Emheater EMSD5 Series User Manual
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Emheater EMSD5 Series User Manual

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Summary of Contents for Emheater EMSD5 Series

  • Page 2 Safety Caution Before product storage, installation, wiring, operation, inspection or maintenance, the user must be familiar and comply with the following important matters to ensure to use the product safely . Danger Application ⚫ Forbidden to use the product when it is exposed to water gas, corrosive gas and combustible gas.

  • Page 4: Table Of Contents

    Table of Content Chapter 1 Product Inspection And Installation ................1 1.1 Product Inspection ......................1 1.2 Product Front Panel ......................1 1.3 Product Installation ......................3 Chapter 2 Servo Specifications ...................... 6 2.1 Servo Drive Specification ....................6 2.2 Servo Drive Naming Rule ....................7 2.3 Servo Motor Naming Rule ....................
  • Page 5 6.5 Analog Quantity Zeroing Adjustment ................55 6.6 Encoder Selection ......................55 6.7 How To Reset Default Parameters ................. 55 Chapter 7 Parameters ........................56 7.1 PA Group ........................56 7.2 P3 Group Parameters For Multifunctional Terminals ............ 71 7.3 P4 Group Parameters For Internal Position Command ..........78 Chapter 8 Fault and Troubleshooting...................

  • Page 6: Chapter 1 Product Inspection And Installation

    EMSD5 AC Servo Manual Chapter 1 Product Inspection And Installation Chapter 1 Product Inspection And Installation 1.1 Product Inspection This product has made the complete function test before delivery, please check below points After unpacking. (for prevented the product to be abnormal owing to shipping process, please make detail inspection as the following items after breaking the seal:) (Inspect the types of servo driver and servo motor and ensure that are the same types in the ⚫...
  • Page 7 Chapter 1 Product Inspection And Installation EMSD5 AC Servo Manual Fig.1-2 EMSD5-B Front Panel Introduction Item Terminal Introduction ① ① Communication terminal CN3、CN4 ② ② Input and output control signal terminal ③ Encoder signal terminal ④ L1,L2 Power supply terminal ③...

  • Page 8: Product Installation

    EMSD5 AC Servo Manual Chapter 1 Product Inspection And Installation 1.3 Product Installation 1.3.1 Servo Drive Installation ⚫ Installation direction The normal mounting direction of the servo drive is vertical and upright.. ⚫ Fixed installation During installation, please tighten the 2pcs M4 fixing screws at the back of the servo drive. ⚫...
  • Page 9 Chapter 1 Product Inspection And Installation EMSD5 AC Servo Manual Fig.1-4 Installation Interval 1.3.2 Environment Condition For Installation Since the environment conditions for servo driver installation have the direct influence to the normal function and service life of the servo driver, therefore the environment conditions must be conformed to the following conditions: ⚫...
  • Page 10 EMSD5 AC Servo Manual Chapter 1 Product Inspection And Installation hammer, otherwise the shaft and the encoder can be damaged. 1.3.4 Motor Rotation Direction Definition The motor rotating direction description in this handbook is defined as facing the shaft of the servo motor, if the rotating shaft is in counterclockwise direction will be called as positive direction, or in clockwise as reversal direction.

  • Page 11: Chapter 2 Servo Specifications

    Chapter 2 Servo Specifications EMSD5 AC Servo Manual Chapter 2 Servo Specifications 2.1 Servo Drive Specification Model EMSD5-A EMSD5-B Power 0.05KW~1KW 1KW~3KW 1 phase AC220V-15%~10% 1 phase/3 phases AC220V-15%~10% Main Circuit 50/60Hz 50/60Hz 0:Position. 1:Speed. 2:Torque. Control Mode 3:Position and speed. 4:Position and torque.

  • Page 12: Servo Drive Naming Rule

    Chapter 2 Servo Specifications 2.2 Servo Drive Naming Rule EMSD5 - A Serial No. Definition EMSD5 series ac servo drive. A and B frame S: Simple load pulse H: Heavy load pulse E: Ether CAT The branch power range: 040: 400W; 075: 750W.

