Estun Summa Series User manual

Summa Series Servodrive
Product Manual
2019
Drive Model: ED3S
ESTUN AUTOMATION CO.,LTD.

Summa Series Servodrive Product Manual
About this Manual
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
i
About this Manual
Purpose
This manual provides the information required for the Selection, Wiring, Connection, Settings, Trial
Operation, Tuning and Functions of the Summa Series AC Servo Drive (referred to as ED3S).
Read and understand this manual to ensure correct usage of the product.
Terms
Terms that may be used in this manual are defined as follows.
Term
Meaning
Motor
A Rotary Servo Motor produced by ESTUN.
Drive
A Servo Drive, which is used for controlling the motion of Rotary Servo Motor.
Servo System
A Servo Control System that includes a Servo Motor, a Servo Drive with a host
controller and peripheral devices.
Servo ON
Supplying power to the Motor.
Servo OFF
Not supplying power to the Motor.
ESView
The Engineering Tool for setting up and tuning Servo Drives or a computer in
which the Engineering Tool is installed.
STO
The Safe Torque Off function provides a means for preventing the Drive from
generating torque in the Motor, to protect people from dangerous movements of
the machine and reduce the risk of operator.

Summa Series Servodrive Product Manual
About this Manual
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
ii
Symbols
The symbols that may be found in this document are defined as follows.
Symbol
Description
DANGER
Indicates a hazard with a high level of risk that, if not avoided, will result in death or
serious injury.
WARNING
Indicates a hazard with a medium or low level of risk which, if not avoided, could
result in minor or moderate injury.
CAUTION
Indicates a potentially hazardous situation that, if not avoided, could cause equipment
damage, data loss, and performance degradation, or unexpected results.
IMPORTANT
Indicates precautions or restrictions that must be observed.
Also indicates alarm displays and other precautions that will not result in machine
damage.
NOTE
Provides additional information to emphasize or supplement important points of the
main text.
The names of reverse signals (ones that are taken effect when low) are written with a forward slash (/)
before the signal abbreviation. For example:
S-ON = /S-ON P-CON = /P-CON
The names of sub-parameters are written as the format of Pnxxx.x. The following takes the parameter
Pn000 as an example, whose sub-parameters Pn000.0, Pn000.1, Pn000.2 and Pn000.3 corresponding to
one bit of its value respectively.
Parameter Pn000 The Value isb0000
Press [◄] key
Pn000.0 = 0
Pn000.1 = 0
Pn000.2 = 0
Pn000.3 = 0

Summa Series Servodrive Product Manual
Safety Precautions
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
iii
Safety Precautions
General Precautions
DANGER
Never remove covers, cables, connectors, or optional devices while
power is being supplied to the Drive.
Wait for five minutes after turning OFF the power supply and then make
sure that the CHARGE indicator is not lit before starting wiring or
inspection work.
Never touch the power supply terminals while the CHARGE lamp is lit
after turning OFF the power supply, because high voltage may remain in
the Drive.
WARNING
Use a power supply with specifications (number of phases, voltage,
frequency, and AC/DC type) that are appropriate for the product.
Connect the ground terminals on the Drive and Motor to ground poles
according to local electrical codes.
Never damage, pull on, apply excessive force to, place heavy objects on,
or pinch cables.
Never attempt to disassemble, repair, or modify the product.
Make sure that the device in an emergency stop state at any time when
the product has been connected to the machine and ready for the
operation.
Never touch the inside of the Drive.
CAUTION
The Drive heat sinks, regenerative resistors, Motor, and other
components can be very hot while power is ON or soon after the power
is turned OFF. Implement safety measures, such as installing covers, so
that hands and parts such as cables do not come into contact with hot
components.
For the control power supply, use a power supply device with double
insulation or reinforced insulation.
Never use the product in an environment that is subject to water, corrosive
gases, or flammable gases, or near flammable materials.
Never attempt to use a Drive or Motor that is damaged or that has
missing parts.
Install external emergency stop circuits that shut OFF the power supply
and stops operation immediately when an error occurs.
In locations with poor power supply conditions, install the necessary
protective devices (such as AC reactors) to ensure that the input power
is supplied within the specified voltage range.
Use a Noise Filter to minimize the effects of electromagnetic
interference.
Always use a Motor and Drive in one of the specified combinations.
Never touch a Drive or Motor with wet hands.

