Estun Summa Series - Chapter 1 Summa Series AC Drive; Part Names; Ratings and Specifications; External Dimensions

Summa Series Servodrive Product Manual
Contents
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
ii
3.9 Connecting STO Function Signals ....................................................................................................... 3-20
Chapter 4 Basic Settings............................................................................................................... 4-1
4.1 Panel Operator ....................................................................................................................................... 4-1
4.1.1 Key Names and Functions ................................................................................................................ 4-1
4.1.2 Basic Mode Selection ....................................................................................................................... 4-2
4.1.3 Status Display Mode ........................................................................................................................ 4-2
4.1.4 Parameter Setting Mode ................................................................................................................... 4-4
4.1.5 Monitor Mode .................................................................................................................................. 4-7
4.1.6 Utility Function Mode ...................................................................................................................... 4-8
4.2 ESView V4 ........................................................................................................................................... 4-15
4.2.1 Installation ...................................................................................................................................... 4-15
4.2.2 Starting ESView V4 ....................................................................................................................... 4-21
4.2.3 Edit Parameters .............................................................................................................................. 4-24
4.2.4 Monitor ........................................................................................................................................... 4-30
Chapter 5 EtherCAT Communications ..................................................................................... 5-1
5.1 Introduction ............................................................................................................................................ 5-1
5.1.1 Protocol Overview ............................................................................................................................ 5-1
5.1.2 Specification ..................................................................................................................................... 5-1
5.2 Relevant Settings ................................................................................................................................... 5-2
5.3 EtherCAT Basis ...................................................................................................................................... 5-3
5.3.1 CANopen over EtherCAT Reference Model .................................................................................... 5-3
5.3.2 EtherCAT Slave Information ............................................................................................................ 5-3
5.3.3 EtherCAT State Machine .................................................................................................................. 5-4
5.3.4 Process Data Object (PDO) .............................................................................................................. 5-5
5.3.5 Service Data Object (SDO) .............................................................................................................. 5-7
5.3.6 Emergency Message ......................................................................................................................... 5-7
5.3.7 Distributed Clock (DC) .................................................................................................................... 5-7
5.4 Communication Indication ..................................................................................................................... 5-8
5.4.1 Indicator Lamps on Panel Operator .................................................................................................. 5-8
5.4.2 Indicator Lamps on RJ45 ................................................................................................................. 5-9
Chapter 6 CiA402 Drive Profile .................................................................................................. 6-1
6.1 Conversion Factor Setting ...................................................................................................................... 6-1
6.2 Device Control ....................................................................................................................................... 6-3
6.2.1 CiA402 State Machine ..................................................................................................................... 6-3
6.2.2 Stop Modes ....................................................................................................................................... 6-5
6.3 Control Modes ....................................................................................................................................... 6-7
6.3.1 Modes of Operation .......................................................................................................................... 6-7
6.3.2 Modes of Operation Display ............................................................................................................ 6-8
6.3.3 Mode Change ................................................................................................................................... 6-8
6.3.4 Communication Cycle ...................................................................................................................... 6-8
6.4 Position Control ..................................................................................................................................... 6-9
6.4.1 Profile Position (PP) Mode............................................................................................................... 6-9
6.4.2 Interpolated Position (IP) Mode ..................................................................................................... 6-13
6.4.3 Cyclic Synchronous Position (CSP) Mode ..................................................................................... 6-17
6.5 Homing ................................................................................................................................................ 6-20
6.5.1 Homing (HM) Mode ...................................................................................................................... 6-20
6.5.2 Homing Methods ............................................................................................................................ 6-23
6.6 Velocity Control ................................................................................................................................... 6-63
6.6.1 Profile Velocity (PV) Mode ............................................................................................................ 6-63
6.6.2 Cyclic Synchronous Velocity (CSV) Mode .................................................................................... 6-65
6.7 Torque Control ..................................................................................................................................... 6-69
6.7.1 Profile Torque (PT) Mode .............................................................................................................. 6-69
6.7.2 Cyclic Synchronous Torque (CST) Mode ...................................................................................... 6-71
6.8 Torque Limits ....................................................................................................................................... 6-73
6.9 Digital and Remote I/O Signals ........................................................................................................... 6-74
6.10 Touch Probe ....................................................................................................................................... 6-75