EDB/EDC Series. All Digital AC Servo Systems. Drive your success

Transcription

1 ED/EDC Series ll Digital C Servo Systems Drive your success

2 Company Profile s NO.1 Servo brand in China, Estun utomation is devoted to R&D, manufacturing and sales of high-end products in the realm of motion control. Estun utomation has a completely self-owned IPR technology of C servo systems which are widely applied in CNC machines, textile machines, packaging machines, printing machines, wood processing machines and other automatization production lines. Till now, Estun utomation has an established long-term strategic partnership with many prestigious and professional sales agents and has become the first cooperation option for many machine manufacturers at home and abroad. NanJing City Nanjing is the capital of JIangsu Province and a modern city in China, with a history more than 6, years old. If we were to think of JIangsu as a country, it would be ranked 4 th in regards to GDP in the world. Estun utomation Technology Co., Ltd

3 Estun utomation Technology Co., Ltd 5 ED/EDC Series ll Digital C Servo 8 ED/EDC Series Servo Drive 12 EMJ Series Servo Motor 16 EMG Series Servo Motor 2 EML Series Servo Motor 24 Mounting Dimension of Motor & Drive 25 Typical Connection Example GuLou Square s the biggest square in Nanjing, Gulou Square lies in the downtown city accompanied with a 455, square meters garden. The Town s people love gathering around the square to rest, talk or exercise.

4 ED Series Servo Drive EDC Series Servo Drive With a power range from 75w to 5Kw, the ED series is designed to meet various general purpose applications. Mature servo software control technology and hardware design leads to high performance. Features include high overload capacity, auto disturbance rejection, control flexibility, single axis positioning, a windows-based software and RS422/485 communications. The EDC series is designed for lower cost applications with step and direction control. Composing software by C language ensures high responsiveness. palm operator is necessary to set, change or monitor the parameters. The EDC series has 8-node build-in positioning points, a windows-based software and RS232/Canopen communication. High Responsiveness The Responding performance has been greatly improved with new functions like current forward-feed control, acceleration forward-feed control and speed observer. Updated with control mode switch function, effectively reduce overshoot and adjustment time by setting appropriate switch function. Estun utomation Technology Co., Ltd

5 ED/EDC Series ll Digital C Servo System High Overload Capacity ED/EDC servo drive utilizes a larger capacity industrial grade intelligent power modules (IPM) than a normal servo with the same power capacity. Therefore, they have stronger overload capacity, higher disturbance rejection capacity and larger startup torque. The servo drives assure three times overload capacity for types below 1.5Kw and 2.5 times above 2Kw at rated speed. uto Disturbance Rejection The most updated high speed DSP is used to meet the control requirements of high speed, high precision servo. With its auto disturbance rejection control and speed observation control algorithm, combined with compensation servo delay s forward-feedback control, reference smoothing technique, the servo drives have much better dynamic features and stabilities than those with conventional PI control. Servo s real fast response, high precision, high speed and high stability are realized. In addition, being equipped with automatic inertia identification, it makes adjustment operations easier.

6 Communication Interface Standard CN bus interfaces are available in EDC series servo which makes it easy to get integrated into a distributed control system. ased on Modbus Protocols of RS485 or RS232 interfaces, the host can be connected up to 32 servos for network control & the transmission distance can reach 12 meter in maximum(if RS485 interface be used). esides, the host can also communicate with PLC, DCS, intelligent instruments, touch screen and so on for centralized monitor. Flexible switching Position control, speed control and torque control are combined all in one in ED servo drives. It s available to switch dynamically among different control modes and operation is more convenient and flexible. Windows-based ESview Computer Software With special window-based computer software, the following functions are achieved: Parameter management Fast and convenient operations to all parameters are available, such as editing, transmission, comparison and initialization. Monitoring Real time monitoring of all I/O signals, alarm of the present and history record, and system status etc. Real time sampling Real time sampling the curves of speed and torque facilitates the adjustment and analysis. djusting Fast adjustment of gains is available. Sample test is available when there is no position or speed reference input. Estun utomation Technology Co., Ltd

7 Single xis Positioning Function The 16-node single axis positioning function is built inside the servo drives, and a touch screen can be connected directly to the RS-232 interface on the servo drives. Thus the costs is lower since an intermediate PLC unit is eliminated. With the touch screen, users may easily program every node s position, speed, acceleration, deceleration time, latency time, start point and stop point, moreover, the above info can be transmitted to the servo drive via RS-232 interface. Users may select to program absolute values or incremental values and select cycle run or not. Users may also use a reference point search function and program the go and back speed for reference point search and it s also available to use external signals for step changes. Users may develop their own application programs to meet different demands on different occasions.

