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ProNet

Series

AC Servo User's Manual

- 49 -

3.5.10 Torque Control Mode

A/D

+24V

ref

+24

PAO+

PAO-

PBO+

PBO-

PCO+

PCO-

DGND

TGON+

TGON-

S-RDY+

S-RDY-

V-CMP+

V-CMP-

ALM+

ALM-

TREF+

TREF-

DICOM

S-ON

P-CON

P-OT

N-OT

ALM-RST 39

CLR

P-CL

N-CL

Shield

ProNet

Series Servodrives

Torque Reference (±0~10V/Rated Torque)

Signal allocatons can be modified:
S-ON: Servo ON
P-CON: P Control
P-OT: Forward Run Prohibited
N-OT: Reverse Run Prohibited
ALM-RST: Alarm Reset
CLR: Clear Error Pulse
P-CL: Forward Torque Limit
N-CL: Reverse Torque Limit

SHOM: Home
ORG: Zero Position

Connect Shield to Connector Shell.

Represents Twisted-pair Wires

Shell

ALM: Servo Alarm Output

Photocoupler Output:
Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

Signal Allocations can be Modified:

V-CMP: Speed Coincidence

COIN: Positioning Completion

TGON:Rotation Detection

S-RDY:Servo Ready

CLT:Torque Limit Detection

BK:Brake Interlock

PGC: Encoder C-Pulse Output

OT:Over Travel

RD: Servo Enabled Motor Excitation Output

HOME: Home Completion Output

PG Divided Ratio Output:

Applicable Line Receiver

AM26LS32A Manufactured by TI or the Equivalent.

3.3K

Ω

Содержание pronet series

Страница 1: ...ProNet SeriesAC Servo User s Manual Version V2 10...

Страница 2: ...cation may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of ESTUN...

Страница 3: ...servomotors Procedures for wiring the servo drives and servomotors Procedures for operating of the servo drives Procedures for using the panel operator Communication protocols Ratings and characteris...

Страница 4: ...rly Please comply with the following instructions to avoid noise generated by signal lines 1 Separate high voltage cables from low voltage cables 2 Use cables as short as possible 3 Single point groun...

Страница 5: ...2 Installation Sites 23 2 2 3 Installation Orientation 24 2 2 4 Installation Method 24 Chapter 3 26 Wiring 26 3 1 Main Circuit Wiring 26 3 1 1 Names and Functions of Main Circuit Terminals 26 3 1 2 Ty...

Страница 6: ...eference 63 4 1 3 Trial Operation with the Servomotor Connected to the Machine 67 4 1 4 Trial Operation for Servomotor with Brakes 68 4 1 5 Position Control by Host Controller 68 4 2 Control Mode Sele...

Страница 7: ...4 9 Limiting Torque 117 4 9 1 Internal Torque Limit 117 4 9 2 External Torque Limit 118 4 9 3 Torque Limiting Using an Analog Voltage Reference 119 4 10 Control Mode Selection 120 4 10 1 Setting Param...

Страница 8: ...g Function 142 5 2 9 Static Inertia Detection 142 5 2 10 Absolute Encoder Multiturn Data and Alarm Reset 143 5 2 11 Absolute Encoder Related Alarms Reset 143 Chapter 6 144 MODBUS Communication 144 6 1...

Страница 9: ...4V 50 5 0kW 3 Voltage 5 Designing Sequence 6 Shaft End Code Voltage Code Designing Sequence Code Shaft End A 200V AC A Designing sequence 1 Straight without key Standard B 100VAC 2 Straight with key a...

Страница 10: ...ed in the ESTUN servo drive is 4096 2 ProNet E Supports AE100 model ProNet M does not support extended module Rated Output 02 0 2kW 04 0 4 kW 08 0 75 kW 10 1 0 kW 15 1 5 kW 20 2 0 kW 30 3 0 kW 50 5 0...

Страница 11: ...g incremental encoder 2500 P R 2 ProNet E does not support extended module ProNet Servo Drive Appearance ProNet 02A 04A ProNet 08A 10A L1 L2 L3 CN3 CN4 CN1 CN2 L1C L2C B1 B2 B3 U V W 1 2 CHARGE POWER...

Страница 12: ...CN4 CN1 CN2 L1C L2C B1 B2 B3 U V W 1 2 CHARGE POWER L1 L2 L3 CN3 CN4 CN1 CN2 24V B1 B2 B3 U V W 1 2 CHARGE POWER GND ProNet 30A 50A ProNet 30D 50D 70D 75D CN3 CN4 CN1 CN2 CHARGE POWER L1 L2 L3 L1C L2C...

Страница 13: ...ProNet Series ACServoUser sManual 11 ProNet 1AD 1ED 2BD ProNet 02B ProNet 04B ProNet 08B...

Страница 14: ...A 10A CN3 CN4 CN1 CN2 L1 L2 FG L1C L2C 1 2 B1 B2 B3 W V U CHARGE L1 L2 L3 CN3 CN4 CN1 CN2 L1C L2C B1 B2 B3 U V W 1 2 CHARGE POWER ProNet E 15A 20A ProNet E 10D 15D 20D L1 L2 L3 CN3 CN4 CN1 CN2 L1C L2C...

Страница 15: ...ACServoUser sManual 13 ProNet E 30A 50A ProNet E 30D 50D CN3 CN4 CN1 CN2 CHARGE POWER L1 L2 L3 L1C L2C B1 B2 B3 U V W 1 2 CN3 CN4 CN1 CN2 CHARGE POWER L1 L2 L3 24V GND B1 B2 B3 U V W 1 2 ProNet E 02B...

