ERC Series Compact Control Cabinet Product Manual - V1.02 (2022.10.28)

Product Manual of ERC Series Compact
Control Cabinet
Control cabinet model: ERC – C – E3

Revision History
S/N Date Version Description
1 2020-12 V1.00 The initial issue
2 2021-11 V1.01 Add OUTPUT external 24V wiring diagram
3 2022-4 V1.02 Add precautions for use

Product Manual of ERC Series Compact Control Cabinet Safety Precautions
Safety Precautions
This Chapter describes the content to be observed for the safe use of the robot. Before using,
be sure to read and understand the content in this Chapter.
Companies and individuals using Estun robotics should be familiar with the local and national
standards and laws. Appropriate safety facilities shall be provided to protect users. Before use
( installation, operation, maintenance and repair), please be sure to read and understand this
Manual as well as other ancillary materials thoroughly, and use it after being familiar with all
knowledge on equipment, safety and precautions. However, Estun would not guarantee that the
user will absolutely not be injured even if he follows completely all the safety information given
in the Manual.
Definition of users
The users of this Manual are defined as follows
Operators:
− To perform the power ON/OFF operation of the robot.
− To start the robot program from the operation panel.
Programmers:
− To operate the robot.
− Teach the robot in a safe area and others.
Maintenance personnel:
− To operate the robot.
− To teach the robot in a safe area and others.
− To carry out the robot maintenance (repair, adjustment, replacement).
Operators are not allowed to work in the safe areas.
Programmers and maintenance personnel are allowed to work in the safe areas.
When operating, programming and maintaining the robot, the operators, programmers, and
maintenance personnel must take care of their safety using at least the following safety protectors.
Work clothes suitable for the work
Safety footwear
Helmet
Specialized training
Works carried out in the safe area include transportation, setting, teaching, adjustment,
maintenance, etc.
To operate in a safe area, the person must be trained on proper specialized robot operation.
For more information about training, please contact Nanjing Estun Robot Engineering Co., Ltd.
Safety symbols
Important safety considerations are indicated throughout the Manual by the following symbols.
Be sure to read and follow the descriptions shown with each symbol.
Document version V1.02 (2022-04) © 2022 ESTUN Robotics. All Rights Reserved. i
Symbol Definition
Indicates an imminently hazardous situation which, which if not avoided, will

result in death or serious injury.
Danger
Indicates a hazard with a medium or low level of risk, which if not avoided, could
result in minor or moderate injury
Warning
Indicates a potentially hazardous situation, which if not avoided, could result in

equipment damage, data loss, performance degradation, or unexpected results.
Caution
Indicates the precautions and restrictions that must be observed.

Indicates also the sending of warning, but not the precautions resulting in damage
Important to the equipment.
Provides additional information to emphasize or supplement important points of

the main text.
Note
Safety precautions for users

Be sure to follow the method shown by Estun when transporting and installing the robot, as
the incorrect method may cause the robot to tip over and lead to an accident.
Be sure to define a safe area before installing the robot. Fences and warning signs can be
provided around the robot' s working area to ensure the safe operation of the robot, to
prevent the entry of idlers and the robot from hurting people.
There should be no objects hanging above the robot to prevent falling and damaging the
robot.
Do not lean against the electric control cabinet or casually push the buttons, in case the
robot brings some unexpected movements, which can cause personal injury or equipment
damage.
When disassembling the robot, pay attention to the parts of the robot that may fall and hurt
people.
When performing individual debugging of peripheral equipment, be sure to power off the
robot before operation.
Peripheral equipment should be connected with an appropriate ground wire.
Operate the robot at low speed for the first time of use, then gradually accelerate, and
confirm if there’s an abnormality.
When using the teach pendant, make sure to remove the gloves before operating as it may
cause errors in operation.
Information such as programs and system variables can be saved to storage cards and other
media. To prevent accidental data loss, users are recommended to save data regularly.
Do not move each axis of the robot, otherwise it may cause personal injury and equipment
damage.
Protective measures shall be taken when wiring and piping between the electric control
cabinet and robots and peripheral equipment, for example, thread the pipes, wires or cables
through the pit or cover with protective covers to avoid being stepped on or being crushed by
forklift.
Document version V1.02 (2022-04) © 2022 ESTUN Robotics. All Rights Reserved. ii
Any working robot may have unpredictable actions, which may cause serious injury to
personnel or damage to equipment. To start a work, it is necessary to test the reliability of
each safety measure (fence gate, brake, safety indicator light). Before turning on the robot,
make sure that there are no other people standing in the working space of the robot.
The range of operation and load conditions set by the software must not exceed the values
provided in the specification table. Improper settings may cause personal injury or machine
damage.
Follow the rules given below if the work must be performed within the robot's working space:
− Connect and enable only after the manual mode is selected, and disconnect other automatic
control such as computer control.
− When the robot is in manual mode, the speed must be limited to less than 250mm/s;
when the robot needs to be adjusted to operate at full speed in manual mode, operation
shall only be carried out by professionals who are fully aware of the risks.
− Beware the rotational joints of robot to prevent hair and clothing from being caught in the
joints; also note the other dangers that may be caused by the motion of the robot or other
accessory equipment.
− Test whether the motor brake is working properly to prevent personal injury caused by
robot abnormalities.
− Consider the contingency plan when the robot suddenly moves toward the position on
which the operators stand.
− Make sure to set up shelters, just in case.
Under any circumstances, do not stand under any robot arm to prevent abnormal
motion of the robot or connection with other people.
Danger
A carbon dioxide fire extinguisher needs to be placed on site to prevent the robot
system from catching fire.
Caution
Operators:
Before operate the robot, you should press emergency stop button, which is on the teach
pendant or the upper right of electric cabinet, in order to check whether the indicator of Servo
Ready is not light, and make sure the power of the indicator is turnoff.
In course of operation, never allow the non- work personnel to touch the control cabinet.
Otherwise, the robot might bring some unexpected movements, which can cause personal
injury or equipment damage.
When you install a device on the robot, the power supplies of the control cabinet and the
device must be cut off (OFF), and then hang a caution sign. If you power on in your installation,
it might cause the danger of electric shock, or the robot might bring some unexpected
movements, which can cause personal injury.
E-stop
The E-stop is independent of the electrical control of all robots, and it can stop all robot motions.
E-stop means that all power supplies to the robot are disconnected, but the power to the brake
on the servomotor is not disconnected. The robot can work again after releasing E- stop button
and re-starting the robot.
There’re several buttons for emergency stopping the robot. On the teach
pendant and at the upper right of control cabinet, each of these places has one
red button, as shown in the left side. Certainly, users can also set the E-stop
button as required.
The E- stop button must be installed in an accessible position so that the
E-stop button robot can be stopped in an emergency.
Document version V1.02 (2022-04) © 2022 ESTUN Robotics. All Rights Reserved. iii
Operators shall pay attention to the high- voltage danger of the power line of
the servomotor, as well as the power line connecting the fixture and other devices.
Danger
E-stop is just used for stopping the robot in the case of an emergency. That is to
say, it cannot be used in the normal stop.
Caution
Programmers
While teaching the robot, and in some cases, the programmer needs to enter the range of the
robot's movement, so be sure to keep himself safe.
ON/OFF enabling is done by operating a Mot button on the teach pendant. When
pressing this button, the servomotor is enabled, and disabled when releasing it.
Caution
To ensure the safe use of the teach pendant, the following rules must be observed:
Ensure that the enable button works at all times.
Disconnect the enabling timely when temporarily stopping the robot, programming or testing.
When entering the robot working space, the demonstrator shall bring the teach pendant to avoid
other people operating the robot without the programmer is informed.
The teach pendant must not be placed within the working space of the robot to prevent abnormal
actions in case of collision between the robot and the teach pendant.
Maintenance personnel
Pay attention to the parts in the robot that are prone to become hot
Some parts of the robot in normal operation will become hot, especially the servomotor and
reducer, which may cause burns when being touched. When it is inevitable, protective
equipment such as heat-resistant gloves should be worn.
Before touching these parts with your hands, try to feel the temperature of these
parts by approaching with your hand, in case you are scalded.
Wait for an enough time after machine halt, so that the hot parts can be cooled
Caution down, and then you can carry out the maintenance work.
Safety precautions on removing parts
Ensure that the internal parts such as the gears are no longer rotating, and then you can open
the lid or the protection device. You shall not open the protection device when the gears and
bearings are rotating. If necessary, use the auxiliary device to make the internal unfixed parts
remains its original position.
Document version V1.02 (2022-04) © 2022 ESTUN Robotics. All Rights Reserved. iv
The initial test upon repair, installation and maintenance shall be carried out by following the
steps below:
− Clean up the robot and all maintenance and installation tools in the working space of the robot.
− Install all the protective measures.
− Ensure that people are standing outside the safe range of the robot.
− Pay special attention to the working conditions of the parts repaired during testing.
In case of robot repair, do not use the robot as a ladder, and do not climb on the robot to avoid
falling.
Brake detection
In general, the brake can be worn in the normal operation. Therefore, the brake detection is
necessary by following the steps below.
a. Move each joint to a position, where the joint can bear the maximum load.
b. Shut down the robot and brake.
c. Mark every joints of the robot.
d. Examine whether any joint moves after waiting for a moment.
Safety precautions for tools and peripheral equipment

The external equipment of the robot may still be running after the robot is turned off, so damage
to the power cord or power cable of the external equipment may also cause bodily injury.
Safety precautions for robot

In an emergency, any arm of the robot that clips the operator shall be removed. Please ask our
technicians for details to ensure the safe removal.
Small robot arms can be removed manually, but for large robots, cranes or other small equipment
may be required.
Before releasing the joint brake, the mechanical arm needs to be fixed first to ensure that the
mechanical arm will not cause damage again to the person trapped under the action of gravity.
Ways to stop robot

The following three ways can be used to stop robot.
Power-Off Stop
Servo power is turned off and the robot stops immediately. Servo power is turned off when the
robot is moving, and the motion path of the deceleration is uncontrolled.
The following processing is performed at Power-Off stop:
An alarm is generated and servo power is turned off, and the robot operation is stopped
immediately.
Execution of the program is paused.
For the robot in motion, frequent power-off operations through E-stop buttons will cause robot
failure. The system configuration for daily power-off stop should be avoided.
Alarm Stop
The motion of the robot is decelerated and stopped through a control command after the robot
system issues an alarm (except for the power failure alarm).
The following processing is performed at Controlled stop.
The robot system issues an alarm due to overload, failure, etc. ( except for power failure
alarms).
Document version V1.02 (2022-04) © 2022 ESTUN Robotics. All Rights Reserved. v
The servo system sends a command “Control Stop” along with a decelerated stop. Execution
of the program is paused.
The servo power is turned off.
Hold
The robot is decelerated until it stops, and servo power remains on.
The following processing is performed at Hold.
The robot operation is decelerated until it stops. Execution of the program is paused.
Warning and caution signs
Sign Description
Electric shock warning