8 ED/EDC Series Servo Drive Features FFT nalysis to control the vibration Dynamical change of electronic gear Inertia detection and speed forward-feedback function Superior reliability Model Specification Description EDC 8 P E EDC Servo Drive Rated Power Power voltage Control Style Design Sequence Sign Specification Sign Specification Sign Specification Sign Specification 2 2W 2VC P Position Control E Design Sequence 4 4W 8 75W ED 1 M ED Servo Drive Rated Power Power voltage Control Style Design Sequence Sign Specification Sign Specification Sign Specification Sign Specification 8 75W 2VC P 1 1KW M KW Position Control Position, speed, torque control Design Sequence 2 2KW 3 3KW 5 5KW Estun utomation Technology Co., Ltd

9 Model Comparison Table Servo Motors Series Capacity Model Single phase 19~245Vac 2w EMJ-2P EDC-2PE Small Capacity EMJ 3r/min 4w EMJ-4P EDC-4PE 75w EMJ-8P EDC-8PE ED-8 EDC/ED series Servo Drives Three phase 19~245Vac ED-8 1W EMJ-1P ED-1 ED-1 1.kW EMG-1 ED-1 ED-1 Medium Inertia Medium Capacity EMG 2r/min 1.5kW EMG-15 ED-15 ED-15 2.kW EMG-2 ED-2 3.kW EMG-3 ED-3 5.kW EMG-5 ED-5 1.kW EML-1 ED-1 EML 2.kW EML-2 ED-2 1r/min 3.kW EML-3 ED-3 4.kW EML-4 ED-5 Cable Models Servo Drive Power Encoder Servo Communication Palm Cable Cable Motor Cable Model Operator Model Model EDC-2PE EMJ-2P EDC-4PE EMJ-4P CDM-J18 CMP-J26 CSC-CC24 OP-1 EDC-8PE EMJ-8P ED-8[][] EMJ-8P ED-1[][] EMJ-1P DM-J18 MP-J24 ED-1[][] EMG-1P ED-15[][] EMG-15P DM-G16 ED-2[][] EMG-2P DM-G14 ED-3[][] EMG-3P SC-CC24 - DM-GD12 ED-5[][] EMG-5P MP-G24 ED-1[][] EML-1P DM-G16 ED-2[][] EML-2P DM-GD14 ED-3[][] EML-3P ED-5[][] EML-4P DM-GD12

10 Technical Specification of Servo Drives Servo Drive Model ED Series EDC Series Power Supply Single/Three Phase C22V+1-15%,5/6HZ Control Mode SVPWM SVPWM single Phase C22V+1-15%,5/6HZ Feedback 8 Cores(Wire saving) Incremental Encoder(25P/R) 8 Cores(Wire saving) Incremental Encoder(25P/R) asic Data Working Condition Operating/Storage Temperature Operating/Storage Humidity Shock/Vibration Resistance to +55 /-2 to +85 to +55 /-2 to +85 9% RH or less(no condensation) 4.9m/s2 / 19.6m/s2 9% RH or less(no condensation) 4.9m/s2 / 19.6m/s2 Structure ase-mounted ase-mounted Speed Control Range 1:5 1:5 Load Regulation to 1% load:±.1% max Speed Regulation Voltage Regulation Temperature Regulation Frequency Characteristics with workload Software Startup Time setting Rated voltage±1%: %(at rated speed) 25±25 :±.1% max. (at rated speed) 3HZ(JL<=JM) -1s(Set cceleration and Deceleration Individually) 3HZ(JL<=JM) Speed Control Mode Speed Ref.Input Torque Ref.Input Reference Voltage ±1V DC Input Resistance 4kΩ Loop Time Constant 47µs Reference Voltage ±1V DC Input Resistance 4kΩ Loop Time Constant 47µs Reverse Rotation Direction Selection Use P-CON Signal Node Speed Reference Speed Selection Use FWD/REV current limit signal (select speed 1-3),when both not OFF, select Stop or other control mode Position Control Mode Reference Pulse Type Pulse uffer SIGN+PULSE Train, Sin. Pulse Phase and Phase, CCW+CW Pulse Train Line Driving(+5V Level).Open Collector SIGN+PULSE Train, Sin. Pulse Phase and Phase, CCW+CW Pulse Train Line Driving(+5V Level).Open Collector Pulse Frequency Maxi.5Kpps(Difference) /2Kpps(Collector) Maxi.5Kpps(Difference) /2Kpps(Collector) Estun utomation Technology Co., Ltd

