Estun Pronet-10ama User manual

ProNet series AC servo system user

’

s manual V.1.08

ProNet

ProNet series

series

series AC

AC servo

servo

servo system

system

User

’

s Manual

1.08

Estun Limited Warranty

This manual does not entitle you to any rights. Estun reserves the right to change this

of this publication may be copied or reproduced without written permission fr om Estun.

Contents

- 1 -

About this manual

This manual describes the following information required for designing and maintaining ProNet

series servodrives.

• Specification of the servodrives and servomotors.

• Procedures for installing the servodrives and servomotors.

• Procedures for wiring the servodrives and servomotors.

• Procedures for operation of the servodrives.

• Procedures for using the panel operator.

• Communication protocols.

• Ratings and characteristics.

Intended Audience:

• Those designing ProNet series servodrive systems.

• Those installing or wiring ProNet series servodrives.

• Those performing trial operation or adjustments of ProNet series servodrives.

• Those maintaining or inspecting ProNet series servodrives.

ProNet series AC servo system User

’

s manual V.1.08

- 2 -

Safety Precaution s

■

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 servodrive after power is on.

Failure to observe this may result in damage to servodrive and servomotor.

■

Note that residual voltage

still

remains in the servodrive even after the power is turned off.

Please be noted that even after the power is turned off, residual voltage

still

remains in the capacitor

inside the servodrive. If inspection is to be performed after the power is turned off, always wait at least

5 minutes to avoid the risk of an electrical shock.

■

Keep servodrives and other devices separated by at least 10mm.

The servodrive generates heat. Install the servodrive so that it can radiate heat freely. When installing

servodrives with other devices in a control panel, provide at least 10mm space between them and

50mm space above and below them.Please install servodrives in an environment free from

condensation, vibration and shock.

■

Perform noise reduction and grounding properly.

Please comply with the following instructions strictly to avoid the noisy generated by signal lines.

1. Separate high-voltage cables from low-voltage cables.

2. Use cables as short as possible.

3. Sigle point grounding is required for the servomotor and servodrive (grounding resistance 100 Ω or

below).

4. Never use a line filter for the power supply in the circuit.

■

Conduct a voltage resistance test for the servodrive under the following conditions:

1. Input voltage: AC 1500Vrms, 1 minute

2. Braking current: 100mA

3. Frequency:50/60Hz

4. Voltage applied point: Between L1, L2,L3 terminals and frame ground.

■

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.

Contents

- 3 -

Contents

ProNet series AC servo system

.........................................................................................

About this manual

..............................................................................................................

Safety Precautions

............................................................................................................

Contents

............................................................................................................................

Chapter 1

...........................................................................................................................

Checking Products and Parts Names

...............................................................................

1.1 Checking Products on Delivery ................................................................................................ - 7 -

1.1.1 Servomotor .....................................................................................................................- 7 -

1.1.2 Servodrive ...................................................................................................................... - 9 -

1.2 Product Part Names ................................................................................................................- 11 -

1.2.1 Servomotor ................................................................................................................... - 11 -

1.2.2 Servodrive .................................................................................................................... - 12 -

Chapter 2

.........................................................................................................................

Installation

........................................................................................................................

2.1 Servomotor ............................................................................................................................. - 15 -

2.1.1 Storage .........................................................................................................................- 15 -

2.1.2 Installation Sites ........................................................................................................... - 15 -

2.1.3 Installation Alignment ................................................................................................... - 16 -

2.1.4 Installation Orientation ..................................................................................................- 16 -

2.1.5 Handling

Oil

and Water .................................................................................................- 16 -

2.1.6 Cable Tension ...............................................................................................................- 17 -

2.2 Servodrive .............................................................................................................................. - 17 -

2.2.1 Storage .........................................................................................................................- 17 -

2.2.2 Installation Sites ........................................................................................................... - 17 -

2.2.3 Installation Orientation ..................................................................................................- 18 -

2.2.4 Installation Method ....................................................................................................... - 18 -

Chapter 3

.........................................................................................................................

Wiring

...............................................................................................................................

3.1 Main Circuit Wiring ................................................................................................................. - 20 -

3.1.1 Names and Functions of Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 20 -

3.1.2 Typical Main Circuit Wiring Examples .......................................................................... - 21 -

3.2 I/O Signals .............................................................................................................................. - 23 -

3.2.1 Examples of I/O Signal Connections ............................................................................ - 23 -

3.2.2 I/O Signal Names and Functions ..................................................................................- 24 -

3.2.3 I/O Signal Connector (CN1) Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 26 -

3.2.4 Interface Circuit ............................................................................................................ - 27 -

3.3 Wiring Encoders ..................................................................................................................... - 28 -

3.3.1 Connecting an Encoder(CN2) ...................................................................................... - 28 -

