Estun Summa ED3S Product Manual Download Page 212

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Summa Series Servodrive Product Manual

Tuning

Document Version: V1.01
(Dec, 2019)

9-15

Step 2

Read and follow the precautions in the warning box, and then click

Step 3

The

Auto-Tuning Tool

window will be displayed in

Function Display Area

Step 4

Click

Detect

to perform

Load Inertia Identification

function if necessary.

For details, refers to the section

9.7.1 Load Inertia Identification

Summary of Contents for Summa ED3S

Page 1: ...Summa Series Servodrive Product Manual 2019 Drive Model ED3S ESTUN AUTOMATION CO LTD...

Page 2: ...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...

Page 3: ...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 mach...

Page 4: ...te 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 co...

Page 5: ...AUTION 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 an...

Page 6: ...ters 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 overtra...

Page 7: ...ec 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 m...

Page 8: ...iguration 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 Conditi...

Page 9: ...a 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 Indicat...

Page 10: ...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 Allocat...

Page 11: ...9 Chapter 10 Fully Closed Loop Control 10 1 10 1 Overview 10 1 10 2 Commissioning Procedure 10 1 10 3 Parameter Settings 10 2 10 3 1 Control Block Diagram 10 3 10 3 2 Motor Direction and Machine Movem...

Page 12: ...12 3 5 Profile Position Mode 12 53 12 3 6 Homing Mode 12 56 12 3 7 Position Control Function 12 57 12 3 8 Interpolated Position Mode 12 59 12 3 9 Cyclic Synchronous Position Mode 12 60 12 3 10 Profil...

Page 13: ...e machinery applications Its excellent performance with EtherCAT protocol can achieve the motion control of High Speed High Precision High Safety and maximize the performance of the machine in the sho...

Page 14: ...d Output Serial Number 1 3 Model Designations ED3S 02 A E A Summa Series Servodrive 1st 2nd digits 3rd digit 4th digit 5th digit Customized Output Power A5 50 W 01 100 W 02 200 W 04 400 W 08 750 W 10...

Page 15: ...able 6 Grounding Terminal Connects to the ground terminal of the Motor main circuit cable 7 USB Connector Connects a computer for ESView V4 8 EtherCAT Input Connector Connect to an EtherCAT device 9 E...

Page 16: ...ations Drive Model ED3S A5A 01A 02A 04A 08A 10A 15A 20A 30A Continuous Output Current Arms 0 9 1 1 1 5 2 9 5 1 6 9 8 2 11 3 16 0 Instantaneous Maximum Output Current Arms 3 3 4 0 5 8 11 5 19 5 21 0 24...

Page 17: ...Signals Allowable voltage range 5 VDC to 30 VDC Number of output points 4 1 of them fixed for Servo Alarm Output Signals are TGON Rotation Detection ALM Servo Alarm SRDY Servo Ready COIN Positioning C...

Page 18: ...mmunications Interface Personal computer with ESView V4 Communications Standard Conforms to USB2 0 standard 12 Mbps OTG Display Five 7 segment LEDs Indicator Lamps CHARGE POWER SYS RUN ERR L A IN L A...

Page 19: ...5 28 0 5 mounting pitch 38 Exterior Grounding terminals 2 M4 2 M4 Mounting Hole Diagram Unit mm 4 ED3S 08 to ED3S 15 172 156 16 65 Grounding Terminals 2 M4 5 164 0 5 mounting pitch 172 5 55 0 5 mount...

Page 20: ...er Uses to protect the power supply line and cut off the circuit when an overcurrent occurs The minimum rated current of the circuit breaker depends on the Drive model ED3S A5A 01A 02A 04A 10A ED3S 08...

Page 21: ...ion surface of the Drive so that the Drive will not be subjected to vibration Other Precautions Never install the Drive in a location subject to high temperatures high humidity water drops cutting oil...

Page 22: ...20 ED3S 30 Exterior 2 M4 5 164 0 5 mounting pitch 172 5 28 0 5 mounting pitch 38 5 164 0 5 mounting pitch 172 5 55 0 5 mounting pitch 65 Exterior 2 M4 5 164 0 5 mounting pitch 172 5 85 0 5 mounting pi...

Page 23: ...ing More than One Drive in a Control Cabinet Provide enough space around the Drive when installing more than one Drive in a control cabinet as is shown in Figure 2 3 Figure 2 3 Install more than one D...

Page 24: ...r conditions such as the actual installation structure and wiring conditions These ESTUN products are designed to be built into equipment Therefore you must implement EMC measures and confirm complian...

Page 25: ...Motor Main Circuit Cable 400 W or less Motor Main Circuit Cable 750 W or more PC40T96 20 70 TDK Cable Fixed Secure the shield of the cable with a conductive metal part and fix it to the ground plate...

Page 26: ...lit after turning OFF the power supply because high voltage may still remain in the Drive Observe the precautions and instructions for wiring and trial operation precisely as described in this documen...

Page 27: ...on allow at least one hour between turning the power supply ON and OFF as a guideline 3 1 2 Countermeasures against Noise IMPORTANT The Drive is designed as an industrial device It therefore provides...

Page 28: ...quence Noise Filter DC Power supply Ground plate External ground Use a dedicated ground Motor 200 VAC 2 0 mm2 min For the ground wire use a wire with a thickness of at least 2 0 mm2 preferably flat br...

Page 29: ...output lines Do not place the Noise Filter ground wire output lines and other signal lines in the same duct or bundle them together Noise Filter Noise Filter The ground wire can be close to the input...

Page 30: ...autions when wiring the ground cable Ground the Drive to a resistance of 100 m or less Be sure to ground at one point only Ground the Motor directly if the Motor is insulated from the machine Motor Fr...

Page 31: ...B2 Switch Fuse 0V 24V EDM EDM FG 19 20 16 15 17 18 14 8 9 21 22 23 24 25 26 4 3 6 5 8 7 Main Circuit Terminals Motor Terminals Encoder terminals Safety Terminals COIN COIN 12 13 SRDY SRDY 10 11 TGON T...

Page 32: ...r supply terminals Single phase 200 VAC to 240 VAC 15 to 10 50Hz or 60Hz B1 B2 B3 Regenerative Resistor terminal There is a short wiring between B2 and B3 at the factory When the busbar capacitance is...

Page 33: ...rrule with cross section from 1 5 mm2 to 2 5 mm2 Wiring plier Commercially available plier with crimping and stripping functions Follow the procedure below to wire the Main Circuit Terminals and Contr...

Page 34: ...nsert the crimped cable into the connection terminals directly until the cable is not easily pulled out A slight pull is allowed Step 6 Make all other connections in the same way Step 7 To change the...

Page 35: ...ctor 2 for main circuit power supply Relay Indicator Lamp Flywheel Diode Wiring Example for Single phase Power Supply Input Drive KM 2 KM 1 QF 1 R T SA 3 FLT 1 L1 L2 L3 L1C L2C Ry 1 PL 1 KM 1 SA 1 Pow...

Page 36: ...1 PL 1 KM 1 SA 1 Power OFF Power ON KM 1 Ry 1 KM 2 SA 2 KM 1 L2 L3 L1 For alarm display B1 B2 FU 1 AC DC FU 2 AC DC B3 P1 ALM ALM 8 9 D 1 24V 0V CN1 Ry 1 QF 1 SA 1 SA 2 SA 3 FU 1 FU 2 FLT 1 KM 1 KM 2...

Page 37: ...iagram FG U V W FG U V W Terminals Arrangement Terminals Pin Layout Motor connection side Terminal with brake 1 2 3 4 5 6 Pin Symbols Color 1 U Brown 2 V Gray 3 W Black 4 FG Yellow Green 5 B1 White 6...

Page 38: ...Co Ltd All right reserved 3 13 3 5 Wiring the Encoder Connection Diagram Terminals Arrangement Terminals Pin Layout Motor connection side Ordinary Plug 1 2 3 4 5 6 7 8 9 Pin Symbols Color 1 S Blue 2...

Page 39: ...FG Frame ground Drive connection side 2 1 3 5 7 9 4 6 8 10 Pin Symbols Color 1 PG5V Red 2 PG0V Black 3 4 5 MA Green 6 MA Green Black 7 S Blue 8 S Blue Black 9 BAT Yellow 10 BAT Yellow Black Shell FG...

Page 40: ...se Guide Rail Wiring plier Commercially available plier with crimping and stripping functions The installation diagram of the battery case is as follows 1 Secure the Guide Rail to the bottom of the Dr...

Page 41: ...ly to Touch Probe Input signal connect to a 24 VDC power supply together with Pin 4 3 EXT2 Input Touch Probe Input 2 4 DICOM Common Power supply to Touch Probe Input signal connect to a 24 VDC power s...

Page 42: ...er supply to IO signals connect to a 24 VDC power supply together with Pin 19 and Pin 20 20 DICOM Common 21 PAO Output Encoder Divided Pulse Output Phase A Output the encoder divided pulse output sign...

Page 43: ...onnected to the CN3 IN terminal of the next Drive slave station Connectors Pin Name Function 1 8 1 8 CN3 OUT CN3 IN 1 TX Send data 2 TX Send data 3 RX Receive data 4 5 6 RX Receive data 7 8 Shell PE P...

