Estun Pronet plus series User manual

ProNet Plus Series AC Servo User's Manual

(Version: V1.05)

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.

ProNet Plus Series AC Servo User's Manual

- 1 -

About this manual

This manual describes the following information required for designing and maintaining ProNet Plus Series ACservo

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 ProNet series servo drive systems.

•Those installing or wiring ProNet series servo drives.

•Those performing trial operation or adjustments of ProNet series servo drives.

•Those maintaining or inspecting ProNet series servo drives.

ProNet Plus Series AC Servo User's Manual

- 2 -

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 100mΩ or below).

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

■Conduct a voltage resistance test for the servo drive 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.

■Follow the instructions for PCB use:

1.Before touch the PCB,the body of the user must be discharged.

2.The PCB cannot be contact with highly insulating materials.

3.The PCB is only allowed to put on the conductive pad.

4.The PCB is only allowed to store and transport packaging in conductive wrapper or conductive foam rubber or

aluminum foil.

■Precautions on turning ON and turning OFF the servo drive:

1.When turning on the servo drive, make sure that the control power supply has be turned on before turningon the main

circuit power supply.

2.When turning off the servo drive, make sure that the main circuit power supply has be turned off before turningoff the

control power supply.

ProNet Plus Series AC Servo User's Manual

- 3 -

—Contents—

About this manual ...........................................................................................................................................................- 1 -

Safety Precautions..........................................................................................................................................................- 2 -

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 ..........................................................................................................................................- 10 -

1.2 Part Names.....................................................................................................................................................- 13 -

1.2.1 Servomotor..........................................................................................................................................- 13 -

1.2.2 Servo drive ..........................................................................................................................................- 14 -

Chapter 2 ......................................................................................................................................................................- 18 -

Installation.....................................................................................................................................................................- 18 -

2.1 Servomotor .....................................................................................................................................................- 18 -

2.1.1 Storage................................................................................................................................................- 18 -

2.1.2 Installation Sites ..................................................................................................................................- 18 -

2.1.3 Installation Alignment...........................................................................................................................- 19 -

2.1.4 Installation Orientation.........................................................................................................................- 19 -

2.1.5 Handling Oil and Water........................................................................................................................- 19 -

2.1.6 Cable Tension......................................................................................................................................- 20 -

2.1.7 Install to the Client...............................................................................................................................- 20 -

2.2 Servo Drive.....................................................................................................................................................- 20 -

2.2.1 Storage................................................................................................................................................- 20 -

2.2.2 Installation Sites ..................................................................................................................................- 20 -

2.2.3 Installation Orientation.........................................................................................................................- 21 -

2.2.4 Installation Method ..............................................................................................................................- 21 -

Chapter 3 ......................................................................................................................................................................- 23 -

Wiring............................................................................................................................................................................- 23 -

3.1 Main Circuit Wiring..........................................................................................................................................- 23 -

3.1.1 Names and Functions of Main Circuit Terminals..................................................................................- 23 -

3.1.2 Typical Main Circuit Wiring Examples..................................................................................................- 24 -

3.2 I/O Signals ......................................................................................................................................................- 26 -

3.2.1 Examples of I/O Signal Connections...................................................................................................- 26 -

3.2.2 I/O Signal Names and Functions.........................................................................................................- 27 -

3.2.3 I/O Signal Connector (CN1) Terminal Layout......................................................................................- 30 -

3.2.4 Interface Circuit ...................................................................................................................................- 31 -

3.3 Wiring Encoders..............................................................................................................................................- 32 -

3.3.1 Connecting an Encoder(CN2)..............................................................................................................- 32 -

3.3.2 Encoder Connector(CN2) Terminal Layout .........................................................................................- 35 -

3.4 Communication Connection............................................................................................................................- 35 -

3.4.1 Communication Connector(CN3) Terminal Layout..............................................................................- 35 -

3.4.2 Communication Connector(CN4) Terminal Layout..............................................................................- 36 -

3.5 Standard Wiring Examples .............................................................................................................................- 37 -

ProNet Plus Series AC Servo User's Manual

- 4 -

3.5.1 Single-phase 200V ProNet-A5A～04A ................................................................................................- 37 -

3.5.2 Three-phase 200V ProNet-08A～50A .................................................................................................- 39 -