3.3.2 Encoder Connector(CN2) Terminal Layout ..................................................................- 29 -

ProNet series AC servo system User

’

s manual V.1.08

- 4 -

3.4 Communication Connection ................................................................................................... - 30 -

3.4.1 Communication Connector(CN3) Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 30 -

3.4.2 Communication Connector(CN4) Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 30 -

3.5 Standard Wiring Examples ..................................................................................................... - 31 -

3.5.1 Three-phase 200V(ProNet-02A ～04A) ........................................................................ - 31 -

3.5.2 Three-phase 200V(ProNet-08A ～50A) ........................................................................ - 32 -

3.5.3 Three-phase 400V(ProNet-75D ～1ED) ........................................................................- 33 -

3.5.4 Position Control Mode .................................................................................................. - 34 -

3.5.5 Speed Control Mode .....................................................................................................- 35 -

3.5.6 Torque Control Mode .................................................................................................... - 36 -

Chapter 4

.........................................................................................................................

Operation

.........................................................................................................................

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 42 -

4.1.3 Trial Operation with the Servomotor Connected to the Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 46 -

4.1.4 Trial Operation for Servomotor with Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 47 -

4.1.5 Position Control by Host Controller .............................................................................. - 47 -

4.2 Control Mode Selection .......................................................................................................... - 48 -

4.3 Setting Common Basic Functions .......................................................................................... - 49 -

4.3.1 Setting the Servo ON Signal ........................................................................................ - 49 -

4.3.2 Switching the Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 50 -

4.3.3 Setting the Overtravel Limit Function ........................................................................... - 51 -

4.3.4 Setting for Holding Brakes ........................................................................................... - 54 -

4.3.5 Instantaneous Power Loss Settings .............................................................................- 56 -

4.4 Absolute Encoders ..................................................................................................................- 57 -

4.4.1 Selecting an Absolute Encoder .................................................................................... - 57 -

4.4.2 Handling Battery ...........................................................................................................- 58 -

4.4.3 Replacing Battery ......................................................................................................... - 59 -

4.4.4 Absolute Encoder Setup(Fn010 、Fn011) .....................................................................- 59 -

4.5 Operating Using Speed Control with Analog Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 60 -

4.5.1 Setting Parameters .......................................................................................................- 60 -

4.5.2 Setting Input Signals .....................................................................................................- 61 -

4.5.3 Adjusting Reference Offset ...........................................................................................- 61 -

4.5.4 Soft Start .......................................................................................................................- 64 -

4.5.5 Speed Reference Filter Time Constant ........................................................................ - 64 -

4.5.6 S-curve Risetime .......................................................................................................... - 64 -

4.5.7 Using the Zero Clamp Function ....................................................................................- 65 -

4.5.8 Encoder Signal Output ................................................................................................. - 66 -

4.5.9 Speed coincidence output ............................................................................................ - 68 -

4.6 Operating Using Position Control ............................................................................................- 69 -

4.6.1 Setting Parameters .......................................................................................................- 69 -

4.6.2 Setting the Electronic Gear ...........................................................................................- 70 -

4.6.3 Position Reference ....................................................................................................... - 72 -

4.6.4 Smoothing .................................................................................................................... - 76 -

4.6.5 Low Frequency Vibration Suppression .........................................................................- 77 -

Contents

- 5 -

4.6.6 Positioning Completion Output Signal ..........................................................................- 79 -

4.6.7 Reference Pulse Inhibit Function(INHIBIT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 80 -

4.7 Operating Using Torque Control ............................................................................................. - 81 -

4.7.1 Setting Parameters .......................................................................................................- 81 -

4.7.2 Torque Reference Input ............................................................................................... - 82 -

4.7.3 Adjusting the Reference Offset ..................................................................................... - 83 -

4.7.4 Limiting Servomotor Speed During Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 84 -

4.8 Operating Using Speed Control with an Internally Set Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 85 -

4.8.1 Setting Parameters .......................................................................................................- 85 -

4.8.2 Input Signal Settings .....................................................................................................- 86 -

4.8.3 Operating Using an Internally Set Speed ..................................................................... - 86 -

4.9 Limiting Torque ........................................................................................................................- 88 -

4.9.1 Internal Torque Limit ..................................................................................................... - 88 -

4.9.2 External Torque Limit ....................................................................................................- 89 -

4.10 Control Mode Selection ........................................................................................................ - 91 -

4.10.1 Setting Parameters .....................................................................................................- 91 -

4.10.2 Switching the Control Mode ........................................................................................- 91 -

4.11 Other Output Signals ............................................................................................................ - 92 -

4.11.1 Rotation Detection Output Signal(/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 92 -

4.11.2 Servo Ready(/S-RDY) Output .................................................................................... - 92 -

Chapter 5

.........................................................................................................................

Panel Operator

................................................................................................................

