameter number display fm l3 Plus if Mode key is pressed during step 3 or step 4 parameter setup operation will go directly to step 6 and no changes will be saved If the user needs to rechange any data later just repeats the operation from step 2 to step 6 If PnO80 needs to be set as 32767 then a decimal point is used on bottom right corner of the top number to show current value is negative For instance the value 3276 is displayed as below ale BL 6 1 6 Monitor Mode The monitor mode can be used for monitoring the external reference values I O signal status and internal status of servo drive User can make changes in Monitor Mode even if motor is running 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 No mmn OHU Vu run rwn d Uh 3 Press ENTER to display the monitored data selected in Step 2 DELL 4 Press ENTER again to return to monitor number display 91 B Contents of Monitor Mode display Actual motor speed r min Input speed reference value r min Percentage of feedback Digits to display Un002 torque internal status relative rated torque 9876543210 Percentage of input E4
70. m cause first then input 1CN 6 CALM RST signal current alarm is removed immediately 3 During effective period of 1CN 6 CALM RST signal motor is in free status that equals to SERVO OFF status B 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 85 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 Press INC key to increase the set value a long and hold on press will implement fast increasing Press DEC key to decrease the set value a long and hold on press will implement fast decreasing Press this key to select the status display mode parameter setup mode monitor mode or auxiliary function mode Press this key to cancel setting when setting the parameters 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 the power supply is
71. 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 sx rd aon 3 n dM CMD Start info 2 address 0 di a F ai Gi Sum ADR s data from beginning to the last data 01H 03H 02H 01H 00H01H 08H Take fill in number of 2 from 08H therefore LRC is F 8 4 L CRC calculation in RTU mode CRC Cyclical Redundancy Check error detection value is used in RTU mode Take following steps to calculate CRC error detectionvalue otep 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 A001H otep 4 Go back to Step3 when knows Step 3 has been done eight times moves on to Step5 Step 5 Re
72. n 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 1096 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 NO value lamp goes extinct Allowable value 1096 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 1096 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 Run oervo ON motor power is ON HO When in Position Control mode Speed coincidence Digits simple code TT EIE a Control power ON reference pase 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 allowable value lamp lights on Allowable value Pn030 The standard value is 10
73. n014 will change too Generally when Pn007 1 value of Pn013 and Pn014 need to be reduced m Speed feed forwward range setting Pn012 opeed feed 0 4 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 m Setting speed loop gain Parameter Setting Factory range setting Pno13 Speed loop gain iz 1 3000 160 Kv poe e xe 1 2000 250 time constant T iD The above information shows internal speed loop gain and integral time constant of servo drive The larger the speed loop gain is set or the smaller the speed loop integral time constant is set the easier to have fast response speed control and this is limited by mechanical features The larger the speed loop integral time constant is set servo has better steady state performance But too large value may cause system vibration easily Speed loop gain Speed instruction Speed feedback Le Chapter 4 Function setting and description m oetting position loop gain Paramete Setting Factory r range setting 40 Pn015 Position loop gain t s 1 1000 Kp The larger the position loop gain 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 Pos
74. n099 moving distance 3speed r min 0 300 500 Pn100 moving distance 4speed r min 0 3000 500 Pn101 moving distance Sspeed r mi 0 3000 500 Pn102 moving distance 6speed C 300 500 Pn103 moving distance speed 3000 500 moving distance 0 first 1st acceleration deceleration time constant moving distance 1 first 1st acceleration deceleration time constant moving distance 2 first 1st acceleration deceleration time constant moving distance 3 first 1st acceleration deceleration time 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 constant moving distance 6 first 1st acceleration deceleration time constant moving distance 7 first 1st acceleration deceleration time constant 131 No range setting Pn112 moving distance Ostop time 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 3stop time 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 50ms 0 32767 10 Pn119 moving distance 7stoptime 50ms 0 32
