4 ESTUN AUTOMATION TECHNOLOGY CO.

,LTD
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6 ESTUN AUTOMATION TECHNOLOGY CO.,LTD
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8 ESTUN AUTOMATION TECHNOLOGY CO.,LTD
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 ETS-1010APC-CAN / ETS-101010APC / ETS-101010APC-CAN
Servo Drive Model
C axis B axis A axis

Main Circuit Three Phase AC200V~230V +10% -15% (50/60Hz)

Power
Supply Control Circuit Single Phase AC200V~230V +10% -15% (50/60Hz)

Control Method SVPWM

Feedback Incremental encoder (2500P/R)

Ambient / Storage Temperature 0~55 / -20~85

Operating Ambient / Storage Humidity Below 90%RH (Non-condensing)

Conditions
Vibration /
4.9m/s2 / 19.6m/s2
Impact Resistance
Congration Base Mounted

Rotation Direction Selection Switch the direction by /P-CON

Set Speed
Reference
Speed Speed Selection Speed 1 to 7 selection
Control
Function Soft Start Setting 0 to 10s (can be set individually for acceleration and deceleration)

Sign+pulse train, CCW+CW pulse train, or 90 phase difference 2-phase pulse (phase A
Type
+ phase B)

Form Non-insulated line driver (+5V level), open collector

Reference Pulse
Position x1 multiplier: 4Mpps
Control x2 multiplier: 2Mpps
Frequency x4 multiplier: 1Mpps
Open collector: 200kpps
Frequencies drop when the dutues have errors

Set Position
Position Setting Can set 16 position reference
Reference
Phase A, phaseB, phase C: line driver output
Encoder Output Pulses
The number of dividing pulse: Any setting ratio is available
Channels NO. 8 channels

Sequence Input Signal allocations and positive/negative logics can be modied:

Servo ON (/S-ON), P control (/P-CON), alarm reset (/ALM-RST), clear error pulse
Function
(/CLR), forward run prohibited (P-OT), reverse run prohibited (N-OT), forward torque
I/O limit (/P-CL), reverse torque limit (/N-CL)
Signals Channels NO. 4 channels

Signal allocations and positive/negative logics can be modied:

Sequence Output Positioning completion (/COIN), speed agree detection (/V-CMP), motor rotation
Function detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), brake interlock
(/BK), encoder C pulse (/PGC), over travel signal (/OT), Overtravel Return-to-Zero
Complete(HOME), Servo Enabled motor Excitation()

Dynamic Brake Functions(DB) Operate during main power OFF, servo alarm, servo OFF or overtravel

Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, overspeed, etc.

Utility Functions Alarm trace back, JOG operation, Inertia detections, etc.
Built-in
Function RS-485 communication port, MODBUS protocol ;
Communications
CAN communication port, CANopen protocol;

Charge1, Power1, 7-segment LED5, Pushbuttons5

Display Functions
Axis LED3

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 Communication Cable
Servo Drive Servo Motor Power Cable Model Encoder Cable Model
Model
EMJ-02APA

EMJ-04APB
ETS-1010APC PDM-JB18 BMP-JB24
EMJ-08APB
ETS-101010APC PSC-CC24
EMJ-10APB
A axis/B axis/C axis
EMG-10APA
PDM-GA16 BMP-GA24
EML-10APA

Features

Application

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 Voltage 200VAC
EMJ- 02APA 04APB 08APB 10APB

Rated Output Power kW 0.2 0.4 0.75 1.0

Rated Torque N.m 0.64 1.27 2.39 3.18

Instantaneous Peak Torque N.m 1.91 3.82 7.16 9.55

Rated Current Arms 1.4 2.8 4.0 5.3

Instantaneous Max Current Arms 4.2 8.4 12.0 15.9

Rated Speed r/min 3000

Max. Speed r/min 4500

Rotor Moment of Inertia X10-4kgm2 0.19 (0.23) 0.31 (0.35) 1.35 (1.47) 1.74 (1.87)

