Preface

EDC Series
User’s Manual
Operation of Version 2

Preface
This manual describes the operation of the Estun servo drive type EDC and is
meant for operators who are instructed for operation of the device.

Estun Limited Warranty

This manual does not entitle you to any rights. Estun reserves the right to
change this manual without prior notice. All rights reserved. The copyright is
held by Estun. No part of this publication can be copied or reproduced without
written permission from Estun.

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 General Precaution

General Precaution
„ Power supply voltage should be AC 220V.
The EDC servo system requires a power supply of AC 220V+/-15% voltage.
„ Don’t connect the servo motor directly to local electric network.
It’s prohibited to connect the servo motor directly to local electric network.
Otherwise, the servo motor is very likely to get damaged. The servo motor will
not rotate without support of servo drive.
„ Don’t plug in or unplug the connectors when power is ON.
Internal circuit and motor encoder might be damaged if the plug in or unplug
operations are performed during power ON. Always turn the power OFF first
before plugging in or unplugging the connectors.
„ Wait for at least 5 minutes before doing inspection work on the servo
system after turning power OFF.
Please be noted that even when the power is turned off, there will still be some
electric energy remained in the capacitors of the internal circuit. In order to
avoid electrical shock, please make sure inspection work is started 5 minutes
after Charge indicator is OFF.
„ There should be a space of at least 10mm between the servo drive and
any other devices mounted in the electrical cabinet.
The servo drive produces heat during working, heat dissipation should be
considered in design of mounting layout. At least 10 mm space in lateral
direction and 50 mm space in longitudinal direction are required from servo
drive to other equipments when doing installation. Please install the servo
drive in an environment which is free from condensation, vibration and shock.
„ Noise rejection treatment and grounding.
The noise from signal wires causes easily the mechanical vibration and
malfunctions. Please comply with the following rules strictly:
- Route high-voltage power cables separately from low-voltage power
cables.
- Make short cable route as possible.
- Single point grounding is required when mounting the servo motor and
servo drive, and
grounding resistance should be lower than 100Ω.
- It’s prohibited to apply power input noise filter between servo drive and
servo motor.
„ Withstand voltage test of servo drive should meet following conditions:
- Input voltage: AC 1500Vrms, 1 minute
- Interrupt/Break current: 100mA
- Frequency: 50/60Hz
- Forcing point: Between Terminal R, Terminal T and Terminal E.
„ Apply a fast-response leakage protector
It’s required to use a fast-response leakage protector or a leakage protector for

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 General Precaution

PWM inverter designated by supplier. Do not use a time delay leakage

protector.
„ Avoid extreme adjustments or changes
Don’t make extreme adjustments or changes to servo drive’s parameters,
which will cause terrible mechanical vibration and result in unnecessary
property loss.
„ Don’t run the servo motor by switching On/Off the power supply directly.
Frequent power On/Off will cause fast aging to servo’s internal components,
which will reduce the lifetime of servo drive. It’s required to use reference
signals to control the running of servo motor.

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 Contents

Contents
Preface ........................................................................................................- 1 -
Estun Limited Warranty................................................................................- 1 -
General Precaution ......................................................................................- 2 -
Table of contents..........................................................................................- 4 -
Chapter 1 Checking products on delivery and product specification............- 7 -
1.1 Checking products on delivery.........................................................- 7 -
1.1.1 Servo motor............................................................................- 7 -
Nameplate.................................................................................- 7 -
Identification of motor model .....................................................- 8 -
1.1.2 Servo drive .............................................................................- 9 -
Nameplate.................................................................................- 9 -
Identification of drive model ......................................................- 9 -
1.2 Servo components description.......................................................- 10 -
1.2.1 servo motor ..........................................................................- 10 -
1.2.2 Servo drive ...........................................................................- 10 -
Chapter 2 Installation .................................................................................- 12 -
2.1 Servo motor ...................................................................................- 12 -
2.1.1 Storage temperature.............................................................- 12 -
2.1.2 Installation site......................................................................- 12 -
2.1.3 Installation concentricity .......................................................- 12 -
2.1.4 Installation direction..............................................................- 13 -
2.1.5 Handling oil and water ..........................................................- 13 -
2.1.6 Cable tension .......................................................................- 14 -
2.2 Servo drive ....................................................................................- 14 -
2.2.1 Storage condition..................................................................- 14 -
2.2.2 Installation site......................................................................- 14 -
2.2.3 Installation orientation...........................................................- 15 -
2.2.4 Installation of several servo drives........................................- 15 -
Chapter 3 Wiring ........................................................................................- 17 -
3.1 Wiring and connection ...................................................................- 17 -
3.1.1 Names and Functions of Main Circuit Terminals...................- 17 -
3.2 I/O signals......................................................................................- 19 -
3.2.1 Standard connection diagram (example) ..............................- 19 -
3.2.2 Connector terminals .............................................................- 19 -
3.2.3 Function list of I/O signals ....................................................- 20 -
3.2.4 Interface circuit example.......................................................- 22 -
3.3 Encoder wiring ...............................................................................- 24 -
3.3.1 Encoder wiring （2CN）......................................................- 24 -
3.3.2 Signal list of connectors (2CN) .............................................- 24 -
3.4 Motor wiring ...................................................................................- 25 -
3.4.1 Motor encoder terminals.......................................................- 25 -

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 Contents

3.4.2 Motor power terminal............................................................- 26 -

3.5 Standard connection example .......................................................- 27 -
Chapter 4 Function setting and description................................................- 28 -
4.1 Machine related settings................................................................- 28 -
4.1.1 Servomotor rotation direction Select.....................................- 28 -
4.1.2 Overtravel.............................................................................- 29 -
4.1.3 Stop function.........................................................................- 31 -
4.1.4 Limiting torque......................................................................- 32 -
4.2 Settings complying with host controller..........................................- 33 -
4.2.1 Position control .....................................................................- 35 -
4.2.2 Encoder signal output...........................................................- 40 -
4.2.3 Sequence I/O signal .............................................................- 43 -
4.2.4 Electronic gear .....................................................................- 46 -
4.2.5 Position contact control ........................................................- 50 -
4.2.6 Zero adjustment ...................................................................- 54 -
4.2.7 Parameter speed control ......................................................- 57 -
4.3 Servo drive settings .......................................................................- 60 -
4.3.1 JOG speed ...........................................................................- 60 -
4.3.2 Control selection...................................................................- 60 -
4.4 Stop function settings.....................................................................- 62 -
4.4.1 Dynamic brake .....................................................................- 62 -
4.4.2 Holding brake .......................................................................- 63 -
4.5 Protection sequence design ..........................................................- 67 -
4.5.1 Servo alarm output ...............................................................- 67 -
4.5.2 /S-ON input...........................................................................- 68 -
4.5.3 Positioning complete output .................................................- 70 -
4.5.4 Speed coincidence output ....................................................- 71 -
4.5.5 Handling instant power cut ...................................................- 72 -
4.5.6 Regenerative braking unit.....................................................- 73 -
4.6 Smooth running .............................................................................- 74 -
4.6.1 Smoothing ............................................................................- 74 -
4.6.2 Acceleration/deceleration time..............................................- 74 -
4.6.3 Speed detection smoothing time constant ............................- 76 -
4.6.4 Torque reference filter time constant ....................................- 76 -
4.7 High speed positioning ..................................................................- 76 -
4.7.1 Servo gain settings ...............................................................- 76 -
4.7.2 Speed offset settings ............................................................- 79 -
Chapter 5 Troubleshooting.........................................................................- 81 -
5.1 Alarm list ........................................................................................- 81 -
5.2 Alarm reasons and Troubleshootings.............................................- 82 -
5.3 Clear alarm ....................................................................................- 85 -
Chapter 6 Panel Operator..........................................................................- 86 -
6.1 Basic Function ...............................................................................- 86 -
6.1.1 Function description .............................................................- 86 -

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 Contents

6.1.2 Reset Servo Alarms..............................................................- 86 -

6.1.3 Display mode selection.........................................................- 87 -
6.1.4 Status Display Mode.............................................................- 88 -
6.1.5 Parameter Setting Mode.......................................................- 90 -
6.1.6 Monitor Mode .......................................................................- 91 -
6.2 Auxiliary functions ..........................................................................- 94 -
6.2.1 Alarm history display.............................................................- 94 -
6.2.2 Restore to factory settings....................................................- 95 -
6.2.3 JOG operation ......................................................................- 95 -
6.2.4 Automatic offset signals adjustment of motor current detection- 96 -
6.2.5 Servo software version display .............................................- 97 -
6.2.6 System runtime ....................................................................- 98 -
6.2.7 Software version of panel operator.......................................- 98 -
6.2.8 Factory test...........................................................................- 98 -
6.2.9 Inertia inspection ..................................................................- 98 -
Chapter 7 Trial operation ...........................................................................- 99 -
7.1 Inspection and checking before trial operation ..............................- 99 -
7.2 JOG operation .............................................................................- 100 -
7.3 Trial operation in position control mode .......................................- 101 -
Chapter 8 Communication .......................................................................- 102 -
8.1 RS232 communication hardware structure..................................- 102 -
8.1.1 External connection diagram ..............................................- 102 -
8.1.2 Cable connection................................................................- 102 -
8.2 Communication relevant parameters ...........................................- 103 -
8.3 MODBUS communication protocol ..............................................- 106 -
8.3.1 Code signification ...............................................................- 106 -
8.3.2 Communication error handling ...........................................- 113 -
8.3.3 Parameters, servo status data communication address .....- 114 -
Chapter 9 Technical specification and features........................................- 119 -
9.1 Servomotor ..................................................................................- 119 -
9.1.1 Technical specification and features ...................................- 119 -
9.1.2 Servomotor mounting dimension ........................................- 122 -
9.1.3 Servomotor connection diagram.........................................- 122 -
9.2 Servo drive ..................................................................................- 123 -
9.2.1 Technical specification and model ......................................- 123 -
9.2.2 Servo drive mounting dimension ........................................- 125 -
Appendix A...............................................................................................- 125 -
Parameter list ....................................................................................- 125 -
Appendix B ..............................................................................................- 133 -
Alarm list............................................................................................- 133 -

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 Chapter 1 Checking products on delivery and product specification

Chapter 1 Checking products on

delivery and product specification

1.1 Checking products on delivery

Check following items when EDC series products are delivered.

Check Items Comments

Are the delivered products the Check the model numbers marked on the
ones that were ordered? nameplate of servo motor and servo drive.
Check the overall appearance, and check for
Is there any damage? damage or scratches that have occurred
during shipping.
Motor rotors can rotate gently with hand,
Can the rotors run well? there’s no abnormal noise, and a motor with
brake mustn’t rotate.

If any of above items are faulty ot incorrect, contact your dealer from whom
you purchased the products or the service personnel of Estun.

1.1.1 Servo motor

Nameplate

The following illustration shows an example of the servo motor’s nameplate.

Rated output power

Motor Model
AC SERVO MOTOR
MODEL EMJ-08APA
750 2.39 3000 r/min
W N·m
CO
4.0 A 200 V Ins. F
NT.
S/N M000001Y20030409
Estun Industrial Automation
CO., Ltd.
Production No. Rated rotation
speed
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 Chapter 1 Checking products on delivery and product specification

Identification of motor model

EMJ- 08 A P A 1 1

Symb Motor series

Symbo Shaft End
ol
l
EMJ EMJ series servo
1 Flat, without
motor
keys(standard)
2 Flat, with keys, with
Rated Output Power
screw thread
02、04、05、08

Symb Power voltage

ol
A 200V AC

Symb Options
Symb Encoder ol
ol 1 None
P Incremental 2 With oil seal
Wire-saving 3 DC24V brake
Type:2500P/R 4 DC24V brake, with oil seal

Symbol Design Sequence

A

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 Chapter 1 Checking products on delivery and product specification

1.1.2 Servo drive

Nameplate

Identification of drive model

EDC-08 A P E

Drive series
EDC series servo drive
Designing Sequence
E
Drive model
02、04、05、08

Sym Power Voltage

Symb Control method bol
ol A 200V
P Position control

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 Chapter 1 Checking products on delivery and product specification

1.2 Servo components description

1.2.1 servo motor

Following illustration shows the names of the components of a servo motor

without gear down device and brake.

1.2.2 Servo drive

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 Chapter 1 Checking products on delivery and product specification

Following illustration shows the names of the components of a servo drive.

Charge indicator
It lights on when power is switched on. And it may keep
lighting on when power is switched off, since there is some
electricity remained in the capacitors.

POWER&ALARM
Green light is on when power is On, and red light is on when servo
drive generates an alarm.

CAN COM ID address selection switch

It’s available for CAN communication
CAN COM port（CAN）
It’s available for CAN communication
RS232 COM port（COM）
Available for communicating with a panel operator
or a computer.
I/O signal connector（1CN）
To connect with reference input signal or
sequence I/O signal.
Encoder connector（2CN）
To connect with the encoder on the servo motor.

Servo motor connection terminal

The terminal to connect the power cable of servo motor.
Power terminal and regenerative unit connection
terminal

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 Chapter 2 Installation

Chapter 2 Installation

2.1 Servo motor

Servomotor can be installed either horizontally or vertically. However, if the

servomotor is installed with incorrect mechanical fittings, the servo motor’s
lifetime will be greatly shortened and unexpected accidents will occur.
Please make installation according to the instructions as below:

Precaution:
There’s some antirust agent on the edge of the motor shaft to prevent it from
rusting during storage. Please wipe off the agent thoroughly by using a cloth
dipped with diluting agent or thinner before installing the motor.
NOTE: The diluting agent should not touch any other parts of the
servomotor when wiping the shaft.

2.1.1 Storage temperature

When the servomotor is not in use, it should be kept in a place with an

environment temperature between −20°C and +60°C.

2.1.2 Installation site

Servomotor should be installed indoors, and the environment should meet

following conditions:
a) Free from corrosive, inflammable or explosive gases
b) Well ventilated and free from dust and moisture
c) Ambient temperature is between 0°C and 40°C
d) Relative humidity is between 26% and 80% RH (non-condensing)
e) Maintenance and cleaning can be performed easily

2.1.3 Installation concentricity

Use elastic shaft connectors as many as possible for mechanical connections.

The axis centers of servo motor and mechanical load should be kept in the

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 Chapter 2 Installation

same line. If a shaft connector is used when installing servo motor, it has to
meet the requirement of concentricity tolerance as shown in the illustration
below.

Measure this at four quartering positions of a cycle. The difference between

the maximum and minimum measured value must be less than 0.03mm.
(Rotate together with shaft connectors)

Measure this at four quartering positions of a cycle. The difference between

the maximum and minimum measured value must be less than 0.03mm.
(Rotate together with shaft connectors)

Note:
If the concentricity tolerance is too big, mechanical vibration will occur,
resulting in damage to the bearings of servo motor
Never strike at the axis direction when installing shaft connectors, this could
damage easily the encoder of servo motor.

2.1.4 Installation direction

The servomotors can be installed, horizontally, vertically or in any direction.

2.1.5 Handling oil and water

If the servomotor is installed at a location subject to water, oil, or condensation,

the motors require special treatment to meet protection requirements. If the
motors are required to meet the protection requirement before leaving the
factory, it’s necessary to designate the exact motor models with oil seal. Shaft
through section means the gap as shown in the following picture:

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 Chapter 2 Installation

2.1.6 Cable tension

When connecting the cables, the bending radius shouldn’t be too small, do not
apply big pulling force to cables.
Please be noted in particular that the diameter of signal cable wires is very
small, from 0.2 mm to 0.3 mm, therefore handle the cables with adequate care
and do not cause excessive cable tension while doing wiring.

2.2 Servo drive

EDC series of servo drives are all base-mounted. Incorrect mounting will
definitely cause problems. Always mount the servo drives according to
following installation instructions.

2.2.1 Storage condition

When servo drive is not in use, it should be kept in an environment with a

temperature between -20 and +85 ℃.