Page 44: ...cation Cable in order to make the online operation of ESView V4 Connection Diagram Plug into CN5 of the Drive Plug into USB port of your PC Cable Description You can purchase the USB Communication Cab...

Page 45: ...5 7 9 2 4 6 8 10 PG5V PA PC PB PG0V PA PC PB Pin Layout Pin Name Function 1 PG5V Power supply terminal 5V for the external encoder 2 PG0V Power supply terminal 0V for the external encoder 3 PA Phase...

Page 46: ...nctions There is a Panel Operator on the front of the Drive as is shown in Figure 4 1 Figure 4 1 Diagram of Panel Operator SYS RUN ERR POWER Operation Indicators Five 7 segment LEDs Keys Power Indicat...

Page 47: ...M M Status Display Parameter Setting Monitor Utility Function 4 1 3 Status Display Mode Power ON the Drive and wait for a while the Panel Operator will initially display the Servo Status The informat...

Page 48: ...r is ON Control Power ON Lit when Drive control power is ON 4 Speed Reference Input Lit if input speed reference exceeds the value preset in Pn503 Default setting is 20 rpm Reference Pulse Input Lit i...

Page 49: ...arameters Function Parameters the functions allocated to each digit of the Panel Operator can be selected Adjustment Parameters a parameter is set to a value within the specified range of the paramete...

Page 50: ...10 Press and hold key for 1 second or more to return to the display of the Pn003 parameter value or press the M key to return to the display of the Pn003 NOTE After completing the function parameters...

Page 51: ...Counter Overflow Alarm from 41943040 to 42943240 Step 1 Press M key several times to select the Parameter Setting Mode Step 2 Press key or key to select the parameter Pn504 Step 3 Press key to displa...

Page 52: ...r key to select the monitor number Un000 Step 3 Press key to display the data of Un000 Step 4 Press key to return to the display of Un000 Contents of Monitor Mode Display Monitor Number Content of Dis...

Page 53: ...high level 4 CN1 18 lit for low level not lit for high level Un006 0 HWBB1 1 HWBB2 3 External Encoder input signal C 4 External Encoder input signal B 5 External Encoder input signal A 6 EXT1 Touch Pr...

Page 54: ...umber Name Fn002 JOG operation Fn005 Automatic offset adjustment of Motor current detection signal Fn006 Manual offset adjustment of Motor current detection signal Fn007 Software version display Fn009...

Page 55: ...s key or key to select the function number Fn000 Step 3 Press key to display latest alarm number Alarm No Sequence Number Step 4 Press key or key to view the other alarm data Step 5 Press the key to r...

Page 56: ...al Motor current detection offset adjustment has performed at ESTUN before shipping Basically the user need not perform this adjustment IMPORTANT Execute the automatic offset adjustment if the torque...

Page 57: ...d adjust the phase U and phase V offsets alternately several times until the torque ripple is minimized Step 1 Press M key several times to select the Utility Function Mode Step 2 Press key or key to...

Page 58: ...ion Mode Step 2 Press key or key to select the function number Fn007 Step 3 Press key to display the software versions Step 4 Press M key serval time to display between DSP version FPGA CPLD version V...

Page 59: ...ata Step 5 Press key to return to the display of the Fn010 Fn011 Absolute encoder alarm reset The following are the steps to reset the absolute encoder alarm Step 1 Press M key several times to select...

Page 60: ...Preparation Please prepare the Windows operating system communication cable and a decompression software in advance Visit ESTUN official website www estun com to find and download ESView V4 on Techni...

Page 61: ...rt you shall reinstall the USB Driver if you replaced another port on the PC side or you can use the previous port Step 1 After installing the ESView V4 software successfully connect the Drive to the...

Page 62: ...9 2019 ESTUN Automation Co Ltd All right reserved 4 17 Figure 4 4 An error occurs in the driver Step 5 Right click ESTUN USB COMM and select Update driver on the pop up menu Figure 4 5 Update driver S...

Page 63: ...ion Co Ltd All right reserved 4 18 Figure 4 6 Browse my computer for driver software Step 7 Click Let me pick from a list of available drivers on my computer Figure 4 7 Let me pick from a list of avai...

Page 64: ...Browse on the Install From Disk dialog box Figure 4 10 Install From Disk Step 11 Set the Look in as the directory of ESView V4 decompressed file USB Drivers windows_drivers on the Locate File dialog b...

Page 65: ...is hardware Step 15 Click Yes on the Update Driver Warning dialog box Figure 4 13 Confirm the driver updating Step 16 Wait for a while and then click Install on the Windows Security dialog box Figure...

Page 66: ...online operation for the first time to set the Drive You need to connect the Drive to the PC by using the USB connection cable before the online operation Step 1 Connect the Drive to the PC by using t...

Page 67: ...tomation Co Ltd All right reserved 4 22 Figure 4 17 Search the connected device Step 6 Select the found device Figure 4 18 Select the device Step 7 Click Connect Figure 4 19 Connect the device Step 8...

Page 68: ...vice list click in the top right and then click OK on the pop up warning box Offline Operation You shall choose a Drive to manipulate on the computer under the offline operation Since there is no onli...

Page 69: ...e restricted The Device list can display all the device you had connected or created including online and offline and their basic status If you want to delete a device from the Device list click in th...

Page 70: ...ad Parameters Upload All In order to read all parameters from the Drive and fill them into Value column of the parameters list you can Click Upload All in the Edit Parameters window Right click the pa...

Page 71: ...to upload the parameters is displayed check the connection between PC and the Drive Modify Parameters When the parameters have been uploaded from the device you can modify them on the Value column If...

Page 72: ...Search Parameters Click Search input box on the Edit Parameters window and type the keyword you want to search The keyword including NO Name Value Range Default Unit as well as description of each par...

Page 73: ...ick the parameters list where cannot be edited and select Download All in the pop up menu Download the Selected Drag the mouse to select the desired parameters or you can hold Ctrl key and click the d...

Page 74: ...rameters window Figure 4 29 Click Restore Step 2 Read the content on the warning dialog box and click OK Figure 4 30 Confirm the parameter restored Step 3 ESView V4 will send the Restore Parameters co...

Page 75: ...the device This shows the motor to which the drive is connected The blue side indicates this device is under performing IO Monitor Use the Monitor function for displaying the main parameters of the d...

Page 77: ...ted pair wire 100BASE FX fiber or LVDS low voltage differential signaling It could also be done through switch or media converters or in order to achieve the combination of different Ethernet structur...

Page 78: ...Information Interface 256 bytes read only CiA402 Drive Profile Homing Mode Profile Position Mode Profile Velocity Mode Profile Torque Mode Interpolated Position Mode Cyclic Synchronous Position Mode C...

Page 79: ...esponsible for the EtherCAT communication protocol and the Application Layer embeds the CANopen drive profile DS402 communication protocol The Object Dictionary in the Application Layer contains param...

Page 80: ...Manager Channels for mailbox communications The master initializes DC clock synchronization The master requests the Pre Operational state The master sets the AL control register The slaves check whet...

Page 81: ...ts 1C12h and 1C13h establish the relationship between these PDOs and the Sync Managers The following figure shows an example that how to set the relationship between SM3 and TxPDO through object 1C13h...

Page 82: ...s Write the mapping entity index and subindex values into the corresponding subindex of 1600h 4 Set number of mapping entries for the RxPDO 1 mapping objects Write the number of mapping entries into t...

Page 83: ...n the Drive the CoE service can trigger an emergency message to inform the user of the error code An emergency message consists of eight bytes of data as shown in the following description Emergency M...

Page 84: ...Cycle time 1C32 02h Sync 0 event Shift time 1C33 03h U Cycle time 1C32 02h Cycle time 1C32 02h Shift time 1C33 03h Network Master Slave Input Latch Output Valid Sync 0 event Sync 0 event NOTE Only th...

Page 85: ...error status of EtherCAT communications Indicator Description Status Pattern Off Never lit No error Blinking 0 2s 0 2s OFF ON A change in state requested by the master could not be made due to registe...

Page 86: ...Ltd All right reserved 5 10 Indicator Description Status Pattern Off Never lit A Communications Cable is not connected and the EtherCAT controller is not running Flickering OFF ON 50 ms Data communica...

Page 87: ...ORTANT This section uses the Motor encoder as an example The setting of the external encoder is the same as that of the Motor encoder Index Name Data Type Access PDO Mapping Related Mode 6093 Gear Rad...

Page 88: ...17 bit encoder outputs 131072 pulses per 1 revolution The 20 bit encoder outputs 1048576 pulses per 1 revolution The 23 bit encoder outputs 8388608 pulses per 1 revolution Setting Example Take the loa...

Page 89: ...f check has been done Parameter settings or Drive functions cannot be implemented No Fault No fault exists in the Drive or the fault has been eliminated Parameter settings of the Drive is allowed Read...

Page 90: ...it to switch on 0x0007 0x0233 4 Wait to switch on Running 0x000F 0x0237 5 Running Wait to switch on 0x0007 0x0233 6 Wait to switch on Ready 0x0006 0x0231 7 Ready No Fault 0x0000 0x0250 8 Running Ready...

Page 91: ...6085h for decelerating to a stop and moves to the No Fault state 5 Decelerates according to Profile Deceleration 6084h for decelerating to a stop and stays at the QuickStop state 6 Decelerates accordi...

