ETS Series AC Servo User`s Manual

ETS Series AC Servo User's Manual
(Version:V1.02)
Revision History
Date
Rev. No.
Section
2014-12
V1.00 ~ V1.02
--
Revised Content
First edition
Remark
ETS Series AC Servo User's Manual
Copyright © 2014 ESTUN AUTOMATION TECHNOLOGY CO., LTD
All rights reserved. No part of this publication 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. No patent liability is assumed with respect to the use of the information contained herein.
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ETS Series AC Servo User's Manual
About this manual
 This manual describes the following information required for designing and maintaining ETS series servo drives.
•Specification of the servo drives and servomotors.
•Procedures for installing the servo drives and servomotors.
•Procedures for wiring the servo drives and servomotors.
•Procedures for operating of the servo drives.
•Procedures for using the panel operator.
•Communication protocols.
•Ratings and characteristics.

Intended Audience:
•Those designing ETS series servo drive systems.
•Those installing or wiring ETS series servo drives.
•Those performing trial operation or adjustments of ETS series servo drives.
•Those maintaining or inspecting ETS series servo drives.
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ETS Series AC Servo User's Manual
Safety Precautions
■ Do not connect the servomotor directly to the local electrical network.
Failure to observe this may result in damage to servomotor.
■ Do not plug or unplug connectors from servo drivewhen power is on.
Failure to observe this may result in damage to servo drive and servomotor.
■Please note that even after power is removed, residual voltage still remains in the capacitor inside the servo drive. If
inspection is to be performed after power is removed, please wait 5 minutes to avoid risk of electrical shock.
■Keep servo drives and other devices separated by at least 10mm.
The servo drive generates heat. Install the servo drive so that it can radiate heat freely. When installing servo drives
with other devices in a control panel, provide at least 10mm space between them and 50mm space above and below
them.Please install servo drives in an environment free from condensation, vibration and shock.
■Perform noise reduction and grounding properly.
Please comply with the following instructions to avoid noise generated by signal lines.
1. Separate high-voltage cables from low-voltage cables.
2. Use cables as short as possible.
3. Single point grounding is required for the servomotor and servo drive (grounding resistance 100Ω or below).
4. Never use a line filter for the power supply in the circuit.
■Use a fast-response type ground-fault interrupter.
For a ground-fault interrupter, always use a fast-response type or one designed for PWM inverters. Do not use a
time-delay type.
■ Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to unstable operation.
■The servomotor cannot be operated by turning the power on and off.
Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate, resulting in unexpected
problems.Always start or stop the servomotor by using reference pulses.
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ETS Series AC Servo User's Manual
—Contents—
About this manual ........................................................................................................................................................... - 2 Safety Precautions .......................................................................................................................................................... - 3 Chapter 1 ........................................................................................................................................................................ - 7 Checking Products and Parts Names ............................................................................................................................. - 7 1.1 Checking Products on Delivery ......................................................................................................................... - 7 1.1.1 Servomotor ............................................................................................................................................ - 7 1.1.2 Servo drive ............................................................................................................................................ - 9 1.2 Part Names ..................................................................................................................................................... - 11 1.2.1 Servomotor .......................................................................................................................................... - 11 1.2.2 Servo drive .......................................................................................................................................... - 11 Chapter 2 ...................................................................................................................................................................... - 13 Installation ..................................................................................................................................................................... - 13 2.1 Servomotor ..................................................................................................................................................... - 13 2.1.1 Storage ................................................................................................................................................ - 13 2.1.2 Installation Sites .................................................................................................................................. - 13 2.1.3 Installation Alignment ........................................................................................................................... - 14 2.1.4 Installation Orientation ......................................................................................................................... - 14 2.1.5 Handling Oil and Water ........................................................................................................................ - 14 2.1.6 Cable Tension ...................................................................................................................................... - 15 2.1.7 Install to the Client ............................................................................................................................... - 15 2.2 Servo Drive ..................................................................................................................................................... - 15 2.2.1 Storage ................................................................................................................................................ - 15 2.2.2 Installation Sites .................................................................................................................................. - 15 2.2.3 Installation Orientation ......................................................................................................................... - 16 2.2.4 Installation Method .............................................................................................................................. - 16 Chapter 3 ...................................................................................................................................................................... - 18 Wiring ............................................................................................................................................................................ - 18 3.1 Main Circuit Wiring .......................................................................................................................................... - 18 3.1.1 Typical Main Circuit Wiring Examples .................................................................................................. - 19 3.1.2 Names and Functions of Main Circuit Terminals .................................................................................. - 20 3.2 I/O Signals ...................................................................................................................................................... - 21 3.2.1 Examples of I/O Signal Connections ................................................................................................... - 21 3.2.2 I/O Signal Connector (CN1_A/CN1_B/CN1_C) Terminal Layout......................................................... - 22 3.2.3 I/O Signal Names and Functions ......................................................................................................... - 24 3.2.4 Interface Circuit ................................................................................................................................... - 25 3.3 Wiring Encoders.............................................................................................................................................. - 26 3.3.1 Connecting an Encoder(CN2_A/ CN2_B/ CN2_C) .............................................................................. - 26 3.3.2 Encoder Connector(CN2_A/ CN2_B/ CN2_C) Terminal Layout .......................................................... - 26 3.4 Communication Connection(CN3/CN4) ..................................................................................................... - 27 3.5 Standard Wiring Example ............................................................................................................................... - 28 3.6 Standard Wiring Example ............................................................................................................................... - 29 3.7 Wiring for Noise Control .................................................................................................................................. - 31 3.7.1 Noise Control ....................................................................................................................................... - 31 -
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ETS Series AC Servo User's Manual
3.7.2 Precautions on Connecting Noise Filter .............................................................................................. - 32 Chapter 4 ...................................................................................................................................................................... - 35 Operation ...................................................................................................................................................................... - 35 4.1 Trial Operation ................................................................................................................................................ - 35 4.1.1 Trial Operation for Servomotor Without Load ...................................................................................... - 37 4.1.2 Trial Operation for Servomotor without Load from Host Reference ..................................................... - 39 4.1.3 Trial Operation with the Servomotor Connected to the Machine.......................................................... - 41 4.1.4 Trial Operation for Servomotor with Brakes ......................................................................................... - 42 4.2 Control Mode Selection................................................................................................................................... - 42 4.3 Setting Common Basic Functions ................................................................................................................... - 43 4.3.1 Setting the Servo ON Signal ................................................................................................................ - 43 4.3.2 Switching the Servomotor Rotation Direction ...................................................................................... - 44 4.3.3 Setting the Overtravel Limit Function ................................................................................................... - 45 4.3.4 Setting for Holding Brakes ................................................................................................................... - 48 4.4 Operating Using Speed Control with Internally Set Speed .............................................................................. - 51 4.4.1 Setting Parameters .............................................................................................................................. - 51 4.4.2 Soft Start.............................................................................................................................................. - 52 4.4.3 Speed Reference Filter Time Constant ................................................................................................ - 52 4.4.4 S-curve Risetime ................................................................................................................................. - 53 4.4.5 Encoder Signal Output ........................................................................................................................ - 53 4.4.6 Speed coincidence output ................................................................................................................... - 55 4.4.7 Speed control (contact reference) ....................................................................................................... - 56 4.5 Operating Using Position Control .................................................................................................................... - 58 4.5.1 Basic Setting in Position Control.......................................................................................................... - 58 4.5.2 Setting the Clear Signal ....................................................................................................................... - 60 4.5.3 Setting the Electronic Gear .................................................................................................................. - 60 4.5.4 Smoothing ........................................................................................................................................... - 64 4.5.5 Low Frequency Vibration Suppression ................................................................................................ - 65 4.5.6 Positioning Completion Output Signal ................................................................................................. - 67 4.5.7 Reference Pulse Inhibit Function (INHIBIT) ......................................................................................... - 68 4.5.8Position Control (contact reference) ..................................................................................................... - 68 4.5.9 Position Homing Control (Homing Function)........................................................................................ - 72 4.6 Limiting Torque................................................................................................................................................ - 75 4.6.1 Internal Torque Limit ............................................................................................................................ - 75 4.6.2 External Torque Limit ........................................................................................................................... - 76 4.7 Other Output Signals ...................................................................................................................................... - 77 4.7.1 Servo alarm output .............................................................................................................................. - 77 4.7.2 Others .................................................................................................................................................. - 77 4.8 Online Autotuning............................................................................................................................................ - 79 4.8.1Online Autotuning ................................................................................................................................. - 79 4.8.2Online Autotuning Procedure ................................................................................................................ - 79 4.8.3 Setting Online Autotuning .................................................................................................................... - 80 4.8.4 Machine Rigidity Setting for Online Autotuning .................................................................................... - 81 Chapter 5 ...................................................................................................................................................................... - 82 Panel Operator .............................................................................................................................................................. - 82 -
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ETS Series AC Servo User's Manual
5.1 Basic Operation .............................................................................................................................................. - 82 5.1.1 Functions on Panel Operator ............................................................................................................... - 82 5.1.2 Switch the number of Axis ................................................................................................................... - 82 5.1.3 Basic Mode Selection .......................................................................................................................... - 83 5.1.4 Status Display Mode ............................................................................................................................ - 83 5.1.5 Operation in Parameter Setting Mode ................................................................................................. - 85 5.1.6 Operation in Monitor Mode .................................................................................................................. - 86 5.2 Operation in Utility Function Mode .................................................................................................................. - 89 5.2.1 Alarm Traceback Data Display............................................................................................................. - 89 5.2.2 Parameter Settings Initialization .......................................................................................................... - 90 5.2.3 Operation in JOG Mode ....................................................................................................................... - 91 5.2.4 Offset-adjustment of Servomotor Current Detection Signal ................................................................. - 92 5.2.5 Software Version Display ..................................................................................................................... - 94 5.2.6 Position Teaching Function .................................................................................................................. - 94 5.2.7 Static Inertia Detection ........................................................................................................................ - 94 5.2.8 Parameters Copy ................................................................................................................................. - 95 Chapter 6 ...................................................................................................................................................................... - 96 MODBUS Communication............................................................................................................................................. - 96 6.1RS-485 Communication Wiring ........................................................................................................................ - 96 6.2MODBUS Communication Related Parameters............................................................................................... - 96 6.3 MODBUS Communication Protocol ................................................................................................................ - 98 6.3.1 Code Meaning ..................................................................................................................................... - 98 6.3.2 Communication Error Disposal .......................................................................................................... - 104 6.3.3 Data Communication Address of Servo State.................................................................................... - 105 Chapter 7 .................................................................................................................................................................... - 107 Specifications and Characters..................................................................................................................................... - 107 7.1 Servo drive Specifications and Models ......................................................................................................... - 107 7.2 Servo drive Dimensional Drawings ............................................................................................................... - 109 Appendix A .................................................................................................................................................................. - 110 Parameter ................................................................................................................................................................... - 110 A.1 Parameter List .............................................................................................................................................. - 110 A.2 Description of Parameter Type ..................................................................................................................... - 116 A.3 Parameters in detail...................................................................................................................................... - 117 Appendix B .................................................................................................................................................................. - 133 Alarm Display .............................................................................................................................................................. - 133 -
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ETS Series AC Servo User's Manual
Chapter 1
Checking Products and Parts Names
1.1 Checking Products on Delivery
Check Items
Comments
Are the delivered products theones that
Check
were ordered?
theservomotor and servo drive.
the
model
numbers
marked
on
the
nameplate
on
Check the overall appearance, and check for damage or scratches
Is there any damage?
that may have occurred during shipping.
If the servomotor shaft can be easily rotated by hand, then the motor
Does the servomotor shaft rotatesmoothly?
is working normally. However, if a brake is installed on the
servomotor, then it cannot be turned by hand.
If any of the above items are faulty or incorrect, contact your ESTUN representative or the dealer from whom you
purchased the products.
1.1.1 Servomotor

Servomotor Model Designation
EMJ–
08
ESTUN Servomotor
A
【1+2】
【3】
P
B
【4】
【5】
1
1
【6】
【7】
-WR
【8+9】
EMJ Model
【1+2】
Rated Output
Code
Spec.
02
0.2kW
【4】Encoder
Code
P
【7】Option
Spec.
Code
Spec.
Incremental Wire-saving Type:
1
None
2500P/R
2
With oil seal
04
0.4kW
08
0.75kW
3
With brake (DC24V)
10
1.0 kW
4
With oil seal and brake(DC24V)
【5】Designing Sequence
带制动器(DC24V)
【8+9】Connector
Code
Spec.
Code
A
Designing sequence A
B
Designing sequence B
【3】Voltage
【6】Shaft End
Code
Spec.
Code
Spec.
A
200VAC
1
Straigt without key (Standard)
200V
2
Straigt with key and tap
Spec.
Standard connector
WR
-7-
Water proof connector (Incremental
Wire-saving Type)
ETS Series AC Servo User's Manual
EMG–
ESTUN Servomotor
10
A
【1+2】
【3】
P
【4】
A
1
【5】
【6】
1
【7】
EMG Model
【1+2】
Rated Output
Code
Spec.
10
1.0kW
【4】Encoder
【7】Option
Code
Code
Spec.
1
None
2
With oil seal
3
With brake (DC24V)
4
With oil seal and brake(DC24V)
P
Spec.
Incremental Wire-saving Type:2500P/R
带制动器(DC24V)
【3】Voltage
【5】Designing Sequence
【6】Shaft End
Code
Spec.
Code
Spec.
Code
Spec.
A
200VAC
A
Designing sequence A
1
Straigt without key (Standard)
2
Straigt with key and tap
EML–
ESTUN Servomotor
10
A
【1+2】
【3】
P
【4】
A
1
【5】
【6】
1
【7】
EML Model
【1+2】
Rated Output
【4】Encoder
【7】Option
Code
Spec.
Code
Spec.
Code
Spec.
10
1.0kW
P
Incremental Wire-saving Type:2500P/R
1
None
2
With oil seal
3
With brake (DC24V)
4
With oil seal and brake(DC24V)
【3】Voltage
【5】Designing Sequence
【6】Shaft带制动器(DC24V)
End
Code
Spec.
Code
Spec.
Code
Spec.
A
200VAC
A
Designing sequence A
1
Straigt without key (Standard)
2
Straigt with key and tap
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ETS Series AC Servo User's Manual

Appearance and Nameplate
1.1.2 Servo drive

Servo Drive Appearanceand Nameplate
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ETS Series AC Servo User's Manual

Servo drive Model Designation
ETS –10 10 A P C– CAN
Communication
CAN:CAN model
ETS model servo drive
B axis Rated Output
Encoder Interface
C: Wire-saving incremental
A axis Rated Output
encoder (2500P/R)
Voltage
A:200VAC
Version
P:Position control
Notes:Each axis of ETS servo drive equips 200W、400W、750W、1.0kW servo motor, and assures three
times overload capacity.
ETS–101010AP C– CAN
Communication
CAN:CAN model
None:Pulse model
ETS model servo drive
C axis Rated Output
Encoder Interface
C: Wire-saving incremental
encoder (2500P/R)
B axis Rated Output
Version
P:Position control
Voltage
A:200VAC
A axis Rated Output
Notes:Each axis of ETS servo drive equips 200W、400W、750W、1.0kW servo motor, and assures three
times overload capacity.
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ETS Series AC Servo User's Manual
1.2 Part Names
1.2.1 Servomotor
Servomotor without gear and brake.
Encoder
Mounting hole
Shell
Output shaft
Flange
1.2.2 Servo drive
 ETS two-axis servo drive
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged.
Main circuit power supply terminals
Used for main circuit power supply input.
Connector for communication
Used to communicate with other devices.
Control power supply terminals
Used for control power supply input
Encoder connector
Connects to the encoder in the
servomotor.
Regenerative resistor connecting terminals
Used to connect external regenerative
resistors.
I/O signal connector
Used for reference input signals
and sequence I/O signals.
Servomotor terminals
Connects to the servomotor power line.
Ground terminal
Be sure to connect to protect electric shock.
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ETS Series AC Servo User's Manual
 ETS three-axis servo drive
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged.
Main circuit power supply terminals
Used for main circuit power supply input.
Connector for communication
Used to communicate with other devices.
Control power supply terminals
Used for control power supply input
Encoder connector
Connects to the encoder in the
servomotor.
Regenerative resistor connecting terminals
Used to connect external regenerative
resistors.
I/O signal connector
Used for reference input signals
and sequence I/O signals.
Servomotor terminals
Connects to the servomotor power line.
Ground terminal
Be sure to connect to protect electric shock.
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ETS Series AC Servo User's Manual
Chapter 2
Installation
2.1 Servomotor
Servomotor can be installed either horizontally or vertically. However, if the servomotor is installed incorrectly, the
service life of the servomotor will be shortened or unexpected problems may occur.
Please observe the installation instructions described below to install the servomotor correctly.
Before installation:
Anticorrosive paint is coated on the edge of the servomotor shaft. Clean off the anticorrosive paint thoroughly using
a cloth moistened with thinner.
Avoid getting thinner on other parts of the servomotor when cleaning the shaft.
Anticorrosive paint
2.1.1 Storage
When the servomotor is not being used, store it in an area with a temperature between -20℃ and 60℃ with thepower
cable disconnected.
2.1.2 Installation Sites
The servomotor is designed for indoor use.Install the servomotor in an environment which meets the following
conditions.

Free from corrosive and explosive gases.

Well-ventilated and free from dust and moisture.

Ambient temperature from0 to 40℃.

Relative humidity from 26% to 80%( non-condensing).