Страница 16: ...ProNet Series ACServoUser sManual 14 ProNet E 08B ProNet Servo Drive Nameplate Servodrive model Applicable power supply Applicable servomotor capacity Serial number...

Страница 17: ...ProNet Series ACServoUser sManual 15 ProNet E Servo Drive Nameplate 1 2 Part Names 1 2 1 Servomotor Servomotor without gear and brake Encoder Shell Flange Output shaft Mounting hole...

Страница 18: ...tor power line Regenerative resistor connecting terminals Used to connect external regenerative resistors Control power supply terminals Used for control power supply input Connecting terminal of DC r...

Страница 19: ...voUser sManual 17 ProNet 15A 20A ProNet E 15A 20A L1 L2 L3 CN3 CN4 CN1 CN2 L1C L2C B1 B2 B3 U V W 1 2 CHARGE POWER ProNet 10D 15D 20D ProNet E 10D 15D 20D L1 L2 L3 CN3 CN4 CN1 CN2 24V B1 B2 B3 U V W 1...

Страница 20: ...voUser sManual 18 ProNet 30A 50A ProNet E 30A 50A CN3 CN4 CN1 CN2 CHARGE POWER L1 L2 L3 L1C L2C B1 B2 B3 U V W 1 2 ProNet 30D 50D 70D 75D ProNet E 30D 50D CN3 CN4 CN1 CN2 CHARGE POWER L1 L2 L3 24V GND...

Страница 21: ...ProNet Series ACServoUser sManual 19 ProNet 1AD 1ED 2BD ProNet 02B ProNet E 02B...

Страница 22: ...ProNet Series ACServoUser sManual 20 ProNet 04B ProNet E 04B ProNet 08B ProNet E 08B...

Страница 23: ...an off the anticorrosive paint thoroughly using a cloth moistened with thinner Avoid getting thinner on other parts of the servomotor when cleaning the shaft 2 1 1 Storage When the servomotor is not b...

Страница 24: ...y is incorrect vibration will occur resulting in damage to the bearings Mechanical shock to the shaft end is forbidden otherwise it may result in damage to the encoder of the servomotor 2 1 4 Installa...

Страница 25: ...ed 2 2 2 Installation Sites Notes on installation are shown below Situation Notes on installation When installed in a control panel Design the control panel size unit layout and cooling method so that...

Страница 26: ...method Colling Fan Colling Fan Installation Orientation Install servo drive perpendicular to the wall so that the front panel containing connectors faces outward Cooling Provide sufficient space arou...

Страница 27: ...stall cooling fans above the servo drives if necessary Working conditions 1 Temperature 20 55 2 Humidity 5 95 RH 3 Vibration 4 9m s 2 or less 4 Ambient temperature to ensure long term reliability 45 o...

Страница 28: ...ronet E Functions L1 L2 Main circuit power supply input terminal 100 02B 08B 02B 08B Single phase 100 120VAC 10 15 50 60Hz 200 02A 04A 02A 04A Single phase 200 230VAC 10 15 50 60Hz 200 08A 50A 08A 50A...

Страница 29: ...50D Main circuit minus terminal 200 02A 50A 02A 50A Normally not connected 400 10D 75D 10D 50D 3 1 2 Typical Main Circuit Wiring Examples Single phase 200V ProNet 02A 04A Single phase 200V ProNet E 0...

Страница 30: ...Breaker 1Ry 1PL Servo Alarm Display ALM 7 ALM 8 Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay ProNet Series Servodrives 1 2 B1 B2 B3 B2 B1 External R...

Страница 31: ...recommended for the external regenerative resistor of ProNet 1AD 2 A resistor value of 1500W 15 is recommended for the external regenerative resistor of ProNet 1ED 3 A resistor value of 1500W 20 is r...

Страница 32: ...or resistor Single phase 100V ProNet 08B Single phase 100V ProNet E 08B L1 L2 Single phase 100 120V 50 60Hz 10 15 Power OFF Power ON 1KM 1SUP 1KM 1Ry L1 L2 W V U M PG A 1 B 2 C 3 D 4 L2C L1C CN2 1Ry 1...

Страница 33: ...26LS32A Manufactured by TI or the Equivalent Signal Allocations can be Modified V CMP Speed Coincidence COIN Positioning Completion TGON Rotation Detection S RDY Servo Ready CLT Torque Limit Detection...

Страница 34: ...L 41 42 Function selected by parameter Forward external torque limit ON Reverse external torque limit ON Current limit function enabled when ON Internal speed switching With the internally set speed s...

Страница 35: ...e of the I O signal cable is connected to the connector shell Speed V CMP 11 Speed coincidence Detects whether the motor speed is within the setting range and if it matches the reference speed value V...

Страница 36: ...Servo ON 39 ALM RST Alarm reset 15 P CON P PI control input 40 CLR Position error pulse clear input 16 P OT Forward run prohibited 41 PCL Forward torque limit input 17 N OT Reverse run prohibited 42 N...

Страница 37: ...open collector transistor circuit Select a low current relay otherwise a faulty contact will result Interface for line driver output circuit The amount of two phase phase A and phase B pulse output si...

Страница 38: ...e receiver SN75175 manufactured by TI or the equivalent Host controller Represents multi core twisted pair shielded wires Phase A Phase B Phase C Wire saving Incremental Encoder 2500P R Standard PG 1...

Страница 39: ...22 23 P Phase B PCO PCO 24 25 P Phase C 0V DGND 0V 50 Shell Note 1 BAT and BAT signals are not used when using an incremental encoder 2 The pin numbers for the connector wiring differ depending on the...

Страница 40: ...olute encoder 8 PS PG serial signal input 18 BAT Battery For an absolute encoder 9 PG5V PG power supply 5V 19 GND PG power supply 0V Resolver Terminal No Name Function Terminal No Name Function 7 SIN...