2.2.2 Installation site

The notes on installation of servo drive are as below:

Condition Safety notes
Installed inside a A unified design for the cabinet size, configuration
control cabinet of servo drive, and the cooling method is required
so that the ambient temperature around the servo
drive is always below 55 °C.
Installed near a Minimize the heat radiating from the heating units
heating unit by taking advantage of heat dissipation measures
such as natural convection current, forced-air
cooling, to ensure working temperature around
the servo drive is always below 55 °C.
Installed near a A vibration isolator should be mounted
vibration source underneath the base surface to prevent vibration.
Installed at a site Appropriate measures should be taken to prevent
exposed to corrosive corrosive from getting in. Corrosive gases does
gases not have immediate influence on the servo drive
but they will eventually cause problems on
electronic components, which will definitely have

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 Chapter 2 Installation

influence on the running stability of servo drive.

Other situations Do not install the servo drive in hot, humid
locations or locations subject to excessive dust or
powder in the air.

2.2.3 Installation orientation

As shown in the following picture, the installation direction should be vertically

mounted onto the wall, firmly fixed on the surface with two mounting holes.

A cooling fan can be mounted for forced-air cooling of the servo drive at
request.

2.2.4 Installation of several servo drives

When several servo drives are required to be installed side by side inside one
control cabinet, installation must be performed according to the gap
requirement as shown below :

█ Installation orientation
Install the servo drive vertically onto the wall so the front panel(connection
board side) of servo drive faces the operator.
█ Cooling
As shown in the illustration above, give sufficient space between each servo

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 Chapter 2 Installation

drive so that cooling by cooling fans or natural convection is good.

█ Side-by-side installation
When installing servo drives side by side as shown in the illustration above,
reserve at least 10 mm between two horizontal sides and at least 50 mm
between two vertical sides. The temperature in the control cabinet needs to be
kept evenly distributed, subject to no overheat at any part of servo drive. If
necessary, install forced-air cooling fans above the servo drives to avoid
excessive temperature rise.
█ Normal Working Conditions for Servo Drive
1. Ambient Temperature: 0 to 55°C
2. Humidity: 90% RH or less, no condensing
3. Vibration: 4.9 m/s2 or less
To ensure a long term stability of the drive, it’s suggested the drive be used in a
place with a temperature below 45 °C.
4) Storage condition
When the servo drive is not in use, it should be kept in a place with an
environment temperature between −20°C and +85°C.

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 Chapter 3 Wiring

Chapter 3 Wiring
3.1 Wiring and connection

Always comply with the following instructions when making wiring or

connections.

Notes:
z Neither run power wires and signal wires in the same conduit pipe nor bind
them together. There should be at least 30 cm’s space between power
wires and signal wires.
z Whole shielded twisted pair wires are required for signal wires and
encoder feedback wires, shield layer must be connected to the shell of the
plugs.
Wire length requirement: reference signal input wires are maximum 3
meters, and encoder feedback wires are 20 meters to the maximum.
z Please be noted that even when the power is turned off, there will still be
some electric energy remained in the internal circuit. In order to avoid
electrical shock, please make sure inspection or wiring work is started five
minutes after Charge indicator is OFF.
z Don’t turn power ON and OFF frequently. If required, turning power ON
and OFF should be controlled under once a minute.
There are some high capacity capacitors installed in the internal circuit of
servo drive, when power is switched on, high charging electric current will
flow though the capacitors within several dozen of ms, therefore, frequent
power on/off will cause fast aging to servo’s internal elements.

3.1.1 Names and Functions of Main Circuit Terminals

Terminal Function Description

symbol
R, T Servo drive’s power supply Single-phase 220VAC(+10% /
input terminal -15%) , 50/60HZ
U, V, W Servo Motor connection Connects to power supply terminal
terminals of servo motor
E G grounding terminals Connected individually to power
supply grounding terminals and
servo motor grounding terminal.
P, N Connection terminals of To connect an external
external regenerative unit regenerative unit.
Note:

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 Chapter 3 Wiring

It’s prohibited to connect a

regenerative resistor directly
between P and N.

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 Chapter 3 Wiring

3.2 I/O signals

3.2.1 Standard connection diagram (example)

3.2.2 Connector terminals

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 Chapter 3 Wiring

Termi Termi
nal Name Comments nal Name Comments
no. no.
Power supply for
1 PL open collector 11 PULS Reference pulse
circuit
2 BRK Remain braking 12 / PULS Reference pulse
Positioning
3 COIN 13 SIGN Reference symbol
complete
4 ALM Alarm 14 /SIGN Reference symbol
I/O common
5 COM 15 S-ON Servo enabled
grounding
ALM_R
6 Reset Alarm 16 +24VIN I／O power supply
ST
7 CLR Clear 17 ZPS Zero position signal
Signal A Signal /A
8 PAO 18 /PAO
（difference） （difference）
Signal B Signal /B
9 PBO 19 /PBO
（difference） （difference）
Signal C Signal /C
10 PCO 20 /PCO
（difference） （difference）
Shell FG Connector's shell

Notices:
1. Spare terminals can not be used for relay purpose.
2. Connect shielded cable wires of I/O signals to connector shell(frame
grounding).

3.2.3 Function list of I/O signals

Signal Pin Function Reference

name numbe items
r
+24VIN 16 Control power supply input for I/O 4.2.4
signals: Users need to prepare the
+24V power supply.
Effective voltage range: +11V ～ +25V
S-ON 15 Servo ON：Servo motor is switched on 4.5.2

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 Chapter 3 Wiring

ALM-RST/P 6 According to Bit0 of Pn051:

N-OT 0: ALM-RST input, which means to
reset alarm.
1: limit signal PN-OT input, which
means to input mechanical limit signal.
According to Bit1 of Pn051: 4.2.2
0: Clear signal input, to clear offset
counter during position control.
CLR/PCON 7
1: Limit signal PCON input, means
different things for different control
methods.
Zero position signal input: zero switch 4.1.2
ZPS 17 outputs this signal when returning to
zero position.
Reference open collector power supply:
To provide +5VDC power supply when
PL 1
PULS and SIGN reference signals are
open collector input signals.
Input modes: 4.2.2
Reference pulse ＊ SIGN + Pulse
PULS 11
input: train
/PULS 12
Line drive or ＊ CCW + CW
SIGN 13
open collector Pulse
/SIGN 14
＊ 2-phase
positive pulse (×4)

„ Output signal (1CN)

Signal Pin Function Reference
name numbe items
r
ALM 4 Servo alarm: OFF status output is given 4.5.1
when the drive detects an error.
COIN 3 The value of Pn050 decides the output
signal, see the details as follows:
0: brake interlock(BK) output; positioning
complete/same speed detected; in
position control method it means
positioning is completed(COIN), while in
speed control method it means same
speed is detected(V-CMP).
1: positioning complete/same speed
detected; in position control method it
means positioning is completed(COIN),
while in speed control method it means

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 Chapter 3 Wiring

same speed is detected(V-CMP)

2: torque limit CLT output: when output
torque exceeds the value of Pn026 or
Pn027, this signal gives output
3: Servo ready S-RDY output: When
servo drive detects no alarm subject to a
power supply input, this signal gives
output.
BRK 2 The value of Pn051 decides the output
signal, see the details as follows:
0: brake interlock(BK) output;
1: positioning complete/same speed
detected; in position control method it
means positioning is completed(COIN),
while in speed control method it means
same speed is detected(V-CMP)
2: torque limit CLT output: when output
torque exceeds the value of Pn026 or
Pn027, this signal gives output
3: Servo ready S-RDY output: When
servo drive detects no alarm subject to a
power supply input, this signal gives
output.

COM 5 I/O common grounding

PAO 8
Differential output of Encoder A signals
/PAO 18
PBO 9
Differential output of Encoder B signals
/PBO 19
PCO 10 4.5.1
Differential output of Encoder C signals
/PCO 20
Shell Connect shielded wires of I/O signal
cables to shell of 1CN, that is equal to the
FG
connection of the shell and the frame
grounding wire.

3.2.4 Interface circuit example

Following illustrations show the connection of I/O signals of servo drive and
host controller:

■ Input interface circuit

Following illustrations show an example of the connection of input signals

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 Chapter 3 Wiring

using relay contact or open collector transistor circuit.

If the relay contact input is used, the relay must be suitable for tiny electric
current, otherwise it causes signal receiving faults easily.

■ Interface of encoder output and drive output

Output signals (PAO,/PAO,PBO,/PBO) of the two phase pulse of the encoder,
and origin pulse signal(PCO, /PCO) make outputs by means of BUS drive
output circuit. Generally, it's used on the condition that the host controller side
forms the position control system. Wire reception circuit should be used when
it's by the side of host controller.

See "Encoder wiring" for an example of a practical circuit connection.

■ Interface of sequence output circuit

Photo-coupling isolation output is required for output signals of servo
alarm , positioning complete and brake interlock.

—————————————————————————————
———————
Note:
(1) Maximum voltage should be no more than 30VDC, and maximum
current should be no more than 50mA.
—————————————————————————————
———————

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 Chapter 3 Wiring

3.3 Encoder wiring

3.3.1 Encoder wiring （2CN）

3.3.2 Signal list of connectors (2CN)

See following list for description of 2CN terminals.

Termi Termi
nal Name Comments nal Name Comments
No. No.
Encoder B ＋
1 PB 8 PC Encoder C＋ input
Input
Encoder B －
2 /PB 9 /PC Encoder C－ input
input
Encoder A ＋
3 PA 10 PU Encoder U＋ input
input

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 Chapter 3 Wiring

Encoder A －
4 /PA 11 /PU Encoder U－ input
input
Encoder V ＋
5 PV 12 PW Encoder W＋ input
input
Encoder V －
6 /PV 13 /PW Encoder W－ input
input
Encoder
Encoder power
7 PG5V power supply 14 GND
supply grounding
+5V
Connect shielded
FG wires to shell of
connectors.

Note:
（1）It's suggested overstriking wires or multi-core wires are used for power
supply and grounding.
（2）Do not connect the U, V and W signal of a wire-save encoder.

3.4 Motor wiring

3.4.1 Motor encoder terminals

Terminal Comments
No.
1 FG（shield）
2 +5V（power supply）
3 GND（power supply）
4 Channel A output
5 ／Channel A output
6 Channel B output
7 ／Channel B output
8 Channel C output
9 ／Channel C output
10 Channel U output
11 ／Channel U output
12 Channel V output
13 ／Channel V output
14 Channel W output
15 ／Channel W output

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 Chapter 3 Wiring

(View from cable side)

Note:
The corresponding relations between pin number of encoder and signal may
be different for different types of motors.
Refer to motor instructions.

3.4.2 Motor power terminal

Terminal Comments
No.
1 PE
3 U
2 V
4 W

(View from cable side)

Notes:
The corresponding relations between pin number of motor’s power wire and
signal may be different for different models of motors. Refer to motor
instructions.

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 Chapter 3 Wiring

3.5 Standard connection example

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 Chapter 4 Function setting and description

Chapter 4 Function setting and

description

4.1 Machine related settings

4.1.1 Servomotor rotation direction Select

With servo drive, a motor can rotate reversely which is called REV mode, with
no need to make any changes in motor wiring. The standard setting for
“forward rotation” is the counterclockwise as viewed from motor load. REV
mode only changes motor’s rotation direction, in this condition, the travel
direction(+,-) of shaft reverses, no other changes are made.

Standard mode Reverse mode

FWD
Run
Referen
ce

REV
Run
Referen
ce

The encoder signals by motor feedback as shown in above diagrams are the
PA,/PA,PB,/PB signals from PG output of servo drive.

■ Set “REV mode”

Rotation direction of motor is selected by setting the parameter as follows.
Para. Unit Range
Name & Comments Default
No..
Select rotation direction
Pn006 [0] view from side of motor load, — 0~1 0
CCW direction represents

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 Chapter 4 Function setting and description

forward direction.
（standard mode）
[1] view from side of motor load,
CW direction represents forward
direction.
（REV mode）

Note:
The change only takes effect when motor power is shut down and re-switched
on.

4.1.2 Overtravel

The overtravel limit function forces movable machine parts to stop when they
exceed the allowable range of motion.
■ Overtravel function setting
Before using overtravel function, please connect correctly the input signals of
following overtravel limit switch to corresponding pin numbers of servo drive’s
1CN connector.

→ Input PN-OT Pn001=1，Pn052.bit0=1 Forward direction drive

1CN-6 is OFF
→ input PN-OT Pn001=2，Pn052.bit0=1 Reverse direction drive
1CN-6 is ON

EDC servo drive only has one overtravel input signal (1CN-6), so user can only
select overtravel limit in single direction. Please be noticed that, when
performing first system running, it’s required to identify forward and reverse
direction before make settings in overtravel parameter.

It’s strongly required that user connect the limit switch according to following
diagram to avoid
possible mechanical damage.

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 Chapter 4 Function setting and description

Following table shows the drive status when input signal is ON and OFF.
Signa Stat Parameter
Input level Comments
l us
Pn001=1
1CN-6 ： “L” Forward direction driving is
ON Pn052.bit0=
level allowed. (Normal)
PN-O 1
T Pn001=1 Forward direction driving is
1CN-6 ： “H”
OFF Pn052.bit0= OFF. (Reverse direction is
level
1 available)
Pn001=2
1CN-6 ： “L” Reverse direction drivi is ON.
ON Pn052.bit0=
level (Normal)
PN-O 1
T Pn001=2 Reverse direction driving is
1CN-6 ： “H”
OFF Pn052.bit0= OFF. (Forward direction is
level
1 available)

■ Switching between Enable/Disable overtravel input signal

By setting the parameter as in following table, user may select Enable or
Disable overtravel input signal. Default factory setting is “ON”.

Para. Unit Range Defa

Name & Comments
No.. ult
Pn001 Prohibit input signal ON/OFF（PN-OT） — 0~2 0
[0] do not use overtravel signal
[1] Prohibit forward direction input signal
is ON
（Forward direction is prohibited when
1CN-6 is OFF, and forward direction is
allowed when 1CN-6 is 0V.
[2] Prohibit reverse direction input
signal is ON

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 Chapter 4 Function setting and description

（Reverse direction is prohibited when

1CN-6 is OFF, and reverse direction is
allowed when 1CN-6 is 0V.

Notes:
1. When motor running is stopped by overtravel in position control mode,
there’s no pulse lag.
2. Only one overtravel direction can be used, make sure overtravel direction
is set before using the function. (subject to actual running)
3. Please be noticed that overtravel signal does not work if motor is running
in JOG mode.
4. During mechanical movement, when an overtravel signal occurs,
mechanical parts do not stop immediately owing to the action of their own
inertia, in this situation, the overtravel signal is canceled and the motor will
continue running. Please pay close attention to the duration of overtravel
signal, that is, make sure there’s some distance for overtravel signal on the
machine consideration.

When “P-OT” and “N-OT” are not used, the short circuit wiring as shown in the
following diagram will not be required. Another way is to shield this with
parameter, use may set Pn001 as 0 or set Pn052.bit=0.

4.1.3 Stop function

■ Select stop mode

When servo is OFF or servo alarm occurs, following “User Constants” should
be set according to actual requirements on stopping motor.

Parameter
Function Range Default
No.
Stop modes when servo is on or
Pn004 0～3 0
servo alarm occurs.

Parameter
Comments
No.

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 Chapter 4 Function setting and description

[0] When servo is OFF or alarm occurs, DB is enabled

[1] When servo is OFF or alarm occurs, motor coasts to a
stop
Pn004 [2] When servo is OFF or alarm occurs, DB is enabled and
will not release until motor stops
[3] When servo is OFF or alarm occurs, motor coasts to a
stop, then DB is enabled.

■ Select motor stop mode when servo is OFF.

EDC series servo drive stop motor running in following situation:
z When /S-ON input signal（1CN-15）turn into OFF
z When alarm is detected
z When power supply is OFF

To select appropriate stop mode, set value of Pn004 according to actual

application requirements.

4.1.4 Limiting torque

For protection of mechanical structures, maximum output torque can be limited

by setting
following parameters to adjust the maximum value of forward/reverse direction
torque on the servo drive.

Para. Unit Range

Name & Function Default
No.
Forward internal
Pn026 1% 0~300 250
torque limit
Reverse internal
Pn027 1% 0~300 250
torque limit

z Set maximum torque for forward and reverse direction, it’s used when
limiting torque is required according to mechanical requirements.
z If value of current torque exceeds motor’s maximum allowable torque,
follow the maximum torque of motor.

Example to show protection of mechanical structures

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 Chapter 4 Function setting and description

Note:
z It’s suggested the value of limited torque not exceed motor’s maximum
torque.
z If limited value is set too low, motor may have insufficient torque during
its acceleration/deceleration.

