Estun ETS Series User manual

ETS SeriesACServoUser'sManual
（Version：V1.06）

ETSSeriesACServoUser'sManual
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Copyright © 2014 ESTUN AUTOMATION TECHNOLOGY CO., LTD
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form,
or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
ESTUN. No patent liability is assumed with respect to the use of the information contained herein.

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About this manual
This manual describes the following information required for designing and maintaining ETS series servo drives.
•Specification of the servo drives and servomotors.
•Procedures for installing the servo drives and servomotors.
•Procedures for wiring the servo drives and servomotors.
•Procedures for operating of the servo drives.
•Procedures for using the panel operator.
•Communication protocols.
•Ratings and characteristics.
Intended Audience:
•Those designing ETS series servo drive systems.
•Those installing or wiring ETS series servo drives.
•Those performing trial operation or adjustments of ETS series servo drives.
•Those maintaining or inspecting ETS series servo drives.

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Safety Precautions
■Do not connect the servomotor directly to the local electrical network.
Failure to observe this may result in damage to servomotor.
■Do not plug or unplug connectors from servo drivewhen power is on.
Failure to observe this may result in damage to servo drive and servomotor.
■Please note that even after power is removed, residual voltage still remains in the capacitor inside the servo drive. If
inspection is to be performed after power is removed, please wait 5 minutes to avoid risk of electrical shock.
■Keep servo drives and other devices separated by at least 10mm.
The servo drive generates heat. Install the servo drive so that it can radiate heat freely. When installing servo drives
with other devices in a control panel, provide at least 10mm space between them and 50mm space above and below
them.Please install servo drives in an environment free from condensation, vibration and shock.
■Perform noise reduction and grounding properly.
Please comply with the following instructions to avoid noise generated by signal lines.
1. Separate high-voltage cables from low-voltage cables.
2. Use cables as short as possible.
3. Single point grounding is required for the servomotor and servo drive (grounding resistance 100Ω or below).
4. Never use a line filter for the power supply in the circuit.
■Use a fast-response type ground-fault interrupter.
For a ground-fault interrupter, always use a fast-response type or one designed for PWM inverters. Do not use a
time-delay type.
■Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to unstable operation.
■The servomotor cannot be operated by turning the power on and off.
Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate, resulting in unexpected
problems.Always start or stop the servomotor by using reference pulses.

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—Contents—
About this manual ...........................................................................................................................................................- 2 -
Safety Precautions..........................................................................................................................................................- 3 -
Chapter 1 ........................................................................................................................................................................- 7 -
Checking Products and Parts Names .............................................................................................................................- 7 -
1.1 Checking Products on Delivery.........................................................................................................................- 7 -
1.1.1 Servomotor............................................................................................................................................- 7 -
1.1.2 Servo drive ............................................................................................................................................- 9 -
1.2 Part Names.....................................................................................................................................................- 11 -
1.2.1 Servomotor..........................................................................................................................................- 11 -
1.2.2 Servo drive ..........................................................................................................................................- 11 -
Chapter 2 ......................................................................................................................................................................- 13 -
Installation.....................................................................................................................................................................- 13 -
2.1 Servomotor .....................................................................................................................................................- 13 -
2.1.1 Storage................................................................................................................................................- 13 -
2.1.2 Installation Sites ..................................................................................................................................- 13 -
2.1.3 Installation Alignment...........................................................................................................................- 14 -
2.1.4 Installation Orientation.........................................................................................................................- 14 -
2.1.5 Handling Oil and Water........................................................................................................................- 14 -
2.1.6 Cable Tension......................................................................................................................................- 15 -
2.1.7Install to the Client................................................................................................................................- 15 -
2.2 Servo Drive.....................................................................................................................................................- 15 -
2.2.1 Storage................................................................................................................................................- 15 -
2.2.2 Installation Sites ..................................................................................................................................- 15 -
2.2.3 Installation Orientation.........................................................................................................................- 16 -
2.2.4 Installation Method ..............................................................................................................................- 16 -
Chapter 3 ......................................................................................................................................................................- 18 -
Wiring............................................................................................................................................................................- 18 -
3.1 Main Circuit Wiring..........................................................................................................................................- 18 -
3.1.1 Typical Main Circuit Wiring Examples..................................................................................................- 19 -
3.1.2 Names and Functions of Main Circuit Terminals..................................................................................- 21 -
3.2 I/O Signals ......................................................................................................................................................- 22 -
3.2.1 Examples of I/O Signal Connections...................................................................................................- 22 -
3.2.2 I/O Signal Connector (CN1_A/CN1_B/CN1_C) Terminal Layout.........................................................- 23 -
3.2.3 I/O Signal Names and Functions.........................................................................................................- 25 -
3.2.4 Interface Circuit ...................................................................................................................................- 26 -
3.3 Wiring Encoders..............................................................................................................................................- 27 -
3.3.1 Connecting an Encoder(CN2_A/ CN2_B/ CN2_C)..............................................................................- 27 -
3.3.2 Encoder Connector(CN2_A/ CN2_B/ CN2_C) Terminal Layout..........................................................- 28 -
3.4 Communication Connection（CN3/CN4）.....................................................................................................- 28 -
3.5 Standard Wiring Example...............................................................................................................................- 29 -
3.6 Wiring for Noise Control..................................................................................................................................- 33 -
3.6.1 Noise Control.......................................................................................................................................- 33 -
3.6.2 Precautions on Connecting Noise Filter ..............................................................................................- 34 -

