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

 

4.1.1 Trial Operation for Servomotor Without Load

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.

 

 JOG Mode Operation (Fn002)

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.

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.

 

4.1.3 I/O JOG control
This function is available under all control mode, JOG speed is according to the value that set in the parameter Pn305; The operation is different from Fn002 and Modbus communication which have independent S-ON operation (Mode selection、S-ON for JOG operation). I/O JOG mode don’t have independent S-ON signal, It depends on the actual status of the control mode that used. When the function is enable, allocation of the Input signal can be defined by Pn711 and Pn712. The combinations of the I/O port are shown as below:

 

4.1.4 Trial Operation with the Servomotor Connected to the Machine

Follow the procedure below to perform the trial operation.

 

4.1.5 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.

 

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)

(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.

 

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.

 

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

 

(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.

（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.

·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

 

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.)

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.

 

（2）Brake interlock output

 

（3）Allocating Brake Interlock Output (/Bk)
Brake interlock output (/BK) is not used with the factory setting.The output signal must be allocated.

Parameter Pn511 description as following：

Related parameter：

 

（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 changed with a parameter.

 

（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.

 

4.4 Absolute Encoders

The absolute position can be read by the MODBUS protocol. In the actual control, the MODBUS protocol can read the initial position when the servomotor is stopped (S-OFF), then the real-time position during the servomotor is running can be found from the number of PG divided output pulses.

4.4.1 Selecting an Absolute Encoder
An absolute encoder can also be used as an incremental encoder

 

4.4.2 Handling Battery
In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backed up by a battery.
Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used.
Install the battary to the encoder cable：
A. Open the shell of the battery case.
B. Install the battery according to the following diagram.

 

C. Cover the shell of the battery case.

 

4.4.3 Replacing Battery
The servo drive will generate an absolute encoder battery alarm (A.48) when the battery voltage drops below about 3.1V.
 Battery Replacement Procedure
1. Replace the battery with only the servo drive control power supply turned ON.
2. After replacing the battery, using the panel operator with utility function Fn011 to cancel the absolute encoder battery alarm (A.48).
3. Turn ON the servo drive power back again. If it operates without any problems, the battery replacement has been completed.
Note:
·The servo drive will generate an absolute encoder battery alarm (A.48) when the battery voltage drops below about 3.1V.
·If an absolute encoder battery alarm (A.47) occurred, it means the battery voltage drops below about 2.5V, and the multiturn data is lost. Please reset the absolute encoder after changing the battery

4.4.4 Absolute Encoder Setup(Fn010、Fn011)
Setting up the absolute encoder in the following cases.
·When starting the machine for the first time,set Pn002.2 to 0.
·When an encoder error alarm (A.45～A.48, A.51) is generated.
Use the panel operator in the servo drive for setup.
Note:
1. Encoder setup operation is only possible when the servo is OFF.
2. If the absolute encoder alarms(A.45～A.48，A.51 ) are displayed, cancel the alarm by using the same method as the setup. They cannot be cancelled with the servo drive alarm reset input signal(/ALM-RST).
3. Any other alarms that monitor the inside of the encoder should be cancelled by turning OFF the power.

 

4.5 Operating Using Speed Control with Internally Set Speed
4.5.1 Setting Parameters

 

4.5.2 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

 

4.5.3 Speed Reference Filter Time Constant

 

4.5.4 S-curve Risetime

 

4.5.5 Encoder Signal Output
Encoder feedback pulses processed inside the servo drive can be output externally.

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.

 Pulse Dividing Ratio Setting

 

4.5.6 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.

 

4.5.7 Speed control(contact reference)
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.

 

■Parameters setting

(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)

WhenPn005.1 = 3，/P-CON,/PCL，/NCL =OFF(H)，switches to position control(pulse train reference)