75. nce 0 referenc 3000 revolutions e pulse Pn087 moving distance 3 low 9999 9999 E pulse moving distance 0 referenc 3000 revolutions e pulse Pn089 moving distance 4 low 9999 9999 E pulse moving distance 0 referenc 3000 m revolutions e pulse P091 moving distance 5 low 9999 9999 E pulse moving distance 0 referenc 3000 m revolutions e pulse ET moving distance 6 low 9999 9999 E pulse moving distance 0 referenc Mus 3000 m revolutions e pulse Set parameters like run speed acceleration deceleration time stop time and so on according to field working situation Paramete Name and meanings Setting range Factory r No setting Pn096 moving distance 0 speed 0 3000 Pn097 moving distance 1 speed 0 3000 Pn098 moving distance 2 speed 0 3000 _52 Chapter 4 Function setting and description Pn099 moving distance 3 speed 0 3000 500 n i moving distance 0 first 1st acceleration deceleration time constant moving distance first 1st acceleration deceleration time constant moving distance 2 first 1st acceleration deceleration time constant moving distance 3 first 1st acceleration deceleration time constant moving distance 4 first 1st acceleration deceleration time constant moving distance 5 first 1st acceleration deceleration time constant moving distance 6 first 1st acceleration deceleration time constant moving distance first 1st 3 0 3000 500 0 300
76. ncy Parameter Setting Factory number range setting Pn024 position reference 0 1000 1st filter Pnoos Feed lonar 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 74 Chapter 4 Function setting and description Parameter Unit oetting Factory Name number range setting pnoig S Start 0 10000 100 acceleration time Pn020 LEN NETT 0 10000 100 deceleration time o shape Pn021 acceleration and 0 1000 deceleration time B Pn019 time from stop status to speed of 1000r min B Pn020 time from speed of 1000r min to stop status Pn019 and Pn020 are linear acceleration deceleration time When large impact happens because linear acceleration deceleration is used to start stop the machine Pn021 can be set to have smooth running Speed Instruction Pas EL ME N Inside servo drive perform acceleration and deceleration of the set value on speed reference to implement speed control When inputing steplike speed reference smooth speed control can be implemented PnhOQU i aa gt H Si Pao2i 1 Ipao21 panggil port I 1 A E Pagia Pioco _75 Chapter 4 Function setting and description 4 6 3 Speed detection smoothing time constant By adjusting speed checkout filter time consta
77. ng Pn041 as described in following table Paramete Rang Comment r No e Select control mode LM position control position 1 internal ee contact control and speed control parameter speed control 2 parameter speed control Set Pn041 and select a certain control mode ANE Control mode setting Position control pulse reference Servo drive receives pulse train generated by host controller and the control of rotation speed and positioning are achieved according to reguirements from host controller contact speed control I O reference 1 Running at set speed is selected by switch on off input signals 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 ee Chapter 4 Function setting and description fd Rag zbas l 24V 2o ge AR oue JE HH m fA te FR eR FR DC30V VAR BAM Bt DCS0mA CLT detection output control position control The following signal can be output to indicate the servomotor output torque is being limited or not CLT L level when The servomotor output torque is being limited ON internal torque reference is above setting value CLT H level when The servomotor output torque is not being OFF limited internal torque reference is below setting value The setting value Pn026 Forward direct
78. nt mechanical vibration caused by servo system can be removed or eliminated Paramet setting Factory er range setting Speed checkout filter 1 0 500 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 Torgue reference filter time constant When mechanical vibration is caused by servo drive Torgue reference filter time constant can be adjusted to remove or eliminate vibration Bromas setting Factory range setting Torque reference filter 1 0 5000 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 when 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 4 7 High speed positioning 4 7 1 Servo gain settings m Setting speed loop gain s 265 Chapter 4 Function setting and description Parameter Setting Factory range setting mw s t 9 control method 0 ADRC control 1 PI control Please be noticed when this parameter is changed corresponding Pn013 and P
