Estun pronet series User Manual
  1. Manuals
  2. Brands
  3. Estun Manuals
  4. DC Drives
  5. pronet series
  6. User manual

Estun pronet series User Manual

Ac servo
Hide thumbs
Table of Contents

Advertisement

Quick Links

ProNet Series AC Servo User's Manual
（Version：V2.10）

Advertisement

Table of Contents
loading

Summary of Contents for Estun pronet series

  • Page 1 ProNet Series AC Servo User's Manual （Version：V2.10）...
  • Page 2 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of ESTUN. No patent liability is assumed with respect to the use of the information contained herein.

  • Page 3: About This Manual

    ProNet Series AC Servo User' s Manual About this manual This manual describes the following information required for designing and maintaining ProNet series servo drives. •Specification of the servo drives and servomotors. •Procedures for installing the servo drives and servomotors.

  • Page 4: Safety Precautions

    ProNet Series AC Servo User' s Manual Safety Precautions ■ Do not connect the servomotor directly to the local electrical network. Failure to observe this may result in damage to servomotor. ■ Do not plug or unplug connectors from servo drive when power is on.

  • Page 5: Table Of Contents

    ProNet Series AC Servo User' s Manual —Contents— About this manual ................................- 1 -   Safety Precautions ................................- 2 -   Chapter 1 ..................................- 7 -   Checking Products and Parts Names ..........................- 7 -  ...
  • Page 6 ProNet Series AC Servo User' s Manual 3.5.2 Three-phase 200V ProNet-08A～50A/ProNet-E-08A～50A ..............- 41 -   3.5.3 Three-phase 400V ProNet-10D～75D/ProNet-E-10D～50D ............... - 42 -   3.5.4 Three-phase 400V ProNet-1AD～2BD ....................- 43 -   3.5.5 Single-phase 100V ProNet-02B/ProNet-E-02B ................... - 44 -  ...
  • Page 7 ProNet Series AC Servo User' s Manual 4.6.1 Basic Setting in Position Control ......................- 92 -   4.6.2 Setting the Clear Signal ........................- 96 -   4.6.3 Setting the Electronic Gear ........................- 96 -   4.6.4 Smoothing ............................- 99 -  ...
  • Page 8 ProNet Series AC Servo User' s Manual 5.1.5 Operation in Parameter Setting Mode ....................- 131 -   5.1.6 Operation in Monitor Mode ........................ - 132 -   5.2 Operation in Utility Function Mode ........................ - 135 -   5.2.1 Alarm Traceback Data Display ......................- 135 -  ...

  • Page 9: Chapter 1

    However, if a brake is installed on the servomotor, then it cannot be turned by hand. If any of the above items are faulty or incorrect, contact your ESTUN representative or the dealer from whom you purchased the products.

  • Page 10: Servo Drive

    Resolver, with the feature of high reliability and long service life, is suitable for harsh environments and a wide range of temperatures and humidity levels. The factory setting for the resolver precision used in the ESTUN servo drive is 4096.
  • Page 11 ProNet Series AC Servo User' s Manual ProNet-E Servo drive Model Designation PRONET–E – 10 A Voltage ProNet-E Model A：200VAC B：100VAC D：400VAC Rated Output 0.2kW 0.4 kW 0.75 kW 1.0 kW 1.5 kW 2.0 kW 3.0 kW 5.0 kW Note: ○...
  • Page 12 ProNet Series AC Servo User' s Manual ProNet-15A/20A ProNet-10D/15D/20D CHARGE POWER CHARGE POWER ＋ ＋ ＋ 2 ＋ 2 － － ProNet-30A/50A ProNet-30D/50D/70D/75D CHARGE POWER CHARGE POWER ＋ ＋ ＋ 2 ＋ 2 － － - 10 -...
  • Page 13 ProNet Series AC Servo User' s Manual ProNet-1AD/1ED/2BD ProNet-02B ProNet-04B ProNet-08B - 11 -...
  • Page 14 ProNet Series AC Servo User' s Manual ProNet-E Servo Drive Appearance ProNet-E-02A/04A ProNet-E-08A/10A CHARGE ＋ ＋ － ProNet-E-15A/20A ProNet-E-10D/15D/20D CHARGE POWER CHARGE POWER ＋ ＋ 2 ＋ － ＋ 2 － - 12 -...
  • Page 15 ProNet Series AC Servo User' s Manual ProNet-E-30A/50A ProNet-E-30D/50D CHARGE CHARGE POWER POWER ＋ ＋ ＋ 2 ＋ 2 － － ProNet-E-02B ProNet-E-04B - 13 -...
  • Page 16 ProNet Series AC Servo User' s Manual ProNet-E-08B ProNet Servo Drive Nameplate Servodrive model Applicable power Applicable servomotor supply capacity Serial number - 14 -...