Страница 41: ...ation Connector CN4 Terminal Layout Terminal No Name Function 1 Reserved 2 3 485 RS 485 communication terminal 4 ISO_GND Isolated ground 5 ISO_GND 6 485 RS 485 communication terminal 7 CANH CAN commun...

Страница 42: ...LS 30 PULS 31 SIGN 32 SIGN 33 DICOM 13 S ON 14 P CON 15 P OT 16 N OT 17 ALM RST 39 CLR 40 P CL 41 N CL 42 Shield Shell S 7 S 8 BAT 17 BAT 18 PG5V 9 PG0V 19 Shield Serial Encoder Shell Shield Shell Shi...

Страница 43: ...O_GND 4 ISO_GND 5 485 6 CANH 7 CANL 8 N C 1 N C 2 485 3 ISO_GND 4 ISO_GND 5 485 6 CANH 7 CANL 8 PAO 20 PAO 21 PBO 22 PBO 23 PCO 24 PCO 25 DGND 50 TGON 5 TGON 6 S RDY 9 S RDY 10 V CMP 11 V CMP 12 ALM 7...

Страница 44: ...485 6 CANH 7 CANL 8 N C 1 N C 2 485 3 ISO_GND 4 ISO_GND 5 485 6 CANH 7 CANL 8 PAO 20 PAO 21 PBO 22 PBO 23 PCO 24 PCO 25 DGND 50 TGON 5 TGON 6 S RDY 9 S RDY 10 V CMP 11 V CMP 12 ALM 7 ALM 8 VREF 1 VRE...

Страница 45: ...O 23 PCO 24 PCO 25 DGND 50 TGON 5 TGON 6 S RDY 9 S RDY 10 V CMP 11 V CMP 12 ALM 7 ALM 8 VREF 1 VREF 2 TREF 26 TREF 27 PPI 34 PULS 30 PULS 31 SIGN 32 SIGN 33 DICOM 13 S ON 14 P CON 15 P OT 16 N OT 17 A...

Страница 46: ...85 6 CANH 7 CANL 8 N C 1 N C 2 485 3 ISO_GND 4 ISO_GND 5 485 6 CANH 7 CANL 8 PAO 20 PAO 21 PBO 22 PBO 23 PCO 24 PCO 25 DGND 50 TGON 5 TGON 6 S RDY 9 S RDY 10 V CMP 11 V CMP 12 ALM 7 ALM 8 VREF 1 VREF...

Страница 47: ...85 6 CANH 7 CANL 8 N C 1 N C 2 485 3 ISO_GND 4 ISO_GND 5 485 6 CANH 7 CANL 8 PAO 20 PAO 21 PBO 22 PBO 23 PCO 24 PCO 25 DGND 50 TGON 5 TGON 6 S RDY 9 S RDY 10 V CMP 11 V CMP 12 ALM 7 ALM 8 VREF 1 VREF...

Страница 48: ...CO 24 PCO 25 DGND 50 TGON 5 TGON 6 S RDY 9 S RDY 10 V CMP 11 V CMP 12 ALM 7 ALM 8 VREF 1 VREF 2 TREF 26 TREF 27 PPI 34 PULS 30 PULS 31 SIGN 32 SIGN 33 DICOM 13 S ON 14 P CON 15 P OT 16 N OT 17 ALM RST...

Страница 49: ...ited N OT Reverse Run Prohibited ALM RST Alarm Reset CLR Clear Error Pulse P CL Forward Torque Limit N CL Reverse Torque Limit SHOM Home ORG Zero Position Shell Connect Shield to Connector Shell Repre...

Страница 50: ...Signal allocatons can be modified S ON Servo ON P CON P Control P OT Forward Run Prohibited N OT Reverse Run Prohibited ALM RST Alarm Reset CLR Clear Error Pulse P CL Forward Torque Limit N CL Revers...

Страница 51: ...ALM RST Alarm Reset CLR Clear Error Pulse P CL Forward Torque Limit N CL Reverse Torque Limit SHOM Home ORG Zero Position Connect Shield to Connector Shell Represents Twisted pair Wires Shell ALM Ser...

Страница 52: ...high frequency generator install a noise filter on the input side of the power supply line As for the wiring of noise filter refer to 1 Noise Filter shown below For proper grounding technique refer to...

Страница 53: ...o drive is installed on the control panel a piece of metal plate should be fixed It is used for fixing the servo drive and other peripheral devices The noise filter should be installed on the metal pl...

Страница 54: ...the same duct or bundle them together x Noise Filter Ground plate Separate these circuits Noise Filter Noise Filter Noise Filter Ground plate Ground plate Ground plate Separate the noise filter groun...

Страница 55: ...ntrol Panel Servodrive Servodrive Ground plate Ground Noise Filter 3 7 Installation Conditions of EMC Directives To adapt a combination of a servomotor and a servodrive to EMC Directives EN61326 1 200...

Страница 56: ...ram shows two turns in the cable The table shows the cable and the position where the ferrite core is attached Cable Ferrite core b Recommended Ferrite core Cable Name Ferrite Core Model Manufacturer...

Страница 57: ...of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as possible 3 8 Using More than One Servo Drive The following diagram is an...

Страница 58: ...1RY SA R S T 1RY Servo Drive L1 L2 L3 L1C L2C CN1 L1 L2 L3 L1C L2C CN1 L1 L2 L3 L1C L2C CN1 ALM ALM ALM ALM ALM ALM Servo Drive Servo Drive Servo Motor Servo Motor Servo Motor Notes 1 Power supply ph...