Attention should be paid to the danger of high voltage and electric
shock at the place where this sign is affixed.
High temperature sign

Be cautious about a section where this label is affixed, as the
section generates heat. If you have to inevitably touch such a
section when it is hot, use a protective provision such as heat-
resistant gloves.
Step-on prohibitive sign

Do not step on or climb the robot as it may adversely affect the
equipment, and cause the bodily injury to operators.
Sign for wounding by robot

There is a danger of wounding by robot when working within the
motion range of robot.
No disassembly sign
Users are prohibited from disassembling the part affixed with
this sign. Disassembly shall be carried out by professionals using
professional tools.
Document version 1.02 (2022-04) © 2022 ESTUN Robotics. All Rights Reserved. vi
Product Manual of ERC Series Compact Control Cabinet Table of Contents
Table of Contents
Revision History ........................................................................................................................................ i
Safety Precautions .................................................................................................................................... i
Definition of users................................................................................................................................. i
Specialized training .............................................................................................................................. i
Safety symbols ..................................................................................................................................... i
Safety precautions for users .............................................................................................................. ii
Safety precautions for tools and peripheral equipment ................................................................... v
Safety precautions for robot ............................................................................................................... v
Ways to stop robot .............................................................................................................................. v
Warning and caution signs ................................................................................................................ vi
Table of Contents ...................................................................................................................................... i
Chapter 1 Product Information ........................................................................................................... 1-1
1.1 Nameplate .................................................................................................................................. 1-1
1.2 Model coding .............................................................................................................................. 1-1
1.3 Name of components................................................................................................................. 1-1
1.4 Overall dimensions .................................................................................................................... 1-2
1.5 Specifications ............................................................................................................................. 1-2
Chapter 2 Installation............................................................................................................................ 2-1
2 . 1 Environmental requirements ..................................................................................................... 2-1
2.2 Installation location .................................................................................................................... 2-1
2.3 Way to install .............................................................................................................................. 2-2
2.3.1 Horizontal installation ........................................................................................................ 2-2
2.3.2 Vertical installation ............................................................................................................ 2-4
2.4 Install the encoder cable clip .................................................................................................... 2-6
Chapter 3 Wiring and Connection ...................................................................................................... 3-1
3 . 1 Precautions during wiring and connection ............................................................................... 3-1
3 .2 Pin description of IO terminals................................................................................................... 3-2
3 .3 Interface specification................................................................................................................ 3-3
3 .4 Basic connection diagrams ....................................................................................................... 3-4
3 .5 Instructions of indicator lamp .................................................................................................... 3-5
3.6 Power supply wiring................................................................................................................... 3-6
3.7 Teaching pendant wiring ........................................................................................................... 3-7
3.7.1 Definition of teaching pendant interface............................................................................ 3-7
3.7.2 Way to connect teaching pendant ..................................................................................... 3-7
3.8 Power wiring ............................................................................................................................... 3-8
3.8.1 Definition of power interface/brake interface .................................................................... 3-8
3.8.2 Specification of wires & cables ......................................................................................... 3-9
3.9 Encoder wiring ......................................................................................................................... 3-11
3.9.1 Definitions of encoder interfaces .................................................................................... 3-11
3.9.2 Specification of wires & cables ....................................................................................... 3-12
3.10 SYSTEM-IO wiring ................................................................................................................ 3-14
3.10.1 Definition of system I/O interface .................................................................................. 3-14
3.10.2 Wiring of system input signal ........................................................................................ 3-15
3.10.3 Wiring of system output signal ...................................................................................... 3-18
3.11 INPUT wiring .......................................................................................................................... 3-20
3.11.1 Definition of input signal ................................................................................................ 3-20
3.11.2 Input signal specification ............................................................................................... 3-21
3.11.3 Wiring rules of input signal............................................................................................ 3-21
3.11.4 Wiring examples of input signal .................................................................................... 3-21
3.12 OUTPUT wiring ....................................................................................................................... 3-24
3.12.1 Definition of output signal ............................................................................................. 3-24
3.12.2 Output signal specification ............................................................................................ 3-25
3.12.3 Wiring example of output signal.................................................................................... 3-26
3.13 SAFETY wiring....................................................................................................................... 3-28
3.13.1 Definition of SAFETY interface ..................................................................................... 3-28
3.13.2 Removal of short-connected piece ............................................................................... 3-28
3.13.3 E-stop wiring method .................................................................................................... 3-29
Product Manual of ERC Series Compact Control Cabinet Table of Contents
3.13.4 Wiring method of safety door and safety light curtains................................................. 3-30
3.14 Communication wiring ........................................................................................................... 3-32
3.14.1 Definition of communication signal ............................................................................... 3-32
3.14.2 Connection to PC .......................................................................................................... 3-33
3.14.3 Connection to EtherCAT communication device .......................................................... 3-33
3.15 X2/X3 wiring ........................................................................................................................... 3-34
Chapter 4 Debugging ............................................................................................................................ 4-1
4.1 Use of teaching pendant ........................................................................................................... 4-1
4.1.1 Connection of teaching pendant ....................................................................................... 4-1
4.1.2 Edit method ....................................................................................................................... 4-1
4.2 Use of ESView ............................................................................................ 4-2
4.2.1 Install ESView ................................................................................................................... 4-2
4.2.2 Connection to PC .............................................................................................................. 4-3
4.2.3 Start ESView ..................................................................................................................... 4-3
4 . 3 Parameter transmission ............................................................................................................ 4-7
4.3.1 Upload ............................................................................................................................... 4-7
4.3.2 Edit .................................................................................................................................... 4-8
4.3.3 Save .................................................................................................................................. 4-9
4.3.4 Import ................................................................................................................................ 4-9
4.3.5 Download ........................................................................................................................ 4-10
4.3.6 Factory reset ................................................................................................................... 4-11
4 . 4 Parameter transmission .......................................................................................................... 4-12
Chapter 5 Alarm Viewing and Processing ........................................................................................ 5-1
5.1 Alarm viewing ............................................................................................................................. 5-1
5.1.1 View alarm through teaching pendant .............................................................................. 5-1
5.1.2 View alarms using ESView ............................................................................................... 5-2
5.2 List of alarms .............................................................................................................................. 5-2
Chapter 6 Maintenance......................................................................................................................... 6-1
6 .1 Precautions for maintenance .................................................................................................... 6-1
6.2 Routine inspection ..................................................................................................................... 6-2
6.3 Regular inspection ..................................................................................................................... 6-2
6.4 Electrical schematic diagram ...................................................................................................... 6-3
Product Manual of ERC Series Compact Control Cabinet Product Information
Chapter 1 Product Information

1.1 Nameplate
Control cabinet
model
Serial No.
Cabinet weight
Input specification.
1.2 Model coding
ERC series Controller Drive spec. Set order Option

compact control model
Mark Spec. Mark Spec. Mark Spec.

Low power 4-axis Type of output NPN
High power 4-axis

6-axis
1.3 Name of components
Louver
Local/ remote selector switch
Logo
E- stop button
Protective cover
( With the interfaces of
power line and brake line) Product nameplate
Work indicating lamp

INPUT interface
Main power switch
OUTPUT interface Teaching pendant cable interface
Encoder interface Control cabinet power line

interface
X1 interface ( female) SAFETY interface
LAN1 interface
X2 interface ( male)
LAN2 interface
USB interface EtherCAT interface

SYSTEM- IO interface
Document version V1.02 (2022-04) © 2022 ESTUN Robotics. All Rights Reserved. 1-1
Product Manual of ERC Series Compact Control Cabinet Product Information
1.4 Overall dimensions
1.5 Specifications
Item Specification
Input power Single-phase AC 200V~230V, -15%~+10%, 50Hz/60Hz
Controlled axes 3~6
System IO 7-point input, 7-point (relay) output
Universal IO 24-point input, 24-point output
Ethernet Two Ethernet interfaces
EtherCAT An EtherCAT extended output interface
Teaching pendant interface An aviation plug interface
USB A USB2.0 interface
SAFETY With functions of E-stop, safety grating and safety door
Signal feedback interface Two high-speed pulse feedback interfaces
Grounding resistance ＜0. 1Ω (according to IEC61800-5-1)
Insulation resistance Above 100MΩ
Leakage current ＜30mA
Impulse current ＜20A
Temperature: 0 C~ 4 0 C
Work environment Humidity: 10%~80% (no condensation)
Temperature: - 2 0 C~ 6 0 C
Storage conditions
Humidity: below 95% RH (no condensation)
Vibration strength 10Hz≤f≤57Hz , amplitude 0. 15mm
Impact strength Not exceed 15g to a maximum, with the duration of 11ms
Altitude Below 1,000m
EMC test standard IEC 61000-6-2 and IEC 61000-6-4
IP grade IP20
Volume (L × W × H) 348 mm×400 mm×190 mm
Weight 12kg~13kg
Product Manual of ERC Series Compact Control Cabinet Installation
Chapter 2 Installation
2 .1 Environmental requirements
Install the robot system in an environment satisfying the following conditions.
The ambient temperature should be at 0℃ and 40℃ during operation, and -20℃ to 60℃
during handling and maintenance.
RH shall not above 95% RH without condensation.
Places with less dirt, dust, oil fume and water.
No inflammables and corrosive liquids and gases in the working area.
Places with minor vibration or impact to the control cabinet (vibration below 0.5G).
No electrical interference source nearby (e.g. gas shielded welding TIG equipment, etc.).
No potential risk of collision with mobile equipment (e.g. forklift).
2.2 Installation location

For a standard installation scenario, the table top shall be placed stably, which should be flat
without inclination and deformation.
The space for installation is shown in the figure below, with a sufficient heat dissipation space
reserved for installation.
Air outlet
Air inlet
2.3 Way to install

Following tools shall be prepared prior to installation.
Item Description
Cross screwdriver PH2 (diameter of cutter head is about 6.5mm)
Rubber anchor Accessories for the control cabinet, 4 in total, which have been
(including M5 screw) installed at the bottom of the control cabinet at time of delivery.
Mounting bracket (L type is

Parts for fixing the control cabinet, which are to be furnished by
recommended) and
users (at least 4).
necessary screws
Both horizontal and vertical installations are available for the control cabinet.
In case of good working conditions, users may install the cabinet horizontally
without requiring mounting bracket and screws.
Note
In case of poor working conditions, the mounting bracket and screws are required
to be furnished, and both the horizontal and vertical installations are optional.
2.3.1 Horizontal installation
Installing steps
Install the control cabinet horizontally by following the steps below:
Step 1 : Mount the four rubber anchors to the bottom of the control cabinet and fasten them using a
cross screwdriver, as shown in the figure below.
[Note] As the rubber anchors have been installed at the bottom of the control cabinet at time of
delivery, so users may skip this step.
Rubber anchor ( including