Page 92: ...peration that is performed if bit 8 Halt in Controlword is active Index Subindex Name Data Type Access PDO Mapping Value 605Dh 0 Halt Option Code INT16 RW No 1 2 Default 1 The meanings of Value are as...

Page 93: ...de 1 Supported 4 Reserved 0 5 HM Homing mode 1 Supported 6 IP Interpolated Position mode 1 Supported 7 CSP Cyclic Sync Position mode 1 Supported 8 CSV Cyclic Sync Velocity mode 1 Supported 9 CST Cycli...

Page 94: ...executed when changing from Speed Control Mode PV mode or CSV mode or Torque Control Mode PT mode or CST mode to other modes And then changes to other modes after the stop has been completed It canno...

Page 95: ...tion 6084h Position trajectory generator Controlword 6040h Quick stop option code 605Ah Motion profile type 6086h Profile jerk 60A4h Position control Speed control Torque control inc s 104 inc s2 inc...

Page 96: ...s rel 0 Treats the target position as an absolute value 1 Treats the target position as a relative value Statusword 6041h 10 Target reached 0 Halt Bit 8 in Controlword 0 Target position not reached Ha...

Page 97: ...95 734 6068 00 Position Window Time RW UINT16 ms 0 to 65535 606C 00 Velocity Actual value RO INT32 Reference unit 6077 00 Torque actual value RO INT16 0 1 5000 to 5000 0 607A 00 Target Position RW INT...

Page 98: ...0 to 640 0 31FC 00 Model Following Control Gain Correction RW INT32 20 to 500 100 31FE 00 Model Following Control Torque Feedforward RW INT32 0 to 200 100 3201 00 Limit for Load Oscillation Suppressio...

Page 99: ...k stop option code 605Ah Position control Speed control Torque control 104 inc s2 inc Pos unit Velocity gear ratio 6094 02h 6094 01h Position gear ratio 6093 02h 6093 01h Position gear ratio 6093 01h...

Page 100: ...following error 1 Following error 15 Homeflag 0 Homing not completed 1 Homing completed Index Subindex Name Access Data Type Unit Range Default 603F 00 Error Code RO UINT16 0 to 65535 0 6040 00 Contr...

Page 101: ...lation time index RW INT8 s 6 3 3 60F4 00 Following Error RO INT32 Reference unit 2147483648 to 2147483647 60FC 00 Position Demand Internal Value RO INT32 Encoder unit 2147483648 to 2147483647 31CD 00...

Page 102: ...d Oscillation Suppression RW INT32 rpm 0 to 1000 100 3169 00 Internal Torque Feedforward Method RW INT32 0 to 3 0 02 Torque Feedforward Method RW INT32 0 to 3 0 03 Speed Feedforward Method RW INT32 0...

Page 103: ...Position gear ratio 6093 02h 6093 01h Position gear ratio 6093 01h 6093 02h Torque actual value 6077h Velocity actual value 606Ch Position actual value 6064h Position demand value 6062h Following err...

Page 104: ...FF 0 6060 00 Modes of operation RW INT8 0 to 10 0 6061 00 Modes of Operation display RO INT8 0 to 10 0 6062 00 Position Demand Value RO INT32 Reference unit 2147483648 to 2147483647 6063 00 Position A...

Page 105: ...D 00 Torque Command Filter Time RW INT32 0 01ms 0 to 2500 50 31CA 00 Speed Loop Gain RW INT32 rad s 1 to 10000 500 31CB 00 Speed Loop Integral Time RW INT32 0 1ms 1 to 5000 125 31CC 00 Position Loop G...

Page 106: ...the home and determines the position relationship between home and zero Home mechanical home reference point that is the encoder C pulse Zero absolute zero point in the machine After homing is complet...

Page 107: ...d 1 Target position reached 12 Homing attained 0 Home failed 1 Homing successful This flag bit is available when the Drive is in homing mode in running state and the target reached signal is active 13...

Page 108: ...0 6098 00 Homing Method RW INT8 1 to 35 1 6099 01 Speed during search for switch RW UINT32 Reference unit s 0 to 4294967295 5000 02 Speed during search for zero RW UINT32 Reference unit s 0 to 429496...

Page 109: ...tch H L The N OT signal is inactive initially and the Motor starts homing in negative direction at high speed After reaching the rising edge of the N OT signal the Motor decelerates and changes to run...

Page 110: ...starts homing in positive direction at high speed After reaching the rising edge of the P OT signal the Motor decelerates and changes to run in negative direction at low speed After reaching the falli...

Page 111: ...homing in positive direction at high speed After reaching the rising edge of the HmRef signal the Motor decelerates and changes to run in negative direction at low speed After reaching the falling ed...

Page 112: ...starts homing in positive direction at low speed After reaching the rising edge of the HmRef signal the Motor stops at the first Motor C pulse signal Deceleration point signal active at homing start...

Page 113: ...Ref signal is inactive initially The Motor starts homing in negative direction at high speed After reaching the rising edge of the HmRef signal the Motor decelerates and changes to run in positive dir...

Page 114: ...starts homing in negative direction at low speed After reaching the rising edge of the HmRef signal the Motor stops at the first Motor C pulse signal Deceleration point signal active at homing start...

Page 115: ...direction at high speed If the Motor does not reach the limit switch it decelerates and changes to run in negative direction at low speed after reaching the rising edge of the HmRef signal After reac...

Page 116: ...active initially and the Motor directly starts homing in negative direction at low speed After reaching the falling edge of the HmRef signal the Motor stops at the first Motor C pulse signal 6098h 8 H...

Page 117: ...itially and the Motor starts homing in positive direction at high speed If the Motor reaches the limit switch it automatically changes to run in negative direction at high speed After reaching the ris...

Page 118: ...ch HmRef Deceleration point signal inactive at homing start not reaching positive limit switch Motion Profile C pulse signal Home switch Positive limit switch H L Positive limit switch Home switch L T...

Page 119: ...reaching the rising edge of the HmRef signal the Motor decelerates and resumes to run in positive direction at low speed After reaching the falling edge of the HmRef signal the Motor changes to run in...

Page 121: ...inues to run in positive direction at low speed after reaching the rising edge of the HmRef signal After reaching the falling edge of the HmRef signal the Motor continues to run in positive direction...

Page 122: ...hing the falling edge of the HmRef signal the Motor stops at the first Motor C pulse signal 6098h 11 Home the Motor C pulse signal Deceleration point home switch HmRef Deceleration point signal inacti...

Page 123: ...switch it automatically changes to run in positive direction at high speed After reaching the rising edge of the HmRef signal the Motor decelerates and continues to run in positive direction at low sp...

Page 124: ...starts homing in negative direction at high speed If the Motor does not reach the limit switch it decelerates and changes to run in positive direction at low speed after reaching the rising edge of t...

Page 125: ...ng edge of the HmRef signal the Motor changes to run in negative direction at low speed and stops at the first Motor C pulse signal Deceleration point signal active at homing start Motion Profile C pu...

Page 126: ...s homing in negative direction at high speed If the Motor does not reach the limit switch it derelerates and continues to run in negative direction at low speed after reaching the rising edge of the H...

Page 127: ...falling edge of the HmRef signal the Motor changes to run in positive direction at low speed and stops at the first Motor C pulse signal Deceleration point signal active at homing start Motion Profile...

Page 128: ...elerates and continues to run in negative direction at low speed after reaching the rising edge of the HmRef signal After reaching the falling edge of the HmRef signal the Motor continues to run in ne...

Page 129: ...ef signal the Motor stops at the first Motor C pulse signal Deceleration point signal active at homing start Motion Profile C pulse signal Home switch Negative limit switch Home switch Negative limit...

Page 130: ...s inactive initially and the Motor starts homing in negative direction at high speed After reaching the rising edge of the N OT signal the Motor decelerates and changes to run in positive direction at...

Page 131: ...s inactive initially and the Motor starts homing in positive direction at high speed After reaching the rising edge of the P OT signal the Motor decelerates and changes to run in negative direction at...

Page 132: ...initially and the Motor starts homing in positive direction at high speed After reaching the rising edge of the HmRef signal the Motor decelerates and changes to run in negative direction at low spee...

Page 133: ...ive initially and the Motor starts homing in positive direction at low speed After reaching the rising edge of the HmRef signal the Motor stops Deceleration point signal active at homing start Motion...

Page 134: ...itially and the Motor starts homing in negative direction at high speed After reaching the rising edge of the HmRef signal the Motor decelerates and changes to run in positive direction at low speed A...

Page 135: ...nitially and the Motor directly starts homing in negative direction at low speed After reaching the rising edge of the HmRef signal the Motor stops Deceleration point signal active at homing start Mot...

Page 136: ...and changes to run in negative direction at low speed after reaching the rising edge of the HmRef signal After reaching the falling edge of the HmRef signal the Motor stops Deceleration point signal...

Page 137: ...24 Home home switch HmRef Deceleration point home switch HmRef Deceleration point signal inactive at homing start not reaching positive limit switch Motion Profile Home switch Positive limit switch H...

Page 138: ...high speed After reaching the rising edge of the HmRef signal the Motor decelerates and continues to run in negative direction at low speed After reaching the falling edge of the HmRef signal the Moto...

Page 139: ...HmRef signal After reaching the falling edge of the HmRef signal the Motor changes to run in negative direction at low speed and stops at the rising edge of the HmRef signal Deceleration point signal...