Brake Rated Voltage DC24V10%

Brake Rated Power W 7.2 11.5

Brake Holding Torque N.m 1.3 3.2

Encoder Wire-saving Incremental Encoder (2500P/R)

Insulation Class F

Ambient Temperature 0 to + 40 (no freezing)

Ambient Humidity 20 to 80% RH (non-condensing)

Vibration 49m/s2

Totally Enclosed, Self-cooled, IP65 ( Except for shaft opening, when not equipped
Enclosure with oil seal; Except for connectors, when not equipped with waterproof connectors. )

Torque-Speed Feature

12 ESTUN AUTOMATION TECHNOLOGY CO.,LTD

Model Flange Side Key
L LL S TapDepth
EMJ-
LR LE LF LC LA LB LZ QK QL W T U

02P 141(181) 111(151) 30 3 6 60 70 50 5.5 14 M510L 16 4 5 5 3

04P 161(201) 131(171) 30 3 6 60 70 50 5.5 14 M510L 16 4 5 5 3

08P 173(216) 138(181) 35 3 9 80 90 70 6 19 M615L 22 4 6 6 3.5

10P 191(234) 156(199) 35 3 9 80 90 70 6 19 M615L 22 4 6 6 3.5

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 Voltage 200VAC

Servo Motor Model EMG- 10APA

Rated Output Power kW 1.0

Rated Torque N.m 4.78

Instantaneous Peak Torque N.m 14.3

Rated Current Arms 6.0

Instantaneous Max. Current Arms 18.0

Rated Speed r/min 2000

Max. Speed r/min 3000

Rotor Moment of Inertia X10-4kgm2 10.0 (10.6)

Brake Rated Voltage DC24V10%

Brake Rated Power W 19

Brake Holding Torque N.m 10

Encoder Wire-saving Incremental Encoder (2500P/R)

Insulation Class F

Ambient Temperature 0 to + 40 (No freezing)

Ambient Humidity 20 to 80% RH (Non-condensing)

Vibration 24.5m/s2

Totally Enclosed, Self-cooled, IP65 ( Except for shaft opening, when not equipped
Enclosure
with oil seal. )

16 ESTUN AUTOMATION TECHNOLOGY CO.,LTD

 Dimension Key
L LL KB1 KB2 KL1 KL2 S
Model EMG- LR LE LF LC LA LB LZ TapDepth QK QL W T U
10APA 215(269.5) 160(214.5) 84 135(189.5) 118 79 55 4 12 130 145 110 9 22 M620L 40 5 8 7 4

C A
B

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18 ESTUN AUTOMATION TECHNOLOGY CO.,LTD
 Voltage 200VAC

Servo Motor Model EML- 10APA

Rated Output Power kW 1.0

Rated Torque N.m 9.55

Instantaneous Peak Torque N.m 28.7

Rated Current Arms 6.0

Instantaneous Max. Current Arms 18.0

Rated Speed r/min 1000

Max. Speed r/min 1500

Rotor Moment of Inertia X10-4kgm2 19.0 (19.6)

Brake Rated Voltage DC24V10%

Brake Rated Power W 19

Brake Holding Torque N.m 10

Encoder Wire-saving Incremental Encoder (2500P/R)

Insulation Class F

Ambient Temperature 0 to + 40 (No freezing)

Ambient Humidity 20 to 80% RH (Non-condensing)

Vibration 24.5m/s2

Totally Enclosed, Self-cooled, IP65 ( Except for shaft opening, when not
Enclosure
equipped with oil seal. )

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 Dimension Key
Model L LL KB1 KB2 KL1 KL2 S TapDepth
EML- LR LE LF LC LA LB LZ QK QL W T U

10P 265(319.5) 210(264.5) 134 185(239.5) 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4

C A
B

20 ESTUN AUTOMATION TECHNOLOGY CO.,LTD

 90
Mounting Hole Diagram

90
Air Flow
2- 5
80

5
220

Air Flow

210

220
2-R

6 Air Flow
75 198
5

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 +10%
Three Phase AC 200~230V - 15%
50/60Hz
Non-fuse Circuit Breaker