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Chapter 4 ......................................................................................................................................................................- 37 -
Operation ......................................................................................................................................................................- 37 -
4.1 Trial Operation ................................................................................................................................................- 37 -
4.1.1 Trial Operation for Servomotor Without Load ......................................................................................- 39 -
4.1.2 Trial Operation for Servomotor without Load from Host Reference .....................................................- 41 -
4.1.3 I/O JOG control....................................................................................................................................- 43 -
4.1.4 Trial Operation with the Servomotor Connected to the Machine..........................................................- 43 -
4.1.5 Trial Operation for Servomotor with Brakes.........................................................................................- 45 -
4.2 Control Mode Selection...................................................................................................................................- 45 -
4.3 Setting Common Basic Functions...................................................................................................................- 46 -
4.3.1 Setting the Servo ON Signal................................................................................................................- 46 -
4.3.2 Switching the Servomotor Rotation Direction ......................................................................................- 47 -
4.3.3 Setting the Overtravel Limit Function...................................................................................................- 48 -
4.3.4 Setting for Holding Brakes...................................................................................................................- 51 -
4.4 Absolute Encoders..........................................................................................................................................- 54 -
4.4.1 Selecting an Absolute Encoder............................................................................................................- 55 -
4.4.2 Handling Battery..................................................................................................................................- 56 -
4.4.3 Replacing Battery................................................................................................................................- 57 -
4.4.4 Absolute Encoder Setup(Fn010、Fn011)............................................................................................- 57 -
4.5 Operating Using Speed Control with Internally Set Speed..............................................................................- 57 -
4.5.1 Setting Parameters..............................................................................................................................- 57 -
4.5.2 Soft Start..............................................................................................................................................- 58 -
4.5.3 Speed Reference Filter Time Constant................................................................................................- 58 -
4.5.4 S-curve Risetime.................................................................................................................................- 59 -
4.5.5 Encoder Signal Output ........................................................................................................................- 59 -
4.5.6 Speed coincidence output ...................................................................................................................- 61 -
4.5.7 Speed control(contact reference) ........................................................................................................- 62 -
4.6 Operating Using Position Control....................................................................................................................- 64 -
4.6.1 Basic Setting in Position Control..........................................................................................................- 64 -
4.6.2 Setting the Clear Signal.......................................................................................................................- 66 -
4.6.3 Setting the Electronic Gear..................................................................................................................- 66 -
4.6.4 Smoothing ...........................................................................................................................................- 70 -
4.6.5 Low Frequency Vibration Suppression................................................................................................- 71 -
4.6.6 Positioning Completion Output Signal.................................................................................................- 73 -
4.6.7 Reference Pulse Inhibit Function(INHIBIT)..........................................................................................- 74 -
4.6.8 Position Control (contact reference)....................................................................................................- 75 -
4.7 Limiting Torque................................................................................................................................................- 78 -
4.7.1 Internal Torque Limit............................................................................................................................- 78 -
4.7.2 External Torque Limit...........................................................................................................................- 79 -
4.8 Other Output Signals ......................................................................................................................................- 80 -
4.8.1 Servo alarm output ..............................................................................................................................- 80 -
4.8.2 Others..................................................................................................................................................- 80 -
4.9 Online Autotuning............................................................................................................................................- 82 -
4.9.1 Online Autotuning ................................................................................................................................- 82 -
4.9.2 Online Autotuning Procedure...............................................................................................................- 82 -
4.9.3 Setting Online Autotuning....................................................................................................................- 83 -