4.2 Settings complying with host controller

Different control modes can be selected by setting Pn041 as described in

following table.

Paramete Name Rang Default Comment

r No. e
Select control
mode
[0] position
position control, position
control
Pn041 0~2 0 contact control,and
[1] internal
parameter speed control
speed control
[2] parameter
speed control

Set Pn041 and select a certain control mode.

Pn041
Control mode
setting
Position control（pulse reference）
Servo drive receives pulse train generated by host controller,
0
and the control of rotation speed and positioning are achieved
according to requirements from host controller.
contact speed control（I/O reference）
1 Running at set speed is selected by switch on/off input signals.
parameter speed control（parameter reference）
2
Run at constant speed as the value in Pn048.

Way to use CLT signals

Following illustration shows the way to use contact output signal/CLT(torque
limit test).

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 Chapter 4 Function setting and description

－ >output Torque limit Speed control, torque

/CLT detection output control, position control
The following signal can be output to indicate the servomotor output torque is
being limited or not.

/CLT “L” level when The servomotor output torque is being limited.
ON (internal torque reference is above setting value)
/CLT “H” level when The servomotor output torque is not being
OFF limited.
(internal torque reference is below setting value)

The setting value：Pn026（Forward direction torque internal limit）

Pn027（Forward direction torque internal limit）

When /CLT signal is used, the output signal and output pin number are
required to be defined according to the user constants in following table.

Para. Range Factory

Name & Description
No. setting
Output signal 1CN-2 pin no.
Pn049 0~3 0
signification
Output signal 1CN-3 pin no.
Pn050 0~3 1
signification
伺服驱动器

Pn049=0：COIN/V-CMP
Pn049=1：BK
1CN-2
Pn049=2：CLT
Pn049=3：S-RDY
输出端子
Pn050=0：COIN/V-CMP
Pn050=1：BK 1CN-3
Pn050=2：CLT
Pn050=3：S-RDY

Following table shows the pin number definition for Pn049（correspond to pin
1CN-2 output）, Pn050（correspond to pin 1CN-3output）.

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 Chapter 4 Function setting and description

0 BK brake interlock output

COIN positioning complete(/V-CMP
1
speed coincidence) output
2 CLT torque limit output
3 S-RDY servo ready output

4.2.1 Position control

In position control mode(Pn041＝0), servo drive make driving servo motor run
according to position reference given by host controller. It is required to select
optimal style from varies styles according to requirements of host control
device.
■ Pulse input
Host device controls the rotation speed and position of servo system by
sending a series of pulse trains.

Host control device may give three types of pulse reference as follows:
- linear driving output
- +24V open collector output
- +12V and +5V open collector output

Connection example 1（when host controller is linear driving output）

Applicable linear drives（T1 company AM26LS3, SN75174 or MC3487 and
other substitutes.）

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 Chapter 4 Function setting and description

Example 2（When host device is open collector output subject to 24VDC

signal power）

Example 3（When host device is open collector output subject to 12VDC

or 5VDC signal power）

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 Chapter 4 Function setting and description

The right current limiting resistor R1 should be used according to current

requirements（i ＝10~15mA）:
When Vcc is 12V, R1=560~820Ω
When Vcc is 5V, R1=82~200Ω

■ Select reference pulse mode

→input PULS input reference pulse

1CN-11
→input /PULS input reference pulse
1CN-12
→input SIGN input reference sign
1CN-13
→input /SIGN input reference sign
1CN-14

Use parameter “Pn008, Pn009” to select “ reference pulse mode”

Paramete Code Comments Unit Rang Facto

r e ry
settin
g
input pulse mode:
[0]SIGN + pulse
Pn008 -- [1]CW+CCW -- 0~2 0
[2]A+B（perpendicular × 4）

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 Chapter 4 Function setting and description

Inverts input pulse

[0]:does not invert pulse
Pn009 -- -- 0~1 0
reference
[1]:inverts pulse reference

Following are available reference pulse styles, please make the setting
according to specification of host controller.

Pn0 Referen servomotor forward run servomotor reverse run

08 ce style reference reference
PULS
Sign + (1CN-11)
0 pulse
SIGN
train (1CN-13) “H”

CW
pulse +
1
CCW
pulse
2 phase
perpend
2 900 90 0
icular
pulse

User may select to invert input signal or not by setting Pn009 according to
actual requirements.

■ Pulse input sequence

Input of pulse reference must meet following conditions on level and
sequence.

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 Chapter 4 Function setting and description

■ Clear error counter

Follow the steps below to clear "Error counter".

→input CLR 1CN-7 Clear error counter input

When CLR signal is Low level, error counter is cleared.

Way to clear error counter:

- Servo drive's internal error counter is zero(0).
- This signal means "power level active", it's required to retain some time
before the signal takes effect. The signal has to be canceled after pulse is
cleared, otherwise, the counter is always in the zero Clear status, which will
result in no action of servo position loop.

In position control mode, some pulse will remain in error counter when servo is
OFF. Therefore, the error counter has to be cleared immediately after servo is
re-enabled. With Pn005 setting, pulse signal of error counter can be cleared
automatically when servo is OFF.

Parameter Factory
Name and comments Setting range
No. setting
0：When S-OFF, clear error
counter
Pn005 1 ： When S-OFF, does not 0~1 0
clear error counter

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 Chapter 4 Function setting and description

■ position reference 1st filter time

z position reference 1st filter can improve system's respond smoothness to
given reference pulse.
z If reference input is comparatively rough, the dividing frequency
multiplication is set too large or frequency of pulse input is low, which can
implement more smoothly controlling of servo system.
z If position reference 1st filter time constant（that is Pn024）is set too large,
servo system's dynamic performance will be depressed.

Parameter Factory
Name Unit Setting range
No. setting
position reference
Pn024 1st filter time ms 0~1000 0
constant

4.2.2 Encoder signal output

EDC servo drive outputs pulse signal of encoder A/B/C, which facilitate using
of host controller.

Output circuit is bus drive output. Make circuit connection with reference to
following circuit.

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 Chapter 4 Function setting and description

■ Output signal
Output encoder signal after frequency is divided.

Output → PAO 1CN- 8 A phase pulse

Output → /PAO 1CN- 18 differential Output
Output → PBO 1CN- 9 B phase pulse
Output → /PBO 1CN- 19 differential Output
Output → PCO 1CN-
C phase pulse
10
differential Output
Output → /PCO 1CN- 20
The following illustration shows the style of perpendicular pulse output of
Phase A and Phase B .
Parameter Pn011=0：

Parameter Pn011=1：

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 Chapter 4 Function setting and description

■ Set pulse dividing frequency ratio

Set pulse dividing frequency ratio with following parameters.
Factory
Parameter Meaning Unit Range
setting
Set PG dividing
Pn010 2500P/R 1~2500 2500
frequency ratio
Inverts dividing
Pn011 frequency output 0~1 0
phase

Set output pulse numbers of PG output signal（PAO,/PAO,PBO,/PBO）which is

transmitted outward subject to servomotor runs for one revolution.

Divide pulse frequency of servomotor encoder(PG) and output according to

pulse number setting.
Setting value means the individual output of pulse numbers for PAO, /PAO,
PBO and /PBO signal when servomotor runs for one revolution. If Pn010 is set
as 1000, it means output of PAO signal is 1000 pulses subject to motor runs for
one revolution, so do the /PAO, PBO and /PBO signal output.
Please make setting according to machine and reference unit of controller.

Note:
z After parameter changing, turn power OFF and then turn power ON again.

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 Chapter 4 Function setting and description

4.2.3 Sequence I/O signal

To control sequence input and output signal of servo drive's movement ,

please connect according to demand.

■ Connect sequence input signal

Following illustration shows how to connect sequence input signal.

Notes:
z 24V I/O power supply is required, since there is no internal power
supply servo drive.
z External power supply specification: DC24V±1V, 500mA higher.
z It's suggested that input circuit and output circuit use the same power
supply.
z Voltage range of input circuit is +11V~+25V. If power voltage is low and
mechanical joints like relay is used , micro current switch or relay are
required to avoid bad contact. Always check and confirm the electrical
specification of the relay or relevant parts before starting to use.

→ input +24VIN 1CN- External I/O power

9 input

■ Connect contact point of output signal

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 Chapter 4 Function setting and description

■ Handling I/O signal

Input signal is smoothed with filter and then received by servo drive. Set filter
time with parameter Pn053. Active power level of input signal is controlled by
Pn054, and active power level of output signal is controlled by Pn055.

Following signals are I/O signals subject to default parameters.

Param Unit Setting range

Name and Factory
eter
meaning setting
no.
Pn053 input signal filter time ms 0~1000 100
Pn054 Inverts input signal － 0~63 0
Pn055 Inverts output signal － 0~7 0

During filter time of input signal, if signal jump occurs, input signal will not be
received by servo drive. Input signal will be received by drive only after it keeps
stable for the set time, that is, signal needs to keep on constant level within
period of Pn053 before it can be accepted by servo drive. Drive estimates
signal validity according to Pn054.

Following table shows operations to invert input signal（Pn054）.

Digit BIT3 BIT2 BIT1 BIT0
inpu
t
ZPS CLR ALM-RST S-ON
sign
al
Sign
al H L H L H L H L
level
Pn0
0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1
54

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 Chapter 4 Function setting and description

Sign
al
N Y Y N N Y Y N N Y Y N N Y Y N
activ
e

In above table,
"H": it means input signal is at high level.
"L": input signal is at low level.
"0": setting value in Pn054. "0" means input signal low is active.
"1": setting value in Pn054. "1" means input signal high is active.
“N”：input signal is inactive.
“Y”：input signal is active.

For example: if CLR at high level and all the rest of signals at low level are
required to be active, then it is expressed as 000100 in binary system, it will
be 4 if converted into decimal system, that is, Pn054 must be set as 4.

Take similar operation steps to set Output signal.

Digit BIT2 BIT1 BIT0
Output
BRK COIN ALM
Meaning
Signal Release
braking arrive Not arrive alarm No alarm
meaning braking
Pn055 0 1 0 1 0 1 0 1 0 1 0 1
Output hig hig
low high low low high high low high low low
Level h h

Note:
When ALM is in normal status, Output level is high, inverts other two
signal.

For example:
If output level is required to meet following conditions:
- high when braking signal releases braking
- low when COIN signal is active
- ALM output is high when alarm occurs
then it will be expressed as 100 in binary system, if it is converted into decimal
system it would be 4, that is, Pn055 should be set as 4.

Note：
· The validity of I/O signals mentioned in this manual are all refering to
normal situation, that is, active when input signal is at low level, active when
BRK、COIN output is at low level, ALM output is at high level.

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 Chapter 4 Function setting and description

4.2.4 Electronic gear

With “Electronic gear” function, workpiece movement which is equivalent to

input reference pulse can be set to any value. Host controller that sends
reference pulse can implement control operation with no need to care for
mechanical gear ratio and pulse number of encoder, so control calculation
becomes easier.

■ Way to set electronic gear

Take following steps to calculate electronic gear ratio（B/A）, and its value is set
in Pn022 and Pn023 of user parameter.
1. Mechanical forms related to electronic gear
· gear ratio
· ball bearing screw pitch
· pulley radius
2. Encoder pulse number of servo motor
3. Equivalent pulse (reference unit )

Reference unit refers to the unit of minimum moving distance required by load
or the minimum
reference unit of host controller.

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 Chapter 4 Function setting and description

For example, reference unit can be 0.01mm, 0.001mm, 0.1°, 0.01 inch,
reference of input one pulse,
the distance or angle of moving a pulse equivalent.
If pulse equivalent is 1um, input reference pulse 50000, then moving distance
will be 50000×1um=50mm

4. With pulse equivalent, load moving distance is calculated subject to load

shaft revolves for one
revolution.
Moving distance of load (reference unit)= Moving distance of load / pulse
equivalent.

If ball bearing screw pitch is 5mm, pulse equivalent is 0.001mm,

5mm/0.001mm = 5000（reference unit）

5. Solve for electronic gear ratio(B/A)

Gear ratio of motor shaft and load shaft is n/m. （Motor revolves for m
revolutions, load shaft revolves for n revolutions.
Electronic gear ratio（B/A）= [( encoder pulse number × 4) / moving distance
when load shaft finishes one revolution ] ×（m/n）
It's suggested the electronic gear set within following range:
0.01≤electronic gear ratio（B/A）≤100
6. Set parameter
Make reduction of（B/A） to get A and B, and select most proximal whole
number which is lower than 32767.

Thus, setting of electronic gear ratio is completed.

Parameter Name Uni Range Factory

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 Chapter 4 Function setting and description

t setting
Pn022 electronic gearB -- 1~32767 1
（numerator）
Pn023 electronic gearA -- 1~32767 1
（denominator）

Electronic gear ratio（B/A）= Pn022 / Pn023

·B =“Encoder pulse number × 4”דrotation speed of motor shaft”
·A = reference pulse number of each unit ( load movement when load shaft
finishes one revolution ) ד rotation speed of load shaft

■ Setting example of electronic gear

The following illustrations show the settings for varies kinds of mechanical
structures.

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 Chapter 4 Function setting and description

■ Dynamic electronic gear

If system pulse frequency is low and only one electronic gear is used, it's hard
to give consideration to both processing efficiency and position
resolution.Therefore, EDC servo has a second electronic gear numerator, and
both can be switched dynamically.

In position control mode (Pn041=0), after 2nd electronic gear is enabled

（Pn056=1）, dynamic electronic gear becomes active. Switching electronic
gear requires PCON signal (input signal select Pn051's bit1＝1）.
It's better to switch electronic gear without any pulse input, otherwise pulse
loss may occur. Since electronic gear will not switch until there's no pulse input
within 1ms. Numerator of electronic gear after switching is the value of
Pn056.

The sequence is as shown below.

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 Chapter 4 Function setting and description

■ Position control diagram

4.2.5 Position contact control

Reference of position control（control modeparameterPn041＝0） comes from

pulse input of host controller. Reference of internal speed control (control
mode Pn041＝1）comes from internal parameter value（Pn080～Pn095）of
servo drive.

Parameter（Pn080, Pn081）～(Pn094, Pn095) are the internal eight groups of

position reference register. Programming method can be defined according to
Pn070. There are two method: (a) incremental; (b)absolute. It can also

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 Chapter 4 Function setting and description

co-operate with external I/O(1CN-7 input as PCON signal).

■ Setting of position contact control
1. Set Pn041=1（internal speed control）；
2. Select cycle run or not, whether PCON is used as step change signal or not,
programming method, start and stop point of program, etc.

Paramete Name and Settin Factory Other

r number meanings g setting
range
Select cycle run
[0] multiple cycle
Pn068 run 0～1 0
[1] multiple single
run
Enable/Disable When PCON signal is used
PCON signal as as step change:
step change signal 1. BIT1 of Pn051 is required
Pn069 [0] delay step 0～1 0 to be set as 1.
change 2. PCON active is generated
[1] PCON signal at the edge of input signal
step change from inactive to active.
Programming
method
Pn070 0～1 0
[0] incremental
[1] absolute
Which of the 8 groups of
Start point of
Pn072 0～7 0 position data is used as start
program
point.
Which of the 8 groups of
Stop point of
Pn073 0～7 1 position data is used as stop
program
point.

3. Required moving distance of motor is calculated according to actual moving

distance, then moving distance data is filled in each contact position register.

Paramete Name and meanings Unit Setting Facto

r Number range ry
settin
g
moving distance 0 10 4 referenc -30000~3000
Pn080 0
revolution 0
e pulse
1 reference
Pn081 moving distance 0 -9999~9999 0
pulse

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 Chapter 4 Function setting and description

moving distance 1 10 4 referenc -30000~3000

Pn082 0
revolution 0
e pulse
1 reference
Pn083 moving distance 1 low -9999~9999 0
pulse
moving distance 2 10 4 referenc -30000~3000
Pn084 0
revolutions 0
e pulse
1 reference
Pn085 moving distance 2 low -9999~9999 0
pulse
moving distance 3 10 4 referenc -30000~3000
Pn086 0
revolutions 0
e pulse
1 reference
Pn087 moving distance 3 low -9999~9999 0
pulse
moving distance 4 10 4 referenc -30000~3000
Pn088 0
revolutions 0
e pulse
1 reference
Pn089 moving distance 4 low -9999~9999 0
pulse
moving distance 5 10 4 referenc -30000~3000
Pn090 0
revolutions 0
e pulse
1 reference
Pn091 moving distance 5 low -9999~9999 0
pulse
moving distance 6 10 4 referenc -30000~3000
Pn092 0
revolutions 0
e pulse
1 reference
Pn093 moving distance 6 low -9999~9999 0
pulse
moving distance 7 10 4 referenc -30000~3000
Pn094 0
revolutions 0
e pulse

Set parameters like run speed, acceleration/deceleration time, stop time, and
so on according to field working situation.

