Estun ETS-101010APC-CAN

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ETS Series AC Servo User's Manual

- 5 -

Chapter 4 ...................................................................................................................................................................... - 37 -

Operation ...................................................................................................................................................................... - 37 -

4.1 Trial Operation ................................................................................................................................................ - 37 -

4.1.1 Trial Operation for Servomotor Without Load ...................................................................................... - 39 -

4.1.2 Trial Operation for Servomotor without Load from Host Reference ..................................................... - 41 -

4.1.3 I/O JOG control .................................................................................................................................... - 43 -

4.1.4 Trial Operation with the Servomotor Connected to the Machine .......................................................... - 43 -

4.1.5 Trial Operation for Servomotor with Brakes ......................................................................................... - 45 -

4.2 Control Mode Selection ................................................................................................................................... - 45 -

4.3 Setting Common Basic Functions ................................................................................................................... - 46 -

4.3.1 Setting the Servo ON Signal ................................................................................................................ - 46 -

4.3.2 Switching the Servomotor Rotation Direction ...................................................................................... - 47 -

4.3.3 Setting the Overtravel Limit Function ................................................................................................... - 48 -

4.3.4 Setting for Holding Brakes ................................................................................................................... - 51 -

4.4 Absolute Encoders .......................................................................................................................................... - 54 -

4.4.1 Selecting an Absolute Encoder ............................................................................................................ - 55 -

4.4.2 Handling Battery .................................................................................................................................. - 56 -

4.4.3 Replacing Battery ................................................................................................................................ - 57 -

4.4.4 Absolute Encoder Setup(Fn010、Fn011) ............................................................................................ - 57 -

4.5 Operating Using Speed Control with Internally Set Speed .............................................................................. - 57 -

4.5.1 Setting Parameters .............................................................................................................................. - 57 -

4.5.2 Soft Start.............................................................................................................................................. - 58 -

4.5.3 Speed Reference Filter Time Constant ................................................................................................ - 58 -

4.5.4 S-curve Risetime ................................................................................................................................. - 59 -

4.5.5 Encoder Signal Output ........................................................................................................................ - 59 -

4.5.6 Speed coincidence output ................................................................................................................... - 61 -

4.5.7 Speed control(contact reference) ........................................................................................................ - 62 -

4.6 Operating Using Position Control .................................................................................................................... - 64 -

4.6.1 Basic Setting in Position Control .......................................................................................................... - 64 -

4.6.2 Setting the Clear Signal ....................................................................................................................... - 66 -

4.6.3 Setting the Electronic Gear .................................................................................................................. - 66 -

4.6.4 Smoothing ........................................................................................................................................... - 70 -

4.6.5 Low Frequency Vibration Suppression ................................................................................................ - 71 -

4.6.6 Positioning Completion Output Signal ................................................................................................. - 73 -

4.6.7 Reference Pulse Inhibit Function(INHIBIT) .......................................................................................... - 74 -

4.6.8 Position Control (contact reference) .................................................................................................... - 75 -

4.7 Limiting Torque ................................................................................................................................................ - 78 -

4.7.1 Internal Torque Limit ............................................................................................................................ - 78 -

4.7.2 External Torque Limit ........................................................................................................................... - 79 -

4.8 Other Output Signals ...................................................................................................................................... - 80 -

4.8.1 Servo alarm output .............................................................................................................................. - 80 -

4.8.2 Others .................................................................................................................................................. - 80 -

4.9 Online Autotuning ............................................................................................................................................ - 82 -

4.9.1 Online Autotuning ................................................................................................................................ - 82 -

4.9.2 Online Autotuning Procedure ............................................................................................................... - 82 -

4.9.3 Setting Online Autotuning .................................................................................................................... - 83 -

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