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Parameter setting for ESTUN EDB Servodriver

Update time Updated contents
2010.05.08 Updated testing results for Cj4000.

2010.06.08 Updated parameter setting, modifying, and inertia testing for 6000II。

2010.09.19 Release basic parameter setting for 5000II.

2010.09.24 Modifying parameter Pn 018 for 4000/6000II，solve noise problem。

2010.11.16 Optimized parameter setting for 4000/5000II/6000II，added setting for ParameterPN:102/104 and

parameter setting for Gain adjustment ，Updating list of alarm displays.

Digital operator
Display status, alarm and parameter input.

Operating Key
Using for set parameters

Power light
Lit when Servodrive control power ON.

Power charging light

Lit when Main power on, after main power off ,
continuing lit when there is electric charge remaining in
the main power circuit, Don’t touch it at this time.

Communication terminal to PC
Using for communication to PC

Terminal for I/O signal

Using for Reference signal input, sequence signal input/output.

Encoder terminal
For connecting to encoder inside the motor.

Power terminal and motor connecting terminal

Power input terminal and motor driving cable terminal.

1、ESTUN EDB Servodrive parameter setting modifying description.

◆EDB dimensions: H: 85mm W: 185mm L: 183mm
◆Different parameter setting from EDC： Different Parameter number, different range for
Parameter values，Same operating keys.
Note：Inertia testing parameter number is different, FN-008 for EDC, Fn-010 for EDB, different
operating steps to enter inertia testing，result of testing needs to manually set into Pn 113
1、 When testing Machine total length, reverse rotating speed 226, forward rotating speed 59，
no abnormal noise, motor testing is normal。
2、 No trembling when carriage stays at home station and no electric current noise.
3、Printing 3m-wide image using outside raster under the setting of Pn_023 has +0.3 mm
offset。Printing 1m-wide image using inside raster under setting of Pn-021 has -1mm offset,
when Pn_021 is set to 269, offset increase to +2mm.
4、Carriage moves smoothly when printing at low speed, motor rotating speed is 117，No
abnormal noise during carriage acceleration and deceleration at both sides.
5、carriage moves smoothly when printing at 1729、1253 speed，but outside force could cause
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misplacement of printing. Printing normally using inside raster.

6、No misplacement or abnormal color change during printing.
7、Parameters are optimized to solve abnormal noise problem。
2、Installation of ESTUN EDB servo system：

▲Motor model：EMJ-04APB21
Timing pulley for Servo motor axle has 26 teeth with total height of 54.20mm，Not
compatible with timing pulley for Panasonic servo motor axle pulley。
Bracket to install EDB motor is different from the one of Panasonic A4 servo motor.
▲Driver model：EDB-04A
Size of EDB driver is bigger than Panasonic driver，so it can’t be installed the same way as
Panasonic driver be.
Installation of power cable:
Motor driving cable，Needs to be remade, refer to EDB User manual.
Motor encoder cable，Needs to be remade, refer to EDB User manual.
Signal cable，Needs to be remade, refer to EDB User manual.
The 15pi-data port on I/O board is defined as before.
Main power input，Compatible with Power cable of Panasonic. Wiring definition, refer to EDB
User manual.
3. Parameter settings for 4000/6000II EDB servo driver (New timing pulley)
Parameter Value range description
Pn 001 0 Not adjustable Uses forward (reverse) rotation prohibited

input （P-OT）or not

[0] Uses forward rotation prohibited

Pn 002 0 Not adjustable input (P-OT).

[1] Does not use forward rotation

prohibited input (P-OT).

if the error counter cleared when

S-OFF

[0] clear the error counter when

S-OFF

[1]: does not clear the error counter

Pn 005 2 Not adjustable
when S-OFF

[2]:clear the error counter when

S-OFF or overtravel

[3]:does not clear the error counter

when S-OFF or overtravel

Rotation Direction Selection

[0] Forward rotation is defined as

counterclockwise rotation when

Pn 006 1 Not adjustable
viewed from the drive end.

(Standard setting)

[1] Forward rotation is defined as

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clockwise rotation when viewed

from the drive end. (Reverse

rotation mode)

Pn 013 550 500-600 Speed loop gain

Pn 014 15 15-25 Speed loop integration time constant

Pn 015 30 25-30 Position loop gain

Pn 017 50 50-80 Position feed forward

Pn 018 20 Not adjustable Torque reference filter time constant

Pn 021 270 Not adjustable PG dividing ratio

Pn 022 10000 Not adjustable Electronic gear A

Pn 023 5094 Not adjustable Electronic gear B

Pn 024 50 Not adjustable smoothing

Pn 025 300 Not adjustable Feed-forward filter

Pn 102 200 Not adjustable Primary and secondary filter time

Position reference primary and

Pn 104 1 Not adjustable
secondary filter selection

Pn 112 100 Not adjustable Speed forward-feedback percentage

According
Pn 113 to testing Not adjustable Load inertia（Test first, set the accurate result to Pn113 ）
result
3. Parameter settings for 5000II EDB servo driver (New timing pulley)
Parameter Value range description
Pn 001 0 Not adjustable Uses forward (reverse) rotation prohibited

input （P-OT）or not

[0] Uses forward rotation prohibited

Pn 002 0 Not adjustable input (P-OT).