Paramete Name and meanings Unit Setting range Factory

r No. setting
r/mi
Pn096 moving distance 0 speed 0~3000 500
n
r/mi
Pn097 moving distance 1 speed 0~3000 500
n
Pn098 moving distance 2 speed r/mi 0~3000 500

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 Chapter 4 Function setting and description

n
r/mi
Pn099 moving distance 3 speed 0~3000 500
n
r/mi
Pn100 moving distance 4 speed 0~3000 500
n
r/mi
Pn101 moving distance 5 speed 0~3000 500
n
r/mi
Pn102 moving distance 6 speed 0~3000 500
n
r/mi
Pn103 moving distance 7 speed 0~3000 500
n
moving distance 0
first(1st)
Pn104 ms 0~32767 0
acceleration/deceleration
time constant
moving distance 1
first(1st)
Pn105 ms 0~32767 0
acceleration/deceleration
time constant
moving distance 2
first(1st)
Pn106 ms 0~32767 0
acceleration/deceleration
time constant
moving distance 3
first(1st)
Pn107 ms 0~32767 0
acceleration/deceleration
time constant
moving distance 4
first(1st)
Pn108 ms 0~32767 0
acceleration/deceleration
time constant
moving distance 5
first(1st)
Pn109 ms 0~32767 0
acceleration/deceleration
time constant
moving distance 6
first(1st)
Pn110 ms 0~32767 0
acceleration/deceleration
time constant
moving distance 7
first(1st)
Pn111 ms 0~32767 0
acceleration/deceleration
time constant
Pn112 moving distance 0 stop 50m 0~30000 10

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 Chapter 4 Function setting and description

time s
moving distance 1 stop 50m
Pn113 0~30000 10
time s
moving distance 2 stop 50m
Pn114 0~30000 10
time s
moving distance 3 stop 50m
Pn115 0~30000 10
time s
moving distance 4 stop 50m
Pn116 0~30000 10
time s
moving distance 5 stop 50m
Pn117 0~30000 10
time s
moving distance 6 stop 50m
Pn118 0~30000 10
time s
moving distance 7 stop 50m
Pn119 0~30000 10
time s

4. After Servo ON, position contact runs.

Position contact control is like single contact position controller, user can make
cycle run operation easily with this function.

As for Pn070, for example, position reference P0(Pn080×10000+Pn081) is ten

revolutions, position reference P1（Pn082×10000+Pn083）is thirty revolutions,
when running from P1 to P2, the difference between incremental type and
absolute type is as below:

Note:
1. In position contact control mode, electronic gear does not work, which can
be regarded as the electronic gear ratio is always 1：1.
2. In position contact control mode, all the position control parameters will
affect motor running, such as position proportional gain Pn015, feed forward
Pn017, position first filter Pn024, feed forward filter Pn025, etc.

4.2.6 Zero adjustment

In position control mode, servomotor is often required to run at a fixed position,

this position is normally regarded as Zero position. Some times, after host
controller is engergized, zero position adjustment is required before
processing operation. After that, this position will be regarded as the reference
point for every subsequent running. The zero position adjustment can be done
with servo drive.

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 Chapter 4 Function setting and description

■ Parameter setting for zero adjustment

1.Select zero adjustment according to practical application.

Paramete Name and meanings Unit Setting Factory

r number range setting
Return method of origin
Z Y X
Z=0：disable origin return function
Z=1 ： origin return starts
automatically only after first S-ON
Z=2 ： origin return starts
automatically every time S-ON
Pn071 Y=0：search Pulse C after origin has — 0～211 0
returned
Y=1：does not search Pulse C after
origin has returned

X=0： origin returns at forward run

direction
X=1：origin returns at reverse run
direction

2. Set zero adjustment speed

Paramet Name and meanings Unit setting Factory

er range setting
number
Speed 1 during reference searching（hit
Pn074 r/min 0~3000 1000
position limit switch）
Speed 3 during reference
Pn075 searching(after releasing position limit r/min 0~3000 5
switch)
1000
0
Pn077 Origin return offset revolution 9999 0
puls
e
1
Pn078 Origin return offset pulse number puls 9999 0
e

3. Comments
When zero adjustment method is selected according to practical
requirements(set Pn071), zero adjustment will be implemented according to
setting.

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 Chapter 4 Function setting and description

When zero adjustment is started, servomotor will run at the set speed of
Pn074.
When ZPS(1CN-17) signal is active, if the parameter setting requires the servo
motor to return and search Pulse C, then motor will run reverse at the set
speed of Pn075, otherwise, motor will run forward at the set speed of Pn075.
When ZPS signal is inactive, after first Pulse of motor encoder is detected,
calculation of zero balance offset pulse is started, motor stops after offset pulse
completes. Zero adjustment operation is completed. Motor will not return and
search Pulse C after it hits the zero adjustment position limit switch.

Corresponding position:

Return and search Pulse C after touching zero adjustment switch:

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 Chapter 4 Function setting and description

Corresponding position:

4.2.7 Parameter speed control

Being a simple way of speed control, user can preset the running speed as
regulated value in "User Constant". When Servo is On, motor will run
constantly at the preset speed. Speed change goes along with the value
change in Pn048.

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 Chapter 4 Function setting and description

■ Set parameter speed

When using “parameter speed control”, take following steps to make the
setting.
1. Set Pn041 properly to enable internal speed selection function.

Paramete Name and Setting Factory Application cases

r number meanings range setting
Control mode Position control and
Pn041 0～2 0
selection speed control

In internal speed control mode, set Pn041 to 2.

Pn041 Comments
setting
2 Run at regulated speed of Pn048

Note:
1：OFF（input signal is inactive）
0：ON（input signal is active）
\
2. Set Pn048 to wanted speed value.
Value of Pn048 can be changed manually or via communication, to make
motor run at specified speed. If the speed is set over maximum rotation speed,
then motor will run at maximum speed instead.

3. Set "soft start time"

Parameter Setting Factory

Name and meaning Unit
number range setting
Soft start acceleration
Pn019 ms 0~10000 100
time
Soft start deceleration
Pn020 ms 0~10000 100
time
S shape acceleration
Pn021 ms 0~1000 0
/deceleration time

z Servo drive sets internal acceleration and deceleration time and

implements control of speed acceleration and deceleration according
to these parameters
z Soft start function is available when control mode is internal speed
control, parameter speed control and JOG running. In position control
mode，soft start function is unavailable.

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 Chapter 4 Function setting and description

z When input speed reference is stair stepping, smooth speed control

can be implemented by setting "Soft start time". Normally speed
control is set to 0.

Meaning of parameter is described below:

„ Pn019：the period of time from stop status to a speed of 1000r/min
„ Pn020：the period of time from the speed of 1000r/min to stop status

Pn019 and Pn020 are linear acceleration/deceleration time. In the event of

rather large impact which may occur because linear acceleration/deceleration
time are applied, Pn021 can be selected and set to get a smooth running.

4. Torque limit

Setting Pn026 and Pn027 to limit torque is available in any control mode.

Parameter Unit Setting Factory

Function
number range setting
forward run torque
Pn026 1％ 0～300 250
limit

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 Chapter 4 Function setting and description

reverse run torque

Pn027 1％ 0～300 250
limit

Note:
1. System response may be slowed down if torque limit is set to an undersized
value.

4.3 Servo drive settings

4.3.1 JOG speed

JOG speed control is enabled with PC communication or hand held operator.

Set JOG speed with Pn032.

Paramet Unit setting range

Name and Factory
er
meanings setting
number
Pn032 JOG speed r/min 0~3000 500

Note:
1.No matter what value Pn041 is, or whether /S-ON is active or not,
JOG running is always possible on the condition that cable
connection of servomotor is correct and servo drive has no
problem.
2.During JOG running, servo drive will ignore host controller's
control signal and status of limit switch and property loss is easily
caused due to improper operation. Therefore, JOG must be
prohibited during normal production.

4.3.2 Control selection

Control modes can be selected with parameter Pn041 as descirbed

below.

Paramet Factory
Control and description Range
er No. setting
[0]position control
Pn041 [1]internal speed control 0～2 0
[2]reference speed control

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 Chapter 4 Function setting and description

■ General information of above control methods are introduced as follows:

[0] position control（ pulse train reference）

Servo drive accepts pulse train generated by host controller and speed and
positioning are behaving according to host control's demand.
[1] position contact control（internal position reference）
Enable speed control by contact reference. Please refer to 4.2.7“internal
speed control” of the manual.
[2] parameter speed control（parameter reference）
Run at constant speed as specified in Pn048.

The following table shows the meaning of some input signals in different
modes.

Pn041 Control method

position control（ pulse
train reference）
Normally, position control
0 input reference refers to
pulse
train.

Internal position
control （ internal
position reference）
No external input signal is
1
required. Run according
to value in internal
position register.

parameter speed
control（parameter
reference）
Servo motor rotates
2
according to speed and
status specified in Pn048
setting.

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 Chapter 4 Function setting and description

4.4 Stop function settings

4.4.1 Dynamic brake

Set the value of Pn004 to select stop mode of servo motor: DB braking or
coast stop.
If dynamic brake is not used, motor stops naturally, with no brake, by using the
friction resistance of the motor in operation.

Paramet
Parameter Factory
er Function
range setting
number
Stop mode of servomotor when servo
Pn004 0～3 0
OFF or alarm occurs.

Parameter
Comments
number
[0] When servo OFF or alarm occurs, DB braking active
[1] When servo OFF or alarm occurs, coasts to a stop.
[2] When servo OFF or alarm occurs, DB braking active and
Pn004
is released after motor stops
[3] When servo OFF or alarm occurs, coasts to a stop, DB
active after motor stops

In following situation, servo drive will switch off power supply of servo motor.
z When /S-ON（1CN-15）signal is OFF
z When servo alarm occurs
z When power supply is OFF

Note:
Dynamic brake(DB) forces servomotor to stop immediately upon emergency,
therefore, following notes must be considered.
（1）Do not start/stop servomotor frequently with power On/OFF switch, this
will cause fast aging and reduced performance of the internal elements in the
servo drive.
（2）Do not start/stop servomotor frequently with /S-ON(1CN-15), otherwise
built-in energy consumption resistor is damaged easily .

“Dynamic brake（DB）” is one way to force servomotor to stop immediately

upon emergency.
By shorting power cable of servo motor to achieve emergency stop of servo

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 Chapter 4 Function setting and description

motor. This circuit is already built in EDC servo drive.

4.4.2 Holding brake

Servo motor with brake sticking(Holding brake) is required on the condition

that perpendicular axis(the axis which withstands external force) is used, to
prevent non-electrified servo motor from revolving around owing to action of
the earth gravity.

The action of brake sticking is controlled by servomotor's brake interlock

output signal (/BRK).

Make sure servomotor is mechanically separated before confirming

action of servomotor and brake sticking(holding brake) . If all the parts
are moving well, connect servo motor to the machine.

■ Connection example
/BRK controls Power On/Off of brake sticking, which consists of the control
circuit of holding brake. The illustration below shows a typical connection
example.

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 Chapter 4 Function setting and description

BRK-RY：brake sticking control relay

Brake Speed control,

→ Output /BRK interlock position control
output

/BRK is used to control the status of brake sticking. When brake sticking is not
used, the connection is not required.

ON：“L” level Release brake

OFF：“H” level Start brake

Note:
If power beak occurs, servo drive will give no output of /BRK signal,
and periphery circuit decides the status of brake sticking, which has to
be considered when designing and control circuit.

When using /BRK signal, set output with following parameters.

Paramete Setting Factory

Name and meanings
r number range setting
Pn049 output signal1CN-2 pin definition 0~3 0
Pn050 output signal1CN-3 pin definition 0~3 1

Paramete Name and meanings Setting Factory

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 Chapter 4 Function setting and description

r number range setting

Pn055 Inverts output signal 0~7 0

Relevant parameters to Timing sequence are shown below.

unit Setting Factor
Paramete
Name and meanings range y
r number
setting
Pn044 Basic waiting flow ms 0~5000 10
Pn045 brake waiting speed R/min 10～300 100
Pn046 brake waiting time ms 10～1000 500

■ Brake ON/OFF time

During the moment of brake sticking on/off , if servomotor travels for tiny
distance owing to external forces like earth gravity, adjust with Pn044 as below.

Unit setting Factor

Paramete
Name and meanings range y
r number
setting
Basic waiting flow （ Servo
Pn044 ms 0~5000 10
OFF delay time）

The illustration below shows the timing sequence relation between signal
/SON and BRK when motor stops (speed is lower than 30 r/m.)

By factory setting, /S-OFF works with /BRK output at the same time. If load
travels for tiny distance owing to action of earth gravity, Pn044 is required to be
set so that action of /S-OFF is delayed, normally this unwished movement can

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 Chapter 4 Function setting and description

be removed.

Note:
When alarm occurs, servo drive will switch off main circuit loop of servo motor
immediately, meanwhile, machine may move for tiny distance.

■ Brake sticking setting

During motor running, movement setting of brake sticking is controlled by
Pn045 and Pn046. By controlling brake sticking's movement timing sequence ,
brake sticking is started correctly after servomotor stops running.

Unit setting Factor

Paramete
Name and meanings range y
r number
setting
Pn045 Brake waiting speed r/min 10～300 100
Pn046 Brake waiting time ms 10～1000 500

The illustration below shows the timing sequence relation between signal
/SON and BRK when motor stops (speed is higher than 30 r/m.)

For a running brake sticking motor, if S-OFF is caused by variation of /S-ON or

alarm occurrence , it's required to set brake waiting speed of servomotor or
brake waiting time.

Brake waiting time(Pn046) refers to the period of time delay between motor
stops(/S-OFF) and brake sticking takes action. This parameter should be
adjusted while observing mechanical movements..

When servo motor is running, if any of following conditions is true, the output
signal of /BRK will be ON.
1: After servo OFF, motor speed is lower than setting value of Pn045.
2: After servo OFF, motor speed is higher than setting value of Pn046.

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 Chapter 4 Function setting and description

4.5 Protection sequence design

4.5.1 Servo alarm output

The following diagram shows the right way to connect Alarm Output.

External +24V I/O power supply is required, since there is no +24V power
supply available inside servo drive.

Output → ALM 1CN- 4 Servo alarm output

COM 1CN- 5 Servo alarm output uses grounding signal

Normally, the external circuit consists of /ALM should be able to switch off
power of servo drive.

Signal Status Output level Comments

1CN-4：“L” Normal state (output signal is high
ON
level when alarm occurs)
ALM
1CN-4：“H” Alarm state (output signal is high when
OFF
level alarm occurs)

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.

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 Chapter 4 Function setting and description

→ input ALM-RST 1CN- alarm reset input

6

Signal Status Input level Comments

ALM-RS ON 1CN-6：“L” level Reset servo alarm
T OFF 1CN-6：“H” level Does not reset servo alarm

Normally, the external circuit can switch off power supply of servo drive when
alarm occurs. When servo drive is re-switched on, it removes alarm
automatically, so normally alarm reset signal is not required to be connected.

In addition, reading alarm information and alarm reset are enabled with
hand-held operator.

Note：
When alarm occurs， always remove alarm reasons before resetting alarms.

Note:
Only alarms with alarm number being 3,4,13,14,15 and 21 can be removed by
/ALM-RST.

4.5.2 /S-ON input

Host controller is used to control enable or disable servo system.

Following illustration shows the way to connect /S-ON.

→ input /S-ON 1CN- Servo On（ON）

15

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 Chapter 4 Function setting and description

Switch servomotor between Power on and Power off. When low level is
active.

Signal Status input level Comments

1CN-15：“L” Servo ON, servo is energized(run
ON
level servomotor according to input signal)
/S-ON
1CN-15：“H” Servo OFF, servo is not energized(can't
OFF
level run)

Pn043 is used to set waiting time during Servo On, which means the period of
time from internal relay's action to motor electrification.