79. nt is started servomotor will run at the set speed of Pn074 When ZPS 1CN 17 signal is active if the parameter setting reguires 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 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 Pret Motor speed pam Leave back to zero switch speed Fell 5 No return to search Z pulse Back to zero offset distance TEPS 3 Zero J Pn 077 10000 4 En078 3 signal WL rr C pulse Leave back to zero switch after the first C pulse start to caculate offset distance Corresponding position Machanial movement no return to find C pulse leave back to zero switch after the first C pulse start to calulate offset distance Motor Pad decelerate Encoder C pulse Zero position ZPS signal Return and search Pulse C after touching zero adjustment switch 56 Chapter 4 Function setting and description Back to zero switch speed Motor speed Leave back to zero switch speed CPs return ta find z pulse Back to
80. 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 103 2 COM speed rang 0 4800bit Is 1 9600bit Is 2 19200b When communication function is used same communication speed between host controller and servo drive is required 3 COM protocol Paramete Setting Factory rang setting RS232 COM protocol 0 7 N Modbus ASCII 1 2 Gs E Modbus ASCII 2 7 O Modbus ASCII 3 8 N Modbus ASCII 5 4 8 E Modbus ASCII 5 8 O Modbus ASCII 6 8 N 2 Modbus RTU 7 8 E 1 Modbus RTU 8 8 O 1 Modbus RTU This parameter decides which COM protocol to be used the number 7 or 8 means digit numbers of data for data 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 104 he communication protocol between host controller and servo drive are required to be the same when communication function is used 4 COM input IO control When using COM control function the parameter Pn059 can be used to shield input IO signals if the user does not want external input signals to affect servo drive When some bit is set as O zero the signal of this bit is then controlled by the external input signal
81. o 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 temperature 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 C and 40 C 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 Chapter 2 Installation 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 Ro
82. ode gt 1 byte including two ASCII codes Data contents gt n word 2n byte including four ASCII code no more than 12 LRC Checkout code gt 1 byte including two ASCII codes stop bit1 gt ODH CR stop bit0 gt OAH LF RTU mode Freeze time for transmmision 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 CRC CRC checkout code gt 1 byte End 1 Freeze time for transmmision 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 108 RTU mode Freeze time for transmmision time of over 4 bytes which varies automatically according to changing of communication speed ADR COM address Range of legal COM address from 1 to 254 The example below shows communication with a servo whose address is 32 if expressed in hex system the adrdress will be 20 ASCII mode ADR 2 0 2 2 32H 0 30H RTU mode ADR 20H CMD Command reference and DATA Data Data format depends on following command codes Command code 03H when reading N words maximum value of N is 20 For example read the first two words from start address 0200H from a servo at the address of 01H ASCII mode Reference information Response information pj CMD 3 infa amaunt g by byte 4 start
83. or seconds and tens of seconds Acceleration Deceleration lime constant too short Absolute value of position error counter has exceeded 2 gt Motor is stuck mechanically Input reference pulse is abnormal Possible reasons Chapter 5 Troubleshooting When motor overspeed happens please take following actions gt Reduce sel speed relerence value gt Increase appropriately the value of smoothing time constant Pn024 gt Increase appropriately the value of position proportional gain Pn015 Check gear ralio the ratio should be set within the range as below input pulse frequency x Electric gear 500 KHZ gt Nerease Acceleration Deceleration time Use drive and motor of larger power instead Check load Reduce start stop frequency Check and see if motor rotates according to reference pulse Check mechanical parts of load gt Check reference pulse Check motor encoder cables Treatments Check motor encoder cables Position error pulses has exceeded limit value of position error counter During system overflow Pn031 Motor is mechanically Stuck gt Input reference pulse is abnormal Motor runs for several cycles no C pulse signal appears Cable problems improper During system running cable connection or cable disconnected Cable not well shielded Encoder damaged gt Shielded grounding wires are not connected well gt Ci
