Estun Summa Series - Chapter 2 Installation; Installation Precautions; Mounting Types and Orientation

Summa Series Servodrive Product Manual
Contents
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
iv
9.2 Tuning Modes ........................................................................................................................................ 9-4
9.2.1 Tuning-Less ...................................................................................................................................... 9-4
9.2.2 One-Parameter Auto-Tuning ............................................................................................................ 9-5
9.2.3 Manual Tuning ................................................................................................................................. 9-7
9.3 Tuning Tools ........................................................................................................................................ 9-10
9.3.1 Auto-Tuning Tool ........................................................................................................................... 9-11
9.3.2 Manual-Tuning Tool ....................................................................................................................... 9-19
9.4 Feedback Speed Selection .................................................................................................................... 9-27
9.5 Additional Adjustment Functions......................................................................................................... 9-28
9.5.1 Gain Switching ............................................................................................................................... 9-28
9.5.2 P / PI Switching .............................................................................................................................. 9-30
9.5.3 Feedforward ................................................................................................................................... 9-31
9.5.4 Friction Compensation ................................................................................................................... 9-33
9.5.5 Load Torque Compensation ........................................................................................................... 9-34
9.5.6 Model Following Control ............................................................................................................... 9-35
9.6 Vibration Suppression .......................................................................................................................... 9-37
9.6.1 Notch Filter .................................................................................................................................... 9-37
9.6.2 IF (Intermediate Frequency) Vibration Suppression ...................................................................... 9-38
9.6.3 Load Oscillation Suppression ......................................................................................................... 9-39
9.6.4 Automatic Vibration Suppression ................................................................................................... 9-40
9.7 Diagnostic Tools .................................................................................................................................. 9-41
9.7.1 Load Inertia Identification .............................................................................................................. 9-41
9.7.2 Mechanical Analysis ...................................................................................................................... 9-45
9.7.3 FFT ................................................................................................................................................. 9-47
9.7.4 Friction Analysis ............................................................................................................................ 9-49
Chapter 10 Fully-Closed Loop Control ................................................................................... 10-1
10.1 Overview ............................................................................................................................................ 10-1
10.2 Commissioning Procedure ................................................................................................................. 10-1
10.3 Parameter Settings ............................................................................................................................. 10-2
10.3.1 Control Block Diagram ................................................................................................................ 10-3
10.3.2 Motor Direction and Machine Movement Direction Setting ........................................................ 10-3
10.3.3 External Encoder Enabled ............................................................................................................ 10-4
10.3.4 Encoder Divided Pulse Output for External Encoder ................................................................... 10-4
10.3.5 Alarm Detection Settings.............................................................................................................. 10-5
Chapter 11 STO............................................................................................................................ 11-1
11.1 Introduction ........................................................................................................................................ 11-1
11.2 Environmental Conditions ................................................................................................................. 11-4
11.3 Terminals Arrangement ...................................................................................................................... 11-5
11.4 Function Description .......................................................................................................................... 11-7
11.4.1 EDM (External Device Monitor) .................................................................................................. 11-7
11.4.2 Safe State ...................................................................................................................................... 11-8
11.4.3 S-RDY (Servo Ready Output) Signal ........................................................................................... 11-9
11.4.4 /BK (Brake Ouput) Signal ............................................................................................................ 11-9
11.4.5 Stopping Methods ......................................................................................................................... 11-9
11.4.6 Reset Method for Deviation Counter .......................................................................................... 11-10
11.5 Safety Function Device Connection ................................................................................................. 11-10
11.5.1 Disconnecting a Safety Function Device .................................................................................... 11-10
11.5.2 Connecting a Safety Function Device ........................................................................................ 11-11
11.6 Procedure ......................................................................................................................................... 11-13
Chapter 12 Appendix .................................................................................................................. 12-1
12.1 Parameters Lists ................................................................................................................................. 12-1
12.1.1 Interpreting the Parameter Lists ................................................................................................... 12-1
12.1.2 Parameters Detailed ...................................................................................................................... 12-2
12.2 Alarms Displays ............................................................................................................................... 12-30
12.3 Object Dictionary ............................................................................................................................. 12-36
12.3.1 General Objects .......................................................................................................................... 12-36