Paramete Name and Setting Factory

Unit
r number meanings range setting
Waiting time
Pn043 ms 20~2000 100
when servo On

Note:
1. It's not good to start/stop servomotor frequently with “/S-ON” signal.
Always use input reference to complete response operation, otherwise
servo motor's lifetime will be shortened.
2. When “/S-ON” high is active, if external cable is disconnected, input
signal is high, /S-ON will keep active.
3. During deceleration of Servo OFF, /S-ON signal is accepted only when
motor speed is lower than 30r/m.

Switch "Enable/Disable" Servo On input signal with the following parameter.

Unit Setting Factor
Parameter
Name and meanings range y
number
setting
[0] Enable Servo ON input
signal（/S-ON）
（ Decided by 1CN-15
signal)
[1] Disable Servo ON input
Pn000 — 0~1 0
signal（/S-ON）
(internal Servo ON, normally
is Servo ON, which is
equivalent to 1CN-15 being
active.)

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 Chapter 4 Function setting and description

4.5.3 Positioning complete output

Positioning complete“/COIN” signal: output after positioning completes.

Make connection according to the following diagram.

Positioning complete position control

Output → /COIN
Output
Positioning complete position control
Output → COM Output grounding
signal

Host controller can judge if servo action is completed or not with /COIN.

Un012：error pulse counter low position monitoring

Un013：error pulse counter high position monitoring
When output is active at low level:

ON status COIN: “L” Positioning has completed. (Position offset is

level lower than setting of Pn030.)
OFF status COIN: “H” Positioning is not completed. (Position offset
level is lower than setting of Pn030.)

Set "In position error" to control output time of /COIN.

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 Chapter 4 Function setting and description

Paramete setting Factory Using

Function Unit
r number range setting method
In position reference position
Pn030 0～500 10
error unit control

Setting of In position error will not affect final accuracy of positioning.

By default, 1CN-3 is used as Positioning complete signal "/COIN" in position

control mode, while in speed control mode it's used as the speed
coincidence output"V-CMP".

4.5.4 Speed coincidence output

Speed coincidence Output（/V-CMP）signal: photocoupler output signal,

referring to output is given when rotation speed of servo motor is the same as
reference speed. It can be used as the base of host controller's judgement.
Connect and use this signal according to the following diagram:

speed coincidence Speed control

Output → /V-CMP+
output
speed coincidence Speed control
COM output grounding
signal

It refers to output signal of input speed reference and speed coincidence of

actual motor rotation. When output status at low is active:

ON status /V-CMP+ “L” Speed coincidence （ speed

level error is under setting value）
OFF status /V-CMP+ “H” Speed coincidence fail（ speed
level error is over setting value）

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 Chapter 4 Function setting and description

With the user's constant as below, the range of output /V-CMP can be
designated.

Parameter setting Factory Using

Function Unit
number range setting method
Speed
Speed
Pn029 coincidence r/min 0～100 10
control
eror

When difference between speed reference and actual motor speed is

under setting value, output "/V-CMP" signal.

4.5.5 Handling instant power cut

Select if alarm output is made or not upon a sudden power interruption.

Unit setting Factor

Parameter
Name and meanings range y
number
setting
Select operations to be
made upon power
interruption
Pn003 [0] gives no output of servo — 0~1 0
alarm signal（ALM）
[1] Output servo alarm
signal（ALM）

If power supply of servo drive is interrupted suddenly over 20ms and detected
by servo drive. Servo drive will decide if /S-ON and output servo alarm are
required according to the value of Pn003

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 Chapter 4 Function setting and description

Normally, set Pn003 to zero(0).

4.5.6 Regenerative braking unit

When servo motor runs in dynamo mode, electric power feedback goes to
servo drive side, this kind of power is normally called regenerative electric
power.

Regenerative electric power is absorbed by means of charging the smoothing

capacitor inside servo drive with its power. If the power exceeds the capacity of
the smoothing capacitor, additional "Regenerative braking unit" is required to
transform regenerative electric power into heat energy consumption of a a
bleeder or drain resistor, otherwise servo drive may output overvoltage alarm.

Servo motor runs in dynamo mode subject to following conditions.

· during deceleration to stop
· inertia load on perpendicular axis
· servo motor runs continuously due to load side（negative load）

Note:
1. EDC servo drive does not provide a built-in regenerative resistor, so
external regenerative unit must be equipped if required.
2. Terminal P and Terminal N from servo drive are leading to drive's main
circuit power(high voltage on DC generatrix), therefore, it's prohibited to be
connected directly to bleeder or drain resistor.

■ Connect external regenerative unit according to following diagram.

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 Chapter 4 Function setting and description

Note:
Before connection and installation, please refer carefully to all the precautions
in the instruction of the regenerative unit which is to be used.

4.6 Smooth running

4.6.1 Smoothing

Servo drive can perform smoothing filtering on “ reference pulse” input of

certain frequency.

Parameter unit Setting Factory

name
number range setting
position reference
Pn024 Ms 0~1000 0
1st filter
Feed forward
Pn025 Ms 0~1000 0
filtering

By adjusting the parameters, the smoothing performance of position control

can be changed.

4.6.2 Acceleration/deceleration time

Servo drive can perform acceleration and deceleration on speed reference to

have soft start function.

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 Chapter 4 Function setting and description

Parameter Unit Setting Factory

Name
number range setting
Soft start
Pn019 ms 0~10000 100
acceleration time
Soft start
Pn020 ms 0~10000 100
deceleration time
S-shape
Pn021 acceleration and ms 0~1000 0
deceleration time

„ Pn019：time from stop status to speed of 1000r/min

„ Pn020：time from speed of 1000r/min to stop status

Pn019 and Pn020 are linear acceleration / deceleration time. When large
impact happens because linear acceleration / deceleration is used to start/stop
the machine, Pn021 can be set to have smooth running.

Inside servo drive, perform acceleration and deceleration of the set value on
speed reference to implement speed control.
When inputing steplike speed reference , smooth speed control can be
implemented.

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 Chapter 4 Function setting and description

4.6.3 Speed detection smoothing time constant

By adjusting "speed checkout filter time constant", mechanical vibration

caused by servo system can be removed or eliminated.

Paramet unit setting Factory

Name
er range setting
Speed
Pn028 checkout filter 1% 0~500 0
time constant

The smaller the value of constant is, the better control response is shown.
Actual situation will be restrained by mechanical structure. If mechanical
vibration occurs when default setting is used, adjust this parameter to a larger
value, normally the vibration can be restricted effectively.

4.6.4 Torque reference filter time constant

When mechanical vibration is caused by servo drive, "Torque reference

filter time constant" can be adjusted to remove or eliminate vibration.

unit setting Factory

Parameter Name
range setting
Torque
Pn018 reference filter 1% 0~5000 0
time constant

The smaller the value of constant is, the better control response is shown.
Actual situation will be restrained by mechanical conditions.

If mechanical vibration caused by servo occurs when standard setting is used,

adjust this parameter to a larger value, the vibration can also be restricted
effectively. The reason of vibration may be by incorrect gain adjustment or
machine problems.

4.7 High speed positioning

4.7.1 Servo gain settings

■ Setting speed loop gain

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 Chapter 4 Function setting and description

Unit Setting Factory

Parameter name
range setting
Select speed loop
Pn007 0~1 0
control method
0：ADRC control
1：PI control
Please be noticed when this parameter is changed, corresponding Pn013 and
Pn014 will change,too. Generally，when Pn007 = 1, value of Pn013 and Pn014
need to be reduced.

■ Speed feed forwward

Unit Setting Factory
Parameter name
range setting
Speed feed
Pn012 0~1 0
forward
0：disable speed feed forward
1：enable speed feed forward
Inertia inspection is required before using this function. With this function,
speed response is enhanced and setting time is reduced.

■ Setting speed loop gain

Unit Setting Factory
Parameter name
range setting
Speed loop gain
Pn013 Hz 1~3000 160
（Kv）
Speed loop integral
Pn014 ms 1~2000 250
time constant（T i）
The above information shows internal speed loop gain and integral time
constant of servo drive.
The larger the speed loop gain is set or the smaller the speed loop integral
time constant is set, the easier to have fast response speed control and this is
limited by mechanical features. The larger the speed loop integral time
constant is set, servo has better steady-state performance. But too large value
may cause system vibration easily.

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 Chapter 4 Function setting and description

■ Setting position loop gain

Paramete Unit Setting Factory

name
r range setting
Position loop gain
Pn015 1/s 1~1000 40
（Kp）

The larger the position loop gain is set, the easier to have position control with
high response and small offset and this is limited by mechanical features.
Owing to affection of load, vibration and overshoot may occur easily if the gain
is set too large.

Paramet Unit Setting Factory

name
er range setting
256
overflow range of
Pn031 reference 1～32767 1024
error counter
unit

This parameter is used to check offset pulse number of overflow alarm

（AlarmA.06）.

Paramet Unit Setting Factory

Name
er range setting
Enable/Disable
alarm when position
error pulse
Pn047 0～1 0
overflows
[0] no alarm output
[1] output alarm

This parameter is used to decide whether offset overflow alarm（alarmA.06）

is required or not.

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 Chapter 4 Function setting and description

When Pn047 is set to 1, if the range of error counter overflow(Pn031) is set too
small, alarm A.06 may occur when running at high speed.

■ Position feedforward
With feed forward control, positioning time is reduced.

Paramete Unit Setting Factory

Name
r range setting
Position feed
Pn017 ％ 0~100 0
forward gain

Inside servo unit, feed forward compensation is used for positioning control to
reduce positioning time. But if the gain is set too large, overshoot and machine
vibration may occur. As for normal machines, please set the gain to 80% or
lower.

4.7.2 Speed offset settings

By setting internal speed reference offset of servo unit, adjusting time for
positioning control can be reduced.

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 Chapter 4 Function setting and description

Unit Setting Factory

Parameter Name
range setting
Speed
Pn016 r/min 0~300 0
offset

Inside servo unit, the specified speed reference offset for positioning control,
are used to reduce positioning time. Make the setting according to mechanical
conditions.

Note:
When positioning error is set low, while speed offset is set a bit large,
overshoot or vibration may occur during system running. Please pay close
attention when using this parameter.

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 Chapter 5 Troubleshooting

Chapter 5 Troubleshooting

5.1 Alarm list

A power interruption
A．21＊ ╳ Power loss error exceeding one cycle occurred
in AC power supply
A．25 ╳ Watchdog reset System reset by watchdog
A．99 〇 Not an error Normal operation status

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 Chapter 5 Troubleshooting

5.2 Alarm reasons and Troubleshootings

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 Chapter 5 Troubleshooting

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 Chapter 5 Troubleshooting

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 Chapter 5 Troubleshooting

5.3 Clear alarm

■ Clear current alarm

When an alarm occurs, press ENTER for seconds in hand-held panel
operator’s status display mode, then current alarm is deleted. Besides, the
alarm can also be cleard by using 1CN-6(ALM_RST) input signal.

Notes:
1. Only current alarms with “＊” sign in 5.2 can be deleted.
2. Eliminate alarm cause first, then input 1CN-6（ALM_RST）signal, current
alarm is removed immediately.
3. During effective period of 1CN-6（ALM_RST）signal, motor is in free status,
that equals to SERVO OFF status.
■ Clear alarm history
In the auxiliary function mode of panel operator, with Fn000, the latest eight (8)
alarms can be deleted. Refer to instructions in 6.2.1.

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Chapter 6 Panel Operator

6.1 Basic Function

6.1.1 Function description

An external panel operator as shown below can be connected to EDC series

of servo drives to make parameter setup, status monitoring and auxiliary
functions.

The description of the keys on the panel operator and their functions are
followed by a panel operator on initial display status as an example.

Name Function
INC key Press INC key to increase the set value(a long and hold on
press will implement fast increasing)
DEC key Press DEC key to decrease the set value.(a long and hold on
press will implement fast decreasing)
Press this key to select the status display mode, parameter
MODE key setup mode, monitor mode, or auxiliary function mode. Press
this key to cancel setting when setting the parameters.
ENTER key Press this key to display the parameter settings and set values.

6.1.2 Reset Servo Alarms

In alarm status display mode of the operator, press ENTER key and hold on
for seconds to reset current alarm.
Refer to 5.1 and clear alarm code.
The alarm can also be removed by using 1CN-6(/ALM_RST) input signal.
If the power supply is switched OFF due to a servo alarm, then alarm reset
operation is not necessary.

Note:
When any alarm occurs, always remove alarm reasons first before performing
alarm reset.

6.1.3 Display mode selection

By toggling among the different basic modes on the panel operator,

operations like current running status display and parameter setup can be
performed.

The operator consists of following basic modes:

Status display, Parameter setup, Monitor mode and Auxiliary function mode.

Press MODE key to select a display mode in the following order.

Power ON

Status display mode

Parameter setting mode

Monitor mode

Auxiliary Function
Mode

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6.1.4 Status Display Mode

In status display mode, the digits and simple code are used to show the status
of servo drive.
█ Selection of Status Display Mode
The status display mode is displayed when the power is turned ON.
If current mode is not the status display mode, press MODE key to switch to
required mode.
█ Contents displayed in Status Display Mode
Contents displayed in the mode are different in Position Control Mode and
Speed Control Mode.

When in Speed Control mode

Speed coincidence Digits simple code

Standby
Control power ON
Speed reference being input Rotation detection
output
Main circuit power supply is
ready
Torque reference being
input
Contents of digit display
Digit data Description
Control power is ON Lamp lights on when control power of servo drive is
ON
Standby Lamp lights on when servo is on standby;
Lamp extinguishes when servo is ON
Speed coincidence When offset value between speed reference and
actual motor speed is within allowable value, lamp
lights on.
Allowable value: Pn029 (The standard value is 10
min/r)
Rotation detection When motor speed exceeds allowable value, lamp is
output lit.
When motor speed is lower than allowable value,
lamp goes extinct.
Allowable value: 10% of rated speed
Reference speed input When reference speed input exceeds allowable
is continuing value, lamp is lit.
When reference speed input is lower than allowable

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 value, lamp goes extinct.
Allowable value: 10% of rated speed
Reference torque When reference torque input exceeds allowable
input is continuing value, lamp is lit
When reference torque input is lower than allowable
value, lamp is extinct.
Allowable value: 10% of rated torque
Main circuit power Lamp is lit when main circuit power supply is OK;
supply is ready Lamp is extinct when main circuit power supply is
OFF.

Contents of simple code display

Code Meaning
On standby;
Servo OFF (Servomotor
power is OFF)
Run
Servo ON (motor power is
ON)
Alarm
Blinks the alarm number.

When in Position Control mode

Speed coincidence Digits simple code

Standby
Control power ON
reference pulse being input Rotation detection output
Main circuit power supply is
ready
Clear signal being input
Contents of digit display
Digit data Description
Control power is ON Lamp lights on when control power of servo drive is
ON
Standby Lamp lights on when servo is on standby;
Lamp extinguishes when servo is ON
Speed coincidence When offset value between position reference and
actual motor position is within allowable value, lamp
lights on.
Allowable value: Pn030 (The standard value is 10

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 pulse)
Rotation detection When motor speed exceeds allowable value, lamp is
output lit.
When motor speed is lower than allowable value,
lamp goes extinct.
Allowable value: 10% of rated speed
Reference pulse input When reference pulse input is continuing, lamp is lit.
is continuing When there is no reference pulse input, lamp goes
extinct.
Clear signal input is When clear signal input is continuing, lamp is lit.
continuing When there is no clear signal input, lamp goes
extinct.
Main circuit power Lamp is lit when main circuit power supply is OK;
supply is ready Lamp is extinct when main circuit power supply is
OFF.

Contents of simple code display:

Code Meaning
On standby;
Servo OFF (motor power is
OFF)
Running;
Servo ON (motor power is
ON)
Alarm Status
The alarm code is displayed.

6.1.5 Parameter Setting Mode

Parameters related to the operation and adjustment of the servomotor are set
in this mode.
See the Parameter List in Appendix A for details.
„ Change parameters
Please see the Parameter List in Appendix A to know exactly the range of
parameter change.
Following is an operational example of changing the data of Pn 019 from 100
to 85.
1. Press MODE key to select parameter setup mode.