Страница 59: ...together of the optional wiring conduces to bus voltage more stable The following diagram is an example of the wiring when connecting more than one servo drive DC bus Notes Connecting DC bus together...

Страница 60: ...ft to the load shaft Purpose The servomotor is operated without connecting the shaft to the machine in order to confirm the following wiring is correct Power supply circuit wiring Servomotor wiring En...

Страница 61: ...ose Perform the trial operation with the servomotor connected to the machine The servo drive is adjusted to match the machine characteristics Servomotor speed and machine travel distance Set the neces...

Страница 62: ...r trial operation to the servo drive 6 Check input signals Use the internal monitor function to check the input signals Turn the power ON and check the emergency stop brake overtravel and other protec...

Страница 63: ...motor may tip over during rotation 2 Check the power supply circuit servomotor and encoder wiring With the I O signal connector CN1 disconnected check the power supply circuit and servomotor wiring Re...

Страница 64: ...ep Display after operation Panel operator Description 1 MODE key Press the MODE key to select the function mode 2 INC or DEC key Press the INC key or DEC key to select Fn002 3 ENTER key Press the ENTE...

Страница 65: ...peration for Servomotor without Load from Host Reference Check that the servomotor move reference or I O signals are correctly set from the host controller to the servo drive Also check the wiring and...

Страница 66: ...EF from 0 V The factory setting is 6V rated rotation speed 4 Check the speed reference input to the servo drive Un001 rpm Refer to 5 1 6 Operation in Monitor Mode 5 Check the Un000 motor speed rpm Ref...

Страница 67: ...the reference voltage offset to keep the servomotor from moving 11 Send the command for the number of servomotor rotations Check the sent number of rotations the actual number of rotations by visual...

Страница 68: ...onitor Mode for how it is displayed 6 Check whether the actual number of servomotor rotations Un009 Un010 coincides with the number of input reference pulses Refer to 5 1 6 Operation in Monitor Mode f...

Страница 69: ...l for control mode used 3 Connect the servomotor to the machine with the coupling etc while the power is OFF 4 Check that the servo drive is servo OFF status and then turn ON the power to the machine...

Страница 70: ...eference from the Host Controller Check Item Check Method Review Items JOG Operation Constant speed reference input from host controller Servomotor speed Check servomotor speed as follows Use the serv...

Страница 71: ...and controls the speed with the input pulse frequency Use when positioning is required 4 6 H 2 Torque Control Analog voltage reference Controls the servomotor s output torque with analog voltage torq...

Страница 72: ...l to start or stop Doing so will degrade internal elements and may cause the servo drive to malfunction A parameter can be used to re allocate the input connector number for the S ON signal Refer to 3...

Страница 73: ...rom the servo drive do not change The standard setting for forward rotation is counterclockwise as viewed from the servomotor load end Parameter Name Reference Forward reference Reverse reference Pn00...

Страница 74: ...1 17 factory setting ON low level Reverse rotation Normal operation status OFF high level Reverse rotation prohibited Reverse overtravel Connect limit switches as shown below to prevent damage to the...

Страница 75: ...3 Selecting the Servomotor Stop Method This is used to set the stop method when an overtravel P OT N OT signal is input while the servomotor is operating Parameter Stop Mode Mode After Stopping Meani...

Страница 76: ...electrical circuit If the servomotor is frequently started and stopped by turning the power ON OFF or using the servo ON signal S ON the DB circuit will also be repeatedly operated degrading the serv...

Страница 77: ...hold a stopped servomotor 2 When operating using only a speed loop turn OFF the servo and set the input reference to 0V when the brake is applied 3 When forming a position loop do not use a mechanica...

Страница 78: ...l CN1 11 12 Pn511 H 4 CN1 5 CN1 6 The BK signal is output from output terminal CN1 5 6 Pn511 H 4 CN1 9 CN1 10 The BK signal is output from output terminal CN1 9 10 Important When set to the factory se...

Страница 79: ...may shift slightly depending on the brake ON OFF timing due to gravity or an external force By using this parameter to delay turning the servo ON OFF this slight shift can be eliminated For details on...

Страница 80: ...conditions is satisfied When the servomotor speed falls below the level set in Pn507 after servo OFF When the time set in Pn508 is exceeded after servo OFF 4 3 5 Instantaneous Power Loss Settings Det...

Страница 81: ...MODBUS protocol can read the initial position when the servomotor is stopped S OFF then the real time position during the servomotor is running can be found from the number of PG divided output pulses...

Страница 82: ...ower is turned OFF the data must be backed up by a battery Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used Install the battary to the encoder cable A Op...

Страница 83: ...below about 3 1V If an absolute encoder battery alarm A 47 occurred it means the battery voltage drops below about 2 5V and the multiturn data is lost Please reset the absolute encoder after changing...

Страница 84: ...nalog reference factory setting Pn300 Speed Reference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm v 150 Immediately Sets the analog voltage level for the speed...

Страница 85: ...oportional Control Reference P CON Tpye Signal Connector Pin Number Setting Meaning Input P CON CN1 15 ON low level Operates the servo drive with proportional control OFF high level Operates the servo...

Страница 86: ...to 4 5 3 2 Manual Adjustment of the Speed Reference Offset 1 Automatic Adjustment of the Speed Reference Offset The automatic adjustment of reference offset Fn003 cannot be used when a position loop h...

Страница 87: ...ference offset automatic adjustment mode 5 Press the MODE key for more than one second the reference offset will be automatically adjusted 7 Press ENTER key to return to the Fn003 display of the utili...

Страница 88: ...g the adjustment The offset setting range and setting unit are as follows Adjust the speed reference offset manually in the following procedure 1 Press the MODE key to select the utility function mode...