  • Page 17: Part Names

    ProNet Series AC Servo User' s Manual ProNet-E Servo Drive Nameplate 1.2 Part Names 1.2.1 Servomotor Servomotor without gear and brake. Encoder Mounting hole Shell Output shaft Flange - 15 -...

  • Page 18: Servo Drive

    ProNet Series AC Servo User' s Manual 1.2.2 Servo drive ProNet-02A/04A ProNet-E-02A/04A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged. Connector for communication Main circuit power supply terminals Used to communicate with other devices.
  • Page 19 ProNet Series AC Servo User' s Manual ProNet-15A/20A ProNet-E-15A/20A CHARGE POWER ＋ ＋ 2 － ProNet-10D/15D/20D/ProNet-E-10D/15D/20D CHARGE POWER ＋ ＋ 2 － - 17 -...
  • Page 20 ProNet Series AC Servo User' s Manual ProNet-30A/50A ProNet-E-30A/50A CHARGE POWER ＋ ＋ 2 － ProNet-30D/50D/70D/75D ProNet-E-30D/50D CHARGE POWER ＋ ＋ 2 － - 18 -...
  • Page 21 ProNet Series AC Servo User' s Manual ProNet-1AD/1ED/2BD ProNet-02B/ProNet-E-02B - 19 -...
  • Page 22 ProNet Series AC Servo User' s Manual ProNet-04B ProNet-E-04B ProNet-08B ProNet-E-08B - 20 -...

  • Page 23: Chapter 2

    ProNet Series AC Servo User' s Manual Chapter 2 Installation 2.1 Servomotor Servomotor can be installed either horizontally or vertically. However, if the servomotor is installed incorrectly, the service life of the servomotor will be shortened or unexpected problems may occur.

  • Page 24: Installation Alignment

    ProNet Series AC Servo User' s Manual 2.1.3 Installation Alignment Align the shaft of the servomotor with that of the machinery shaft to be controlled. Then connect the two shafts with an elastic coupling. Install the servomotor so that alignment accurancy falls within the range shown below.

  • Page 25: Cable Tension

    When the servo motor is mounted to the client, please firmly secure the servo motor by the screws with backing ring as shown in the figure. 2.2 Servo Drive ProNet series servo drive is a base-mounted type. Incorrect installation will cause problems. Always observe the installation instructions described below. 2.2.1 Storage When the servomotor is not being used, store it in an area with a temperature between -25℃...

  • Page 26: Installation Orientation

    ProNet Series AC Servo User' s Manual 2.2.3 Installation Orientation Install the servo drive perpendicular to the wall as shown in the figure. The servo drive must be oriented this way because it is designed to be cooled by natural convection or a cooling fan if required. Firmly secure the servo drive through two mounting holes.
  • Page 27 ProNet Series AC Servo User' s Manual Install cooling fans above the servo drives if necessary. ■Working conditions 1.Temperature：-20~ 55℃ 2.Humidity：5%~95%RH 3.Vibration：4.9m/s or less 4.Ambient temperature to ensure long-term reliability: 45 or less ℃ 5.Condensation and Freezing: None - 25 -...

  • Page 28: Chapter 3

    ProNet Series AC Servo User' s Manual Chapter 3 Wiring 3.1 Main Circuit Wiring Please observe the following instructions while wiring the main circuit. · Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 300 mm.

  • Page 29: Typical Main Circuit Wiring Examples

    Note 1.The L1,L2,L3 and L1C,L2C terminals wiring method of ProNet-02A～04A/ProNet-E-02A～04A servo drives is different from other ProNet series servo drives. Please note the specific terminal definition while wiring. 2.The main circuit power supply of ProNet-02A～04A/ProNet-E-02A～04A is Single-phase 200V - 27 -...
  • Page 30 ProNet Series AC Servo User' s Manual 3. External regenerative resistor for ProNet-02A～04A/ProNet-E-02A～04A is provided by customer, the model of 60W， 50Ωresistor is recommended. 4.Change Pn521.0 from “1” to “0” when using the external regenerative resistor in ProNet-02A～04A/ProNet-E-02A～04A servo drives.
  • Page 31 ProNet Series AC Servo User' s Manual Three-phase 400V ProNet-1AD～2BD Three-phase 380~440V + 10% (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector 1 Ry 1PL (Servo Alarm Display) Noise Filter Power OFF Power ON 1 KM Be sure to connect a surge...
  • Page 32 ProNet Series AC Servo User' s Manual Single-phase 100V ProNet-04B /Single-phase 100V ProNet-E-04B Single-phase 100~120V +10% (50/60Hz) -15% Molded-case Circuit Breaker Surge Protector 1 Ry 1PL (Servo Alarm Display) Noise Filter Power OFF Power ON 1 KM 1 Ry 1 KM...