Facilitates inspection and cleaning.
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ETS Series AC Servo User's Manual
2.1.3 Installation Alignment
Align the shaft of the servomotor with that of the machinery shaft to be controlled. Then connect the two shafts with
an elastic coupling.
Install the servomotor so that alignment accurancy falls within the range shown below.
Measure this distance at four different positions in the circumference. The difference between the maximum and
minimum measurements must be 0.03mm or less.(Turn together with couplings.)
Note:
·If the alignment accurancy 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 Installation Orientation
Servomotor can be installed ethier horizontally or vertically.
2.1.5 Handling Oil and Water
If the servomotor is used in a location that is subject to water or oil drops, make sure of the servomotor protective
specification. If the servomotor is required to meet the protective specification to the through shaft section by default,
use a servomotor with an oil seal.
Through shaft section:
It refers to the gap where the shaft protrudes from the end of the servomotor.
Through Shaft Section
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ETS Series AC Servo User's Manual
2.1.6 Cable Tension
When connecting the cables, the bending radius should not be too small, do not bend or apply tension to cables.
Since the conductor of a signal cable is very thin (0.2 mm or 0.3 mm), handle it with adequate care.
2.1.7Install to the Client
When the servo motor is mounted to the client,please firmly secure the servo motor by the screws with backing ring
as shown in the figure.
In
or stall
ien at
tat ion
io
n
2.2Servo Drive
ETS series servo drive is a base-mounted type. Incorrect installation will cause problems. Always observe the
installation instructions described below.
2.2.1 Storage
When the servomotor is not being used, store it in an area with a temperature between -20℃ and 85℃ with the
power cable disconnected.
2.2.2 Installation Sites
Notes on installation are shown below.
Situation
Notes on installation
When installed in a control
Design the control panel size, unit layout, and cooling method so that the temperature
panel
around the periphery of the servo drive does not exceed 55℃.
When installed near a
heating unit
When installed near a
source of vibration
Suppress radiation heat from the heating unit and a temperature rise caused by
convection so that the temperature around the periphery of the servo drive does not
exceed 55℃.
Install a vibration isolator underneath the servo drive to prevent it from receiving vibration.
When installed in a location
Take appropriate action to prevent corrosive gases. Corrosive gases do not immediately
subject to corrosive gases
affect the servo drive, but will eventually cause contactor-related devices to malfunction.
Others
Avoid installation in a hot and humid site or where excessive dust or iron powder is
present in the air.
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ETS Series AC Servo User's Manual
2.2.3 Installation Orientation
Install the servo drive perpendicular to the wall as shown in the figure. The servo drive must be oriented this way
because it is designed to be cooled by natural convection or a cooling fan if required. Firmly secure the servo drive
through two mounting holes.
Wall
Ventilation
2.2.4 Installation Method
When installing multiple servo drives side by side in a control panel, observe the following installation method.
■Installation Orientation
Install servo drive perpendicular to the wall so that the front panel (containing connectors) faces outward.
■Cooling
Provide sufficient space around each servo drive to allow cooling by natural convection or fans.
■Installing side by side
When installing servo drives side by side, provide at least 30mm space from the cabinet,at least 10mm space
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ETS Series AC Servo User's Manual
between each individual servo drive and at least 50mm space above and below each one as well as shown in the figure
above. Ensure the temperature inside the control panel is evenly distributed, and prevent the temperature around each
servo drive from increasing excessively. Install cooling fans above the servo drives if necessary.
■Working conditions
1.Temperature:0~ 55℃
2.Humidity:90%RH or less (no condensation)
3.Vibration:4.9m/s2 or less
4.Ambient temperature to ensure long-term reliability:45℃ or less
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ETS Series AC Servo User's Manual
Chapter 3
Wiring
3.1 Main Circuit Wiring
Please observe the following instructions while wiring the main circuit.
!CAUTION
·Do not bundle or run power and signal lines together in the same duct. Keep power andsignallines
separated by at least 300 mm.
·Use twisted-pair shielded wires or multi-core twisted-pair shielded wires for signal and encoder feedback
lines.
·The maximum length is 3 m for reference input lines and 20 m for encoder feedback lines.
·Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still
remain in the servo drive.
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ETS Series AC Servo User's Manual
3.1.1 Typical Main Circuit Wiring Examples
Three-phase +10%
AC200~230 -15%
50/60Hz
Molded-case
Circuit Breaker
Surge
Protector
Noise Filter
1RY
ON
OFF
1MC
1MC
1RY
Magnetic Contactor
1MC
1MC
1MC
PL
Surge suppressor
A(1)
B(2)
C(3)
D(4)
U_A
V_A
W_A
FG
L1
L2
Servo motor
MA
Incremental Wire-saving
Encoder(2500P/R)
1
A+
ACN2_A
2
3
B+
B4
C+
5
C6
PG5V
7,8,9
L3
FG
L1C
L2C
17,18,19
Encoder
PGA
PG0V
Be sure to prepare the end of
the shielded wire properly
External
Regenerative
Resistor
B1
B2
B3
A(1)
B(2)
C(3)
D(4)
U_B
V_B
W_B
B1
B2
B3
FG
Servo motor
MB
Incremental Wire-saving
Encoder(2500P/R)
1
A+
ACN2_B
2
3
4
5
6
7,8,9
B+
BC+
CPG5V
17,18,19 PG0V
PGB
Be sure to prepare the end of
the shielded wire properly
A(1)
B(2)
C(3)
D(4)
U_C
V_C
W_C
FG
Servo motor
MC
Incremental Wire-saving
Encoder(2500P/R)
1
A+
CN2_C
A2
3
4
5
6
7,8,9
17,18,19
Encoder
B+
BC+
CPG5V
PG0V
PGC
Be sure to prepare the end of
the shielded wire properly
Note :The wiring of ETS two-axis servo drive does not include the gray part of graph.
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ETS Series AC Servo User's Manual
3.1.2 Names and Functions of Main Circuit Terminals
Terminal
Symbol
L1,L2,L3
U_A,V_A,
W_A
U_B,V_B,
W_B
U_C,V_C,
W_C
L1C,L2C
B1,B2,B3
Name
Main circuit
power supply
input terminal
Functions
Three-phase 200~230VAC +10%~-15% (50/60Hz)
Axis Aservomotor
connection
Connect to the axis A servomotor.
terminals
Axis Bservomotor
connection
Connect to the axis B servomotor.
terminals
Axis Cservomotor
connection
Connect to the axis C servomotor.
terminals
Control circuit
power supply
input terminal
Single-phase 200~230VAC +10%~-15% (50/60Hz)
Ground terminals
Connects to the power supply ground terminals and servomotor ground terminal.
External
If using an internal regenerative resistor, please short B2 and B3. Remove the wire
regenerative
between B2 and B3 and connect an external regenerative resistor(provided by
resistor connection
customer) between B1 and B2, if the capacity of the internal regenerative resistor is
terminal
insufficient.
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ETS Series AC Servo User's Manual
3.2 I/O Signals
3.2.1 Examples of I/O Signal Connections
CN1_A
34
PAO
35
P represent multi-twisted
pair wire
/PAO
Power supply for open collector
reference PL1
PULS
PULS
P /PULS
23
2KΩ
25
150Ω
32
PBO
PG dividing
ratio output
33
24
/PBO
Position reference
28
2KΩ
SIGN
27
150Ω
P /SIGN
26
Power supply for open collector
reference PL2
SIGN
Servo ON
(When ON Servo function
+
enabled)
+24V P Control
(When ON, P control
enabled)
Forward rotation
prohibited
(When OFF, forward rotation
prohibited)
Reverse rotation
prohibited
(When OFF, reverse rotation
prohibited)
Alarm reset
(When ON, alarm reset)
Clear signal input
(When ON, displacement
clears)
Forward external torque
limit
(When ON, limit enabled)
Reverse external torque
limit
(When ON, limit enable)
DICOM
/S-ON
/P-CON
30
/PCO
36
18
3.3KΩ
9
10
~
11
~
8
~
P-OT
12
~
N-OT
13
~
/ALM-RST
/CLR
/PCL
/NCL
PCO
31
2
~
14
~
15
~
~
17
~
1
6
~
16
7
SG
/COIN+
/COIN-
/TGON+
/TGON-
/S-RDY+
5
/S-RDY-
4
ALM+
3
ALM-
*
*
/COIN Positioning complete
(/V-CMP Speed coincident )
/TGON Rotation Detection
/S-RDY Servo Ready
/CLT
Torque limit Detection
/BR
Brake interlock
PGC
Encoder C pulse output
OT
Over travel
/RD
Servo enabled motor
excitation
/HOME Home completion
+24V
~
Connector frame
FG
Sheild wires connect to the connector frame
Note:The wirings of CN1_A、CN1_B、CN1_C are the same.
- 21 -
0V
Alarm output
(When Alarm triggered,OFF)
Photocoupler output
Max.applicable Voltage:DC30V
Max.applicable Current:DC50mA
* Specific pins output can be defined
ETS Series AC Servo User's Manual
3.2.2 I/O Signal Connector (CN1_A/CN1_B/CN1_C) Terminal Layout
Terminal No.
(*)
Name
Function
0:/COIN(/VCMP)
0:Positioning completion (speed agree detection)
1
1:/TGON
1:Running signal output
2
2:/S-RDY
2:Servo ready
(*)
3:/CLT
3:Torque limit output
5
4:/BK
4:Brake interlock output
6
5:PGC
5:C pulse output
(*)
6:OT
6:Over travel signal output
7
7:/RD
7:Servo enabled motor excitation output
8
8:/HOME
8:Home completion output
3
ALM-
4
ALM+
9
DICOM
Servo alarm:Turns off when an error is detected.
Control power supply input for I/O signals:
Provide the +24V DC power supply
0:Servo ON
(*)
10
0:/S-ON
1:P/PI control input
11
1:/P-CON
2:Forward run prohibited
12
2:P-OT
3:Reverse run prohibited
13
3:N-OT
4:Alarm reset
4:/ALM-RST
5:Position error pulseclear input
5:/CLR
6:Forward torque limitinput
6:/PCL
7:Reverse torque limitinput
7:/NCL
8:External switch gain switching
8:/G-SEL
9:Position control (contact reference)-forward direction
9:/JDPOS-JOG+
JOG
A:/JDPOS-JOG-
A:Position control(contact reference)-reverse direction
B:/JDPOS-HALT
JOG
C:Reserved
B:Position control (contact reference)-stop JOG
D:SHOME
C:Reserved
E:ORG(ZPS)
D:Hometrigger
(*)
14
15
16
17
E:Zero position
23
PPIP
28
PPIS
24
PULS-
25
PULS+
26
SIGN-
27
SIGN+
30
PCO+
31
PCO-
32
PBO+
33
PBO-
34
PAO+
Power supply input for open collector reference
Pulse signal
Direction signal
Phase-C signal
Phase-B signal
Phase-A signal
- 22 -
ETS Series AC Servo User's Manual
Terminal No.
Name
Function
35
PAO-
18,36
DGND
DGND
FG
FG
Shell
Notes:
1.The list of CN1_A、CN1_B、CN1_C about I/O Signal Names and Functions are the same.
2.(*)The signals of CN1_A/B/C-1、2,CN1_A/B/C-5、6,CN1_A/B/C-7、8 can be modified by Pn511;
(*)The signals of CN1_A/B/C-10、11、12、13 can be modified by Pn509;
(*)The signals of CN1_A/B/C-14、15、16、17 can be modified by Pn510;
Please refer to A.3 Parameters in details for detailed information.
Notes :
1. Spare terminals can not be used for relay purpose.
2. Connect shielded cable wires of I/O signals to connector shell(frame grounding).
- 23 -
ETS Series AC Servo User's Manual
3.2.3 I/O Signal Names and Functions
Name
Terminal
Function
No.
DICOM
9
Control power supply input for I/O signals: Provide the +24V DC power supply
/S-ON
10
Servo ON:Turns the servomotor on.
/P-CON
11
P-OT
12
Forward run prohibited
N-OT
13
Reverse run prohibited
The function of I/O are default,it can be
/ALM-RST
14
Alarm reset: Releases the servo alarm state.
changed by setting parameters.
/CLR
15
/PCL
16
Forward externaltorque limit
/NCL
17
Reverse externaltorque limit
PPIP
23
Power supply input for open collector reference(pulse)
PPIS
28
Power supply input for open collector reference(direction)
PULS-
24
PULS+
25
Reference pulse input
SIGN-
26
Reference sign input
SIGN+
27
It has deferent means depends on deferent
control mode.
Positional error pulse clear input: Clear the
positional error pulse during position control.
Pulse reference input mode:
Sign + pulse train
CCW + CW pulse
Two-phase pulse
/COIN(/V-CMP-)
7
Turns ON when the number of positional error
/COIN+
(/V-CMP+)
/TGON-
Positioning completion(Speed coincidence):
8
1
pulses reaches the value set.
Motor rotation detection: when the servomotor
is rotating at a speed higher than the motor
/TGON+
2
/S-RDY-
5
The function of I/O are default,it can be
changed by setting parameters.
speed setting.
Servo ready:
ON if there is no servo alarm when the
/S-RDY+
6
control/main circuit power supply is turned ON.
ALM-
3
Servo alarm:
ALM+
4
Turns off when an error is detected.
PAO+
34
PAO-
35
PBO+
32
Phase-A signal
Converted two-phase pulse(phases A
and B) encoder output.
Phase-B signal
PBO-
33
PCO+
30
Phase-C signal
Zero-point pulse(Phase-C) signal
PCO-
31
GND
18,36
GND
FG
Shell
Connect frame to ground if the shield wire of the I/O signal cable is connected to the
- 24 -
ETS Series AC Servo User's Manual
connector shell.
3.2.4 Interface Circuit
This section shows examples of servo drive I/O signal connection to the host controller.
■Interface for input circuit
The input circuit interface connects through a relay or open-collector transistor circuit.Select a low-current relay otherwise
a faulty contact will result.
Servodrive
Servodrive
DC24V
50mA min.
+24VIN
DC24V
50mA min.
3.3KΩ
/S-ON,etc.
+24VIN
3.3KΩ
/S-ON,etc.
■Interface for encoder and servo drive output circuits
The amount of two-phase (phase A and phase B) pulse output signals (PAO,/PAO,PBO,/PBO) and zero-point pulse
signals(PCO,/PCO) are output via line-driver output circuits.Normally, the servo drive uses this output circuit in speed
control to comprise the position control system at the host controller. Connect the line-driver output circuit through a line
receiver circuit at the host controller.
■Interface for sequence output circuit
Photo-coupling isolation output is required for output signals of servo alarm, positioning complete and brake interlock.
DC5V~24V
Relay
Servo drive side
0V
Note:
Maximum voltage should be no more than 30VDC, and maximum current should be no more than 50mA.
- 25 -
ETS Series AC Servo User's Manual
3.3 Wiring Encoders
3.3.1 Connecting an Encoder(CN2_A/ CN2_B/ CN2_C)
Wire-saving Incremental
Encoder
Servodrive
*
1(A)
2(B)
PA
P
3(C)
4(D)
5(E)
P
6(F)
P
*
2-1
/PA
2-2
PB
2-3
/PB
PC
2-4
2-5
2-6
/PC
Host controller
CN1_A/B/C
CN2_A/B/C
Phase-A
Phase-B
Phase-C
1-34
PAO
1-35
/PAO
1-32
PBO
1-33
/PBO
1-30
PCO
1-31
/PCO
P
P
P
PG
Applicable linereceiver SN75175
manufactured by TI
or the equivalent.
7(H)
8(G)
2-7、2-8、2-9
PG5V
2-17、2-18、2-19
PG0V
0V
FG
9(J)
*
P
SG
Connector shell
Connector shell
shielded wires
(Shell)
1-18
1-36
Represents multi-core twisted pair shielded wires.
3.3.2 Encoder Connector(CN2_A/ CN2_B/ CN2_C) Terminal Layout
Name
Terminal
Function
No.
PA+
1
PG input phase A+
PA-
2
PG input phase A-
PB+
3
PG input phase B+
PB-
4
PG input phase B-
PC+
5
PG input phase C+
PC-
6
PG input phase C-
PG5V
7、8、9
PG power supply +5V
GND
17、18、19
PG power supply 0V
FG
Shell
Connect frame to ground if the shield wire of the
PG signal cable is connected to the connector shell.
- 26 -
0V
ETS Series AC Servo User's Manual
3.4 Communication Connection(CN3/CN4)
Terminal No.
Name
Function
1
—
2
—
3
485+
4
ISO_GND
5
ISO_GND
6
485-
RS-485 communication terminal
7
CANH
CAN communication terminal
8
CANL
CAN communication terminal
Reserved
RS-485 communication terminal
Isolated ground
Note: Do not short terminal 1 and 2.
- 27 -
ETS Series AC Servo User's Manual
3.5 Standard Wiring Example
Motor connector specification
Plug:172167-1 (AMP)
Pin:170360-1 (AMP)
Pin No.
Signal
1
U
2
V
3
W
4
FG
Encoder connector specification
Plug:172169-1 (AMP)
Pin:170359-3 (AMP)
Pin No.
Signal
1
A+
2
B+
3
C+
4
A-
5
B-
6
C-
7
PG5V
8
PG0V
9
FG
- 28 -
ETS Series AC Servo User's Manual
3.6 Standard Wiring Example
Three-phase AC200~230 50/60Hz
+10%
-15%
Molded-case Curcuit Breaker
Surge
Protector
Noise Filter
1RY
ON
1MC
OFF
PL
1MC
1RY
Magnetic Contactor
1MC
1MC
1MC
A(1)
B(2)
C(3)
D(4)
U_A
V_A
W_A
FG
L1
L2
Servo motor
MA
CN2_AWire-saving Encoder
L3
FG
L1C
L2C
1
2
3
4
5
6
7,8,9
A+
AB+
BC+
CPG5V
17,18,19
PG0V
Encoder
PGA
ETS Servo Drive
B1
B2
External Regenerator Resistor
B3
A(1)
B(2)
C(3)
D(4)
U_B
V_B
W_B
B1
B2
B3
FG
CN2_BWire-saving Encoder
1
A+
A2
3
4
5
6
7,8,9
B+
BC+
CPG5V
17,18,19 PG0V
CN1_A
FG
CN2_CWire-saving Encoder
1
A+
A2
3
4
5
6
7,8,9
CN1_C
17,18,19
CN3
CN4
Shell
FG
Connect Shield to Connector Shell
- 29 -
B+
BC+
CPG5V
PG0V
MB
Encoder
PGB
A(1)
B(2)
C(3)
D(4)
U_C
V_C
W_C
CN1_B
Servo motor
Servo motor
MC
Encoder
PGC
ETS Series AC Servo User's Manual
CN1_A、CN1_B、CN1_C:
CN1_A/B/C
34
PAO
35
P represent multi-twisted
pair wire
/PAO
23
2KΩ
PULS
25
150Ω
P /PULS
24
Power supply for open collector
reference PL1
PULS
32
PBO
PG dividing
ratio output
33
/PBO
Position reference
28
2KΩ
SIGN
27
150Ω
P /SIGN
26
Power supply for open collector
reference PL2
SIGN
Servo ON
(When ON Servo function
+
enabled)
+24V P Control
(When ON, P control
enabled)
Forward rotation
prohibited
(When OFF, forward rotation
prohibited)
Reverse rotation
prohibited
(When OFF, reverse rotation
prohibited)
Alarm reset
(When ON, alarm reset)
Clear signal input
(When ON, displacement
clears)
Forward external torque
limit
(When ON, limit enabled)
Reverse external torque
limit
(When ON, limit enable)
DICOM
/S-ON
/P-CON
30
/PCO
36
18
3.3KΩ
9
10
~
11
~
8
~
P-OT
12
~
N-OT
13
~
/ALM-RST
/CLR
/PCL
/NCL
PCO
31
2
~
14
~
15
~
~
17
~
Connector frame
FG
Sheild wires connect to the connector frame
CN3\CN4:
7
8
/COIN+
/COIN-
/TGON+
/TGON-
/S-RDY+
5
/S-RDY-
4
ALM+
*
*
/COIN Positioning complete
(/V-CMP Speed coincident )
/TGON Rotation Detection
/S-RDY Servo Ready
/CLT
Torque limit Detection
/BR
Brake interlock
PGC
Encoder C pulse output
OT
Over travel
/RD
Servo enabled motor
excitation
/HOME Home completion
+24V
~
1
2
3
4
5
6
1
6
~
16
7
SG
485+
ISO_GND
ISO_GND
485CANH
CANL
- 30 -
3
ALM-
0V
Alarm output
(When Alarm triggered,OFF)
Photocoupler output
Max.applicable Voltage:DC30V
Max.applicable Current:DC50mA
* Specific pins output can be defined
ETS Series AC Servo User's Manual
3.7 Wiring for Noise Control
3.7.1 Noise Control
The servodrive uses high-speed switching elements in the main circuit. It may receive "switching noise"from these
high-speed switching elements.
To prevent malfunction due to noise, take the following actions:
• Position the input reference device and noise filter as close to the servo drive as possible.
• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.
• The distance between a power line (servomotor main circuit cable) and a signal line must be at least 30 cm.Do not put
the power and signal lines in the same duct or bundle them together.
• Do not share the power supply with an electric welder or electrical discharge machine. When the servo drive is placed
near a high-frequency generator, install a noise filter on the input side of the power supplyline. As for the wiring of noise
filter, refer to (1) Noise Filter shown below.
• For proper grounding technique, refer to (2) Correct Grounding.
(1) Noise Filter
Please install a noise filter in the appropriate place to protect the servo drive from external noise interference.
Notice:
Noise filter
AC 200V
*3
Servo Drive
Servomotor
L1
M
(FG)
L2
AC 400V
L3
3.5mm2 min.
*1


CN2
PG
CN1
2
2mm min.
Operation relay sequence
Signal generation circuit
*3
Noise
filter
*2
DC
power
3.5mm2 min.
(ground plate)
Wires of
3.5mm2 min.
(ground plate) (ground 3.5mm min. *1
plate)
2
*1
(ground plate)
(ground plate)
Ground: Ground to an independent ground
use ground resistor 100Ω max.
•For ground wires connected to the ground plate, use a thick wire with a thicknessof at least 3.5 mm2 (preferably, plain
stitch cooper wire)
•
should be twisted-pair wires.
- 31 -
ETS Series AC Servo User's Manual
•When using a noise filter, follow the precautions in 3.6.2 Precautions on Connecting Noise Filter.
(2) Correct Grounding
Take the following grounding measures to prevent the servo drive from malfunctioning due to noise.
■ Grounding the Motor Frame
If the servomotor is grounded via the machine, a switching noise current will flow from the servo drive main circuit through
the servomotor stray capacitance.
Always connect servomotor frame terminal FG to the servodrive ground terminal. Also be sure to ground the ground
terminal
.
■ Noise on the I/O Signal Line
If the I/O signal line receives noise, ground the 0 V line (SG) of the reference input line. If the main circuit wiring for the
motor is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point
only.
(3)Precautions on installing on the control panel
■When the servo driveis 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 plate, and closed to the hole drill
through power lines on control panel. Use screws to fix the noise filter to the metal plate. The grounding terminals of noise
filter connects to the grounding terminals of control panel.
■Servo drive should be fixed on a piece of metal plate. Make sure the heat sink towards ground. The grounding terminals
of servo drive connect to the grounding terminals of control panel.
3.7.2 Precautions on Connecting Noise Filter
(1) Noise Filter Brake Power Supply
Use the noise filter Manufactured by SCHAFFNER at the brake power input for servomotors with holding brakes.
Relationship between servo drive power and noise filter current:
Servo Motor Power
Noise Filter Current for single motor
200W
2A
400W
3A
750W
5A
1.0kW
6A
Note:
1.
A single-phase servomotor should apply a two-phase filter. A three-phase servo drive should apply
athree-phase filter.
2.
Choose the right filter according the specifications of operating voltage, current, and manufacturer.
(2) Precautions on Using Noise Filters
Do not put the input and output lines in the same duct or bundle them together.
- 32 -
ETS Series AC Servo User's Manual
x
Noise
Filter
Noise
Filter
Ground plate
Ground plate
Noise
Filter
Noise
Filter
Ground plate
Ground plate
Separate these circuits
Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines and other signal lines in the sameduct or bundle them
together.
X
Noise
Filter
Noise
Filter
Ground plate
Ground plate
Connect the noise filter ground wire directly to the ground plate.Do not connect the noise filter ground wire to other ground
wires.
x
Noise
Filter
Noise
Filter
servodrive
servodrive servodrive
servodrive
stub
Shielded
ground wire
ground plate
ground plate
If a noise filter is located inside a control panel, connect the noise filter ground wire and the groundwires from other
devices inside the control panel to the ground plate for the control panel first, thenground these wires.
- 33 -
ETS Series AC Servo User's Manual
Control Panel
Servodrive
Noise
Filter
Servodrive
Ground
Ground plate
- 34 -
ETS Series AC Servo User's Manual
Chapter 4
Operation
4.1 Trial Operation
Make sure that all wiring has been completed prior to trial operation.
Perform the following three types of trial operation in order. Instructions are given for speed control mode (standard setting)
and position control mode. Unless otherwise specified, the standard parameters for speed control mode (factory settings)
are used.
(1)Trial Operation for Servomotor Without Load (Refer to 4.1.1)
■Purpose
The servomotor is operated without connecting the shaft to the
Power Supply
machine in order to confirm the following wiring is correct.
·Power supply circuit wiring
·Servomotor wiring
·Encoder wiring
·Rotation direction and speed of servomotor.
(Please refer to step 1-4)
(2)Trial operation for servomotor with host reference (Refer to 4.1.2)
■Purpose
The servomotor is operated without connecting the shaft to the
Power Supply
machine in order to confirm the following wiring is correct.
·I/O signal wiring with host controller
·Rotation direction, speed and number of rotations of servomotor.
·Check the operation of the brake, overtravel and other protective
functions.
(Please refer to step 5-8)
(3) Trial operation for servomotor and machine combined. (Refer to 4.1.3)
■Purpose
Perform the trial operation with the servomotor
Power Supply
connected to the machine. The servo drive is adjusted to match the
machine characteristics.
·Servomotor speed and machine travel distance.
·Set the necessary parameters.
(Please refer to step 9-11)
- 35 -
ETS Series AC Servo User's Manual
Step
1
Item
Installation
Description
Install the servomotor and servo drive according to the installation
conditions. (Do not connect the servomotor to the machine because the
servomotor will be operated first under the no-load condition for checking.)
Reference
-
2
Wiring
Connect the power supply circuit (L1, L2 and L3), servomotor wiring (U, V,
W), I/O signal wiring (CN1_A/B/C), and encoder wiring (CN2_A/B/C). But
during (1) Trial Operation for Servomotor Without Load, disconnect the
CN1_A/B/C connector.
3
Turn the power
ON
Turn the power ON. Using the panel operator to make sure that the servo
drive is running normally. If using a servomotor equipped with an absolute
encoder, please perform the setup for the absolute encoder.
-
4
Execute JOG
operation
Execute JOG operation with the servomotor alone under the no-load
condition.
JOG
Operation
5
Connect input
signals
Connect the input signals (CN1_A/B/C) necessary for 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 protective functions for the correct operation.
-
7
Input the
Servo-ON
signal
Input the Servo-ON signal, and turn ON the servomotor.
Host
Reference
8
Input reference
Input the reference necessary for control mode, and check the servomotor
for correct operation.
Host
Reference
9
Protective
operation
Turn the power OFF, and connect the servomotor to the machine.
If using a servomotor equipped with an absolute encoder, set up the absolute
encoder and make the initial settings for the host controller to match the
machine’s zero position.
-
10
Set necessary
parameters.
Using the same procedure as you did to input a reference in step 8,operate
the servomotor via the host controller and set the parameter to make sure
the machine’s travel direction, travel distance, and travel speed
allcorrespond to the reference.
11
Operation
The servomotor can now be operated. Adjust the servo gain if necessary.
- 36 -
-
Host
Reference
Host
Reference
ETS Series AC Servo User's Manual
4.1.1 Trial Operation for Servomotor Without Load
!CAUTION
·Release the coupling between the servomotor and the machine, and secure only the servomotor without a load.
·To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings
and belts disconnected).
In this section, confirm the cable connections of the main circuit power supply, servomotor and encoder. Incorrect wiring is
generally the reason why servomotors fail to operate properly during the trial operation.
Confirm the wiring, and then conduct the trial operation for servomotor without load according to the following steps.
Step
Description
Check Method and Remarks
Secure the servomotor.
Secure the servomotor
flange to the machine.
1
2
Do not connect anything to the
shaft ( no-load conditions).
Check the power supply circuit, servomotor, and encoder
wiring.
Turn ON the control power supply and main circuit power
supply.
Normal Display
3
Alternate Display
Example of Alarm Display
4
Secure the servomotor flange to the machine in order
to prevent the servomotor frommoving during
operation.
Do not connect the servomotor shaft to the machine.
The servomotor may tip over during rotation.
When using a servomotor with a brake, release the brake
first before driving the servomotor.
- 37 -
With
the
I/O
signal
connector
(CN1_A/B/C)disconnected, check the power supply
circuit and servomotor wiring.
Refer to 3.1 Main Circuit Wiring.
If the power is correctly supplied, the panel operator
display on the front panel of the servo drive will appear
as shown on the left. The display on the left indicates
that forward run prohibited (P-OT) and reverse run
prohibited (N-OT).
If an alarm display appears, the power supply circuit,
servomotor wiring, or encoder wiring is incorrect. If an
alarm is displayed, turn OFF the power, find the
problem, and correct it.
Please refer to 4.3.4 Setting for Holding Brakes
Please refer to 4.4Operating Using Speed Control
with with Internally Set Speed
ETS Series AC Servo User's Manual
Step
Description
Check Method and Remarks
Use the panel operator to operate the servomotor with
utility function Fn002 (JOG Mode Operation)Check that
the servomotor rotates in the forwarddirection by pressing
the INC key, and reverse direction bypressing the DEC
Panel Operator
key.
Power Supply
The operation is completed when the operation is
performed as described below and the alarm display does
5
not appear.
Complete the Fn002 (JOG Mode Operation) and turn OFF
the power.
For the operation method of the panel operator, refer to
Chapter 5 Panel Operator
The servomotor speed can be changed using the Pn305
(JOG Speed).The factory setting for JOG speed is
500rpm.

