YAKO ES2 Series User manual

ES2
Series
User Manual
Shenzhen YAKO Automation Technology Co., Ltd.
0
Series
AC Servo Drive
User Manual
（Lite Version
V1.
2019-03-12
Shenzhen YAKO Automation Technology Co., Ltd.
www.yankong.com
V1.
0）
Shenzhen YAKO Automation Technology Co., Ltd.

1
Content
Content ............................................................................................................................................. 1
Chapter 1: Selection of Servo System .............................................................................................. 2
1.1 Drive specifications ............................................................................................................ 2
1.2 Servo motors and drives model description ........................................................................ 3
1.3 Servo driver and servo motor matching .............................................................................. 4
1.4 Matching motor number ..................................................................................................... 5
1.5 Auxiliary cable ................................................................................................................... 5
1.6 Braking resistance specication ............................................................................................ 6
Chapter 2: Product Installation and Dimensions .............................................................................. 7
2.1 Servo drive dimensions ....................................................................................................... 7
2.2 Servo drive installation ....................................................................................................... 7
Chapter 3: Servo Drive and Motor Connection ................................................................................ 8
3.1 System structure diagram ................................................................................................... 8
3.2 Main circuit......................................................................................................................... 9
3.2.1 Introduction of each part .......................................................................................... 9
3.3 Encoder interface ................................................................................................................ 9
3.4 Control signal ................................................................................................................... 11
3.4.1 Digital input and output signal ............................................................................... 14
3.4.2 Position command input signal .............................................................................. 17
3.5 Communication signals .................................................................................................... 19
Mini USB communication CN5 ..................................................................................... 19
Chapter 4: Operation and Adjustment ............................................................................................ 20
4.1 Panel operator description ................................................................................................ 20
4.1.1 Interface introduction ............................................................................................. 20
4.1.2 Parameter setting and display ................................................................................ 21
4.1.3 Monitorable parameter list ..................................................................................... 22
4.2 Operating mode instructions ............................................................................................. 23
4.2.1 Position mode ........................................................................................................ 23
Chapter 5: Auxiliary Functions ...................................................................................................... 27
5.1 JOG run ............................................................................................................................ 27
5.2 Alarm reset ....................................................................................................................... 28
5.3 Parameter initialization ..................................................................................................... 29
5.4 Digital signal forced input and output function ................................................................ 30
5.5 Offline inertia identification ............................................................................................. 32
Chapter 6: Troubleshooting ............................................................................................................ 35
6.1 Fault diagnosis and treatment ........................................................................................... 35
6.1.1 Non-resettable NO.1 fault ...................................................................................... 36
6.1.2 Resettable NO.1 fault ............................................................................................. 36
6.1.3 Resettable NO.2 fault ............................................................................................. 37
6.2 Reasons for warning and treatment .................................................................................. 37
Chapter 7: Parameter List ............................................................................................................... 39
P00 group: basic control parameters ............................................................................... 40
P01 group: servo motor parameters ................................................................................ 42
P02 group: digital terminal input and output parameters ................................................ 42
P04 group: position control parameters .......................................................................... 46
P05 group: speed control parameters .............................................................................. 47
P06 group: torque control parameters ............................................................................. 48
P07 group: gain parameter .............................................................................................. 50
P09 group: failure and protection ................................................................................... 52
P11 group: auxiliary function parameters ....................................................................... 53
P12 group: keyboard display parameters ........................................................................ 54
P13 group: multi-segment position ................................................................................. 54
P14 group Multi-speed command ................................................................................... 59
P16 group: special function parameters .......................................................................... 65
P18 group: display parameters ........................................................................................ 67
DIDO assignment basic function definition.................................................................... 69
Appendix A: Error Code Table....................................................................................................... 71
Appendix B: Version Change Record ............................................................................................ 73

Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0
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Chapter 1: Selection of Servo System
1.1 Drive specifications
Table 1-1 ES2 series servo drive basic specifications
Basic spec
Drive model ES2-04B ES2-10B ES2-15B ES2-30B
Continuous output current Arms 2.8 5.5 7.6 11.6
Maximum output current Arms 10 17 17 28
Power supply input 220VAC Main power single/3 phase, AC200～230V, 50/60HZ
Control power Single phase, AC200~230V, 50/60HZ
Working environment
Temperature Working：0℃～50℃
Storage：-20℃～85℃
Humidity Below 0～90% RH（No condensation）
Working altitude Under altitude 1000m
Vibration/strike <1G
IP Grade /
Pollution level IP20/ Pollution level 2
Control method IGBT PWM space vector control
Encoder 2500-line incremental
IO port
IO signal Input 8（common）
Output 5（common）
Pulse signal Input 2（Low speed pulse ）
Output 4（3 frequency output, 1 open collector output）
Communication USB Connect with PC
Panel operator LED display
Regeneration function Built-in braking resistor for 750W and above
models
Protection function
Overcurrent, overload, overvoltage, low voltage,
over speed, overheat, encoder error,
communication error, position deviation, etc.
Control mode Position control; speed control; torque control;
Function spec
Position control mode
Position command format PULSE/DIR;
A, B phase orthogonal pulse;
Position input circuit Differential; open collector
Maximum input frequency Differential 2Mpps
Open collector 2Mpps
Smoothing filter Smoothing the position command to make the
motor run smoother and more stable
Electronic gear Provide 2 sets of electronic gear ratio
Vibration suppression filter
Effectively suppress external signal interference
and system resonance frequency to ensure stable
operation of equipment

Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0
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1.2 Servo motors and drives model description
Drive model description
ES2 – 04 B F I - XX
① ② ③ ④ ⑤ ⑥
① AC servo series ES2：YAKO ES2 series AC servo drive
② Power 04: 400W 10: 1KW
15: 1.5KW 30: 3KW
③ Voltage level B：220V
④ Product type F: General
⑤ Installation methods I: Flange installation
⑥ Customized model xx: Customized design number
Servo motor type description
ASM D –08–10 30 B - U 1 1 1 - XX
① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩
①
Series YAKO ES2 series AC servo motor
②
Feature D : Small inertia J: Large inertia H: High inertia
③ Flange 04:40mm 06: 60mm 08: 80mm 09:90mm 10:100mm
11: 110mm 13: 130mm
④ Power 04: 400W 10: 1KW 15: 1.5KW 30: 3KW
⑤ Rated speed(rpm) 10: 1000rpm 15: 1500 rpm 20: 2000 rpm 30: 3000 rpm
⑥ Voltage level B：200V
⑦ Encoder type U: 2500-line incremental
⑧ Shaft connection
type
1: Plain
2: Solid, with key
3: Solid, with key and threaded hole
4: Solid, with threaded hole
⑨ Brake, oil seal 1: none 2: oil seal 3: brake 4: oil seal + brake
⑩ Design number 1：Ver. 1
Customized model xx: Customized design number

Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0
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1.3 Servo driver and servo motor matching
Table 1-2 Servo drive and motor matching table
Servo motor model Flange Power
Rated Max Drive model Drive
speed Speed ES2-□□B** SIZE
Small and large inertia
ASMD-06-0630B 60 600W 3000rpm 5000rpm 04B B
ASMJ-06-0230B 60 200W 3000rpm 5000rpm 04B B
ASMJ-06-0430B 60 400W 3000rpm 5000rpm 04B B
ASMJ-08-0830B 80 750W 3000rpm 4500rpm 10B B
ASMJ-08-1025B 80 1KW 2500rpm 3000rpm 10B B
ASMJ-09-0830B 90 750W 3000rpm 3900rpm 10B B
ASMJ-09-1025B 90 1KW 2500rpm 3300rpm 10B B
ASMJ-11-1830B 110 1.8KW 3000rpm 3200rpm 15B C
ASMJ-11-1230B 110 1.2KW 3000rpm 3500rpm 15B C
ASMJ-11-1530B 110 1.5KW 3000rpm 3100rpm 15B C
ASMJ-13-1025B 130 1KW 2500rpm 2600rpm 15B C
ASMJ-13-1525B 130 1.5KW 2500rpm 2900rpm 15B C
ASMJ-13-2025B 130 2KW 2500rpm 2700rpm 30B C
ASMJ-13-2625B 130 2.6KW 2500rpm 2700rpm 30B C
High
inertia
ASMH-13-1010B 130 1KW 1000rpm 1300rpm 15B C
ASMH-13-1515B 130 1.5KW 1500rpm 1800rpm 15B C
ASMH-13-2315B 130 2.3KW 1500rpm 1700rpm 30B C

Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0
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1.4 Matching motor number
Table 1-3 Motor number quick reference table
Motor
series
Rated
voltage
Servo motor model Motor number
ASM□-□□-□□□□□-***** (P01.00)
ASM 220V
ASMJ-06-0230B-U*** 6
ASMJ-06-0430B-U*** 7
ASMD-06-0630B-U***-M 13
ASMJ-08-0830B-U*** 8
ASMJ-09-0830B-U*** 12
ASMJ-08-1025B-U*** 101
ASMJ-09-1025B-U*** 115
ASMJ-11-1830B-U*** 108
ASMJ-11-1230B-U*** 112
ASMJ-11-1530B-U*** 103
ASMJ-13-1025B-U*** 104
ASMJ-13-1525B-U*** 105
ASMJ-13-2025B-U*** 109
ASMJ-13-2625B-U*** 110
ASMH-13-1010B-U*** 106
ASMH-13-1515B-U*** 107
ASMH-13-2315B-U*** 117
1.5 Auxiliary cable
Power cable naming rule:
P1 –ES2 - 03 P08 M
① ② ③ ④ ⑤
① Wire type P1: normal plug P2: Aviation plug
② Drive series ES2 series drives
③ Cable length 03: 3 meter 05: 5 meter 10: 10 meter
④ Power P08:800W P15: 1.5KW P30: 3KW
⑤ Installation methods F: Fixed M: Movable

Chapter 1: Select
ion of Servo System ES2 Series Servo User Manual Lite V1.0
Encoder cable naming rules:
E1– ES2 - 03 U M
① ② ③ ④
①
Wire type
②
Drive series
③
Cable length
④
Encoder
⑤
Installation methods
Auxiliary cable appearance
1.6 Braking resistance s
pecication
Table 1
Servo drive model
Single phase
220 ES2-04BFI
Single/3
phase 220V ES2-10BFI
Single/3
phase 220V
ES2-15BFI
ES2-30BFI
ion of Servo System ES2 Series Servo User Manual Lite V1.0
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Encoder cable naming rules:
⑤
Wire type
P1: normal plug P2: Aviation plug
Drive series
ES2 series drives
Cable length
03: 3 meter 05: 5 meter 10: 10 meter
Encoder
spec U: 2500 lines
Installation methods
F: Fixed M: Movable
Auxiliary cable appearance
Table 1-4 Auxiliary cable appearance
pecication
Table 1
-5 Built-in braking resistor specifications
Built-in braking resistor
specifications
Minimum
allowable
resistance
value (Ω)
Resistance
(Ω)
Capacity
(W)
- - 45
50 50 30
25 80 20
25 80 15
ion of Servo System ES2 Series Servo User Manual Lite V1.0
P1: normal plug P2: Aviation plug
03: 3 meter 05: 5 meter 10: 10 meter
Capacitor
maximum
braking energy
(J)
18
26
47
47

Chapter 2: Product Installation and Dimensions ES2 Series Servo User Manual Lite V1.0
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Chapter 2: Product Installation and Dimensions
2.1 Servo drive dimensions
Frame B: ES2-04B, ES2-08B,ES2-10B
Frame C: ,ES2-15B, ES2-30B
Table 2-1 Driver Dimensions
Model L(mm) H(mm) D(mm) L1(mm) H1(mm) D1(mm) Screw hole
Frame C 90 160 183 80 150 75 4-M4
Frame B 58 160 177 48 150 75
2.2 Servo drive installation
Figure 2-1 Servo drive installation

Chapter 3: Servo Drive and Motor Connection
Chapter 3:
Servo Drive and Motor Connection
3.1
System structure diagram
Figure 3-
1 System structure diagram
The names, functions and specifications of each part of the drive are as follows.
Table 3
-
No. Name
1
L1C, L2C
AC control circuit power
terminal
2 R, S, T
AC
main power terminal
3
P⊕, D, C
External regenerative
resistor terminal
4 U, V, W, PE
Motor power
cable terminal
5
USB communication port
Chapter 3: Servo Drive and Motor Connection
ES2 Series Servo User Manual Lite V1.0
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Servo Drive and Motor Connection
System structure diagram
1 System structure diagram
The names, functions and specifications of each part of the drive are as follows.
-
1 Servo drive main circuit terminal name and function
Description
AC control circuit power
Input control circuit power according to s
pecifications
main power terminal
Input main circuit power according to specifications
The default wiring is P connected with D. When using an external ⊕
regenerative resistor, disconnect P and D⊕ first
, and connect an
external regenerative resistor between P and C.⊕
cable terminal
Connect servo motor three-phase and ground wire
USB communication port
Connect to the PC via Mini USB to monitor, run tests, change
ES2 Series Servo User Manual Lite V1.0
1 Servo drive main circuit terminal name and function
pecifications
Input main circuit power according to specifications
The default wiring is P connected with D. When using an external ⊕
, and connect an
Connect to the PC via Mini USB to monitor, run tests, change

Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0
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CN5 parameters, etc.
6 Control port CN1 Connect with host controller for IO signal control
7 Encoder feedback port CN2 Connect for motor encoder feedback
3.2 Main circuit
3.2.1 Introduction of each part
The functions, names and specifications of each part of the main circuit are as follows:
Table 3-2 Servo drive main circuit terminal function specifications
Name Terminal mark Function, specification
Main circuit
power input
terminal
R、S Single-phase AC220V power input
R、S、T Three-phase AC220V power input
Control circuit
power input
terminal
L1C、L2C Control loop power, input according to specifications
External
regenerative
resistor
connection
terminal
P⊕、D、C
By default, short wires are connected between P⊕-D.
When the braking force is insufficient, please make an open
circuit between P⊕-D.
(remove the short wiring) and connect external braking resistor
between P⊕-C
External braking resistors should be purchased separately.
Common DC
terminal P⊕、○
一 Servo DC bus terminal for common bus connection when
multiple units are connected in parallel
Servo motor
connection
terminal
U、V、W The servo motor connection terminal, connected to the U, V, W
of the motor.
Ground
terminal PE
Two grounding terminals are connected to the power grounding
terminal and the motor grounding terminal.
Be sure to ground the entire system.
3.3 Encoder interface
The encoder line PIN distribution diagram is as follows:
Table 3-3 Encoder line PIN distribution diagram
PIN 2500 line encoder signal Functional description
1 A+
Encoder signal
2 A-
3 B+
4 B-
5 Z+
6 Z-
7 +5V +5V power output
8 GND Power GND output
9 --
Shell PE

Chapter 3: Servo Drive and Motor Connection
Chapter 3: Servo Drive and Motor Connection
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Table 3-4 Servo motor side connectors
ES2 Series Servo User Manual Lite V1.0

Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0
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3.4 Control signal
Table 3-5 Control terminal PIN definition
Definition PIN Function
Position command
PILS+ 41 Pulse command ( below 2Mpps）：
Pulse, CW, A Phase Differential drive input or open collector
input
PULS- 43
SIGN+ 37 Pulse command ( below 2Mpps）：Dir,
CCW, B Phase
SIGN- 39
PULL
HI 35 COM +, power input port , internal connected with current limiting resistor
GND 29 Differential signal ground
Encoder output
PAO+ 21
Encoder pulse divider output
PAO- 22
PBO+ 25
PBO- 23
PZO+ 13
PZO- 24
PZ-
OUT 44 Home pulse collector open output
GND 29 Home pulse collector open circuit output signal ground ; differential signal ground
+5V 15 Internal 5 V supply with a maximum output current 200 mA
GND 29
PE Shell

Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0
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Definition PIN Function
General purpose input and output signal
Default function Functional description
DI1 9 P-OT Prohibit forward drive
DI2 10 N-OT Prohibit backward drive
DI3 34 INHIBIT Pulse inhibit
DI4 8 ALM-RST Alarm reset ( Pulse edge valid function)
DI5 33 S-ON Servo enable
DI6 32 ZCLAMP Zero fixed (set motor in static when the speed of motor is 0
in speed control mode to avoid minor movement)
DI7 31 GAIN-SEL Gain switching
DI8 30 Home Switch Home switching
+24V 17 Internal 24 power supply , voltage range +20~28V ,
maximum output current 200 mA
COM- 14 Internal 24V ground; open collector pulse input ground;
COM+ 11 Power input, 12 ~ 24V
DO1+ 7 S-RDY+ Servo ready
DO1- 6 S-RDY-
DO2+ 5 COIN+ Position arrival
DO2- 4 COIN-
DO3+ 3 ZERO+ Zero speed
DO3- 2 ZERO-
DO4+ 1 ALM+ Error output
DO4- 26 ALM-
DO5+ 28 BKOFF+ Brake output
DO5- 27 BKOFF-

Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0
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Figure 3-2 General view of the control mode

Chapter 3: Servo Drive and Motor Connection
3.4.1
Digital input and output signal
1) Digital input circuit
Take DI1 as an example,
DI1~DI
a）
When the host computer is relay output
Chapter 3: Servo Drive and Motor Connection
ES2 Series Servo User Manual Lite V1.0
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Digital input and output signal
DI1~DI
8
When the host computer is relay output
ES2 Series Servo User Manual Lite V1.0

Chapter 3: Servo Drive and Motor Connection
b）
When the host computer is open collector output
Chapter 3: Servo Drive and Motor Connection
ES2 Series Servo User Manual Lite V1.0
15
When the host computer is open collector output
ES2 Series Servo User Manual Lite V1.0

Chapter 3: Servo Drive and Motor Connection
Note: NPN and PNP input mixing is not supported.
2）
Digital output circuit
Use DO1 as an example, DO1~DO5 circuit is the same.
a）
When the host computer is a relay input
Note: When the host compute
correct direction, otherwise the DO
b）
When the host computer is optocoupler input
Chapter 3: Servo Drive and Motor Connection
ES2 Series Servo User Manual Lite V1.0
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Note: NPN and PNP input mixing is not supported.
Digital output circuit
Use DO1 as an example, DO1~DO5 circuit is the same.
When the host computer is a relay input
Note: When the host compute
r is
relay input, be sure to connect the freewheeling diode in the
correct direction, otherwise the DO
port may be damaged.
When the host computer is optocoupler input
ES2 Series Servo User Manual Lite V1.0
relay input, be sure to connect the freewheeling diode in the

Chapter 3: Servo Drive and Motor Connection
Note: 1. Be sure to connect a current limiting resistor;
2. The maximum allowable voltage and current of the internal optocoupler circuit of the
servo driver are as follows:
3.4.2
Position command input signal
Table 3-
6 Correspondence between pulse input frequency and pul
Pulse mode
Ordinary
Differencial
Open collector
Note: The pulse width of the host computer can't be less than the minimum pulse width, otherwise the
driver may receive the pulse err
1）
Ordinary pulse command input
a） Differential mode
b）
When the collector is open
①
Use the internal 24V power supply of the drive
Chapter 3: Servo Drive and Motor Connection
ES2 Series Servo User Manual Lite V1.0
17
Note: 1. Be sure to connect a current limiting resistor;
2. The maximum allowable voltage and current of the internal optocoupler circuit of the
servo driver are as follows:
Voltage: DC30V (maximum)
Current: DC50mA (maximum)
Position command input signal
6 Correspondence between pulse input frequency and pul
se width
Maximum frequency（HZ）
Minimum pulse width
2M
0.25
Open collector
2M 0.2
5
Note: The pulse width of the host computer can't be less than the minimum pulse width, otherwise the
driver may receive the pulse err
or.
Ordinary pulse command input
When the collector is open
Use the internal 24V power supply of the drive
ES2 Series Servo User Manual Lite V1.0
2. The maximum allowable voltage and current of the internal optocoupler circuit of the
se width
Minimum pulse width
（us）
0.25
5
Note: The pulse width of the host computer can't be less than the minimum pulse width, otherwise the

Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0
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② Use an external power supply
Option 1: Use the internal resistance of the drive (recommended)
Option 2: Use external resistors and NPN type

Chapter 3: Servo Drive and Motor Connection
Option 3: Use external resistors and PNP type
Resistance R1 select formula
：
R1 recommended values
VCC
voltage
24V
12V
5V
3.5 Communication signals
Mini USB
communication
Through CN5, communication
operations such as drive status monitoring, test operation, and parameter reading and writing.
Chapter 3: Servo Drive and Motor Connection
ES2 Series Servo User Manual Lite V1.0
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Option 3: Use external resistors and PNP type
：
.
 = 10mA
voltage
R1 resistance R1 power
24V
2.4KΩ 0.5W
12V
1.5KΩ 0.5W
5V
200Ω 0.5W
communication
CN5
Through CN5, communication
between PC and driver can be established, and implement
operations such as drive status monitoring, test operation, and parameter reading and writing.
ES2 Series Servo User Manual Lite V1.0
between PC and driver can be established, and implement
operations such as drive status monitoring, test operation, and parameter reading and writing.