Summa Series Servodrive Product Manual
Safety Precautions
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
iv
Storage Precautions
CAUTION
Follow all instructions on the packages, and never place an excessive
load on the product during storage.
Never install or store the product in any of the following locations.
−Locations that are subject to direct sunlight.
−Locations that are subject to ambient temperatures that exceed
product specifications.
−Locations that are subject to relative humidity that exceed product
specifications.
−Locations that are subject to corrosive or flammable gases.
−Locations that are subject to dust, salts, or iron powder.
−Locations that are subject to water, oil, or chemicals.
−Locations that are subject to vibration or shock that exceeds product
specifications.
−Locations that are subject to radiation.
Installation Precautions
CAUTION
Install the Drive in a control cabinet that provides fire and electrical
protection.
Install the Drive and Motor in a location that is sufficiently heavy.
Never install or store the product in any of the following locations.
−Locations that are subject to direct sunlight.
−Locations that are subject to ambient temperatures that exceed
product specifications.
−Locations that are subject to relative humidity that exceed product
specifications.
−Locations that are subject to corrosive or flammable gases.
−Locations that are subject to dust, salts, or iron powder.
−Locations that are subject to water, oil, or chemicals.
−Locations that are subject to vibration or shock that exceeds product
specifications.
−Locations that are subject to radiation.
Never allow any foreign matter to enter a Drive or a Motor with a Cooling
Fan, and never cover the outlet from the Motor’s cooling fan.
Never step on or place a heavy object on the product.
Install the Drive in the specified orientation.
Provide the specified clearances between the Drive and the control
cabinet as well as with other devices.

Summa Series Servodrive Product Manual
Safety Precautions
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
v
Wiring Precautions
CAUTION
Never pass the electromagnetic contactor in the wiring between the
Drive and the Motor.
Firmly connect the power terminal to the Motor terminal.
Provide at least 10 millimeters space between the Drives and the control
cabinet or with other devices. In addition, the longitudinal space
between them are above 30 millimeters.
Use shielded twisted-pair cables or screened unshielded multi-twisted-
pair cables for I/O Signal Cables and Encoder Cables.
Tthe wiring length of the encoder is up to 20 meters.
Never frequently turn the power supply ON and OFF. After you have
started actual operation, allow at least one hour between turning the
power supply ON and OFF (as a guideline).
Operation Precautions
CAUTION
In order to prevent accidents, please test the Motor with no load (not
connected to the Drive shaft).
When starting to operate on the supporting machine, set the user
parameters that match the machine in advance.
Note that the signals for the Forward Drive Prohibit (P-OT) and the
Reverse Drive Prohibit (N-OT) are disabled during JOG operation and
homing operation.
When overtravel occurs, the power supply to the Motor is turned OFF
and the brake is released. If you use the Motor to drive a vertical load,
set the Motor to enter a zero-clamped state after the Motor stops. Also,
install safety devices (such as an external brake or counterweight) to
prevent the moving parts of the machine from falling.
Make sure set a correct moment of inertia ratio to avoid vibration if not
use the auto-tuning.
When an alarm occurs, reset it after troubleshooting the cause and
ensuring safety.
Never use the brake of the Motor for normal braking.
Maintenance Precautions
WARNING
Wiring and inspections must be performed only by qualified engineers.
Disconnect all connections to the Drive when testing the insulation
resistance of the Drive.
Never use gasoline, thinner, alcohol, acid or alkaline detergent to avoid
discoloration or damage to the casing.
When replacing the Drive, transfer the user parameters from the
replaced Drive to new Drive.
Never change the wiring while the power is on.
Never disassemble the Motor without permission.

Summa Series Servodrive Product Manual
Safety Precautions
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
vi
Disposal Precautions
CAUTION
When disposing of the product, treat it as ordinary industrial waste.
However, local ordinances and national laws must be observed. Implement
all labeling and warnings as a final product as required.