Page 140: ...tive direction at low speed After reaching the rising edge of the HmRef signal the Motor stops 6098h 26 Home home switch HmRef Deceleration point home switch HmRef Deceleration point signal inactive a...

Page 141: ...eed If the Motor reaches the limit switch it automatically changes to run in negative direction at high speed After reaching the rising edge of the HmRef signal the Motor decelerates and resumes to ru...

Page 142: ...and changes to run in positive direction at low speed after reaching the rising edge of the HmRef signal After reaching the falling edge of the HmRef signal the Motor stops Deceleration point signal...

Page 143: ...Home home switch HmRef Deceleration point home switch HmRef Deceleration point signal inactive at homing start not reaching negative limit switch Motion Profile Home switch Negative limit switch H Ne...

Page 144: ...speed After reaching the rising edge of the HmRef signal the Motor decelerates and continues to run in positive direction at low speed After reaching the falling edge of the HmRef signal the Motor ch...

Page 145: ...he HmRef signal After reaching the falling edge of the HmRef signal the Motor changes to run in positive direction at low speed and stops at the rising edge of the HmRef signal Deceleration point sign...

Page 146: ...tive direction at low speed After reaching the rising edge of the HmRef signal the Motor stops 6098h 30 Home home switch HmRef Deceleration point home switch HmRef Deceleration point signal inactive a...

Page 147: ...eed If the Motor reaches the limit switch it automatically changes to run in positive direction at high speed After reaching the rising edge of the HmRef signal the Motor decelerates and changes to ru...

Page 148: ...gative direction at low speed and stops at the first Motor C pulse signal 6098h 34 Home the Motor C pulse signal Deceleration point None Motion Profile C pulse signal L The Motor runs in positive dire...

Page 149: ...Profile jerk 60A4h Speed control Torque control inc s 104 inc s2 Vel unit Acc unit Target velocity 60FFh Max profile velocity 607Fh Speed gear ratio 6094 02h 6094 01h Position gear ratio 6093 01h 6093...

Page 150: ...0 to 65535 0 6040 00 Controlword RW UINT16 0 to 65535 0 6041 00 Statusword RO UINT16 0 to 0xFFFF 0 6060 00 Modes of operation RW INT8 0 to 10 0 6061 00 Modes of Operation display RO INT8 0 to 10 0 60...

Page 151: ...RW INT32 0 to 200 100 3201 00 Limit for Load Oscillation Suppression RW INT32 rpm 0 to 1000 100 3169 00 Internal Torque Feedforward Method RW INT32 0 to 3 0 02 Torque Feedforward Method RW INT32 0 to...

Page 152: ...al value 6063h Velocity demand value 606Dh Encoder Motor Vel unit Torque offset 60B2h Acc unit Quick stop deceleration 6085h or profile deceleration 6084h Speed Limit The speed limit is determined by...

Page 153: ...3648 to 2147483647 60FF 00 Target Velocity RW INT32 Reference unit s 2147483648 to 2147483647 0 606C 00 Velocity Actual value RO INT32 Reference unit s 6077 00 Torque actual value RO INT16 0 1 5000 to...

Page 154: ...to 500 100 31FE 00 Model Following Control Torque Feedforward RW INT32 0 to 200 100 3201 00 Limit for Load Oscillation Suppression RW INT32 rpm 0 to 1000 100 3169 00 Internal Torque Feedforward Method...

Page 155: ...mand value 6074h Encoder Motor Torque slope 6087h Max torque 6072h Torque control Velocity actual value 606Ch Position actual value 6064h Speed Limit The speed limit is determined by the smaller of 60...

Page 156: ...8 0 to 10 0 6071 00 Target Torque RW INT16 0 1 32768 to 32768 0 6072 00 Target Demand Value RO INT16 0 1 6074 00 Target Demand Value RO INT16 0 1 6077 00 Torque actual value RO INT16 0 1 5000 to 5000...

Page 157: ...unction Velocity gear ratio 6094 02h 6094 01h Position gear ratio 6093 01h 6093 02h Torque actual value 6077h Position actual internal value 6063h Torque demand value 6074h Encoder Motor Torque offset...

Page 158: ...Code RO UINT16 0 to 65535 0 6040 00 Controlword RW UINT16 0 to 65535 0 6041 00 Statusword RO UINT16 0 to 0xFFFF 0 6060 00 Modes of operation RW INT8 0 to 10 0 6061 00 Modes of Operation display RO IN...

Page 159: ...orque 60E0h Positive Torque Limit Value 60E1h Negative Torque Limit Value Position control Velocity control Position demand value Torque offset Torque control Motor Torque limits Positive Torque Limit...

Page 160: ...al on CN1 terminal is only used as remote input IO and the Drive will ignore its status Digital Outputs 60FEh This object controls the status of both general purpose output signals and remote output s...

Page 161: ...N1 12 13 Remote3 28 to 31 Reserved 6 10 Touch Probe You can latch the feedback position with the following trigger events Trigger with Touch Probe Input 1 EXT1 signal Trigger with Touch Probe Input 2...

Page 162: ...O INT32 Yes 60BD 00 Touch Probe Neg 2 Pos Value RO INT32 Yes The examples of execution procedure for a Touch Probe are as following Single Trigger Mode 60B8h bit1 0 or bit9 0 1 2 3 Latched position 1...

Page 163: ...touch probe 1 input 5 0 Disables the sampling at the falling edge of touch probe 1 input 1 Enables the sampling at the falling edge of touch probe 1 input 6 7 0 Reserved 8 0 Disables touch probe 1 1 E...

Page 164: ...position of the rising edge is stored for touch probe 2 1 A latch position of the rising edge is stored for touch probe 2 10 0 No latched position of the falling edge is stored for touch probe 2 1 A...

Page 165: ...meters are as following NO Name Range Unit Default When Enabled Pn331 0 Touch Probe 1 signal Allocated Pin Number 0 to 2 0 After restart Pn331 1 Touch probe 2 Signal Allocated Pin Number 0 to 2 1 Pn33...

Page 166: ...limit values are corrected internally for the home offset as given below The target positions are compared with the corrected values Corrected minimum position limit Min position limit Home offset 60...

Page 167: ...hase AC power supply 2 Use a DC power supply Pn007 3 0 AC power supply frequency is 50Hz 1 AC power supply frequency is 60Hz An alarm A 24 Main Circuit Power Supply Wiring Error may be occurred if the...

Page 168: ...eference Diagram Pn001 0 0 CCW Forward Forward Reference PAO PBO CCW Encoder pulse division output Phase B advanced Rotation speed Torque reference Reverse Reference PAO PBO CW Encoder pulse division...

Page 169: ...Motor forward direction Drive Motor Limit switch Limit switch N OT P OT 16 15 CN1 Using the overtravel function is not necessary for rotating applications such as rotary tables and conveyors No wiring...

Page 170: ...ot allocate the P OT signal and N OT signal 7 4 Motor Stop Methods There are four methods to stop the Motor when an alarm Gr 1 or Gr 2 occurs in Safe state or Servo OFF Stop method Meaning Stop by dyn...

Page 171: ...g When Enabled Pn003 1 0 Default Stop by dynamic brake Coast After restart 1 Stop by dynamic brake Dynamic Brake 2 Reverse brake Zero clamping 3 Reverse brake Coast NOTE the speed reference is set to...

Page 172: ...ue of the Motor 7 5 Holding Brake 7 5 1 Function Description A holding brake is used to hold the position of the moving part of the machine when the Drive is turned OFF so that moving part does not mo...

Page 173: ...d Threshold and Pn508 Brake Enable Waiting Time to set the timing of when the brake will operate and when the servo will be turned OFF NOTE Time Required to Release Brake The time from when the BK Bra...

Page 174: ...0 Immediately Pn506 Servo OFF Waiting Time 0 to 500 10ms 0 Immediately Set Pn505 as a positive value when S ON command is received the BK signal will be output first and then power supplied to the Mot...

Page 175: ...satisfied When the Motor speed falls below the level set in Pn507 after the power to the Motor is turned OFF When the time set in Pn508 is exceeded after the power to the Motor is turned OFF Paramete...

Page 176: ...encoder refers to the section Battery Case Connection in 3 5 Wiring the Encoder A48 Alarm Occurred When the voltage of the encoder battery is lower than 3V an alarm A48 will occur In this case follow...

Page 177: ...ncy Division The phase difference between phase A and phase B is an electric angle of 90 PAO CN1 22 PBO CN1 23 Encoder Divided Pulse Output Phase B PBO CN1 24 PCO CN1 25 Encoder Divided Pulse Output P...

Page 178: ...r restart 1 Enables the external encoder Pn210 0 1 or 2 and then using the external encoder for the divided pulse output The number of pulses from the encoder per rotation are processed inside the Dri...

Page 179: ...al to CN1 17 Pn510 0 CN1 18 Allocated the input signal to CN1 18 IMPORTANT If you allocate two or more signals to the same input circuit a logical OR of the inputs will be used and all of the allocate...

Page 180: ...0 CN1 6 7 Allocated the output signal to CN1 6 7 Pn511 1 CN1 10 11 Allocated the output signal to CN1 10 11 Pn511 2 CN1 12 13 Allocated the output signal to CN1 12 13 IMPORTANT If you allocate more t...