  • Page 33: I/O Signals

    ProNet Series AC Servo User' s Manual 3.2 I/O Signals 3.2.1 Examples of I/O Signal Connections ProNet Series Servodrive VREF+ Speed Reference(±0~10V/Rated Speed) VREF- PAO+ PAO- TREF+ PBO+ Torque Reference(±0~10V/Rated Torque) PG Divided Ratio Output TREF- PBO- Applicable Line Output PCO+ AM26LS32A Manufactured by TI or the Equivalent.

  • Page 34: I/O Signal Names And Functions

    ProNet Series AC Servo User' s Manual 3.2.2 I/O Signal Names and Functions Input Signals Control Signal Function Mode Name /S-ON Servo ON: Turns the servomotor on. Function selected by parameter. Proportional Switches the speed control loop from PI to P control when...
  • Page 35 ProNet Series AC Servo User' s Manual Output signals Control Signal Mode Pin No. Function Name /TGON+ Detects when the servomotor is rotating at a speed higher than the motor /TGON- speed seeting. ALM+ Servo alarm: ALM- Turns off when an error is detected.

  • Page 36: I/O Signal Connector (Cn1) Terminal Layout

    ProNet Series AC Servo User' s Manual 3.2.3 I/O Signal Connector (CN1) Terminal Layout Terminal Terminal Name Function Name Function VREF+ T-REF+ Speed reference input:±10V Torque referenceinput:±10V VREF- T-REF- DGND DGND DGND DGND — Reserved — Reserved /TGON+ PULS+ Running signal output...

  • Page 37: Interface Circuit

    ProNet Series AC Servo User' s Manual 3.2.4 Interface Circuit This section shows examples of servo drive I/O signal connection to the host controller. ■Interface for Analog Reference Input Circuit Analog signals are either speed or torque reference signals at about 40kΩ impedance, and the maximum allowable voltages for input signals is ±10V.

  • Page 38: Wiring Encoders

    ProNet Series AC Servo User' s Manual 3.3 Wiring Encoders 3.3.1 Connecting an Encoder(CN2) Wire-saving Incremental Encoder（2500P/R） （Waterproof） ■ Wire-saving Incremental Servodrive Encoder Host controller 1(A) Phase-A 2(B) /PAO 3(C) 4(D) Phase-B 5(E) /PBO 6(F) Phase-C /PCO Output line driver...
  • Page 39 ProNet Series AC Servo User' s Manual 17 bit Incremental/Absolute Encoders Incremental/Absolute Encoders Servodrive Host controller K(1) Phase-A L(2) /PAO T(3) BAT+ S(4) BAT- Phase-B /PBO Phase-C /PCO Output line driver AM26LS31 manufactured Applicable line- by TI or the equivalent.

  • Page 40: Encoder Connector(Cn2) Terminal Layout

    ProNet Series AC Servo User' s Manual 3.3.2 Encoder Connector(CN2) Terminal Layout Wire-saving Incremental Encoder（2500P/R） Terminal No. Name Function Terminal No. Name Function PG input phase A PG input phase B PG input phase /A PG input phase /B PG input phase B...

  • Page 41: Communication Connector(Cn4) Terminal Layout

    ProNet Series AC Servo User' s Manual 3.4.2 Communication Connector(CN4) Terminal Layout Terminal No. Name Function — Reserved — 485+ RS-485 communication terminal ISO_GND Isolated ground ISO_GND 485- RS-485 communication terminal CANH CAN communication terminal CANL CAN communication terminal - 39 -...

  • Page 42: Standard Wiring Examples

    Maximum Output Current:DC50mA Note 1.The L1,L2,L3 and L1C,L2C terminals wiring method of ProNet-02A～04A/ProNet-E-02A～04A servo drives is different from other ProNet series servo drives. Please note the specific terminal definition while wiring. 2.The main circuit power supply of ProNet-02A～04A/ProNet-E-02A～04A is Single-phase 200V 3.

  • Page 43: Three-Phase 200V Pronet-08A～50A/Pronet-E-08A～50A

    ProNet Series AC Servo User' s Manual 3.5.2 Three-phase 200V ProNet-08A～50A/ProNet-E-08A～50A Three-phase 200~230V +10% (50/60Hz) -15% Molded-case Circuit Breaker Surge Protector 1 Ry 1PL ( Servo Alarm Display Noise Filter Power OFF Power ON 1 KM 1 Ry 1 KM...