JOG Mode Operation (Fn002)
Step
Display after operation
1
Panel operator
Description
Press the MODE key to select the function
MODE key
mode.
2
INC or DEC key
3
ENTER key
4
Press the INC key or DEC key to select
Fn002.
Press the ENTER key, and the servomotor will enter
JOG operation mode.
Press the MODE key. This will turn ON the power to
MODE key
the servomotor.
The servomotor will run in forward direction when INC
5
Forward
running
key is pressed or in reverse direction when DEC key
INC or DEC key
is pressed. The servomotor will operate as long as the
key is pressed.
Reverse
running
6
Press the MODE key. This will turn OFF the power to
MODE key
the servomotor.
Press the ENTER key to return to the Fn002 display
7
ENTER key
of the utility function mode. Now, the servo drive is
OFF.
Note:
The servomotor’s rotation direction depends on the setting of parameter Pn001.0(Direction Selection).
The example above describes operation with Pn001.0 in the factory setting.
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ETS Series AC Servo User's Manual
JOG Speed
Pn305
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~6000
rpm
500
Immediately
Set the utility function Fn002 (JOG Mode Operation) to the reference value of servomotor speed.
The servomotor can be operated using only the panel operator without reference from the host controller.
Please note that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid during JOG
mode operation.
4.1.2 Trial Operation 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 polarity between the host controller and servo drive, and the servo drive operation settings are
correct. This is the final check before connecting the servomotor to the machine.
Operating Procedure in Position Control Mode (Pn005=H.□□1□)
The following circuits are required: External input signal circuit or equivalent.
Servodrive
+24V
/S-ON
CLR
Reference pulse according to
parameter Pn004.2 setting.
Pulse reference
PULS+
CN1_A
9
10
15
25
PULS-
24
SIGN+
27
SIGN-
26
CN1_B
/S-ON
CLR
Reference pulse according to
parameter Pn004.2 setting.
Pulse reference
PULS+
10
15
25
PULS-
24
SIGN+
27
SIGN-
26
CN1_C
/S-ON
CLR
Reference pulse according to
parameter Pn004.2 setting.
Pulse reference
PULS+
10
15
25
PULS-
24
SIGN+
27
SIGN-
26
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ETS Series AC Servo User's Manual
Step
1
2
3
4
Description
Check Method and Remarks
Match the reference pulse form with the pulse output form
Set the reference pulse form with Pn004.2.
from the host controller.
Set the reference unit and electronic gear ratio so that it
Set the electronic gear ratio with Pn201(or
coincides with the host controller setting.
Pn203)/Pn202.
Turn the power and the servo ON input signal ON.
Send the slow speed pulse reference for the number of
Set the servomotor speed to100rpm for the
servomotor rotation easy to check (for example, one
reference pulse speedbecause such speed is safe.
servomotor revolution) from the host controller in advance.
5
Check the number of reference pulses input to the servo
Refer to5.1.6 Operation in Monitor Modefor how it
drive by the changed amount before and after the Un013 and
is displayed.
Un014(input reference pulsecounter)[pulse] were executed.
6
Check whether the actual number of servomotor rotations
Refer to5.1.6 Operation in Monitor Mode for how
Un009、Un010 coincides with the number of input reference
it is displayed.
pulses.
7
8
Check that the servomotor rotation direction is the same as
Check the input pulse polarity and input reference
the reference.
pulse form.
Input the pulse reference with the large number of
Set the servomotor speed to 100rpm
servomotor rotation from the host controller to obtain the
reference pulse speed because such speed is safe.
for the
constant speed.
9
Check the reference pulse speed input to the servo drive
Refer to5.1.6 Operation in Monitor Modefor how it
using the Un008in Monitor Mode.(input reference pulse
is displayed.
speed)[rpm].
10
Check the servomotor speed using the Un000 in Monitor
Refer to5.1.6 Operation in Monitor Modefor how it
Mode.(servomotor speed) [rpm].
is displayed.
To change the servomotor rotation direction without
changing the input reference pulseform, refer to
11
Check the rotation of the servomotor shaft.
4.3.2 Switching theServomotor Rotation
Direction. Perform the operation from step 8 again
after the servomotor rotation direction is changed.
When the pulse reference input is stopped and servo OFF
12
status is entered, the trial operation for servomotor without
load in position control mode is complete.
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ETS Series AC Servo User's Manual
4.1.3 Trial Operation with the Servomotor Connected to the Machine
!WARNING
·Follow the procedure below for trial operation precisely as given.
·Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may
also cause an accident resulting in death or injury.
Follow the procedure below to perform the trial operation.
至电源
至指令控制器
将电机法兰固定在机械上,但
不连接电机轴与负载轴。
Step
Description
Check Method and Remarks
1
Turn the power ON, and make the settings for the
mechanical configuration related to protective
functions such as overtravel and brake.
2
Set the necessary parameters for the control mode
used.
Refer to 4.3 Setting Common Basic Functions.
When a servomotor with brake is used, take advance
measures to prevent vibration due to gravity acting on
the machine or external forces before checking the
brake operation. Check that both servomotor and brake
operations are correct.
Refer to 4.4 Operating Using Speed Control with
Analog Reference,4.5 Operating Using Position
Control
3
Connect the servomotor to the machine with the
coupling,etc.,while the power is OFF.
Check that the servo drive is servo OFF status and
then turn ON the power to the machine (host
controller). Check again that the protective function in
step 1 operates normally.
Perform trial operation with the servomotor connected
to the machine, following each section in 4.1.2 Trial
Operation for Servomotor without Load from Host
Reference.
Check the parameter settings for control mode used in
step 2.
Adjust the servo gain and improve the servomotor
response characteristics, if necessary.
4
5
6
7
8
Thus, the trial operation with the servomotor
connected to the machine is complete.
- 41 -
Refer to 4.3 Setting Common Basic Functions.
For the following steps, take advanced measures for an
emergency stop so that the servomotor can stop safely
when an error occurs during operation.
Check that the trial operation is completed according to
the trial operation for servomotor without load. Also,
check the settings for machine such as reference unit.
Check that the servomotor rotates matching the
machine operating specifications.
The servomotor will not be broken in completely during
trial operation. Therefore, let the system run for a
sufficient amount of time to ensure that it is properly
broken in.
ETS Series AC Servo User's Manual
4.1.4 Trial Operation for Servomotor with Brakes
Holding brake operation of the servomotor can be controlled with the brake interlock output (/BK) signal of the servo drive.
When checking the brake operation,take advance measures to prevent vibration due to gravity acting on the machine or
external forces. Check the servomotor operation and holding brake operation with the servomotor separated from the
machine.If both operations are correct, connect the servomotor to the machine and perform trial operation.
4.2 Control Mode Selection
The control modes supported by the ETS series servo drives are described below.
Parameter
Control Mode
Speed Control (parameter reference)
Controls servomotor speed using parameter reference. Use in the
H.□□0□
following instances.
·To control speed
·For position control using the encoder feedback divisionoutput from
the servo drive to form a position loop in the host controller.
Position Control(Pulse train reference)
Controls the position of the servomotor using pulse train position
H.□□1□
reference.
Controls the position with the number of input pulses, and controls the
speed with the input pulse frequency.
Use when positioning is required.
Pn005
Speed Control(contact reference)
Speed Control
(zero reference)
H.□□2□
Use the three input signals /P-CON,/P-CL and /N-CL to control the
speed as set in advance in the servo drive.
Three operating speeds can be set in the servo drive. (In this case, an
analog reference is not necessary.)
H.□□3□
·
These are swiching modes for using the four control methods
·
described above in combination. Select the control method switching
·
mode that best suits the application.
H.□□5□
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ETS Series AC Servo User's Manual
4.3 Setting Common Basic Functions
4.3.1 Setting the Servo ON Signal
This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
(1)Servo ON signal(/S-ON)
Type
Input
Connector Pin
Name
Number
CN1_A/B/C_10
/S-ON
(Factory setting)
Setting
Meaning
ON(low level)
OFF(high level)
Servomotor power ON. Servomotor can beoperated.
Servomotor power OFF. Servomotor cannot be
operated.
■Important
Always input the servo ON signal before inputting the input reference to start or stop the servomotor.
Do not input the input reference first and then use the /S-ON signal 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 3.2.2 I/O Signal Names
and Functions.
(2) Enabling/Disabling the Servo ON Signal
A parameter can be always used to set the servo ON condition. This eliminates the need to wire /S-ON, but care must be
taken because the servo drive can operate as soon as the power is turned ON.
Parameter
b.□□□0
Pn000
b.□□□1
Meaning
External S-ON signal enabled (Factory setting)
External S-ON signal disabled, the servomotor excitation signal is
opened automatically after outputting the S-RDY signal.
After changing these parameters, turn OFF the main circuit and control power supplies, and then turn them
ON again to enable the new settings.
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ETS Series AC Servo User's Manual
4.3.2 Switching the Servomotor Rotation Direction
The rotation direction of the servomotor can be switched without changing the reference pulse to the servo drive or the
reference voltage polarity.
This causes the rotation the servo motor shaft is rotating to change. The output signal polarity, such as the encoder pulse
output and the analog monitor signal from the servo drive do not change.
The standard setting for “forward rotation” is counterclockwise as viewed from the servomotor load end.
Parameter
b.□□□0
Name
Reference
Forward reference
Reverse reference
Standard setting
(CCW=forward)
(factory setting)
CCW
CW
PAO
PAO
PBO
PBO
Pn001
b.□□□1
Reverse rotation
mode
CCW
(CW=forward)
CW
PAO
PAO
PBO
PBO
The direction of P-OT and N-OT change. For Pn001=b.□□□0(standard setting), counterclockwise is P-OT. For
Pn001=b.□□□1(reverse rotation mode), clockwise is P-OT.
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ETS Series AC Servo User's Manual
4.3.3 Setting the Overtravel Limit Function
The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn
ON a limit switch.
(1)Connecting the overtravel signal
To use the overtravel function, connect the following overtravel limit switch to the corresponding pin number of servo drive
CN1_A/B/C connector correctly.
Type
Input
Input
Signal Name
P-OT
N-OT
Pin No.
Setting
ON(low level)
CN1_A/B/C_12
(factory setting)
OFF(high level)
ON(low level)
CN1_A/B/C_13
(factory setting)
OFF(high level)
Meaning
Forward rotation allowed. (Normal
operation status.)
Forward rotation prohibited.
(Forward overtravel)
Reverse rotation (Normal operation
status.)
Reverse rotation prohibited.
(Reverse overtravel)
Connect limit switches as shown below to prevent damage
to the devices during linear motion.
Servomotor forward rotation direction.
Rotation in the opposite direction is possible during
Servodrive
overtravel.
Servomotor
For example, reverse rotation is possible during forward
CN1
Limit switch
Limit switch
overtravel.
P-OT
N-OT
16
17
■Important
When using overtravel to stop the servomotor during position control, the position error pulses are present. A clear
signal(CLR)input is required to clear the error pulses.
! CAUTION
When using the servomotor on a vertical axis, the workpiece may fall in the overtravel condition.
To prevent this, always set the zero clamp after stopping with Pn004.0=5.
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ETS Series AC Servo User's Manual
(2)Enabling/Disabling the Overtravel Signal
A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the overtravel input
signal.
Parameter
Meaning
b.□□0□
Inputs
the
forward
rotation
prohibited(P-OT)
signal
fromCN1_A/B/C_12(factory setting).
b.□□1□
Disables the forward rotation prohibited (P-OT) signal. (Allows constant
forward rotation.)
Pn000
b.□0□□
Inputs
the
reverse
rotation
prohibited(N-OT)
signal
fromCN1_A/B/C_13.(factory setting)
b.□1□□
Disables the reverse rotation prohibited(N-OT) signal. (Allows constant
reverse rotation.)
·Applicable control modes: Speed control, position control, and torque control.
·After changing these parameters, turn OFF the main circuit and control power supplies, and then turn them ON again to
enable the new settings.
·A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.2.2 I/O Signal
Names and Functions.
(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 theservomotor is operating.
Parameter
H.□□□0
Stop Mode
Mode After
Stop by dynamic
Rapidlly stops the servomotor by dynamic braking(DB),
brake
then places it into coast(power OFF) mode.
Coast
H.□□□1
Meaning
Stopping
Coast to a stop
Stops the servomotor in the same way as when the
servo is OFF(coast to a stop ), then places it into
coast(power OFF) mode.
Stops the servomotor by dynamic braking (DB) when
H.□□□2
servo OFF, stops the servomotor by plug braking when
overtravel, and then places it into coast (power OFF)
Coast
Pn004
H.□□□3
mode.
Makes the servomotor coast to a stop state when servo
OFF, stops the servomotor by plug braking when
S-OFF
overtravel, and then places it into coast (power OFF)
mode.
/Overtravel
Stops the servomotor by dynamic braking (DB) when
H.□□□4
servo OFF, stops the servomotor by plug braking when
Zero Clamp
H.□□□5
overtravel, and then places it into zero clamp mode.
Makes the servomotor coast to a stop state when servo
OFF, stops the servomotor by plug braking when
overtravel, then places it into zero clamp mode.
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ETS Series AC Servo User's Manual
·After changing these parameters, turn OFF the main circuit and control power
supplies, and then turn them ON again to enable the new settings.
Servodrive
Servomotor
·Stop by dynamic brake: Stops by using the dynamic brake (short circuiting its
electrical circuit).
·Coast to a stop: Stops naturally, with no brake, by using the friction resistance
of the servomotor in operation.
·Plug braking: Stops by using plug braking limit torque.
·Zero Clamp Mode: A mode forms a position loop by using theposition
reference zero.
·Dynamic brake is an emergency stop function, and one of the general methods to cause a servomotor sudden stop.
·Dynamic brake suddenly stops a servomotor by shorting its 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 servo drive’s internal elements.
·Use the speed input reference and position reference to control the starting and the stopping of the servomotor.
(4)Setting the Stop Torque for Overtravel
Plug braking torque limit`
Speed
Pn405
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~300
%
300
Immediately
·This sets the stop torque for when the overtravel signal(P-OT,N-OT) is input.
·The setting unit is a percentage of the rated torque.(the rated torque is 100%)
·The value large enough to be the servomotor maximum torque, 300% is set as the factory setting for plug braking limit
torque.However, the actual output plug braking limit torque is determined by servomotor ratings.
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ETS Series AC Servo User's Manual
4.3.4 Setting for Holding Brakes
The holding brake is used when the servo drive controls a vertical axis.
A servomotor with the brake option helps prevent movable parts from shifting due to gravity when power is removed from
the servo drive.(Refer to 4.1.4 Trial Operation for Servomotor with Brakes.)
Vertical axis
Shaft with external force applied
Servomotor
Holding brake
Servomotor
External force
Prevents the servomotor
from shifting due to
gravity when the power is
OFF.
Prevents the servomotor from
shifting due to external force.
1. The servomotor with the built in brake, is a de-energization brake. It is used to hold the servomotor and cannot be used
as a braking purposes. Use the holding brake only to 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 mechanical brake while the servomotor is stopped because the servomotor
enters servolock status.
(1)Wiring Example
Use the servo drive sequence output signal /BK and the brake power supply to form a brake ON/OFF circuit.
The following diagram shows a standard wiring example.
Servodrive
Servomotor with brake
Power supply
R
L1
U
S
L2
V
T
L3
W
M
L1C
L2C
BK-RY
CN2_A/B/C
CN1_A/B/C
(/BK+)
*1
(/BK-)
*2
PG
+24V
BK
Brake power supply
BK-RY
Yellow or blue
White
Red
AC DC Black
BK-RY:Brake control relay
1*、2*:The output terminals allocated with Pn511.
(2)Brake interlock output
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ETS Series AC Servo User's Manual
Type
Signal Name
Output
/BK
Connector Pin Number
Must be allocated
Setting
Meaning
ON(Low level)
Releases the brake.
OFF(High level)
Applies the brake.
This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with
the factory setting.The output signal must be allocated by Pn511. It does not need to be connected for servomotor
without a brake.
(3)Allocating Brake Interlock Output (/Bk)
Brake interlock output (/BK) is not used with the factory setting.The output signal must be allocated.
Connector Pin Number
Parameter
+ Terminal
- Terminal
Pn511
H.□□□4
CN1_A/B/C-11
CN1_A/B/C-12
Pn511
H.□□4□
CN1_A/B/C-5
CN1_A/B/C-6
Pn511
H.□4□□
CN1_A/B/C-9
CN1_A/B/C-10
Meaning
The /BK signal is output from output
terminal CN1_A/B/C-11,12.
The /BK signal is output from output
terminal CN1_A/B/C -5,6.
The /BK signal is output from output
terminal CN1_A/B/C -9,10.
■Important
When set to the factory setting, the brake signal is invalid.
For the allocation of servo drive output signals other than /BK signal, refer to 3.2.2 I/O Signal Names and Functions.
Parameter Pn511 description as following:
0
/COIN(/V-CMP)output
1
/TGON rotation detecting output
2
/S-RDY servo drive get ready output
3
/CLT torque limit output
4
/BKbrake interlock output
5
/PGC encoder C pulse output
6
OT overtravel signal output
7
/RD servo enabled motor excitation output
8
/HOME home completion output
Related parameter:
Parameter
No.
Name
Pn505
Servo ON waiting time
Pn506
Basic waiting flow
Pn507
Brake waiting speed
Pn508
Brake waiting time
Unit
Setting
Range
Default
ms
-2000~2000
0
10ms
0~500
0
rpm
10~100
100
10ms
10~100
50
(4)Setting the Brake ON/OFF Timing after the Servomotor Stops
With the factory setting, the /BK signal is output at the same time as the servo is turned OFF. The servo OFF timing can be
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ETS Series AC Servo User's Manual
changed with a parameter.
Servo ON waiting time
Pn505
Setting Range
Setting Unit
Factory Setting
Setting Validation
-2000~2000
ms
0
Immediately
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~500
10ms
0
Immediately
Basic waiting flow
Pn506
·When using the servomotor to control a vertical axis, the machine movable parts 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 brake operation while the servomotor is operating, refer to (5) Setting the Brake ON/ OFF Timing When
Servomotor Running in this section.
/S-ON
/BK Output
Power to Servomotor
Servo ON
Servo OFF
Brake released
Using brakes
brake
Power to
servomotor
Servo ON
Brake released
Power to
servomotor
No power to
servomotor
Pn506
Pn505
■Important
·The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter.
·The machine movable part may shift due to gravity or external force during the time until the brake operates.
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ETS Series AC Servo User's Manual
(5)Setting the Brake ON/OFF Timing When Servomotor Running
The following parameters can be used to change the /BK signal output conditions when a stop reference is output during
servomotor operation due to the servo OFF or an alarm occuring.
Brake Waiting Speed
Pn507
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
10~100
1rpm
100
Immediately
Brake Waiting Time
Pn508
Position
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
10~100
10ms
50
Immediately
/BK Signal Output Conditions When Servomotor Running
The /BK signal goes to high level(brake ON) when either of the following 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.
/S-ON input
or alarm or
power OFF
Servo ON
Servo OFF
Servomotor stopped
by applying DB or
Pn507 coasting.
(Pn004.0)
Servomotor Speed
/BK Output
Brake released
Brake held
Pn508
4.4 Operating Using Speed Control with Internally Set Speed
4.4.1 Setting Parameters
Parameter
Pn005
H.□□0□
Meaning
Control mode selection:Speed control(Internally set speed)(factory setting)
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ETS Series AC Servo User's Manual
4.4.2 Soft Start
The soft start function converts the stepwise speed reference inside the servo drive to a consistent rate of acceleration
and deceleration.
Pn310 can be used to select the soft start form:
0: Slope; 1: S curve; 2: 1st-order filter; 3: 2nd-order filter
Soft Start Acceleration Time
Pn306
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~10000
1ms
0
Immediately
Soft Start Deceleration Time
Pn307
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~10000
1ms
0
Immediately
The soft start function enables 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:The time interval from the time the servomotor starts until the servomotor maximum speed is reached.
· Pn307:The time interval from the time the servomotor is operating at the servomotor maximum speed until it stops.
Servomotor maximum speed
After soft start
Before soft start
Pn307
Pn306
4.4.3 Speed Reference Filter Time Constant
Speed Reference Filter Time Constant
Pn308
Setting Range
Speed
Setting Unit
Factory Setting
Setting Validation
1ms
0
Immediately
0~10000
st
This smooths the speed reference by applying a 1 –order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will decrease response.
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ETS Series AC Servo User's Manual
4.4.4 S-curve Risetime
S-curve Risetime
Pn309
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~10000
1ms
0
Immediately
4.4.5 Encoder Signal Output
Encoder feedback pulses processed inside the servo drive can be output externally.
Type
Signal Name
Connector Pin Number
Name
PAO+
34
Encoder output phase A
PAO-
35
Encoder output phase /A
PBO+
32
Encoder output phase B
PBO-
33
Encoder output phase /B
PCO+
30
Encoder output phase C(zero-point pulse)
PCO-
31
Encoder output phase /C(zero-point pulse)
Output
Output
Output
These outputs explained here.
Servodrive
Encoder
CN1
*
Phase A(PAO)
CN2
PG
Serial Data
Host Controller
Frequency
dividing
circuit
Phase B(PBO)
Phase C(PCO)
*The dividing output phase form is the same as the standard setting(Pn001.0=0) even if inreverse rotation
mode(Pn001.0=1).
■Output phase form
Pn001.0=0:
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ETS Series AC Servo User's Manual
Forward(CCW)
90°
Reverse(CW)
90°
Phase A
Phase A
Phase B
Phase B
t
t
Pn001.0=1:
Forward(CCW)
Reverse(CW)
90°
Phase A
Phase A
Phase B
Phase B
t
90°
t
If the servomotor is not equipped with an absolute encoder, the servomotor needs two full rotations before using the servo
drive's Phase-C pulse output as the zero point reference.
Dividing:Dividing means that the divider converts data into the pulse density(Pn200) based on the pulse data of the
encoder installed on the servomotor, and outputs it. The setting unit isnumber of pulses/revolution.
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ETS Series AC Servo User's Manual