[1] Does not use forward rotation

prohibited input (P-OT).

if the error counter cleared when

S-OFF

[0] clear the error counter when

S-OFF

[1]: does not clear the error counter

Pn 005 2 Not adjustabel
when S-OFF

[2]:clear the error counter when

S-OFF or overtravel

[3]:does not clear the error counter

when S-OFF or overtravel

Rotation Direction Selection

[0] Forward rotation is defined as

Pn 006 1 Not adjustable counterclockwise rotation when

viewed from the drive end.

(Standard setting)
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[1] Forward rotation is defined as

clockwise rotation when viewed

from the drive end. (Reverse

rotation mode)

Pn 013 500 500-600 Speed loop gain

Pn 014 15 15-25 Speed loop integration time constant

Pn 015 25 25-30 Position loop gain

Pn 017 50 50-80 Position feed forward

Pn 018 25 Not adjustable Torque reference filter time constant

Pn 021 270 Not adjustable PG dividing ratio

Pn 022 10000 Not adjustable Electronic gear A

Pn 023 5094 Not adjustable Electronic gear B

Pn 24 50 Not adjustable Smoothing

Pn 025 300 Not adjustable Feed-forward filter

Pn 102 200 Not adjustable Primary and secondary filter time

Position reference primary and

Pn 104 1 Not adjustable
secondary filter selection

Pn 112 100 Not adjustable Speed forward-feedback percentage

According
Pn 113 to testing Not adjustable Load inertia（Test first, set the accurate result to Pn113 ）
result

Due to mechanic difference in different machine，Some Parameters settings may vary slightly
from machine to machine，based on the parameter setting list above，and adjust according to
description below(Adjust Servo Gain)。
Using the digital operator
1) Digital Operator Functions

The Digital Operator allows the user to set parameters, send commands, and display

operating status. This section describes the key names and functions of the Digital Operator in

the initial display status.

Name Function

INC key Press to display the parameter settings and set

values.

DEC key Press INC key to increment the set value

Press DEC key to decrement the set value.

MODE key Press to select the status display mode, setting

mode, monitor mode, or error traceback mode.

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Press to cancel setting when set the parameters.

ENTER key Press to display the parameter settings and set

values.

2) Resetting Servo Alarms

Press ENTER key to reset servo alarm in state monitor mode

The alarm state could also be cleared by using 1CN-14(/ALM-RST) input signal.

The alarm state can be cleared by turning the main power supply OFF, then turning the control

power supply OFF.

Note:

After an alarm occurs, remove the cause of the alarm before resetting it.

3) Basic Functions and Mode Selection

Digital Operator operation allows status display, parameter setting, operating reference, and

auto-tuning operations.

Basic Mode Selection

The four basic modes are listed below. Each time the mode key is pressed, the next mode in

the sequence is selected.

4) Operation in Status Display Mode

The status display mode displays the Servodrive status as bit data and codes.

■ Selecting Status Display Mode

The status display mode is displayed when the power is turned ON. If the status display mode

is not displayed, select the mode by using Mode Key to switch.

■ Keys to the status display are shown below.

The display varies in different modes.

For Speed and torque Control

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Code displays
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Test running and debugging.

Note：Unlike Panasonic servodriver，ESTUN EDB driver doesn’t have automatic Servo gains
adjusting，Servo gains are subject to individual machine，but they are basically the same in
the machines of same model. Set the parameters according to factory recommendation, and
micro-adjust when abnormal situation occurs.
Steps of test running and debugging：
1）、Install motor and driver，make sure cables are connected correctly.
2）、Press down emergence stop button，set parameters according to parameter settings list
shown above, after setting, restart the machine.
3）、Test running（Before test running，make sure carriage stay in the middle of the platform，
and press down emergence stop button）
Enter jog mode and test running
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After make sure test running is normal, pull up emergency stop button and restart the
machine.

4)、Inertia inspection：During inertia inspection, Motor rotate forwardly and reversely 4 times，
and it is uncontrollable by external signals. So please pay extreme attention to
the travelling range of the carriage(move the carriage to the middle of the platform
and press down emergency stop button),in case of causing any damage to the machine.
Follow the procedure below to perform inertia inspection.