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4.9.4 Machine Rigidity Setting for Online Autotuning....................................................................................- 84 -
4.10 Internal Homing Function..............................................................................................................................- 85 -
Chapter 5 ......................................................................................................................................................................- 88 -
Panel Operator..............................................................................................................................................................- 88 -
5.1 Basic Operation ..............................................................................................................................................- 88 -
5.1.1 Functions on Panel Operator...............................................................................................................- 88 -
5.1.2 Switchthe number of Axis ....................................................................................................................- 88 -
5.1.3 Basic Mode Selection..........................................................................................................................- 89 -
5.1.4 Status Display Mode............................................................................................................................- 89 -
5.1.5 Operation in Parameter Setting Mode.................................................................................................- 91 -
5.1.6 Operation in Monitor Mode..................................................................................................................- 92 -
5.2 Operation in Utility Function Mode..................................................................................................................- 95 -
5.2.1 Alarm Traceback Data Display.............................................................................................................- 95 -
5.2.2 Parameter Settings Initialization..........................................................................................................- 96 -
5.2.3 Operation in JOG Mode.......................................................................................................................- 97 -
5.2.4 Offset-adjustment of Servomotor Current Detection Signal.................................................................- 98 -
5.2.5 Software Version Display...................................................................................................................- 100 -
5.2.6 Position Teaching Function................................................................................................................- 100 -
5.2.7 Static Inertia Detection ......................................................................................................................- 100 -
5.2.8 Parameters Copy...............................................................................................................................- 101 -
Chapter 6 ....................................................................................................................................................................- 102 -
MODBUS Communication...........................................................................................................................................- 102 -
6.1 RS-485 Communication Wiring.....................................................................................................................- 102 -
6.2 MODBUS Communication Related Parameters ...........................................................................................- 103 -
6.3 MODBUS Communication Protocol..............................................................................................................- 104 -
6.3.1 Code Meaning...................................................................................................................................- 104 -
6.3.2 Communication Error Disposal..........................................................................................................- 110 -
6.3.3 Data Communication Address of Servo State.................................................................................... - 111 -
Chapter 7 ....................................................................................................................................................................- 113 -
Specifications and Characters.....................................................................................................................................- 113 -
7.1 Servo drive Specifications and Models.........................................................................................................- 113 -
7.2 Servo drive Dimensional Drawings...............................................................................................................- 115 -
Appendix A..................................................................................................................................................................- 116 -
Parameter ...................................................................................................................................................................- 116 -
A.1 Parameter List..............................................................................................................................................- 116 -
A.2 Description of Parameter Type.....................................................................................................................- 122 -
A.3 Parameters in detail......................................................................................................................................- 123 -
Appendix B..................................................................................................................................................................- 140 -
Alarm Display..............................................................................................................................................................- 140 -