Страница 89: ...es smooth speed control when inputting a stepwise speed reference or when selecting internally set speeds Set both Pn306 and Pn307 to 0 for normal speed control Set these parameters as follows Pn306 T...

Страница 90: ...a position loop for the speed reference input When the zero clamp signal P CON is ON a position loop is formed inside the servo drive as soon as the input voltage of the speed reference V REF drops b...

Страница 91: ...diately Sets the servomotor speed at which the zero clamp is performed if zero clamp speed control Pn005 H A is selected Even if this value is set higher than the maximum speed of the servomotor the m...

Страница 92: ...PG Encoder Serial Data CN2 Frequency dividing circuit CN1 Phase A PAO Phase B PBO Phase C PCO These outputs explained here Servodrive The dividing output phase form is the same as the standard setting...

Страница 93: ...ut The speed coincidence V CMP output signal is output when the actual servomotor speed during speed control is the same as the speed reference input The host controller uses the signal as an interloc...

Страница 94: ...ion control Pn112 Pn201 Pn202 Pn113 Pn111 Pn500 Pn004 2 Pn204 Pn201 Pn202 Pn200 Reference pulse PG signal output Pn104 M PG Servomotor Encoder 4 6 1 Basic Setting in Position Control 1 Setting a refer...

Страница 95: ...PULS CN1 30 SIGN CN1 32 L PULS CN1 30 SIGN CN1 32 L H 2 Two phase pulse train with 90 phase differential positive logic 1 H 3 2 H 4 4 Note The input pulse multiplier can be set for the two phase puls...

Страница 96: ...ulse train with 90 phase differential phase A B Maximum reference frequency 1 input pulse multiplier 500kpps 2 input pulse multiplier 400kpps 4 input pulse multiplier 200kpps Reverse reference Phase B...

Страница 97: ...VDC 24V R 2K 0 25W 75 75 Host controller Servodrive PNP OC GATE OUTPUT VDC R SIGN GND 75 2K 75 1CN 30 1CN 31 1CN 34 1CN 32 1CN 33 2K R SIGN PULS PULS NOTE VDC 12 24V R VDC 1 5Volt 10mA 150 VDC 12V R 1...

Страница 98: ...6 3 Setting the Electronic Gear 1 Electronic Gear The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to any value One reference pul...

Страница 99: ...nic gear ratio B A 100 If the electronic gear ratio is outside this range the servo drive will not operate properly In this case modify the load configuration or reference unit 3 Procedure for Setting...

Страница 100: ...01mm 4 Calculate the travel distance per load shaft revolution 6mm 0 001mm 6000 360 0 1 3600 314mm 0 01mm 31400 5 Calculate the electronic gear ratio 1 1 6000 4 32768 A B 1 3 3600 4 32768 A B 1 2 314...

Страница 101: ...reference acceleration deceleration time constant Pn204 is changed a value with no reference pulse input and a position error of 0 will be enabled To ensure that the setting value is correctly reflec...

Страница 102: ...is enabled in both speed control mode and position control mode Low frequency vibration suppression function is disabled or can not reach the expected effect in the following conditions z Vibration is...

Страница 103: ...lidation 50 500 0 1Hz 100 Immediately Pn412 Low frequency vibration damp Setting Range Setting Unit Factory Setting Setting Validation 0 200 25 Immediately Writing the frequency data to parameter Pn41...

Страница 104: ...ge Setting Unit Factory Setting Setting Validation 0 60000 0 1ms 500 Immediately The positioning completion COIN signal is output when the difference position error pulse between the number of referen...

Страница 105: ...5 H 1 Pn005 H B Reference pulse P CON P CON Servodrive 2 Setting Parameters Parameter Meaning Pn005 H B Control mode selection position control pulse train reference INHIBIT Inhibit INHIBIT switching...

Страница 106: ...ce pulse 100x10000 reference pulse 100 x1 reference pulse 999900 reference pulse With the same principle we can conclude in order to get the same results we also can set Pn600 99 and Pn601 9900 Thus w...

Страница 107: ...rst stop according to the way set by Pn004 0 and then rotate again against limit the switch When the operating platform leaves the limit switch and the motor reaches the position of first photo encode...

Страница 108: ...steps after the end point is completed during multi points single run Pn681 1 Change step and start mode 0 Delay changing steps the start signal is not needed 1 Change steps by P CON start signal not...

Страница 109: ...he host controller is disabled when homing Homing operation is disabled when in switching control mode Control mode switching is not allowed during homing After changing these parameters turn OFF the...

Страница 110: ...rom output terminal CN1 9 10 After changing Pn510 turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings HOME signal is only enabled at low level 4...

Страница 111: ...rning 0rpm SHOM Rising edge ORG Homing offset distance Pn 690 10000 Pn 691 Encoder C pulse Begin to counter offset distance after the first C pulse is produced when leaving zero posiion Corresponding...

Страница 112: ...ue Reference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 10 100 0 1V 100 33 Immediately This sets the analog voltage level for the torque reference T REF that is necessary...

Страница 113: ...30 Rated torque at 3V 3V input Rated torque in forward direction 9V input 300 rated torque in forward direction 0 3V input 10 rated torque in reverse direction The voltage input range can be changed...

Страница 114: ...ount of offset can be checked in the manual adjustment of torque reference offset Fn004 The automatic adjustment of analog reference offset Fn003 cannot be used when a position loop has been formed wi...

Страница 115: ...o protect the machine Without Speed Limit With Speed Limit 1 Speed Limit Enable Parameter Description Pn001 b 0 Use the value set in Pn406 as the speed limit Internal speed limit b 1 Use the lower spe...

Страница 116: ...value Polarity has no effect Pn300 Speed Reference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm v 150 Immediately Set the voltage level for the speed that is to...