Pulse Dividing Ratio Setting
PG Dividing Ratio
Speed
Pn200
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
1~2500
Puls
2500
After restart
Set the number of pulses for PG output signals(PAO,/PAO,PBO,/PBO) externally from the servo drive.
Feedback pulses from the encoder per revolution are divided inside the servo drive by the number set in Pn200 before
being output. (Set according to the system specifications of the machine or host controller.)
The setting range varies with the number of encoder pulses for the servomotor used.
■Output Example
Pn200=16(when 16 pulses are output per revolution)
Preset value:16
PAO
PBO
1 revolution
4.4.6 Speed coincidence output
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 interlock.
Type
Signal Name
Output
/V-CMP(/COIN)
Connector Pin Number
Setting
Meaning
CN1_A/B/C-11,12
ON(low level)
Speed coincides.
(factory setting)
OFF(high level)
Speed does not coincide.
Coincidence Difference
Speed
Pn501
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~100
rpm
10
Immediately
The /V-CMP signal is output when the difference between the speed reference and actual servomotor speed is less than
Pn501.
■Example
The /V-CMP signal turns ON at 1900 to 2100rpm ifthe Pn501 parameter is set to 100 and the reference speed is 2000rpm.
Pn501
Servomotor speed
Reference speed
/V-CMP is output in this range.
■Note
This pin outputs the /COIN signal in position control mode, and the /V-CMP signal in speed control mode.
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ETS Series AC Servo User's Manual
4.4.7 Speedcontrol(contactreference)
The function of internally set speed selection allows speed control operation by externally selecting an input signal from
among seven servomotor speed setting made in advance with parameters in the servo drive. The speed control
operations within the three settings are valid. There is no need for an external speed or pulse generator.
Servodrive
Internally set speed parameters
Servomotor
SPEED1 Pn316
/P-CON
SPEED2 Pn317
Speed reference
SPEED3 Pn318
Contact inputs
/P-CL
M
SPEED4 Pn319
SPEED5 Pn320
SPEED6 Pn321
/N-CL
SPEED7 Pn322
■Parameters setting
Parameter
Pn005
H.□□2□
Meaning
Control mode selection:Speed control(contact reference)
Internal set speed 1
Pn316
speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
-6000~6000
rpm
100
Immediately
Internal set speed 2
Pn317
speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
-6000~6000
rpm
200
Immediately
Internal set speed 3
Pn318
speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
-6000~6000
rpm
300
Immediately
Internal set speed 4
Pn319
speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
-6000~6000
rpm
-100
Immediately
Internal set speed 5
Pn320
speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
-6000~6000
rpm
-200
Immediately
Internal set speed 6
Pn321
speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
-6000~6000
rpm
-300
Immediately
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ETS Series AC Servo User's Manual
Internal set speed 7
Pn322
speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
-6000~6000
rpm
500
Immediately
(Note):The servomotor’s maximum speed will be used whenever a speed setting for the Pn316~Pn322 exceeds the
maximum speed.
■Control mode switching
Use ON/OFF combinations of the following input signals to operate with the internally set speeds.
When Pn005.1=2: Selects the internally set speed (contact reference) Speed control (zero reference)
Input Signal
Speed
/P-CON
/P-CL
/N-CL
OFF(H)
OFF(H)
Speed control (zero reference)
OFF(H)
ON(L)
SPEED1
ON(L)
OFF(H)
SPEED2
ON(L)
ON(L)
SPEED3
OFF(H)
OFF(H)
SPEED4
OFF(H)
ON(L)
SPEED5
ON(L)
OFF(H)
SPEED6
ON(L)
ON(L)
SPEED7
OFF(H)
ON(L)
Note: OFF= High level; ON= Low level
WhenPn005.1 = 3,/P-CON,/PCL,/NCL =OFF(H),switches to position control(pulse train reference)
Input Signal
/P-CON
OFF(H)
ON(L)
Speed
/PCL
/NCL
OFF(H)
OFF(H)
OFF(H)
ON(L)
SPEED1
ON(L)
OFF(H)
SPEED2
ON(L)
ON(L)
SPEED3
OFF(H)
OFF(H)
SPEED4
OFF(H)
ON(L)
SPEED5
ON(L)
OFF(H)
SPEED6
ON(L)
ON(L)
SPEED7
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Positioncontrol(pulse train reference)
ETS Series AC Servo User's Manual
4.5 Operating Using Position Control
4.5.1 Basic Setting in Position Control
(1)Control mode selection
Set the following parameters for position control using pulse trains.
Parameter
Pn005
Meaning
H.□□1□
Control mode selection:position control(pulse train reference)
(2)Setting a reference pulse sign
Type
Input
Signal Name
Connector Pin Number
Name
PULS+
CN1_A/B/C-25
Reference pulse input
PULS-
CN1_A/B/C-24
Reference pulse input
SIGN+
CN1_A/B/C-27
Reference sign input
SIGN-
CN1_A/B/C-26
Reference sign input
Set the input form for the servo drive using parameter Pn004.2 according to the host controllerspecifications.
Parameter
Reference
Input Pulse
Pulse Form
Multiplier
PULS
(CN1_A/B/C-25 )
Sign+pulse train
H.□0□□
(positive logic)
Forward Rotation
Reference
—
SIGN
(CN1_A/B/C-27)
Reverse Rotation
Reverse
PULS
(CN1_A/B/C-25)
SIGN
(CN1_A/B/C-27)
H
L
(factory setting)
PULS
(CN1_A/B/C-25)
Pn004
H.□1□□
CW+CCW
PULS
(CN1_A/B/C-25)
L
SIGN
(CN1_A/B/C-27
—
SIGN
(CN1_A/B/C-27)
L
(positive logic)
×1
H.□2□□
H.□3□□
Two-phase pulse
train with 90°
H.□4□□
phase differential
(positive logic)
90º
90º
×2
×4
PULS
(CN1_A/B/C-25)
PULS
(CN1_A/B/C-25)
SIGN
(CN1_A/B/C-27)
SIGN
(CN1_A/B/C-27)
■Note:
The input pulse multiplier can be set for the two-phase pulse train with 90°phase differential reference pulse form.
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ETS Series AC Servo User's Manual
Forward Rotation
Reverse Rotation
PULS
(CN1_A/B/C-25)
SIGN
(CN1_A/B/C-27)
×1
Internal processing
×2
Servomotor movement
reference pulses.
×4
(3)Inverse PULS and SIGN reference
Pn004
0□□□
Do not inverse PULS reference and SIGN reference
1□□□
Do not inverse PULS reference; Inverse SIGN reference
2□□□
Inverse PULS reference; Do not inverse SIGN reference
3□□□
Inverse PULS reference and SIGN reference
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ETS Series AC Servo User's Manual
4.5.2 Setting the Clear Signal
(1)Setting the Clear Signal
Type
Sign Name
Connector Pin Numbe
Function
Input
/CLR
CN_A/B/C-40
error counter clear
When the /CLR signal is set to low level, clear error counter:
·The error counter inside the servo drive is set to“0”
·Position loop operation is disabled.
(2)Setting the Clear SignalMode
In positioncontrol mode, pulses will be still presented in the servo drive when servo OFF, thus it should be cleared when
servo drive is turned ON. Setting Pn004 to choose whether clearing the pulses automatically when servo OFF.
Pn004
□□0□
Clearthe error pulse when S-OFF, donot whenovertravel.
□□1□
Do not clear the error pulse.
□□2□
Clearthe error pulse when S-OFF orovertravel (excep for zero clamp)
4.5.3 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 pulse from the host controller, i.e., the minimum position data unit, is called a reference unit.
When the Electronic Gear is Not Used
When the Electronic Gear is Used
workpiece
Reference unit:1µm
workpiece
No. of encoder
pulses:2500
Ball screw pitch:6mm
To move a workpiece 10mm :
One revolution is 6mm. Therefore 10÷6=
1.6666 revolutions.
2500×4 pulses is one revolution.
Therefore, 1.6666×2500×4=16666
pulses. 16666 pulses are input as
reference pulses.
The equation must be calculated at the
host controller.
No. of encoder
pulses:2500
Ball screw pitch:6mm
To move a workpiece 10mm using
reference units:
The reference unit is 1µm. Therefore, to
move the workpiece 10mm (10000µm),
1pulse=1µm, so 10000/1=10000 pulses.
Input 10000 pulses per 10mm of
workpiece movement.
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ETS Series AC Servo User's Manual
(2)Related Parameters
Electronic Gear Ratio(Numerator)
Pn201
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
1~65535
—
1
After restart
Electronic Gear Ratio(Denominator)
Pn202
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
1~65535
—
1
After restart
The deceleration ratio of the servomotor and the load shaft is given as m/n where m is therotation of the servomotor and n
is the rotation of the load shaft.
Electronic gear ratio: B  Pn 201
A

Pn 202
No. of encoder pulses  4
m

Travel dis tan ce per load
n
shaft revolution (reference units )
·If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range.
·Be careful not to change the electronic gear ratio (B/A).
■Important
·Electronic gear ratio setting range: 0.01≤electronic 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 the Electronic Gear Ratio
Use the following procedure to set the electronic gear ratio.
Step
1
2
Operation
Check machine specifications.
Check the number of encoder
pulses.
Description
Check the deceleration ratio, ball screw pitch and pulley
diameter.
Check the number of encoder pulses for the servomotor used.
Determine the reference unit from the host controller,
3
Determine the reference unit used.
considering the machine specifications and positioning
accuracy.
Calculate the travel distance per load shaft
Calculate the number of reference units necessary to turn the load shaft
revolution.
one revolution based on the previously determined reference units.s
5
Calculate the electronic gear ratio.
Use the electronic gear ratio equation to calculate the ratio (B/A).
6
Set parameters.
Set parameters using the calculated values.
4
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ETS Series AC Servo User's Manual
(4)Electronic Gear Ratio Setting Examples
The following examples show electronic gear ratio settings for different load configurations.
Load Configuration
Ball Screw
Disc Table
Belt and Pulley
Reference unit:0.1º
Reference unit:0.01mm
Step
Operation
Reference unit:0.001mm
Load shaft
Wire-saving incremental
encoder
1
Check
machine
specifications.
Ball screw pitch:6mm
Load shaft
Deceleration ratio:
3:1
Load shaft
Wire-saving
incremental encoder
Ball screw pitch:mm
Rotation angle per revolution
Deceleration ratio:1/1
:360°Deceleration ratio:3/1
Deceleration ratio:
2:1
Pulley diameter:
F 100mm
Wire-saving
incremental encoder
Pulley diameter:100 mm
(pulley circumference:314 mm)
·Deceleration ratio:2/1
Wire-saving
2
Encoder
Wire-saving
Wire-saving incrementalencoder
incrementalencoder 2500P/R
2500P/R
1 reference unit:0.1°
1 reference unit:0.01mm
6mm/0.001mm=6000
360°/0.1°=3600
314mm/0.01mm=31400
B
2500  4 1


A
6000
1
B
2500  4 3


A
3600
1
B
2500  4 2


A
31400
1
incrementalencoder
2500P/R
Determine the
3
reference unit
used
1 reference unit:
0.001mm(1μm)
Calculate the
4
travel distance
per load shaft
revolution
Calculate the
5
electronic gear
ratio
6
7
Set parameters
Final Result
Pn201
10000
Pn201
30000
Pn201
20000
Pn202
6000
Pn202
3600
Pn202
31400
Pn201
5
Pn201
25
Pn201
100
Pn202
3
Pn202
3
Pn202
157
·Reduce the fraction (both numerator and denominator) if the calculated result will not be within the setting range.
·For example, reduce the above numerators and denominators by four or other numbers to obtain the final results in step
7 and complete the settings.
(5)Electronic Gear Ratio Equation
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ETS Series AC Servo User's Manual
Servomotor
n
Pitch=P(mm/rev)
Reference pulse
(mm / P)
B
A
+
—
Position
loop
(mm / P ) : Reference unit
Speed
loop
m
×4
PG(P/rev))
PG(P/rev)):Encoder pulses
P(mm/rev):Ball screw pitch
m
n
:Deceleration ratio
n p B
 ( )  4  PG  m

A
B
4  PG  m   4  PG m
( )


P
A
n p
n

Set A and B with the following parameters:
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A :Pn202
B :Pn201
ETS Series AC Servo User's Manual
4.5.4 Smoothing
A filter can be applied in the servo drive to a constant-frequency reference pulse.
(1)Selecting a Position Reference Filter
Parameter
Description
0:1st-order filter
Pn205
1:2nd-order filter
* After changing the parameter, turn OFF the power once and turn it ON again to enable the new setting.
(2)Filter-related Parameters
Position Reference Acceleration/Deceleration Time Constant
Pn204
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~32767
0.25ms
0
Immediately
■Important
When the position 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 reflected, stop the
reference pulse from the host controller and input the clear signal (CLR), or turn OFF to clear the error.
This function provides smooth servomotor operation in the following cases.
·When the host controller that outputs a reference that cannot perform acceleration/deceleration processing.
·When the reference pulse frequency is too low.
·When the reference electronic gear ratio is too high (i.e., 10× or more)
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ETS Series AC Servo User's Manual
4.5.5 Low Frequency Vibration Suppression
(1)Note:
For the low rigidity load, low frequency vibration will occur continually at the front end of the load during fastacceleration or
fastdeceleration.The vibration may delay positioning time and affect the productive efficiency.
The function of low frequency vibration suppression is embedded in ETS series servo drives by calculating the load
position and compensating.
Low Frequency Vibration
Moving part
Coupling
Ball Screw
Workbench
Servomotor
(2)Application:
Low frequency vibration suppression function 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.

Vibration is pricked up due to an external force.

Vibration frequency is between5.0Hz to 50.0Hz.

There is mechanical clearance at the mechanical connection part.

