YAKO ES2 Series User Manual
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YAKO ES2 Series User Manual

Ac servo drive
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ES2 Series
Series
Shenzhen YAKO Automation Technology Co., Ltd.
Shenzhen YAKO Automation Technology Co., Ltd.
Shenzhen YAKO Automation Technology Co., Ltd.
AC Servo Drive
User Manual （Lite Version V1.
User Manual
2019-03-12
www.yankong.com
0
V1.0）

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  • Page 1 ES2 Series Series AC Servo Drive User Manual User Manual （Lite Version V1. V1.0） 2019-03-12 Shenzhen YAKO Automation Technology Co., Ltd. Shenzhen YAKO Automation Technology Co., Ltd. Shenzhen YAKO Automation Technology Co., Ltd. www.yankong.com...

  • Page 2: Table Of Contents

    Content Content ............................. 1 Chapter 1: Selection of Servo System ....................2 1.1 Drive specifications ......................2 1.2 Servo motors and drives model description ................ 3 1.3 Servo driver and servo motor matching ................4 1.4 Matching motor number ..................... 5 1.5 Auxiliary cable ........................

  • Page 3: Chapter 1: Selection Of Servo System

    Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0 Chapter 1: Selection of Servo System 1.1 Drive specifications Table 1-1 ES2 series servo drive basic specifications Drive model ES2-04B ES2-10B ES2-15B ES2-30B Continuous output current Arms 11.6...

  • Page 4: Servo Motors And Drives Model Description

    Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0 1.2 Servo motors and drives model description Drive model description ES2 – 04 B - XX ① ② ③ ④ ⑤ ⑥ ① AC servo series ES2：YAKO ES2 series AC servo drive 04: 400W 10: 1KW ②...

  • Page 5: Servo Driver And Servo Motor Matching

    Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0 1.3 Servo driver and servo motor matching Table 1-2 Servo drive and motor matching table Rated Drive model Drive Servo motor model Flange Power speed Speed ES2-□□B**...

  • Page 6: Matching Motor Number

    Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0 1.4 Matching motor number Table 1-3 Motor number quick reference table Servo motor model Motor number Motor Rated series voltage ASM□-□□-□□□□□-***** (P01.00) ASMJ-06-0230B-U*** ASMJ-06-0430B-U*** ASMD-06-0630B-U***-M ASMJ-08-0830B-U*** ASMJ-09-0830B-U***...

  • Page 7: Braking Resistance Specication

    Chapter 1: Selection of Servo System ion of Servo System ion of Servo System ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 Encoder cable naming rules: Encoder cable naming rules: –...

  • Page 8: Chapter 2: Product Installation And Dimensions

    Chapter 2: Product Installation and Dimensions ES2 Series Servo User Manual Lite V1.0 Chapter 2: Product Installation and Dimensions 2.1 Servo drive dimensions Frame B: ES2-04B, ES2-08B,ES2-10B Frame C: ,ES2-15B, ES2-30B Table 2-1 Driver Dimensions Model L(mm) H(mm) D(mm) L1(mm)

  • Page 9: Chapter 3: Servo Drive And Motor Connection

    Chapter 3: Servo Drive and Motor Connection Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 Chapter 3: Servo Drive and Motor Connection Servo Drive and Motor Connection 3.1 System structure diagram...

  • Page 10: Main Circuit

    Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 parameters, etc. Control port CN1 Connect with host controller for IO signal control Encoder feedback port CN2 Connect for motor encoder feedback 3.2 Main circuit 3.2.1 Introduction of each part...
  • Page 11 Chapter 3: Servo Drive and Motor Connection Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 Table 3-4 Servo motor side connectors...

  • Page 12: Control Signal

    Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 3.4 Control signal Table 3-5 Control terminal PIN definition Definition Function PILS+ Pulse command ( below 2Mpps）： Pulse, CW, A Phase PULS- Differential drive input or open collector...
  • Page 13 Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 Definition Function Default function Functional description P-OT Prohibit forward drive N-OT Prohibit backward drive INHIBIT Pulse inhibit ALM-RST Alarm reset ( Pulse edge valid function) S-ON...
  • Page 14 Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 Figure 3-2 General view of the control mode...

  • Page 15: Digital Input And Output Signal

    Chapter 3: Servo Drive and Motor Connection Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 3.4.1 Digital input and output signal Digital input and output signal 1) Digital input circuit...
  • Page 16 Chapter 3: Servo Drive and Motor Connection Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 b） When the host computer is open collector output When the host computer is open collector output...
  • Page 17 Chapter 3: Servo Drive and Motor Connection Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 Note: NPN and PNP input mixing is not supported. Note: NPN and PNP input mixing is not supported.