3.5.3 Three-phase 400V ProNet-10D～50D.................................................................................................- 41 -

3.5.4 Position Control Mode .........................................................................................................................- 43 -

3.5.5 Speed Control Mode............................................................................................................................- 44 -

3.5.6 Torque Control Mode...........................................................................................................................- 45 -

3.6 Wiring for Noise Control..................................................................................................................................- 46 -

3.6.1 Noise Control.......................................................................................................................................- 46 -

3.6.2 Precautions on Connecting Noise Filter ..............................................................................................- 47 -

3.7 Installation Conditions of EMC Directives.......................................................................................................- 49 -

3.8 Using More than One Servo Drive..................................................................................................................- 51 -

Chapter 4 ......................................................................................................................................................................- 53 -

Operation ......................................................................................................................................................................- 53 -

4.1 Trial Operation ................................................................................................................................................- 53 -

4.1.1 Trial Operation for Servomotor Without Load ......................................................................................- 55 -

4.1.2 Trial Operation for Servomotor without Load from Host Reference.....................................................- 57 -

4.1.3 Trial Operation with the Servomotor Connected to the Machine..........................................................- 61 -

4.1.4 Trial Operation for Servomotor with Brakes.........................................................................................- 62 -

4.1.5 Position Control by Host Controller......................................................................................................- 62 -

4.2 Control Mode Selection...................................................................................................................................- 63 -

4.3 Setting Common Basic Functions...................................................................................................................- 64 -

4.3.1 Setting the Servo ON Signal................................................................................................................- 64 -

4.3.2 Switching the Servomotor Rotation Direction ......................................................................................- 65 -

4.3.3 Setting the Overtravel Limit Function...................................................................................................- 66 -

4.3.4 Setting for Holding Brakes...................................................................................................................- 68 -

4.3.5 Instantaneous Power Loss Settings ....................................................................................................- 72 -

4.4 Absolute Encoders..........................................................................................................................................- 72 -

4.4.1 Selecting an Absolute Encoder............................................................................................................- 72 -

4.4.2 Handling Battery..................................................................................................................................- 72 -

4.4.3 Replacing Battery................................................................................................................................- 73 -

4.4.4 Absolute Encoder Setup(Fn010, Fn011)..............................................................................................- 74 -

4.5 Operating Using Speed Control with Analog Reference .................................................................................- 74 -

4.5.1 Setting Parameters..............................................................................................................................- 74 -

4.5.2 Setting Input Signals............................................................................................................................- 75 -

4.5.3 Adjusting Reference Offset..................................................................................................................- 75 -

4.5.4 Soft Start..............................................................................................................................................- 77 -

4.5.5 Speed Reference Filter Time Constant................................................................................................- 78 -

4.5.6 S-curve Risetime.................................................................................................................................- 78 -

4.5.7 Using the Zero Clamp Function...........................................................................................................- 79 -

4.5.8 Encoder Signal Output ........................................................................................................................- 81 -

4.5.9 Speed coincidence output ...................................................................................................................- 82 -

4.6 Operating Using Position Control....................................................................................................................- 83 -

4.6.1 Basic Setting in Position Control..........................................................................................................- 83 -

4.6.2 Setting the Clear Signal.......................................................................................................................- 86 -

4.6.3 Setting the Electronic Gear..................................................................................................................- 87 -

4.6.4 Smoothing ...........................................................................................................................................- 90 -

ProNet Plus Series AC Servo User's Manual

- 5 -

4.6.5 Low Frequency Vibration Suppression................................................................................................- 91 -

4.6.6 Positioning Completion Output Signal.................................................................................................- 92 -

4.6.7 Reference Pulse Inhibit Function (INHIBIT).........................................................................................- 93 -

4.6.8Position Control (contact reference) .....................................................................................................- 94 -

4.6.9 Position Homing Control (Homing Function)........................................................................................- 97 -

4.7 Operating Using Torque Control....................................................................................................................- 100 -

4.7.1 Setting Parameters............................................................................................................................- 100 -

4.7.2 Torque Reference Input.....................................................................................................................- 101 -

4.7.3 Adjusting the Reference Offset..........................................................................................................- 102 -

4.7.4 Limiting Servomotor Speed During Torque Control ...........................................................................- 103 -

4.8 Operating Using Speed Control with an Internally Set Speed.......................................................................- 104 -