M5 screw) × 4
Drive and tighten the M5 screw of the rubber anchors

with a cross screwdriver
Step 2 : Complete the horizontal installation by putting the control cabinet on the table in the
direction as shown in the figure below.
Step 3 (optional): In case of poor working condition (e.g. easy to generate vibration), self-
furnished mounting bracket (L type is recommended) as well as the screws shall be used to fix
the control cabinet.
Use a cross screwdriver to screw out

the M5 screws on the reserved holes
on both sides.
Self- furnished Drive and tighten the self-

screws
furnished screws to the
mounting table with a cross
L- shaped screwdriver.
bracket
Drive and tighten the spare M5 screw

to the mounting hole reserved with a
cross screwdriver.
The horizontal installation of the control cabinet has been finished at this moment.
Mounting dimensions
The figure below shows the mounting dimensions for horizontal installation.
Front of control cabinet
[Note] The size of the screw and L-shaped bracket on the mounting table should be customized
based on needs. M5 screw is recommended
2.3.2 Vertical installation
Installing steps
Install the control cabinet vertically by following the steps below:
Step 1: Loosen the M5 screws of the four rubber anchors using a cross screwdriver, and then
keep the rubber anchors (including M5 screws) properly.
Rubber anchor ( including M5

screw) × 4
Unscrew the M5 screws of the rubber

anchors using a cross screwdriver, and
then keep them properly.
Step 2 : Loosen the M5 screws ( 4 in total) on the side hanging no nameplate of the control
cabinet with a cross screwdriver, and keep them properly (for standby).
Loosen the M5 screws ( 4 in total) on the

side hanging no nameplate of the control
cabinet with a cross screwdriver, and keep
them properly.
Step 3 : Mount 4 rubber anchors ( including M5 screws) into the mounting holes on the side
hanging no nameplate of the control cabinet.
Drive and tighten the M5 screws

of the rubber anchors using a
cross screwdriver.
Step 4: Turn over the control cabinet toward the side with rubber anchor, and put it on the table
stably.
Turn over the control cabinet
toward the side with rubber
anchor
Step 5: Fix the control cabinet on the installing surface according to figure below by using the
self-furnished bracket, screws and the M5 screws supplied for standby use.
Drive and tighten the self-

Self- furnished furnished screws to the mounting
screw table with a cross screwdriver.
Self- furnished L-
shaped bracket
Drive and tighten the M5 screws

for standby use to the reserved
mounting hole with a cross
screwdriver.
Step 6 : For both sides of the control cabinet, stabilize the control cabinet on the installing
surface in the same way as above using the self-furnished mounting bracket and screws as well
as the standby M5 screws.
The vertical installation of the control cabinet has been finished at this moment.
Mounting dimension
Following figure shows the mounting dimensions for vertical installation.
Front of control cabinet
[Note] The size of the screw and L-shaped bracket on the mounting table should be customized
based on needs. M5 screw is recommended.
2.4 Install the encoder cable clip

After installing the control cabinet horizontally, users need to mount the encoder cable clip.
Prepare the following tools prior to installation.
Item Description
Cross screwdriver PH2 (diameter of cutter head is about 6.5mm)

Cable clip Accessory of control cabinet, 1 in totally
Mount the encoder cable clips by taking following steps.

Step 1: Loosen the screws under the encoder interface using a cross screwdriver to (2 screws
in total) and keep them properly for later use.
Loosen the screws under the

encoder interface using a
cross screwdriver
Step 2 : Use the encoder cable clip and spare screws. Mount the encoder cable clip to the
control cabinet according to the following diagram.
Encoder cable clip

Drive and tighten the screws
using a cross screwdriver to
secure the encoder plug bracket
to the control cabinet.
Step 3: Before inserting the encoder plug, unscrew the metal clip according to the diagram below;
take out the metal clip and screw on it, and keep it properly for later use.
Unscrew the metal clip and take out

the upper metal clip and screw.
Step 4: After the encoder plug is inserted, put the encoder cable onto the clamping slot, then
cover the metal clip and tighten the screw.
Put the encoder cable onto the

clamping slot, then cover the metal
clip and tighten the screw.
Step 5: Tighten the fastening bolts on both sides of the encoder plug.
Tighten the fastening bolts on both sides of the encoder plug using the
" electric screwdriver" or "preset torque driver". The rated torque is 0.45N ··m
Important
The encoder cable clip is mounted at this moment.
Document version 1.02 V(2022-04) © 2022 ESTUN Robotics. All Rights Reserved. 2-7
Product Manual of ERC Series Compact Control Cabinet Wiring and Connection
Chapter 3 Wiring and Connection

3.1 Precautions during wiring and connection
The product installation, wiring, maintenance and inspection shall only be performed by
professional maintenance workers who have received the necessary electrical training and
understood enough electrical knowledge.
Disconnect all external power supplies of the system before operation during
wiring. Failure to do so may result in electric shock, equipment failure or
malfunction.
Cable terminals must be insulated to ensure that the insulation distance
between cables does not decrease after the cables are connected.
Otherwise, it may cause an electric shock or equipment damage.
Prevent metal filings and wire ends from dropping into ventilation holes of
the PLC during screw hole processing and wiring. Failure to comply may
result in fire, fault and malfunction.
The specification and installing method of external wiring of equipment shall
be in compliance with the requirements of local regulations on power
distribution.
To ensure safety of equipment and operator, use cables with sufficient
diameter and connect the cables to ground reliably.
When connecting the cable, ensure that you have recognized the connector
type correctly. Failure to comply may result in module and external equipment
fault.
Warning Tighten bolts on the terminal block in the specified torque range:
If the terminal is not tight, short-circuit, fire or malfunction may be caused.
If the terminal is too tight, fall-off, short-circuit, fire or malfunction may be
caused.
If the connector is used to connect with external equipment, perform correct
crimping or welding with the tool specified by manufacturer. If connection is
in poor contact, short-circuit, fire or malfunction may be caused.
Do not bundle control wires, communication wires (weak current) and power
cables together ( strong current) . They must be run with distance of more
than 100 mm. Otherwise, noise may result in malfunction.
Select shielded cables for high-frequency signal input/output in applications
with serious interference so as to enhance system anti-interference ability.
The robot electric cabinet is a special control equipment, and the design of
power capacity only considers the need for a very small amount of external IO,
so users are not allowed to use external power, including but not limited to
additional shafts, nor to connect patch panels, otherwise it may cause a fault
alarm, or even cause the electric cabinet to catch fire.
The robot electric cabinet is not allowed to open the cabinet door for use.
If the customer's power supply is unstable, it is recommended that the
customer purchase UPS and other equipment to be connected to the robot to
protect the stable operation of the controller and avoid the loss of system files.
Caution After the robot electrical cabinet is connected to the external equipment, the
cable routing shall be reasonably arranged (including but not limited to IO
cable, network cable, etc.) to avoid tripping and equipment damage.
Document version V1.02 (2022-04) © 2022 ESTUN Robotics. All Rights Reserved. 3- 1
3.2 Pin description of IO terminals
Please pay attention to the pin sequence of the terminal block, and conduct the correct wiring
according to the physical example below.
The pin sequence description of the terminal block is applicable to the following terminals:
⚫ SYSTEM-IO
⚫ INPUT
⚫ OUTPUT
⚫ SAFETY
Position of pin 1
Direction of inserting
control cabinet
3.3 Interface specification
S/N Name Description

Robot brake line
1 Motor brake cable interface for each axis of the robot.
interface
Robot power line
2 Motor power cable interface for each axis of the robot.
interface
3 INPUT interface User input signal interface (30-pin).
4 OUTPUT interface User output signal interface (32-pin).
The motor encoder cable interface of each axis of the robot,

5 Encoder interface which is used to collect the robot position signal, and is
connected to the robot body using a special cable.
High-speed pulse input interface, feedback channel 1 of
6 X3 interface
external incremental encoder.
High-speed pulse input interface, feedback channel 2 of
7 X2 interface
external incremental encoder.
8 SYSTEM-IO interface 7 inputs and 7 outputs; electrically isolated
Key switch of robot control mode (local or remote).
Local/remote selector Local mode Remote mode

9
switch
Button by pressing which the emergency stop of the robot can

10 E-stop button
be controlled.
11 Work indicating light Indicate system status.
Micro switch of control
12 For robot system power on and off.
cabinet
Teaching pendant
13 The cable interface of the robot teaching pendant.
interface
Power input interface Connected with an external single-phase AC 220V power
14
of control cabinet supply.
15 SAFETY interface For signal access such as external emergency stop.
16 LAN1 interface
Communication interface connected to the controller (virtual
17 LAN2 interface teaching pendant) or vision module
18 EtherCAT interface Connect the external extended servo axis or Trio module.
19 USB interface Connect ESView (PC) or communication interface for system

upgrade.
3.4 Basic connection diagrams

X3 wiring example X2 wiring example Wiring mode of E-stop switch
Differential input Differential input Use external E-stop Use panel E-stop
5V input 5V input only
External E-stop
Single phase, AC
220V
Brown
Blue
Power interface
Wiring mode of safety door/light curtain
Chartreuse
Upper device is of the collector open circuit output Not use a safety wiring
Typical wiring mode of system input signal
ERC-C Control Cabinet

USB-USB
Communication cable
LAN communication
Typical wiring mode of system output signal Visual controller Teach pendant on PC
NPN wiring PNP wiring
EtherCAT communication
Add extension axis Add extension module
Typical wiring mode of

Typical wiring mode of system input signal system output signal
ERT72 teach pendant
NOTE
SYSTEM-IO can use external 24V power supply. Please refer to "3.10 SYSTEM-IO Wiring" for details.
3.5 Instructions of indicator lamp
Power indicator
System enable
indicator
Program running
indicator
Alarm indicator
There’ re 4 working indicator lamps arranged in the control cabinet, which are used to indicate
the working state of the system, as detailed in the table below.
Indicator name State Description

POWER OFF: The control cabinet is powered off.
POWER
POWER ON: The control cabinet is powered on.
S-ON OFF: The system is not enabled.
S-ON
S-ON ON: The system is enabled or is in operation.
RUN OFF: No program is running.
RUN
RUN ON: There’s a program running.
ALM OFF: No system alarm.
ALM
ALM ON: There’s a system alarm.
3.6 Power supply wiring

The control cabinet employs single-phase AC 220V power supply. Make the power line as per
the following diagram and make the correct connection.
The control cabinet has been provided with the appropriate cables by ESTUN, while the plug
shall be furnished by users. Any cables selected additionally by users shall be in compliance
with the safety regulations, and the rated current shall be 16A.
AC 220V
Schematic diagram Pin Color Description

L Brown
Single-phase power supply wiring
N Blue
PE Blue-green Safe ground line
3.7 Teaching pendant wiring