  • Page 13: Servo Motor And Matched Servo Drive List

    Chapter 2 Servo Specifications EMSD5 AC Servo Manual 1. The code 02430 means the motor rated toque is 2.4N.m and rated speed is 3000rpm. 2. The rated power: P=0.1047×N×T=0.1047×2.4×3000=753.84W≈0.75KW. T=rated torque, N=rated speed. 2.4 Servo Motor and Matched Servo Drive List Table 2-1 Power Speed...

  • Page 14: Chapter 3 Drive And Motor Dimension

    EMSD5 AC Servo Manual Chapter 3 Drive and Motor Dimension Chapter 3 Drive and Motor Dimension 3.1 Drive Dimension The user can install the servo drive with the bottom plate and the installed direction is perpendicular to the installation facing. Recommended to cool the servo drive with fan or natural cooling.

  • Page 15: Motor Dimension

    Chapter 3 Drive and Motor Dimension EMSD5 AC Servo Manual ◆ EMSD5-AS040 doesn’t have the heat sink with a fan. 3.2 Motor Dimension Flange 60mm ● Fig.3-3 Flange 60mm And Table 3-2 Model EM-60S006N30S22 EM-60S013N30S22 Flange 80mm ● Fig.3-4 Flange 80mm And Table 3-3 Model EM-80S024N30S22 EM-80S032N30S22...
  • Page 16 EMSD5 AC Servo Manual Chapter 3 Drive and Motor Dimension Flange 130mm ● Fig.3-5 Flange 130mm And Table 3-2 Model EM-130S040N25S22 EM-130S050N25S22 EM-130S060N25S22 EM-130S077N25S22 EM-130S100N10S22 EM-130S100N15S22 EM-130S100N25S22 EM-130S150N15S22 EM-130S150N25S22...

  • Page 17: Chapter 4 Wiring And Introduction

    Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction 4.1 Servo System Wiring 4.1.1 Servo Drive Wiring Fig.4-1 Servo System Wiring...
  • Page 18 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction 4.1.2 Wiring Introduction Wiring Notes: ⚫ The control cable length should be less than 3 meters and the encoder cable length 20 meters. ⚫ Check that the power supply and wiring of L1,L2 or L1,L2,L3 are correct. ⚫...

  • Page 19: Servo Driver Terminals Introduction

    Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual 4.2 Servo driver terminals Introduction Fig.4-2 EMSD5-A Drive Terminals Fig.4-3 EMSD5-B Drive Terminals...

  • Page 20: Main Circuit Terminal

    EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction ◆ The above picture shows the pins arrangement of the drive. 4.3 Main Circuit Terminal 4.3.1 Main Circuit Terminal Introduction Fig.4-4 Main Circuit Terminal Terminal Name Symbol Detailed Explanation Connect to external AC power supply ,1 phase L1、L2 220VAC -15%~+10%,50/60Hz.