The time for movement is less than one vibration period.
(3)How to operate:
 Measuring Vibration frequency
Write the frequency data measured(unit:0.1Hz) directly to Parameter Pn411, if the vibration frequency can be
measured by an instrument (such as a laser interferometer).And it also can be measured indirectly by
communication software ESView or FFT analsis function.
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ETS Series AC Servo User's Manual
Position error counter
ΔT
0
t
f = 1 / ΔT
 Related Parameters
Parameter
Pn006
Meaning
H.□0□□
0:Low frequency vibration suppression function disabled
H.□1□□
1:Low frequency vibration suppression function enabled
Low frequency vibration frequency
Pn411
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
50~500
0.1Hz
100
Immediately
Low frequency vibration damp
Pn412
Speed
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~200
—
25
Immediately
·Writing the frequency data to parameter Pn411 can adjust Pn411 slightly to obtain the best suppression effect.
·If the servomotor stopped with continuous vibration, Pn412(Do not change in general) should be increased properly.
·Parameter Pn411 and Pn412 are enabled when Pn006.2=1(Setting validation: after restart).
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ETS Series AC Servo User's Manual
4.5.6 Positioning Completion Output Signal
This signal indicates that servomotor movement has been completed during position control. Use the signal as an
interlock to confirm that positioning has been completedat the host controller.
Type
Signal Name
Connector Pin Number
CN1_A/B/C-11,
Output
Setting
ON(low level)
CN1_A/B/C -12
/COIN
Meaning
Positioning
has
been
completed.
(Factory setting)
OFF(high level)
Positioning is not
completed.
·This output signal can be allocated to an output terminal with parameter Pn511. Refer to 3.2.2 I/O Signal Names and
Functions.
Positioning Error
Pn500
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~5000
1Puls
10
Immediately
Position complete time
Pn520
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~60000
0.25ms
500
Immediately
·The positioning completion (/COIN) signal is output when the difference (position error pulse) between the number of
reference pulses output by the host controller and the travel distance of the servomotor is less than the value set in this
parameter and the stabilization time is more than the value of Pn520.
·Set the number of error pulses in reference unit (the number of input pulses defined using the electronic gear).
·Too large a value at this parameter may output only a small error during low-speed operation that will cause the /COIN
signal to be output continuously.
·The positioning error setting has no effect on final positioning accuracy.
Reference
Servomotor speed
Speed
Pn500
Error pulse
(Un011,Un012)
/COIN
(CN1_A/B/C-11,12)
■Note
·/COIN is a position control signal.
·This signal is used for the speed coincidence output /V-CMP for speed control, and it always OFF(high level) for torque
control.
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ETS Series AC Servo User's Manual
4.5.7 Reference Pulse Inhibit Function(INHIBIT)
(1)Description
This function inhibits the servo drive from counting input pulses during position control.
The servomotor remains locked (clamped) while pulses are inhibited.
Servodrive
Pn005.1
Pn005=H.□□1□
OFF
Reference pulse
+
Error Counter
Pn005=H.□□4□
ON
-
/P-CON
/P-CON
Feedback pulse
(2)Setting Parameters
Parameter
Pn005
Meaning
H.□□4□
Control mode selection:position control(pulse train reference)⇔INHIBIT
■Inhibit(INHIBIT) switching condition
·/P-CON signal ON (low level)
OFF
ON
/P-CON
ON
Reference pulse
t1
t2
t1,t2≤ 0.5ms
Input reference pulses are not
counted during this period.
(3)Setting Input Signals
Type
Signal
Connector Pin
Name
Number
Setting
Meaning
Turns the INHIBIT function ON.
ON(low level)
Input
/P-CON
(Inhibit the servo drive from countingreference
pulses)
CN1_A/B/C-11
OFF(high level)
Turns the INHIBIT function OFF.
(Counters reference pulses.)
4.5.8 Position Control (contact reference)
Position control under contact reference (parameter Pn005.1=5). In this mode, servo drive can position with a single axes
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ETS Series AC Servo User's Manual
without a host controller.
There are 16 position control points with each being able to set move distance, running speed, constants for position
reference filter time, and the stop time when positioning completed. Two speeds (1. speed moving toward distance switch
“speed of looking for reference point”. 2. Speed moving away from distance switch “moving speed.”) of reference points
could be set as:
Two position modes: 1. Absolute position mode 2. Relative position mode
Two running modes: 1. Circling mode 2. Non-circling mode
Two step switching method: 1. Delay step switching 2. /P-CON signal switching
Method of looking for reference points: 1. Forward direction 2. Reverse direction
■Adjusting offset
Offset of each points has two correspondent parameters: one unit of the parameter is 【x 10000 reference pulse】and the
other is 【x 1 reference pulse】. Setting range of both parameters is: (-9999----+9999), while offset value equals sum of
those two values.
For example:
No.0 offset correspond to parameter Pn600【x 10000 reference pulse】 and Pn601【x 1 reference pulse】. Set Pn600
= 100, Pn601=-100.
No.0 offset value = Pn600x10000 reference pulse + Pn601x1 reference 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, we can see when the two parameters are not zero; we can get same result by two ways: one is to set the two
parameters both negative or both positive, or one negative the other positive.
■Speed
Speed mentioned here refers to the steady speed during which the motor is running, which is similar to the pulse
frequency given from the external pulse reference in position control.However, this speed has nothing to do with the
electronic gear; it is the actual speed of the motor.
■Position reference filter time constant
Same as position reference filter time constant Pn204 in common position control.
■Time for change steps after desired position reached
Apply internal delay to change steps to a valid value in parameter Pn681.1.
Time for change steps outputs from positioning completed signal CON/, from Servo ON, or from the time when reference
point is found till the Servo performs the program to control position of the point. Such period of time depends on step
changing time required by a point number among start point in program.
When running point control program, if error counter is set as “not clear error counter when Servo OFF”, then the error
counter might flood. If it does not flood, then the servo drive will probably run at the max. running speed when Servo ON
again. PLEASE PAY ATTENTION TO THE SAFETY OF INSTRUMENT.
Para. No.
Pn004.1
Name and description
[0] Clear error pulse when S-0FF, not clear error pulse
when overtravel.
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Setting
range
Default
0~2
0
ETS Series AC Servo User's Manual
[1] Not clear error pulse
[2] Clear error pulse When S-OFF or over travel
■Looking for the reference point
Looking for the reference point is for establishing a zero physical point of the operating platform, which is used as zero
point in the coordinates during point position control. And users may choose to find a reference point either in forward or
reverse side.
How to find a reference point
Mount a limit switch in the forward or reverse side.Find a reference point in the forward direction after connecting to /PCL
and in the reverse direction after connecting to /NCL. When the operating platform bumps into the limit the switch, the
motor will first 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 encoder Phase C pulse,then
position of operating platform is set to be the zero point of the coordinates.
How to find related parameters of reference point
Speed towards limit switch is called “speed of looking for reference point “, and the moving speed away from limit switch is
called “ moving speed”.
Para. No.
Pn685
Pn686
These two speeds could be set by the following parameters:
Description
Speed of looking for reference point (hits
the limit switch)
Moving speed (move away from limit
switch)
Unit
Setting range
Default
rpm
0~3000
1500
rpm
0~200
30
Usually, the set speed of the reference point (Pn685) is high, and the moving speed (Pn686) is low. Note: if moving speed
is too high, precision of finding a reference point would be affected.
When looking for a reference point, /PCL and /NCL are no longer programmed to limit external current.
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ETS Series AC Servo User's Manual
■Related parameter
Para. No.
Pn681.0
Description
Observation
Choose between cycle run and single run.
Changing steps will be performed till
0: Cycle run, /PCL as start signal, /NCL reverse to
the end point is completed comma
look for reference point.
and the next change will start from
1: Single run, /PCL as start signal, /NCL reverse to
the start point during multi-points
look for reference point.
cycle run.
2. Cycle run, /NCL as start signal, /PCL reverse to
Point control program will not
look for reference point.
change steps after the end point is
3. Single run, /NCL as start signal, /PCL reverse to
completed during multi- points single
look for reference point.
run.
Change steps by external /P-CON
Change step and start mode
0: Delay changing steps, the start signal is not
Pn681.1
needed.
1: Change steps by /P-CON, start signal not needed.
2. Delay changing steps, need start signal.
3. Change steps by /P-CON, need start signal.
signals. The signal will be valid when
drive output reaches the desired
position. When input signal changes,
the signal is valid, then steps will be
changed by consequence from start
point to end point.
Change step input signal mode
Pn681.2
[0] High or low level
[1] sign pulse
Incremental: relative moving
distance (distance from current point
Pn682
to next point) programming.
0: Incremental
Absolute: absolute moving distance
1: Absolute
(distance between operating
platform and the reference point)
programming.
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ETS Series AC Servo User's Manual
4.5.9 Position Homing Control (Homing Function)
In position control mode, the servomotor always needs to operate at a fixed position. This position is normally regarded as
the zero position. When the host controller is turned on, the zero position adjustment is required before processing. This
zero position will be regarded as the reference point. ESTUN servo drives can perform this function by the homing
function.
(1)Homing Mode Setting
Para. No.
Pn689
Description
b.□□□0
Homing in the forward direction
b.□□□1
Homing in the reverse direction
b.□□0□
Return to search C-Pulse when homing
b.□□1□
Directly search C-Pulse when homing
b.□0□□
Homing function disabled
b.□1□□
Homing triggered by SHOM signal(rising edge)
·Applicable control mode:position control
·Homing operation can only be operated when /COIN is ON.
·Pulses sent from the 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 main circuit and control power supplies and then turn
them ON again to enable the new settings.
·A parameter can be used to re-allocate input connector number for the SHOM and ORG signals. Refer
to 3.2.3 I/O Signal Names and Functions.
(2)Related parameter:
Speed of finding reference point(Hitting the origin signal ORG)
Pn685
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~3000
rpm
1500
Immediately
Speed of finding reference point(Leaving the origin signal ORG)
Pn686
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~200
rpm
30
Immediately
Number of error pulses during homing
Pn690
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~9999
10000 puls
0
Immediately
Number of error pulses during homing
Pn691
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~9999
1 puls
0
Immediately
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ETS Series AC Servo User's Manual
(3)Input Signal Setting
Type
Signal
Connector Pin
Setting
Meaning
Input
Name
SHOM
Number
Must be allocated by
Pn509,Pn510
ON=↑(rising edge)
Homing is enabled
OFF(not rising edge)
Homing is disabled
ON=H
ORG is enabled
OFF=L
ORG is disabled
Input
Input
ORG
/HOME
Must be allocated by
Pn509,Pn510
ON=L
Must be allocated
byPn511
Homing completed
OFF=H
·After changing Pn509, Pn510 and Pn511 turn OFF the main circuit and control power supplies and
then turn them ON again to enable the new settings.
(4)Description of Homing Operation
Please set Pn689 according to the actual operation in position control mode. When starting the homing function, the
servomotor will run at the speed of Pn685 when detecting the rising edge of SHOM signal; the servomotor will run at the
speed of Pn686 according to the setting of Pn689.1 when detecting the valid ORG signal.
When input ORG and the encoder C-Pulse is detected, the servo drive will begin to calculate the number of homingoffset
pulses. When offset pulses is completed, the servomotor stops and outputs homing completion signal /HOME, then
homing control is completed.
Pn685 (Hitting the origin signal (ORG)) is usually set at high speed, Pn686 (Leaving the origin signal ORG) is usually set
at low speed.
Please be attention that if Pn686 is setting too high, the precision of mechanical zero position will be affected.
After hitting the origin signal ORG, the motor will return to find C-pulse; the figure is shown as below:
Speed
Pn 685
(rpm)
Pn 686
Return to find C-pulse
0rpm
Homing offset distance
( Pn 690
SHOM
*10000
Rising edge
ORG
Encoder C-pulse
Begin to counter offset distance after the first C pulse is produced when leaving zero posiion .
Corresponding position:
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+
Pn 691
)
ETS Series AC Servo User's Manual
Mechanical shaft
Machine moves, return to search
pulse C
Motor slow down, reverse
Begin to counter offset distance after
the first C-pulse is produced when
leaving zero posiion.
Encoder C-pulse
ORG
SHOM
Rising edge
After hitting the origin signal ORG, the motor will find C-pulsedirectly; the figure is shown as below:
Speed
Pn 685
rpm
Pn 686
Find C-pulse without
returning
0rpm
Homing offset distance
Pn 690 × 10000 + Pn 691
Rising edge
SHOM
ORG
Encoder C-pulse
Begin to counter offset distance after the first C -pulse
is produced when leaving zero posiion.
Corresponding position:
Mechanical shaft
Machine moves, return to search
pulse C
Begin to counter offset distance after
the first C-pulse is produced when
leaving zero posiion.
Motor slow down
Encoder C-pulse
ORG
Rising edge
SHOM
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ETS Series AC Servo User's Manual
4.6 Limiting Torque
The servo drive provides internal torque limit/external torque limitfor limiting output torque to protect the machine.
4.6.1 Internal Torque Limit
Maximum torque is always limited to the values set in the following parameters.
Forward Torque Limit
Pn401
Speed
Setting Range
Setting Unit
Factory Seeting
Setting Validation
0~300
%
300
Immediately
Reverse Torque Limit
Pn402
Position
Position
Speed
Setting Range
Setting Unit
Factory Seeting
Setting Validation
0~300
%
300
Immediately
·The setting unit is a percentage of rated torque.
·The maximum torque of the servomotor is used, even though the torque limit is set higher than the maximum torque of
the servomotor. (as is the case with the 300% factory setting)
With No Internal Torque Limit
(Maximum torque can be output)
With Internal Torque Limit
Pn402
t
t
Pn401
Speed
Limiting torque
Speed
Maximum torque
■Note:
Too small a torque limit setting will result in insufficient torque during acceleration and deceleration.
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ETS Series AC Servo User's Manual
4.6.2 External Torque Limit
This function allows the torque to be limited at specific times during machine operation, for example, during press stops
and hold operations for robot workpieces.
An input signal is used to enable the torque limits previously set in parameters.
(1)Related Parameters
Forward External Torque Limit
Pn403
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~300
%
100
Immediately
Reverse External Torque Limit
Pn404
Position
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0~300
%
100
Immediately
Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
(2)Input Signals
Signal
Connector Pin
Name
Number
Input
/P-CL
Pn509.0=6
Input
/N-CL
Pn509.0=7
Type
Setting
Meaning
Limit Value
ON(low level)
Forward external torque limit
Pn403
OFF(high level)
Forward internal torque limit
Pn401
ON(low level)
Reverse external torque limit
Pn404
OFF(high level)
Reverse internal torque limit
Pn402
When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.
(3)Changes in Output Torque during External Torque Limiting
Example: External torque limit (Pn401,Pn402) set to 300%
/P-CL(Forward External Torque Limit Input)
High level
Low level
Pn402
Pn402
Torque
High
Torque
0
0
level
Pn401
/N-CL
Pn403
Speed
Speed
(Reverse
External
Torque
Limit Input)
Pn404
Pn404
Torque
Torque
Low
level
0
0
Pn401
Pn403
Speed
Speed
Note: Select the servomotor rotation direction by setting Pn001=b.□□□0 (standard setting, CCW=Forward direction).
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ETS Series AC Servo User's Manual
4.7 Other Output Signals
4.7.1 Servo alarm output
The following diagram shows the right way to connect the Alarm Output.
Servo drive
I/O Power supply
CN1
+24V
Optocoupler output
(Each output node)
Max.output voltage: 30V
Max.output current: 50mA
7
0V
ALM+
50mA max
8
ALM-
An external +24V I/O power supply is required since there is no +24V power source available inside the servo drive.
Output → ALM+CN1_A/B/C-4
Servo alarm output
Output → ALM- CN1_A/B/C-3
Servo alarm output uses grounding signal
ALM outputs a signal when the servo drive is detected in an abnormal state.
Servo drive
Be detected
abnormal
ALM Output
Cut off the main circuit
power
Normally, the external circuit consists of /ALM should be able to switch off the power of servo drive.
Signal
Status
ON
OFF
ALM
Output level
CN1_A/B/C-4:“L” level
CN1_A/B/C-4:“H” level
Comments
Normal state
Alarm state
When “servo alarm(ALM)” happens, always remove alarm reasons first , and then turn the input signal "/ALM-RST" to ON
position to reset alarm status.
4.7.2 Others
Connector
Pn511.0
SignalName
Setting
Meaning
PinNumber
CN1_A/B/C-7/8
0
/COIN(/VCMP)
/TGON
Positioning is complete.
OFF=H
Positioning is not complete
ON=L
Servomotor is operating(Servomotor
speed is above the setting in Pn503).
CN1_A/B/C-1/2
CN1_A/B/C-5/6
1
ON=L
CN1_A/B/C-7/8
CN1_A/B/C-1/2
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ETS Series AC Servo User's Manual
Connector
Pn511.0
SignalName
Setting
Meaning
PinNumber
CN1_A/B/C-5/6
CN1_A/B/C-7/8
2
/S-RDY
CN1_A/B/C-7/8
/CLT
CN1_A/B/C-7/8
/BK
ON=L
Servo is ready.
OFF=H
Servo is not ready.
ON=L
CN1_A/B/C-1/2
CN1_A/B/C-5/6
4
Servomotor is not operating(Servomotor
speed is below the setting in Pn503).
CN1_A/B/C-1/2
CN1_A/B/C-5/6
3
OFF=H
OFF=H
Motor output torque under limit (Internal torque
reference is higher than setting value).
No torque limit (Internal torque reference is lower than
setting value).
ON=L
Releases the brake.
OFF=H
Applies the brake.
ON=L
With encoder C pluse output
OFF=H
Without encoder C pluse output
CN1_A/B/C-1/2
CN1_A/B/C-5/6
CN1_A/B/C-7/8
5
PGC
CN1_A/B/C-1/2
CN1_A/B/C-5/6
Without forward rotation
ON=L
CN1_A/B/C-7/8
6
OT
Prohibited(POT) and reverse rotation
prohibited(NOT)signal
CN1_A/B/C-1/2
With forward rotation
CN1_A/B/C-5/6
OFF=H
Prohibited(POT)and reverse rotation
prohibited(NOT)signal
CN1_A/B/C-7/8
7
/RD
CN1_A/B/C-7/8
/HOME
Servo enabled motor excitation
OFF=H
Servo disabled motor not excitation
ON=L
Homing is enabled
OFF=H
Homing is disabled
CN1_A/B/C-1/2
CN1_A/B/C-5/6
8
ON=L
CN1_A/B/C-1/2
CN1_A/B/C-5/6
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ETS Series AC Servo User's Manual
4.8 Online Autotuning
4.8.1 Online Autotuning
Online autotuning calculates the load moment of inertia during operation of the servo drive and sets parametersso that the
servo gains are consistent with the machine rigidity.
Online autotuning may not be effective in the following cases:
• The motor high speed is lower than 100 rpm.
• The motor acceleration or deceleration is lower than 5000rpm/s.
• Load rigidity is low and mechanical vibration occurs easily or friction is high.
•The speed load moment is changed greatly.
• Mechanical gas is very large.
If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotuning,
set the value in Pn106 (Load inertia percentage) and performthe adjustment manually.
4.8.2 Online Autotuning Procedure
!WARNING
■Do not perform extreme adjustment or setting changes causing unstable servo operation.Failure to observe
this warning may result in injury and damages to the machine.
■ Adjust the gains slowly while confirming motor operation.
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ETS Series AC Servo User's Manual
Start
Operate with factor setting.
(Set Pn100=1)
Operation OK?
Yes
No
No
Load moment of inertia
varies?
Yes
Continuous online autotuning
(Pn100=1、2、3、4、5、6)
Operation OK?
Yes
No
Adjust the machine rigidity setting
(Set at Pn101)
Operation OK?
Yes
No
Do not perform online autotuning.
(Set Pn100=0)
End
4.8.3 Setting Online Autotuning
Related parameters:
Parameter
No.
Name
Unit
Setting
Range
Factory
Setting
Setting
Invalidation
—
0~6
0
After restart
Online autotuning setting
Pn100
0:Manual gain adjustment
1,2,3=Normal mode;4,5,6=Vertical load
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ETS Series AC Servo User's Manual
1,4 = Load inertia without variation;
2,5 = Load inertia with little variation;
3,6=Load inertia with great variation
Pn101
Machine rigidity setting
—
0~15
5
Immediately
—
0~3
3
Immediately
Speed gain acceleration relationship during
online autotuning
Pn128
If the setting is greater, the servo gain will
increase.
4.8.4 Machine Rigidity Setting for Online Autotuning
There are 16 machine rigidity settings for online autotuning, When the machine rigidity setting is selected, the servo
gains (speed loop gain, speed loop integral time constant, position loop gain) are determined automatically. The
factory setting for the machine rigidity setting is 5.
Machine
Position Loop Gain【s-1】
Speed Loop Gain【Hz】
Speed Loop Integral Time
Rigidity Setting
Pn104
Pn102=Pn104*( Pn128+1)
Constant【0.1ms】
Pn103
0
10
40
800
1
15
60
600
2
20
80
450
3
25
100
400
4
30
120
300
5
40
160
200
6
65
260
140
7
80
320
110
8
100
400
90
9
120
480
80
10
140
560
70
11
160
640
60
12
180
720
55
13
210
840
50
14
250
1000
40
15
300
1200
30
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ETS Series AC Servo User's Manual
Chapter 5
Panel Operator
5.1 Basic Operation
5.1.1 Functions on Panel Operator
The panel operator is a built-in operator that consists of display section and keys located on the front panel of the servo
drive.
Parameter setting, status display ,and execution of utility function are enabled using the panel operator.
The names and functions of the keys on the panel operator are shown as follows:
A
B
C
AXIS MODE INC
DEC ENTER
Panel
Corresponding
Symbol
Key Name
AXIS
AXIS key
▲
INC key
Function
To switch the number of axis
·To display the parameter settings and setting values.
·To increase the setting value.
▼
DEC key
·To decrease the setting value.
·To select a basic mode, such as the display mode, parameter setting
M
MODE key
mode, monitor mode, or utility function mode.
·To save the setting during parameter setting and exit.
◄
ENTER key
To display the parameter settings and setting values, and release ararm.
Note: In this manual, the Panel Symbol is represented by Corresponding Key Name for easy understanding.
5.1.2 Switchthe number of Axis
Servo axisescan be switched by pressing the AXIS key when the panel operator in display mode.
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ETS Series AC Servo User's Manual
A
B
C
AXIS MODE INC
DEC ENTER
5.1.3 Basic Mode Selection
The basic modes include status display mode, parameter setting mode, monitor mode, and utility function mode. Each
time the MODE key is pressed, the next mode in the sequence is selected.
Select a basic mode to display the operation status, set parameters and 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 display mode displays the servo drive status as bit data and codes.
Selecting Status Display Mode
The status display mode is selected when the power supply is turned ON. If it is not displayed, select this mode by
pressing MODE key.
Note that the display differs between the speed/torque controland position control types.
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ETS Series AC Servo User's Manual
{
{
Bit Data
①
Code
②
③
④

No.
⑤ ⑥
⑦
Bit Data Display
Speed/Torque Control Mode
Bit Data
Position Control Mode
Description
Bit Data
Lit when the difference between the
Lit if error between position reference
servomotor and reference speed is the
1
○
Speed
same as or less than the preset value.
Positioning
Coincidence
Present value:Pn501(factory setting is
Completion
10rpm)
3
○
Base lock
Control
power ON
and actual servomotor position is below
preset value.
Present value:Pn500(10 pulse isfactory
setting)
Always lit in torque control mode.
2
○
Description
Lit for base block. Not lit at servo ON.
Lit when servo drive control power is ON.
Base block
Lit for base block. Not lit at servo ON.
Control
Lit when servo drive control power is
power ON
ON.
Lit if input speed reference exceeds preset
4
○
Speed
value.Not lit if input speed reference is
reference
below preset value.
input
Preset value:Pn503(factory setting is 20
Reference
pulse input
Lit if reference pulse is input.
Not lit if no reference pulse is input.
rpm)
Lit if input torque reference exceeds preset
5
○
Torque
value.
Error
Lit when error counter clear signal is
reference
Not lit if input torque reference is below
counter clear
input. Not lit when error counter clear
input
preset value.
signal input
signal is not input.
Preset value:10% of rated torque
Lit when main circuit power supply is ON
6
○
7
○
Power ready
and normal.
Not lit when main circuit power supply is
Lit when main circuit power supply is
Power ready
ON and normal.
Not lit when main circuit power supply is
OFF.
OFF.
Lit if servomotor speed exceeds preset
Lit if servomotor speed exceeds preset
Rotation
value.Not lit if servomotor speed is below
Rotation
value.Not lit if servomotor speed is
detection
preset value.
detection
below preset value.
/TGON
Preset value:Pn503(factory setting is 20
/TGON
Preset value:Pn503(factory setting is
rpm)
20 rpm)
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ETS Series AC Servo User's Manual