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Chapter 1
Checking Products and Parts Names
1.1 Checking Products on Delivery
If any of the above items are faulty or incorrect, contact your ESTUN representative or the dealer from whom you
purchased the products.
1.1.1 Servomotor
Servomotor Model Designation
EMJ–08 A P B 1 1 -WR
ESTUN Servomotor
【1+2】
【3】
【4】
【5】
【6】
【7】
【8+9】
EMJ Model
【1+2】
Rated Output
【4】Encoder
【7】Option
Code
Spec.
Code
Spec.
Code
Spec.
A5
0.05kW
P
IncrementalWire-savingType：
2500P/R
1
None
01
0.1kW
F
Incrementalencoder：1048576P/R
2
With oil seal
02
0.2kW
S
Absoluteencoder：131072P/R
3
With brake (DC24V)
04
0.4kW
【5】Designing Sequence
4
With oil seal and brake(DC24V)
带制动器(DC24V)
08
0.75kW
Code
Spec.
【8+9】Connector
10
1.0kW
A
Designing sequence A
Code
Spec.
B
Designing sequence B
Standard connector
WR
Water proof connector (Incremental
Wire-savingType)
【3】Voltage
【6】Shaft End
Code
Spec.
Code
Spec.
A
200VAC
200V
1
Straigtwithoutkey（Standard）
2
Straigtwithkey andtap
Check Items
Comments
Are the delivered products theones that
were ordered?
Check the model numbers marked on the nameplate on
theservomotor and servo drive.
Is there any damage?
Check the overall appearance, and check for damage or scratches
that may have occurred during shipping.
Does the servomotor shaft rotatesmoothly?
If the servomotor shaft can be easily rotated by hand, then the motor
is working normally. However, if a brake is installed on the
servomotor, then it cannot be turned by hand.

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EMG–10 A F A 1 1
ESTUN Servomotor
【1+2】
【3】
【4】
【5】
【6】
【7】
EMG Model
【1+2】
Rated Output
【4】Encoder
【7】Option
Code
Spec.
Code
Spec.
Code
Spec.
10
1.0kW
P
IncrementalWire-savingType：2500P/R
1
None
F
Incrementalencoder：1048576P/R
2
With oil seal
S
Absoluteencoder：131072P/R
3
With brake (DC24V)
4
With oil seal and brake(DC24V)
带制动器(DC24V)
【3】Voltage
【5】Designing Sequence
【6】Shaft End
Code
Spec.
Code
Spec.
Code
Spec.
A
200VAC
A
Designing sequence A
1
Straigtwithoutkey（Standard）
B
Designing sequence B
2
Straigtwithkey andtap
EML–10 A F A 1 1
ESTUN Servomotor
【1+2】
【3】
【4】
【5】
【6】
【7】
EML Model
【1+2】
Rated Output
【4】Encoder
【7】Option
Code
Spec.
Code
Spec.
Code
Spec.
10
1.0kW
P
IncrementalWire-savingType:2500P/R
1
None
F
Incrementalencoder：1048576P/R
2
With oil seal
S
Absoluteencoder：131072P/R
3
With brake (DC24V)
4
With oil seal and brake(DC24V)
带制动器(DC24V)
【3】Voltage
【5】Designing Sequence
【6】Shaft End
Code
Spec.
Code
Spec.
Code
Spec.
A
200VAC
A
Designing sequence A
1
Straigtwithoutkey（Standard）
B
Designing sequence B
2
Straigtwithkey andtap

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Appearance and Nameplate
1.1.2 Servo drive
Servo Drive Appearanceand Nameplate

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Servo drive Model Designation
ETS –10 10 A P C–CAN
Notes：Each axis of ETS servo drive equips 50W、100W、200W、400W、750W、1.0kW servo motor,
and assures three times overload capacity.
ETS–101010AP C–CAN
Notes：Each axis of ETS servo drive equips 50W、100W、200W、400W、750W、1.0kW servo motor,
and assures three times overload capacity.
B axis Rated Output
Voltage
A：200VAC
Communication
CAN：CAN model
ETS model servo drive
A axis Rated Output
Encoder Interface
C: Wire-saving incremental
encoder (2500P/R)
G: 17/20 bit serial encoder
(Automatic identification)
Version
P：
Position control
ETS model servo drive
C axis Rated Output
B axis Rated Output
A axis Rated Output
Communication
CAN：CAN model
None：Pulse model
Version
P：
Position control
Voltage
A：200VAC
Encoder Interface
C: Wire-saving incremental
encoder (2500P/R)
G: 17/20 bit serial encoder
(Automatic identification)