3.7.1 Definition of teaching pendant interface
Pin Def. Description Pin Def. Description

1 +24V 24V power supply 10 － Reserved
2 GND Power ground 11 － Reserved
3 ES1+ E-stop 1+ 12 ED2+ Teaching pendant enable 2+
4 ES1- E-stop 1- 13 TD+ Teaching pendant EtherNet transmits data+
5 ES2+ E-stop 2+ 14 TD- Teaching pendant EtherNet transmits data-
6 ES2- E-stop 2- 15 RD+ Teaching pendant EtherNet receives data+
7 ED1+ Teaching pendant enable 1+ 16 RD- Teaching pendant EtherNet receives data-
8 ED1- Teaching pendant enable 1- 17 ED2- Teaching pendant enable 2-
9 － Reserved －－－
3.7.2 Way to connect teaching pendant

This product is provided with an ERT 72 teaching pendant for the purpose of robot teaching and
programming. The connection diagram is shown in the figure below. Refer to its programming
manual for the detailed operation of the teaching pendant.
ERT 72 teaching pendant
3.8 Power wiring

3.8.1 Definition of power interface/brake interface
Brake interface Power interface
Interface graph Pin Def. Description Pin Def. Description
Power A1 U1 B1 U4
interface J1-axis motor power J4-axis motor
A2 V1 B2 V4
line power line
A3 W1 B3 W4
A4 U2 B4 U5
J2-axis motor power J5-axis motor
A5 V2 B5 V5
line power line
A6 W2 B6 W5
A7 U3 B7 U6
J3-axis motor power J6-axis motor
A8 V3 B8 V6
line power line
A9 W3 B9 W6
Protective Protective
A10 PE1 B20 PE2
grounding wire 1 grounding wire 2
A1 GND B2 L1
Signal ground
A2 GND B3 L2
Brake interface A3 BK1 B4 L3
J1-axis brake line
A4 BK2 J2-axis brake line B5 L4
A5 BK3 J3-axis brake line B6 L5 Reserved signal

A6 BK4 J4-axis brake line B7 L6 line
A9 LT+ B10 L9
Body indicator
A10 LT- B11 L10
A11 SB+ Brake release －－－

signal line
B1 SB- －－－
[Note] The power line signal associated with each axis shall be U/V/W/BK/PE.
Document version v1.02 (2022-04) © 2022 ESTUN Robotics. All Rights Reserved. 3-8
3.8.2 Specification of wires & cables
Cable connected to 3-axis MINI robot
Cable connected to 4-axis SCARA robot
3.9 Encoder wiring
3.9.1 Definitions of encoder interfaces

7 1S＋ 13 4S＋
23 1S ﹣ 29 4S ﹣
39 5V-1 J1-axis motor 44 5V-4 J4-axis motor
41 0V-1 encoder wiring 46 0V-4 encoder wiring
6, 22 － 12, 28 －
1 Shield 19 Shield
11 2S＋ 15 5S＋
27 2S ﹣ 31 5S ﹣
43 5V-2 J2-axis motor 49 5V-5 J5-axis motor
10, 26 － 14, 30 －
18 Shield 34 Shield
9 3S＋ 17 6S＋
25 3S ﹣ 33 6S ﹣
40 5V-3 50 5V-6
J3-axis motor J6-axis motor
8, 24 － 16, 32 －
2 Shield 35 Shield
[Note] The encoder signal associated with each axis shall be S＋/S﹣/5V/0V/Shield. All pins not
listed in the table above are reserved.
3.9.2 Specification of wires & cables
Tighten the fastening bolts on both sides of the encoder plug using the " electric
screwdriver" or "preset torque driver". The rated torque is 0.45N ·m.
Important
Encoder interface
connected to
control cabinet J1-axis
Shield
Encoder plug J2-axis

(50-Pin)
Shield
J3-axis
Shield
Encoder cable
Encoder interface
connected to
control cabinet
J1-axis
Shield
J2-axis
Encoder plug
Shield
(50-Pin)
J3-axis
Shield
J4-axis
Shield
Encoder cable
Encoder interface
connected to J1-axis
control cabinet
J2-axis
J3-axis
Heavy-load
connector D
J4-axis
J6-axis
Encoder plug
(50-Pin)
J6-axis
Heavy-load
connector C
Encoder cable
Encoder cable
Cable connected to 4-axis SCARA robot
Encoder interface
connected to
control cabinet J1-axis
Shield
J2-axis
Encoder plug
(50-Pin) Shield
J3-axis
Shield
J4-axis
Shield
Encoder cable
3.10 SYSTEM-IO wiring

3.10.1 Definition of system I/O interface
Pin Def. Type Description Pin Def. Type Description

Remote reset error System alarm
1 SI1 2 SO1
DI_remoteResetErr DO_sysError
Remote running PLC running
3 SI2 4 SO2
DI_remoteStart DO_progRun
Remote stop System enable
5 SI3 6 SO3
DI_remoteStop DO_robotMot
Reserved input Safety door status
7 SI4 Input 8 SO4 Output
signal 4 DO_systemLock
Reserved input Reserved output
9 SI5 10 SO5
signal 5 signal 5
11 SI6 12 SO6
signal 6 signal 6
13 SI7 14 SO7
signal 7 signal 7
Input signal common Output signal
15 DICOM － 16 DOCOM －
terminal common terminal
17 +24V － +24V in the cabinet 18 GND － 0V in the cabinet
Connect to Pin 14
Connect to Pin 13 (L1)
19 L1 20 L2 (L2) of brake
of brake interface
interface
Connect to Pin 16
of brake interface
interface
Connect to Pin 18
23 L5 － of brake interface
24 L6 － (L6) of brake
interface
Connect to Pin 20
of brake interface
interface
Connect to Pin 22
27 L9 28 L10 (L10) of brake
of brake interface
interface
Note
Please pay attention to the pin sequence of the terminal blocks. For the description of the pins,
please refer to "3.2 Description of IO type terminals".
3.10.2 Wiring of system input signal
Signal specification
Item Spec.
Input channel 7
Input connection mode Crimping terminal
Digital quantity, input by selecting NPN or PNP input

Input type
through common terminal
Input voltage range DC 0V~24V
Input current (typically 24 V) 4mA
Max. input voltage DC 30V
Voltage ON ≥ DC 8V
Voltage OFF ≤ DC 7V
Leakage current ≤ 0. 1mA
Max. input signal frequency 1 kbps
Input impedance ＞3.3kΩ
Isolation mode Optoelectronic isolation
Upper device is relay output
The wiring example of using 24V power supply in the cabinet is as follows.
Control cabinet terminal
Relay
The wiring example of using 24V power supply outside the cabinet is as follows.
External 24V
power supply
Relay
External 0V
When wiring with 24V power supply outside the cabinet, please use single power supply.
External 24V Control cabinet terminal

power supply
Please use single

power supply
Relay
External 0V
Upper device is open collector output
Control cabinet terminal Control cabinet terminal
External 24V
power supply External 24V
power supply
External 0V External 0V
3.10.3 Wiring of system output signal
Signal specification
Item Spec.
Output channel 7
Output connection mode Crimping terminal
Type of output Digital quantity
Input voltage range DC 30V
AC 250V
Input and output impedance ＜0.1Ω
Max leakage current when OFF ＜10μA
[Note] The connection mode of the system output signal is determined by the user according
to the load type.
Driving relay load
The total load is

recommended no to
exceed 2A, 30V
Be sure to connect the

freewheeling diode correctly
(note the polarity)
NPN wiring power supply PNP wiring power supply
The total load is
recommended no to
exceed 2A, 30V
Be sure to connect
the freewheeling
diode correctly
(note the polarity)
Driving optocoupler load

Be sure to connect
the current limiting
resistor
The total load is

recommended no
to exceed 2A, 30V
NPN wiring power supply PNP wiring power supply
Be sure to connect
resistor
The total load is

recommended no
to exceed 2A, 30V
3.11 INPUT wiring

3.11.1 Definition of input signal

1 DI1 Teaching pendant display Din[9] 16 DI16 Teaching pendant display Din[24]
COM
10 DI10 Teaching pendant display Din[18] 25 (DI1~DI6) Common terminal 1
1
COM
2
COM
3
COM
4
14 DI14 Teaching pendant display Din[22] 29 24V
Output power supply in cabinet
15 DI15 Teaching pendant display Din[23] 30 0V
Note
Please pay attention to the pin sequence of the terminal blocks. For the description of the pins, please
refer to "3.2 Description of IO type terminals".
3.11.2 Input signal specification

Item Spec.
Input channel 24
Input connection mode Crimping terminal
Digital quantity, input by selecting NPN or PNP input through

Input type
common terminal

Input current (typically 24 V) 4mA
Max. input voltage DC 30V
Voltage ON ≥DC 8V
Voltage OFF ≤DC 7V
Leakage current ≤0. 1mA
Max. input signal frequency 1 kbps
Input impedance ＞3.3kΩ
3.11.3 Wiring rules of input signal

Wiring in four groups: COM1 and DI1~DI6 are the Group 1; COM2 and DI7~DI12 are the Group
2; COM3 and DI13~DI18 are the Group 3, while COM4 and DI19~DI24 are the Group 4.
NPN mode: When COMx is connected to 24 V, and 0V is input at DIxx terminal, the input signal
is valid (optocoupler is ON);
PNP mode: When COMx is connected to 0 V, and 2 4V is input at DIxx terminal, the input signal
is valid (optocoupler is ON).
3.11.4 Wiring examples of input signal

Upper device is relay output
Relay
External 24V
Relay
External 0V
When wiring with 24V power supply outside the cabinet, please use single power supply.
External 24V
Please use single

power supply
Relay
External 0V
Upper device is open collector output

External 24V Control cabinet terminal
External 24V
3.12 OUTPUT wiring

3.12.1 Definition of output signal

1 DO1 Teaching pendant display Dout [9] 17 DO17 Teaching pendant display Dout [25]
9 DO9 Teaching pendant display Dout [17] 25 COM1 Common terminal 1
13 DO13 Teaching pendant display Dout [21] 29 24V
Output power supply in cabinet 1
16 DO16 Teaching pendant display Dout [24] 32 0V Output power supply in cabinet 2
Note
Please pay attention to the pin sequence of the terminal blocks. For the description of the
pins, please refer to "3.2 Description of IO type terminals".
3.12.2 Output signal specification
Item Spec.
Output channel 24
Output connection mode Crimping terminal
Digital quantity：
Type of output The control cabinet model is "ERC-C-E3 □□□ - N", which is NPN output
The control cabinet model is "ERC-C-E3 □□□", which is PNP output
I/O impedance ＜0.1Ω
Output load current (typically 24 V) 0.1A

Max leakage current when OFF ＜ 10μA
Max output signal frequency 1kbps

Please make sure that the wiring is correct. Improper wiring will cause malfunction.
If the signal connection distance is too long, it is recommended to use shielded
Caution cables and keep good grounding.
3.12.3 Wiring example of output signal

Driving relay load
"ERC-C-E3 □□□ - N" control cabinet "ERC-C-E3 □□□ - N" control cabinet
(NPN output) (PNP output)
The single load is The single load is

recommended no to recommended no to
exceed 0.1A /30V exceed 0.1A /30V
Be sure to connect Be sure to connect

the freewheeling the freewheeling
diode correctly diode correctly
(note the polarity) (note the polarity)
External DC24V External DC24V