Codes Display
Code
Meaning
Baseblock
Servo OFF(servomotor power OFF)
Run
Servo ON(servomotor power ON)
Forward Run Prohibited
CN1_A/B/C_12(P-OT)is OFF.
Reverse Run Prohibited
CN1_A/B/C_13(N-OT)is OFF.
Alarm Status
Displays the alarm number.
Press ENTER key to clear the present servo alarm.
5.1.5 Operation in Parameter Setting Mode
The servo drive offers a large number of functions, which can be selected or adjusted by the parameter settings. Refer
toA.1 Parameter Listfor details.
■Parameter Setting Procedures
The parameter settings can be used for changing parameter data. Before changing the data, check the permitted 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 number.
3. Press ENTER key to display the current data of Pn102.
4. Press the INC or DEC key to change the data to the desired number 00085. Hold the key to accelerate the changing
of value. When the maximum valueor minimum value is reached, pressing INC or DEC keyrespectively,will have no
effect.
5. Press the ENTER or MODE key once to return to the display of Pn102.
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ETS Series AC Servo User's Manual
5.1.6 Operation in Monitor Mode
The monitor mode allows the reference values input into the servo drive, I/O signal status, and servo drive internal 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 the monitor number to display.
3.Press the ENTER key to display the data for the monitor number selected at step 2.
4.Press the ENTER key once more to return to the monitor number display.
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ETS Series AC Servo User's Manual
■List of Monitor Modes
Contents of Monitor Mode Display
Monitor Number
Monitor Display
Un000
Actual servomotor speed Unit: rpm
Un001
Reserved
Un002
Reserved
Un003
Internal torque reference Unit:%
(with respect to rated torque)
Un004
Number 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 pulses
Un010
Pulse rate of servomotor rotated(x104)
Un011
Error pulse counter lower 16 digit
Un012
Error pulse counter higher 16 digit
Un013
Number of pulses given
Un014
Number of pulses given(×10000)
Un015
Load inertia percentage
Un016
Servomotor overload ratio
Un017
Bus voltage Unit:V
Internal status bit display
7 6 5 4 3 2 1 0
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ETS Series AC Servo User's Manual
Contents of Bit Display:
MonitorNumber
Un005
Monitor Number
Un006
Monitor Number
Un007
Display LED Number
Content
0
/SON(CN1_A/B/C-10)
1
/P-CON(CN1_A/B/C-11)
2
P-OT(CN1_A/B/C-12)
3
N-OT(CN1_A/B/C-13)
4
/ALM-RST(CN1_A/B/C-14)
5
/CLR (CN1_A/B/C -15)
6
/PCL(CN1_A/B/C-16)
7
/NCL(CN1_A/B/C-17)
Display LED Number
Content
0
(Not used)
1
(Not used)
2
(Not used)
3
(Not used)
4
Phase-C
5
Phase-B
6
Phase-A
7
(Not used)
Display LED Number
Content
0
ALM (CN1_A/B/C-3/4)
1
/COIN(CN1_A/B/C-7/8)
2
/TGON(CN1_A/B/C-1/2)
3
/S-RDY(CN1_A/B/C-5/6)
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ETS Series AC Servo User's Manual
5.2 Operation in Utility Function Mode
In utility function mode, the panel operator can be used to run and adjust the servo drive and servomotor.
The following table shows the parameters in the utility function mode.
Parameter No.
Function
Fn000
Alarm traceback data display
Fn001
Parameter setting initialization
Fn002
JOG mode operation
Fn003
Reserved
Fn004
Reserved
Fn005
Automatic adjustment of servomotor current detection
Fn006
Manual adjustment of servomotor current detection
Fn007
Software version display
Fn008
Position teaching
Fn009
Static inertia detection
Fn010
Reserved
Fn011
Reserved
Fn012
Reserved
Fn013
Parameters copy
Fn014
Reserved
5.2.1 Alarm Traceback Data Display
The alarm traceback display can display up to 10 previously occurred alarms.The alarm is displayed on Fn000, which is
stored in the alarm traceback data.
Follow the procedures below to confirm alarms which have been generated.
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the function number of alarm traceback data display.
3. Press the ENTER key once, the latest alarm data is displayed.
Alarm Sequence NumberAlarm Code
4.Press the INC or DEC key to display other recent alarms that have occurred.
5. Press the ENTER key, the display will return to Fn000.
Note: Hold the ENTER key for one second with alarm code displaying, all the alarm traceback datas will be cleared.
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ETS Series AC Servo User's Manual
5.2.2 Parameter Settings Initialization
Follow the procedures below to execute the parameter settings initialization.
1.Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the function number of parameter settings initialization.
3.Press the ENTER key to enter into parameter settings mode.
(axis A)
(axis B)
(axis C)
4.Hold the ENTER key for one second, the parameters will be initialized.
5. Release the ENTER key to ruturn to the utility function mode display Fn001.
Note:
Press the ENTER key during servo ON does not initialize the parameter settings.
Initialize the parameter settings with the servo OFF.
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ETS Series AC Servo User's Manual
5.2.3 Operation in JOG Mode
Follow the procedures below to operate the servomotor in JOG mode.
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the function number of JOG 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 servo OFF status.The servo drive must be in servo ON
status when the servomotor is running.
6. Press the INC or DEC key to rotate the servomotor.
Forward rotation
Reverse rotation
7. Press the ENTER key to return to utility function mode display Fn002.Now the servo is OFF(servomotor power OFF).
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ETS Series AC Servo User's Manual
5.2.4 Offset-adjustment of Servomotor Current Detection Signal
Automatic servomotor current detection offset adjustment is performed at ESTUN before shipping. Basically, the user
does not need to perform this adjustment.
Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset.
This section describes the automatic and manual servomotor 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 the OFF state.
·Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other servo
drives.
·If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.
■Automatic Offset-adjustment of Servomotor Current Detection Signal
Adjust the servomotor current detection signal automatically 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 utility function number Fn005.
3. Press the ENTER key to enter into the automatic adjustment of the servomotor current detection signal mode.
4.Press the MODE key,the display will blinks for one second. The offset will be automatically adjusted.
5. Press the ENTER key to return to the utility function mode display Fn005.
Thus, the automatic offset-adjustment of the servomotor current detection signal is complete.
■Manual Offset-adjustment of Servomotor Current Detection Signal
Adjust the servomotor current detection signal manually 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 utility function number Fn006.
3. Press the ENTER key to enter into the manual adjustment of the servomotor current detection signal.
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ETS Series AC Servo User's Manual
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 the ENTER key for one second to display the phase V offset amount.
6. Press the INC or DEC key to adjust the offset.
7. Press the ENTER key for one second to return to the display in step 3 or 4.
8. Press the ENTER key to return to the utility function mode display Fn006.
Thus, the manual offset-adjustment of the servomotor current detection signal is completed.
Note:
The adjusting range of the servomotor current detection offset is -100 to +100.
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ETS Series AC Servo User's Manual
5.2.5 Software Version Display
Select Fn007 in utility function mode to check the current software version of the drive.
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the utility function number Fn007.
3. Press the ENTER key to display the DSP software version (the highest bit displays d or E or F or 0).
4.Press the MODE key to display the FGPA/CPLD software version (the highest bit displays P).
5. Press the MODE key to return to DSP software version display.
6. Press the ENTER key to return to the utility function mode display Fn007.
5.2.6 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 utility function number Fn008.
3. Press the ENTER key, the display will be shown as below.
4. Press the ENTER key, the display will be shown as below.
5. Release the ENTER key to complete position teaching function.
5.2.7 Static Inertia Detection
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the utility function number Fn009.
3. Press the ENTER key, the display will be shown as below.
4. Press the MODE key to rotate the servomotor, and the servomotor dynamic speed will be displayed.
5. The unit of the servomotor and load total inertia displayed when servomotor stops is kg.cm²
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ETS Series AC Servo User's Manual
Thus, the static inertia detection is complete.
Note:Make sure that the servomotor completes at least 6 full revolutions in the CCW direction before detection.
5.2.8 Parameters Copy
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the utility function number Fn013.
3. Press the ENTER key, the display will be shown as below.
(A-axis,Parameters are copied from A to B)
(B-axis,Parameters are copied from B to A)
……
4. Press the ENTER key, the display will be shown as below.
5. Release the ENTER key to complete position teaching function.
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ETS Series AC Servo User's Manual
Chapter 6
MODBUS Communication
6.1 RS-485 Communication Wiring
ETS
series servo drives provide the MODBUS communication function with RS-485 interface,
which can be used to easily set parameters or to perform monitoring operations and so on.
The definitions of the servo drive communication connector terminals(CN3、CN4) are as follows.
Terminal No.
Name
Function
1
—
Reserved
2
—
Reserved
3
485+
4
ISO_GND
5
ISO_GND
6
485-
7
CANH
CAN communication terminal
8
CANL
CAN communication terminal
RS-485 communication terminal
Isolated ground
RS-485 communication terminal
Note:
1. The length of the cable should be less than 100 metersand in a environment with minimal electrical
disturbance/interference. However, if the transmission speed is above 9600bps, please use the communication cable
within 15 meters to ensure transmission accuracy..
2. A maximum of 31 servo drives can be connected when RS485 is used. Terminating resistances are used at both ends
of the 485 network. If more devices are wanted to connect, use the repeaters to expand.
3. CN3 of servo drive is always used as communication cable input terminal,and CN4 is always used as communication
cable output terminal(If still need to connect slave stations,the communication cable is connected from CN4 terminal to
the next slave station; if need not, add balance resistor in CN4 terminal.).It is prohibited to connect CN3 of any two servo
drives directly when multiple ETS series servo drives are connected.
Example:
When a RS-485 network is composed of a PLC and three servo drives (A, B, and C), the cable wiring is shown as follows:
PLC→CN3 of A, CN4 of A→CN3 of B, CN4 of B→CN3 of C, CN4 of C→120Ω terminating resistance.
6.2 MODBUS Communication Related Parameters
Parameter No.
Description
Pn700
Hex
Setting
Validation
Control Mode
After restart
ALL
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Meaning
Pn700.0 MODBUS baud rate
[0] 4800bps
ETS Series AC Servo User's Manual
[1] 9600bps
[2] 19200bps
[3] 38400bps
[4] 57600bps
[5] 115200bps
Pn700.1 Communication 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(MODBUS,RTU)
Pn700.2 Communication protocol
selection
[0] SCI communication with no
protocol
[1] MODBUS SCI communication
Pn700.3 Reserved
Pn701
Axis address
After restart
ALL
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Axis address of MODBUS protocol
communication
ETS Series AC Servo User's Manual
6.3 MODBUS Communication Protocol
There are two modes for MODBUS communication: ASCII (American Standard Code for information interchange) mode
and RTU (Remote Terminal Unit) mode.
The next section describes the two communication modes.
6.3.1 Code Meaning
ASCII Mode:
Every 8-bit data is consisted by two ASCII 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 to F are as follows:
Character
‘0’
‘1’
‘2’
‘3’
‘4’
‘5’
‘6’
‘7’
ASCII Code
30 H
31 H
32 H
33 H
34 H
35 H
36 H
37 H
Character
‘8’
‘9’
‘A’
‘B’
‘C’
‘D’
‘E’
‘F’
ASCII Code
38 H
39 H
41 H
42 H
43 H
44 H
45 H
46 H
RTU Mode:
Every 8-bit data is consisted by two 4-bit hexadecimal data, that is to say, a normal hexadecimal data. For example:
decimal data 100 can be expressed as 64H by 1-byte RTU data.
Data Structure:
10-bit character form(7-bit data)
Pn700.1=0:7,N,2(Modbus,ASCII)
Start
bit
0
1
2
3
4
5
6
Stop
bit
Stop
bit
Even
parity
Stop
bit
Odd
parity
Stop
bit
7-data bits
10- bits character frame
Pn700.1=1:7,E,1(Modbus,ASCII)
Start
bit
0
1
2
3
4
5
6
7-data bits
10- bits character frame
Pn700.1=2:7,O,1(Modbus,ASCII)
Start
bit
0
1
2
3
4
5
7-data bits
10- bits character frame
11-bit character form(8-bit data)
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ETS Series AC Servo User's Manual
8,N,2(Modbus,ASCII / RTU)
Start
bit
0
1
2
3
4
5
6
7
Stop
bit
Stop
bit
6
7
Even
parity
Stop
bit
6
7
Odd
parity
Stop
bit
8-data bits
11- bits character frame
8,E,1(Modbus,ASCII / RTU)
Start
bit
0
1
2
3
4
5
8-data bits
11- bits character frame
8,O,1(Modbus,ASCII / RTU)
Start
bit
0
1
2
3
4
5
8-data bits
11- bits character frame
Communication protocol structure:
Data format of communication protocol:
ASCII Mode:
STX
Start character‘:’=>(3A H)
ADR
Communication address=>1-byte contains two ASCII codes
CMD
Reference code=>1-byte contains two ASCII codes
DATA(n-1)
Data content=>n-word=2n-byte contain 4nASCII 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 transmission time.
ADR
Communication address=>1-byte
CMD
Reference code=>1-byte
DATA(n-1)
Data content=>n-word=2n-byte,n≦12
……
DATA(0)
CRC
CRC checking code=>1-byte
End 1
Sleep interval of at least 4 bytes transmission time.
Communication protocol data format instructions are as follows:
STX(communication start)
ASCII mode:‘: ’character
RTU mode: Sleep interval of at least 4 bytes transmission time (automatically changed according to different
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ETS Series AC Servo User's Manual
communication speed).
ADR(communication address)
Valid communication address:1 to 254
For example: communicate with the servo drive which address is 32(20 in hex):
ASCII mode:ADR=‘2’,‘0’=>‘2’=32H,‘0’=30H
RTU mode:ADR=20H
CMD(command reference)and DATA(data)
Data structure is determined by command code. Regular command code is shown as follows:
Command code: 03H,read N words(word),N ≦ 20.
For example: read 2 words starting from 0200 H from the servo drive whichaddress is 01 H.
ASCII mode:
Reference information:
STX
ADR
CMD
Data start address
Response information:
“:”
STX
‘0’
ADR
‘1’
‘0’
CMD
‘3’
“:”
‘0’
‘1’
‘0’
‘3’
‘0’
Data number
‘0’
‘2’
(count as byte)
‘4’
‘0’
‘0’
‘0’
Content of data start
‘0’
‘0’
address 0200H
‘0’
Data number
‘0’
‘0’
(count as word)
‘0’
‘0’
LRC checking
‘2’
Content of second data
‘0’
‘F’
address 0201 H
‘0’
‘8’
End 1
(0D H)(CR)
End 0
(0A H)(LF)
‘0’
LRC checking
‘F’
‘8’
End 1
(0D H )(CR)
End 0
(0A H )(LF)
RTU mode:
Reference information:
ADR
CMD
Response information:
01 H
ADR
01 H
03 H
03 H
CMD
02 H (high-bit)
Data number
00 H (low-bit)
(count as byte)
Data number
00 H
Content of data start
00 H (high-bit)
(count as word)
02 H
address 0200H
00 H (low-bit)
CRC checking
C5 H (low-bit)
Content of second data
00 H (high-bit)
CRC checking
B3 H (high-bit)
address 0201 H
00 H (low-bit)
CRC checking
FA H (low-bit)
CRC checking
33 H (high-bit)
Data start address
Reference code: 06H,write in one word
For example: write 1(0001 H)into 01H servo address 0200 H .
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ETS Series AC Servo User's Manual
ASCII mode:
Reference information:
STX
Response information:
“:”
ADR
‘0’
STX
‘1’
ADR
‘0’
CMD
‘6’
CMD
‘0’
‘0’
Data start address
‘0’
‘0’
‘6’
‘2’
‘0’
‘0’
‘0’
‘0’
Content of data start
‘0’
‘1’
address 0200H
‘0’
‘1’
‘F’
LRC checking
‘1’
‘0’
‘0’
Data content
‘0’
‘0’
‘2’
Data start address
“:”
‘6’
End 1
(0D H)(CR)
End 0
(0A H)(LF)
LRC checking
‘F’
‘6’
End 1
(0D H )(CR)
End 0
(0A H )(LF)
RTU mode:
Reference information:
Response information:
ADR
01 H
CMD
06 H
ADR
01 H
02 H (high-bit)
CMD
06 H
00 H (low-bit)
Data start address
Data start address
Data content
00 H (high-bit)
01 H (low-bit)
CRC checking
49 H (low-bit)
CRC checking
B2 H (high-bit)
Data content
02 H (high-bit)
00 H (low-bit)
00 H (high-bit)
01 H (low-bit)
CRC checking
49 H (low-bit)
CRC checking
B2 H (high-bit)
LRC(ASCII mode)and CRC(RTU mode)error detection value calculation:
LRC calculation in ASCII mode:
ASCII mode uses LRC (LongitudinalRedundancy Check) error detection value. The exceeded parts (e.g. the total 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 value.
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ETS Series AC Servo User's Manual
For example: read 1 word from 01H servo address 0201H
‘:’
STX
‘0’
ADR
‘1’
‘0’
CMD
‘3’
‘0’
‘2’
Data start address
‘0’
‘1’
‘0’
Data number
‘0’
(count as word)
‘0’
‘1’
‘F’
LRC checking
‘8’
End 1
(0D H)(CR)
End 0
(0A H)(LF)
Add from ADR data to the last data.
01 H +03 H +02 H +01 H +00 H +01 H =08 H
The compensate value is F8H when 2 is used to compensate 08H, so LRC is “F”,”8”.
CRC calculation of RTU mode:
RTU mode uses CRC (Cyclical Redundancy Check) error detection value.
The process of CRC error detection value calculation is shown as follows:
Step 1: Load in a 16-bit register of FFFFH, named “CRC” register.
Step 2: Run XOR calculation between the first bit (bit 0) of instruction information and 16-bit CRC register’s low bit (LSB),
and the result is saved to CRC register.
Step 3: Check the lowest bit (LSB) of CRC register, if it is 0, CRC register moves 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.
Step 5: Repeat the steps from 2 to 4 for the next bit of instruction information, the comment of CRC register is the CRC
error detection value while all the bits have been executed by the same way.
Note: After calculating out the CRC error detection value, the CRC low bit should be filled first in instruction information,
and then fill the high bit of CRC.
Please refer to the following example:
Read 2 words from the 0101H address of 01H servo. The final CRC register content calculated from ADR to the last bit of
data is 3794H, and then the instruction information is shown as follows,
Please be sure that 94H is transmitted before 37H.
ADR
01 H
CMD
03 H
01H (high-bit)
Data start address
01H (low-bit)
Data number
00 H (high-bit)
(count as word)
02H (low-bit)
CRC checking
94H (low-bit)
CRC checking
37H (high-bit)
End1、End0(Communication is complete.)
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ETS Series AC Servo User's Manual
ASCII mode:
Communication is ended with (0DH) - [carriage return] and (0AH) - [new line].
RTU mode:
When the time exceeds the sleep interval by at least 4 bytes transmission time while in the current communication speed,
it means 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 unsigned integer type CRC value.
unsigned int crc_chk(unsigned char * data,unsigned char length){
int i,j;
unsigned int crc_reg=oxFFFF;
While(length- -){
crc_ reg ^=*data++;
for(j=0;j<8;j++){
If(crc_reg & 0x01){
crc_reg=( crc_reg >>1)^0xA001;
}else{
crc_reg=crc_reg >>1;
}
}
}
return crc_reg;
}
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ETS Series AC Servo User's Manual
6.3.2 Communication Error Disposal
Problems that occur during communication are a result of the following:

Data address is incorrect while reading/writing parameters.

The data is not within the parameter setting range while writing.