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1.2 Part Names
1.2.1 Servomotor
Servomotor without gear and brake.
Encoder
Shell
Flange
Output shaft
Mounting hole
1.2.2 Servo drive
ETS two-axis servo drive
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged.
Control power supply terminals
Used for control power supply input
Main circuit power supply terminals
Used for main circuit power supply input.
Regenerative resistor connecting terminals
Used to connect external regenerative
resistors.
Ground terminal
Be sure to connect to protect electric shock.
Servomotor terminals
Connects to the servomotor power line.
Connector for communication
Used to communicate with other devices.
I/O signal connector
Used for reference input signals
and sequence I/O signals.
Encoder connector
Connects to the encoder in the
servomotor.

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ETS three-axis servo drive
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged.
Control power supply terminals
Used for control power supply input
Main circuit power supply terminals
Used for main circuit power supply input.
Regenerative resistor connecting terminals
Used to connect external regenerative
resistors.
Ground terminal
Be sure to connect to protect electric shock.
Servomotor terminals
Connects to the servomotor power line.
Connector for communication
Used to communicate with other devices.
I/O signal connector
Used for reference input signals
and sequence I/O signals.
Encoder connector
Connects to the encoder in the
servomotor.

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Chapter 2
Installation
2.1 Servomotor
Servomotor can be installed either horizontally or vertically. However, if the servomotor is installed incorrectly, the
service life of the servomotor will be shortened or unexpected problems may occur.
Please observe the installation instructions described below to install the servomotor correctly.
Before installation:
Anticorrosive paint is coated on the edge of the servomotor shaft. Clean off the anticorrosive paint thoroughly using
a cloth moistened with thinner.
Avoid getting thinner on other parts of the servomotor when cleaning the shaft.
Anticorrosive paint
2.1.1 Storage
When the servomotor is not being used, store it in an area with a temperature between -20℃and 60℃with thepower
cable disconnected.
2.1.2 Installation Sites
The servomotor is designed for indoor use.Install the servomotor in an environment which meets the following
conditions.
Free from corrosive and explosive gases.
Well-ventilated and free from dust and moisture.
Ambient temperature from0 to 40℃.
Relative humidity from 26% to 80%( non-condensing).
Facilitates inspection and cleaning.

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2.1.3 Installation Alignment
Align the shaft of the servomotor with that of the machinery shaft to be controlled. Then connect the two shafts with
an elastic coupling.
Install the servomotor so that alignment accurancy falls within the range shown below.
Measure this distance at four different positions in the circumference. The difference between the maximum and
minimum measurements must be 0.03mm or less.(Turn together with couplings.)
Note:
·If the alignment accurancy is incorrect , vibration will occur, resulting in damage to the bearings.
·Mechanical shock to the shaft end is forbidden, otherwise it may result in damage to the encoder of the servomotor.
2.1.4 Installation Orientation
Servomotor can be installed ethier horizontally or vertically.
2.1.5 Handling Oil and Water
If the servomotor is used in a location that is subject to water or oil drops, make sure of the servomotor protective
specification. If the servomotor is required to meet the protective specification to the through shaft section by default,
use a servomotor with an oil seal.
Through shaft section:
It refers to the gap where the shaft protrudes from the end of the servomotor.
Through Shaft Section

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2.1.6 Cable Tension
When connecting the cables, the bending radius should not be too small, do not bend or apply tension to cables.
Since the conductor of a signal cable is very thin (0.2 mm or 0.3 mm), handle it with adequate care.
2.1.7Install to the Client
When the servo motor is mounted to the client,please firmly secure the servo motor by the screws with backing ring
as shown in the figure.
Installation
orientation
2.2 Servo Drive
ETS series servo drive is a base-mounted type. Incorrect installation will cause problems. Always observe the
installation instructions described below.
2.2.1 Storage
When the servomotor is not being used, store it in an area with a temperature between -20℃and 85℃with the
power cable disconnected.
2.2.2 Installation Sites
Notes on installation are shown below.
Situation
Notes on installation
When installed in a control
panel
Design the control panel size, unit layout, and cooling method so that the temperature
around the periphery of the servo drive does not exceed 55℃.
When installed near a
heating unit
Suppress radiation heat from the heating unit and a temperature rise caused by
convection so that the temperature around the periphery of the servo drive does not
exceed 55℃.
When installed near a
source of vibration
Install a vibration isolator underneath the servo drive to prevent it from receiving vibration.
When installed in a location
subject to corrosive gases
Take appropriate action to prevent corrosive gases. Corrosive gases do not immediately
affect the servo drive, but will eventually cause contactor-related devices to malfunction.
Others
Avoid installation in a hot and humid site or where excessive dust or iron powder is
present in the air.