5.1 Basic Operation ...................................................................................................................... - 93 -

5.1.1 Functions on Panel Operator ........................................................................................- 93 -

5.1.2 Resetting Servo Alarms ................................................................................................ - 93 -

5.1.3 Basic Mode Selection ...................................................................................................- 94 -

5.1.4 Status Display Mode .................................................................................................... - 94 -

5.1.5 Operation in Parameter Setting Mode ..........................................................................- 96 -

5.1.6 Operation in Monitor Mode ...........................................................................................- 97 -

5.2 Operation in Utility Function Mode ......................................................................................... - 99 -

5.2.1 Alarm Traceback Data Display ..................................................................................... - 99 -

5.2.2 Parameter Settings Initialization .................................................................................- 100 -

5.2.3 Operation in JOG Mode ..............................................................................................- 101 -

5.2.4 Automatic Adjustment of the Speed Reference Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 102 -

5.2.5 Manual Adjustment of the Speed Reference Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 103 -

5.2.6 Offset-adjustment of Servomotor Current Detection Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 105 -

5.2.7 Software Version Display ........................................................................................... - 107 -

5.2.8 Position Teaching Function .........................................................................................- 107 -

5.2.9 Static Inertia Detection ............................................................................................... - 107 -

5.2.10 Absolute Encoder Multiturn Data and Alarm Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 108 -

5.2.11 Absolute Encoder Related Alarms Reset ..................................................................- 108 -

Chapter 6

.......................................................................................................................

109

MODBUS Communication

.............................................................................................

109

6.1 RS-485 Communication Wiring ............................................................................................ - 109 -

6.2 MODBUS Communication Related Parameters ...................................................................-

110

ProNet series AC servo system User

’

s manual V.1.08

- 6 -

6.3 MODBUS Communication Protocol ...................................................................................... -

111

6.3.1 Code Meaning .............................................................................................................-

111

6.3.2 Communication Error Disposal ...................................................................................-

118

6.3.3 Data Communication Address of Servo State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -

119

Chapter 7

.......................................................................................................................

121

Specifications and Characters

.......................................................................................

121

7.1 Servodrive Specifications and Models ..................................................................................- 121 -

7.2 Servodrive Dimensional Drawings ........................................................................................- 123 -

Appendix A

.....................................................................................................................

126

Parameter

......................................................................................................................

126

A.1 Parameter List ...................................................................................................................... - 126 -

A.2 Description of Parameter Type ............................................................................................. - 132 -

A.3 Parameters in detail ..............................................................................................................- 133 -

Appendix B

....................................................................................................................

148

Alarm Display

................................................................................................................

148

- 7 -

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

�

�Appearance

Appearance

Appearance and

and

and Nameplate

Nameplate

Check

Check Items

Items

Comments

Are the delivered products the

ones that were ordered?

Check the model numbers marked on the nameplate on

the

servomotor and servodrive.

Is there any damage?

Check the overall appearance, and check for damage or

scratches that may have occurred during shipping.

Dose the servomotor shaft rotate

smoothly?

If the servomotor shaft is smoothly turned by hand, it is

normal. However, if the servomotor has brakes, it cannot

be turned manually.

{

Serial number

Ratings

Servomotor model

ProNet series AC servo system User

’

s manual V.1.08

- 8 -

�

�Servomotor

Servomotor

Servomotor Model

Model

Model Designation

Designation

EMG

EMG –

–

– 10

1 1

Notes ：

1. The EMG-30A

□

A □□

EMG-50A

□

A □□ servomotors are not mounted the incremental encoder.

2. There is no brake in EMG- □□ ADA □□ servomotor.

ESTUN Servomotor

【1+2

】

【3】

【4】

【5】

【6】

【7】

EMG Model

【1+2 】Rated Output

【4】Encoder

【7】Option

Code

Rated Output

Code

Encoder

Code

Option

1.0kW

Incremental encoder ：131072P/R

None

1.5kW

Absolute encoder ：131072P/R

With oil seal

2.0kW

Resolver

With brake(DC 24V)

3.0kW

With oil seal and brake(DC 24V)

5.0kW

【5】Designing Sequence

Code

Designing Sequence

Designing sequence

【3】Voltage

【6】Shaft End

Code

Voltage

Code

Shaft End

200V AC

Straight without key(Standard)

Straight with key and tap

Contents

- 9 -

1.1.2 Servodrive

�

�Appearance

Appearance

ProNet-200W ～400W ProNet-750W-1.0KW

ProNet-1.5KW ProNet-2.0/3.0/5.0KW

CN3

CN3CN4

CN4

CN4CN1

CN1

CN1CN2

CN2

L 1

L 2

L 3

L 1 C

L 2 C

－

＋

B 1

B 2

B 3

CHARGE

CN3

CN3CN4

CN4

CN4CN1

CN1

CN1CN2

CN2

L1 C

L2 C

＋

－

＋

CHARGE

POWER

CN3

CN3CN4

CN4

CN4CN1

CN1

CN1CN2

CN2

L1C

L2C

＋

－

＋

CHARGE POWER

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