  • Page 21: Cn1 Control Signal Terminal

    Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual been set by factory, so you can insert it to the terminal directly), as picture A showed. When an external regeneration resistance is connected to the servo drive, the short circuit between terminal P and D must be disconnected.
  • Page 22 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction 4.4.2 CN1 terminal pin distribution Fig.4-5 EMSD5-A[B]S Series CN1 Terminal Pin Distribution ◆ A 24-26 AWG cable is recommended. Fig.4-6 EMSD5-A[B]S Series CN1 Terminal...
  • Page 23 Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual Fig.4-7 EMSD5-A[B]H Series CN1 Terminal Pin Distribution ◆ A 24-26 AWG cable is recommended. Fig.4-8 EMSD5-A[B]H Series CN1 Terminal...
  • Page 24 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction 4.4.3 Position Instruction Input Signal Signal Name Pin No. Function PULS+ High speed photo isolation input. Working mode is set by parameter PA-14: PULS- ⚫ Pulse+direction. SIGN+ ⚫ CCW/CW pulse. Position ⚫...
  • Page 25 Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual 2）When it is collector open mode: A） For internal 24V power sources: ⚫ Common Anode Connection, for example: Mitsubishi PLC. ⚫ Common Cathode Connection, for example: Siemens PLC. B）For external power supply: Case 1: To use internal resistance of the drive (recommended ).
  • Page 26 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction ⚫ Common Cathode Connection: Case 2: To use external resistance of the drive. ⚫ Common Anode Connection: ⚫ Common Cathode Connection:...
  • Page 27 Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual ◆ How to calculate the value of resistanceR1： VCC-1.5 =10mA R1+240 Table 4-1 R1 Recommendation VCC Voltage Power 2.4KΩ 0.5W 1.5KΩ 0.5W 4.4.4 Digital Quantity Input And Output Signal Pin No. Signal Name Function Introduction...
  • Page 28 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction Internal 23 Internal 0V Internal 5V power output and the Power max output current 200ma。 Internal 5V Output Internal Internal isolated 24V power 43 Internal 0V Isolated output and the voltage range is Power 20V~28V and max output current E24V...
  • Page 29 Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual B) For external 24V power supply: Note： ◆ Do not support PNP mixed with NPN input. ⚫ Output Circuit Of Digital Quantity Diagram For DO1 as an example( the DO1~DO6(S: DO1~DO4) interface circuit is the same): 1) When the upper device is relay input:...
  • Page 30 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction 2) When the upper device is optocoupler input: ◆ Be sure to connect a continuation diode when the upper device is a relay, otherwise it may damage DO ports or cause strong signal interference. ◆...
  • Page 31 Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual Pulse Instruction Input Interface Diagram Two input types: differential (recommended) and single-end. Speed and torque share one analog input at range from -10V to +10V with resistance approximately at 10 KΩ. The existence of zero bias in the analog input is normal and can be compensated by parameters.
  • Page 32 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction Metal Cover The output circuit of the encoder frequency division outputs a differential signal. Usually, it feedbacks signal when the position control system is formed for the upper device. At the upper device side, please use a differential or optocoupler to receive it and the maximum output current is 20 ma.

  • Page 33: Cn2 Encoder Signal Terminal

    Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual part of the machinery will not move because of itself or external force. Brake Signal Circuit Diagram The brake connection of the input signal without polarity, but it needs users to prepare a 24V power supply.
  • Page 34 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction The pin chart is: Fig.4-10 CN2A Incremental Encoder Signal Terminal Signal Name Pin No. Introduction Use 5V power supply (Provided by servo driver). If the cable is longer than 20m and prevent Encoder Signal Power encoder from voltage dropping down, it is better Supply...

  • Page 35: Cn3 And Cn4 Terminal Definition

    Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual Signal Name Pin No. Function Use 5V power supply (Provided by servo driver). If the cable is longer than 20m, in Encoder Power Supply order to prevent encoder from voltage dropping down, it is better to use multi wires or thick wires for power line and ground line.
  • Page 36 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction Terminal Name Name Picture Null Null CAN ground CAN ground CAN Bus CAN Bus CAN H CAN H communication communication RS485 - RS485 RS485 - RS485 communication communication RS485+ RS485+ CAN L CAN Bus CAN L CAN Bus...
  • Page 37 Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual Cover Cover PE（shielded layer） PE（shielded layer） 2. RS485 Communication Parallel Connection Of Multi Drives When using 485 communication network, the parallel connection of multi drives is as follows: Fig.4-14 Parallel Cable Diagram Of Multi Drives Table 4-3 Connection Between Multi Drives Drive RJ45( A end) PLC（B end）...

  • Page 38: Anti-Jamming Countermeasures Of Power Wiring

    EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction As shown in the picture below, when using RS485 communications, the ground signal of the upper device is connected with the earth: ◆ PLC is built in RS485 communication terminal resistor. ◆...
  • Page 39 Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual Fig.4-16 A Example Of Anti-Jamming Wiring ◆ The cable of the outer box connection used for grounding should be more than 3.5 mm² of coarse wire, and braided copper cables are recommended 2.
  • Page 40 EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction Fig.4-17 Example Diagram Of Noise Filter Input And Output Cables ⚫ The ground wire of the noise filter is separated from its output power cord. Fig.4-18 Diagram Of Separating Cables Between Ground And Output Line Of Noise Filter ⚫...
  • Page 41 Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual Fig.4-19 Single Point Grounding Diagram ⚫ The ground handling of a noise filter installed in the control cabinet. When the noise filter and servo driver are installed in the same control cabinet, it is recommended that the filter and servo driver are fixed on the same metal plate.