11 Technical Specification of Servo Drives Servo Drive Model ED Series EDC Series Position Control Mode Position Output Control Signal clear Clear Offset Setting -3r/min(Set Resolution as 1r/min) Feed Forward Compensation -1%(Set Resolution as 1%) In position Error Setting Output Signal -5 Reference Unit(Set resolution as 1 reference unit) Phase, Phase and Phase C; Line Driving Output Phase, Phase and Phase C; Line Driving Output Dividing Ratio (1-25)/25 (1-25)/25 I/O Signals Sequence Control Input Servo ON, Proportional Control or Control Mode Switch, Forward Run Prohibited, Reverse Run Prohibited, larm Reset, FWD Torque External Limit, REV Torque External Limit, Zero Clamp Signal Servo On, larm Reset, Error Counter, Clear Signal, Zero Clamp Signal Sequence Control Output Servo larm, Servo Ready, Positioning Complete(Speed Coincidence),rake Release, Limiting Torque, Motor Run Detection Servo larm, Positioning Complete(Speed Coincidence),rake Release, Limiting Torque COM Function With RS485 interface for communication. With host controller's special software, parameter setting, run operation and status display can be done in Windows mode. Compatible with Modbus com protocol and CNopen protocol. With RS485 interface for communication. With host controller's special software, parameter setting, run operation and status display can be done in Windows mode. Compatible with Modbus com protocol and CNopen protocol. uilt-in Function LED Display raking Charge, Power, Five 7-segment LEDs and 4 Pushbuttons(Digital Operation Panel) Dynamic rake, Overtravel Protection Charge, Power & LM Indicator, Five 7 Segment Tube(On Handheld Operator) Dynamic rake Protection Overcurrent, Overload, Overspeed, Under Voltage, Overvoltage, Encoder Error, Parameter Error, etc. IPM Power Module Error, Overload, Overspeed, Voltage Error, Position Error, Counter Overflow, Encoder Disconnected, Parameter Damaged, etc. Regeneration Treatment Function uilt in Regenerative Resistance Other Zero Clamp, 16 internal Position Nodes.

12 EMJ Series Servo Motor Features Medium inertia Peak torque up to 3% of rated torque Various models (2w~1w, with brake, etc.,) Run at speed of up to 45r/min Equipped with wire-saving encoder(25p/r) pplications SMM(surface mounting machine) PC puncher machine Robot arm Handing machine Foodstuff processing machine Textile machine Model Specification Description EMJ 8 P 1 1 EMJ Model Servo Motor Rated Power Power Voltage Encoder Design Sequence Shaft End Optional Parts Sign Spec. Sign Spec. Sign Spec. Sign Spec. Sign Spec. Sign Spec. 2 2W 2Vac P 25P/R 4 4W 8 75W 1 1W Design Sequence 1 2 Flat, without keys 2 Flat, with keys, with screw thread 1 None 3 4 With Oil Seal With brake (DC24V) With oil seal, with brake (DC24V) Estun utomation Technology Co., Ltd

13 Rated Value and Specifications Voltage 2VC Servo motor type EMJ Rated output power W Rated torque N.m Instantaneous peak torque N.m Rated current rms Instantaneous peak current rms Rated rotated speed min -1 3 The highest rotated speed min Rotator rotated inertia x1-4 kg/m 2.19(.23).31(.35) 1.35(1.47) 1.74(1.87) Encoder Standard Incremental wire-saving type:25p/r Heat endurance level F Environment temperature to +4 (Non-iced) Environment humidity 2 to 8% RH (No dew) Protection method ll-closed,self-cool,ip65 (Except output shaft and connector) nti-vibration performance 49m/s 2 (Note): The values in parentheses are for servo motors with holding brakes. Torque-Speed Feature EMJ-2 EMJ Motor Speed (min ) Motor Speed (min ) Torque (N m) Torque (N m)