Страница 117: ...tting Validation 6000 6000 rpm 300 Immediately Pn319 Internal set speed 4 Setting Range Setting Unit Factory Setting Setting Validation 6000 6000 rpm 100 Immediately Pn320 Internal set speed 5 Setting...

Страница 118: ...eed contact reference Speed control zero reference Input Signal Speed P CON P CL N CL OFF H OFF H OFF H Speed control zero reference OFF H ON L SPEED1 ON L OFF H SPEED2 ON L ON L SPEED3 ON L OFF H OFF...

Страница 119: ...ting Setting Validation 0 300 1 300 Immediately Pn402 Reverse Torque Limit Setting Range Setting Unit Factory Seeting Setting Validation 0 300 1 300 Immediately The setting unit is a percentage of rat...

Страница 120: ...al Name Connector Pin Number Setting Meaning Limit Value Input P CL CN1 41 factory setting ON low level Forward external torque limit Pn403 OFF high level Forward internal torque limit Pn401 Input N C...

Страница 121: ...que control Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed control Important There is no issue with input voltage polarity of the analog...

Страница 122: ...ontrol analog voltage reference H 8 Position control pulse train reference Torque control analog voltage reference H 9 Torque control analog voltage reference Speed control analog voltage reference H...

Страница 123: ...us Output level Comments ALM ON 1CN 7 L level Normal state OFF 1CN 8 H level Alarm state When servo alarm ALM happens always remove alarm reasons first and then turn the input signal ALM RST to ON pos...

Страница 124: ...rotation speed signal TGON is output The rotation detection signal can also be checked on the panel operator 4 11 3 Servo Ready S RDY Output Type Signal Name Connector Pin Number Setting Meaning Outp...

Страница 125: ...y Setting Setting Validation 0 1111 0 After restart Pn000 1 1 external POT disabled Pn000 2 1 external NOT disabled Pn000 1 1 and Pn000 2 1 OT signal is ON 4 11 6 Servo Enabled Motor Excitation Output...

Страница 126: ...using CLT signal Para No Connector Pin Number Meaning Terminal Terminal Pn511 H 3 CN1 11 CN1 12 Output signal of CN1 11 CN1 12 is CLT Pn511 H 3 CN1 05 CN1 06 Output signal of CN1 5 CN1 6 is CLT Pn511...

Страница 127: ...tput 7 RD servo enabled motor excitation output 8 HOME home completion output 9 TCR Torque Detection Output 4 12 Online Autotuning 4 12 1 Online Autotuning Online autotuning calculates the load moment...

Страница 128: ...ng may result in injury and damages to the machine Adjust the gains slowly while confirming motor operation Start Operate with factor setting Set Pn100 1 Operation OK Continuous online autotuning Pn10...

Страница 129: ...r the servo gain will increase 0 3 3 Immediately 4 12 4 Machine Rigidity Setting for Online Autotuning There are 16 machine rigidity settings for online autotuning When the machine rigidity setting is...

Страница 130: ...ervo Alarms Servo alarms can be reset by pressing the ENTER key when the panel operator in display mode Servo alarms can also be reset using the CN1 39 ALM RST input signal There is no need to clear t...

Страница 131: ...d operation references The basic mode is selected in the following order Power ON Status display mode Parameter setting mode Monitor mode Utility function mode 5 1 4 Status Display Mode The status dis...

Страница 132: ...input Not lit if no reference pulse is input 5 Torque reference input Lit if input torque reference exceeds preset value Not lit if input torque reference is below preset value Preset value 10 of rate...

Страница 133: ...mitted range of the parameter The example below shows how to change parameter Pn102 from 100 to 85 1 Press MODE key to select the parameter setting mode 2 Press INC key or DEC key to select parameter...

Страница 134: ...status to be monitored Using the Monitor Mode The example below shows how to display the value 1500 stored in Un001 1 Press MODE key to select the monitor mode 2 Press the INC or DEC key to select th...

Страница 135: ...r of encoder rotation angle pulses Un005 Input signal monitor Un006 Encoder signal monitor Un007 Output signal monitor Un008 Frequency given by pulse Unit 1kHZ Un009 Number of servomotor rotation puls...

Страница 136: ...1 15 2 P OT CN1 16 3 N OT CN1 17 4 ALM RST CN1 39 5 CLR CN1 40 6 PCL CN1 41 7 NCL CN1 42 Monitor Number Display LED Number Content Un006 0 Not used 1 Not used 2 Not used 3 Phase C 4 Phase B 5 Phase A...

Страница 137: ...number of alarm trace back data display 3 Press the ENTER key once the latest alarm data is displayed Alarm Sequence Number Alarm Code 4 Press the INC or DEC key to display other recent alarms that ha...

Страница 138: ...NC or DEC key to select the function number of parameter settings initialization 3 Press the ENTER key to enter into parameter settings mode 4 Hold the ENTER key for one second the parameters will be...

Страница 139: ...mode operation 3 Press the ENTER key to enter into JOG operation mode 4 Press the MODE key to enter into servo ON servomotor power ON status 5 Press the MODE key to switch between the servo ON and ser...

Страница 140: ...004 Refer to 4 5 3 2 Manual Adjustment of the Speed Reference Offset The automatic adjustment of reference offset Fn003 cannot be used when a position loop has been formed with a host controller and t...

Страница 141: ...ata that was set in the automatic adjustment mode of the speed torque reference offset This mode operates in the same way as the automatic adjustment mode except that the amount of offset is directly...

Страница 142: ...current detection offset adjustment Note Offset adjustment of the servomotor current detection signal is possible only while power is supplied to the main circuit power supply and with the servo is th...