Page 181: ...Torque Detection Output Signal 8 Remote0 Remoted IO Output Signal 0 9 Remote1 Remoted IO Output Signal 1 A Remote2 Remoted IO Output Signal 2 B Allocation Example The following example shows reversin...

Page 182: ...7 9 3 NOTE If you set a value that exceeds the maximum torque of the Motor the torque will be limited to the maximum torque of the Motor 7 9 1 Internal Torque Limits If you use internal torque limits...

Page 183: ...aller of the settings of Pn402 and Pn404 OFF open Cancels the reverse external torque limit The torque is limited to the setting of Pn404 Setting the Torque Limits If the setting of Pn401 Forward Torq...

Page 184: ...side the Drive to a consistent rate of acceleration and deceleration The soft start form can be selected by parameter Pn310 0 Ramp 1 S Curve 2 Primary filtering 3 Secondary filtering The soft start fu...

Page 185: ...e output torque is limited to suppress the drop in the main circuit bus voltage 0 Pn406 Torque limit starts Threshold Main circuit bus voltage Main circuit input power supply Undervoltage warning D1 T...

Page 186: ...e absolute encoder 7 7 Encoder Setting 8 2 Inspections and Confirmations To ensure safe and correct trial operation check the following items before you start trial operation Make sure that the Drive...

Page 187: ...peed must be set considering the operating range of the machine The jogging speed is set with the following parameters Parameter Name Range Unit Default When Enabled Pn305 Jogging Speed 0 to 6000 rpm...

Page 188: ...in to Servo OFF not supply power to Motor Step 5 Press key or key to run the Motor in forward or reverse direction Press and hold key or key to run the Motor continuously Forward rotation Reverse rota...

Page 189: ...tep 1 Select Run JOG in the Menu Bar of the ESView V4 main windows Step 2 Read and follow the precautions in the warning box and then click OK Step 3 Set the below parameters on the JOG dialog box Pn3...

Page 190: ...2019 ESTUN Automation Co Ltd All right reserved 8 5 Step 4 Click Servo Off Servo On for supplying power to the Motor Step 5 Click the button or for running the Motor Click and hold the button or can...

Page 191: ...found connect the Motor to the machine and perform trial operation again Control the operation of the brake with the BK Brake signal output from the Drive IMPORTANT Failures caused by incorrect wiring...

Page 192: ...the machine and connect the motor shaft to the load shaft with a coupling or other means Step 5 Turn ON the power supplies to the machine and host controller and turn ON the control power supply and...

Page 193: ...N There must be no alarms The Servo must not be in Safe State The servo must be OFF The range of machine motion and the safe movement speed of your machine must be considered when you set the travel d...

Page 194: ...ed set cannot be reached In this case it is necessary to increase the Rotations or decrease the Max Speed 8 5 3 Relevant Parameters Parameter Name Range Unit Default When Enabled Pn164 Turns for PJOG0...

Page 195: ...cking and setting parameters by using the Panel Operator refers to the section 4 1 4 Parameter Setting Mode The following are the steps to run the Motor between the two programmed operation patterns P...

Page 196: ...ial Operation Document Version V1 01 Dec 2019 2019 ESTUN Automation Co Ltd All right reserved 8 11 Step 2 Read and follow the precautions in the warning box and then click OK Step 3 The PJOG window wi...

Page 197: ...r running speed in the operation pattern PJOG0 or PJOG1 Acceleration Deceleration Time Set the time it takes for the Motor runs to Rotation Speed or the Motor stops from Rotation Speed Stop Time Set t...

Page 198: ...neral flow Start Set Parameters Performance evaluation End Adjust Parameters No Yes Response acceptable Parameter Classification There are two types of parameters in the tuning Function Parameters ref...

Page 199: ...e Servo control block diagram The position loop the speed loop and the torque loop are cascade structures corresponding to the position control mode the speed control mode and the torque control mode...

Page 200: ...ain the desired Servo performance Figure 9 3 Tuning Process Start Perform the Tuning Less function End Response acceptable Perform Load Inertia Identification function Perform the One Parameter Auto T...

Page 201: ...changes in the load Autotuning is started when the Servo is turned ON The tuning less function uses an Autotune parameters adjustment module that updates the position loop and speed loop parameters in...

Page 202: ...ion is disabled Model Following Control Function is disabled 9 2 2 One Parameter Auto Tuning Function Description This tuning function is similar to the tuning less function using an Autotune paramete...

Page 203: ...time but prone to overshoot 1 Stable Stable positioning but long positioning time Stable Standard Positioning point Pn101 Servo Rigidity The Servo Rigidity determines the response characteristic of t...

Page 204: ...dard 1 Set the damping method in One Parameter Auto Tuning as Stable Pn101 Servo Rigidity Immediately Adjustment Pn106 Load Inertia Percentage Immediately Adjustment Application Restrictions The follo...

Page 205: ...is a prerequisite for the tuning to obtain a better Servo performance You can calculate the load inertia percentage difficult and complex by yourself or you can get it by the utility function Fn009 o...

Page 206: ...sition loop bandwidth will be increased and the anti load disturbance performance will be better However overshooting and vibration in the position reference may be occurred It is recommended to set t...

Page 207: ...ock diagram in using a tuning tool Figure 9 7 Block diagram in using a tuning tool Drive Positon loop Speed loop Torque loop M Current Encoder Motor Speed Position Internal adjustment Positon referenc...

Page 208: ...repeatedly according to the parameter settings of the two operation patterns until the tuning is completed You can set the parameters Pn164 and Pn168 to a negative value for reversing the Motor so th...

Page 209: ...thod Write into Speed Loop Gain Auto tuning Pn102 Speed Loop Integral Time Auto tuning Pn103 Position Loop Gain Auto tuning Pn104 Torque Command Filter Time Auto tuning Pn105 CAUTION The parameters ca...

Page 210: ...ation suppression function when using the auto tuning tool For details refers to the section 9 6 4 Automatic Vibration Suppression The following functions or applications are not available when using...

Page 211: ...are speed loop gain Lit for that the automatic vibration suppression is enabled Step 5 When this operation has been completed Panel Operator will display the result of execution Succeeded Failure Step...

Page 212: ...reserved 9 15 Step 2 Read and follow the precautions in the warning box and then click OK Step 3 The Auto Tuning Tool window will be displayed in Function Display Area Step 4 Click Detect to perform L...

Page 213: ...POS1 Rotation Number Set the numbers of rotation the Motor will run in the operation pattern POS0 or POS1 Rotation Speed Set the Motor running speed in the operation pattern POS0 or POS1 Stop Time Set...

Page 214: ...td All right reserved 9 17 Step 8 The window will display the preparations before running the tuning The setting will be written into the Drive automatically after you check or uncheck Online Vibratio...

Page 215: ...l right reserved 9 18 Step 11 The Motor will be run between the operation patterns POS0 and POS1 Step 12 Click OK when the Auto Tuning Tool function has been completed Step 13 Click Save Parameter Ste...

Page 216: ...ition Feedback and Position Setting as far as the performance of the servo meets the requirements Step 1 Select Tuning Tuning Tools Manual Tuning Tool in the Menu Bar of the ESView V4 main windows Ste...

Page 217: ...irection of rotation Repeat Times 1 to 10 The number of times the command was executed Stop Time 0 to 32767 Set the hold time when the Motor stops running Speed 0 to 3000 The speed of the Motor when t...

Page 218: ...tory of the Motor in Two way movement and One way movement is shown in the figure below Set Repeat Times as 2 Travel Distance Stop Time t Two way movement Travel Distance Stop Time t One way movement...

Page 219: ...The positive and negative values indicate the direction of rotation Repeat Times 1 to 10 The number of times the command was executed Stop Time 0 to 32767 Set the hold time when the Motor stops runni...

Page 220: ...n Enabled Gain Pn102 Speed Loop Gain 1 to 10000 rad s 500 Immediately Pn103 Speed Loop Integral Time 1 to 5000 0 1ms 125 Immediately Pn104 Position Loop Gain 0 to 1000 1 s 40 Immediately Pn105 Torque...

Page 221: ...ld for Gain Switch 0 to 20000 0 Immediately Pn124 Speed Threshold for Gain Switch 0 to 2000 rpm 0 Immediately Pn125 Ramp Time for Position Loop Gain Switch 0 to 20000 0 1ms 0 Immediately Pn126 Hystere...

Page 222: ...Pn155 Load Oscillation Frequency 50 to 500 0 1Hz 100 Immediately Pn156 Filter Time for Load Oscillation Suppression 2 to 500 0 1ms 10 Immediately Pn157 Limit for Load Oscillation Suppression 0 to 100...

Page 223: ...ilter 3 0 to 15 2 Immediately Others Pn127 Low Speed Filter 0 to 100 1cycle 0 Immediately Pn130 Coulomb Friction Compensation 0 to 3000 0 1 Tn 0 Immediately Pn131 Speed Dead Band for Coulomb Friction...

Page 224: ...coder is the calculate result that the Drive read the position value from the encoder and differentiate time There is a speed observer inside the Drive for detecting the speed of the Motor in real tim...

Page 225: ...in parameters for the Servo operation in a specific stage so that the overall performance of the Servo system can reach the desired performance Take Figure 9 11 as an example the position stage focuse...