14 EMJ-8 EMJ Motor Speed (min -1 ) Motor Speed (min ) Torque (N m) Torque (N m) : Continuous Working rea : Repeatable Working rea Dimension Encoder connector L LL Motor connector LR LE LF W U T 3±5 3±5 Cross Section Y-Y Shaft End With Key and Tap LC QK Y QL L Lh7 Y Sh6 Tap Depth 4-LZ Model Flange face Key L LL S Tap Depth EMJ- LR LE LF LC L L LZ QK QL W T U 2 14(18) 11(15) M5x1L (2) 13(17) M5x1L (221) 143(186) M6x15L (241) 163(26) M6x15L Note: The dimension in parentheses is for servo motors with holding brake. Estun utomation Technology Co., Ltd

15 Motor connector specification Plug: (MP) Pin: (MP) Pin No. Signal Color 1 U phase Red 2 V phase lue 3 W phase White 4 FG Green/yellow Encoder connector specification Plug: (MP) Pin: (MP) Pin No. Signal Color 1 + lue 2 + Green 3 C+ Yellow 4 - lue/lack 5 - Green/lack 6 C- Yellow/lack 7 PG5V Red 8 PGV lack 9 FG Shield rake Connector Specifications Plug: (MP) Pin: (MP) Pin No. Signal Color 1 1 lue 2 2 White

16 EMG Series Servo Motor Features e used to drive the feed shaft of various machine Various products (1.KW ~5.KW, with brake etc.) Equipped with wire-saving encoder(25p/r) Standard configuration is IP65 pplications Machine tools Handling machine Foodstuff processing machine Textile machine Model Specification Description EMG 1 P 1 1 EMG Model Servo Motor Rated Power Power Voltage Encoder Design Sequence Shaft End Optional Parts Sign Spec. Sign Spec. Sign Spec. Sign Spec. Sign Spec. Sign Spec. 1 1.KW 2Vac P 25P/R KW 2 2.KW 3 3.KW 5 5.KW Design Sequence 1 2 Flat, 1 None without keys 2 With Oil Seal Flat, with keys, with screw thread 3 4 With brake (DC24V) With oil seal, with brake (DC24V) Estun utomation Technology Co., Ltd

17 Rated Value and Specifications Voltage 2VC Motor type EMG Rated output power kw Rated torque N.m Instantaneous peak torque N.m Rated current rms Instantaneous peak current rms Rated rotated speed min -1 2 Peak rotated speed min -1 3 Rotator rotated inertia x1-4 kg/m 2 1(1.6) 14.5(15.1) 19.(19.6) 41.3(44.5) 65.7(68.9) Feedback unit Standard Incremental cable-saved type:25p/r Heat-endurance level F Environment humidity temperature to +4 (Non-iced) Environment humidity 2 to 8% RH (No dew) Protection method ll-closed,self-cooled,ip65 (Except output shaft and connector) nti-vibration performance 24.5m/s 2 (Note): The values in parentheses are for servo motors with holding brakes. Torque-Speed Feature EMG-1 EMG Motor Speed (min ) Motor Speed (min ) Torque (N m) Torque (N m)

18 EMG-3 EMG-5 EMG Motor Speed (min ) Motor Speed (min -1 ) Motor Speed (min ) Torque (N m) Torque (N m) Torque (N m) Working rea : Continuous : Repeatable Working rea L LL LR K2 K1 LC LF LE KL1 L KL2 QK Y QL W U Lh7 Y T Sh6 Cross Section Y-Y Shaft End With Key and Tap Tap Depth 4-LZ Model EMG- L LL K1 K2 KL1 KL2 Flange face LR LE LF LC L L LZ S Tap Depth Key QK QL W T U M6x2L M6x2L M6x2L M8x16L M8x16L Estun utomation Technology Co., Ltd