  • Page 42: Chapter 5 Running Mode And Wiring

    EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring Chapter 5 Running Mode and Wiring According to the command mode and operation characteristics of a servo drive, it can be divided into three operation modes: position control operation mode, speed control operation mode and torque control operation mode.
  • Page 43 Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual Fig.5-1 Position Mode Diagram The main steps for position mode are as follows: Correctly connect the main circuit and the power supply , as well as the motor power cable and encoder cable.
  • Page 44 EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring Fig.5-2 Position Mode Wiring ◆ The voltage of the internal 24V power supply ranges 20V~28V, and maximum operating current 100mA. If use a external 24V power supply, please connect the external 24V+ to pin16(COM) and the external 0V to pin43(E0V). ◆...
  • Page 45 Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual Digital Input ⚫ Parameter Introduction Range Default PA-11 Command pulses for each rotation 0-30000 10000 numerator of electronic gear for position PA-12 1-32767 command pulse Denominator of electronic gear for position PA-13 1-32767 10000...
  • Page 46 EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring ⚫ Input And Output Terminals Parameter Introduction Range Default Effective level control word for input PA-55 0000-1111 0000 terminals PA-57 Effective level control word for output 0000-1111 0000 Time constant of removing jitter for IO input PA-58 1-20ms terminal...
  • Page 47 Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual Moving Speed POS2 POS1 POS0 CTRG Parm Induction Register Circle(+/-30000) P4-2 P4-4 ↑ （V1） Pulse(+/-max cnt) P4-3 Circle(+/-30000) P4-5 P4-7 ↑ （V2） P4- 6 Pulse(+/-max cnt) Circle(+/-30000) P4-8 P4-10 ↑ （V3）...

  • Page 48: Speed Control Mode Wiring

    EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring 5.2 Speed Control Mode Wiring 5.2.1 Introduction Fig.5-3 Speed Control Mode The main steps to use the speed control mode are as follows: correctly connect the servo main circuit and the power supply of the controller, as well as the motor cable and encoder cable.
  • Page 49 Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual To make the servo enabled and the servo motor rotation is controlled by the position instruction issued by the upper computer. First make the motor rotate at low speed, and confirm whether the rotation direction and electronic gear ratio are normal, then make the gain adjustment.
  • Page 50 EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring Parameter Introduction Range Default Internal And External Speed Instruction PA-22 Selection PA-24 Internal Speed 1 -6000-6000r/min PA-25 Internal Speed 2 -6000-6000r/min PA-26 Internal Speed 3 -6000-6000r/min 1000 PA-27 Internal Speed4 -6000-6000r/min 2000 PA-28...

  • Page 51: Torque Control Mode

    Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual 5.3 Torque Control Mode 5.3.1 Introduction Fig.5-5 Torque Control Mode The main steps to use the speed control mode are as follows: Correctly connect the servo main circuit and the power supply of the controller, as well as the motor cable and encoder cable.
  • Page 52 EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring 5.3.2 Torque Mode Wiring Fig.5-6 Torque Mode Wiring 5.3.3 Parameter Settings In Torque Mode Parameter Introduction Range Default PA-4 Control mode PA-29 Gain of analog torque command Set by yourself Selection for internal and external torque PA-32 command...

  • Page 53: Origin Regression Function And Relevant Parameters Introduction

    Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual Rated PA-50 Speed limit in torque control mode Set by yourself Speed PA-64 Internal torque 1 -300-300 PA-65 Internal torque 2 -300-300 PA-66 Internal torque 3 -300-300 PA-67 Internal torque 4 -300-300 PA-83 Inhibition method...
  • Page 54 EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring P4-34=0: close origin regression function. When set P4-34=0, the origin regression function can not work not matter what its setting value is. P4-34=1: when the power is on, it will execute origin regression automatically. The function is available one when the power supply and servo on,which means it is unnecessary to repeat the operation when the servo works.