84. osition offset level is lower than setting of Pn030 Set In position error to control output time of COIN 70 Chapter 4 Function setting and description 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 its used as the speed coincidence output V CMP 4 5 4 Speed coincidence output Speed coincidence Output V CMP signal photocoupler output signal referring to output is given when rotation speed of servo motor is the same as reference speed It can be used as the base of host controller s judgement Connect and use this signal according to the following diagram Servo drive opticoupler output every output node Max output voltage 30 IMax output current sm 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 IV CMP L Speed coincidence speed level error is under setting value OFF status V CMP H Speed coincidence fail speed level error is over setting value zu Chapter 4 Function setting and descript
85. ot switch until there s no pulse input within 1ms Numerator of electronic gear after switching is the value of Pn056 The sequence is as shown below 49 Chapter 4 Function setting and description PCONH effective BCON Unable PCON sai i g i ni UUU un molecure p 22 Molecure of ease Molecure of A of electrical electrical gear electrical gear gear tl tes t3 td451ms m Position control diagram Servo drive position control Forward feedback e feedback Speed offset gain fea an molecule position instruction Sa Servo motor Pulse flitering Position loop Instruction El Paso gain Direction CEE EUN offset SEES b Ea counter Pis ef EF denominator L Phage i o Pulse output 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 Pn041 1 comes from internal parameter value CPn080 Pn095 of servo drive 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 method a incremental b absolute It can also 50 Chapter 4 Function setting and description co operate with external I O 1CN 7 input as PCON signal m Setting of position contact control 1 Set Pn041 1 Cinternal speed control
86. peat 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 111 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 3794H by summing the date from ADR to last bit then its reference information is shown below Please be noticed 94H should be transmitted before 37H high bit of Start info 01 H ascress address 01 Hi low bit of address Info preme 00 Dog Posters y Dog Posters y by word 02 TI low bit of data C RC low bit of 94 li low bit of j examination examination T high bit of high bit of CRC examination 37 Hi examination End1 End0 Communication complete ASCII mode Communication ends with the character r carriage return and OAH n new line 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 f
87. put im WA Frere BARA DCIOV Maxmum va DCN PRE Ee a B mum CB m Shied wins am connected to tha connectar frame Masurium working curredk DORE 3 2 2 Connector terminals 5 MAS E oe sk Specielfi pin cutput can be defined 19 Chapter 3 Wiring 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 oS Menng 13 SIGN Reference symbol Low Alarm Aam 14 ISIGN Reference symbol os om emer s son sont grounding es ee Reset Alarm 24VIN O power supply EXE caters 0 PE aan Shell Shell FG Connector s shell Notices 1 Spare terminals can not 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 Reference items 24V IN 16 Control power supply input for I O 4 2 4 signals Users need to prepare the 24V power supply Effective voltage range 11V 25V Servo ON Servo motor is switched on 20 Chapter 3 Wiring ALM RST P According to BitO of Pn051 N OT 0 ALM RST input which means to reset alarm limit signal PN OT input which means to input mechanical limit signal According to Bit1 of Pn051 0 Clear signal input to clear offset counter during position control PST Limit signal PCON input means different things for different control metho
88. r 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 IO signals of external input set Pn059 as 15 which means all external digital input IO are controlled by COM When servo On is required write in 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 in 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 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 0 P 2 B 4 5
89. rated torque read only reference Eds Pulse number of 080BH input signal status readonly signal signal 080EH Pulse given readony 080FH Um position Unit 4 reference pulse er Current position Unit 10000 reference read only high pulse error pulse counter read onl low 16 position error pulse counter read onl high 16 position 4 Oven pulse Unit 1 reference pulse read only counter low STA Given pulse Unit 10000 reference read only counter high pulse 0817H Current alam readonly 07F1 07FAH relia AD erat ato Alans storage area 0900H lO signal of e readable ModBus J and Communication writable power interruption Drive status i read only 0904H UN OF S22 aset DSP software Version expressed in version number Host controller reads read only Drive model information from servo read only drive Reset History 01 Reset readable Alarm and writable Reset current 01 Reset readable alarm and 115 wie Me NENNEN JOG Servo ON enable readable disable and writable and writable JOG reverse run reverse run readable and writable 1 parameter area COM address is from 0000 to 0078H Parameters in related parameter table for example parameter with 0000H as COM address is expressed as Pn000 parameter with 0065H as COM address is expressed as Pn101 and read write of data at 0000H is the same as operating on par
