Estun Ets series User manual

ETS SeriesACServoUser'sManual

（Version：V1.06）

ETSSeriesACServoUser'sManual

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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.

ETSSeriesACServoUser'sManual

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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.

ETSSeriesACServoUser'sManual

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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.

ETSSeriesACServoUser'sManual

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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 -

ETSSeriesACServoUser'sManual

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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 -

ETSSeriesACServoUser'sManual

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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 -

ETSSeriesACServoUser'sManual

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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.

0.05kW

IncrementalWire-savingType：

2500P/R

None

0.1kW

Incrementalencoder：1048576P/R

With oil seal

0.2kW

Absoluteencoder：131072P/R

With brake (DC24V)

0.4kW

【5】Designing Sequence

With oil seal and brake(DC24V)

带制动器(DC24V)

0.75kW

Code

Spec.

【8+9】Connector

1.0kW

Designing sequence A

Code

Spec.

Designing sequence B

Standard connector

Water proof connector (Incremental

Wire-savingType)

【3】Voltage

【6】Shaft End

Code

Spec.

Code

Spec.

200VAC

200V

Straigtwithoutkey（Standard）

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.

ETSSeriesACServoUser'sManual

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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.

1.0kW

IncrementalWire-savingType：2500P/R

None

Incrementalencoder：1048576P/R

With oil seal

Absoluteencoder：131072P/R

With brake (DC24V)

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.

200VAC

Designing sequence A

Straigtwithoutkey（Standard）

Designing sequence B

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.

1.0kW

IncrementalWire-savingType:2500P/R

None

Incrementalencoder：1048576P/R

With oil seal

Absoluteencoder：131072P/R

With brake (DC24V)

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.

200VAC

Designing sequence A

Straigtwithoutkey（Standard）

Designing sequence B

Straigtwithkey andtap

ETSSeriesACServoUser'sManual

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Appearance and Nameplate

1.1.2 Servo drive

Servo Drive Appearanceand Nameplate

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