  • Page 55: Pre-Operational Inspection

    Chapter 5 Running Mode and Wiring EMSD5 AC Servo Manual motor motion control in only one rotation range and now any detector switches are unnecessary connected. P4-32=5: CCW direction finds Z pulse origin point directly. This function is usually used for servo motor motion control in only one rotation range and now any detector switches are unnecessary connected.
  • Page 56 EMSD5 AC Servo Manual Chapter 5 Running Mode and Wiring ⚫ Driver power supply, auxiliary power supply, grounding end and other wiring should be wired correctly. Each control signal cable connection should be correct. Each limit switch, protection signal have been correctly connected. Enabled switch in OFF state.

  • Page 57: Chapter 6 Operation And Display

    Chapter 6 Operation and Display EMSD5 AC Servo Manual Chapter 6 Operation And Display 6.1 Drive Panel Introduction 6.1.1 Front Panel The panel consists of 5 digital LED and 4 buttons including 、 、 、SET to display all system status and set parameters. The operation is hierarchical. button indicates “back”...

  • Page 58: Steps To Set Parameters

    EMSD5 AC Servo Manual Chapter 6 Operation and Display Fig.6-2 Main Menu 6.3 Steps To Set Parameters Select “PA-” and press SET button to enter the status of parameter setting mode. And use to choose parameters and then press SET button to display the parameter value. You can modify the value with key.
  • Page 59 Chapter 6 Operation and Display EMSD5 AC Servo Manual Status Operation Example Definition Position deviation:4 pulses Motor torque 70% Motor current 2.3A Control mode 0:position control In speed mode,analog input speed: 500 r/min In torque mode,analog input torque:50% Absolute rotor position:3265 Input terminal Output terminal Line voltage:336V...

  • Page 60: Analog Quantity Zeroing Adjustment

    Chapter 6 Operation and Display EMSD5 AC Servo Manual 6.5 Analog Quantity Zeroing Adjustment Using this function,the servo drive can check analog zero offset automatically and write the offset value into parameter PA-39 or PA-45. The operation has saved offset parameter to EEPROM, so it is unnecessary to write parameters again.