90. rcuit failure of encoder During system power on or system running interface Check mechanical parts of load gt Readjust increment increase P Gain value Pn015 gt Increase value of PnO31 position error counter overflow Increase value of position feed forward Pn017 Reduce load value and speed Check cable conneclion do not bind encoder signal cables together with motor input power wires Check interface circuit of encoder Check connection cables of motor encoder Check encoder signals If the above items are OK there might be some problem in th internal parts of servo drive At least one of PA PB PC PU PV or PW is disconnected Sh 3 Chapter 5 Troubleshooting Encoder UVW code Please make sure power supply of violation detected encoder is 5V 596 This has to be UVW signals are all high met especially when the cables are level or ali low level 4 very long Don t bind encoder input Encoder During system noted the UVW cables together with motor input power UVW code power on or egna of encoder ve wires and shield wired have to be system running differen from UVW of connected to the frame power signal gt Incorrect encoder cable connection gt Correct encoder cable connection according to connection diagram SE ler damaged Replace servo motor Take away the motor power wire signal U V W power ON Servo is disabled is this problem still h
91. re Phase B is 90 Phase B is 90 forward from phase A behind phase A SU different two phase pulse train H 4 tl t2 0 Ius T 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 O his 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 when servo is OFF d Name and comments Setting range PARIN No setting 0 When S OFF clear error counter 1 When S OFF does not clear error counter 0 Chapter 4 Function setting and description m position reference 1st filter time position reference 1st filter can improve system s respond smoothness to given reference pulse e f 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 ser
92. s output signal Relevant parameters to Timing sequence are shown below Factor Paramete f Name and meanings y r number setting Pn044 Basic waiting flow ms Pn045 brake waiting speed 10 300 Pn046 brake waiting time 10 1000 500 B 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 Paramete Name and meanings range y r number setting Basic waiting flow Servo 1044 OFF delay time alis The illustration below shows the timing sequence relation between signal SON and BRK when motor stops speed is lower than 30 r m SONINPUT Seo qw Sewo OFF SEO On Cac H 15 I Break signal BEK TU l valid aa BR kKinvalid BRK BER 1 I lu te F Brake discharge Brake discharge Brake discharge Motor status Hola pero Motor power aff I I H Basic waiting process nd servo on waiting ime pmg4a Motor power on t ti 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 65 Chapter 4 Function setting and description be removed Note When alarm occurs servo drive will
93. search offset Pulse number of origin search 1 pulse 9999 offset Reseved 0 0 32 6 7 32 reference 167 pulse 1reference 9999 999 moving distance 0 pulse 9 10 referenc 32767 32 A 167 e pulse 1 reference 9999 999 moving distance 1 low pulse 9 10 moving distance 32 6 32 3 revolutions reference 167 pulse 1 reference 9999 999 moving distance 2 low pulse 9 10 moving distance 32 6 32 4 revolutions reference T67 pulse 1 reference 9999 999 moving distance 3 low pulse 9 4 9 32767 32 reference 167 pulse 1 reference 9999 999 moving distance 4 low pulse 9 10 referenc 32767 32 167 e pulse 1 reference 9999 999 moving distance 5 low pulse 9 130 moving distance revolutions moving distance 1 revolution moving distance 4 revolutions moving distance 5 revolutions Para Name and Meaning Setting Factory No range setting Pn092 moving distance 6 revolutions 10 referenc 32767 32 7 167 e pulse Pn093 moving distance 6 low 1 reference 9999 999 pulse 9 Pn094 moving distance 7 revolutions 10 referenc 32767 32 167 e pulse Pn095 moving distance 7 low reference 9999 999 pulse 9 Pn096 moving distance Ospeed r min 0 300 500 Pn097 moving distance 1speed_ r min 0 3000 500 Pn098 moving distance 2speed r min 0 300 500 P