  • Page 18: Position Command Input Signal

    Chapter 3: Servo Drive and Motor Connection Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 Note: 1. Be sure to connect a current limiting resistor; Note: 1. Be sure to connect a current limiting resistor;...
  • Page 19 Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 ② Use an external power supply Option 1: Use the internal resistance of the drive (recommended) Option 2: Use external resistors and NPN type...

  • Page 20: Communication Signals

    Chapter 3: Servo Drive and Motor Connection Chapter 3: Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 Option 3: Use external resistors and PNP type Option 3: Use external resistors and PNP type = 10mA Resistance R1 select formula：...

  • Page 21: Chapter 4: Operation And Adjustment

    Chapter 4: Operation and Adjustment Chapter 4: Operation and Adjustment ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 Chapter 4: Operation and Adjustment Chapter 4: Operation and Adjustment 4.1 Panel operator description Panel operator description 4.1.1 Interface introduction...

  • Page 22: Parameter Setting And Display

    Chapter 4: Operation and Adjustment Chapter 4: Operation and Adjustment ES2 Series Servo User Manual Lite V1.0 ES2 Series Servo User Manual Lite V1.0 4) How to browse and modify the parameters of the servo drive How to browse and modify the parameters of the servo drive...

  • Page 23: Monitorable Parameter List

    ES2 Series Servo User Manual Lite V1.0 In YAKO servo system, the display is performed by a method of displaying 4 digits by 3 pages. At system, the display is performed by a method of displaying 4 digits by 3 pages. At system, the display is performed by a method of displaying 4 digits by 3 pages.

  • Page 24: Operating Mode Instructions

    Chapter 4: Operation and Adjustment ES2 Series Servo User Manual Lite V1.0 4.2 Operating mode instructions 4.2.1 Position mode P04-07 gear ratio numerator 1 P04-09 gear ratio denominator 1 P04-03Position command P04-11 gear ratio numerator 2 P04-00 command smoothing filter...
  • Page 25 Chapter 4: Operation and Adjustment ES2 Series Servo User Manual Lite V1.0 4.2.1.1 Position mode wiring Note: 1. The signal cable and the power cable must be separated, at least 30cm apart; 2. When the signal cable length is not enough, to extend the cable, the shield layer must be reliably connected to ensure shielding and grounding.
  • Page 26 Chapter 4: Operation and Adjustment ES2 Series Servo User Manual Lite V1.0 code unit setting ve time By l ow speed pulse command Setting By m Main position ulti-segment position Imme after command source diately motor command stop By c...
  • Page 27 Chapter 4: Operation and Adjustment ES2 Series Servo User Manual Lite V1.0 Set the electronic gear ratio according to the actual situation of the machine and the host computer. Factor Function Related Name Setting range Type Effective time code unit...

  • Page 28: Chapter 5: Auxiliary Functions

    Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0 Chapter 5: Auxiliary Functions 5.1 JOG run JOG running flow chart Change JOG speed Chnange motor direction by Complete...

  • Page 29: Alarm Reset

    Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0 5.2 Alarm reset Alarm reset flow chart Complete...

  • Page 30: Parameter Initialization

    Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0 5.3 Parameter initialization Parameter initialization flow chart 1—Parameter initialization 2—Clear the fault record Complete...

  • Page 31: Digital Signal Forced Input And Output Function

    Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0 5.4 Digital signal forced input and output function The servo drive has DI/DO force input and output function. The forced DI input can be used to test driver DI function, and the forced DO output can be used to check the DO signal connection between the host computer and the driver.
  • Page 32 Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0 The display is as follows: Figure 5-2 Description of the DI level status of P18-21 b) Exit forced input function The DI signal forced input function does not save to memory, After re-power, it will restored to normal DI.

  • Page 33: Offline Inertia Identification

    Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0 b) Exit forced output function The DO signal forced input function does not save to memory, After re-power, it will restored to normal DO. Or it can be switched back to normal DI mode by setting P11-10=0.
  • Page 34 Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0 The general operation flow of offline inertia identification is as follows:...
  • Page 35 Chapter 5: Auxiliary Functions ES2 Series Servo User Manual Lite V1.0 Offline inertia identification is divided into two modes: positive and negative triangle wave mode and JOG mode. The command of the two modes are different. Item Positive/negative triangle wave mode (P08.23=0) JOG mode( P08.23=1)

  • Page 36: Chapter 6: Troubleshooting

    Chapter 6: Troubleshooting ES2 Series Servo User Manual Lite V1.0 Chapter 6: Troubleshooting Servo drive alarm level is divided into two levels Alarm level Name Description The servo drive has a serious alarm and cannot work normally. It needs to be...

  • Page 37: Non-Resettable No.1 Fault

    Chapter 6: Troubleshooting ES2 Series Servo User Manual Lite V1.0 6.1.1 Non-resettable NO.1 fault Whether Fault Stop method the fault number Fault name Cause of fault when fault can be occurs reset System parameter Abnormal data of servo internal No.1...