  • Page 61: Chapter 7 Parameters

    Chapter 7 Parameters EMSD5 AC Servo Manual Chapter 7 Parameters 7.1 PA Group Name Function Rang Default 1. User code:315. PA-0 Password 0-9999 2. Motor model code:385. Motor The parameter is read-only and can not be modified. PA-1 60-130 Table 7-1 selection The driver automatically identifies the motor model.
  • Page 62 EMSD5 AC Servo Manual Chapter 7 Parameters Name Function Rang Default 13:Display absolute position of the rotor in a roll is 5-bit low. 14:Display absolute position of the rotor in a roll is 5-bit high. 15:Display input terminal state. 16:Display output terminal state. 17:Display encoder input signal.
  • Page 63 Chapter 7 Parameters EMSD5 AC Servo Manual Name Function Rang Default too small, it would lead to low response, which would result in shaking. 4.The value is bigger, the cut-off frequency is higher and the response frequency is quicker. If you need higher torque response frequency, it is recommended to increase the setting value.
  • Page 64 EMSD5 AC Servo Manual Chapter 7 Parameters Name Function Rang Default N:numbers of motor rotation ; C:solutions of photoelectric encoder in per rotation, the default value is 2500. 4.For example, input command pulse P is 6000, servo motor rotate a roll: G=(N×C×4)/P=(1×2500×4)/6000=5/3, So PA-12 should be set to 5, PA-13 should be set to 3.
  • Page 65 Chapter 7 Parameters EMSD5 AC Servo Manual Name Function Rang Default range deviation counter is over than the setting value, the drive will alarm. Set to: Invalid 0: The alarming detection of over travel is valid. PA-18 over-travel 1: The alarming detection of over travel is invalid, and error it stops detecting the error .
  • Page 66 EMSD5 AC Servo Manual Chapter 7 Parameters Name Function Rang Default Internal Speed1(PA-24) Internal Speed2(PA-25) Internal Speed2(PA-26) Internal Speed2(PA-27) Note: 1=ON, 0=OFF. 2: Analog speed command+internal speed command: DI Signal Speed Command Analog Speed Command Internal Speed2(PA-25) Internal Speed2(PA-26) Internal Speed2(PA-27) 3: JOG speed command, if carries out JOG operation, it is needed to set.
  • Page 67 Chapter 7 Parameters EMSD5 AC Servo Manual Name Function Rang Default otherwise is OFF. 2.The comparator has hysteresis function set by PA87. Detection is associated with 10 r/min hysteresis. 3.It also has the polarity setting function: PA88 PA-28 Comparator ＞0 No direction for speed ＞0 Only detect CCW speed...
  • Page 68 EMSD5 AC Servo Manual Chapter 7 Parameters Name Function Rang Default Note: 0=OFF, 1=ON 2:Analog torque command+internal torque command: DI Signal Speed Command TRQ2 TRQ1 Analog torque command Internal Torque2(PA-65) Internal Torque3(PA-66) Internal Torque4(PA-67) The input Reverse the input polarity of analog torque. direction of PA-33 analog torque...
  • Page 69 Chapter 7 Parameters EMSD5 AC Servo Manual Name Function Rang Default 3.When the limit is valid, the actual torque limit is the Minimum value of max overload capacity ,internal CCW torque limit and external CCW torque limit. Temperature PA-38 Set drive temperature up to max limitation. 200-1350 alarm Zero offset...
  • Page 70 EMSD5 AC Servo Manual Chapter 7 Parameters Name Function Rang Default quantity and the influence of signal noise is louder. 1.It defines the delay time from BRK=ON and The setting of BRK=OFF to the motor current cutting off when mechanical the motor stops rotating.
  • Page 71 Chapter 7 Parameters EMSD5 AC Servo Manual Name Function Rang Default The binary digit represents the input terminals as following: 0: high level is active. 1: low level is active. 1.To reverse the output terminals. For reversed terminals,the definitions of breaking over and cut-off is contrary to standard definitions 2.Represented by a binary digit of 4 bits.
  • Page 72 EMSD5 AC Servo Manual Chapter 7 Parameters Name Function Rang Default ratio inertia. The setting value=((load inertia+rotating inertia) / rotating inertia)×100. In torque control mode(PA-4=2), when Internal PA-64 TRQ1=OFF, TRQ2=OFF, internal torque 1 is as -300-300 Torque 1 the torque command. In torque control mode(PA-4=2), when Internal PA-65...
  • Page 73 Chapter 7 Parameters EMSD5 AC Servo Manual Name Function Rang Default range UCO2N(speed coincidence) is ON, otherwise OFF. numerator of electronic gear for PA-77 Refers to parameter PA-12. 0-32767 position command pulse numerator of electronic gear for PA-78 Refers to parameter PA-12. 0-32767 position command...
  • Page 74 EMSD5 AC Servo Manual Chapter 7 Parameters Name Function Rang Default recharge. Then it is effective. When the machine touches the mechanical limit switch and strike CW/CCW limit , you can CWL/CCWL choose the following methods to prohibit with PA-83 inhibit way this parameters.
  • Page 75 Chapter 7 Parameters EMSD5 AC Servo Manual Name Function Rang Default 1. When the motor torque exceeds this parameter, the digital output ATRQ ( torque arrival) is ON, otherwise OFF. 2. The comparator has hysteresis function set by PA-90. -300%- PA-89 Arrival torque 3.