94. setting and description 4 5 Protection sequence design 4 5 1 Servo alarm output The following diagram shows the right way to connect Alarm Output IO Power Servo drive opticoupler output every output node ax output voltage 10 Max output current sm External 24V I O 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 Normally the external circuit consists of ALM should be able to switch off power of servo drive Servo drive Inspected mistake ALM output Shut down main power Output level 1CN 4 L Normal state output signal is high ALM level when alarm occurs 1CN 4 H Alarm state output signal is high when level alarm occurs When servo alarm ALM happens always remove alarm reasons first and then turn the input signal ALM RST to ON position to reset alarm status 67 Chapter 4 Function setting and description input ALM RST 1CN alarm reset input 6 Signal Status Input level ALM RS 1CN 6 L level T OFF 1CN 6 H level Does not reset servo alarm Normally the external circuit can switch off power supply of servo drive when alarm occurs When servo drive is re switched on it removes alarm automatically so normally alarm reset signal is not required to be connected In addition reading alarm in
95. story 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 fe 3 Press ENTER key the latest alarm code is displayed Alarm No Alarm code UAL 4 Press INC or DEC key to display other alarm codes occurred recently 94 H oo BJ E 5 Press ENTER to return to function number display fal a a If an alarm occurs right now the alarm codes will be updated TIS Y DE alarm with a serial number of 0 is the current alarm and the alarm with a seria 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 THE 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 EE fal a 3 Press ENTER to enter parameter restoring mode Lu 4 Press ENTER key and hold on for one second to restore all the parameters to default values Elng 5 Release ENTER key to return to function number display EJ Io 1 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 op
96. suesesesssee 28 4 1 Machine related settings oo Woo Wo Wo oo Woo 28 4 1 1 Servomotor rotation direction Select 28 Contents 4 1 2 Overtravel oo ooW Wo Woo Woo maan 29 2 12 SOD UNE ON enn QE SE Rb sn YI TS PARE SUYA TURO S TATE DITE SUR E AAN TAS 31 A am AN g Tong On EDU MOD na 32 4 2 Settings complying with host controller 33 4 2 1 Position COntrol oo Wo mma 35 42 0 Encoder SIGNAL OUND Unika aa domua ass aa aa 40 4 2 9 SEQUENCE I O SIGN al oom madina 43 2 4 ElecIODIG GOAL Cusen ena aa ple ute etia Devon 46 4 2 5 Position contact control oo WWW 50 4 2 6 Zero AOJUSIM ENG erronea rA RIET 54 4 2 Parameter speed control o ooo an 57 2 Nonel ladoMolq i e uper 60 4 3 1 JOG speed i oooooo W mann 60 2 9 2 Control SelectlOns ii anna Ea dtd Ed 60 AA SLOP UNCION Settlligs oco cl oec dto ttl toe toe rotto ood Food re Tea 62 A E TLV Cr Dra Ke na 62 4 4 2 Holding brake W oooW WWW Wa 63 4 5 Protection sequence design ooo ooWoo Woo Woo 67 4 5 1 5ervo alarm OULU aaj ie f aa Mn 67 a oL ON TMPU EU PN 68 4 5 3 Positioning complete output Woo Wo mm 70 4 5 4 Speed coincidence output oo oooWo oo Wo mm T1 4 5 5 Handling instant power Cut
97. switch off main circuit loop of servo motor immediately meanwhile machine may move for tiny distance B Brake sticking setting During motor running movement setting of brake sticking is controlled by Pn045 and Pn046 By controlling brake sticking s movement timing sequence brake sticking is started correctly after servomotor stops running setting Factor Paramete Name and meanings range y r number setting The illustration below shows the timing sequence relation between signal SON and BRK when motor stops speed is higher than 30 r m priu or alar Servo QN Servo OFF he DB Stop or free stop Motor i Speed pid r l Break waiting time l Break signal Pos PTUS output ARK effective BRKinvalid C ICN 2 Break waiting time Fida 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 66 Chapter 4 Function
98. 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 Function Mode 87 6 1 4 Status Display Mode In status display mode the digits and simple code are used to show the status of servo drive ll 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 a 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 Control power ON Speed reference 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 between speed reference and actual motor speed is within allowable value lamp lights o
99. t 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 M power supply input this signal gives output I O common grounding Differential output of Encoder A signals Differential output of Encoder B signals Differential output of Encoder C signals En Connect shielded wires of l O signal cables to shell of 1CN that is equal to the connection of the shell and the frame grounding wire 3 2 4 Interface circuit example PBO ese Min 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 3 090 Chapter 3 Wiring using relay contact or open collector transistor circuit Servo dirve Servo dirve DC24V DC24V ER 5O0mALI EF SOMA E 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 Enco