19 Motor connector specification Plug: MS3182-4S(LC=13), MS S(LC=18) Receptacle:MS3122-4P(LC=13),MS P(LC=18) Cable Clamp: MS Pin No. C D Signal U phase V phase W phase FG Encoder connector specification Plug:MS S Receptacle: MS P Cable Clamp: MS Pin No. Signal Color + lue - lue/lack C + Green/lack D - Green E C+ Yellow F C - Yellow/lack G PGV lack H PG5V Red J FG Shield rake Connector Specifications Plug:MS3161SL-3S Receptacle: MS3121SL-3P Cable Clamp: MS357-4 Pin No. Signal 1 2 C -

20 EML Series Servo Motor Features e used to drive the feed shaft of various machine Various products(1.kw ~4.KW, with brake etc.) Equipped with wire-saving encoder(25p/r) Standard configuration is IP65 pplications Machine tools Handling machine Foodstuff processing machine Textile machine Model Specification Description EML 1 P 1 1 EML Model Servo Motor Rated Power Power Voltage Encoder Design Sequence Shaft End Optional Parts Sign Spec. Sign Spec. Sign Spec. Sign Spec. Sign Spec. Sign Spec. 1 1.KW 2Vac P 25P/R 2 2.KW 3 3.KW 4 4.KW Design Sequence 1 2 Flat, 1 None without keys 2 With Oil Seal Flat, with keys, with screw thread 3 4 With brake (DC24V) With oil seal, with brake (DC24V) Estun utomation Technology Co., Ltd

21 Rated Value and Specifications Voltage 2VC Servo motor type EML Rated output power kw Rated torque N.m Instantaneous peak torque N.m Rated current rms Instantaneous peak current rms Rated rotated speed min -1 1 The highest rotated speed min Rotator rotated inertia x1-4 kg /m 2 19(19.6) 53.5(56.7) 77.8(81.) 12.2(15.4) Feedback unit Standard Incremental cable-saved type : 25P/R Heat endurance level F Environment temperature to + 4 C (Non-iced) Environment humidity 2 to 8% RH (No dew) Protection method ll-closed, self-cool, IP65 (Except output shaft and connector) nti-vibration performance 24.5m /s 2 (Note): The values in parentheses are for servo motors with holding brakes. Torque-Speed Feature EML-1 EML Motor Speed (min -1 ) Motor Speed (min -1 ) Torque (N m) Torque (N m)

22 EML-3 EML Motor Speed (min ) Motor Speed (min ) Torque (N m) Torque (N m) : Continuous Working rea : Repeatable Working rea Dimension L LL K2 K1 LF LE LR LC KL1 L KL2 QK Y QL W U Lh7 Y T Sh6 Cross Section Y-Y Shaft End With Key and Tap Tap Depth 4-LZ Model EML- L LL K1 K2 KL1 KL2 Flange face LR LE LF LC L L LZ S Tap De key pth QK QL W T U M6x2 L M8x16 L M8x16 L M8x16 L Estun utomation Technology Co., Ltd

23 Motor connector specification Plug: MS3182-4S(LC=13), MS S(LC=18) Receptacle:MS3122-4P (LC=13),MS P(LC=18) Cable Clamp: MS Pin No. C D Signal U phase V phase W phase FG Encoder connector specification Plug:MS S Receptacle: MS P Cable Clamp: MS Pin No. Signal Color + lue - lue/lack C + Green/lack D - Green E C+ Yellow F C - Yellow/lack G PGV lack H PG5V Red J FG Shield rake Connector Specifications Plug:MS3161SL-3S Receptacle: MS3121SL-3P Cable Clamp: MS357-4 Pin No. Signal 1 2 C -

24 fslφ2-hwed/edc Mounting Dimension of Drives Mounting Dimension of EDC Servo Drives Mounting Dimension of ED Servo Drives d e MODE INC DEC ENTER CHRGE POWER COM COM SERVODRIVE MODEL ED-5SD 2-S E R V O D R I V 铭牌 EφINPUT C 2~23V 5/6HZ 1PHSE 1 OUTPUT C ~23V 1PHSE 1 S/N D1Y2411 d埃斯顿工业自动化有限公司 ESTUN 终端接口 N U V W 2CN 1CN 1CN 2CN L W H s e f d ED-8,ED-1,ED ED-2,ED-3,ED Estun utomation Technology Co., Ltd