Page 226: ...g Pn117 3 Use position deviation counter as the condition threshold setting Pn118 4 Use acceleration as the condition threshold setting Pn119 5 Use speed reference as the condition threshold setting P...

Page 227: ...n the actual speed exceeds the threshold value Both condition 1 and condition 2 are met switching to second group of gain parameters otherwise the first group of gain parameters is used Set Pn121 to 9...

Page 228: ...ment Take the default settings as an example the default setting of Pn116 is 0 Use torque reference as the condition and the default Torque Reference Threshold for P PI Switch Pn117 is 200 in this cas...

Page 229: ...election Pn150 0 is enabled 2 Use the torque feedforward set by the controller which is available in the bus control and set by the object 60B2h 3 Use the torque feedforward generated by Cubic interpo...

Page 230: ...y Controller The setting of Pn005 3 2 Use the speed feedforward set by the controller or Pn005 2 2 Use the torque feedforward set by the controller is only available for EtherCAT Communication The rel...

Page 231: ...Compensation is 0 The viscous friction compensation is a linear relationship with the Motor speed as is shown in Figure 9 16 You can set the Viscous Friction Compensation by Pn132 Figure 9 16 Relatio...

Page 232: ...pensation Immediately Adjustment Pn161 Load Torque Observer Gain Immediately Adjustment 9 5 6 Model Following Control The Model Following Control is outside of the position loop In Model Following Con...

Page 233: ...tion Immediately Adjustment The Model Following Control Gain Pn151 determines the position response performance and increase this setting can improve speed of response but overshooting will be likely...

Page 234: ...ch filter Since the notch filter can attenuate the signal at the notch frequency if you set a proper frequency Pn181 Pn184 or Pn187 depth n182 Pn185 or Pn188 and width n183 Pn186 or Pn189 the vibratio...

Page 235: ...iagram of using the IF vibration suppression filter Figure 9 20 Block diagram of using the IF vibration suppression filter Speed loop Torque loop Speed reference M Encoder Motor Speed IF vibration sup...

Page 236: ...ion control as is shown in Figure 9 21 Figure 9 21 Load Oscillation Suppression Before Tuning After Tuning This function is based on the Model Following Control According to the relationship between t...

Page 237: ...ication restrictions apply to the Load Oscillation Suppression Load Oscillation Suppression can only be used when the Model Following Control is in effect Only applied for the Manual Tuning Only appli...

Page 238: ...Setting Meaning When Enabled Classification Pn181 Frequency of Notch Filter 1 Immediately Adjustment Pn184 Frequency of Notch Filter 2 Immediately Adjustment Pn187 Frequency of Notch Filter 3 Immediat...

Page 239: ...xecute the load inertia identification At this time Panel Operator displays the speed of the Motor in real time Step 5 When this operation has been completed Panel Operator will display the detection...

Page 240: ...erved 9 43 Step 2 Read and follow the precautions in the warning box and then click OK Step 3 Set Circle Count on the Load Inertia Identification dialog box indicating the rotation number of the Motor...

Page 241: ...Dec 2019 2019 ESTUN Automation Co Ltd All right reserved 9 44 Step 5 Click Run Step 6 When the Load Inertia Identification function has been completed the result will be displayed in the textbox Step...

Page 242: ...ing this function This function measures the frequency characteristics of a mechanical system where a Drive is connected to a PC It enables the measurement of mechanical frequency characteristics with...

Page 243: ...3 Set the necessary parameters before performing the Mechanical Analysis function Step 4 Click Servo Off Servo On for supplying power to the Motor Step 5 Click to start the Mechanical Analysis functi...

Page 244: ...FT This function can analyze the vibration frequency of the machine and draw the graphics on the window when the Motor is running Step 1 Select Advance FFT in the Menu Bar of the ESView V4 main window...

Page 245: ...ng Document Version V1 01 Dec 2019 2019 ESTUN Automation Co Ltd All right reserved 9 48 Step 4 Click to start the FFT function Step 5 When the FFT function has been completed the waveform graphics of...

Page 246: ...characteristics of the Motor operation Step 1 Select Advance Friction Analysis in the Menu Bar of the ESView V4 main windows Step 2 Read and follow the precautions in the warning box and then click O...

Page 247: ...vo On for supplying power to the Motor Step 7 Click Run Step 8 When the Friction Analysis function has been completed the waveform graphics of the data result is displayed in the window Step 9 Move Re...

Page 248: ...anual Tuning Document Version V1 01 Dec 2019 2019 ESTUN Automation Co Ltd All right reserved 9 51 Step 11 Click Save to write Friction Compensation Gain and Friction Damping Proportion into the parame...

Page 249: ...of the system configuration Motor Main Circuit Cable Motor External Encoder Cable Motor Encoder Cable 10 2 Commissioning Procedure First confirm that the Drive operates correctly with semi closed loo...

Page 250: ...n213 to change Position Deviation Threshold between Encoder and External Encoder Step 8 Try to use the PJOG operation to confirm the Motor s motion For details on PJOG operation refers to the section...

Page 251: ...irection To perform fully closed loop control you must set the Motor rotation direction with both Pn001 0 CCW CW and Pn210 3 Direction of External Encoder Pn001 0 CCW CW 1 Pn210 3 Direction of Externa...

Page 252: ...Parameter Name Range Unit Default When Enabled Pn210 0 External Encoder Selection 0 to 2 0 After restart Pn212 Resolution of External Encoder 1 to 1048576 1 pulse 10000 After restart 10 3 4 Encoder D...

Page 253: ...coder per Motor rotation Pn214 This setting can be used to prevent the Motor from running out of control due to damage to the external encoder or to detect belt slippage Parameter Name Range Unit Defa...

Page 254: ...gnal is detected However the safety function STO is not equivalent to the safety function safe off of IEC 60204 1 since it does not provide any galvanic insulation This means that the Motor terminals...

Page 255: ...the category is Cat 4 ISO 13849 1 2015 According to IEC 61508 2010 and IEC62061 2015 the SFF is no less than 99 for dual channel part 1oo2 and is no less than 99 for signal channel part 1oo1 According...

Page 256: ...viously used product are the same model when replacing the Drive Always confirm the performance of the function before running the system Please conduct a risk assessment of the entire machine or devi...

Page 257: ...EC 60068 2 6 1995 IEC 60068 2 14 1984 IEC 60068 2 27 1987 IEC 60068 2 78 2001 IEC 61800 2 2015 IEC 61800 5 1 2007 AMD1 2016 11 2 Environmental Conditions Item Specification Operation Temperature 5 to...

Page 258: ...power supplying to the IO signal of the STO function The external signal shall meet the Idle current principle Pin Signal Name Function 1 0V 24V Power Supply Do not use these pins because they are co...

Page 259: ...aracteristics Description Internal Impedance 3 3 k Operating Voltage Range 24V 20 VH_min 17 6 V VL_max 4 V The electrical characteristics of the EDM CN6 7 8 output signal are as follows Item Character...

Page 260: ...unction Device The relationship among the signals of EDM HWBB1 and HWBB2 is shown in Table 11 1 Table 11 1 The relationship among the signals of EDM HWBB1 and HWBB2 Signal Logic HWBB1 ON ON OFF OFF HW...

Page 261: ...signals of HWBB1 and HWBB2 Item Logic HWBB1 ON ON OFF OFF HWBB2 ON OFF ON OFF State Alarm Alarm SAF Turn OFF input signals HWBB1 and HWBB2 for taking effect the STO function the power supplied to the...

Page 262: ...4 BK Brake Ouput Signal If the STO function takes effect when the HWBB1 or HWBB2 signal is OFF the BK Brake signal will turn OFF At that time the setting in Pn506 Brake Reference Servo OFF Delay Time...

Page 263: ...5 Safety Function Device Connection 11 5 1 Disconnecting a Safety Function Device If you do not connect a safety function device keep the Safety Connector plugged into the CN6 port and the shorting pi...

Page 264: ...mation Co Ltd All right reserved 11 11 11 5 2 Connecting a Safety Function Device Remove the shorting pins on the Safety Connector Remove the shorting pins on the Safety Connector as shown in Figure 1...

Page 265: ...OFF and the EDM signal is turned ON to enter the Safe State When the blocking of the safety grating is released the HWBB1 and HWBB2 signals turn ON and the Drive will enter the Operating State Validat...

Page 266: ...gnals may be faulty The cable for the input signal has been disconnected Find the cause and correct the problem 11 6 Procedure Taking the wiring of the Safety Function Device shown in Figure 11 4 as a...

Page 267: ...1 Chapter 12 Appendix 12 1 Parameters Lists 12 1 1 Interpreting the Parameter Lists When Enabled indicates the parameter take effective when After restart the power supply is turned OFF and ON again...

Page 268: ...1 Forward Drive Prohibit Input 0 Enabled The Motor is stopped according to the setting of Pn003 1 when the overtravel occurs 1 Disabled Pn000 2 Reverse Drive Prohibit Input 0 Enabled The Motor is stop...

Page 269: ...Range Unit Default When Enabled Pn002 3166 Application Function Selections 2 0000 to 0100 0000 After restart Pn002 0 Reserved setting Do not change Pn002 1 Reserved setting Do not change Pn002 2 Usag...