100. t for positioning control are used to reduce positioning time Make the setting according to mechanical conditions Internal speed instruction PnO16 YP omm 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 80 Chapter 5 Troubleshooting 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 on Alarm Alarm Name Meaning digital operator output A 01 Parameter breakdown Checksum results of parameters are abnormal A 02 X Current detection error Internal detection circuit problem Foal ha eee Rotation speed of the motor has A 03 X Overspeed exceeded 1 1 times of maximum speed 3 The motor was running for several seconds lo several tons Overload rre ine iie Position error counter overflows intemal 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 all
101. t 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 3 4 Motor wiring 3 4 1 Motor encoder terminals 25 Chapter 3 Wiring B Motor encoder specifieation Motor connector specifieation connector 172167 1 AMP pin 170360 1 AMP Encoder connector specifieation connector 172169 1 AMP pin 170358 3 AMP incremental wire sorving 26 3 5 Standard connection example Chapter 3 Wiring 10 Paes AC 200V 1595 50 80 Hz 2 FREE Nor tuse Circuit Breaker i TT EHE SAR RAP Tubder aroal for Syetem Protection il Surge Suppresser PES ELBE Noise Fiter 1RY suse gna Barata edem OFF IMC 4AY to shut down power TESE MERA 7 ha qum d inna regenerative uni i3 1n Eng use or emergency stop ene PAI Motor eres U 1 a 1 V Y IMC M omm s Y a Tr D PG EDC AR s Xd ES zh E P EDC Servo Drives n rud 4 N SUM PG 8 w 1CN IET E I E S wit Pengamat Pisasse handie connectors of shaded wires prapesr ts cf Mis ee Del mwaa PULS TP f 42 A Li PAO Lena mres e ts dp A A aon GNI wmm s id EE P j i 2 z PBO Bah SER Posiion Ralarence sign I 18 PBO Bitlerentia Output Encoder Signal Output 10 10 pco pi i BK s 2 ipco od 24VIN 16 COIN SCR COIN Position Complete SIR TTE Sen ON zi PON EN eo prt DTE rug Ves dud ded
102. tate 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 servomotors can be installed horizontally vertically or in any direction 2 1 5 Handling oil and water If the servomotor is installed at a location subject to water oil or condensation the motors 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 J shaft Opening Ps ul Se SS x F 4 EN e Chapter 2 Installation 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 ED
103. 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 E 3 Press ENTER key current software version is displayed EBEEE 4 Press ENTER key again to return to function number display A 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 98 If servo alarm occurs or servo is ON inertia inspection will not be executed instead a message abort is op Ka onthe panel operator as below If the user wants to cancel the f nclion during inertia inspection or after entering the function menu just press ENTER key 5 When inertia inspection cone 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 funcion number display page Notes 1 Please be very careful during inertia inspection operation because motor will run forward and reverse for four 4 revolutions meanwh
104. thing capacitor additional Regenerative braking unit is required to transform regenerative electric power into heat energy consumption of a 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 prohibited to be connected directly to bleeder or drain resistor m Connect external regenerative unit according to following diagram 273 Chapter 4 Function setting and description MC Servomotor E Servo drive Single POV AC An ar Phase SY CH 4 aa as E re DV ed Externa regeneration resistence ON IMC OFF L Short connection wire Please remove short connection wire while use external regeneration resistence allam 5 MONNE e IMC Ry m Da 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 freque
105. 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 Simm or more ej ladr OF mare 1 mm or more Simm or more B 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 zd c Chapter 2 Installation drive so that cooling by cooling fans or natural convection is good ll 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
106. tt roller diameter P 360 5 a Pain a m Reference unit ag nD i zi DU PFR MCACERMIVOCRUERM 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 100 6 Set parameter 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 Name Uni Range Factory 2473 Chapter 4 Function setting and description Pn022 electronic gearB 1 327167 1 numerator ll Pn023 electronic gearA 1 327617 denominator Electronic gear ratio B A Pn022 Pn023 B Encoder pulse number x A x rotation speed of motor shaft A reference pulse number of each unit load movement when load shaft finishes one revolution x rotation speed of load shaft 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 34x 100 mm 45700 Bearing shaft 0 02 mm E Redution Electric