2. Press INC key or DEC key to select parameter number.

3. Press ENTER key to display parameter data selected in step 2.

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4. Press INC or DEC to change the data to the desired number 85. Hold the
button to accelerate the value changing.
When the data reaches the max. or Min. value, the value will stay unchanged
even if INC/DEC key is pressed.

5. Press ENTER, the data glimmers and then the date is saved.

6. Press ENTER again to go back to parameter number display.

Plus, if Mode key is pressed during step 3 or step 4, parameter setup operation
will go directly to step 6 and no changes will be saved. If the user needs to
rechange any data later, just repeats the operation from step 2 to step 6.
If Pn080 needs to be set as -32767, then a decimal point is used on bottom
right corner of the top number to show current value is negative. For instance,
the value – 32767 is displayed as below:

6.1.6 Monitor Mode

The monitor mode can be used for monitoring the external reference values,
I/O signal status and internal status of servo drive. User can make changes in
Monitor Mode even if motor is running.

„ Following are the operation steps to use Monitor Mode

The example as below shows the operation steps for monitoring Data 1500 of
Un001.
1. Press MODE key to select monitor mode.

2.Press INC key or DEC key to select the monitor number to be displayed.

3.Press ENTER to display the monitored data selected in Step 2.

4.Press ENTER again to return to monitor number display.

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„ Contents of Monitor Mode display
Monitor
Contents
No.
Actual motor speed:
Un000
r/min
Input speed reference
Un001
value: r/min
Percentage of feedback Digits to display
Un002 torque: internal status
% (relative rated torque)
Percentage of input
Un003 torque:
% (relative rated torque)
Number of pulses of
Un004
Encoder angles
Un005 I/O signal monitor
Un006 Encoder signal monitor
Speed given by pulse
Un007 (when electronic gear
ratio is 1:1)
Current motor position is
Un008
5 digits lower (×1 pulse)
Current motor position is
Un009 5 digits higher (×10000
pulse)
Position reference is 5
Un010 digits lower
(×1 pulse)
Position reference is 5
Un011 digits higher (×10000
pulse)
Position offset is 5 digits
Un012 lower
(×1 pulse)
Position offset is 5 digits
Un013 higher
(×10000 pulse)

Notes:
1.Position pulse value is subject to electronic gear ratio of 1:1.
2.Unit of pulse quantity is the internal pulse unit of servo system. Pulse

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quantity is represented with 5 digits higher + 5 digits lower, whose calculation
method is as below:
Pulse quantity = value of 5 digits higher × 10000 + value of 5 digits lower
Value of pulse quantity will not change any more when it reaches 327679999.
The decimal point at top digit of Un 010, Un 012 and Un 014 means the value
is negative.
For instance: Un010 is displayed as:

It means the value of Un010 is -3560000.

3. When the speed given by pulse is below electric gear ratio of 1:1, encoder
shows the theoretical rotation speed of the gain type 2500 lines of electric
motor.
4. Pulse numbers of encoder angles show the rotor’s position in relate to stator
in one complete revolution, one revolution is regarded as one cycle.
5. As for wire saving encoder motor, its encoder signal only represents the data
during power on, the contents of non wire saving encoder signal display is
shown in the following table:
Monito No. of Contents Relevant I/O
I/O
r No. digits displayed Signals
Signal of
0 2CN-12\13(PG-W)
Encoder W
Input Signal of
Un006 1 2CN-5\6(PG-V)
signal Encoder V
Signal of
2 2CN-10\11(PG-U)
Encoder U

6. Contents of I/O terminal signals are in the following table:

Monito No. of I/O Contents Relevant I/O
r No. digits displayed Signals
Input Servo ON 1CN-15
Un005 0
signal (/S-ON)
Alarm reset 1CN-6(/ALM_R
1
ST)
Clear error
2 1CN-7(/CLR)
counter
Zero position
3 1CN-17(/ZPS)
signal
4,5,6 No display No signal
7 Output Servo alarm 1CN-4 (/ALM)
signal Positioning
8 complete(speed 1CN-3 (/COIN)
achieves)

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 Mechanical
9 braking 1CN-2 (/BRK)
released

The relative LED is lit to show some I/O signal is active.

6.2 Auxiliary functions

In Auxiliary Function Mode, some application operations can be done with the
digital operator. The functions details are shown as below:
Function
Content Other
No.
Fn000 Display alarm history
Fn001 Restore to factory settings
Fn002 JOG operation
Automatic offset-signal adjustment Open operation
Fn003
of motor current detection
Fn004 software version of servo
Fn005 System runtime
Fn006 Software version of panel operator Hidden operation
Fn007 Factory test
Fn008 Inertia inspection

Notes:
1. Open operations refer to the auxiliary functions for general users.
2. Hidden operations:
When the panel operator is in simple code menu, press “××××” and start to
use the auxiliary functions.

6.2.1 Alarm history display

The last ten(10) alarms are displayed in the alarm history library. Take
following steps to check the latest alarm.
1. Press MODE key to select auxiliary function mode
2. Press INC or DEC to select function number of alarm history display.

3. Press ENTER key, the latest alarm code is displayed.

Alarm No. Alarm code

4. Press INC or DEC key to display other alarm codes occurred recently.

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5. Press ENTER to return to function number display.

If an alarm occurs right now, the alarm codes will be updated immediately. The
alarm with a serial number of 0 is the current alarm, and the alarm with a serial
number of 9 is the last alarm.
If the user wants to clear all alarm history data, press ENTER key and hold on
for one second while alarm codes are being displayed , then all alarm history is
deleted.

6.2.2 Restore to factory settings

This function is used when returning to the factory settings after changing
parameter settings.
1. Press MODE key to select auxiliary function mode.
2. Press INC or DEC key to select function number for restoring to factory
settings.

3. Press ENTER to enter parameter restoring mode.

4. Press ENTER key and hold on for one second to restore all the parameters
to default values.

5. Release ENTER key to return to function number display.

6. In Step 3, the parameter restoring operation can be cancelled and quit

current operation by a short press on the ENTER key.

6.2.3 JOG operation

Note:
This mode is not available when servo is on or some alarm occurs.

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Take following operation steps to make JOG operation.
1. Press MODE key to select auxiliary function mode.
2. Press INC or DEC key to select JOG Function number.

3.Press ENTER key to enter JOG mode, meanwhile, servo is OFF(motor

power is OFF)..

4. Press MODE key to enable Servo ON /S-ON..

5. Press MODE key to turn servo ON and OFF.

If user wants to run motor, Servo On has to be used.
6. Press INC or DEC key, motor runs when pressing the keys.
The servomotor will rotate at the present setting speed as below.

During motor’s FWD or REV direction, LED display is as below:

Forward direction

Reverse direction
7. Press ENTER to return to function number display. At this moment, servo
motor is turned OFF

6.2.4 Automatic offset signals adjustment of motor current

detection

The servo drive will check motor current detection signals every time the servo
is initializing upon power on and will adjust automatically if required, therefore,
user needn’t do any manual adjustment in normal situations. If the user thinks
the torque is a bit too large by judging from motor current offset, user may
manually adjust motor current to lower down the torque further or to get higher
running accuracy. This section gives a know-how instruction on the operation
steps to make offset signal automatic and manual adjustment.

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Note:
The offset signal adjustment of motor current detection is only available when
servo is OFF.

„ Adjust motor current detection offset signal automatically

Take following steps to make automatic offset adjustment.
1. Press Mode key to select auxiliary function mode.
2. Press INC or DEC key to select function number.

3. Press ENTER key and enter automatic adjusting mode.

4. Press MODE and hold on for one second, donE is displayed and glimmers,
the offset signal is then adjusted automatically.

Release the key

5. Press ENTER key to return to function number display.

6.2.5 Servo software version display

Take following steps to display software version of the servo drive.

1. Press MODE key and select Auxiliary Function Mode;
2. Press INC key or DEC key to select function number of software version
display.

3. Press ENTER key, current software version is displayed.

4. Press ENTER key again to return to function number display.

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6.2.6 System runtime

Take following steps to display system runtime.

1. Press MODE key and select Auxiliary Function Mode。
2. Press INC key or DEC key to select function number.

3. Press ENTER key to display system runtime.

Following picture shows system runtime is 1 hour and 28 minutes.

4. Press ENTER key again to return to function number display.

The displayed time is the runtime after system is started up, the date is not
refreshed in real time. If user wants to refresh the data, please repeat the
operations in Step 3 and Step 4.

6.2.7 Software version of panel operator

Activate the hidden functions first before making operations in Section 6.2.7,
6.2.8 and 6.2.8.
Take following steps to display software version of the panel operator.
1. Press MODE key and select Auxiliary Function Mode;
2. Press INC key or DEC key to select function number..

3. Press ENTER key, current software version is displayed.

4. Press ENTER key again to return to function number display.

6.2.8 Factory test

6.2.9 Inertia inspection

Take following steps to make inertia inspection.

1. Press MODE key and select Auxiliary Function Mode;
2. Press INC key or DEC key to select function number..

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3. Press ENTER key and go into inertia inspection page as shown below:

.
4. Press Mode key again to start inertia detection. Following page is displayed:

.
If servo alarm occurs or servo is ON, inertia inspection will not be executed,
instead, a message “abort” is displayed on the panel operator as below.

If the user wants to cancel the function during inertia inspection or after
entering the function menu, just press ENTER key.
5. When inertia inspection completes, inertia value of load and motor are
displayed in the unit of 0.1 Kg·m2×10−4.

6. Press ENTER key again to return to function number display page.

Notes:
1. Please be very careful during inertia inspection operation, because motor
will run forward and reverse for four(4) revolutions, meanwhile, motor is not
controlled by external signals. Make sure the running stroke of load is within
required range to avoid possible damage to user’s equipments.
2. This operation is unavailable if servo is on or servo alarm occurs.

Chapter 7 Trial operation

7.1 Inspection and checking before trial operation

To ensure safe and correct trial operation, inspect and checking the following
items before starting.
1. Wiring
All wiring and connections are correct.
The correct power supply voltage is being supplied to the main circuit and
servomotor.
All groundings are good.
If trial operation only refers to JOG function, 1CN wiring will not be required.
Refer to 3.1.2.
2. Check power supply specification and make sure input voltage is correct.
3. Fix servomotor securely
Fix servomotor on the base as secure as possible, to avoid the risk of
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 danger which is caused by the counterforce coming from motor speed
change.
4. Remove motor load
In case servo drive or moving structures are damaged, or indirect person
hurt or injury, make sure motor load is removed, including the connector
and its accessories on the motor shaft.

7.2 JOG operation

No other wiring (such as 1CN)is required for trial JOG operation, it’s suggested
JOG operation is done with low speed.

If motor can run properly in JOG operation, which means motor and servo
drive are in good condition, and their connnection is correct.

If motor can not run, check connection of UVW and encoder cables. If motor
runs improperly, check if the phase order of UVW cables is correct or not.

Notes:
1. Before JOG operation, make sure motor load is removed from 1CN.
2. Load default parameters and initializes user parameters to factory
settings.
3. Power On again to start trial running.

With help of panel operator, follow the steps below and startt JOG operation.
1. Turn on servo drive’s power supply. Panel operator gives a display as
below:

2. Press “MODE” key.

3. Press “MODE” key again.

4. Press “MODE” key a third time to switch onto the menu for auxiliary
functions.

5. Press “INC” key and increase the value to 2.

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6. Press “ENTER” key and go into JOG operation mode.

7. Press “MODE” key and select Servo On.

8. Press “INC” key, motor runs counterclockwise. Press “DEC” key, motor
runs clockwise. Motor speed depends on Pn032 setting. If the above key is
released, motor should stop running.

Forward

Reverse
9. Press “MODE” key and select Servo OFF.

10．Press “ENTER” key and exit JOG operation.

7.3 Trial operation in position control mode

1. Preparation
Check if 1CN cable, power cables of servo drive and servomotor, encoder
cables are connected in the right way.
2. Operation steps
1) Set Parameter 008 according to output style of servo drive, set Pn041
as 0, then Power On again.
2) When Servo On is enabled（/S-On signal becomes active）, motor will
keep in excitation status.
3) A low frequency signal is sent from host controller to servo drive, motor
is set to run at low speed.
4) Check motor speed with panel operator by its Un000 display, or
monitor motor speed with host controller. Make sure feedback speed of
servomotor agrees with the setting value.
Inspection: When reference pulse stops, motor should stop running.

Relation between motor speed and pulse frequency input.

Input pulse Motor frequency other
frequency（Hz） （r/min）
pulse＋direction
500K 3000 Electronic gear ratio is 1：1;
250K 1500 line number of motor encoder is
100K 600 2500ppr.
50K 300

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Chapter 8 Communication

8.1 RS232 communication hardware structure

EDC servo drive supports RS232 communication. Via the RS232 COM
function in its front panel, parameters reading out or writing in and system
status monitoring are available.

8.1.1 External connection diagram

Following diagram shows external connection between servo drive and PC.

8.1.2 Cable connection

Following illustration shows the plug shape of the RS232 COM port on EDC
servo drive.

See the signal definition details in the following table:

Pitch Signification
1 VCC，internal 5V power supply of servo drive
2 TX，RS232 COM transmission foot
3 RX，RS232 COM receiving foot
GND，grounding of internal power supply of
4
servo drive
FG，connect the shield layer of COM to the
5
earth.

Following diagram shows how to connect a PC to EDC’s COM port.

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Notes:
1. Depending on different environment situations and communication speeds,
effective communication distance also varies. When communication baudrate
exceeds 38400bps, a communication cable within one(1) meter long is
required to ensure transmission accuracy.
2. It’s suggested shielded cables are used for communication, subject to the
two shield layers are connected to their own pitches.
3. When external interface is RS422 or RS485, it’s required to use external
converting module for connection to servo drive.

8.2 Communication relevant parameters

When the value 0 is selected as the panel shaft number of EDC servo drive,
then servo drive is able to communicate with panel operator and PC via
Estun company’s internal protocol, which has nothing to do with the
communication parameters Pn060, Pn061 or Pn062.

When the values in the range of 1～E is selected as the panel shaft numbers,
MODBUS communication function should also be enabled, then it’s available
for EDC servo drive to communicate with ESVIEW software. The selected
panel shaft number is the communication address. The speed is set according
to Pn061 settings, and the communication protocol is set according to Pn062
settings. Only when the value F is selected as the panel shaft number, shaft
number address Pn060 is used by the servo drive.

1、COM address
Paramete Unit Setting
Name Factory setting
r range
COM
Pn060 ―― 1~254 1
address
When the dial switch on the drive panel is set as F, this parameter is used as
the communication address.

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2、COM speed
Unit Setting
Parameter Name Factory setting
rang
RS232
COM
speed
0 ：
4800bit
/s
Pn061 bps 0~2 1
1 ：
9600bit
/s
2 ：
19200b
it/s

When communication function is used, same communication speed between

host controller and servo drive is required.

3、COM protocol
Unit Setting Factory
Parameter Name
rang setting
RS232 COM protocol
0 ： 7 ， N ， 2
（Modbus,ASCII）
1 ： 7 ， E ， 1
（Modbus,ASCII）
2 ： 7 ， O ， 1
（Modbus,ASCII）
3 ： 8 ， N ， 2
Pn062 （Modbus,ASCII） ―― 0~8 5
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）

This parameter decides which COM protocol to be used, the number 7 or 8

means digit numbers of data for data transmission is 7 digits or 8 digits. English
alphabet N, E and O means odd or even. N means this digit is disabled, E
means 1 digit even, O means 1 digit odd,the number 1 or 2 means stop is 1
digit or 2 digits.

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The communication protocol between host controller and servo drive are
required to be the same when communication function is used.

4、COM input IO control

When using COM control function, the parameter Pn059 can be used to shield
input IO signals if the user does not want external input signals to affect servo
drive. When some bit is set as (0)zero, the signal of this bit is then controlled by
the external input signal. If the bit is set as 1, then COM control is applied to
this bit.

