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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
Overview This document will guide you through the EtherCat Drive Estun Summa setup and tuning
procedure in precision mode using ESView V4 Hickory Motion Control PCB and CNC12
Prerequisites
USB to Mini USB cable connected from the computer running ESView V4 to the Estun Summa drive
being tuned;
Computer running latest version of CNC12 software and connected to Hickory Motion Control PCB;
Hickory Motion Control PCB connected through EtherCat to Estun Summa drive under test
Parameter 256 set to 2 Precision mode F1 Setup → F3 Config default password 137 → F3 Parms
→ F8 Next Table until parameters 200 299 are displayed
PART 1 Drive Setup
1 Follow schematic S15076 r2 HICKORY_EstunDrives_Standard to install Drive
Remember to install the yellow jumper block provided with the Drive into the CN6 connector
The jumper block in its default configuration eliminates the need to wire an additional safety
function device
2 Install ESView V4
1 Run ESView V4 0 12 Setup exe file to install Estun’s proprietary drive software The installer
does not install USB drivers these have to be installed manually
2 Connect a USB to Mini USB cable from the PC where ESView V4 is installed to the Drive’s
CN5 connection Power ON Drive
3 On your PC search for Device Manager and look for an ESTUN USB COMM under Other
Devices
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
Right click ESTUN USB COMM and select Update Driver Select Browse my computer for
drivers and lastly Let me pick from a list of available drivers on my computer
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
4 On the next window leave Show All Devices highlighted and click Next
Click on Have Disk… and then Browse
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
5 On the Locate File w indow go to Z \HICKORY_documentation zip\ES View V4\
windows_drivers folder and select usb_dev_serial inf Click Open then OK
6 At this point the Update Drivers – Estun USB COMM window should look like this
Click Next then dismiss the Update Driver Warning popup by clicking Yes
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
Once the driver has finished updating without errors notice that the ESTUN USB COMM
device is no longer in Device Manager and has been replaced by a Generic Bulk Device under
Tivaware Bulk Devices This indicates that the driver has installed correctly
3 Change Drive Parameters
1 Open ESView V4 and connect to the servo drive
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
2 Load default parameters by going to the Parameters tab then select Edit Parameters and
Load Default Click OK
3 Only three parameters need to be changed from their default values at this point
Pn000 1 = 1 Always allow forward rotation
Pn000 2 = 1 Always allow reverse rotation
Pn521 0 = 1 Disables A15 alarm which is triggered when no braking resistor is connected
If single phase AC power is being used set Pn007 1 = 0 This parameter is set to 1 by default
which is appropriate for 3 Phase AC power
Input the values in the Value column one at a time and hit Enter to turn the box green Click
Download All to save the parameters to the Drive
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
4 Reset Alarms
On first power up the Estun Summa will have an A47 alarm which occurs when the absolute
encoder multi turn data has been lost or encoder cables are disconnected This is normal for initial
setup since the encoder’s battery does not come plugged into the Drive out of the box
To clear this alarm use the Drive’s front panel keys to perform functions Fn010 Absolute
encoder multi turn reset and Fn011 Absolute encoder alarm reset
Reboot drive after performing the instructions below
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
5 Jog Motor
It is good practice to move the motor using the manufacturer’s software to verify proper
wiring and setup Make sure the motor is clamped or mounted securely and is clear to move
Assuming the system has been wired according to schemetic S15076 r2
HICKORY_EstunDrives_Standard CNC12 will have to be running in the background to
allow high voltage to reach the motor
1 With the Hickory powered ON Open CNC12 and release E Stop If the system is in a fault
state at this point press ALT+I to open the I/O screen If no fault is detected skip step 2
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
2 Force OUT1 NoFaultOut to ON Go to OUT1 using the arrow keys on the keyboard and press
Ctrl+Alt+F once Notice OUT1 is now green and has an underline meaning its current state is being
forced
3 In ESView V4 go the Run tab and select Jog Click OK to dismiss the popup warning
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
Click the Servo ON button Use the reverse and forward rotation buttons to move the motor
Movement will most likely be rough at this point as the motor has not yet been tuned
If successful at this step Turn Servo Off and go back into CNC12 I/O screen to return OUT1 to
it’s unforced state Press Ctrl Alt F until the underline is removed
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
PART 2 Tuning
1 Reboot Drive and Hickory then start CNC12 and EsView V4
1 Open CNC12 and set Encoder counts/rev
Go to F1 Setup → F3 Config → F2 Mach → F2 Motor Change Encoder counts/rev to 1048576
Hickory automatically sets the encoder counts on the Drive at power up eliminating the need to modify
encoder counts through Drive parameters
2 Connect Drive to ESView V4
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
