EDB Setting Guidance Chapter 1: General Precaution Notice before using: 1.Make sure input power of main circuit and control circuit are connected right.(specially main circuit U/V/W is 200V) 2.Keep the machinery in safe position to avoid accident. 3.Noise from signal wire causes mechanical vibration and malfunctions easily.So noise rejection and grounding are necessary.Please route high-voltage power cables separately from low-voltage power cables and make cable route as short as possible. 4.Don't plug in or unplug the connectors when power is ON.Always turn the power OFF first before plugging in or unplugging the connectors. 5.Continuous operation with negative load is prohibit.Motor shouldn't keep continuous operating with load when it brakes by regenerative resistor or brake .
Process to set "Suitable motor model parameter" a.Check the purchased motor model; b.Check the purchased drive model; c.To confirm whether motor model is suitable with drive model according to following table.If not,please contact with the manufacturer or distributer. d.Power on drive control circuit after confirming motor model is suitable with drive model.Then set "suitable motor model parameter Pn218"according to following table.And then power OFF,motor model setting is completed. Servo Drive Model EDB-08A□A EDB-10A□A EDB-10A□A EDB-15A□A EDB-20A□A EDB-30A□A EDB-50A□A EDB-10A□A EDB-20A□A EDB-30A□A EDB-50A□A
Servo Motor Model EMJ-08APA□□ EMJ-10APA□□ EMG-10APA□□ EMG-15APA□□ EMG-20APA□□ EMG-30APA□□ EMG-50APA□□ EML-10APA□□ EML-20APA□□ EML-30APA□□ EML-40APA□□
Pn218 0 0 1 1 1 1 1 2 2 2 2
Chapter 2 Introduction of EDB parameters and major control modes Ⅰ.Parameters for basic function 1.Pn000 Use servo ON input signal （/S-ON）or not (0~1)  Use servo ON input (/S-ON).  Don't use servo ON input (/SON)
2.Pn001 Use forward rotation prohibited input （P-OT）or not (0~1)  Use forward rotation prohibited input (P-OT).  Don't use forward rotation prohibited input (P-OT). 3.Pn002 Use reverse rotation prohibited input signal（N-OT）or not (0~1)  Use reverse rotation prohibited input（N-OT）  Don't use reverse rotation prohibited input (N-OT). 4.Pn003 Operation performed at recovery from power loss (0~1)  Resets servo alarm status at power recovery from its momentary power loss. （ALM）  Remains in servo alarm status at power recovery from momentary power loss.（ALM） 5.Pn004 How to stop when Servo OFF or overtravel occurs (0~5)  Stops the motor by applying dynamic brake (DB) and then release the brake  Coast to a stop  Performs DB when S-off; apply plug braking when overtravel,S-off after motor stops  Motor coasts to stop when S-off, apply plug braking when overtravel, S-off after motor stops  Performs DB when S-off, apply plug braking when overtravel, zero clamp after motor stops  Motor coasts to stop when S-off, apply plug braking when overtravel ,zero clamp after motor stops 6.Pn005 whether the error counter cleared when S-OFF (0~3)  clear the error counter when S-OFF : don't clear the error counter when S-OFF  clear the error counter when S-OFF or overtravel : don't clear the error counter when S-OFF or overtravel
7. Pn006 Rotation Direction Selection (0~1)  Forward rotation is defined as counterclockwise rotation when viewed from the drive end. (Standard setting)  Forward rotation is defined as clockwise rotation when viewed from the drive end.(Reverse rotation mode) 8.Pn041 Control Mode Selection (0~14)  Speed control (analog reference)  Position control (pulse train reference)  Torque control (analog reference) Speed control (contact reference) ←→Speed control (0 reference)  Speed control (contact reference) ←→Speed control (analog reference)  Speed control (contact reference)←→Position control (pulse train reference)  Speed control (contact reference) ←→Torque control (analog reference)  Position control (pulse train reference) ← → Speed control (analog reference)  Position control (pulse train reference) ← → Torque control (analog reference)  Torque control (analog reference) ←→Speed control (analog reference)  Speed control (analog reference) ←→Zero clamp control  Position control(pulse train reference)←→position control (pulse inhibit)  Position control (parameter reference)  Speed control (parameter reference)  electric knife frame function
Ⅱ.Speed Control Mode
1.Speed control means motor rotates according to reference speed. 2.Speed control is applied widely.Typical applications include:continuous speed control system with rapid response;positioning system with position closed loop of host;system need rapid switch of different speed. 3.Speed reference is by analog,which means speed is decided by analog range.Motor rotation direction is based on positive or negative analog. Correspondence between analog and rotate speed is decided by Speed reference gain (Pn012).