The single load is
recommended no to The single load is
exceed 0.1A /30V recommended no to
exceed 0.1A /30V
Be sure to connect
the freewheeling Be sure to connect
diode correctly the freewheeling
(note the polarity) diode correctly
(note the polarity)
Driving optocoupler load

Be sure to connect Be sure to connect

the current limiting the current limiting
resistor resistor
The single load is

recommended no to The single load is
exceed 0.1A /30V recommended no to
exceed 0.1A /30V
External DC24V External DC24V

Be sure to connect
resistor Be sure to connect
resistor
The single load is

recommended no to
exceed 0.1A /30V
The single load is
External 0V recommended no to
External 0V exceed 0.1A /30V
3.13 SAFETY wiring

3.13.1 Definition of SAFETY interface

1 EMG1+ External E-stop 2 EMG2+
External E-stop signal 2
3 EMG1- signal 1 4 EMG2-
5 6
Reserved － Reserved －
7 8
9 1ASG1+ Safety door 11 1ASG2+
Safety door signal 2
10 1ASG1- signal 1 12 1ASG2-
13 2ASG1+ Signal of safety 15 2ASG2+ Signal of safety light
14 2ASG1- light curtains 1 16 2ASG2- curtains 2
17 SAFETY_24V Output power 19 SAFETY_24V

Output power supply in
supply in
18 SAFETY_GND 20 SAFETY_GND cabinet
cabinet
3.13.2 Removal of short-connected piece
There’re short-connected pins (2-pin or 6-pin) on the connection terminal of

SAFETY interface when the product is delivered.
◼ Do not remove the short-connected pins when the signal of E-stop, safety
door or safety light curtains is not used.
◼ For wiring of E-stop, safety door or safety light curtains, it is necessary
Caution to remove the short-connected pins before wiring.
【 Way to remove 】 Press the pressing sheet above the appropriate
terminals, and pull out the short-connected pins.
3.13.3 E-stop wiring method

E-stop is used for emergency treatment, and serial access is made with normally-closed switch
(e.g. knob, mushroom head E-stop switch). By pressing an E-stop switch, the action signal will
send the signal to control cabinet through the optocoupler. At the same time, the main circuit
power supply of the servo will be disconnected for the purpose of emergency braking.
Note
E-stop is of a normally-closed contact connection, which is of double-circuit structure. Any
emergency stop disconnection will trigger the E-stop feature.
External E-stop + teaching pendant E-stop

External E-stop
E-stop 1+
E-stop 1-
E-stop 2+
E-stop 2-
Use of panel E-stop only
Note
When the teaching pendant is not connected, the emergency stop of the teaching pendant
is normally closed by default.
3.13.4 Wiring method of safety door and safety light curtains

Safety door and safety light curtains are used to control the protective fence and protective
door of the robot.
Note
The external wiring mode of the safety light curtains is the same as that of the safety door.
The wiring method of the safety door diagram is provided as an example in this Section.
Upper device is of the relay output

The wiring examples for in-cabinet 24 V power supply are as follows.
Relay
Relay
Please use single

power supply
Relay Relay
Relay Relay
Upper device is of the collector open circuit output

T he wiring examples for in cabinet 24 V power supply are as follows.
3.14 Communication wiring

3.14.1 Definition of communication signal
Interface Interface graph Pin Def. Description

1 Vcc +5V power supply
2 D- Date signal ﹣
USB
3 D+ Date signal ﹢
4 GND Ground
1 TD+ Data transmission ﹢
2 TD- Data transmission ﹣
EtherCAT 3 RD+ Data reception ﹢
6 RD- Data reception ﹣
Housing PE Shield
1 TD+ Data transmission ﹢
2 TD- Data transmission ﹣
LAN1 LAN2 3 RD+ Data reception ﹢
6 RD- Data reception ﹣
Housing PE Shield
3.14.2 Connection to PC
Users may connect the PC to the control cabinet using USB-USB communication cable to allow
the use of ESView software.
Connection diagram
Specification of wires & cables

Users may choose the USB-USB communication cable as provided by ESTUN, or purchase the
market available products. The USB A- type plug is used to connect the PC and the control
cabinet.
USB A type plug
3.14.3 Connection to EtherCAT communication device

The control cabinet can be connected to devices supporting EtherCAT communication as the
master station in EtherCAT communication, for example, the Trio module and ED3 S servo
driver (to be used as expansion axis).
Add extension axis based

on actual use
3.15 X2/X3 wiring

X2 and X3 are the interfaces of high-speed pulse input signal, through which users can access
external incremental encoder. The control cabinet is allowed to detect the feedback signal,
convert it into data information and send to the supporting software.
(female) (male)
Interface Pin Def. Description

1 Z+ Encoder Z-phase pulse differential, positive
2 B+ Encoder B-phase pulse differential, positive
3 A+ Encoder A-phase pulse differential, positive
4 －－
5 0V Encoder power supply 0V
X3
6 Z- Encoder Z-phase pulse differential, negative
7 B- Encoder B-phase pulse differential, negative
8 A- Encoder A-phase pulse differential, negative
9 +5V Encoder power supply +5V
Housing PE Shield
1 0V Encoder power supply 0V
2 －－
3 A+ Encoder A-phase pulse differential, positive
4 B+ Encoder B-phase pulse differential, positive
5 Z+ Encoder Z-phase pulse differential, positive
X2
6 +5V Encoder power supply +5V
7 B- Encoder A-phase pulse differential, negative
8 A- Encoder B-phase pulse differential, negative
9 Z- Encoder Z-phase pulse differential, negative
Housing PE Shield
Product Manual of ERC Series Compact Control Cabinet Debugging
Chapter 4 Debugging
4.1 Use of teaching pendant
4.1.1 Connection of teaching pendant
For connection of teaching pendant and wiring, refer to "3.6 Teaching pendant wiring".
4.1.2 Edit method
Modify the drive parameters by following the steps below.
Step 1: The control cabinet will make the initialization diagnosis when it is powered on.
The teaching pendant will display the initialization screen as shown in the figure below.
Step 2: Upon initialization, check the running state of the system through the status indicator of
the teaching pendant. It will be normal as follows: Run indicator is always on, while the Err
indicator is off.
Step 3: When the Home screen appears on the teaching pendant, click "Servo PnFn Setting".
Step 4: When the "Set Pn Parameter" appears on the teaching pendant, click "Pn Parameter
Setting" of the drive shaft (i.e. Axis 1) to be modified.
Step 5: Set the desired parameters in the pop-up parameter dialog box .
Note
Only part of Pn parameters can be set using the teaching pendant. To set more
parameters, please use ESView.
----END
4.2 Use of ESView
4.2.1 Install ESView
System requirements
Users are required to prepare a PC that meets the following conditions.
Item Description
Windows 7 (32 bits/64 bits) Windows 10 (32 bits/64 bits)

OS
Note: English and Chinese (Simplified) versions of the above OS
CPU 1.6GHz and above
System memory 1GB and above

Memory
GPU memory 64MB and above
Hard drive capacity At least 1GB remnant
Serial communication USB port
1027 × 768 pixels and above

Display
24-bit color (TrueColor) and above
Preparation before installation

Prepare the Window operating system, communication cable and WinRAR in advance.
Visit the official website of ESTUN at www.estun.com, and download ESView in the "Download".
Please contact us if you cannot get it or need help.
Power on the computer and start Windows.
Close other running software if it has already been started.
Copy the compressed file of ESView to any directory on your PC.
If PC has been connected to the drive unit, just disconnect it.
It is recommended to uninstall the ESView that you have installed before re-installing it.
Install software
To make sure successful installation, please close other running software before installation of
ESView and confirm that the Windows user have the administrator privileges.
Install the ESView by following the steps below:
Step 1: Open and unzip the ESView compressed file to any directory on your PC.
Step 2: Double click and run the ESView installation program, and enter the installation wizard, as
shown in Figure 4-1.
Figure 4-1 Start to install ESView
Step 3: Install ESView to your PC by following the installation wizard.

----END
4.2.2 Connection to PC
Connect the PC to the drive using a USB cable. Please refer to "3. 14.2 Connection to PC" for
details.
4.2.3 Start ESView

Online operation
Through online operation, you can upload and download the parameters of servo drive unit.
Perform online operation after connecting PC with the servo drive unit using the USB- USB
communication cable.
Step 1: Connect the drive unit with the PC using a USB connection cable.
Step 2: Select "All Programs" → "ESView" → "ESView" from the Windows start menu. Or, find the
shortcut of the "ESView" program directly on the desktop and double-click it.
Step 3: The "Communication Setting" dialog box will pop up automatically after starting ESView.
If ESView has already been started, select "Home" → "Connection" from the menu of ESView
or click directly.
Step 4: Choose “Serial”
Step 5: Set the "Communication Parameters".

Port: Choose the correct serial port number from the drop-down list.
User may open the "Device Manager" on the PC and find the port number in "Port→ USB
Serial Port (COMx)". The port is "COM3 according to the figure below.
Address: Set the communication address range of the device to be searched. The defaulted
address can be as follows:
System Robot axis number ESView code Defaulted address
J1-axis #1
1
J3-axis #2
4-axis system
J2-axis #1
2
J4-axis #2
J1-axis #1
1
J6-axis #2
J2-axis #1
6-axis system 2
J5-axis #2
J3-axis #1
3
J4-axis #2
[Note] The "Address" can be viewed or modified through Pn701.
Baud rate: Set the rate when communicating with the device. The actual communication rate
can be viewed through the parameter Pn700.0, which is defaulted as 9600.
Step 6: Click on “Search”
Connect
Step 7: Select the drive to be connected. The drive with address "1" is selected according to the figure
below.
Connect
Step 8: Click on “Connect”
Connect
Step 9 : After entering the main window of ESView, the devices connected will pop up in the "Device"
column on the left, and users can set the drive unit or motor online and in real time at this
moment.
----END
Offline operation
For off-line operation, users are allowed to operate the oscilloscope, FFT, mechanical analysis
and other image operations without connecting any devices. Although it is not necessary to
connect the drive unit, some functions may be restricted, and cannot be set correctly.
Step 1: Select "All Programs" → "ESView" → "ESView" from the Windows start menu. Or, find the
shortcut of the "ESView" program directly on the desktop and double-click it.
Step 2: The dialog box "Connect" will pop up automatically after starting the ESView program.
If the user has already started ESView, select the "Home" → "Connect Servo" in the menu of
ESView.
Step 3: Select “Offline”.
Step 4: Select the “Drive Type” you want to set, for example, the EDS.
Step 5: Click on “Open”
Step 6: After entering the main window of ESView, you can find that the created offline devices have
been displayed in the "Device" column on the left.
----END
4.3 Parameter transmission