Страница 143: ...o the manual adjustment of the servomotor current detection signal 4 Press the MODE key to switch between the phase U o _ CuA and phase V 1_ Cub servomotor current detection offset adjustment 5 Hold t...

Страница 144: ...7 5 2 8 Position Teaching Function Perform the position teaching function in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the u...

Страница 145: ...y to reset the absolute encoder multiturn data and alarm 5 Thus the absolute encoder multiturn data and alarm reset is complete Important This function will clear the absolute position of the encoder...

Страница 146: ...nd 5 ISO_GND 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal Note 1 The length of the cable should be less than 100 meters and in a environment...

Страница 147: ...No Description Setting Validation Control Mode Meaning Pn700 Hex After restart ALL Pn700 0 MODBUS baud rate 0 4800bps 1 9600bps 2 19200bps Pn700 1 Communication protocol selection 0 7 N 2 MODBUS ASCI...

Страница 148: ...CII characters For example One 1 byte data 64 H Hexadecimal expression is expressed as ASCII code 64 which contains 6 as ASCII code 36H and 4 as ASCII code 34H ASCII code for number 0 to 9 character A...

Страница 149: ...d 2n byte contain 4n ASCII codes n 12 DATA 0 LRC Checking code 1 byte contains two ASCII codes End 1 End code 1 0D H CR End 0 End code 0 0A H LF RTU Mode STX Sleep interval of at least 4 bytes transmi...

Страница 150: ...mation STX ADR 0 1 CMD 0 3 Data start address 0 2 0 0 Data number count as word 0 0 0 2 LRC checking F 8 End 1 0D H CR End 0 0A H LF RTU mode Reference information Response information Reference code...

Страница 151: ...tal value is 128H of hex then take 28H only is taken off by the unit of 256 in the total value from ADR to the last information then calculate and compensate the final result is LRC error detection va...

Страница 152: ...one bit to right if it is 1 CRC register moves one bit to right then run XOR calculation with A001H Step 4 Go to step 5 till the third step has been executed for 8 times otherwise return to step 3 Ste...

Страница 153: ...ns the communication is finished Example The following example uses C language to generate CRC value The function needs two parameters unsigned char data unsigned char length The function will return...

Страница 154: ...and 80 H Error frame responses code command 80H Error code 00H Normal communication 01H Servo drive cannot identify the required functions 02H The required data address does not exist in the servo dri...

Страница 155: ...eference percentage Relative rated torque Read only 080A Number of encoder rotation pulses Read only 080B Input signal state Read only 080C Encoder signal state Read only 080D Output signal state Read...

Страница 156: ...1040 Clear encoder alarm 01 Clear Write only Only 17 bit encoder 1041 Clear encoder multi turn data 01 Clear 1070 Position teaching function 01 Start Write only Note 1 Parameter area communication ad...

Страница 157: ...e saved after power off It is operated with Pn512 and Pn513 as the communication input IO signal That is to say when the parameters setting in Pn512 and Pn513 enable the IO bit the IO can be controlle...

Страница 158: ...18 0 28 0 38 0 55 0 2 7 5 8 8 2 Max Output Current Arms 4 2 8 4 12 0 18 0 28 0 42 0 45 0 62 0 9 6 15 0 19 2 27 0 45 0 48 0 48 0 65 0 100 0 128 0 8 1 15 1 24 6 Main Input Power Supply Capacity kVA 0 5...

Страница 159: ...uration Base mounted Performance SpeedControlRange 1 5000 Speed Regulation Load Regulation 0 100 load 0 01 or less at rated speed Voltage Regulation Rated voltage 10 0 at rated speed Temperature Regul...

Страница 160: ...ions Servo ON S ON P control P CON alarm reset ALM RST position error clear CLR forward run prohibited P OT reverse run prohibited N OT forward current limit P CL reverse current limit N CL and so on...

Страница 161: ...t E does not support extended module ProNet 04B 08A 10A ProNet E 04B 08A 10A Unit mm Cooling Fan Extended Module Air Flow Nameplate Air Flow Mounting Hole Diagram 1 0 0 13 8 32 D P100 ADDH ADDL COMM C...

Страница 162: ...d wait 5 minutes before servicing WARNING May cause electric shock CAUTION Unit mm Air Flow Note ProNet E does not support extended module ProNet 30A 30D 50A 50D 70D ProNet E 30A 30D 50A 50D CN2 CN1 C...

Страница 163: ...ProNet Series ACServoUser sManual 161 ProNet 75D 1AD 1ED 2BD Unit mm Air Flow Air Flow Air Flow...

Страница 164: ...ary Pn001 0 CCW CW selection Pn001 1 Analog speed limit enabled Pn001 2 Analog torque limit enabled Pn001 3 2nd electronic gear enabled 0 1111 0 After restart Pn002 Binary Pn002 0 Electronic gear swit...

Страница 165: ...ulse train torque control analog reference 9 Torque control analog reference speed control analog reference A Speed control analog reference zero clamp B Position control pulse train position control...

Страница 166: ...0 0 Immediately Pn113 Feedforward filter 0 1ms 0 640 0 Immediately Pn114 Torque feedforward 0 100 0 Immediately Pn115 Torque feedforward filter 0 1ms 0 640 0 Immediately Pn116 P PI switching condition...

Страница 167: ...ratio Puls 16 16384 16384 After restart Pn201 1st electronic gear numerator 1 65535 1 After restart Pn202 Electronic gear denominator 1 65535 1 After restart Pn203 2nd electronic gear numerator 1 655...