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2.2.3 Installation Orientation
Install the servo drive perpendicular to the wall as shown in the figure. The servo drive must be oriented this way
because it is designed to be cooled by natural convection or a cooling fan if required. Firmly secure the servo drive
through two mounting holes.
Wall
Ventilation
2.2.4 Installation Method
When installing multiple servo drives side by side in a control panel, observe the following installation method.
■Installation Orientation
Install servo drive perpendicular to the wall so that the front panel (containing connectors) faces outward.
■Cooling
Provide sufficient space around each servo drive to allow cooling by natural convection or fans.
■Installing side by side
When installing servo drives side by side, provide at least 30mm space from the cabinet,at least 10mm space

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between each individual servo drive and at least 50mm space above and below each one as well as shown in the figure
above. Ensure the temperature inside the control panel is evenly distributed, and prevent the temperature around each
servo drive from increasing excessively. Install cooling fans above the servo drives if necessary.
■Working conditions
1.Temperature：0~ 55℃
2.Humidity：90%RH or less (no condensation)
3.Vibration：4.9m/s2or less
4.Ambient temperature to ensure long-term reliability:45℃or less

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Chapter 3
Wiring
3.1 Main Circuit Wiring
Please observe the following instructions while wiring the main circuit.
！CAUTION
·Do not bundle or run power and signal lines together in the same duct. Keep power andsignallines
separated by at least 300 mm.
·Use twisted-pair shielded wires or multi-core twisted-pair shielded wires for signal and encoder feedback
lines.
·The maximum length is 3 m for reference input lines and 20 m for encoder feedback lines.
·Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still
remain in the servo drive.

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3.1.1 Typical Main Circuit Wiring Examples
ETS-101010APC-CAN/ETS-1010APC-CAN
Servo motor
Encoder
U_A
V_A
W_A
Be sure to prepare the end of
the shielded wire properly
1
2
4
3
5
6
7,8,9
17,18,19
A+
A-
B-
B+
C+
C-
PG5V
PG0V
MA
U_B
V_B
W_B
A+
B-
B+
C+
C-
PG5V
PG0V
MB
Noise Filter
L2
L1
1MC
1MC
OFF 1MC
ON
1RY
1RY
1MC
Surge suppressor
PL
Three-phase
AC200~230
50/60Hz
+10%
-15%
L1C
L2C
Molded-case
Circuit Breaker
Surge
Protector
Magnetic Contactor
B2
B1
B3
A(1)
B(2)
C(3)
D(4)
A(1)
B(2)
C(3)
D(4)
B2
B1
B3
External
Regenerative
Resistor
FG
FG
FG
A-
PGA
PGB
U_C
V_C
W_C
A+
B-
B+
C+
C-
PG5V
PG0V
MC
A(1)
B(2)
C(3)
D(4)
FG
A-
PGC
7,8,9
17,18,19
1
2
4
3
5
6
7,8,9
17,18,19
1
2
4
3
5
6
L3
1MC
CN2_A
CN2_B
CN2_C
Incremental Wire-saving
Encoder(2500P/R)
Incremental Wire-saving
Encoder(2500P/R)
Incremental Wire-saving
Encoder(2500P/R)
Servo motor
Servo motor
Encoder
Be sure to prepare the end of
the shielded wire properly
Be sure to prepare the end of
the shielded wire properly
Note :The wiring of ETS two-axis servo drive does not include the gray part of graph.