Open the "Parameter Edit" window by following the steps below.
Step 1: Double click the "Parameter Edit” option in the device column of ESView. Figure 4-2 Choose the
"Parameter Edit"
Status:
EM3A-08ALA
Step 2: The "Parameter Edit" window will be displayed in “Function Display Area”.
Figure 4-3 Choose the "Parameter Edit" window.
4.3.1 Upload
Upload all
Click "Upload All" in the "Parameter Edit" window. After waiting for a moment, ESView will read
the settings of all parameters in the drive unit and display them in the "Device Value".
Users may select "Upload All" in the pop-up menu by right-click any non-editable position in the
parameter list.
Upload selected parameters

Select some parameters in the "Parameter Edit" window by dragging the mouse, or select the
parameter values to be read one by one by pressing and holding the "Ctrl" key on the keyboard,
and then right-click one of the selected items and choose "Upload Selected Items" in the pop-up
menu.
Users need to upload the parameters in the drive by using the online
operation. If the "Unable to upload parameters" appears, check the
Caution connection between the drive and the PC.
4.3.2 Edit
After successfully uploading the parameters, users may modify the parameters to be edited directly in the
column "Device Value", which will lead to the changes in the parameters, as shown in figure below.
Figure 4-4 Display after parameters editing
A detailed specification of the parameters will appear at the bottom of the parameter list when
editing a parameter, to facilitate user's setting.
Figure 4-5 Detailed specification of the parameters
Click the " Search" input box in the " Parameter Edit" window, and then input the
keywords to be searched. Such keywords may include "No.", "Name", "Device Value",
"Range", "Default Value", "Unit" and any characters in the detailed descriptions of
Note the parameters. To search multiple items at the same time, you can add (one or
more) spaces between keywords, and the window will list all the parameters that
match any one of the keywords.
4.3.3 Save
Users may save the current parameter setting to the local path of PC.
Step 1 Click on the in the "Parameter Edit" window.
Figure 4-6 Save parameters
Step 2: Then, select the path where you want to store the parameter file in the pop-up "Save As"
dialog box.
Step 3: Click “Save”.
4.3.4 Import
By executing "Import Parameter Data", users may download the parameter settings in the offline
parameter file to the device being connected.
Step 1 Click on the in the "Parameter Edit" window.
Figure 4-7 Select parameter import
Step 2: Select and open a correct offline file in the pop-up "Open" dialog box (suffix name "*. esvpa").
Step 3: The "Parameter Import" window will appear in "Function Display Area", and the parameter
settings in the selected offline file will also appear in the "Device Value".
Figure 4-8 Display "Parameter Import" window
Step 4: In the "Parameter Edit" window, users can "Edit" and "Download" parameters.
4.3.5 Download
Download all
Click "Download All" in the "Parameter Edit" window, and the edited parameters will be written
into the drive unit after waiting for a moment.
Users can also right- click any non- editable position in the parameter list, and then select
"Download All" in the pop-up menu.
Download selected items

Select some parameters by dragging the mouse in the "Parameter Edit" window, or press
and hold the "Ctrl" key and select the parameter values to be downloaded, and then right-
click one of the selected items and choose the "Download Selected Items" in the pop-up menu.
Users need to download the parameters in the drive using online

operation. In case of "Failed to Download Parameters" appeared on
Caution page, check the connection between the drive unit and the PC.
4.3.6 Factory reset
As the execution of " Reset to Factory Defaults" will restore the parameters in
the drive unit ( except the specified parameters) to the defaulted ones, so be
Caution prudent when operating.
Step 1: Click "Reset to Factory Defaults" in the "Parameter Edit" window.

Figure 4-9 Reset to factory defaults
Step 2: If it is confirmed to execute the "Reset to Factory Defaults", click "OK" in the pop-up warning
box
Figure 4-10 Confirm the reset parameters
Step 3: ESView will send the command of “Reset to Factory Defaults” to the drive unit, and the device
will start to restore the factory defaults.
4.4 Parameter transmission Indicates the effective time of the parameter change:
[Restart] means that it can take effect only after the
Directions for use power is turned on again
[Immediate] means that the parameter setting takes
effect immediately after confirmation
S/N Name Range Unit Factory default Time of effectiveness
Basic function setting 0 0000~1111 － 0000 Restart
Parameters No.
Pn000
Explanation of parameters
Basic function setting 0 0000~0111 － 0110 Restart
Pn000
Application function setting 1 0000~0001 － 0000 Restart
Pn001
Pn002
Pn003
Pn004
Pn005
Pn006
Pn007
Pn008
Pn010
Brake delay 0~30000 ms 4000 Restart

Pn011
Set the delay time of brake when working.
Threshold of alarm A. 16 0~100 ms 0 Restart

Pn012
Set the threshold of A. 16 (abnormal regeneration), to allow longer drain time
Pn100
Time of
S/N Name Range Unit Factory default
effectiveness
Load rigidity selection 0~36 － 4 Immediately
This value determines the response speed of the servo system.

Pn101
Generally, try to set the rigidity at a higher value, but the excessive setting will lead to mechanical
impact; set the rigidity at a smaller value when there is large mechanical vibration. This value is
only valid for auto tuning.
Speed loop gain 1~4000 Hz 250 Immediately

Pn102
This value determines the gain of speed loop.
Integral time of speed loop 1~4096 0.25ms 80 Immediately
Pn103
Reduction of this value would shorten the positioning time and improve the speed response.
Position loop gain 0~1000 1/s 40 Immediately
Pn104 This value determines the gain of the position loop.

This value will, upon increase, improve the servo rigidity of position control, but may cause
oscillation it is excessive.
Torque command filtering time

0~2500 0.025ms 40 Immediately
constant
Pn105
Mechanical vibration can be eliminated or reduced by setting torque command filtering, but would
also lead to mechanical vibration if it is set unreasonably.
Load inertia percentage 0~20000 % 0 Immediately

Pn106 The ratio of load inertia to motor rotor inertia.
Set value = (Load inertia/motor rotor inertia) × 100
2nd speed loop gain 1~4000 Hz 250 Immediately

Pn107
－
2nd speed loop integral time 1~4096 0.25ms 80 Immediately
Pn108
－
2nd position loop gain 0~1000 Hz 40 Immediately

Pn109
－
2nd torque command filtering

0~2500 0.025ms 40 Immediately
Pn110 time constant
Time of
No. Name Range Unit Factory default
effectiveness
Speed offset 0~300 rpm 0 Immediately
Setting of this parameter would shorten the positioning time, but vibration may be caused due to
improper setting. The relationship between it and speed command, deviation count and Pn500
(positioning error) is shown in the figure below.
Pn111
Feedforward 0~100 % 0 Immediately
Pn112 To set the speed feed forward percentage; the higher the value is, the faster the position response
is and the smaller the position deviation is.
Overshoot and oscillation may be caused if this value is set too large.
Feedforward filtering 0~640 0.25ms 1 Immediately

Pn113 To smooth the mechanical impact arising from speed feedforward.
The feedforward of speed will lag greater and tend to cause oscillation if such value is set too large.
Feedforward torque 0~100 % 0 Immediately

Pn114 To set the percentage of torque feedforward to accelerate the speed response.
Set the load inertia percentage Pn106 correctly if using function in manual tuning mode.
Torque feedforward filtering 0~640 0.25ms 0 Immediately

Pn115
To smooth the mechanical impact resulted from torque feedforward.
Time of
effectiveness
P/PI Transfer conditions 0~4 － 0 Restart
[0] Torque command percentage
Pn116 [1] Deviation counter value

[2] Value of given acceleration
[3] Value of given velocity
[4] Fixed PI
Threshold for torque switching 0~300 % 200 Immediately

Pn117
The torque threshold changed from PI control to P control.
Threshold for deviation counter

0~10000 1 pulse 0 Immediately
Pn118 switching
The threshold value of deviation counter that is changed from PI control to P control.
Threshold for
given acceleration 0~3000 10 rpm/s 0 Immediately
Pn119 switching
The acceleration threshold that is changed from PI control to P control.

Threshold for given velocity switching 0~10000 rpm 0 Immediately
Pn120
The speed threshold that is changed from PI control to P control.
Gain switching condition 0~6 － 0 Restart
[0] Fixed to the first group of gain

[1] External switching gain switching (G-SEL)
Pn121 [2] Percentage of torque

[3] Deviation counter value
[4] Given acceleration value (10 rpm/s)
[5] Given velocity value
[6] Position command input
Switching delay time 0~20000 0.1 ms 0 Immediately

Pn122
The time required from the satisfaction of switching conditions to the gain switching.
Switching threshold level 0~20000 － 0 Immediately
Pn123
Trigger level of gain switching
Switching time of position gain 0~20000 0.25 ms 0 Immediately
Pn125 If there’s greater difference between the two groups of gain, the transition can be smoothened by
using this parameter.
Time of
effectiveness
Switching hysteresis 0~20000 － 0 Immediately

Pn126
To set the gain switching action hysteresis.
Low-speed velocity measurement

0~100 0.25 ms 4 Immediately
filtering
Pn127
This parameter is used for filtering when performing the low-speed velocity measurement. The
velocity measurement will lag behind at low speed if setting it at a higher value.
Low-speed correction coefficient 0~30000 － 0 Immediately

Pn129 To eliminate the external friction and minimize the creepage strength when the motor is running at
low speed; however, a vibration will tend to be caused if it at a higher value.
Friction load 0~3000 0. 1% 0 Immediately

Pn130
To compensate the friction load or fixed load.
Friction compensation velocity
0~100 rpm 0 Immediately
Pn131 hysteresis zone
The threshold at which friction starts to make compensation.
0. 1%/10
Viscous friction coefficient 0~1000 Immediately
Pn132 00rpm 0
Viscous damping that is proportional to velocity.
Filtering time constant of position

0~32767 0.25 ms 0 Immediately
Pn204 command
To smooth the input pulse, and the response will lag if setting it too large.
Filtering form of position command

0~1 － 0 Restart
selection
Pn205
0: Primary filtering
1: Secondary filtering
Parameter speed -6000~6000 rpm 500 Immediately

Pn304 It is valid when the control mode Pn006.0 equals to 0, 1 or 2. It is used to set the running speed of
the motor.
JOG speed 0~6000 rpm 50 Immediately

Pn305
When running in JOG mode, determine the speed command size and direction by pressing key.
Soft start acceleration time 0~10000 ms 0 Immediately
Pn306
The time required to accelerate 1,000 rpm under ramp speed command.
Soft start deceleration time 0~10000 ms 0 Immediately
Pn307
The time required to decelerate 1,000 rpm under ramp speed command.
Time of
effectiveness
Speed command filtering time

0~10000 ms 0 Immediately
constant
Pn308
The primary filtering time constant of speed command.
Rise time of S-curve 0~10000 ms 0 Immediately

Pn309
The time required for transition from one speed point to another using S-curve.
Speed command curve form 0~3 － 0 Restart
[0] Ramp
Pn310 [1] S-curve
[2] Primary filtering
[3] Secondary filtering
S shape selection 0~3 － 0 Restart

Pn311
To determine the transition shape of S curve.
Internal torque limit for FWD rotation 0~350 % 300 Immediately