  • Page 38: Resettable No.2 Fault

    Chapter 6: Troubleshooting ES2 Series Servo User Manual Lite V1.0 Whether Fault Stop method the fault number Fault name Cause of fault when fault can be occurs reset 1. Speed command exceeds the maximum speed value 2. UVW phase sequence error Overspeed No.1...
  • Page 39 Chapter 6: Troubleshooting ES2 Series Servo User Manual Lite V1.0 Fault Warning name Cause of fault number Er_ The warning before the motor is about to fail, the warning Motor overload warning value is determined by P09_05 Changed parameters need...

  • Page 40: Chapter 7: Parameter List

    Appendix ES2 Series Servo User Manual Lite V1.0 Chapter 7: Parameter List Parameter group number Parameter group function Basic control parameters Servo motor parameters Digital input and output parameters Position control parameters Speed control parameters Torque control parameters Gain parameters...

  • Page 41: P00 Group: Basic Control Parameters

    Appendix ES2 Series Servo User Manual Lite V1.0 P00 group: basic control parameters Function Default Effectiv Name Setting range Min. unit Type Mode code setting e time 0-position mode 1-speed mode 2-torque mode 3-speed / torque mixing mode Effectiv Settin...
  • Page 42 Appendix ES2 Series Servo User Manual Lite V1.0 Function Default Effectiv Name Setting range Min. unit Type Mode code setting e time 0-free running stop 1- Decelerate the motor with the set torque of the emergency stop torque as the maximum...

  • Page 43: P01 Group: Servo Motor Parameters

    Appendix ES2 Series Servo User Manual Lite V1.0 Function Default Effectiv Name Setting range Min. unit Type Mode code setting e time Effectiv Pulse increment when 0～200 threshold immedia runnin tely Continuous Effectiv pulseless when 1～200 reception cycle immedia runnin...
  • Page 44 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Input function code: 0, 1-40 0: no definition terminal Effective when 1 to 40: FunIN.1 to function selection immediately...
  • Page 45 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Input polarity: 0-4 0-low level effective 1-high level effective DI4 terminal logic Effective when 2-rising edge is valid selection...
  • Page 46 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Output code: 1 ~ 20 0: no definition Settin 1~20: terminal Effective g after FunOUT.1~20 refer function selection immediately...

  • Page 47: P04 Group: Position Control Parameters

    Appendix ES2 Series Servo User Manual Lite V1.0 P04 group: position control parameters Function Min. Default Effective Name Setting range Type Mode code unit setting time 0-low speed pulse command 2-step amount given Settin Effective Main position 4-multi-segment g after...

  • Page 48: P05 Group: Speed Control Parameters

    Appendix ES2 Series Servo User Manual Lite V1.0 0- Clear position deviation pulse when fault occurs or servo OFF Settin 1- Clear the Effective Position deviation g after position deviation immediate clear function motor pulse only when a stop fault occurs...

  • Page 49: P06 Group: Torque Control Parameters

    Appendix ES2 Series Servo User Manual Lite V1.0 0-main speed command A source Settin Speed command 1-auxiliary speed Effective g after selection command B source immediately motor 2-A+B stop 3-A/B switching Speed command Effective when -9000rpm ～ 1rpm 200rpm keyboard setting...
  • Page 50 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time 0-digit given (P06- Settin Effective Auxiliary torque g after immediate command B source 3-given through motor communication stop 0-Main torque...

  • Page 51: P07 Group: Gain Parameter

    Appendix ES2 Series Servo User Manual Lite V1.0 P07 group: gain parameter Function Min. Default Effective Name Setting range Type Mode code unit setting time Effective when Position loop gain 1 1～2000.0 0.1HZ immediate runnin Effective when Speed loop gain 1 1～2000...
  • Page 52 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time 0-first gain fixed 1-second gain fixed 2-using DI input (GAIN-SWITCH) 3-torque command greater 4-speed command change greater 5-speed command...

  • Page 53: P09 Group: Failure And Protection

    Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time 0-no speed feedforward 1-internal speed feedforward Settin Effective 2-use AI1 as speed Speed feedforward g after immediate control selection...

  • Page 54: P11 Group: Auxiliary Function Parameters

    Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Power output lack Effective 0-Enable protection when phase protection immediate 1-Prohibited protection runnin selection Effective when Reserved immediate runnin...