  • Page 44: Three-Phase 400V Pronet-10D～75D/Pronet-E-10D～50D

    ProNet Series AC Servo User' s Manual 3.5.3 Three-phase 400V ProNet-10D～75D/ProNet-E-10D～50D Three-phase 380~480V + 10% (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector 1PL ( 1 Ry Servo Alarm Display Noise Filter Power OFF Power ON 1 KM 1 Ry...

  • Page 45: Three-Phase 400V Pronet-1Ad～2Bd

    ProNet Series AC Servo User' s Manual 3.5.4 Three-phase 400V ProNet-1AD～2BD Three-phase 380~440V (50/60Hz) + 10% - 15% Molded-case Circuit Breaker Surge Protector 1PL ( 1 Ry Servo Alarm Display Noise Filter Power OFF Power ON 1 KM 1 Ry...

  • Page 46: Single-Phase 100V Pronet-02B/Pronet-E-02B

    ProNet Series AC Servo User' s Manual 3.5.5 Single-phase 100V ProNet-02B/ProNet-E-02B single-phase 100~120V (50/60Hz) Molded-case Circuit Breaker Surge Protector 1 Ry 1PL ( Servo Alarm Display Noise Filter Power OFF Power ON 1 KM 1 KM 1 Ry 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay.

  • Page 47: Single-Phase 100V Pronet-04B /Pronet-E-04B

    ProNet Series AC Servo User' s Manual 3.5.6 Single-phase 100V ProNet-04B /ProNet-E-04B single-phase 100~120V (50/60Hz) + 10% - 15% Molded-case Circuit Breaker Surge Protector 1 Ry 1PL ( Servo Alarm Display Noise Filter Power OFF Power ON 1 KM 1 Ry...
  • Page 48 ProNet Series AC Servo User' s Manual 3.5.7 Single-phase 100V ProNet-08B/ ProNet-E-08B single-phase 100~120V + 10% (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector 1 Ry 1PL ( Servo Alarm Display Noise Filter Power OFF Power ON 1 KM 1 Ry...

  • Page 49: Position Control Mode

    ProNet Series AC Servo User' s Manual 3.5.8 Position Control Mode ProNet Series Servodrives PAO+ PAO- PBO+ PG Divided Ratio Output: Applicable Line Receiver PBO- AM26LS32A Manufactured by TI or the Equivalent. PCO+ PCO- DGND Open-collector Reference Use 2KΩ 150Ω...

  • Page 50: Speed Control Mode

    ProNet Series AC Servo User' s Manual 3.5.9 Speed Control Mode ProNet Series Servodrives PAO+ VREF+ PAO- Speed Reference(±0~10V/Rated Speed) VREF- PBO+ PG Divided Ratio Output: Applicable Line Receiver PBO- AM26LS32A Manufactured by TI or the Equivalent. PCO+ PCO- DGND...

  • Page 51: Torque Control Mode

    ProNet Series AC Servo User' s Manual 3.5.10 Torque Control Mode ProNet Series Servodrives PAO+ PAO- PBO+ PG Divided Ratio Output: Applicable Line Receiver PBO- AM26LS32A Manufactured by TI or the Equivalent. PCO+ PCO- TREF+ Torque Reference (±0~10V/Rated Torque) DGND...

  • Page 52: Wiring For Noise Control

    ProNet Series AC Servo User' s Manual 3.6 Wiring for Noise Control 3.6.1 Noise Control The servo drive uses high-speed switching elements in the main circuit. It may receive "switching noise" from these high-speed switching elements. To prevent malfunction due to noise, take the following actions: •...

  • Page 53: Precautions On Connecting Noise Filter

    ProNet Series AC Servo User' s Manual (2) Correct Grounding Take the following grounding measures to prevent the servo drive from malfunctioning due to noise. ￭ Grounding the Motor Frame If the servomotor is grounded via the machine, a switching noise current will flow from the servo drive main circuit through the servomotor stray capacitance.
  • Page 54 ProNet Series AC Servo User' s Manual Note: A single-phase servomotor should apply a two-phase filter. A three-phase servo drive should apply a three-phase filter. Choose the right filter according the specifications of operating voltage, current, and manufacturer. (2) Precautions on Using Noise Filters Do not put the input and output lines in the same duct or bundle them together.