107. unction 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 data for j 0 j lt 8 j If crc reg amp 0x01 crc reg crc reg 1 0xA001 lelsef crc reg crc reg 5 1 112 I I 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 frame The format of error frame is shown in following table Data frame of host controller Slave station Data address address references Servo drive s feedback of error frame start Slave station Response Error code address code Comments Error frame response code Command 4 80H Error code 00H communication is good 01H servo drive can t identify requested function 02H given data address in the request does not exist in servo drive 03H given data in the request is not allowed in servo drive higher than maximum value or lower than minimum value of the parameter
108. vo 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 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 Host 1 Output circuit is bus drive output Make circuit connection with reference to following circuit Linear drive iii cerva matar Encoder Ad d 40 Chapter 4 Function setting and description EDC Servo drive Hast Line receiver Encoder A 2 8 AC Pulse gt 18 a 218 Dp Encoder 8 2 49 Fulse 4 b eren a 2 19 Encoder B 7 10 Pulse m Linear drive autp equivalent with AMZ6L531 represent multi twisted R 220 470 Q cable m Output signal Output encoder signal after frequency is divided Output PAO 1CN 8 A phase pulse Output PAO 1CN 18 differential Output Output PBO 1CN 9 B phase pulse Output PBO 1CN 19 differential Output Output PCO 1CN 10 diff tial Output Output gt PCO 1CN 20 ue Mupu The following illustration shows the style of perpendicular pulse output of Phase A and Phase B C phase pulse Parameter Pn011 0 CCW He geo CW 4 Oso A Phase LI LI A Phase ASU B Phase B Fhase Parameter Pn011 1
109. 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 Current deteclion error Status During system acceleration or deceleration During system running System is Power ON Possible reasons Checksum results of parameters saved in external storage are abnormal Sampling circuit damaged 82 Treatments Power On again and check if the same problem still exists gt If problem still exists the chip needs to be replaced because external storage of the drive has been damaged Check reference power supply of A D circuit on the servo drive to see if the reference supply has been damaged Check if the mainboard and control plate are reliably connected 03x Overspeed During system acceleration or deceleration During system running During system running No Name Status Motor speed has exceeded 1 1 times of maximum speed gt reference pulse input too high Acceleration Deceleration time constant too short which cause speed overshoot gt Electric gear ratio is too big P Gain value PnuT15 is too small System run over rated torque f
110. without gear down device and brake Shell Encoder Mounting hole Transmission axis Flange 1 2 2 Servo drive 10 Chapter 1 Checking products on delivery and product specification 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 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 or 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 Sa Chapter 2 Installation 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 t
111. y 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 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 O or set Pn052 bit 0 Servo 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 Rande No g Stop modes when servo is on or Pn004 p 0 3 servo alarm occurs Parameter No Comments 31 Chapter 4 Function setting and description 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 unti
112. zero offset distance PS i IK Pot T 10000 PFnO78 zero signal 3 5 1 Encoder C Pulse LLL Lt I H Leave back to zero switch after the first C pulse start ta caculate offset distance Corresponding position Machanical movement motor deceleration back to find 4 cow C pulse switch after the first C ulse start to caculate p Leave back to zero offset distance Encoder C pulse Zero zps signal 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 3 04 7 motor run at the speed set in the parameter gt Chapter 4 Function setting and description m Set parameter speed When using parameter speed control take following steps to make the setting 1 Set Pn041 properly to enable internal speed selection function 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 1 OFF input signal is inactive 0 ON input signal is active 2 Set Pn048 to wanted speed value Value of Pn048 can be chang

EDC Series User`s Manual Operation of Version 2

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