Data transmission fault or checking code fault when communication is disturbed.
When the first and second communication faults occur, the servo drive is running normally, and will feed back an error
frame.
When the third communication fault occurs, transmission data will be recognized as invalid to give up, and no error frame
is returned.
The format of error frame:
Host controller data frame:
start
Slave station address
Command
Data address,content
Checking
Error code
Checking
command
Servo drive feeds back error frame:
start
Slave station address
Response code
command+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 drive
=03H:The required data in servo drive is not allowed. (Beyond the maximum or minimum
value of the parameter)
=04H:Servo drive starts to perform the requirement, but cannot achieve it.
For example:Servo drive axis number is 03H,write data 06Hinto parameter Pn100 is not allowed , because the range of
parameter Pn100is0~6. The servo drive will feedback an error frame, the error code is 03H (Beyond the parameter’s
maximum value or minimum value).
Host controller data frame:
start
Slave station address
Command
03H
06H
Data address,content
0002H
Checking
0006H
Servo drive feedback error frame:
start
Slave station address
Response code
Error code
03H
86H
03H
Checking
Besides, if the data frame sent from host controller slave station address is 00H, it determines the data to be broadcast
data. The servo drives will not feed back any frames.
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ETS Series AC Servo User's Manual
6.3.3 Data Communication Address of Servo State
The communication parameter addressesare shown in the following table:
Communication data address(Hex)
Axis A
Axis B
Meaning
Axis B
Description
Corresponding
0000~0348
2000~2348
4000~4348
Parameter area
Operation
Read/write
parameters in
parameter list
Alarm information memory area
Ten
alarms
historical
Read only
07F1~07FA
27F1~27FA
47F1~47FA
07FD
27FD
47FD
Iu zero offset
Read only
07FE
27FE
47FE
Iv zero offset
Read only
0806~0814
2806~2814
4806~4814
0806
2806
4806
Speed feedback
Unit:rpm
Read only
0809
2809
4809
Internal torque reference
Relative rated
Read only
percentage
torque
record
Monitor data (corresponding with
displayed data)
080A
280A
480A
Number of encoder rotation pulses
Read only
080B
280B
480B
Input signal state
Read only
080C
280C
480C
Encoder signal state
Read only
080D
280D
480D
Output signal state
Read only
080E
280E
480E
Pulse setting
Read only
080F
280F
480F
Low bits of present location
Unit:1 reference pulse
Read only
2810
4810
High bits of present location
Unit:10000
Read only
0810
reference pulses
0811
2811
4811
Error pulse counter low 16 bits
Read only
0812
2812
4812
Error pulse counter high 16 bits
Read only
0813
2813
4813
Setting pulse counter low bits
Unit:1 reference pulse
Read only
0814
2814
4814
Setting pulse counter high bits
Unit:10000
Read only
0815
2815
4815
Load inertia percentage
%
Read only
0816
2816
4816
Servomotor overloading proportion
%
Read only
0817
2817
4817
Current alarm
0900
2900
4900
MODBUS communication IO signal
reference
pulses
090E
Read only
Read/write
power off.
Version is expressed by
DSP version
090F
Donot save when
Read only
digit.
CPLD version
Version is expressed by
Read only
digit.
1021
3021
5021
Clear historical alarms
01:Clear
Write only
1022
3022
5022
Clear current alarms
01:Clear
Write only
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ETS Series AC Servo User's Manual
1023
3023
1024
3024
1025
3025
5023
5024
5025
JOG servo enabled
JOG forward rotation
JOG reverse rotation
01:Enable
Write only
00:Disable
01:Forward rotation
Write only
00:Stop
01:Reverse rotation
Write only
00:Stop
Note:
1. Parameter area(communication address0000~4369H)
Parameter address is relevant to the parameters in the parameter list.
For example, axis A parameter Pn000 is relevant to communication address 0000H; parameter Pn102 is relevant to
communication address 0066H.
2. Alarm information storage area(07F1~47FAH)
Historical alarm number
0
1~8
9
Description
Communication address
Historical alarm 1
07F1H
(the latest alarm)
Historical alarm 2 ~ 9
07F2H ~ 07F9H
Historical alarm 10(the furthest alarm)
07FAH
3. Monitor data area(0806~0816H)
The monitor data is corresponding to servo drive panel displays Un000~Un016.
For example: the corresponding data of communication address 0807H (speed setting) is FB16H.
Therefore, the speed setting is -1258r/m.
4. MODBUS communication IO signal
Use communication to control digital IO signal. This data will not be saved after power off.
It is operated with Pn512 as the communication input IO signal. That is to say, when the parameters setting in Pn512
enable the IO bit, the IO can be controlled by communication.
5. Software version(090FH)
Use digit to represent servo drive software version. For example, if the read out data is 0100H,it means the software
version is t-1.00.
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Chapter 7
Specifications and Characters
7.1 Servo drive Specifications and Models
Servo Drive Model
ETS-1010APC-CAN / ETS-101010APC / ETS-101010APC-CAN
Applicable Servomotor Model
Input
EMJ-02APA
EMJ-04APB
EMJ-08APB
EMJ-10APB
Main Circuit
Three-phase 200~230VAC +10% -15% (50/60Hz)
Control Circuit
Single-phase 200~230VAC +10%~-15% (50/60Hz)
EMG-10APA
Power
Supply
Control Method
SVPWM
Feedback
Incremental Wire-saving type:2500 P/R
Ambient/Stora
ge
0~55℃/-20~85℃
Temperature
Operating Conditions
Ambient/Stora
ge Humidity
Vibration/Shoc
kResistance
Configuration
Speed
Speed
Control
Selection
Function
Position
Control
I/O
Signals
90% RH (with no condensation)
Vibration Resistance:4.9m/s2,Impact Resistance:19.6m/s2
Base-mounted
Rotation
Direction
Selection
With /P-CON signal
Speed
Speed 1 to 7
Soft
Start
Setting
0~10s(Can be set individually for acceleration and deceleration.)
Type
Sign + pulse train;CCW + CW pulse train;
90°phase difference 2-phase (phase A + phase B)
Form
Non-insulated linde driver (about + 5V), open collector
Frequency
×1 multiplier:4Mpps
×2 multiplier:2Mpps
×4 multiplier:1Mpps
Open collector:200Kpps
Frequency will begin to decline when the duty ratio error occurs..
Pulse
Reference
Position
Position
Reference
Setting
Setting
Encoder Dividing Pulses
Output
Sequence Number of
Input
channels
16 position nodes can be set.
Phase-A, phase-B, phase-C, line driver output
Number of dividing pulses:(1~2500)/2500
3×8channels
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EML-10APA
ETS Series AC Servo User's Manual
Sequence
Output
Function
Signal allocations and positive/negative logic modifications:
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.
Number of
channels
3×4channels
Function
Dynamic Brake
Internal
Functions
Signal allocations and positive/negative logic modifications:
Positioning completion(/COIN), speed coincidence(/V-CMP),servomotorrotation
detection(/TGON), servo ready(/S-RDY),torque limit output(/CLT),brake interlock
output (/BK), encoder C pulse(/PGC), Over travel/OT)and so on..
Each axis with dynamic brake function, which operated at main power OFF, servo
alarm, servo OFF or overtravel.
Protection Functions
Overcurrent, overvoltage,low voltage, overload,regeneration error,overspeed,etc.
Utility Function
Alarm trace back,JOG operation,load inertia detection, etc.
Communication Functiion
RS-485 communication port,MODBUS protocol,CAN communication port,CANopen
protocol;
Display Function
CHARGE×1 , power ×1 ,Axis LED ×3, 7-segment LEDS ×5, pushbutton×5
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7.2 Servo drive Dimensional Drawings
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Appendix A
Parameter
A.1 Parameter List
Parameter
No.
Name
Unit
Setting
Range
Factory
Setting
Setting
Invalidation
—
0~1111
0
After restart
—
0~1111
0
After restart
—
0~0111
0010
After restart
—
0~1111
0
After restart
—
0~0x3425
0
After restart
Binary
Pn000.0:Servo ON
Pn000.1:Forward rotation input signal
Pn000
prohibited(P-OT)
Pn000.2:Reverse rotation input signal
prohibited(N-OT)
Pn000.3:Alarm output when
instantaneous power loss
Binary
Pn001.0:CCW,CW selection
Pn001
Pn001.1:Reserved
Pn001.2:Reserved
Pn001.3:2nd electronic gear enabled
Binary
Pn002.0:Electronic gear switching mode
Pn002
Pn002.1:Reserved
Pn002.2:Reserved
Pn002.3:Reserved
Binary
Pn003.0:Reserved
Pn003
Pn003.1:Reserved
Pn003.2:Low speed compensation
Pn003.3:Overload enhancement
Hex
Pn004.0:Stop mode
Pn004
Pn004.1: Error counter clear mode
Pn004.2:Reference pulse form
Pn004.3: Inverses pulse
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ETS Series AC Servo User's Manual
Parameter
No.
Name
Unit
Setting
Range
Factory
Setting
Setting
Invalidation
—
0~0x3361
0
After restart
—
0~0x2103
0x0000
After restart
—
0~0001
0
After restart
—
0~6
0
After restart
Hex
Pn005.0:Torque feedforward mode
Pn005.1:Control mode
[0] Speed control(parameter reference)
[1] Position control(pulse train)
[2] Speedcontrol(contactreference)
Pn005
[3]Speed control(contact reference)←→
position control(pulse train)
[4] Position control(pulse train)←→
position control(inhibit)
[5] Position control (contact reference)
[6] Reserved
Pn005.2:Out-of-tolerance alarm selection
Pn005.3:Servomotor model
Hex
Pn006.0:Bus mode
Pn006.1:Reserved
Pn006
Pn006.2:Low frequency jitter suppersion
switch
Pn006.3:Reference input filter for open
collector signal
Binary
Pn007.0: wider the width of C pulse or not
Pn007
Pn007.1:Reserved
Pn007.2:Reserved
Pn007.3:Reserved
Online autotuning setting
0:Manual gain adjustment
Pn100
1,2,3=Normal mode;4,5,6=Vertical load
1,4 = Load inertia without variation;
2,5 = Load inertia with little variation;
3,6=Load inertia with great variation
Pn101
Machine rigidity setting
—
0~15
5
Immediately
Pn102
Speed loop gain
Hz
1~4000
320
Immediately
Pn103
Speed loop integral time constant
0.25ms
1~4096
40
Immediately
Pn104
Position loop gain
Hz
0~1000
40
Immediately
Pn105
Torque reference filter time constant
0.25ms
0~250
2
Immediately
Pn106
Load inertia percentage
—
0~20000
0
Immediately
Pn107
2nd speed loop gain
Hz
1~4000
320
Immediately
Pn108
2nd speed loop integral time constant
0.25ms
1~4096
40
Immediately
Pn109
2nd position loop gain
Hz
0~1000
40
Immediately
Pn110
2nd torque reference filter time constant
0.25ms
0~250
2
Immediately
Pn111
Speed bias
rpm
0~300
0
Immediately
Pn112
Feedforward
%
0~100
0
Immediately
- 111 -
ETS Series AC Servo User's Manual
Parameter
No.
Name
Pn113
Feedforward filter
Pn114
Torque feedforward
Pn115
Torque feedforward filter
Unit
Setting
Range
Factory
Setting
Setting
Invalidation
0.25ms
0~640
0
Immediately
%
0~100
0
Immediately
0.25ms
0~640
0
Immediately
—
0~4
0
After restart
%
0~300
200
Immediately
0~10000
0
Immediately
10rpm/s
0~3000
0
Immediately
rpm
0~10000
0
Immediately
—
0~7
0
After start
0.25ms
0~20000
0
Immediately
P/PI switching condition
0:Torque reference percentage
Pn116
1:Value of offset counter
2:Value of acceleration speed setting
3:Value of speed setting
4:Fixed PI
Pn117
Torque switching threshold
Pn118
Offset counter switching threshold
Pn119
Pn120
reference
pulse
Setting acceleration speed switching
threshold
Setting speed switching threshold
Gain switching condition
0:Fix to 1st group gain
1:External switch gain switching
2:Torque percentage
Pn121
3:Value of offset counter
4:Value of acceleration speed setting
5:Value of speed setting
6:Speed reference input
7: actual motor speed
Pn122
Switching delay time
Pn123
Threshold switching level
—
0~20000
0
Immediately
Pn124
Reserved
—
—
—
—
Pn125
Position gain switching time
0.25ms
0~20000
0
Immediately
Pn126
Hysteresis switching
—
0~20000
0
Immediately
Pn127
Low speed detection filter
025ms
0~100
10
Immediately
—
0~3
3
—
0~30000
0
Immediately
0.1%
0~3000
0
Immediately
rpm
0~100
0
0~1000
0
Pn128
Speed gain acceleration relationship
during online autotuning
Pn129
Low speed correction coefficient
Pn130
Friction load
Pn131
Friction compensation speed hysteresis
area
0.1%/1000rp
Pn132
Sticking friction load
Pn200
PG divided ratio
Puls
1~2500
Pn201
1st electronic gear numerator
—
Pn202
Electronic gear denominator
Pn203
2nd electronic gear numerator
Pn204
Position reference Acceleration
m
Immediately
Immediately
2500
After restart
1~65535
1
After restart
—
1~65535
1
After restart
—
1~65535
1
After restart
0~32767
0
Immediately
0.25ms
- 112 -
Immediately
ETS Series AC Servo User's Manual
Parameter
No.
Name
Unit
Setting
Range
Factory
Setting
Setting
Invalidation
—
0~1
0
After restart
—
0~0x0033
0
After restart
/deceleration time constant
Pn205
Pn206
Position reference filter form selection
Pluse input port and synchronization mode
selection
Pn304
Parameter speed
rpm
-6000~6000
500
Immediately
Pn305
JOG speed
rpm
0~6000
500
Immediately
Pn306
Soft start acceleration time
ms
0~10000
0
Immediately
Pn307
Soft start deceleration time
ms
0~10000
0
Immediately
Pn308
Speed filter time constant
ms
0~10000
0
Immediately
Pn309
S curve risetime
ms
0~10000
0
Immediately
—
0~3
0
After restart
0~3
0
Immediately
Speed reference curve form
0:Slope
Pn310
1:S curve
st
2:1 order filter
3:2nd order filter
Pn311
S form selection
—
Pn316
Internal speed 1
rpm
-6000~6000
100
Immediately
Pn317
Internal speed 2
rpm
-6000~6000
200
Immediately
Pn318
Internal speed 3
rpm
-6000~6000
300
Immediately
Pn319
Internal speed 4
rpm
-6000~6000
-100
Immediately
Pn320
Internal speed 5
rpm
-6000~6000
-200
Immediately
Pn321
Internal speed 6
rpm
-6000~6000
-300
Immediately
Pn322
Internal speed 7
rpm
-6000~6000
500
Immediately
Pn401
1
Forward torque internal limit○
%
0~300
300
Immediately
Pn402
1
Reverse torque internal limit○
%
0~300
300
Immediately
Pn403
1
Forward external torque limit○
%
0~300
100
Immediately
Pn404
1
Reverse external torque limit○
%
0~300
100
Immediately
Pn405
Plug braking torque limit
%
0~300
300
Immediately
Pn406
Speed limit during torque control
rpm
0~6000
1500
Immediately
Pn407
Notch filter 1 frequency
Hz
50~2000
2000
Immediately
Pn408
Notch filter 1 depth
—
0~11
1
Immediately
Pn409
Notch filter 2 frequency
Hz
50~2000
2000
Immediately
Pn410
Notch filter 2 depth
—
0~11
1
Immediately
Pn411
Low frequency jitter frequency
0.1Hz
50~500
100
Immediately
Pn412
Low frequency jitter damp
—
0~200
25
Immediately
Pn413
Torque control delay time
0.25ms
1~2000
100
Immediately
Pn414
Torque control speed hysteresis
rpm
10~1000
50
Immediately
Pn500
Positioning error
Puls
0~5000
10
Immediately
Pn501
Coincidence difference
rpm
0~100
10
Immediately
Pn502
Reserved
—
—
—
—
Pn503
Rotation detection speed TGON
rpm
0~3000
20
Immediately
Pn504
Offset counter overflow alarm
256Puls
1~32767
1024
Immediately
Pn505
Servo ON waiting time
ms
-2000~2000
0
Immediately
- 113 -
ETS Series AC Servo User's Manual
Parameter
No.
Name
Unit
Setting
Range
Factory
Setting
Setting
Invalidation
10ms
0~500
0
Immediately
rpm
10~100
100
Immediately
10ms
10~100
50
Immediately
Pn506
Basic waiting flow
Pn507
Brake waiting speed
Pn508
Brake waiting time
Pn509
Allocate input signal to terminal
—
0~0xEEEE
0x3210
After restart
Pn510
Allocate input signal to terminal
—
0~0xEEEE
0x7654
After restart
Pn511
Allocate outputsignal to terminal
—
0~0x0888
0x0210
After restart
Pn512
Bus control input node low-bit enable
—
0~1111
0
Immediately
Pn513
Bus control input node low-bit enable
—
0~1111
0
Immediately
Pn514
Input port filter
0.2ms
0~1000
1
Immediately
Pn515
Alarm port filter
0.2ms
0~3
1
Immediately
Pn516
Input port signal inversion
—
0~1111
0
Immediately
Pn517
Input port signal inversion
—
0~1111
0
Immediately
Pn518
Dynamic brake time
0.5ms
50~2000
125
Immediately
Pn519
Reserved
—
—
—
—
Pn520
Position complete time
0.25ms
0~60000
500
Immediately
Pn521
Reserved
—
—
—
—
Pn522
Reserved
—
—
—
—
Pn523
Reserved
—
—
—
—
Pn525
Overload alarm threshold
%
100~150
100
Immediately
Pn526
Reserved
—
—
—
—
Pn527
Reserved
—
—
—
—
Pn528
Output signal inverse
—
0~1111
0
Immediately
Pn600
Position pulse in point to point control
10000P
-9999~9999
0
Immediately
Pn601
Position pulse in point to point control
1P
-9999~9999
0
Immediately
……
Pn630
Position pulse in point to point control
1P
-9999~9999
0
Immediately
Pn631
Position pulse in point to point control
1P
-9999~9999
0
Immediately
Pn632
Point to point speed control
rpm
0~3000
500
Immediately
……
Pn647
Point to point speed control
rpm
0~3000
500
Immediately
Pn648
Point to point1st order filter
0.25ms
0~32767
0
Immediately
0.25ms
0~32767
0
Immediately
50ms
0~300
10
Immediately
……
Pn663
Point to point1st order filter
Pn664
Stop time
……
Pn679
Stop time
50ms
0~300
10
Immediately
Pn680
Reserved
—
—
—
—
—
0~0x0333
0x0000
Immediately
Hex
Pn681.0:Single/cyclic, start/reference point
Pn681
selection
Pn681.1:Change step and start mode
Pn681.2:Change step input signal mode
Pn681.3:Reserved
- 114 -
ETS Series AC Servo User's Manual
Parameter
No.
Name
Unit
Setting
Range
Factory
Setting
Setting
Invalidation
Pn682
Programme mode
—
0~1
0
Immediately
Pn683
Programme start step
—
0~15
0
Immediately
Pn684
Programme stop step
—
0~15
1
Immediately
rpm
0~3000
1500
Immediately
rpm
0~200
30
Immediately
Search travel speed in position control
Pn685
(contact reference); Speed of finding
reference point (hitting the origin signal
ORG) in position homing control.
Leave travel switch speed in position
control(contact reference);
Pn686
Speed of finding reference point (leaving
the origin signal ORG) in position homing
control.
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 error pulses during homing
10000pulse
0~9999
0
Immediately
Pn691
Number of error pulses during homing
1pulse
0~9999
0
Immediately
—
0~0x0085
0x0051
After restart
Hex
Pn700.0:MODBUS communication baud
rate
Pn700
Pn700.1:MODBUS protocol selection
Pn700.2:Communication protocol
selection
Pn700.3:Reserved
Pn701
MODBUS axis address
—
1~247
1
After restart
Pn702
Reserved
—
—
—
—
Pn703
CANcommunication speed
—
0x0015
0x0004
After restart
Pn704
CAN communication contact
—
1~127
1
After restart
—
After restart
Hex
Pn840.0:Encoder model selection
Pn840
—
Pn840.1:Reserved
Pn840.2:Reserved
0x0006~
0x0306
Pn840.3:Reserved
1 The setting range and factory setting of Pn401 to Pn405 depend on the actual overload
Note: ○
capacity.
- 115 -
ETS Series AC Servo User's Manual
A.2 Description of Parameter Type
Type
Parameter No.
Description
Funtion selection switches
Pn000~Pn007
Control mode, stop mode, and some functions selection
Parameters of servo gain
Pn102~Pn134
Position gain, speed gain,rigidity,etc.
Position control related parameters
Pn200~Pn206
PG divided ratio, electronic gear, etc.
Speed control related parameters
Pn304~Pn322
Speed reference input, soft start, etc.
Torque control related parameters
Pn401~Pn410
Torque limit, etc.
Parameters to control I/O port
Pn500~Pn528
Allocation of I/O port function
Point-to-point control and homing control
Pn600~Pn688
Internal point-to-point controland homing control related
related parameters
Communication parameters
parameters
Pn700~Pn704
- 116 -
Setting of communication parameters
ETS Series AC Servo User's Manual
A.3 Parameters in detail
Parameter
No.
Description
Setting
Control
Validation
Mode
Function and Meaning
Pn000.0 Servo ON
[0] External S-ON enabled.
[1]External S-ON disabled. Servomotor excitation
signal is turned ON automatically after S-RDY is
output.
Pn000.1 Forward rotation input signal prohibited
(P-OT)
[0]External P-OT enabled. Operate in the time
sequence setting in Pn004.0 when travel limit occurs.
[1] External P-OT disabled.
Pn000
Binary
After restart
ALL
Pn000.2 Reverse rotation input signal prohibited
(N-OT)
[0]External N-OT enabled. Operate in the time
sequence setting in Pn004.0 when travel limit occurs.
[1] External N-OT disabled.
Pn000.3 Alarm output when instantaneous power
loss
[0]Instantaneous power loss for one period with no
alarm output
[1]Instantaneous power loss for one period withalarm
output
Pn001.0CCW,CW selection
Pn001.0
ALL
Pn001
Binary
After restart
[0] Sets CCW as forward direction
[1] Sets CW as forward direction
Pn001.1
Pn001.1 Reserved
T
Pn001.2 Reserved
Pn001.2
P,S
Pn001.3
P
Pn001.3 2nd electronic gear enabled
[0]Without 2nd electronic gear, PCON signal is used
toswitch P/PI
[1]2nd electronic gear is enabled, PCON signal is only
used as2nd electronic gear when Pn005.3 is set to 1.
Pn002.0Electronic gear switching mode
[0]Corresponding time sequence
Pn201
Electronic gear numerator 1
Pn002
Binary
After restart
ALL
Pn203
Electronic gear numerator 2
PCON enabled
PCON disabled
Pn201
Electronic gear numerator 1
PCON disabled
Reference pulse
t1
t2
t1,t2>1ms
- 117 -
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
Function and Meaning
[1] Corresponding time sequence
Pn203
Electronic gear numerator 2
Pn201
Electronic gear numerator 1
PCON disabled
Pn201
Electronic gear numerator 1
PCON disabled
PCON enabled
Reference pulse
t1
t2
t1,t2>1ms
Time sequence when Pn002.0=0 or 1
Pn203
Electronic gear numerator 2
PCON enabled
Pn201
Electronic gear numerator 1
Pn201
Electronic gear numerator 1
PCON disabled
PCON disabled
Reference pulse
t1
t2
t3
t4
t1,t2,t3,t4>1ms
Error time sequence
Pn203
Electronic gear numerator 2
Pn201
PCON enabled
Electronic gear numerator 1
PCON disabled
Pn201
Electronic gear numerator 1
PCON disabled
Reference pulse
t1
t2
t1,t2>1ms
Pn002.1Reserved
Pn002.2 Reserved
Pn002.3 Reserved
Pn003.0 Reserved
Pn003.1Reserved
Pn003.2 Low speed compensation
[0] Without low speed correction
[1]With low speed correction to avoid servomotor
creeping, but the degree of correction is
Pn003
Binary
After restart
ALL
determined by the setting in Pn219.
Pn003.3 Overload enhancement
[0] Without overload enhancement function
[1]With overload enhancement function, which can
enhance the overload capacity when servomotor
exceeds the 2 times rated overload. It is used in
frequent power ON/OFF occasions.
Pn004.0
ALL
Pn004.1
Pn004
Hex
After restart
P
Pn004.2
P
Pn004.3
P
- 118 -
Pn004.0 Stop Mode
[0]Stops the servomotor by applying DB and then
releases DB.
[1]Coast to a stop.
[2]Stops the servomotor by DB when servo OFF,
stops the servomotor by plug braking when overtravel,
then places it into coast (power OFF) mode.
[3]Makes the servomotor coast to a stop state when
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
Function and Meaning
servo OFF, stops the servomotor by plug braking
when overtravel, then places it into coast (power OFF)
mode.
[4]Stops the servomotor by DB when servo OFF,
stops the servomotor by plug braking when overtravel,
then places it into zero clamp mode.
[5]Makes the servomotor coast to a stop state when
servo OFF, stops the servomotor by plug braking
when overtravel, then places it into zero clamp mode.
Pn004.1 Error counter clear mode
[0]Clearerror pulse when S-OFF, donot when
overtravel.
[1]Do not clear error pulse.
[2]Clearerror pulse when S-OFF orovertravel
(excep for zero clamp)
Pn004.2 Reference pulse form
[0]Sign + Pulse
[1]CW+CCW CW + CCW
[2]A + B (×1)
[3]A + B (×2)
[4]A + B (×4)
Pn004.3 Inverses pulse
[0]Do not inverse PULS reference and SIGN reference.
[1]Do not inverse PULS reference; Inverses SIGN
reference.
[2]Inverse PULS reference;Do not inverse SIGN
reference.
[3]Inverse PULS reference and SIGN reference.
Pn005.0 Torque feedforward form
[0]Usegeneral torque feedforward
[1] Usehigh-speed torque feedforward
Pn005.1 Control mode
[0]Speed control(Parameter reference)
Pn005.0
P,S
Pn005
Hex
After restart
Pn005.1
ALL
Pn005.2
P
PCON is invalid.
[1]Position control(pulse train reference)
PCON:OFF,PI control;ON,P control
[2]Speed control(contact reference)←→speed
Control(zero reference)
PCON , PCL , NCL : OFF Switches to position
control(zero reference)
[3]Speed control(contact reference)←→position
control(pulse train reference)
PCON , PCL , NCL : OFF Switches to position
control(pulse train reference)
- 119 -
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
Function and Meaning
[4]Positin control(pulse train reference)←→position
control(INHIBIT)
PCON:OFF Position control(pulse train
reference);ON position control(INHIBIT)
[5]Position control(contact reference)
PCON: Used to change step
PCL,NCL:Used to search reference point or start
[6] Reserved
Pn005.2 Out-of-tolerance alarm selection
[0]Out-of-tolerance alarm disabled
[1]Out-of-tolerance alarm enabled. Outputs alarm
when the value of error counter exceeds Pn504
setting value.
[2] Reserved
[3] Reserved
Pn005.3 Servomotor model selection①
[0]EMJ
[1]EMG
[2] EML
Pn006.0 Bus type selection
[0]No bus
[1] Reserved
[2] Reserved
[3]CANopen
Pn006.1 Reserved
Pn006.2Low-frequency
vibration
suppression
switch
[0]Low-frequency vibration suppression function
Pn006
Hex
disabled
After restart
[1]Low-frequency vibration suppression function