4.8.1 Setting Parameters............................................................................................................................- 104 -

4.8.2 Input Signal Settings..........................................................................................................................- 105 -

4.8.3 Operating Using an Internally Set Speed ..........................................................................................- 105 -

4.9 Limiting Torque..............................................................................................................................................- 106 -

4.9.1 Internal Torque Limit..........................................................................................................................- 106 -

4.9.2 External Torque Limit.........................................................................................................................- 107 -

4.9.3 Torque Limiting Using an Analog Voltage Reference........................................................................- 108 -

4.10 Control Mode Selection...............................................................................................................................- 109 -

4.10.1 Setting Parameters..........................................................................................................................- 109 -

4.10.2 Switching the Control Mode.............................................................................................................- 109 -

4.11 Other Output Signals...................................................................................................................................- 110 -

4.11.1 Servo alarm output...........................................................................................................................- 110 -

4.11.2 Rotation Detection Output Signal (/TGON)......................................................................................- 111 -

4.11.3 Servo Ready (/S-RDY) Output.........................................................................................................- 111 -

4.11.4 Encoder C Pluse Output (/PGC)...................................................................................................... - 111 -

4.11.5 Over travel signal output (OT)..........................................................................................................- 112 -

4.11.6 Servo Enabled Motor Excitation Output(/RD) ..................................................................................- 112 -

4.11.7 Torque Limit Detection Output (/CLT)...............................................................................................- 112 -

4.11.8 Torque Detection Output (/TCR) ......................................................................................................- 113 -

4.12 Online Autotuning........................................................................................................................................- 114 -

4.12.1 Online Autotuning............................................................................................................................- 114 -

4.12.2Online Autotuning Procedure............................................................................................................- 114 -

4.12.3 Setting Online Autotuning................................................................................................................- 115 -

4.12.4 Load Rigidity Setting for Online Autotuning .....................................................................................- 116 -

4.13 Inertia..........................................................................................................................................................- 117 -

4.14 Updating Operation.....................................................................................................................................- 117 -

Chapter 5 ....................................................................................................................................................................- 118 -

Panel Operator............................................................................................................................................................- 118 -

5.1 Basic Operation ............................................................................................................................................- 118 -

5.1.1 Functions on Panel Operator.............................................................................................................- 118 -

5.1.2 Resetting Servo Alarms.....................................................................................................................- 118 -

5.1.3 Basic Mode Selection........................................................................................................................- 119 -

5.1.4 Status Display Mode..........................................................................................................................- 119 -

5.1.5 Operation in Parameter Setting Mode...............................................................................................- 121 -

5.1.6 Operation in Monitor Mode................................................................................................................- 121 -

ProNet Plus Series AC Servo User's Manual

- 6 -

5.2 Operation in Utility Function Mode................................................................................................................- 123 -

5.2.1 Alarm Traceback Data Display...........................................................................................................- 125 -

5.2.2 Parameter Settings Initialization........................................................................................................- 125 -

5.2.3 Operation in JOG Mode.....................................................................................................................- 126 -

5.2.4 Automatic Adjustment of the Speed Reference Offset.......................................................................- 126 -

5.2.5 Manual Adjustment of the Speed Reference Offset...........................................................................- 128 -

5.2.6 Offset-adjustment of Servomotor Current Detection Signal...............................................................- 129 -

5.2.7 Software Version Display...................................................................................................................- 130 -

5.2.8 Position Teaching Function................................................................................................................- 130 -

5.2.9 Static Inertia Detection ......................................................................................................................- 131 -

5.2.10 Absolute Encoder Multiturn Data and Alarm Reset..........................................................................- 131 -

5.2.11 Absolute Encoder Related Alarms Reset.........................................................................................- 131 -

Chapter 6 ....................................................................................................................................................................- 133 -

MODBUS Communication...........................................................................................................................................- 133 -

6.1 RS-485 Communication Wiring.....................................................................................................................- 133 -

6.2 MODBUS Communication Related Parameters ...........................................................................................- 134 -

6.3 MODBUS Communication Protocol..............................................................................................................- 135 -

6.3.1 Code Meaning...................................................................................................................................- 135 -

6.3.2 Communication Error Disposal..........................................................................................................- 141 -