Page 270: ...then place the Motor in DB state 2 Coast the Motor to a stop Pn003 1 Motor Stopping Method for Overtravel 0 Applying the dynamic brake and then let the Motor coast 1 Coast the Motor to a stop 2 Apply...

Page 271: ...dynamic brake and then place the Motor in DB state 2 Coast the Motor to a stop 3 Applying the reverse brake and then place the Motor in DB state 4 Applying the reverse brake and then let the Motor co...

Page 272: ...rd which is available when Model Following Control Selection Pn150 0 is enabled 2 Use the torque feedforward set by the controller which is available in the bus control and set by the object 60B2h 3 U...

Page 273: ...the setting of Pn005 1 1 Use EtherCAT Pn006 1 Reserved setting Do not change Pn006 2 Reserved setting Do not change Pn006 3 Reserved setting Do not change Pn007 316B Application Function Selections 7...

Page 274: ...ower On 0 to 9999 0010 After restart Set the displayed Un Number when power on the device For example set this parameter to 0 the display is Un000 after powering on the device Pn009 316D Application F...

Page 275: ...ted 0 Standard Short positioning time but prone to overshoot 1 Stable Stable positioning but long positioning time Pn101 31C9 Servo Rigidity 0 to 500 Hz 40 Immediately This parameter determines the re...

Page 276: ...tely Pn110 31D2 Second Torque Reference Filter Time 0 to 2500 0 01ms 100 Immediately Pn112 31D4 Speed Feedforward 0 to 100 0 Immediately This value is a percentage of the internal speed feedforward Th...

Page 277: ...threshold is used to switch speed controller from PI to P This value is an acceleration reference Pn120 31DC Speed Reference Threshold for P PI Switch 0 to 10000 rpm 0 Immediately The threshold is us...

Page 278: ...s parameter determines the performance of the filter for low speed measurement The filter will filter out the noise in low speed but the measured speed has significant delay if this value is large Pn1...

Page 279: ...c will improve and the positioning time will be shortened Pn152 31FC Model Following Control Gain Correction 20 to 500 100 Immediately This parameter is used for correcting the setting of the model fo...

Page 280: ...3204 Load Torque Compensation 0 to 100 0 Immediately This parameter is a coefficient percentage to compensate load torque Increase this value can improve load disturbance rejection performance but may...

Page 281: ...ression Filter 100 to 2000 Hz 2000 Immediately Pn174 3212 Adjust Bandwidth of Vibration Suppression Filter 1 to 100 30 Immediately Pn175 3213 Vibration Suppression 0 to 500 100 Immediately Pn176 3214...

Page 282: ...quency of Notch Filter 2 50 to 5000 Hz 5000 Immediately Pn185 321D Depth of Notch Filter 2 0 to 23 0 Immediately Pn186 321E Width of Notch Filter 2 0 to 15 2 Immediately Pn187 321F Frequency of Notch...

Page 283: ...Setting 0 Use the Motor encoder setting as the frequency division 1 Use the external encoder setting as the frequency division Pn210 2 External Encoder Phase Sequence Selection 0 Keep the current phas...

Page 284: ...is in inner speed control mode Pn006 0 0 and Pn005 1 1 Pn305 3295 Jogging Speed 0 to 6000 rpm 500 Immediately To set a speed for the Motor in JOG operation and the rotation direction is determined by...

Page 285: ...locity exceeds this threshold Pn331 32AF Touch Probe Signal Allocation 0000 to 0022 0010 After restart Pn331 0 Touch Probe 1 signal Allocated Pin Number 0 Allocate the signal to CN1 1 1 Allocate the s...

Page 286: ...be 2 signal invert selection 0 Do not invert Touch Probe 2 signal take effective when low level 1 Invert Touch Probe 2 signal take effective when high level Pn333 2 Reserved setting Do not change Pn33...

Page 287: ...1 to 83886080 1 pulse 41943040 Immediately It is considered the deviation counter has been overflowed and an alarm signal outputs when the deviation counter exceeds this setting NOTE the default sett...

Page 288: ...FF The BK signal tunes ON as long as one of the conditions Brake Reference Waiting Speed and Brake Reference Waiting Time is satisfied Pn509 3361 Digital Input Signal Allocations 1 0000 to 7777 3210 A...

Page 289: ...No Index Name Range Unit Default When Enabled Pn510 3362 Digital Input Signal Allocations 2 0000 to 0007 0004 After restart Pn510 0 Allocate signal to CN1 18 0 S ON 1 P OT 2 N OT 3 P CL 4 N CL 5 G SEL...

Page 290: ...locate signal to CN1 10 11 0 to b same as the allocation of CN1 6 7 Pn511 2 Allocate signal to CN1 12 13 0 to b same as the allocation of CN1 6 7 Pn511 3 Reserved setting Do not change Pn512 3364 Digi...

Page 291: ...3367 Alarm Output Signal Filter Time 0 to 3 2 cycle 1 Immediately To set a filtering time for the alarm signals If you increase this setting the alarm will be delayed Pn516 3368 Digital Input Signal...

Page 292: ...is not inverted 1 The signal is inverted Pn517 1 Reserved setting Do not change Pn517 2 Reserved setting Do not change Pn517 3 Reserved setting Do not change Pn519 336B Serial Encoder Communication E...

Page 293: ...not mask 1 Ignore the alarm Pn521 1 A06 Mask 0 Do not mask 1 Ignore the alarm Pn521 2 Reserved setting Do not change Pn521 3 Reserved setting Do not change Pn525 3371 Motor Overload Detection Start T...

Page 294: ...1 The signal is inverted Pn529 3375 Torque Reaches Status Detection Torque Threshold 3 to 300 100 Immediately When the torque output exceeds the setting of Pn529 and the time is greater than the sett...

Page 295: ...3 Pn007 3 0 the time of one period is 1 50s Pn007 3 1 the time of one period is 1 60s Pn541 3381 Current Threshold for Detecting Abnormal Operation 0 to 400 In 200 Immediately Set a percentage thresh...

Page 296: ...Displays Alarm Classifications There are three classifications of alarms for the Drive Gr 1 Gr 2 and Warning They will affect the display and operation for the Servo System Classification Stopping Me...

Page 297: ...crease the position loop gain Check the mechanical A06 Gr 1 Position Deviation Overflow the pulse exceeds the setting of Pn504 When Pn005 1 Deviation Counter Alarm is set to 1 Enabled the value of the...

Page 298: ...tor is connected A16 Gr 1 Discharging Error The discharging operation is abnormal Check the sizing of regenerative resistor A18 Gr 1 IPM Overheated The temperature of the Intelligent Power Module is g...

Page 299: ...ation for 1 second Repower up the system or else contact ESTUN or the Authorized Distributor A42 Gr 1 Power Mismatch The selection between the Drive and Motor was mismatched Re select the Motor to mat...

Page 300: ...as the phase of the encoder zone 1 is empty or incorrect Replace the Motor A59 Gr 1 Zone 2 Data Error The data such as the phase of the encoder zone 2 is empty or incorrect The information about the...

Page 301: ...ne 1 Replace the Motor A83 Gr 1 Motor Running Error The wiring of the Motor was abnormal The Motor was driven in reverse for power generation Check and correct the order of phases U V and W in the Mot...

Page 302: ...ontrol Board Overheated Warning The junction temperature of NetX52 is greater than 113 Check if the ambient temperature is proper AF0 Gr 1 Internal Program Error An error occurred in the internal prog...

Page 303: ...ent Version V1 01 Dec 2019 2019 ESTUN Automation Co Ltd All right reserved 12 37 Bit Data M O 1 Current O 2 Voltage O 3 Temperature O 4 Communication error overrun error state O 5 Device profile speci...

Page 304: ...times the alarm occurs when the servo is turned on and the maximum value is 8 The data description is as following Bit Data Description 0 to 15 Error code Alarm No 16 to 31 Additional information Emer...

Page 305: ...NOTE Commands that save objects to FRAM can only be executed when it is not in Servo ON state Save Autonomously means you don t need to write save to the object when the slave saves the object value...

Page 306: ...1603h and 1A00h to 1A03h to 0 3 Set all of the mapping entries for the PDO mapping objects Set objects 1600h to 1603h and 1A00h to 1A03h 4 Set the number of mapping entries for the PDO mapping objects...

Page 307: ...ta Type Access PDO Mapping Value 1602h 0 Number of entries USINT RW NO 4 1 Mapping entry 1 UDINT RW NO 0x60400010 2 Mapping entry 2 UDINT RW NO 0x60FF0020 3 Mapping entry 3 UDINT RW NO 0x60B80010 4 Ma...

Page 308: ...ntry 5 UDINT RW NO 6 Mapping entry 6 UDINT RW NO 7 Mapping entry 7 UDINT RW NO 8 Mapping entry 8 UDINT RW NO 2nd Transmit PDO Mapping Index Subindex Name Data Type Access PDO Mapping Value 1A01h 0 Num...

Page 309: ...Data Type Access PDO Mapping Value 1A03h 0 Number of entries USINT RW NO 1 1 Mapping entry 1 UDINT RW NO 0x60410010 2 Mapping entry 2 UDINT RW NO 3 Mapping entry 3 UDINT RW NO 4 Mapping entry 4 UDINT...

Page 310: ...MultiPos 30A6h Index Subindex Name Data Type Access PDO Mapping Value 30A6h 0 MultiPos UINT32 RO TxPDO 0x0000 Pn000 Basic Function Selections 0 3164h Index Subindex Name Data Type Access PDO Mapping...