1. Press MODE key and select assistant function mode.

when“ ”displays, press ENTER to , and then press“INC---DEC---DEC---INC ”，

press ENTER , “ ” display, Press INC key or DEC to select the function number for inertia

inspection.

2 Press ENTER key to start inertia inspection. Following page is displayed.

3. Press Mode key again to start inertia inspection.

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4. When inertia inspection completes, inertia value of load and motor are displayed in the unit of

Kg·cm2

5 Press ENTER key again to return to function number display page.

6. Press MODE key，and choose function number Pn113，set the value of Pn113 to the
result of step 5 testing result.

Note: After set the value of Pn113 to Inertia inspection result, Turn off the machine
and restart later.
Recover to default value:
When faulty parameter settings are found, recover to default value and reset all the parameter
value is a good choise.

List of alarm displays

When error occurs, and abnormality is detected by the servo driver, alarm code will
be displayed on the digital operator and power light will turn Red( normally
green), alarm code list and meaning is described below:
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Alarm
Alarm name circumstance Causes solutions
displays

 Power off during the process

 Restart the driver
When of parameter setting.
Parameter  Recover to default setting by Fn001.
A.01 powering on  Circuit board failure.
breakdown  External memory break down, chip needs to be
the driver
replaced。

The motor was running under a torque

1.Powering on  Check connection of UVW terminals and driving
largely exceeding ratings
2. powering cable for motor.
1. Wiring error between driver
on , motor  Check if the monitor parameter Un003’s value is
and motor
running after within 100%，if it over 100%, check if there is
A.04 Overloaded 2. torque largely exceeding ratings
input control mechanic stuck happens；
3. encoder connection error or
reference.  Check wiring in driver and motor，replace motor if
wiring error. motor overheating
3.Control demagnetization
and demagnetization.
power on.  Replace broken driver
4. circuit board failure.

A.08 Abnormality in  Recover to default setting by Fn001 to remove

current alarm.
·Powering
feedback circuit  Replace driver if alarm remains
on  Circuit board error
of U VW
A.09 PHRASE

A.10  Check connections of wire terminals and

Encoder PA，PB or  Encoder wires are
·control
PC disconnected. wires，test with a new encoder cable.
power on
disconnected  Interference between
·driver is on  Make 1CN shielding wire and grounding
Encoder PU，PV or wires or encoder
·motor is wire separately by heavy and light current.
PW malfunctioning
running  Circuit inside driver’s 2CN terminal is
disconnected  Circuit board error
A.11 broken
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 UVW wiring or encoder  Make sure wiring is correct.

wiring between driver  Check if there is short circuit between
and motor have problem motor and UVW phase.
or short circuit.  Check resistance value between UVW and
·motor is
 UVW wires to motor grounding wire, if the value is too low, it
running
have short circuit indicates the insulation of motor
 Ambient temperature deteriorates, and motor needs to be
exceeds 55℃ or fan replaced.
Overcurrent
stopped working  Improve ambient condition and reduce
flow through
 Overload running for a loading.
IPM module or
A.12 long time.  Replace motor.
overheating
 Phase error in encoder.
inside IPM
 Encoder error
module
 Short circuit exist inside
motor winding
·driver on
 Replace driver
·control
 Inside circuit or circuit  Replace driver
power on
board fail.
 Circuit board fails

 Voltage supply exceeds

range.  Check power supply
·motor is
Voltage supply for  Commutation diode  Replace driver
A.13 running
the main motor malfunction or
circuit regeneration transistor
·driver
exceeds rating. malfunction  Replace driver
powered on
 Circuit board
malfunction

 Voltage supply exceeds  Check power supply

·Motor is
range  Replace driver
running
A.14  Commutation diode
undervoltage malfunction or fuse
broke down.
·driver
 Circuit board  Replace driver
powered on
malfunction
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.motor is  Open circuit inside or

running between Bleeder
 Check wiring inside or between resistors,
resistors
replace resistors or driver.
Bleeder resistor
A.15
damaged .Driver
 Check wiring inside an between resistors,
powered on  Bleeder resistor is not
replace resistors or driver.
connected or it is
damaged, circuit board
malfunction.

.Motor is  Replace driver or use a

 Regenerative transistor
running
malfunction or
regenerative resistor that has the
regenerative power
·one second
exceeds tolerance.
after main same capacity.
 Over high Power voltage.
circuit is on
Regenerative
A.16  Check power supply
error

 Circuit board
Control
malfunction
circuit
powered
on.  Replace driver.