6.3.3 Data Communication Address of Servo State....................................................................................- 142 -

Chapter 7 ....................................................................................................................................................................- 145 -

Specifications and Characters.....................................................................................................................................- 145 -

7.1 Servo drive Specifications and Models.........................................................................................................- 145 -

7.2 Servo drive Dimensional Drawings...............................................................................................................- 148 -

7.3 Servo motor Specifications and Models........................................................................................................- 150 -

7.4 Servo Motor Dimensional Drawings..............................................................................................................- 153 -

Appendix A..................................................................................................................................................................- 158 -

Parameter ...................................................................................................................................................................- 158 -

A.1 Parameter List (ProNet-□□□MG)..............................................................................................................- 158 -

A.2 Parameters in detail (ProNet-□□□MG) .....................................................................................................- 165 -

A.3 Parameter List (ProNet-□□□EG-EC) ........................................................................................................- 185 -

A.4 Parameters in detail (ProNet-□□□EG-EC)................................................................................................- 192 -

Appendix B..................................................................................................................................................................- 211 -

Alarm Display..............................................................................................................................................................- 211 -

ProNet Plus Series AC Servo User's Manual

- 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

Servomotor Model Designation

EMJ–08 A F B 2 4

ESTUN Servomotor

【1+2】

【3】

【4】

【5】

【6】

【7】

EMJ Model

【1+2】Rated Output

【4】Encoder

【7】Option

Code

Spec.

Code

Spec.

Code

Spec.

0.05 kW

20 bit incremental encoder: 1048576P/R

Without oil seal and brake

0.1 kW

17 bit absolute encoder: 131072P/R

With oil seal, Without brake

0.2kW

Without oil seal, With brake

0.4kW

【5】Designing Sequence

With oil seal and brake

0.75kW

Code

Spec.

1.0kW

A,B,D,H,M

Designing sequence

【3】Voltage

【6】Shaft End

Code

Spec.

Code

Spec.

200VAC

Straight with key and tap

Check Items

Comments

Are the delivered products theones that

were ordered?

Check the model numbers marked on the nameplate on the

servomotor 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.

ProNet Plus Series AC Servo User's Manual

- 8 -

EMG–10 A F D2 4

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

20 bit incremental encoder: 1048576P/R

Without oil seal and brake

1.5kW

17 bit absolute encoder: 131072P/R

With oil seal, Without brake

2.0kW

23 bit absolute encoder: 8388608 P/R

Without oil seal, With brake

3.0kW

【5】Designing Sequence

With oil seal and brake

5.0kW

Code

A,B,D

Designing sequence

【3】Voltage

Code

Spec.

200VAC

【6】Shaft End

400VAC

Code

Spec.

Straight with key and tap

This manual suits for next models

Table of contents

Other Estun Servo Drive manuals

Estun

Estun ETS Series User manual

Estun

Estun PRONET-10AMA User manual

Estun

Estun ATRIO MC404-Z User manual

Estun

Estun Summa Series User manual

Estun

Estun Trio DX4 User manual

Estun

Estun EtherCAT User manual

Popular Servo Drive manuals by other brands

Mitsubishi Electric

Mitsubishi Electric MELSERVO-J5 MR-J5-G Series user manual

Robotis

Robotis XH430-W350-T manual

NTI AG

NTI AG LinMot C1250 Series installation guide

Parallax

Parallax 900-00005 manual

Festo

Festo TP 1410 manual

Axor

Axor MAGNUM 400 Service manual

Siemens

Siemens SINAMICS S120 Getting started

Danfoss

Danfoss 176F6494 installation instructions

THORLABS

THORLABS TDC001 user guide

TECO

TECO JSDAP Series manual

Rockwell Automation

Rockwell Automation Allen-Bradley Kinetix 6000 user manual

GSK

GSK DA98D user manual

Lenze

Lenze m850 Mounting and switch-on instructions

Baumuller

Baumuller b maXX 3000 Instruction handbook

Baumuller

Baumuller b maXX 5000 Instruction handbook

Baumuller

Baumuller b maXX 5500 Instruction handbook

Danfoss

Danfoss VLT HVAC Drive FC 102 operating instructions

Omron

Omron CK5M-CPU 1 Series Startup guide

Estun ProNet Plus Series User manual

Popular Servo Drive manuals by other brands