  • Page 55: Installation Conditions Of Emc Directives

    This section describes the installation conditions that satisfy EMC guidelines for each servo drive model. This section describes the EMC installation conditions satisfied in test conditions prepared by ESTUN. The actual EMC level may differ depending on the actual system’s configuration, wiring, and other conditions.
  • Page 56 ProNet Series AC Servo User' s Manual Noise filter Aprox.2m Aprox.5m Symbol Cable Name Specifications I/O signal cable Shield cable ① Servomotor cable Shield cable ② Encoder cable Shield cable ③ AC line cable Shield cable ④ Notes: The example above shows three-phase 200VAC servo drive connection.

  • Page 57: Using More Than One Servo Drive

    ProNet Series AC Servo User' s Manual (c) Fixing the Cable Fix and ground the cable shield using a piece of conductive metal. • Example of Cable Clamp Cable Shield(cable sheath stripped) Host controller side Fix and ground the cable shield using a piece of conductive metal.
  • Page 58 ProNet Series AC Servo User' s Manual Power supply R S T Power Power Noise filter Notes: 1. Power supply phase-S should connect to ground terminals. 2. The example above shows three-phase 200VAC servo drive connection. - 56 -...

  • Page 59: Connecting Dc Bus

    ProNet Series AC Servo User' s Manual 3.9 Connecting DC Bus Servo drive wiring includes standard wiring （standard wiring refers to 3.5 Standard Wiring Examples） and optional wiring. Connecting DC bus together of the optional wiring conduces to bus voltage more stable. The following diagram is an example of the wiring when connecting more than one servo drive DC bus.

  • Page 60: Chapter 4

    ProNet Series AC Servo User' s Manual Chapter 4 Operation 4.1 Trial Operation Make sure that all wiring has been completed prior to trial operation. Perform the following three types of trial operation in order. Instructions are given for speed control mode (standard setting) and position control mode.
  • Page 61 ProNet Series AC Servo User' s Manual ■Purpose Perform the trial operation with the servomotor connected to the machine. The servo drive is adjusted to match the machine characteristics. ·Servomotor speed and machine travel distance. ·Set the necessary parameters. (Please refer to step 9-11)
  • Page 62 ProNet Series AC Servo User' s Manual Step Item Description Reference Install the servomotor and servo drive according to the installation Installation conditions. (Do not connect the servomotor to the machine because the servomotor will be operated first under the no-load condition for checking.)

  • Page 63: Trial Operation For Servomotor Without Load

    ProNet Series AC Servo User' s Manual 4.1.1 Trial Operation for Servomotor Without Load ·Release the coupling between the servomotor and the machine, and secure only the servomotor without a load. ·To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings and belts disconnected).
  • Page 64 ProNet Series AC Servo User' s Manual Step Description Check Method and Remarks Use the panel operator to operate the servomotor with utility function Fn002 (JOG Mode Operation)Check that the servomotor rotates in the forward direction by pressing the INC key, and reverse direction by pressing the DEC key.

  • Page 65: Trial Operation For Servomotor Without Load From Host Reference

    ProNet Series AC Servo User' s Manual JOG Speed Speed Position Torque Pn305 Setting Range Setting Unit Factory Setting Setting Validation 0~6000 Immediately Set the utility function Fn002 (JOG Mode Operation) to the reference value of servomotor speed. The servomotor can be operated using only the panel operator without reference from the host controller.
  • Page 66 ProNet Series AC Servo User' s Manual (2)Operating Procedure in Speed Control Mode (Pn005=H.□□0□) The following circuit is required: External input signal circuit or equivalent. Servodrive +24V /S-ON P-OT N-OT V-REF+ V-REF+ V-REF- V-REF- Max. Voltage (12V) Step Description Check Method and Remarks Check the power and input signal circuits again, Refer to the above figure for the input signal circuit.
  • Page 67 ProNet Series AC Servo User' s Manual ■ When Position Control is configured at the Host When the servo drive conducts speed control and position control is conducted at the host controller, perform the operation below,following the operation in Operation Procedure in Speed Control Mode (Pn005=H.□□0□).
  • Page 68 ProNet Series AC Servo User' s Manual (3)Operating Procedure in Position Control Mode (Pn005=H.□□1□) The following circuit is required: External input signal circuit or equivalent. Servodrive +24V /S-ON P-OT N-OT PULS /PULS SIGN Reference pulse according to parameter /SIGN Pn004.2 setting.

  • Page 69: Trial Operation With The Servomotor Connected To The Machine

    ProNet Series AC Servo User' s Manual 4.1.3 Trial Operation with the Servomotor Connected to the Machine ·Follow the procedure below for trial operation precisely as given. ·Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may also cause an accident resulting in death or injury.