Page 311: ...pecific 7 Fault reset 8 halt 9 10 Reserved 11 to 15 Manufacture specific Bit0 to Bit3 and Bit7 These bits function as the control command for the Servo Drive s state Command Bit of the controlword Bit...

Page 312: ...e description of Bit4 Bit5 Bit6 and Bit8 in HM mode is as following Bit Data Value Description 4 Homing operation start 0 Does not start homing 1 Starts or continues homing 5 0 Reserved 8 0 Reserved 8...

Page 313: ...ode is as following Bit Data Value Description 4 0 Reserved 5 0 Reserved 6 0 Reserved 8 Halt 0 Executes or continues operation 1 Stops the axis according to Halt Option Code 605Dh Statusword 6041h Ind...

Page 314: ...rnal limit is activated set to 1 when the N OT or P OT signal was activated The description of Bit10 Bit12 and Bit13 in PP mode is as following Bit Data Value Description 10 Target reached 0 Halt Bit...

Page 315: ...on velocity or torque 1 Drive follows the target value position velocity or torque 13 Following error 0 No following error 1 Following error The description of Bit10 Bit12 and Bit13 in IP mode is as f...

Page 316: ...Option Code 605Ah This object determines what operation will be performed if a Quick Stop is executed Index Subindex Name Data Type Access PDO Mapping Value 605Ah 0 Quick Stop Option Code INT16 RW No...

Page 317: ...bject defines the operation that is performed if there is a move from Operation Enable state to Switched ON state Index Subindex Name Data Type Access PDO Mapping Value 605Ch 0 Shutdown Option Code IN...

Page 318: ...is used to select the operation mode The Servo System gives the actual operation mode in the Modes of Operation Display object Index Subindex Name Data Type Access PDO Mapping Value 6060h 0 Modes of...

Page 319: ...07Ah This object contains the target position for the Profile Position Mode or Cyclic Sync Position Mode In Profile Position Mode the value of this object is interpreted as either an absolute or relat...

Page 320: ...Fh This object defines the maximum speed during a Profile Mode operation However the Servo will regard the minimum value between 607Fh and 6080h as the maximum speed during a Profile Mode operation In...

Page 321: ...Yes 0 to 4294967295 Default 200000 Unit 0 1 rpm s Quick Stop Deceleration 6085h This object contains the deceleration rate that is used to stop the Motor if the Quick Stop Option Code 605Ah is set to...

Page 322: ...g Index Subindex Name Data Type Access PDO Mapping Value 607Ch 0 Home Offset INT32 RW Yes 2147483648 to 2147483647 Homing Method 6098h This object specifies the homing method Index Subindex Name Data...

Page 323: ...ng Value 609Ah 0 Home Acceleration UINT32 RW Yes 0 to 4294967295 Default Pn723 12 3 7 Position Control Function Position Demand Value 6062h This object specifies the current reference position in user...

Page 324: ...n statusword changes to 1 to indicate following error Index Subindex Name Data Type Access PDO Mapping Value 6065h 0 Following Error Window INT32 RW Yes 2147483648 to 2147483647 Following Error Time O...

Page 325: ...s object gives the output of the trajectory generator during position control the position that is input to the position loop The value is given in encoder pulses This value is 0 in Velocity Mode Inde...

Page 326: ...b index supported UINT8 RO No 2 1 Interpolation time period value INT32 RW No 1 to 250 Default 4 2 Interpolation time index INT8 RW No 6 to 3 Default 3 NOTE Interpolation time Interpolation time perio...

Page 327: ...Ch This object contains the Motor speed Index Subindex Name Data Type Access PDO Mapping Value 606Ch 0 Velocity Actual value INT32 RO Yes Velocity Window 606Dh This object sets the speed coincidence d...

Page 328: ...e Data Type Access PDO Mapping Value 6070h 0 Velocity threshold time UINT16 RW Yes 0 to 65535 Default 0 Target Velocity 60FFh This object specifies the target speed for Profile Velocity Mode or Cyclic...

Page 329: ...apping Value 6077h 0 Torque actual value INT16 RO Yes 12 3 12 Torque Limit Function Max Torque 6072h This object sets the maximum output torque for the Motor in PT mode Set the value in units of 0 1 o...

Page 330: ...n510 has been set to Remote the input signal on CN1 terminal is only used as remote input IO and the Drive will ignore its status Digital Outputs 60FEh This object controls the status of both general...

Page 331: ...hed on Inactive 19 CN1 17 0 Switched off Active 1 Switched on Inactive 20 CN1 18 0 Switched off Active 1 Switched on Inactive 21 to 23 Reserved 24 CN1 6 7 Remote0 25 CN1 8 9 Remote1 26 CN1 10 11 Remot...

Page 332: ...2 RO No 02 Product code UINT32 RO No 03 Revision number UINT32 RO No 04 Serial number UINT32 RO No 1600 1st Receive PDO Mapping 00 Number of entries UINT8 RW No 01 Mapping entry 1 UINT32 RW No 02 Mapp...

Page 333: ...T32 RW No 06 Mapping entry 6 UINT32 RW No 07 Mapping entry 7 UINT32 RW No 08 Mapping entry 8 UINT32 RW No 1603 4th Receive PDO Mapping 00 Number of entries UINT8 RW No 01 Mapping entry 1 UINT32 RW No...

Page 334: ...T32 RW No 06 Mapping entry 6 UINT32 RW No 07 Mapping entry 7 UINT32 RW No 08 Mapping entry 8 UINT32 RW No 1A02 3rd Transmit PDO Mapping 00 Number of entries UINT8 RW No 01 Mapping entry 1 UINT32 RW No...

Page 335: ...INT8 RW No 01 Index of assigned TxPDO 1 UINT16 RW No 02 Index of assigned TxPDO 2 UINT16 RW No 1C32 Sync Man 2 Synchronization 00 Number of elements UINT8 RO No 01 Synchronization type UINT16 RW No 02...

Page 336: ...1C8 Pn100 Tuning Function INT32 RW No 0001 to 1105 0001 31C9 Pn101 Servo Rigidity INT32 RW No Hz 0 to 500 40 31CA Pn102 Speed Loop Gain INT32 RW No rad s 1 to 10000 500 31CB Pn103 Speed Loop Integral...

Page 337: ...o rpm 0 to 2000 0 31E1 Pn125 Ramp Time for Position Loop Gain Switch INT32 RW No 0 1 ms 0 to 20000 0 31E2 Pn126 Hysteresis for Gain Switch INT32 RW No 0 to 20000 0 31E3 Pn127 Low Speed Filter INT32 RW...

Page 338: ...o ms 100 to 10000 1000 320C Pn168 Turns for PJOG1 INT32 RW No rotation 50 to 50 5 320D Pn169 Max Speed for PJOG1 INT32 RW No rpm 100 to 3000 1000 320E Pn170 Acc Dec Time for PJOG1 INT32 RW No ms 50 to...

Page 339: ...2C Pn200 Pulse Numbers for PG Frequency Division INT32 RW No 1 pulse 16 to 16384 16384 3236 Pn210 External Encoder Setting 1 INT32 RW No 0000 to 1111 0000 3237 Pn211 External Encoder Setting 2 INT32 R...

Page 340: ...everse Brake Torque Limit INT32 RW No 0 to 350 300 32FA Pn406 Torque Limit at Main Circuit Voltage Drop INT32 RW No 0 to 100 50 32FB Pn407 Release Time for Torque Limit at Main Circuit Voltage Drop IN...

Page 341: ...Error Tolerance INT32 RW No 1 cycle 0 to 10000 3 336C Pn520 Position Arrival Status Detection Time Threshold INT32 RW No 0 1 ms 0 to 60000 500 336D Pn521 Alarm Masks INT32 RW No 0000 to 0011 0000 337...

Page 342: ...ta Type Access PDO Mapping Unit Range Default 603F 00 Error code UINT16 RW Yes 6040 00 Control word UINT16 RW Yes 6041 00 Status word UINT16 RO Yes 605A 00 Quick stop option code INT16 RW No 605B 00 S...

Page 343: ...time UINT16 RW Yes ms 606F 00 Velocity threshold UINT16 RW Yes speed units 6070 00 Velocity threshold time UINT16 RW Yes ms 6071 00 Target Torque INT16 RW Yes 6072 00 Max Torque UINT16 RW Yes 6077 00...

Page 344: ...s 6087 00 Torque Slope UINT32 RW Yes 6093 Position factor 00 Number of entries UINT32 RW No 01 numerator UINT32 RW No 02 divisor UINT32 RW No 6094 Velocity encoder factor 00 Number of entries UINT32 R...

Page 345: ...tial release Dec 2019 V1 01 Addition Derating instructions for ED3S 15A drivers when using single phase AC power Modification Precautions during the wiring Addition Inversion function for Touch Probe...

Page 346: ...P R China No 16 Shuige Road Jiangning Development Zone Nanjing 211106 P R China No 178 Yanhu Road Jiangning Development Zone Nanjing 211106 P R China No 155 Jiangjun Road Jiangning Development Zone N...

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Summary of Contents for Summa ED3S

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Estun Summa ED3S, Product Manual, Page: 212 / 346

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Summary of Contents for Summa ED3S

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