enabled
Pn006.3 Reference input filter for open collector
signal
[0] When pulse is difference input, the max value of
2 ≤4M
servo receiving pulse frequency○
[1] When pulse is difference input, the max value of
2 ≤650K
servo receiving pulse frequency○
[2] When pulse is difference input, the max value of
2 ≤150K
servo receiving pulse frequency○
Pn007.0: wider the width of C pulse or not
[0] standard width of C pulse
Pn007
Binary
After restart
[1] wider the width of C pulse
Pn007.1:reserved
Pn007.2:reserved
- 120 -
ETS Series AC Servo User's Manual
Parameter
No.
Description
Setting
Control
Validation
Mode
Function and Meaning
Pn007.3:reserved
[0] Manual gain adjustment
[1,2,3] Normal mode
[4,5,6] Vertical load
[1,4] Load inertia without variation
[2,5] Load inertia with little variation
[3,6] Load inertia with great variation
Note:
1.Autotuning is invalid when servomotor max.speed is
Pn100
Online autotuning
setting
After restart
P,S
less than 100rpm.Manual gain adjustment is used.
2.Autotuning is invalid when servomotor acceleration
/deceleration speed is less than 5000rpm/s. Manual
gain adjustment is used.
3.Autotuning is invalid when mechanical clearance is
too big during operation. Manual gain adjustment is
used.
4.Autotuning is invalid when the difference of different
speed load is too great. Manual gain adjustment is
used.
The response speed of servo system is determined by
this parameter. Normally, the rigidity should be set a
Pn101
Machine rigidity
setting
Immediately
P,S
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.
Pn102
Pn103
Speed loop gain
Speed loop integral
time constant
Immediately
P,S
This parameter determines speed loop gain.
Unit: Hz
Decreases the value of this parameter to shorten
Immediately
P,S
positioning time and enhance speed response.
Unit: 0.25ms
This
Pn104
Position loop gain
Immediately
P
parameter
determines
position
loop
gain.
Decreases this value to enhance servo rigidity, but
vibration will occur if the value is too large.
Unit: 1/s
Pn105
Pn106
Pn107
Pn108
Torque reference
filter time constant
Load inertia
percentage
2nd speed loop gain
2nd speed loop
integral time constant
Torque reference filter can eliminate or lighten
Immediately
P,S
mechanical vibration, but incorrect setting will result to
mechanical vibration.Unit:0.25ms
Immediately
P,S
Immediately
P,S
Immediately
P,S
- 121 -
Setting value=(load inertia/rotor inertia)
 100
Unit: %
The meanings of these parameters are the same as
Pn102~Pn105.
These parameters are only needed to set when two
ETS Series AC Servo User's Manual
Parameter
Description
No.
Pn109
Pn110
2nd position loop
gain
2nd torque reference
filter time constant
Setting
Control
Validation
Mode
Immediately
P
Immediately
P,S
Function and Meaning
types of gain function are enabled.
This parameter setting can shorten positioning time.
However, if it is too large or does not cooperate with
Pn111 correctly, vibration will occur.
The relationship with speed reference, error counter,
positioning error is shown in the following chart.
Speed reference
Pn111
Speed bias
Immediately
P
Pn111
Pn500
Error counter
Pn111
Pn500
It is used to set position feedforward. The response
speed is faster and position error is less when this
Pn112
Feedforward
Immediately
P
parameter setting is higher. Vibration will occur if the
value is set too large.
Unit: %
It is used to ease mechanical vibration due to position
Pn113
Feedforward filter
Immediately
P
feedforward. The feedforward lag will be enlarged and
result to vibration if the value is set too large.
Unit: 0.25ms
It is used to set torque feedforward, and enhance
response speed.
Pn114
Torque feedforward
Immediately
P,S
Set the load inertia percentage(Pn106) correctly to
enable this function in manual gain adjustment mode.
Unit: %
Pn115
Torque feedforward
filter
It is used to ease mechanical vibration due to torque
Immediately
P,S
feedforward.
Unit: 0.25ms
0:Torque reference percentage
Pn116
P/PI switching
condition
1:Value of offset counter
After restart
P,S
2:Value of acceleration speed setting
3:Value of speed setting
4:Fixed PI
Pn117
Torque switching
threshold
After restart
P,S
- 122 -
Threshold of torque to switch PI control to P control.
Unit: %
ETS Series AC Servo User's Manual
Parameter
Description
No.
Pn118
Offset counter
switching threshold
Setting
Control
Validation
Mode
Threshold of error counter to switch PI control to P
Immediately
P
speed switching
Threshold of acceleration speed to switch PI control to
Immediately
P,S
threshold
Pn120
Setting speed
switching threshold
control.
Unit: pulse
Setting acceleration
Pn119
Function and Meaning
P control.
Unit: 10rpm/s
Immediately
P,S
Threshold of speed to switch PI control to P control.
Unit: rpm
0:Fix to 1st group gain
1:External switch gain switching(G-SEL)
2:Torque percentage
Gain switching
Pn121
condition
After restart
P,S
3:Value of offset counter
4:Value of acceleration speed setting(10rpm)
5:Value of speed setting
6:Speed reference input
7: actual motor speed
Pn122
Switching delay time
Immediately
P,S
Pn123
Switch threshold level
Immediately
P,S
Immediately
P
Immediately
P,S
Pn125
Pn126
Pn127
Position gain
switching time
Hysteresis switching
Low speed detection
filter
acceleration
relationship during
is satisfied.
Gain switching trigger level
This parameter is used to smooth transition if the
change of the two groups of gain is too large.
This parameter is used to set the operation hysteresis
of gain switching.
This parameter is used to filter in low speed detection.
Immediately
P,S
The speed detection will be lagged if the value is too
large.
Speed gain
Pn128
Delay time of switching gain when switching condition
The increasing multiple of speed loop gain is the same
rigidity during online autotuning. The speed loop gain
Immediately
P,S
Immediately
P,S
Immediately
P,S
Frictin load or fixed load compensation
Immediately
P,S
Threshold of friction compensation start
Immediately
P,S
Sticking damp which is in direct proportion to speed.
is larger when this value is higher.
online autotuning
Pn129
Pn130
Low speed correction
coefficient
Friction Load
The intensity of anti-friction and anti-creeping at low
speed. Vibration will occur if this value is set too large.
Friction
Pn131
compensation speed
hysteresis area
Pn132
Sticking friction load
Analog encoder output orthogonal difference pulses.
Pn200
PG divided
ratio
After restart
P,S
The meaning of this value is the number of analog
encoder output orthogonal difference pulses per one
servomotor rotation.
Pn201
Pn202
1st electronic gear
numerator
Electronic gear
After restart
P
After restart
P
- 123 -
The electronic gear enables the reference pulse to
relate with the servomotor travel distance, so the host
controller doesn't change the mechanical deceleration
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
denominator
Function and Meaning
ratio and encoder pulses. In fact, it is the setting of
frequency doubling or frequency division to the
Pn203
2nd electronic gear
numerator
After restart
P
Numerator ( Pn 201 or Pn 203)
Deno min ator ( Pn 202)
Position reference
Pn204
acceleration
/deceleration time
This value is used to smooth the input pulses. The
Immediately
P
Position reference
filter form selection
effect of smoothness is better when the value is
higher, but lag will occur if the value is too large.
constant
Pn205
reference pulses.
After restart
P
[0]:1st order filter
[1]:2nd order filter
Pn206.0 Pluse input port selection
[0]:use pluse input themselves
[1]:use A-axis pluse input port
[2]:use B-axis pluse input port
[3]:use C-axis pluse input port
Pn206.1 Synchronize selection
[0]:
A-axis and B-axis use the same pluse input port
setted by Pn206.0, C-axis use C-axis pluse input
Pn206
Pluse input selection
After restart
P
port
[1]:
A-axis and C-axis use the same pluse input port
setted by Pn206.0, B-axis use B-axis pluse input
port
[2]:
B-axis and C-axis use the same pluse input port
setted by Pn206.0, A-axis use A-axis pluse input
port
[3]: A-axis, B-axis and C-axis use the same pluse
input port
Pn300
Speed reference
input gain
Immediately
S
The corresponding speed to 1V analog input
The parameter can be set to positive or negative.
When control mode is set to D, it determines the
Pn304
Parameter speed
Immediately
S
speed of motor .
The
servomotor
speed
is
determined
by
this
parameter when Pn005.1=D.
It is used to set JOG rotation speed, and the direction
Pn305
JOG speed
Immediately
S
is determined by the pressing key during JOG
operation.
Pn306
Pn307
Pn308
Soft start acceleration
time
Soft start
deceleration time
Speed filter time
Immediately
S
The time for trapeziform acceleration to accelerate to 1000rpm.
Unit: ms
The time for trapeziform deceleration to decelerate to
Immediately
S
1000rpm.
Unit: ms
Immediately
S
- 124 -
1st order filter time constant
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
constant
Pn309
S curve
risetime
Unit: ms
Immediately
S
curve form
The time for transition from one point to another point
in S curve.
0:Slope
Speed reference
Pn310
Function and Meaning
After restart
S
1:S curve
2:1st order filter
3:2nd order filter
Pn311
S formselection
After restart
S
This value determines the transition form of S curve.
Pn316
Speed internal 1
Immediately
S
Internal speed is enabled when Pn005.1=3~6
Pn317
Speed internal 2
Immediately
S
Pn318
Speed internal 3
Immediately
S
Pn319
Speed internal 4
Immediately
S
Pn320
Speed internal 5
Immediately
S
Pn321
Speed internal 6
Immediately
S
Pn322
Pn401
Pn402
Pn403
Pn404
Pn405
Pn406
Pn407
Pn408
Pn409
Speed internal 7
Forward torque
internal limit
Reverse torque
internal limit
Forward external
torque limit
Reverse external
torque limit
Plug braking torque
limit
Speed limit during
torque control
Notch filter 1
frequency
Notch filter 1 depth
Notch filter 2
frequency
Immediately
Input signal
operating speed
/ -CON
/P-CL
/N-CL
OFF(H)
OFF(H)
OFF(H)
OFF(H)
ON(L)
ON(L)
OFF(H)
SPEED2
ON(L)
ON(L)
SPEED3
OFF(H)
OFF(H)
SPEED4
OFF(H)
ON(L)
SPEED5
ON(L)
OFF(H)
SPEED6
ON(L)
ON(L)
SPEED7
ON(L)
Zero speed or switch
to other control modes
SPEED1
S
Immediately
P,S
Immediately
P,S
Immediately
P,S
Immediately
P,S
Immediately
P,S
Immediately
T
Immediately
P,S
Notch filter 1 frequency
Immediately
P,S
Notch filter 1 depth
Immediately
P,S
Notch filter 2 frequency
Servomotor output torque limit value(depending on
the actual overload capacity).
Servomotor output torque limit value during torque
control
1. In some conditions,
vibration will be picked
up and response will be
lagged after notch filter
is set.
2. When notch filter
Pn410
frequency
Notch filter 2 depth
Immediately
P,S
Notch filter 2 depth
is
set
5000, the notch filter is
invalid.
Pn411
Low frequency
Immediately
P,S
- 125 -
to
Frequency of low frequency vibration with load.
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
Immediately
P,S
Immediately
T
Immediately
T
Immediately
P
Function and Meaning
vibration frequency
Pn412
Pn413
Pn414
Pn500
Pn501
Low frequency
vibration damp
Torque control delay
time
Torque control speed
hysteresis
Positioning error
Coincidence
difference
Attenuation damp of low frequency vibration with load.
It does not need to change.
These parameters are only enabled in position control
mode.
Outputs /COIN signal when error counter is less than
this value.
Outputs /VCMP signal when the difference between
Immediately
P
speed reference value and speed feedback value is
less than this value.
The servomotor is locked in the form of temporary
Pn502
Zero clamp speed
Immediately
S
position loop when the speed corresponding to the
analog input is less than this value.
Pn503
Pn504
Rotation detection
speed TGON
Offset counter
overflow alarm
When the servomotor speed exceeds this parameter
Immediately
P,S
setting value, it means that the servomotor has
already rotated steadily and outputs /TGON signal.
When the value in error counter exceeds this
Immediately
P
parameter setting value, it means that error counter
alarm has occurred and outputs alarm an signal.
These parameters are only enabled when the port
Pn505
Servo ON waiting
time
output parameters are allocated with /BK signal
Immediately
P,S
output.
These parameters are used to keep braking (prevent
from gravity glissade or continuous outside force on
servomotor) time sequence.
Pn506
Basic waiting flow
Immediately
P,S
Servo ON waiting time:
○
1 For the parameter is plus,/BK signal is output firstly
when servo-ON signal is input, and then servomotor
excitation signal is created after delaying the
parameter setting time.
Pn507
Brake waiting speed
Immediately
P,S
○
2 For the parameter is minus, servomotor excitation
signal is output firstly when servo-ON signal is input,
and then /BK signal is created after delaying the
parameter setting time.
Basic waiting flow:
Standard setting: /BK output (braking action) and
servo-OFF are at the same time.
Pn508
Brake waiting time
Immediately
P,S
Now, the machine movable part may shift slightly due
to gravity according to mechanical configuration and
character; it can be eliminated by using the
parameters when the servomotor is at stop or at a low
speed.
- 126 -
ETS Series AC Servo User's Manual
Parameter
No.
Description
Setting
Control
Validation
Mode
Function and Meaning
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 signal is output when the delay time exceeds the
parameter setting value after servo-OFF.
/BK signal is output as long as either of the brake
waiting speed or brake waiting time is satisfied.
Allocate input port to
Pn509
signal, one port with
Pn509.0 corresponding port CN1_A/B/C_10
After restart
P,S
four bits(hex)
Pn509.1 corresponding port CN1_A/B/C_11
Pn509.2 corresponding port CN1_A/B/C_12
Pn509.3 corresponding port CN1_A/B/C_13
Pn510.0 corresponding port CN1_A/B/C_14
Pn510.1 corresponding port CN1_A/B/C_15
Pn510.2 corresponding port CN1_A/B/C_16
Pn510.3 corresponding port CN1_A/B/C_17
Corresponding signal of each data is shown as
following:
0:S-ON
1:P-CON
2:P-OT
Allocate input port to
Pn510
signal, one port with
After restart
P,S
four bits(hex)
3:N-OT
4:ALMRST
5:CLR
6:P-CL
7:N-CL
8:G-SEL
9:JDPOS-JOG+
A:JDPOS-JOGB:JDPOS-HALT
C:HmRef
D:SHOM
E:ORG
Pn511.0
corresponding
port
CN1_A/B/C_7 ,
port
CN1_A/B/C_1 ,
port
CN1_A/B/C_5 ,
CN1_A/B/C_8
Pn511.1
corresponding
CN1_A/B/C_2
Pn511
Output signal
allocation
After restart
P,S
Pn511.2
corresponding
CN1_A/B/C_6
Corresponding signal of each data is shown as
follows:
0:/COIN/VCMP
1:/TGON
- 127 -
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
Function and Meaning
2:/S-RDY
3:/CLT
4:/BK
5:/PGC
6:OT
7:/RD
8:/HOME
Bus communication input port enabled:
[0]:Disabled
Pn512
Bus control input
node low-bit enabled
Immediately
P,S
[1]:Enabled
Pn512.0CN1_A/B/C_10
Pn512.1 CN1_A/B/C_11
Pn512.2 CN1_A/B/C_12
Pn512.3 CN1_A/B/C_13
Pn513
Bus control input
node low-bit enabled
Pn513.0 CN1_A/B/C_14
Immediately
P,S
Pn513.1 CN1_A/B/C_15
Pn513.2 CN1_A/B/C_16
Pn513.3 CN1_A/B/C_17
Pn514
Input port filter
Immediately
P,S
Pn515
Alarm port filter
Immediately
P,S
It is used to set input port filter time. The signal will be
lagged if the parameter setting is too high.
It is used to set alarm filter time. The signal will be
lagged if the parameter setting is too high
[0]:Do not inverse signal.
Input port signal
Pn516
inversion
[1]:Inverse signal
Immediately
P,S
Pn516.0CN1_A/B/C_10 inversion
Pn516.1CN1_A/B/C_11 inversion
Pn516.2CN1_A/B/C_12 inversion
Pn516.3CN1_A/B/C_13 inversion
Input port signal
Pn517
inversion
Pn517.0CN1_A/B/C_14 inversion
Immediately
P,S
Pn517.1CN1_A/B/C_15 inversion
Pn517.2CN1_A/B/C_16 inversion
Pn517.3CN1_A/B/C_17 inversion
Pn518
Dynamic brake time
Pn519
Reserved
Pn520
Position complete
time
Immediately
P,S
Dynamic brake time
—
—
—
Immediately
P,S
Position complete time
Pn521
Reserved
—
—
—
Pn522
Reserved
—
—
—
Pn523
Reserved
—
—
—
When load percentage is larger than overload alarm
Overload alarm
Pn525
threshold
Immediately
P,S
threshold, A04 will occur soon.
Pn525 is recommended to set below 120, otherwise
the servo drive and motor will be damaged.
- 128 -
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
Function and Meaning
Pn526
Reserved
—
—
—
Pn527
Reserved
—
—
—
[0]:Do not inverse signal.
[1]:Inverse signal
Pn528
Output signal inverse
—
—
JPOS0 Position pulse
Pn600
in point to point
The two parameters are used in combination, and the
Immediately
P
control
Position pulse in
is related with the programme mode of point to point
Immediately
P
point to point control
Pn631
Pn600 Unit:10000P
The meaning of other point to point control related
parameters are the same.
JPOS15 Position
Pn630
control.)
Pn601 Unit:1P
……
pulse in point to point
algebraic sum of them is the position JPOS0 needs to
reach.(Thenumber of servomotor rotation revolutions
JPOS0
Pn601
Pn528.0CN1_A/B/C_3,4 inversion
Pn528.0CN1_A/B/C _7,8 inversion
Pn528.0CN1_A/B/C _1,2inversion
Pn528.0CN1_A/B/C _5,6 inversion
The two parameters are used in combination, and the
Immediately
P
algebraic sum of them is the position of JPOS0 needs
control
to
JPOS15 Position
revolutions is related with the programme mode of
pulse in point to point
Immediately
P
Immediately
P
reach.(The
number
of
servomotor
rotation
point to point control.)
control
Pn632
JPOS0 Point to point
speed control
……
Pn647
JPOS15 Point to
point speed control
Point to point
Immediately
P
Immediately
P
1st orderfilter
……
Pn663
Pn664
JPOS0 point to point
control stop time
Immediately
P
Immediately
P
……
point control stop
Immediately
P
—
—
Immediately
P
time
Pn680
Reserved
Pn681
Hex
Unit:rpm
1st order filter time of JPOS0 point to point control can
stop or start the servomotor mildly.
1st order filter time of JPOS15 point to point control
can stop or start the servomotor mildly.
JPOS0 point to point control stop time
Unit:50ms
Other point to point control stop time
JPOS15 point to
Pn679
The speed of JPOS15 point to point control
1st order filter of other point to point control.
JPOS15 Point to
point 1st orderfilter
Unit:rpm
The speed of other point to point control
JPOS0
Pn648
JPOS0 Point to point speed control
- 129 -
JPOS15 point to point control stop time
Unit:50ms
—
Pn681.0 Single/cyclic, start/reference point selection
[0] Cyclic operation, PCL start signal, NCL search
ETS Series AC Servo User's Manual
Parameter
No.
Description
Setting
Control
Validation
Mode
Function and Meaning
reference point in forward direction.
[1] Single operation, PCL start signal, NCL search
reference point in forward direction.
[2] Cyclic operation, NCL start operation, PCL search
reference point in forward direction.
[3]
Single operation, NCL start operation, PCL
search reference point in forward direction.
Pn681.1 Change step and start mode
[0] Delay to change step, no need of start signal, delay
to start after S-ON.
[1] PCON change step, no need of start signal, PCON
delay to start
after S-ON, but inside pulse can not
stop when PCON off.
[2] Delay to change step, need start signal, canceling
start signal can immediately stop inside pulse.
Return to programme start point process step when
reset.
[3] PCON change step, need start signal, canceling
start signal can immediately stop inside pulse. Return
to programme start point process step when reset.
Pn681.2 Change step input signal mode
[0] Change step input signal electrical level mode
[1] Change step input signal pulse mode
Pn681.3 Reserved
[0] :Incremental programme
Pn682
Programme mode
Immediately
P
Pn683
Programme start step
Immediately
P
Select the start point of the point to point control
Pn684
Programme stop step
Immediately
P
Select the stop point of the point to point control.
Immediately
P
Immediately
P
[1]:Absolute programme
Search travel speed
in position
control (contact
reference);
Pn685
Speed of finding
reference point
Search the servomotor speed in the direction of
reference point towards travel switch.
(Hitting the
origin signal ORG) in
position homing
control.
Leave travel switch
speed in position
control (contact
Pn686
reference);
Speed of finding
reference point
(Leaving the
origin signal ORG) in
- 130 -
Search the servomotor speed when the reference
point leaves travel switch.
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
Immediately
P
Function and Meaning
position homing
control.
Pn687
Position teaching
pulse
The two parameters are used in combination, and the
algebraic sum of them is the current position of
position teaching. When performing the position
Pn688
Position teaching
pulse
teaching by utility function, the algebraic sum of the
Immediately
P
two parameters are given to the current position
Pn687 unit:10000P
Pn688 unit:1P
Pn689.0 Homing Mode
[0]Homing in the forward direction
[1]Homing in the reverse direction
Pn689.1 Search C-Pulse Mode
Pn689
Homing Mode Setting
Immediately
P
[0]Return to search C-Pulse when homing
[1]Directly search C-Pulse when homing
Pn689.2 Homing trigger starting mode
[0]Homing function disabled
[1]Homing triggered by SHOM signal (rising edge)
Pn689.3 Reserved
Pn690
Pn691
Number of error
pulses during homing
Number of error
pulses during homing
Immediately
P
Immediately
P
unit:10000P
unit:1P
Pn700.0 MODBUScommunication baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
[3] 38400bps
[4] 57600bps
[5] 115200bps
Pn700.1 MODBUS protocol selection
Pn700
Hex
After restart
ALL
[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(MODBUS,RTU)
Pn700.2 Reserved
Pn700.3 Reserved
Pn701
MODBUSAxis
address
Pn702
Reserved
Pn703
CANcommunication
After restart
ALL
—
—
After restart
ALL
- 131 -
Axis address of MODBUS protocol communication
—
Pn703.0 CAN communication baud rate
ETS Series AC Servo User's Manual
Parameter
Description
No.
Setting
Control
Validation
Mode
speed
Function and Meaning
[0] 50Kbps
[1] 100Kbps
[2] 125Kbps
[3] 250Kbps
[4] 500Kbps
[5] 1Mbps
Pn703.1 Reseved
Pn703.2 Reseved
Pn703.3 Reseved
Pn704
CAN communication
contact
After restart
ALL
CANopen Aix address of communication
Pn840.0 Encoder model selection
[6] Wire-saving incremental encoder
Pn840.1Reserved(For factory using)
Pn840
Hex
After restart
ALL
Pn840.2Power levelof Machine
[0] 400w
[1] 750w
[2] 1Kw
Pn840.3Reserved(For factory using)
- 132 -
ETS Series AC Servo User's Manual
Appendix B
Alarm Display
Alarm
Alarm
Display
Output
A.01
╳
Parameter breakdown
A.03
╳
Overspeed
A.04
╳
Overload
A.05
╳
Position error counteroverflow
Internal counter overflow
A.06
╳
Position error pulse overflow
Position error pulse exceededparameter (Pn504)
Alarm Name
Meaning
The checksum results of parameters are abnormal.
The servomotor speed is excessively high and the
servomotor is out of control.
The servomotor is operating continuously under a torque
largely exceeding ratings.
The setting of electronic gear or
A.07
╳
given
pulse
frequency
is
not
reasonable.
The setting of electronic gear is not reasonable or the
given pulse frequency is too high.
The 1st channel of current
A.08
╳
A.09
╳
A.10
╳
Incremental Encoder is break off.
A.12
╳
Overcurrent
A.13
╳
Overvoltage
A.14
╳
Undervoltage
A.15
╳
Bleeder resistor error
Bleeder resistor is faulty.
A.16
╳
Regeneration error
Regenerative circuit error
A.20
╳
Power line phase shortage
One phase does not bring into main circuit power supply.
A.42
╳
Servomotor type error
A.66
╳
CAN communication abnormal
A.67
╳
Receiving heartbeat timeout
The master station sends heartbeat time timeout
A.68
╳
CAN Synchronization frame interval
The filling time and the cycle of the synchronous frame
is too short
does not matchor communication is faulty.
CAN Synchronization frame interval
The filling time and the cycle of the synchronous frame
is too long
does not match or communication is faulty.
A.69
╳
Something wrong with the inside chip of the 1st channel.
detection is wrong.
The
2nd
channel
of
current
Something wrong with the inside chip of the 2nd channel.
detection is wrong.
At least one of Incremental Encoder PA,PB,PC is broken
off.
An overcurrent flowed through the IPM.
Main circuit voltage for servomotor rotation is excessively
high.
Main circuit voltage for servomotor rotation is excessively
low.
The parameter setting of servo drive does not match the
servomotor.
CAN communication is faulty because of abnormal
communication connection or disturbance.
- 133 -
ETS Series AC Servo User's Manual
Alarm
Alarm
Display
Output
A.00
〇
Alarm Name
Not an error
Meaning
Normal operation status.
〇:Output transistor is ON.╳:Output transistor is OFF.
A.45、A.46、A.47、A.48、A.51 only can be reset when the absolute encoder related alarm is cleared.
The multiturn data should be cleared because of the multiturn information is incorrect.
- 134 -