  • Page 76: P3 Group Parameters For Multifunctional Terminals

    EMSD5 AC Servo Manual Chapter 7 Parameters Name Function Rang Default duty cycle on brake Filter selection 0:digital moving average filter. of position PA-100 1:index smooth filter. loop Feed forward can reduce the position tracking Feed forward error in position control. When set to 100, the gain of 0-100 PA-101...
  • Page 77 Chapter 7 Parameters EMSD5 AC Servo Manual P3-15 Digital Input DI forced effective1 00000000-11111111 00000000 P3-16 Digital Input DI forced effective2 00000000-11111111 00000000 P3-17 Digital Input DI forced effective3 00000000-11111111 00000000 P3-18 Digital Input DI forced effective4 00000000-11111111 00000000 P3-19 Digital Input DI forced effective5 00000000-11111111 00000000...
  • Page 78 EMSD5 AC Servo Manual Chapter 7 Parameters Value Symbol Function Explanation When an alarm occurs and if the alarm is allowed clearance, the rising edge( from OFF becomes ON) of ARST will clear the alarm. Attention: only a part of alarms are allowed to clear.
  • Page 79 Chapter 7 Parameters EMSD5 AC Servo Manual Value Symbol Function Explanation torque is also limited by PA-34 in CCW direction. OFF:Torque is not limited by parameter PA-37 in CW direction. CW Torque ON :Torque is limited by parameter PA-37 in CW Limitation direction.
  • Page 80 EMSD5 AC Servo Manual Chapter 7 Parameters Value Symbol Function Explanation Speed control mode Position control mode Torque control mode Position control mode Torque control mode Speed control mode When PA-11=0, Gear1 and Gear2 combinations are Electronic Gear used to select different numerator of gear ratio: GEAR1 GEAR2 GEAR1...
  • Page 81 Chapter 7 Parameters EMSD5 AC Servo Manual Value Symbol Function Explanation Command ↑ P4-8, P4-9 P4-10 Selection1 ↑ P4-11, P4-12 P4-13 ↑ Internal P4-14, P4-15 P4-16 ↑ Position P4-17, P4-18 P4-19 POS2 Command ↑ P4-20, P4-21 P4-22 Selection2 ↑ P4-23, P4-24 P4-25 In internal position register mode,it needs to search for Starting Origin...
  • Page 82 EMSD5 AC Servo Manual Chapter 7 Parameters Running ON : servo motor has excited. In position control mode: NEAR Near Position OFF: position deviation is bigger than parameter PA-85. ON: position deviation is smaller than parameter PA-85. OFF : motor torque has not reached the limitation. Torque ON : motor torque has reached the limitation.

  • Page 83: P4 Group Parameters For Internal Position Command

    Chapter 7 Parameters EMSD5 AC Servo Manual (3) Corresponding functions for P3-17 is represented by 8-bit binary: Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Number NULL JOGN JOGP GEAR2 GEAR1 NULL Function (4) Corresponding functions for P3-18 is represented by 8-bit binary: Bit7 Bit6 Bit5...
  • Page 84 EMSD5 AC Servo Manual Chapter 7 Parameters internal position command 1 The setting of 1. To set position pulses of the first internal position. pulse number 2. Internal position command=the setting value in position of the first internal position cycles+the setting +/-max.cnt P4-3 Cycle for...
  • Page 85 Chapter 7 Parameters EMSD5 AC Servo Manual The move speed of To set the move speed of internal position 0-5000 P4-10 internal 1000 instruction 3. r/min position instruction 3 The number of position cycles To set the number of position cycles of the fourth -30000- P4-11 of internal...
  • Page 86 EMSD5 AC Servo Manual Chapter 7 Parameters number setting internal position. /rev in position 2. Internal position instruction 6=the position loop of cycles setting of the 6 internal position+the pulse internal number setting of the 6 internal position. position instruction 6 The position cycles of To set the position cycles of the 7...
  • Page 87 Chapter 7 Parameters EMSD5 AC Servo Manual origin detector is as regression origin. and setting of 1: Reverse direction origin regression and CWL is finding as regression origin. direction 2: Forward direction origin regression and ORGP is as regression origin. 3: Reverse direction origin regression and ORGP is as regression origin.
  • Page 88 EMSD5 AC Servo Manual Chapter 7 Parameters regression offset(HOF1) 1: To set the pulse number of origin regression offset. The pulse 2: When the parameter function HOF1 and HOF2 are number of set to 0, the origin is defined as Z pulse or ORGP by +/-max.cnt P4-39 origin...

  • Page 89: Chapter 8 Fault And Troubleshooting

    Chapter 8 Fault and Troubleshooting EMSD5 AC Servo Manual Chapter 8 Fault and Troubleshooting Fault Name Introduction Normal Over speed Motor speed over than the setting values. Main circuit over voltage The voltage of main circuit is too high Main circuit under voltage The voltage of main circuit is too low The value of position deviation counter is over than Position overshoot...
  • Page 90 EMSD5 AC Servo Manual Chapter 8 Fault and Troubleshooting Over voltage when main circuit in Over voltage when main circuit in powering up powering up Encoder communication fault Driver and encoder are not connected Encoder communication After the encoder established the communication, abnormal there appears the interrupt and disconnection.

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