2 Open Auto Tuning tool
Click the Tuning tab then Tuning Tools select Auto Tuning tool click OK to dismiss the pop
up warning
Before proceeding Make sure CNC12 is running in the background with the E Stop released
and without faults For safety fix any outstanding faults before tuning
3 Run Load Inertia Detection
Click Detect then OK to dismiss the pop up warning Click Servo ON button and then Run This
will detect the load inertia on the motor and set Pn106 once the procedure finishes click Save
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
4 Run Autotune
Check the motor’s Rated Speed on its nameplate Set the autotune Max Speed for PJOG0
and PJOG1 to 90% of the Rated Speed In this case the Rated Speed is 2000 RPM so it will be set to
1800RPM
Click the Running Tuning tab Make sure to check the “Online Vibration Suppression” checkbox
Turn Servo ON and click Run Wait for tuning to finish If it fails go back to Parameter Settings tab and
decrease the Max speed by small increments about 100 RPM at a time
Click OK when tuning finishes successfully and go to the Save Parameter tab Click Save Take
note of the parameters changed by the autotune process for future reference
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
5 Double check that all autotune parameters have been saved
Go to the Parameters tab click Edit Parameters click Upload All scroll down to Pn100 and
double check that all parameters changed by autotune have been saved to the drive
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
6 Set Pn100 0 and Pn112
Set Pn100 0 to 5 manual tuning mode and Pn112 Speed Feedforward to 100 for machines
without vibration Hit Enter after changing each parameter making sure the parameter input boxes
turned green then click Download All
7 Close ESView V4 and CNC12; Reboot Drive and Hickory
8 Connect to ESView again and double check all parameters
G o into the Parameters tab then Edit Parameters and Upload All
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
9 Homing with Absolute Encoders Setup
Hickory and CNC12 utilize Absolute Encoders that are ‘always on’ reporting the current position even
when the CNC controller main power has been removed/shut down Absolute encoders have a 10
year battery installed typically in the encoder cable which keeps the encoder ‘alive’ when the cnc
controller main power has been removed This feature allows the CNC controller to always know
where it is at When powered up Hickory/CNC12 read the absolute encoder position and know exactly
where the machine current is in space even if it was moved when powered off Absolute encoders
make installing limit and home switches optional since once a home position is set the Hickory
equipped machine will never run a typical incremental home program one that will seeks out the
home switches each day before work begins After every power cycle the Hickory machine knows
where the machine home position is at no matter of the current position of each axis so homing to a
switch has been eliminated In the setup example below Home switches will not be used and Limit
switches can still be installed they will act as LIMIT switches only and will not be used to home off of
The complete Hickory homing setup procedure can be found in the Hickory Install Manual Section 6 3
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
10 Run CNC12 autotune
Go to F1 Setup → F3 Config → F4 PID → F5 Tune and click Cycle Start Once autotune has
finished save delays and re home the machine
11 Run CNC12 PID config
Go to F1 Setup → F3 Config → F4 PID → F1 PID Config → F1 Edit Program
Modify the program to move the axis you want to observe the behavior of by changing the lines
shown in the picture below In this case the Estun Summa drive is on the X axis
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
Save the modified file and close the file editor Click F2 Run Program Let the test run for a few
seconds and click F7 Zoom All
If the autotuning procedure was successful the Orange trace on the plot ErrAbs should be very
close to zero during steady state run and slightly off on acceleration and deceleration
Use F5 Zoom In and click on a specific point in the graph to check the error and speed at
that point In the picture below the error is only 7 encoder counts during steady state
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
On acceleration and deceleration the error will be higher In the picture below the error is 154
encoder counts which represents less than ½ of a tenth of an inch
Stop the program by hitting Escape and click F1 Edit Program Modify the program to run at a
higher feedrate
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
Save the program and exit the file editor Click F2 Run Program Use F5 Zoom In and click on a
point during steady state run Observe the ErrAbs and VAbs Below the error increased to 10 encoder
counts with the motor running at full speed
Click on a point in the plot during acceleration or deceleration and check if the ErrAbs has gotten
worse Below the ErrAbs is comparable to the slower speed test
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TB317 Rev6 – CNC12 & Hickory Estun Summa Setup & Tuning
The tuning for this drive and motor is complete Hit Escape to stop the program and F10 Save &
Exit
Document History
Rev6 Created on 2023 03 26 by #490
Rev5 Created on 2021 05 12 by #446
Rev4 Created on 2021 05 05 by #446
Rev3 Created on 2021 05 04 by #446
Rev2 Created on 2021 04 16 by #446
Rev1 Created on 2021 04 07 by #446
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