  • Page 70: Trial Operation For Servomotor With Brakes

    P-OT and servomotor operation. N-OT signals are input. 4.2 Control Mode Selection The control modes supported by the ProNet series servo drives are described below. - 68 -...
  • Page 71 ProNet Series AC Servo User' s Manual Parameter Control Mode Reference Section Speed Control (Analog voltage reference) Controls servomotor speed using analog voltage speed reference. Use in the following instances. H.□□0□ ·To control speed ·For position control using the encoder feedback division output from the servo drive to form a position loop in the host controller.

  • Page 72: Setting Common Basic Functions

    ProNet Series AC Servo User' s Manual 4.3 Setting Common Basic Functions 4.3.1 Setting the Servo ON Signal This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF. (1)Servo ON signal(/S-ON) Connector Pin...

  • Page 73: Switching The Servomotor Rotation Direction

    ProNet Series AC Servo User' s Manual 4.3.2 Switching the Servomotor Rotation Direction The rotation direction of the servomotor can be switched without changing the reference pulse to the servo drive or the reference voltage polarity. This causes the rotation the servo motor shaft is rotating to change. The output signal polarity, such as the encoder pulse output and the analog monitor signal from the servo drive do not change.

  • Page 74: Setting The Overtravel Limit Function

    ProNet Series AC Servo User' s Manual 4.3.3 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. (1)Connecting the overtravel signal To use the overtravel function, connect the following overtravel limit switch to the corresponding pin number of servo drive CN1 connector correctly.
  • Page 75 ProNet Series AC Servo User' s Manual (2)Enabling/Disabling the Overtravel Signal A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the overtravel input signal. Parameter Meaning Inputs the forward rotation prohibited (P-OT) signal from b.□□0□...
  • Page 76 ProNet Series AC Servo User' s Manual ·After changing these parameters, turn OFF the main circuit and control power supplies, and then turn them ON again to enable the new settings. ·Stop by dynamic brake: Stops by using the dynamic brake (short circuiting its electrical circuit).

  • Page 77: Setting For Holding Brakes

    ProNet Series AC Servo User' s Manual 4.3.4 Setting for Holding Brakes The holding brake is used when the servo drive controls a vertical axis. A servomotor with the brake option helps prevent movable parts from shifting due to gravity when power is removed from the servo drive.
  • Page 78 ProNet Series AC Servo User' s Manual （2）Brake interlock output Type Signal Name Connector Pin Number Setting Meaning ON(Low level) Releases the brake. Output Must be allocated OFF(High level) Applies the brake. This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with the factory setting.The output signal must be allocated by Pn511.
  • Page 79 ProNet Series AC Servo User' s Manual （4）Setting the Brake ON/OFF Timing after the Servomotor Stops With the factory setting, the /BK signal is output at the same time as the servo is turned OFF. The servo OFF timing can be changed with a parameter.

  • Page 80: Instantaneous Power Loss Settings

    ProNet Series AC Servo User' s Manual （5）Setting the Brake ON/OFF Timing When Servomotor Running The following parameters can be used to change the /BK signal output conditions when a stop reference is output during servomotor operation due to the servo OFF or an alarm occuring.

  • Page 81: Absolute Encoders

    ProNet Series AC Servo User' s Manual 4.4 Absolute Encoders Absolute Encoder Output Range of Resolution Action when limit is exceeded Type Multiturn Data ·When the upper limit (+32767)is exceeded in the forward direction, the multiturn data is -32768 16-bit/multiturn ProNet Series -32768～+32767...

  • Page 82: Handling Battery

    In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backed up by a battery. Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used. Install the battary to the encoder cable：...

  • Page 83: Replacing Battery

    ProNet Series AC Servo User' s Manual 4.4.3 Replacing Battery The servo drive will generate an absolute encoder battery alarm (A.48) when the battery voltage drops below about 3.1V. Battery Replacement Procedure 1. Replace the battery with only the servo drive control power supply turned ON.

  • Page 84: Operating Using Speed Control With Analog Reference

    ProNet Series AC Servo User' s Manual 4.5 Operating Using Speed Control with Analog Reference 4.5.1 Setting Parameters Parameter Meaning Pn005 H.□□0□ Control mode selection:Speed control(analog reference)(factory setting) Speed Reference Input Gain Speed Position Torque Pn300 Setting Range Setting Unit...

  • Page 85: Setting Input Signals

    ProNet Series AC Servo User' s Manual 4.5.2 Setting Input Signals （1）Speed Reference Input Input the speed reference to the servo drive using the analog voltage reference to control the servomotor speed in proportion to the input voltage. Type Signal Name...