Paramet Unit Setting Factory

Name
er rang setting
Pn059 COM input IOcontrol ―― 0~15 0

This parameter is used to set whether the number input of servo drive is
controlled by external IO or by COM. When the parameter is set as zero, it
means all numerical IO input pitches are controlled by external signals. When it
is set as 15, it means all of the four IO inputs are COM controlled, and all
external input signals are ignored.

input signal source is decided by value of Pn059:

Pn059 Comments on every bit
Decides SON （ 1CN-15 ） source of
signal input：
BIT0
0：controlled by external input signal
1：controlled by COM
Decides ALM-RST（1CN-6）source of
signal input：
BIT1
0：controlled by external input signal
1：controlled by COM
Decides CLR（1CN-7）source of signal
input：
BIT2
0：controlled by external input signal
1：controlled by COM
Decides ZPS （ 1CN-17 ） source of
signal input：
BIT3
0：controlled by external input signal
1：controlled by COM

Following are the two ways for COM function to operate on digital input IO
signals:
1. Change the value of Pn054 directly, inverts required signal and enables it.
2. Set Pn059 first, to make servo ignore external input signal, then write in
corresponding value to the data whose address is 0x0900 when controlling of
external input signal is required. The value of the data whose address is

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0x0900 is not saved after a power interruption.
The table below gives an instruction of the value of the data whose address is
0x0900.

Value of data Comments on every bit

whose
address is
0x0900
Decides SON（1CN-15）signal：
BIT0 0：signal is invalid
1：signal is valid
Decides ALM-RST（1CN-6）signal：
BIT1 0：signal is invalid，S-OFF
1：signal is valid
Decides CLR（1CN-7）signal：
BIT2 0：signal is invalid，S-OFF
1：signal is valid
Decides ZPS（1CN-17）signal：
BIT3 0：signal is invalid，S-OFF
1：signal is valid

For example, when COM is used control IO signals of external input, set
Pn059 as 15, which means all external digital input IO are controlled by COM.
When servo On is required, write in the value 1 to servo drive's 0x0900
address.

8.3 MODBUS communication protocol

When axis number on front panel of EDC servo drive is not selected as zero,
MODBUS protocol is used for communication. There're two modes available
in MODBUS communication, that is ASCII Mode（American Standard Code for
information interchange） or RTU（Remote Terminal Unit）mode. See pages
below for a.simple introduction of these two communication modes.

8.3.1 Code signification

ASCII mode：
Each 8-bit data consists of two ASCII characters. Here's an example of a
1-byte data 64H expressed in hex system, if the data is expressed in ASCII
mode, it includes ASCII code of 6（36H）and ASCII code of 4（34H）.

Follow table shows the ASCII code from 0 to 9 and from A to F.

Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’

- 106 -
sign
ASCII code 30H 31H 32H 33H 34H 35H 36H 37H
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
sign
ASCII code 38H 39H 41H 42H 43H 44H 45H 46H

RTU mode：
Each 8-bit data consists of two 4-bit data expressed in hex system. For
example, the number 100 in decimal system will be expressed as 64H if RTU
data of 1 byte is used.

Data structure:
10bit character format（ for 7-bit data）

11bit character format（for 8-bit data）

- 107 -
 8，E，1（Modbus，ASCII / RTU）

Start Even Stop

0 1 2 3 4 5 6 7 parity
bit bit

8-data bits
11- bits character frame

8，O，1（Modbus，ASCII / RTU）

Start Odd Stop

0 1 2 3 4 5 6 7 parity
bit bit

8-data bits
11- bits character frame

Communication protocol structure：

Data format of communication protocol:
ASCII mode:
STX Start bit‘：’＝＞(3AH)
ADR COM address＝＞1-byte including two ASCII codes
CMD Reference code＝＞1-byte including two ASCII codes
DATA(n- Data contents ＝ ＞ n-word=2n-byte including four ASCII
1) code, no more than 12
……
DATA(0)
LRC Checkout code＝＞1-byte including two ASCII codes
End 1 stop bit1＝＞（0DH）（CR）
End 0 stop bit0＝＞（0AH）（LF）

RTU mode:
STX Freeze time for transmmision time of over 4 bytes at current
transmission speed
ADR COM address＝＞1-byte
CMD Reference code＝＞1-byte
DATA(n- Data content＝＞n-word=2n-byte，n is no more than 12
1)
……
DATA(0)
CRC CRC checkout code＝＞1-byte
End 1 Freeze time for transmmision time of over 4 bytes at current
transmission speed

See followings for an introduction on data format of COM protocol.

STX（COM start）
ASCII mode：‘：’byte。

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RTU mode：Freeze time for transmmision time of over 4 bytes（which varies
automatically according to changing of communication speed）

ADR（COM address）
Range of legal COM address: from 1 to 254
The example below shows communication with a servo whose address is 32, if
expressed in hex system the adrdress will be 20.
ASCII mode：ADR=‘2’，‘0’=＞‘2’=32H，‘0’=30H
RTU mode：ADR=20H

CMD（Command reference）and DATA（Data）

Data format depends on following command codes:
Command code: 03H, when reading N words, maximum value of N is 20.
For example, read the first two words from start address 0200H from a servo at
the address of 01H.

ASCII mode：
Reference information： Response information：

RTU mode：
Reference information： Response information：

- 109 -
Reference code: 06H, write in one word.
For instance, write 100(0064H) into 01H servo at the address of 0200H.

ASCII mode：
Reference information： Response information：

RTU mode：
Reference information： Response information：

- 110 -
Take following steps to calculate value of LRC（ASCII mode）and CRC(RTU
mode) .
LRC calculation in ASCII mode
In ASCII mode, LRC（Longitudinal Redundancy Check） is used. LRC value is
calculated according to following way: first make a sum result of the values
from ADR to contents of a finishing stroke, then the result is divided by 256,
later on, take away the part that goes beyond, after that calculate its fill-in
number, final result will be the LRC value.
Following example shows the steps to read a word from 01H servo drive at the
address of 0201.

Sum ADR's data from beginning to the last data:

01H+03H+02H+01H+00H01H=08H
Take fill-in number of 2 from 08H, therefore LRC is ‘F’，‘8’。

CRC calculation in RTU mode

CRC（Cyclical Redundancy Check）error detection value is used in RTU mode.
Take following steps to calculate CRC error detectionvalue.
Step 1: Load in a 16-bit register whose content is FFFFH, which is called CRC
register.
Step 2: Make OR calculation of the 1st bit (bit0) of reference information and
the low bit (LSB) of 16-bit CRC register, then save the result into CRC register.
Step 3: Check lowest (LSB) of CRC register, if this bit is 0, then move the value
to the right for one digit. If this bit is 1，then move the value to the right for one
digit, after that, make OR calculation with A001H.
Step 4: Go back to Step3, when knows Step 3 has been done eight times,
moves on to Step5.
Step 5: Repeat operations from Step 2 to Step 4 for the next bit of reference
information, when knows all bits have been processed in the same way, the
wanted CRC error detection value is just the current content in the CRC

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register.
Instruction:
After CRC error detection value is calculated, it's required to fill in first the low
bit of CRC in reference information, then fill in the high bit of CRC. Refers to
the example below.
Example:
Read two words from 0101H address of 01H servo drive. Final content of CRC
register is calculated and turns to be 3794H by summing the date from ADR to
last bit, then its reference information is shown below. Please be noticed 94H
should be transmitted before 37H.

End1、End0（Communication complete）
ASCII mode：
Communication ends with the character ‘\r’『carriage return』 and （0AH）‘\n’
『new line』.
RTU mode：
The freeze time for communication time required by four bytes at a speed
exceeding current communication speed means communication comes to an
end.

For example：
Use C language to generate CRC value. This function needs two parameters:
unsigned char * data;
unsigned char length;
This function will transmit back CRC value of unsigned integer.
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;

- 112 -
 }
}
}
return crc_reg;
}

8.3.2 Communication error handling

Error may occur during communication. Normal error sources are as below:
¾ When reading and writing parameters, data address is incorrect.
¾ When reading parameters, data value is higher than this parameter's
maximum value or lower than its minimum value.
¾ Communication is disturbed, data transmission error or checking code
error.
When above communication error occurs, it does not affect running of servo
drive, meanwhile, the drive will give a feedback of error frame.
The format of error frame is shown in following table.
Data frame of host controller:
start Slave station command Data address, checkout
address references,
etc.

Servo drive's feedback of error frame:

start Slave station Response Error code checkout
address code

Comments:
Error frame response code = Command＋80H；
Error code＝00H：communication is good
＝01H：servo drive can't identify requested function
＝02H：given data address in the request does not exist in servo drive
＝03H：given data in the request is not allowed in servo drive（higher
than maximum value or lower than minimum value of the parameter）
＝04H：servo drive has started processing the request, but unable to
finish this request.

For example:
Let's suppose the axis number of servo drive is 03H, and we want to write data
06H into Parameter Pn002. Because maximum and minimum value of Pn002
are both zero(0), the data which is to be written in will not be accepted, instead,
servo drive will feedback an error frame with error code 03. The frame is as

- 113 -
below:

Data frame of host controller:

start Slave station command Data address, checkout
address references, etc.
03H 06H 0002H
0006H

Servo drive's feedback error frame:

start Slave station Response Error code checkout
address code
03H 86H 03H

Plus, if the slave station address of data frame transmitted by Host

controller is 00H, it means this frame of data is broadcasting data, and
servo drive will not feedback a frame.

8.3.3 Parameters, servo status data communication address

In MODBUS communication mode, all the communication parameters of EDC

servo are shown in the following table:

Address of Meaning Comments Operatio

communication n
data
0000～0078H Parameter area Parameters in Readabl
corresponding e and
parameter table writable

Monitored data
（ consistent with
Read
0806~0814H data displayed on
only
handheld operator
or drive panel
0806H Speed feedback Unit: r/min read only
Input speed
0807H Unit: r/min read only
reference value
Percentage of Input
0808H Relatively rated torque read only
torque reference
Percentage of
0809H Internal torque Relatively rated torque read only
reference

- 114 -
 Pulse number of
080AH read only
Encoder rotation
080BH input signal status read only
status of encoder
080CH read only
signal
status of output
080DH read only
signal
080EH Pulse given read only
Current position
080FH Unit: 1 reference pulse read only
low
Current position Unit: 10000 reference
0810H read only
high pulse
error pulse counter
0811H read only
low 16 position
error pulse counter
0812H read only
high 16 position
Given pulse
0813H Unit: 1 reference pulse read only
counter low
Given pulse Unit: 10000 reference
0814H read only
counter high pulse

0817H Current alarm read only

Alarm information
07F1~07FAH 10 History Alarms read only
storage area

0900H IO signal of readable

No saving in case of
ModBus and
power interruption
Communication writable
0901H Drive status read only
Runtime of servo
0904H Unit: minute read only
drive
DSP software Version expressed in
090EH read only
version number

Host controller reads

1000H Drive model information from servo read only
drive

1021H Reset History 01： Reset readable

Alarm and
writable
1022H Reset current 01： Reset readable
alarm and

- 115 -
 writable
1023H JOG Servo ON 01：enable readable
00：disable and
writable
1024H JOG forward run 01：forward run readable
00：stop and
writable
1025H JOG reverse run 01：reverse run readable
00：stop and
writable

Notes:
1、parameter area（COM address is from 0000 to 0078H）
Parameters in related parameter table, for example, parameter with 0000H as
COM address is expressed as Pn000, parameter with 0065H as COM address
is expressed as Pn101, and read-write of data at 0000H is the same as
operating on parameterPn000. If data coming from communication is not within
the parameter range, the data will be abandoned and servo drive will feedback
a message of operation fail. If the parameter is changed successfully, this
parameter will be saved automatically after a power interruption.

2、Monitoring data area（0806～0814H）

The monitoring data does not correspond totally to display of Un000~Un013on
handheld operator. For example, the data that communication reads from
address of 0807H is FB16H, then specified speed is -1258 r/min.

Following table shows the meaning of each monitoring data.

Monitore
Comments
d data
0806H Actual motor speed: r/min
0807H Input speed reference value: r/min Digit of Internal
Feedback torque percentage % status
0808H
（Relatively rated torque）
Input torque percentage %
0809H
（Relatively rated torque）
080AH Encoder angle pulse number
080BH input signal monitor
080CH Encoder signal monitor
080DH Output signal monitor
080EH Pulse given speed（when electronic
gear ratio is 1：1）
080FH Current motor position is 5 digit low
（×1 pulse）

- 116 -
 0810H Current motor position is 5 digit high
（×10000pulse）
0811H position error 5 digit low（×1 pulse）
0812H position error 5 digit high（×10000
pulse）
0813H Position reference 5 digit low（×1
pulse）
0814H Position reference 5 digit high
（×10000pulse）

Monitoring of I/O signals is shown below:

Monitorin Digit IO
Contents Relative IO signal
g No. number
0 Servo ON 1CN-15 (/S-ON)
1 input alarm reset 1CN-6(/ALM_RST)
signal Clear error
080BH 2 1CN-7(/CLR)
counter
zero position
3 1CN-17(/ZPS)
signal

0 servo alarm 1CN-4 (/ALM)

output positioning
1 signal complete（ speed 1CN-3 (/COIN，etc)
080DH
arrives）
mechanical brake
2 1CN-2 (/BRK，etc)
release

2、Alarm memory block（07F1～07FAH）

History Meaning Address

Alarm No.
0 History Alarm 1（Latest 07F1H
alarm）
1 History Alarm 2 07F2H
2 History Alarm 3 07F3H
3 History Alarm 4 07F4H
4 History Alarm 5 07F5H
5 History Alarm 6 07F6H
6 History Alarm 7 07F7H
7 History Alarm 8 07F8H
8 History Alarm 9 07F9H
9 History Alarm 10 07FAH

- 117 -
 （longest time）

2、ModBus communication IO signal（0900H）

Use communication to control input digital IO signals, the data is not saved
after power is interrupted.

5、System status（0901H）
1-word shows current system status.
The following illustration shows the meaning of each digit.

EDC servo drive's default speed is 10% of rated motor speed.

6、Run time（0904H）
It means the run time required from servo power on to read this data. It's
expressed in decimal system and the unit is minute. If the read data is 00CDH，
and it's expressed as 205 in decimal system, then it means current system has
run for 3 hours and 25 minutes.

7、DSP Software Version（090EH）

DSP software version of servo drive is expressed in numbers. If the read data
is 00C9H, and it's expressed as 200 in decimal system, then it means the
software version is 2.00.

Notes:
1、 After COM address is changed, that is, parameter Pn060 or the dialing
switch on drive panel is changed, servo drive will feedback data using
current COM address until new COM address is updated and becomes
available in around 40ms.
2、 After communication speed is changed, that is, parameter Pn061 is
changed, servo drive will feedback data using current communication
speed until new speed is updated and becomes available in around
40ms.
3、 After communication protocol is changed, that is, parameter Pn062 is
changed, servo drive will feedback data using current communication
protocol until new protocol is updated and becomes available in around
40ms.

- 118 -
 4、 In RTU communication mode, intervals between data frames are longer
than 10ms.