Possible parameters of speed control:
1.Pn012 Speed reference gain 2.Pn013 Speed loop gain 3.Pn014 Speed loop integration time constant 4.Pn019 Soft start accelerating time 5.Pn020 Soft start decelerating time 6.Pn021 PG dividing ratio 7.Pn100 Speed loop setting curve form 8.Pn101 S curve raising time[0~10000] 9.Pn102 first and secondary filter time[0~10000] 10.Pn103 S form selection[0~3]
Notice of speed control: 1.Speed loop gain(Pn013) is usually set high to keep whole system respond quickly and increase motor rigidity.While too much gain will cause system vibration.High gain is suitable for large load occasion. 2.Integration time constant (Pn014) is able to eliminate offset .The higher it is set,the slower it responds and the longer time it takes to position.Integration time should cooperate with load inertial. 3.Soft start accelerating/decelerating time (Pn019/Pn020) shouldn't be modified,while host is with closed loop. 4.If motor is stoped completely by analog without closed loop of host ,Zero clamp or percent control should be taken. 5.Analog couldn't be modified zero with position closed loop of host .
Ⅲ.torque control mode
1.To control output torque not speed. 2.It is applied in occasions of tension control/press control,etc. 3.User inputs analog.Relationship between analog and torque depends on parameter Pn031(Torque reference gain),the unit is 0.1V/100%,which means how many 0.1V corresponds with 100% rated torque. 4.For example:it is set as 100,which means motor output 100% rated torque after inputting 10V analog.
Possible parameters of torque control 1.Pn007 Select speed limit mode 2.Pn012 Speed reference gain 3.Pn031 Torque reference gain 4.Pn018 Torque reference filter time constant 5.Pn042 Torque speed limit
Notice of Torque Control Mode 1.Motor rotation speed should be limited by analog or parameter setting. 2.The smaller torque reference gain is set,the larger torque it outputs by same analog. 3.Outputting torque is the smaller one of analog torque reference and load torque.
Ⅳ.Position Control Mode(most widely used) Position Control Position control is widely applied in various positioning occasions,which could replace various step transfer systems.Usually position control is by puls.Position is decided by pulse number and rotation speed is decided by puls frequency.Position equivalent of one puls depends on mechanical structure and electronic gear ratio.
Possible parameters of position control 1.Pn008 2.Pn013 3.Pn014 4.Pn015 5.Pn017 6.Pn022 7.Pn023 8.Pn056 9.Pn057 10.Pn058 11.Pn102 12.Pn104
Reference puls form Speed loop gain Speed loop integration time constant Position loop gain Position feed forward Electronic gear A Electronic gear B The second electronic gear numerator B2 Dynamic electronic gear on Dynamic electronic gear switching first and second filter time Position reference first and secondary filter selection
Connection of puls inputting
Example 1 (host is line drive outputs) Suitable line driver (AM26LS31/SN75174 or replacement of MC3487 from TI Cop.)
Example 2 (host is open collector outputting and provide 24VDC signal power)
Example 3 (host is open collector outputting,and provide 12VDC or 5VDC signal power)
Please set resistor R1 according to following current range. Input current i=10~15mA Vcc=12V,R1=510Ω Vcc=5V,R1=180Ω
Introduction for electronic gear
1.One puls is corresponding to a positon equivalent (reference unit) by setting electronic gear.User could set electronic gear easily by mechanical speed reduce ratio,such as reference unit should correspond with mechanical displacement. 2.Electronic Gear is a ratio of puls number from controller(denominator Pn023) and encoder resolution ratio (numerator Pn022). EDB encoder is 2500P/R ,whose resolution ratio is 10000P/N. For example, PLC demand 1000 puls a revolution,electronic gear ratio is Pn022/Pn023=10000/1000,reduction of a fraction is 10/1. 3.Feedback puls number of travel distance reference unit is feedback from motor encoder.
Introduction of second electronic gear: There are two electronic gear ratios of EDB drive internal to adapt some special occasions.Two electronic gear ratio could be dynamic switched during operation.Operation steps are as followings: Dynamic electronic gear is effective,when Pn041=1 and Pn057=1,which is switched by P-CON.Numerator of electronic gear is B=Pn022 without P-CON signal inputting;Numerator of electronic gear is B=Pn056 with P-CON signal inputting.When Pn057=0,P/PI is still switched by P-CON.
Smooth operation of position loop
1.When host device is without accelerating /deceleration function. 2.When electronic gear is set too much. 3.When reference puls rate is low. 4.When reference puls rate is not stable. Parameters,position reference first filter and feed forward,need to be set with above situations.When feed forward is set higher,it's better to set feed forward filter.
Notice for position control
1.It may cause position offset if position gain Pn015 is set too small(