Surge Suppresser Thunder-proof for System Protection

Noise Filter

Electromagent
contactor to shut
down power Spark Extinguisher
supply of servo A(1)
when U_A Motor
B(2)
regenerative unit 1MC
L1 V_A
is in use or C( 3 ) MA
W_A
emergency stop 1MC
L2 D(4 )
occure. FG
1MC
L3 CN2_A Wire-saving Encoder

Encoder
FG
L 1C PGA
L 2C

ETS Servo Drives Please handle connectors of shielded wires properly

U_B A(1) Motor
B(2)
V_B C( 3 ) MB
B1
B1 W_B D(4 )
External Regenerative B2 B2 FG
Resistor
B3 CN2_B Wire-saving Encoder
B3
Encoder

PGB
CN1_A

Please handle connectors of shielded wires properly

U_C A(1) Motor

CN1_B B(2)
V_C
C( 3 ) MC
W_A D(4 )
FG
CN2_C Wire-saving Encoder

Encoder

CN1_C
PGC

Please handle connectors of shielded wires properly

- 1 1 -
- 2 2 -
485+ 3 3 485+
ISO_GND 4 4 ISO_GND
ISO_GND 5 5 ISO_GND
485- 6 6 485-
CANH 7 7 CANH
CANL 8 8 CANL
Connector Frame

FG

Shield wires are connected to the connector frame

22 ESTUN AUTOMATION TECHNOLOGY CO.,LTD

 CN1_A

34
PAO
P Represents Multi-twisted 35
Pair Wires PAO
PL1 23 2K
Power supply for collector
open reference 32
PULS 25 150
PULS PBO
P PULS 24 33 PG Dividing Ratio Output
PBO
Position Reference PL2 28 2K
Power supply for collector
open reference 27 150 30 PCO
SIGN
SIGN
P SIGN 26 31
PCO

+24VIN 36
SG
3.3K
+ 9 18
+24V - S-ON COIN
10 ~
V-CMP (Speed Coincidence Output
(
Servo ON
(When ON, Servo Function is Enable)
P-CON TGONMotor Rotation Detection
P Control 11 ~
(When ON, P Control Encabled) 8
COIN+ S-RDYServo Ready
~ 7
Forward Rotation Prohibited P-OT ~ COIN-
(When OFF, Forward Rotation Prohibited) 12 CLTLimiting Torque Detection

Reverse Rotation Prohibited * BKBreak Interlock

(When OFF, Reverse Rotation Prohibited)
N-OT 13 ~
2
TGON+ PGCEncoder C Pulse
Alam Reset
(When ON, Alarm Reset)
ALM-RST
14 ~
~ 1 TGON- *
OTOvertravel Signal
Clear Position Error
CLR RDServo Enabled Motor Excitation
(When ON, Position error is cleared) 15 ~ 6 S-RDY+
Forward External Torque Limit ~ 5 HOMEHoming Completion
PCL S-RDY-
(When ON, Limit Enabled) 16 ~

Reverse External Torque Limit

NCL ~
+24V
(When ON, Limit Enabled) 17
4 ALM+
~ 0V Alarm Output
3 ALM-
(OFF when alarm is triggered)

Photo Coupler Output

Connector Frame Maximum working voltage DC30V

FG Maximum working current DC50mA

Shield wires are connected to the connector frame

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 Nanjing South
Railway Station
To downtown

Shanghai

Tian Yuan Xi Lu
S55 Ning Xuan Gao Su
Jiang Jun Da Dao

Hohai University ESTUN Headquarter

Jiangning Campus
Fo Cheng Xi Lu Fo Cheng Dong Lu
Shui Ge Lu

Su Yuan Da Dao

Cheng Xin Da Dao

ESTUN AUTOMATION TECHNOLOGY CO., LTD.

Hua Yuan Jie

Airport Express
Jiang Jun Da Dao
Shui Ge Lu

Nanjing Lukou
Intl Airport