Summa Series Servodrive Product Manual
Contents
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
i
Contents
About this Manual ............................................................................................................................i
Purpose............................................................................................................................................................. i
Terms ............................................................................................................................................................... i
Symbols ..........................................................................................................................................................ii
Safety Precautions..........................................................................................................................iii
General Precautions .......................................................................................................................................iii
Storage Precautions........................................................................................................................................ iv
Installation Precautions.................................................................................................................................. iv
Wiring Precautions.......................................................................................................................................... v
Operation Precautions..................................................................................................................................... v
Maintenance Precautions ................................................................................................................................ v
Disposal Precautions...................................................................................................................................... vi
Contents ..............................................................................................................................................i
Chapter 1 Summa Series AC Drive ...........................................................................................1-1
1.1 Product Features.....................................................................................................................................1-1
1.2 Interpreting the Nameplate.....................................................................................................................1-2
1.3 Model Designations ...............................................................................................................................1-2
1.4 Part Names .............................................................................................................................................1-3
1.5 Ratings and Specifications.....................................................................................................................1-4
1.6 External Dimensions..............................................................................................................................1-7
1.7 System Configuration ............................................................................................................................1-8
Chapter 2 Installation...................................................................................................................2-1
2.1 Installation Precautions..........................................................................................................................2-1
2.2 Mounting Types and Orientation ...........................................................................................................2-1
2.3 Mounting Hole Dimensions...................................................................................................................2-2
2.4 Mounting Interval ..................................................................................................................................2-2
2.5 EMC Installation Conditions .................................................................................................................2-4
2.5.1 EMC Directives................................................................................................................................2-4
2.5.2 Ferrite Coil Mounting.......................................................................................................................2-5
Chapter 3 Wiring and Connecting .............................................................................................3-1
3.1 Precautions for Wiring ...........................................................................................................................3-1
3.1.1 General Precautions..........................................................................................................................3-1
3.1.2 Countermeasures against Noise........................................................................................................3-2
3.1.3 Grounding ........................................................................................................................................3-5
3.2 Basic Wiring Diagrams ..........................................................................................................................3-6
3.3 Wiring the Power Supply to Drive .........................................................................................................3-7
3.3.1 Terminals Arrangement ....................................................................................................................3-7
3.3.2 Wiring Procedure..............................................................................................................................3-8
3.3.3 Wiring Diagrams ............................................................................................................................3-10
3.4 Wiring the Motor..................................................................................................................................3-12
3.5 Wiring the Encoder ..............................................................................................................................3-13
3.6 I/O Signal Connections........................................................................................................................3-16
3.7 Communication Connections...............................................................................................................3-17
3.7.1 EtherCAT Communication Cable ...................................................................................................3-17
3.7.2 USB Communication Cable ...........................................................................................................3-19
3.8 Wiring the External Encoder................................................................................................................3-20

Summa Series Servodrive Product Manual
Contents
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
ii
3.9 Connecting STO Function Signals.......................................................................................................3-20
Chapter 4 Basic Settings...............................................................................................................4-1
4.1 Panel Operator .......................................................................................................................................4-1
4.1.1 Key Names and Functions................................................................................................................4-1
4.1.2 Basic Mode Selection.......................................................................................................................4-2
4.1.3 Status Display Mode ........................................................................................................................4-2
4.1.4 Parameter Setting Mode ...................................................................................................................4-4
4.1.5 Monitor Mode ..................................................................................................................................4-7
4.1.6 Utility Function Mode ......................................................................................................................4-8
4.2 ESView V4...........................................................................................................................................4-15
4.2.1 Installation......................................................................................................................................4-15
4.2.2 Starting ESView V4 .......................................................................................................................4-21
4.2.3 Edit Parameters ..............................................................................................................................4-24
4.2.4 Monitor...........................................................................................................................................4-30
Chapter 5 EtherCAT Communications .....................................................................................5-1
5.1 Introduction............................................................................................................................................5-1
5.1.1 Protocol Overview............................................................................................................................5-1
5.1.2 Specification.....................................................................................................................................5-1
5.2 Relevant Settings ...................................................................................................................................5-2
5.3 EtherCAT Basis......................................................................................................................................5-3
5.3.1 CANopen over EtherCAT Reference Model ....................................................................................5-3
5.3.2 EtherCAT Slave Information............................................................................................................5-3
5.3.3 EtherCAT State Machine..................................................................................................................5-4
5.3.4 Process Data Object (PDO) ..............................................................................................................5-5
5.3.5 Service Data Object (SDO) ..............................................................................................................5-7
5.3.6 Emergency Message.........................................................................................................................5-7
5.3.7 Distributed Clock (DC) ....................................................................................................................5-7
5.4 Communication Indication.....................................................................................................................5-8
5.4.1 Indicator Lamps on Panel Operator..................................................................................................5-8
5.4.2 Indicator Lamps on RJ45 .................................................................................................................5-9
Chapter 6 CiA402 Drive Profile..................................................................................................6-1
6.1 Conversion Factor Setting......................................................................................................................6-1
6.2 Device Control.......................................................................................................................................6-3
6.2.1 CiA402 State Machine .....................................................................................................................6-3
6.2.2 Stop Modes.......................................................................................................................................6-5
6.3 Control Modes .......................................................................................................................................6-7
6.3.1 Modes of Operation..........................................................................................................................6-7
6.3.2 Modes of Operation Display ............................................................................................................6-8
6.3.3 Mode Change ...................................................................................................................................6-8
6.3.4 Communication Cycle......................................................................................................................6-8
6.4 Position Control .....................................................................................................................................6-9
6.4.1 Profile Position (PP) Mode...............................................................................................................6-9
6.4.2 Interpolated Position (IP) Mode .....................................................................................................6-13
6.4.3 Cyclic Synchronous Position (CSP) Mode.....................................................................................6-17
6.5 Homing ................................................................................................................................................6-20
6.5.1 Homing (HM) Mode ......................................................................................................................6-20
6.5.2 Homing Methods............................................................................................................................6-23
6.6 Velocity Control ...................................................................................................................................6-63
6.6.1 Profile Velocity (PV) Mode............................................................................................................6-63
6.6.2 Cyclic Synchronous Velocity (CSV) Mode ....................................................................................6-65
6.7 Torque Control .....................................................................................................................................6-69
6.7.1 Profile Torque (PT) Mode ..............................................................................................................6-69
6.7.2 Cyclic Synchronous Torque (CST) Mode ......................................................................................6-71
6.8 Torque Limits.......................................................................................................................................6-73
6.9 Digital and Remote I/O Signals ...........................................................................................................6-74
6.10 Touch Probe .......................................................................................................................................6-75