25 ED/EDC Typical Connection Example Typical Connection Example of EDC Servo Non-fuse circuit breaker Single Phase 5/6 Hz C 19~245V Surge protector 1Ry 1PL (Servo alarm display) N oise filter Power OFF Power ON 1KM 1KM 1Ry 1SUP 1 MC 1 MC PG U V W Motor M EDC Servo Drives 2CN Encoder PG Regenerative Unit 1CN Please handle shielded wires' ends properly. Position reference PULS SIGN P PULS /PULS SIGN PO /PO PO /PO PG Frequency Dividing Output P /SIGN 14 1 PCO 1 2K 2 /PCO 3 Pin output can be defined as follows: CO IN: Positioning com plete (ON when positioning complete) Servo ON (When ON,servo function is enable) lam Reset: (When ON, alarm is reset) 24VIN S-ON LM-RST K 2 R: (ON when brake is released) CLT: Limiting Torque Output (ON when torque goes over limiting torque) S-RDY: Servo Ready Output (ON when servo is ready) Clear signal input (When ON, displacement is cleared) CLR 7 4 LM +24V Zero Position signal (When ON, search for zero position) ZPS 17 5 /LM V larm O utput: OFF when alarm is triggered P Represents multi-twisted pair shielded wires Connector Frame FG Shield wires are connected to the Connector Frame Photo Coupler Output: Maximum voltage DC3V Maximum current DC5m

26 Typical Connection Example of ED Servo L1 Non-fuse circuit breaker Surge protector L2 L3 Single/Three Phase 5/6 Hz C 19~245V 1Ry 1PL ( Servo alarm display) Noise filter Power OFF Power ON 1KM 1KM 1Ry 1SUP 1MC L1 L2 L3 ED Servo Drives U V Motor M 1 W 2 L1C Encoder L2C 2CN PG Please handle shielded wires' ends properly. 1CN Speed reference (±1V/Rated speed) P V-REF GND 19 2 LPF PO /PO Torque reference (±1V/Rated torque) P T-REF GND LPF /D PO /PO PG Frequency Dividing Output Position reference Servo ON: (When ON,servo function is enable) P control: (When ON, P control encabled) Forward rotation prohibited: (When ON, forward rotation prohibited) Reverse rotation prohibited: (When ON, reverse rotation prohibited) lam reset: (When ON, alarm reset) Clear signal input: When ON, displacement clear) Forward external torque limit: (When ON, limit enabled) Reverse external torque limit: (When ON, limit enabled) P PULS SIGN P P PULS /PULS SIGN /SIGN +24VIN /S-ON /P-CON P-OT N-OT /LM-RST /CLR /PCL /NCL Represents multi-twisted pair shielded wires 9 15 Connector Frame FG Shield wires are connected to the Connector Frame Note: For ED-8/1/15, there are no terminals: 3, 1, 2,, no need of any connection. 2K 2K K PCO /PCO SG Pin output can be defined as follows: /V-CMP+: Speed coincidence output (/COIN+: ON,when speed coincident) /V-CMP-: Positioning complete (/COIN-: ON, when positioning complete) /TGON+: TGON output (/TGON-: ON, when value exceeds setting) /S-RDY+: Servo ready output (/S-RDY-: ON, when servo is ready) /CLT+: Torque limit output (/CLT-: ON, when value exceeds setting) /R+: reak interlock output (/R-: ON, when break is released) +24V LM+ LM- V larm Output: OFF when alarm is triggered Photo Coupler Output: Maximum voltage DC3V Maximum current DC5m Estun utomation Technology Co., Ltd

27 Vision Estun's rochures and Technical Guidance ES29-C Estun Sales gent Training Course ES29-D Estun Servo Parameter djustment Guidance ES29-E Second Electronic Gear ES29-F Speed Forward-Feedback Function ES21-C Estun Servo Motor Selection Principle ES211- Estun Outline ES211- Motor Outline ES211- ED/EDC Series Product rochure ES211- ProNet Series Product rochure Estun utomation Technology Co., Ltd. dd.: 155 Jiangjun Road,Jiangning Development Zone, Nanjing 2111,P.R.China Tel: Fax: Website: Copyright Estun 21. ll trademarks recognized. Specifications subject to change without notice.