  • Page 86: Adjusting Reference Offset

    ProNet Series AC Servo User' s Manual 4.5.3 Adjusting Reference Offset When using the speed control, the servomotor may rotate slowly even if 0V is specified as the analog voltage reference. This happens if the host controller or external circuit has a slight offset (in the unit of mV) in the reference voltage.
  • Page 87 ProNet Series AC Servo User' s Manual 4.Press the ENTER key to enter into the speed reference offset automatic adjustment mode. 5.Press the MODE key for more than one second, the reference offset will be automatically adjusted. 7.Press ENTER key to return to the Fn003 display of the utility function mode.
  • Page 88 ProNet Series AC Servo User' s Manual （2）Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment (Fn004) in the following situations: ·If a loop is formed with the host controller and the postion error pulse is set to be zero when servolock is stopped.

  • Page 89: Soft Start

    ProNet Series AC Servo User' s Manual 4.5.4 Soft Start The soft start function converts the stepwise speed reference inside the servo drive to a consistent rate of acceleration and deceleration. Pn310 can be used to select the soft start form: 0: Slope;...

  • Page 90: S-Curve Risetime

    ProNet Series AC Servo User' s Manual 4.5.6 S-curve Risetime S-curve Risetime Speed Pn309 Setting Range Setting Unit Factory Setting Setting Validation 0～10000 Immediately 4.5.7 Using the Zero Clamp Function （1）Zero Clamp Function The zero clamp function is used for systems where the host controller does not form a position loop for the speed reference input.
  • Page 91 ProNet Series AC Servo User' s Manual （2）Parameter Setting Parameter Meaning Pn005 H.□□A□ Control mode: Speed control(analog voltage reference) Zero Clamp Zero Clamp Conditions: Zero clamp is performed with Pn005=H.□□A□ when the following two conditions are both satisfied: ·/P-CON is ON (low level) ·Speed reference (V-REF) drops below the setting in Pn502.

  • Page 92: Encoder Signal Output

    ProNet Series AC Servo User' s Manual 4.5.8 Encoder Signal Output Encoder feedback pulses processed inside the servo drive can be output externally. Type Signal Name Connector Pin Number Name CN1-20 Encoder output phase A Output /PAO CN1-21 Encoder output phase /A...

  • Page 93: Speed Coincidence Output

    ProNet Series AC Servo User' s Manual Pulse Dividing Ratio Setting PG Dividing Ratio Torque Speed Position Pn200 Setting Range Setting Unit Factory Setting Setting Validation 16~16384 1Puls 16384 After restart Set the number of pulses for PG output signals (PAO,/PAO,PBO,/PBO) externally from the servo drive.

  • Page 94: Operating Using Position Control

    ProNet Series AC Servo User' s Manual 4.6 Operating Using Position Control Set the following parameters for position control using pulse trains. Parameter Meaning Pn005 H.□□1□ Control mode selection：position control (pulse train reference) A block diagram for position control is shown as below.
  • Page 95 ProNet Series AC Servo User' s Manual (3) Setting a Reference Pulse Form Set the input form for the servo drive using parameter Pn004.2 according to the host controller specifications. Forward Rotation Reverse Rotation Reference Input Pulse Parameter Reference Reverse...
  • Page 96 ProNet Series AC Servo User' s Manual (5)Reference Pulse Input Signal Timing Reference pulse signal form Electrical specifications Remarks Sign+pulse train input SIGN (SIGN+PULS signal) H=forward reference SIGN Maximum reference frequency： L=reverse reference t1，t2=0.1µs PULS t3，t7=0.1µs t4，t5，t6>3µs 500kpps (For open-collector output：...
  • Page 97 ProNet Series AC Servo User' s Manual (b)Connection Example for Open-Collector Gate Output NPN OC GATE OUTPUT Servodrive Host controller 75Ω 1CN-30 PULS NOTE: VDC=12~24V 75Ω 1CN-31 /PULS R=(VDC-1.5Volt)/10mA-150 VDC=12V, 1CN-34 2KΩ R=1KΩ/0.25W 2KΩ VDC=24V, 1CN-32 SIGN R=2KΩ/0.25W 75Ω 1CN-33 /SIGN 75Ω...

  • Page 98: Setting The Clear Signal

    ProNet Series AC Servo User' s Manual 4.6.2 Setting the Clear Signal （1）Setting the Clear Signal Type Sign Name Connector Pin Numbe Function Input /CLR 1CN-40 error counter clear When the /CLR signal is set to low level, clear error counter: ·The error counter inside the servo drive is set to “0”...
  • Page 99 ProNet Series AC Servo User' s Manual （2）Related Parameters Electronic Gear Ratio (Numerator) Position Pn201 Setting Range Setting Unit Factory Setting Setting Validation 1～65535 — After restart Electronic Gear Ratio (Denominator) Position Pn202 Setting Range Setting Unit Factory Setting Setting Validation 1～65535...
  • Page 100 ProNet Series AC Servo User' s Manual (4)Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations. Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit：0.01mm Reference unit：0.001mm Load shaft Load shaft...