Summa Series Servodrive Product Manual
Contents
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
iii
6.11 Soft Limit Function ............................................................................................................................6-80
Chapter 7 Application Functions ...............................................................................................7-1
7.1 Power Supply.........................................................................................................................................7-1
7.2 Motor Rotation Direction.......................................................................................................................7-2
7.3 Overtravel Limit.....................................................................................................................................7-3
7.3.1 Function Description ........................................................................................................................7-3
7.3.2 Connecting the Overtravel Signal ....................................................................................................7-3
7.3.3 Enabling/Disabling the Overtravel Signal ........................................................................................7-4
7.4 Motor Stop Methods ..............................................................................................................................7-4
7.4.1 Motor Stop Methods for Gr.1 Alarms, Safety State and Servo OFF ................................................7-5
7.4.2 Motor Stop Methods for Overtravel .................................................................................................7-5
7.4.3 Motor Stop Methods for Gr.2 Alarms...............................................................................................7-5
7.4.4 Reverse Brake Torque Limit Setting ................................................................................................7-6
7.5 Holding Brake........................................................................................................................................7-6
7.5.1 Function Description ........................................................................................................................7-6
7.5.2 Brake Operating Sequence ...............................................................................................................7-7
7.5.3 /BK (Brake) Signal...........................................................................................................................7-7
7.5.4 Output Timing of /BK Signal when Motor is Stopped .....................................................................7-8
7.5.5 Output Timing of /BK Signal when Motor is operating ...................................................................7-9
7.6 Overload Enhancement..........................................................................................................................7-9
7.7 Encoder Setting....................................................................................................................................7-10
7.7.1 Absolute Encoder Selection............................................................................................................7-10
7.7.2 Encoder Alarm Resetting................................................................................................................7-10
7.7.3 Encoder Divided Pulse Output .......................................................................................................7-11
7.8 I/O Signal Allocations..........................................................................................................................7-13
7.8.1 Input Signal Allocations .................................................................................................................7-13
7.8.2 Output Signal Allocations ..............................................................................................................7-14
7.9 Torque Limit ........................................................................................................................................7-16
7.9.1 Internal Torque Limits....................................................................................................................7-16
7.9.2 External Torque Limits...................................................................................................................7-16
7.9.3 Limiting torque with /CLT output signal........................................................................................7-18
7.10 Soft Start ............................................................................................................................................7-18
7.11 SEMI F47 Function............................................................................................................................7-19
Chapter 8 Trial Operation ...........................................................................................................8-1
8.1 Preparations for Trail Operation ............................................................................................................8-1
8.2 Inspections and Confirmations...............................................................................................................8-1
8.3 Motor Operation without a Load ...........................................................................................................8-2
8.3.1 Preparations......................................................................................................................................8-2
8.3.2 Applicable Tools...............................................................................................................................8-2
8.3.3 JOG Operation..................................................................................................................................8-2
8.4 Motor Operation with a Load.................................................................................................................8-6
8.4.1 Precautions .......................................................................................................................................8-6
8.4.2 Preparations......................................................................................................................................8-6
8.4.3 Operation Procedure.........................................................................................................................8-7
8.5 Program Jogging ....................................................................................................................................8-8
8.5.1 Preparations......................................................................................................................................8-8
8.5.2 Operation Description ......................................................................................................................8-8
8.5.3 Relevant Parameters .........................................................................................................................8-9
8.5.4 Applicable Tools...............................................................................................................................8-9
8.5.5 Operation Procedure.......................................................................................................................8-10
Chapter 9 Tuning ..........................................................................................................................9-1
9.1 Overview................................................................................................................................................9-1
9.1.1 Basic Conception..............................................................................................................................9-1
9.1.2 Control Block Diagram ....................................................................................................................9-2
9.1.3 Tuning Process .................................................................................................................................9-3
9.1.4 Precautions Before Tuning ...............................................................................................................9-4