Chapter 9 Technical specification and

features

9.1 Servomotor

9.1.1 Technical specification and features

■EMS series servomotor specification and model description

Rated time: continuous Isolation class: F
Vibration class: V15 Withstand voltage: AC1500 V
Isolation resistor: 5DC50V 10MΩ (minimum)
Protection method: fully-closed, self cooling IP67 (except for shaft
opening)
Ambient temperature: 0~40℃ Ambient humidity: 20% to 80%
(non-condensing)
Excitation: permanent magnet Connection method: direct
Mounting: flange mounted

„ EMS type 60 series

Motor model EMS- 02AH□□-Z006 04AH□□-Z013
Matched drive model 02PS-Z006
04PS-Z013
EDC-
Rated 200
W 400
output
Rated 0.637
N·m 1.273
torque
Instantaneo 1.911
us Peak N·m 3.819
Torque
Rated 1.265
Arms 2.497
current
Rated 3000
rpm
speed
Max. speed rpm 3600
Kg·m2×1 0.138
Rotor inertia 0.261
0−4

- 119 -
 Mechanical 1.52
time ms 1.08
constant
Electrical 1.95
time ms 2.23
constant
Mess Kg 0.99 1.39

„ EMS type 80 series

Motor model EMH- 05AH□□-A016 08AH□□-A024
Matched drive 05PS-A016
08PS-A024
model EDC-
Rated 500
W 750
output
Rated 1.59
N·m 2.39
torque
Instantaneo 4.78
us Peak N·m 7.16
Torque
Rated 3.14
Arms 4.71
current
Rated 3000
rpm
speed
Max. 3600
rpm
speed
Rotor Kg·m2×1 0.843
1.78
inertia 0−4
Mechanic 0.266
al time ms 0.280
constant
Electrical ms 2.06 2.30

- 120 -
 time
constant
Mess Kg 2.4 2.9

„ EMS type 90 series

Motor model EMS- 08AH□□-C024
Matched drive 08PS-C024
model EDC-
Rated 750
W
output
Rated 2.40
N·m
torque
Instantaneo 7.1
us Peak N·m
Torque
Rated 4.00
Arms
current
Rated 3000
rpm
speed
Max. 3600
rpm
speed
Rotor Kg·m2×1 2.6
inertia 0−4
Mechanic 0.12
al time ms
constant
Electrical 1.79
time ms
constant
Mess Kg 3.0

- 121 -
9.1.2 Servomotor mounting dimension

Motor model LA LB LC LE LF L LZ S LR LL LT A B
M
EMS-02AH□□-Z00 70 50 60 3 7 56 Φ4.5 Φ1 30 96 40 3 5
6 70 50 60 3 7 81 Φ4.5 4 30 121 40 3 5
EMS-04AH□□-Z01 90 70 80 3 13 88 Φ5.5 Φ1 35 129 41 4 6
3 90 70 80 3 13 10 Φ5.5 4 35 147 41 4 6
EMS-05AH□□-A01 100 80 90 3 9 6 Φ6.0 Φ1 35 139 41
6 97 9
EMS-08AH□□-A02 Φ1
4 9
EMS-08AH□□-C02 Φ1
4 6

9.1.3 Servomotor connection diagram

Cable specification

- 122 -
 Motor model Drive model Encoder cable Power cable
EMS-02AH□□-Z006 EDC-04PS-Z00 CMP-ZB26-□□ CDM-ZB18-□□
6
EMS-04AH□□-Z013 EDC-04PS-Z01 CMP-ZB26-□□ CDM-ZB18-□□
3
EMS-05AH□□-A016 EDC-05PS-A01 CMP-ZB26-□□ CDM-ZB18-□□
6
EMS-08AH□□-A024 EDC-08PS-A02 CMP-ZB26-□□ CDM-ZB18-□□
4
EMS-08AH□□-C024 EDC-08PS-C02 CMP-SB26-□□ CDM-SB18-□□
4
EDC servo drive series and EMJ servo motor series Connection:

9.2 Servo drive

9.2.1 Technical specification and model

Servo drive model EDC- 01P 02P 05P 08P

Applicable servomotor model EMx- 01A 02A 05A 08A

- 123 -
 Power supply Single phase AC220V +−15
10
%,50/60Hz

Control mode SVPWM

Feedback Incremental encoder（2500P/R）
Operating/ storage 0~55℃/-20~85℃
Basic Worki temperature
data ng Operating/ storage Below 90%RH （non-condensing）
Condi humidity
tion Shock/vibration 4.9m/s2/19.6 m/s2
resistance
Structure Base mounted
Mass ( approximately) 2kg
Speed control range 1:5000
Load Regulation 0~100%：0.01% below (at rated speed)
Speed Speed
Voltage regulation Rated voltage ±10%：0%(at rated speed)
control regulatio
Temperature 0~40℃：0.1% below(at rated speed)
mode n
regulation
Frequency Characteristics 250Hz（when JL ≤ JM）
Type SIGN＋PULSE train, sin. Pulse phase A
and phase B，CCW+CW pulse train
Positio Pulse
Pulse Buffer Line driving（＋5V level），open collector
n referen
（＋5V、＋12V、＋24V level
control ce
Pulse Frequency Max. 500Kpps（difference）/ 200 Kpps
mode
（collector）
Control signals CLEAR
Phase A, phase B and phase C: line
Pulse output signal
driving output
Servo ON, Alarm Reset, error counter
I/O Sequence control input
clear signal, zero clamp signal.
signals
Servo Alarm, positioning complete(speed
Sequence control output coincidence), brake release, limiting
torque
Built-in Dynamic braking Built-in
functio Power module error,overload,
n overspeed,voltage error, position error
Protection
counter overflow, encoder disconnected,
parameter damaged, etc.
With RS232 interface for communication
with host controller's special software,
Parameter setting, Run operation and
COM function status display can be done in Windows
mode. Same functions are enabled using
panel operator. Compatible with Modbus
communication protocol.

- 124 -
 CanOpen COM
Charge indicator, Power&ALM indicator,
LED display
five 7 segment tube（on panel operator）

9.2.2 Servo drive mounting dimension

With cooling fan

Without cooling fan

Appendix A

Parameter list

Para. Setting Factory Remar

Name and Meaning Unit
No. range setting ks
Enable/Disable Servo On input
Pn000 signal（/S-ON） — 0~1 0 ①
[0] Enable Servo ON input

- 125 -
Para. Setting Factory Remar
Name and Meaning Unit
No. range setting ks
signal（/S-ON）
[1] Enable internal servo ON
（/S-ON）
Enable/Disable input signal
prohibited (PN-OT)
When 1CN-2 is set as PN-OT
signal, limiting direction and
enabling are selected according
to this parameter.
Pn001 — 0~2 0 ①
[0]disable input signal
prohibited
[1]enable forward run input
signal prohibited
[2]enable reverse run input
signal prohibited
Pn002 Reserved — 0 0
Select operation upon
momentary power interruption
[0] Servo alarm output is not
Pn003 — 0~1 0 ①
available（ALM）
[1] Servo alarm output is
available（ALM）
Stopping method for servomotor
after Servo OFF or alarm
occurrence
[0] Stop the motor by applying
DB
(dynamic brake)
Pn004 [1] Stop the motor by coasting — 0~3 0 ①
[2] Stop the motor by applying
DB
(dynamic brake), then the motor
coasts to a stop
[3] Stop the motor by coasting
without using DB
Clear error pulse signal is turn
ON or not after Servo OFF
Pn005 — 0~1 0 ①
[0] Turned on
[1] turned off
Select rotation direction
[0] side view from load of
Pn006 — 0~1 0 ①
servomotor , CCW means
forward run

- 126 -
Para. Setting Factory Remar
Name and Meaning Unit
No. range setting ks
[1] side view fromload of
servomotor, CW means forward
run
Speed control mode selection
Pn007 [0] ADRC control — 0~1 0
[1] PI control
Reference pulse form
[0] SIGN + PULSE
Pn008 [1] CW+CCW — 0~2 0 ①
[2] Phase A + Phase B (×4),
positive logic
Reference pulse form
[0] does not invert PULSE
reference, does not invert
SIGN reference
[1] does not invert PULSE
reference, inverts SIGN
Pn009 — 0~3 0 ①
reference
[2] inverts PULSE reference,
does not invert SIGN
reference
[3] inverts PULSE reference,
inverts SIGN reference
Pn010 PG pulse dividing ratio P/R 1~2500 2500 ①
Pn011 Dividing output phase selection — 0~1 0 ①
Speed feedforward selection
Pn012 [0] disable － 0~1 0
[1] enable
Pn013 Speed loop gain Hz 1~3000 80 ②
Speed loop integral time
Pn014 ms 1~2000 180 ②
constant
Pn015 Position loop gain 1/s 1~1000 40
Pn016 Speed error r/min 0~300 0
Pn017 Position feedforward % 0~100 0
Pn018 Torque reference filter % 0~5000 0
Pn019 Soft start acceleration time ms 0~10000 100
Pn020 Soft start decceleration time ms 0~10000 100
S-shaped acceleration and
Pn021 ms 0~1000 0
decceleration time
Electronic gear ratio
Pn022 — 1~32767 1
(numerator)
Pn023 Electronic gear ratio — 1~32767 1

- 127 -
Para. Setting Factory Remar
Name and Meaning Unit
No. range setting ks
(denominator)
Pn024 1st position reference filter ms 0~1000 0
Pn025 Feedback filter ms 0~1000 0
Pn026 Forward torque limit % 0~300 250 ②
Pn027 Reverse torque limit % 0~300 250 ②
Positioning complete detection
Pn028 % 0~500 0
filter
Pn029 Speed coincidence error r/min 0~100 10
Reference
Pn030 In position error 0~500 10
unit
256
Pn031 Error counter overflow range reference 1~32767 1024
unit
Pn032 JOG speed r/min 0~3000 500
Pn033 reserved — 0 0
Pn034 reserved — 0 0
Pn035 reserved — 0 0
Pn036 reserved — 0 0
Pn037 reserved — 0 0
Automatic gain adjustment:
[0] without automatic gain
Pn038 adjustment — 0~1 0
[1]after inertia detection, gain is
adjusted automatically
P/PI Switching Terms
[0] setting torque
[1] error pulse
Pn039 — 0~4 0
[2] acceleration
[3] motor speed
[4] disable mode switch function
Pn040 P/PI switching threshold — 0~5000 200
Control mode selection
[0] Position control (pulse train
reference)
Pn041 [1] position contact control — 0~2 0 ①
(internal position reference)
[2]Speed control (contact
reference)
Pn042 Reserved — 0 0
Pn043 Waiting time for Servo ON ms 20~2000 200
Pn044 Basic waiting procedure ms 0~5000 10
Pn045 Waiting speed for brake signal r/min 10~500 100

- 128 -
Para. Setting Factory Remar
Name and Meaning Unit
No. range setting ks
Pn046 Waiting time for brake signal ms 10~1000 500
Position error pulse overflow
alarm output
Pn047 － 0~1 0
[0] disable
[1] enable
Run speed of programmed -6000~600
Pn048 r/min 500
speed 0
Pn049 1CN-2output signal selection — 0~3 0
Pn050 1CN-3output signal selection — 0~3 1
Pn051 1CN two input signal selection — 0~3 0
Pn052 Reserved — 0~32 0
Pn053 Input IOsignal filter time ms 0~10000 100
Pn054 Inverts input signal — 0~15 0
Pn055 Inverts output signal — 0~7 0
Pn056 2nd electronic gear numerator — 1~32767 1
Pn057 Dynamic electronic gear enable — 0~1 0 ①
Pn058 reserved — 0 0
RS232 COM input IO contact
Pn059 — 0~15 0
control
Pn060 RS232 COM address — 1~254 1
RS232 COM baudrate
0：4800bit/s
Pn061 bit/s 0~2 1
1：9600bit/s
2：19200bit/s
RS232 COM protocol
0：7，N，2（Modbus, ASCII）
1：7，E，1（Modbus,ASCII）
2：7，O，1（Modbus,ASCII）
3：8，N，2（Modbus,ASCII）
Pn062 — 0~8 5
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）
Pn063 CAN COM address — 1~127 1
CAN COM baudrate
0：50K
1：100K
Pn064 2：125K Kbit/s 0~5 2
3：250K
4：500K
5：1M

- 129 -
Para. Setting Factory Remar
Name and Meaning Unit
No. range setting ks
CAN COM selection
Pn065 [0]disable — 0~1 0
[1]enable
Pn066 Reserved — 0 0
Pn067 Reserved — 0 0
Select cycle run
Pn068 [0]multi-point cycle run — 0~1 0
[1]multi-point single run
Enable/disable P-CON signal
as step chang signal
Pn069 [0] Enable delay step change — 0~1 0
[1] use P-CON signal as step
changing signal
Programming method
Pn070 [0]incremental — 0~1 0
[1]absolute
Origin searching method
Z Y X
Z=0 ： turn off origin search
function
Z=1: Power on, after the 1st
S-ON, start origin search
function automatically.
Z=2：start origin search function
Pn071 automatically everytime after — 0～211 0
S-ON.
Y=0：Search Pulse C after origin
search is done
Y=1：don't search Pulse C after
oigin search is done
X=0：forward run origin search
ZPS as origin
X=1：reverse run origin search
ZPS as origin
Pn072 Start point of program — 0~7 0
Pn073 End point of program — 0~7 1
Speed 1 when searching
Pn074 reference point （ hit STROKE r/min 0~3000 1000
/travel distance switch）
Speed 3 when searching
Pn075 reference point （ away from r/min 0~300 5
STRKE/travel distance switch）

- 130 -
Para. Setting Factory Remar
Name and Meaning Unit
No. range setting ks
Pn076 reserved — 0~300 0

10 4
Cycle number of origin search
Pn077 9999 0
offset reference
pulse
Pulse number of origin search
Pn078 1 pulse 9999 0
offset
Pn079 Reserved — 0 0

10 4
moving distance 0 -32767~32
Pn080 1
revolutions reference 767
pulse
1reference -9999~999
Pn081 moving distance 0 0
pulse 9

10 4 referenc -32767~32
Pn082 moving distance 1 revolution 2
767
e pulse
1 reference -9999~999
Pn083 moving distance 1 low 0
pulse 9

10 4
moving distance 2 -32767~32
Pn084 3
revolutions reference 767
pulse
1 reference -9999~999
Pn085 moving distance 2 low 0
pulse 9

10 4
moving distance 3 -32767~32
Pn086 4
revolutions reference 767
pulse
1 reference -9999~999
Pn087 moving distance 3 low 0
pulse 9

10 4
-32767~32
Pn088 moving distance 4 revolutions 5
reference 767
pulse
1 reference -9999~999
Pn089 moving distance 4 low 0
pulse 9

10 4 referenc -32767~32
Pn090 moving distance 5 revolutions 6
767
e pulse
1 reference -9999~999
Pn091 moving distance 5 low 0
pulse 9

- 131 -
Para. Setting Factory Remar
Name and Meaning Unit
No. range setting ks

10 4 referenc -32767~32
Pn092 moving distance 6 revolutions 7
767
e pulse
1 reference -9999~999
Pn093 moving distance 6 low 0
pulse 9

10 4 referenc -32767~32
Pn094 moving distance 7 revolutions 8
767
e pulse
1reference -9999~999
Pn095 moving distance 7 low 0
pulse 9
Pn096 moving distance 0speed r/min 0~3000 500
Pn097 moving distance 1speed r/min 0~3000 500
Pn098 moving distance 2speed r/min 0~3000 500
Pn099 moving distance 3speed r/min 0~3000 500
Pn100 moving distance 4speed r/min 0~3000 500
Pn101 moving distance 5speed r/min 0~3000 500
Pn102 moving distance 6speed r/min 0~3000 500
Pn103 moving distance 7speed r/min 0~3000 500
moving distance 0 first(1st)
Pn104 acceleration/deceleration time ms 0~32767 0
constant
moving distance 1 first(1st)
Pn105 acceleration/deceleration time ms 0~32767 0
constant
moving distance 2 first(1st)
Pn106 acceleration/deceleration time ms 0~32767 0
constant
moving distance 3 first(1st)
Pn107 acceleration/deceleration time ms 0~32767 0
constant
moving distance 4 first(1st)
Pn108 acceleration/deceleration time ms 0~32767 0
constant
moving distance 5 first(1st)
Pn109 acceleration/deceleration time ms 0~32767 0
constant
moving distance 6 first(1st)
Pn110 acceleration/deceleration time ms 0~32767 0
constant
moving distance 7 first(1st)
Pn111 acceleration/deceleration time ms 0~32767 0
constant

- 132 -
Para. Setting Factory Remar
Name and Meaning Unit
No. range setting ks
Pn112 moving distance 0stop time 50ms 0~32767 10
Pn113 moving distance 1stop time 50ms 0~32767 10
Pn114 moving distance 2stop time 50ms 0~32767 10
Pn115 moving distance 3stop time 50ms 0~32767 10
Pn116 moving distance 4stop time 50ms 0~32767 10
Pn117 moving distance 5stop time 50ms 0~32767 10
Pn118 moving distance 6stop time 50ms 0~32767 10
Pn119 moving distance 7stop time 50ms 0~32767 10
Current feed forward
Pn120 — 0~4096 0 ②
compensation

Note:
① After changing the setting, always turn the power OFF, then Power ON
again. This makes the new setting valid.
② The parameter may vary for motors of different models.

Appendix B

Alarm list

- 133 -
 A power interruption
A．21＊ ╳ Power loss error exceeding one cycle occurred
in AC power supply
A．25 ╳ Watchdog reset System reset by watchdog
A．99 〇 Not an error Normal operation status

〇：Photo-coupler is ON(ON)
╳：Photo-coupler is OFF (OFF)
＊：Alarm can be deleted.

- 134 -