Страница 168: ...5000 Immediately Pn408 Notch filter 1 depth 0 11 1 Immediately Pn409 Notch filter 2 frequency Hz 50 5000 5000 Immediately Pn410 Notch filter 2 depth 0 11 1 Immediately Pn411 Low frequency jitter freq...

Страница 169: ...00 Immediately Pn526 Temperature threshold of motor overheat alarm Only enabled in ProNet 75 1A 1E 2B 50 180 110 Immediately Pn528 Output signal inverse 0 1111 0 Immediately Pn529 Torque detection out...

Страница 170: ...0 Immediately Pn687 Position teaching pulse 10000P 9999 9999 0 Immediately Pn688 Position teaching pulse 1P 9999 9999 0 Immediately Pn689 Homing Mode Setting 0 0111 0 After restart Pn690 Number of err...

Страница 171: ...arameters Pn200 Pn205 PG divided ratio electronic gear etc Speed control related parameters Pn300 Pn322 Speed reference input soft start etc Torque control related parameters Pn400 Pn406 Torque limit...

Страница 172: ...Instantaneous power loss for one period with no alarm output 1 Instantaneous power loss for one period with alarm output Pn001 Binary After restart Pn001 0 ALL Pn001 1 T Pn001 2 P S Pn001 3 P Pn001 0...

Страница 173: ...selection 0 Use absolute encoder as an absolute encoder 1 Use absolute encoder as an incremental encoder Pn002 3 Reserved Pn003 Binary After restart ALL Pn003 0 Reserved Pn003 1 Reserved Pn003 2 Low...

Страница 174: ...tops the servomotor by plug braking when overtravel then places it into zero clamp mode Pn004 1 Error counter clear mode 0 Clear error pulse when S OFF do not when overtravel 1 Do not clear error puls...

Страница 175: ...PCL NCL OFF Switches to position control pulse train reference 6 Speed control contact reference torque Control analog reference PCON PCL NCL OFF Switches to position control analog reference 7 Positi...

Страница 176: ...EMB Pn006 Hex After restart Pn006 0 Bus type selection 0 No bus 1 PROFIBUS DP V0 V1 2 PROFIBUS DP V2 3 CANopen Pn006 1 Reserved Pn006 2 Low frequency vibration suppression switch 0 Low frequency vibr...

Страница 177: ...should be set a little larger However if it is too large it would suffer mechanical impact It should be set a little smaller when large vibration is present This parameter is only valid in autotuning...

Страница 178: ...his parameter setting is higher Vibration will occur if the value is set too large Unit Pn113 Feedforward filter Immediately P It is used to ease mechanical vibration due to position feedforward The f...

Страница 179: ...n125 Position gain switching time Immediately P This parameter is used to smooth transition if the change of the two groups of gain is too large Pn126 Hysteresis switching Immediately P S This paramet...

Страница 180: ...ation deceleration time constant Immediately P This value is used to smooth the input pulses The effect of smoothness is better when the value is higher but lag will occur if the value is too large Pn...

Страница 181: ...ved Pn316 Speed internal 1 Immediately S Internal speed is enabled when Pn005 1 3 6 Input signal operating speed P CON P CL N CL OFF H OFF H OFF H Zero speed or switch OFF H ON L SPEED1 ON L OFF H SPE...

Страница 182: ...rque given zero bias Immediately T This parameter is used to set zero bias of analog torque given and it is related with torque reference input gain Pn400 Torque reference External torque given input...

Страница 183: ...s when the servomotor is at stop or at a low speed Brake waiting speed BK signal is output when the servomotor speed is decreased below the parameter setting value at servo OFF Brake waiting time BK s...

Страница 184: ...Corresponding signal of each data is shown as follows 0 COIN VCMP 1 TGON 2 S RDY 3 CLT 4 BK 5 PGC 6 OT 7 RD 8 HOME 9 TCR Pn512 Bus control input node low bit enabled Immediately P S T Bus communicatio...

Страница 185: ...Pn522 Reserved Pn523 Reserved Pn524 Reserved Pn525 Overload alarm threshold Immediately P S T When load percentage is larger than overload alarm threshold A04 will occur soon Pn525 is recommended to...

Страница 186: ...to point speed control Immediately P The speed of JPOS15 point to point control Unit rpm Pn648 JPOS0 Point to point 1st order filter Immediately P 1st order filter time of JPOS0 point to point control...

Страница 187: ...Immediately P Select the stop point of the point to point control Pn685 Search travel speed in position control contact reference Speed of finding reference point Hitting the origin signal ORG in posi...

Страница 188: ...1 MODBUS protocol selection 0 7 N 2 MODBUS ASCII 1 7 E 1 MODBUS ASCII 2 7 O 1 MODBUS ASCII 3 8 N 2 MODBUS ASCII 4 8 E 1 MODBUS ASCII 5 8 O 1 MODBUS ASCII 6 8 N 2 MODBUS RTU 7 8 E 1 MODBUS RTU 8 8 O 1...

Страница 189: ...aving incremental encoder Pn840 1 Reserved For factory using Pn840 2 Reserved For factory using Pn840 3 Reserved For factory using Note When connecting to EMJ 04A H Pn005 3 should be set as 1 2 the ma...

Страница 190: ...mething wrong with the inside chip of the 1st channel A 09 The 2nd channel of current detection is wrong Something wrong with the inside chip of the 2nd channel A 10 Incremental Encoder is break off A...

Страница 191: ...sufficient 2 The power supply to servo drive is not turned ON when the battery voltage is normal or the servomotor running acceleration is too high due to external reason A 52 Absolute state of serial...

Страница 192: ...ormal communication connection or disturbance A 67 Receiving heartbeat timeout The master station sends heartbeat time timeout A 69 Synchronization signal monitoring cycle is longer than setting The f...

Страница 193: ......

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