  • Page 55: P12 Group: Keyboard Display Parameters

    Appendix ES2 Series Servo User Manual Lite V1.0 eter 0-no operation 1-Restore factory Settin Effective setting (except P1 and System initialization g after immediate function P17 parameters) motor stop 2- Clear the fault record 0-no operation Effective DIDO forced input...
  • Page 56 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Settin Effective Specify g after 1～16 immediate segment motor stop Valid in the other three modes except DI mode...
  • Page 57 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Segment 3: Effective 1000ms( when waiting time after 0～10000 immediate runnin completion Segment 4: -1073741824 Effective ～ movement 10000U...
  • Page 58 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Segment 7: Effective 1000ms( when waiting time after 0～10000 immediate runnin completion Segment 8: -1073741824 Effective ～ movement 10000U...
  • Page 59 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Segment 11: Effective 1000ms( when waiting time after 0～10000 immediate runnin completion Segment 12: -1073741824 Effective ～ movement 10000U...

  • Page 60: P14 Group Multi-Speed Command

    Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Segment 15: Effective 1000ms( when waiting time after 0～10000 immediate runnin completion Segment 16: -1073741824 Effective ～ movement 10000U...
  • Page 61 Appendix ES2 Series Servo User Manual Lite V1.0 Function Setting Default Effective Name Min. unit Type Mode code range setting time Setting Acceleration/deceleration 0ms- Effective after 10ms time 3 65535ms immediately motor stop Setting Acceleration/deceleration 0ms- Effective after 10ms time 4...
  • Page 62 Appendix ES2 Series Servo User Manual Lite V1.0 Function Setting Default Effective Name Min. unit Type Mode code range setting time 0-zero acc./dec. time 1- acc./dec. Setting time 1 Speed up and down time Effective after 2- acc./dec. of speed segment 3...
  • Page 63 Appendix ES2 Series Servo User Manual Lite V1.0 Function Setting Default Effective Name Min. unit Type Mode code range setting time 0-zero acc./dec. time 1- acc./dec. Setting time 1 Speed up and down time Effective after 2- acc./dec. of speed segment 6...
  • Page 64 Appendix ES2 Series Servo User Manual Lite V1.0 Function Setting Default Effective Name Min. unit Type Mode code range setting time 0-zero acc./dec. time 1- acc./dec. Setting time 1 Speed up and down time Effective after 2- acc./dec. of speed segment 9...
  • Page 65 Appendix ES2 Series Servo User Manual Lite V1.0 Function Setting Default Effective Name Min. unit Type Mode code range setting time 0-zero acc./dec. time 1- acc./dec. Setting time 1 Speed up and down time Effective after 2- acc./dec. of speed segment 12...

  • Page 66: P16 Group: Special Function Parameters

    Appendix ES2 Series Servo User Manual Lite V1.0 Function Setting Default Effective Name Min. unit Type Mode code range setting time 0-zero acc./dec. time 1- acc./dec. Setting time 1 Speed up and down time Effective after 2- acc./dec. of speed segment 15...
  • Page 67 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time 0-forward homing, deceleration and home points are home switch; 1- backward homing, deceleration and home points are home switch;...

  • Page 68: P18 Group: Display Parameters

    Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Settin Low-speed Effective g after searching home 10 rpm -1000 rpm 10 rpm immediate motor switch signal stop Settin Limit the accel.
  • Page 69 Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Corresponding Displa speed information -9000rpm~9000rpm 1rpm of input position param command eter -1073741824 Displa Position deviation 1073741824(Encoder counter (32 bit)

  • Page 70: Dido Assignment Basic Function Definition

    Appendix ES2 Series Servo User Manual Lite V1.0 Function Min. Default Effective Name Setting range Type Mode code unit setting time Displa voltage 0.1V selected fault param eter Displa Input terminal status at selected fault param eter Displa Output terminal...
  • Page 71 Appendix ES2 Series Servo User Manual Lite V1.0 Input signal function description Code Name Function Name Description Status Zero postion fixed Valid -enable zero postion fixed function, FunIN.11 ZERO_CLAMP function enable Assign Invalid-disable zero postion fixed function signal Valid - disable command pulse input FunIN.12...

  • Page 72: Appendix A: Error Code Table

    Appendix ES2 Series Servo User Manual Lite V1.0 Input signal function description Code Name Function Name Description Status Reset interrupt FunIN.36 XINT_RST Forced to exit the fixed length state Assign fixed length Pause interrupt FunIN.37 RUN_SUSPEND Pause interrupt fixed length operation...
  • Page 73 Appendix ES2 Series Servo User Manual Lite V1.0 Stop Error method Fault number Error Name Cause of Error when reseta error occurs Motor initial angle Motor initial angle detection abnormal No.1 detection abnormal 1 motor UVW phase sequence setting error...

  • Page 74: Appendix B: Version Change Record

    Appendix ES2 Series Servo User Manual Lite V1.0 Backward overtravel Backward overtravel switch Not terminal is valid warning External regenerative External regenerative resistor power is too small resistor overload The external regenerative resistance is less than the minimum External regenerative required by the driver;...

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