Pn401
The threshold percentage of forward torque output by the motor.
Internal torque limit for REV rotation 0~350 % 300 Immediately

Pn402
The threshold percentage of reverse torque output by the motor.
Trap filter 1 frequency 50~2000 Hz 2000 Immediately

Pn407
－
Trap filter 1 depth 0~11 － 1 Immediately

Pn408
－
Trap filter 2 frequency 50~2000 Hz 2000 Immediately

Pn409
Trap filter 2 depth 0~11 － 1 Immediately

Pn410
LF jitter frequency 50~500 0.1 Hz 100 Immediately

Pn411
The frequency value of low-frequency jitter of load
Time of
effectiveness
LF jitter damping 0~200 － 25 Immediately

Pn412
The attenuation damping under LF load jitter, which is generally not be modified.
Compensation threshold at vibration

0~1000 － 0 Immediately
suppression position
Pn416
To add the speed threshold under the position loop compensation when the LF jitter suppression
function is enabled
Positioning error 0~5000 1 pulse 10 Immediately

Pn500
When the deviation counter value is less than this value, the /COIN signal will be input.
Identical speed error 0~100 rpm 10 Immediately
Pn501 When the deviation between speed command value and speed feedback value is less than this
value, input the identical speed signal/VCMP.
Rotary detection speed 0~3000 rpm 20 Immediately

Pn503 When the motor speed goes beyond this value, it is considered that the motor has been rotating
stably and the /TGON signal is output.
Deviation counter overflow alarm 1~32767 256 pulse 1024 Immediately
Pn504 When the value of the deviation counter is greater than this value, it is considered that the deviation
counter overflows and an alarm signal is output.
Note: Factory default is in connection with the encoder resolution.
Servo ON waiting time -2000~2000 ms 0 Immediately
Pn505 ~ Pn508 is valid only when the port output parameter is set to have /BK output.
To control the timing of the holding brake (to prevent gravity sliding down or the sustained external
force acting on the motor).
Pn505
When this parameter is positive, and if there is Servo ON input, the /BK signal is output first, and
the excitation signal of the motor will be given after delaying the time of the parameter setting;
When this parameter is negative, and if there is Servo ON input, the motor excitation signal will
immediately be given, and the /BK signal will be output after delaying the time of the parameter
setting.
Basic waiting process 0~500 10 ms 50 Immediately
Servo OFF when /BK is output (the brake acts), which can be a standard setting. At this moment,
Pn506 the machine sometimes moves slightly under the action of gravity based on the components of the
machine as well as the characteristics of the brake. At this time, use the user constant to delay the
servo OFF action, thereby eliminating the motion. This parameter only has effects on motor stop or
running in a lower speed.
Brake waiting speed 10~100 rpm 100 Immediately

Pn507 When Servo is OFF, the motor speed decreases below the setting value of this parameter, and /BK
signal is output.
Brake waiting time 10~100 10 ms 50 Immediately
If the delay exceeds the set value of the parameter after servo is OFF, then / BK signal will be
Pn508 output.
As long as one of the parameters between brake waiting speed and brake waiting time satisfies
the conditions, the /BK signal will be output.
Input signal distribution 0000~0055 － 0010 Restart
Pn509
Output signal distribution 0000~0004 － 0002 Restart
Pn511
Bus control input contact enabling 0000~0011 － 0000 Restart
Pn512
Negation of input port signal 0000~0011 － 0000 Restart
Pn516
Alarm shielding 1 0000~1111 － 0000 Restart
Pn521
Pn522
Pn523
Output port signal negation 0000~0111 － 0000 Immediately
Pn528
Modbus communication function

0000~0082 － 0051 Restart
selection
Pn700
Modbus axis address 1~247 － 1 Restart

Pn701
Modbus protocol axis address
Bus communication node 0~127 － 1 Restart
Pn704
To set the node number of the drive unit in the communication network.
Selection of encoder 0000~FF03 － 0003 Immediately
Pn840
Product Manual of ERC Series Compact Control Cabinet Alarm Viewing and Processing
Chapter 5 Alarm Viewing and Processing

5.1 Alarm viewing
The alarms occurred during robot running can be viewed through the teaching pendant or
ESView.
In case of an alarm, the robot will stop motion, and users need to take necessary measures to
make the robot move continuously. If more than one alarm occur, only the last alarm will be
displayed in the message prompt bar.
5.1.1 View alarm through teaching pendant
The robot will stop immediately after an alarm occurs when moving. The alarm icon will be
displayed on the teaching pendant, and the user is allowed to view the details of the alarm on
system log interface.
View the alarm information in the "System Log" of the teaching pendant screen.
Please refer to "5.2 Alarm list" for a detailed description of the alarm.
Current alarm
Click " Current Alarm" , and the interface will display the alarms that have not been cleared
currently.
Historical alarm
Click " Historical Alarm" and the interface will display the information of alarms occurred after
startup.
Get historical alarms

Click " Get Historical Alarms" , synchronize all the historical alarm information of the controller
and update the historical alarm interface.
Clear alarm
If there’ s " Current Alarm" , clear and reset the system by clicking " Clear Alarm" , so that the
system can run continuously. Users may also clear the alarms by clicking on the at right
side of the alarm information column.
5.1.2 View alarms using ESView

When an alarm is produced inside the servo drive unit, users may choose " Tools → Alarm
Information" or click directly in the toolbar to enter the "Alarm Information" window, where
the alarm information and historical alarm information of the servo can be viewed and reset.
The latest servo alarm information is

displayed here, and the figure shows that
there is no alarm or the current alarm has
been cleared.
Click here to clear current alarm
Click here to display all alarm

information in the servo
Click here to clear all alarms
5.2 List of alarms

Alarm
code Name Failure course Solution
Parameters stored in EEPROM Restore factory defaults (Fn001) and

Parameter are disturbed or misoperation is reset the parameters
A.01
breakdown destroyed
The drive unit is damaged Replace the servo drive board
Wiring error of analog input
channel, causing damage to the Have correct wiring to the analog input
drive unit analog input channel interface
(only for general-purpose drives
currently)
ADC shift channels The analog input voltage is too

A.02
breakdown high (exceeding the allowable
differential input voltage ± 10V), Analog input voltage, and provide the
causing damage to the analog allowable differential input voltage
input channel of drive unit (only for
general-purpose drives currently)
Drive unit damaged Replace the servo drive unit

Check if the setting of electronic gear
ratio is within the specified range: the
Incorrect setting of driver parameter product of input pulse frequency and
(e.g. improper setting of electronic electronic gear ratio is < 500 kHz
gear ratio) If > 500 kHz, decrease the set speed
A.03 Overspeed (system command value)
Check the motor power cable

Incorrect phase sequence of motor Make sure that the power cable and
power cable encoder cable of motor at each axis
are corresponded to the right drive unit
Alarm
Name Failure course Solution
code
Incorrect parameter setting Set the Pn840.2 and Pn005.3 correctly

Incorrect motor phase Fabricate and connect the power line
Motor power cable phase cable correctly to ensure that the motor
sequence error, and the power matches correctly with the U, V, W and
cable is damaged, short-circuited GND of the drive unit
and open-circuited
Smaller model is selected Select the servo reasonably to ensure
Excessive mechanical load there’s margin reserved
Where there’s abnormal noise or burning

hot when the motor is running, check the
A.04 Overload motor load or PID parameters of the drive
Poor running-in of new device unit, and make regular lubrication and
maintenance to ensure that the
mechanical connection is normal without
jamming
When using the brake motor, motor can

operate only if the brake is opened
Brake is not opened
correctly (working voltage of brake: 24
V)
The drive unit or motor is Replace the servo drive unit
damaged Replace the servo motor
Wrong parameter setting of drive
Position error unit in position control mode: Set the thrust limit parameter value of
A.05
counter overflow motor will be locked if the thrust drive unit correctly
limit is set too low
Incorrect setting of drive
Position error pulse parameter: for example, the Set the Pn005.2=0
A.06 position error pulse exceeds the
overflow Set the correct value for Pn504
value of parameter Pn504
The condition that alarm A07 will not be

Unreasonable setting of sent is that the product of pulse
electronic gear frequency and electronic gear ratio is
The setting of
less than 32767 * 10000
electronic gear or
A.07 given pulse The condition for not exceeding the max
frequency is not speed: If the max speed is 4500mm/s =
reasonable. 75r/s, the product of transmitted pulse
Excessive pulse frequency
frequency * electronic gear ratio shall be
less than the product of 75* and the
resolution of motor encoder.
The 1 st channel of Excessive U-phase current Offset the current channel through Fn005,
A.08 current detection is and then restore factory settings
wrong.
Drive unit failed Replace the servo drive unit
The 2 nd channel of Excessive V-phase current Offset the current channel through
A.09 current detection is Fn005, and then restore factory settings
wrong. Drive unit failed Replace the servo drive unit
Alarm
code
Unreasonable setting of drive unit Set PID parameters reasonably to avoid

parameters vibration or abnormal noise arising from
(e.g. PID parameters) excessive gain
Power cable damaged Incorrect Check if the phase sequence of U, V

motor power cable phase and W of the power cable match
sequence and motor phase correctly with the drive unit side
A. 12 Separate the encoder cable from the

Overcurrent
Encoder cable damaged main circuit power line of the equipment
to minimize interference
Only connect the power line, the upper

computer sends no directions, and
Drive unit damaged check if the servo is faulty after power
on and off
Replace the servo drive unit
Motor damaged Replace the servo motor

The insufficient discharge
capacity of drive unit leads to the Replace the bleeder resistor with small
increase of pump rise energy and
resistance and high power
A. 13 Overvoltage bus voltage, and A13, A15 and
A16 may send alarm
Check if the mains voltage of the main

Problem of mains voltage circuit is within the allowable range
Check of the mains voltage of the main

Mains voltage of the main circuit
circuit is within the allowable range
A. 14 Undervoltage is too low
Short circuit between ⊕ 1 and ⊕ 2

Replace the bleeder resistor
[Note] In case of the drive unit of
Bleeder resistor Bleeder resistor error PRONET series with power of 400W or
A. 15 below, use the external bleeder resistor,
error
and set Pn521.0 = 0
Alarm
code
Mains voltage shall satisfy the power

supply requirements:
The power supply range of 200V
drive unit is 200 ~ 230VAC, +10% ~
Excessive mains voltage
-15%
The power supply range of 400V
drive unit is 380 ~ 440VAC, +10% ~
- 15%
Increase acceleration and
deceleration time
Choose an appropriate external
regenerative resistor (in principle: the
A. 16 Regeneration error smaller the resistance specification is
Excessive DC bus voltage within the specified range, the better,
and the power should be amplified; in
addition, if the external regenerative
resistor is connected to the single drive
unit of 400W and below, Pn521.0 = 0
should be set)
Incorrect connection between

motor power lines U, V, W with
Make correct wiring of motor power line
GND, or the U, V, W and GND of
motor body are short circuited
Motor damaged Replace the servo motor
IGBT superheat The temperature is detected to Check the ambient temperature and
A. 18
alarm exceed the set threshold by IPM reduce the load
Drive board
temperature Temperature sensor is not
A. 1D Contact Estun or your authorized dealer.
sensor connected or damaged
disconnected
Power line phase One phase of the main circuit Make sure that the main circuit power
A.20
shortage power is not connected line is correctly connected
Mechanical stuck Check the load operation for obstructions

A.25 Motor power line
A.26 Incorrect connection of UVW
U/V/W overcurrent
A.27 phase sequence of motor power Make correct wiring of motor power line
line
The working current of the

A.39 Module current module is detected to exceed the Check and reset Pn840.3
overrun parameter setting
Motor power level

A.40 not within the Incorrect setting of Pn840.3 Check and reset Pn840.3
specified range
A.42 Servomotor type Mismatch between motor and Make type selection again
error drive unit
Alarm
code
Check the drive unit power

corresponded to Pn840.2 parameter
Servo drive or Drive power or motor encoder Check the resolution of drive encoder
A.43
encoder type error resolution does not match corresponded to Pn840.0 parameter
The absolute value motor phase value
is incorrect, so write Fn012 motor phase
Absolute encoder Multiturn information error Clear by operating Fn010 and Fn011
A.45 multiturn Battery voltage of the battery Make sure the battery voltage of the
information error case is below 2.5V for a long time battery case to be 3.6V
Absolute encoder For one-way long-time operation,

A.46 multiturn information Multiturn information overflow shield by setting PN007. 1 =1
overflow Clear by operating Fn010 and Fn011
Battery voltage Battery voltage of the encoder

A.47 Make sure the voltage of battery case
below level below 2.5V
is 3.6V
Battery voltage Battery voltage of the encoder Clear by operating Fn010 and Fn011
A.48
shortage below 3. 1V
Try to wind magnetic loop on encoder

cable and motor power line (at least 3
turns)
Encoder feedback Motor feedback acceleration is Try to connect a wire from the shielded
A.49 position jumping too large or encoder feedback
layer of encoder cable to the motor body
change signal is interfered
The encoder cable must use the
twisted pair cable with shield, and both
ends of shielded layer shall be grounded
Poor contact of the encoder cable Make sure the encoder cable is made
connector on the drive unit side correctly
Poor contact of the encoder Make sure that the contacts of the
connector on the motor side encoder cable are properly connected
Whether the welding of the

connectors on both sides of the
Make sure that the encoder cable is not
Serial encoder encoder cable is wrong welding,
damaged or broken
A.50 communication missing welding, or virtual
overtime welding
Be sure not knock the motor shaft

extension and the rear cover when
Encoder cable is damaged
installing motor, as it will cause damage
to the motor encoder
Drive unit damaged Replace the drive unit

Motor damaged Replace motor
Alarm
code
Battery is not connected or the

battery voltage is insufficient
Absolute encoder Make sure the voltage of battery case
When the battery voltage is
A.51 overspeed alarm normal, the drive unit is not is 3.6V
detected powered on, and the motor Clear by operating Fn010 and Fn011
rotates due to external causes in
an excessive acceleration
cable and motor power line (at least
3 turns)
Try to connect a wire from the shielded
External interference layer of encoder cable to the motor
body
Absolute state of
serial encoder The encoder cable must use the
A.52
error twisted pair cable with shield, and
both ends of shielded layer shall be
grounded
Encoder cable damaged Replace the encoder cable
3 turns)

body
Serial encoder
A.53 The encoder cable must use the
calculation error
twisted pair cable with shield, and
grounded
3 turns)
layer of encoder cable to the motor
Parity bit or end bit External interference
body
in serial encoder
A.54 The encoder cable must use the
control domain
error both ends of shielded layer shall be
grounded
Alarm
code

cable and motor power line (at least 3
turns)
Serial encoder body
A.55 communication The encoder cable must use the
twisted pair cable with shield, and both
data checking error
ends of shielded layer shall be
grounded

3 turns)

End bit in serial body
A.56 encoder control The encoder cable must use the
domain error twisted pair cable with shield, and
grounded
Driver encoder type parameter Set Pn840.0 correctly based on the
setting error (Pn840.0) motor type
Phase of the motor is lost, and it Perform phase operation to the motor
is required to write the phase into again, and write the phase value to the
the serial encoder EEPROM serial encoder EEPROM
again

Serial encoder cable and motor power line (at least 3
A.58
data empty turns)
External interference layer of encoder cable to the motor body
The encoder cable must use the twisted
pair cable with shield, and both ends of
shielded layer shall be grounded
Alarm
code
Driver encoder type parameter Set Pn840.0 correctly based on the

setting error (Pn840.0) motor type
Phase of the motor is lost, and it Perform phase operation to the motor
is required to write the phase into again, and write the phase value to the
the serial encoder EEPROM serial encoder EEPROM
again
Serial encoder cable and motor power line (at least
A.59
data format error 3 turns)
layer of encoder cable to the motor
External interference
body
The encoder cable must use the
grounded
Cycle set by EtherCAT master Make sure that the master station sets
station is failed to meet the the correct communication cycle
EtherCAT requirements
A.70 synchronization Make sure that SYNC0 is
signal error Sync0 is not synchronized with synchronized with the drive unit
the drive unit The alarm can be reset by status
word 6040
EtherCAT
A.71 synchronization Drive unit damaged Replace the drive unit
module error
Exception of
external data line Drive unit damaged Replace the drive unit
A.80
or address line or
RAM
A.00 No error display －－
Product Manual of ERC Series Compact Control Cabinet Maintenance
Chapter 6 Maintenance
6.1 Precautions for maintenance
Read the following instructions before performing all maintenance works. Users need to have an
adequate understanding on the method of safety maintenance.
◼ Robot system maintenance must be carried out by workers who have

properly trained in safety. Those workers shall be the persons who have
received the trainings in safety (trainings on the knowledge, operation and
teaching of industrial robots, as well as the inspection and other business
operations, the pertinent laws and regulations) as provided by the national
laws and regulations, aiming at offering training to persons engaged in
industrial robot related businesses.
◼ Never disassemble the parts not covered in this Manual, or perform
maintenance using the methods that are different from those recorded, so
Danger that the robot system will act normally without causing serious safety
problems.
◼ Never enter the robot's motion area when it is powered on.
◼ Be sure to confirm the robot action after replacing parts outside the safety
fence.
◼ Confirm that the E- stop switch and safety door switch acts correctly before
formal operation.
◼ Never remove the cover of the control cabinet except for maintenance to
avoid electric shock.
◼ Be sure to make replacement after powering off the control cabinet and
related devices.
◼ Never load or unload the motor connector when it is powered on.
Warning ◼ Perform the operations in a group consisting of two persons. One of them
shall maintain the posture as pressing the E-stop button immediately, while
the other should be alert and finish the operation quickly and determine the
evacuation path.
◼ Never disassemble the parts not covered in this Manual.

◼ Maintenance personnel shall keep the key of the robot properly. The
unauthorized personnel are not allowed to modify the program or parameters.
Caution
6.2 Routine inspection

The devices will be aged and its service life will be shortened under the influence of environmental
temperature, humidity, dust and vibration. Therefore, routine and regular maintenances are
required, especially for high-temperature environment, frequent start-up and shutdown, as well
as the conditions with great AC power supply and load fluctuation, strong vibration or impact,
and acid-base corrosive environment, and the interval of routine inspection should be shortened.
To ensure that the product will function properly and free from damage, following items shall be
confirmed on a daily basis.
Item Content Solution

Check if control cabinet and Check if the mounting bracket is vibrated.
Condition surrounding cables are Check if the cable terminals are loosened or
abnormal corroded.
Input Check if the input voltage is within the allowable

Input power voltage range.
voltage Check if there is heavy load starting around it.
Terminal block of control Check if the bolts on both sides of I/O terminals
Terminal
cabinet are properly tightened.
6.3 Regular inspection

Perform regular inspections to the inaccessible places. Always keep the control cabinet clean,
and remove the dust on the surface of the product effectively to prevent dust from entering the
interior, especially metal dust.
Item Content Solution
Check if the power line and

Replace with new cables
connection are discolored
Cables Replace the terminal blocks that have
Check the insulation layer for
been damaged
aging or cracking
Check if the air duct and heat Clean the air duct
Air duct vent sink are blocked
Check if the fan is damaged Replace the fan
6.4 Electrical schematic diagram

Power distribution
Schematic diagram of driver board
IO schematic diagram
Schematic diagram of control panel
Schematic diagram of power amplify board
Communication connection diagram
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ERC Series Compact Control Cabinet Product Manual - V1.02 (2022.10.28)

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Product Manual of ERC Series Compact

Control cabinet model: ERC – C – E3

1 2020-12 V1.00 The initial issue

2 2021-11 V1.01 Add OUTPUT external 24V wiring diagram

3 2022-4 V1.02 Add precautions for use

Indicates an imminently hazardous situation which, which if not avoided, will

Indicates a potentially hazardous situation, which if not avoided, could result in

Indicates the precautions and restrictions that must be observed.

Provides additional information to emphasize or supplement important points of

Safety precautions for users

Ensure that the enable button works at all times.

Safety precautions on removing parts

Safety precautions for tools and peripheral equipment

Safety precautions for robot

Ways to stop robot

Warning and caution signs

Electric shock warning

High temperature sign

Step-on prohibitive sign

Sign for wounding by robot

Chapter 1 Product Information

1.2 Model coding

ERC series Controller Drive spec. Set order Option

Mark Spec. Mark Spec. Mark Spec.

High power 4-axis

1.3 Name of components

Work indicating lamp

OUTPUT interface Teaching pendant cable interface

Encoder interface Control cabinet power line

X1 interface ( female) SAFETY interface

USB interface EtherCAT interface

1.4 Overall dimensions

2.2 Installation location

2.3 Way to install

Mounting bracket (L type is

2.3.1 Horizontal installation

Rubber anchor ( including

Drive and tighten the M5 screw of the rubber anchors

Use a cross screwdriver to screw out

Self- furnished Drive and tighten the self-

Drive and tighten the spare M5 screw

Front of control cabinet

2.3.2 Vertical installation

Rubber anchor ( including M5

Unscrew the M5 screws of the rubber

Loosen the M5 screws ( 4 in total) on the

Drive and tighten the M5 screws

Drive and tighten the self-

Drive and tighten the M5 screws

Front of control cabinet

2.4 Install the encoder cable clip

Cross screwdriver PH2 (diameter of cutter head is about 6.5mm)

Mount the encoder cable clips by taking following steps.

Loosen the screws under the

Encoder cable clip

Unscrew the metal clip and take out

Put the encoder cable onto the

The encoder cable clip is mounted at this moment.

Chapter 3 Wiring and Connection

3.2 Pin description of IO terminals

3.3 Interface specification

S/N Name Description

4 OUTPUT interface User output signal interface (32-pin).

A11 SB+ Brake release －－－