  • Page 101: Smoothing

    ProNet Series AC Servo User' s Manual 4.6.4 Smoothing A filter can be applied in the servo drive to a constant-frequency reference pulse. (1)Selecting a Position Reference Filter Parameter Description 0：1 -order filter Pn205 1：2 -order filter * After changing the parameter, turn OFF the power once and turn it ON again to enable the new setting.

  • Page 102: Low Frequency Vibration Suppression

    For the low rigidity load, low frequency vibration will occur continually at the front end of the load during fast acceleration or fast deceleration. The vibration may delay positioning time and affect the productive efficiency. The function of low frequency vibration suppression is embedded in ProNet series servo drives by calculating the load position and compensating.
  • Page 103 ProNet Series AC Servo User' s Manual Related Parameters Parameter Meaning H.□0□□ 0:Low frequency vibration suppression function disabled Pn006 1:Low frequency vibration suppression function enabled H.□1□□ Low frequency vibration frequency Position Speed Pn411 Setting Range Setting Unit Factory Setting Setting Validation 0.1Hz...

  • Page 104: Positioning Completion Output Signal

    ProNet Series AC Servo User' s Manual 4.6.6 Positioning Completion Output Signal This signal indicates that servomotor movement has been completed during position control. Use the signal as an interlock to confirm that positioning has been completed at the host controller.

  • Page 105: Reference Pulse Inhibit Function (Inhibit)

    ProNet Series AC Servo User' s Manual 4.6.7 Reference Pulse Inhibit Function (INHIBIT) (1)Description This function inhibits the servo drive from counting input pulses during position control. The servomotor remains locked (clamped) while pulses are inhibited. Servodrive Pn005.1 Pn005=H.□□1□ Reference pulse Error Counter Pn005=H.□□B□...

  • Page 106: Position Control (Contact Reference)

    ProNet Series AC Servo User' s Manual 4.6.8 Position Control (contact reference) Position control under contact reference (parameter Pn005.1＝C). In this mode, servo drive can position with a single axes without a host controller. There are 16 position control points with each being able to set move distance, running speed, constants for position reference filter time, and the stop time when positioning completed.
  • Page 107 ProNet Series AC Servo User' s Manual Setting Para. No. Name and description Default range [0] Clear error pulse when S-0FF, not clear error pulse when overtravel. Pn004.1 [1] Not clear error pulse [2] Clear error pulse When S-OFF or over travel ￭Looking for the reference point...
  • Page 108 ProNet Series AC Servo User' s Manual ■ Related parameter Para. No. Description Observation Choose between cycle run and single run. Changing steps will be performed till 0: Cycle run, /PCL as start signal, /NCL reverse to the end point is completed comma look for reference point.

  • Page 109: Position Homing Control (Homing Function)

    In position control mode, the servomotor always needs to operate at a fixed position. This position is normally regarded as the zero position. When the host controller is turned on, the zero position adjustment is required before processing. This zero position will be regarded as the reference point. ESTUN servo drives can perform this function by the homing function.
  • Page 110 ProNet Series AC Servo User' s Manual (3)Input Signal Setting Signal Connector Pin Type Setting Meaning ON=↑(rising edge) Homing is enabled Must be allocated by Input SHOM Pn509,Pn510 OFF (not rising edge) Homing is disabled ON=H ORG is enabled Must be allocated by...
  • Page 111 ProNet Series AC Servo User' s Manual Corresponding position: After hitting the origin signal ORG, the motor will find C-pulse directly; the figure is shown as below: Pn 685 Speed Pn 686 Find C-pulse without returning 0rpm Homing offset distance Pn 690 ×...

  • Page 112: Operating Using Torque Control

    ProNet Series AC Servo User' s Manual 4.7 Operating Using Torque Control 4.7.1 Setting Parameters The following parameters must be set for torque control operation with analog voltage reference. Parameter Meaning Pn005 Control mode selection：Torque control(analog voltage reference) H.□□2□ Torque Reference Input Gain...

  • Page 113: Torque Reference Input

    ProNet Series AC Servo User' s Manual 4.7.2 Torque Reference Input By applying a torque reference determined by the analog voltage reference to the servo drive, the servomotor torque can be controlled in proportion with the input voltage. Type Signal Name...

  • Page 114: Adjusting The Reference Offset

    ProNet Series AC Servo User' s Manual 4.7.3 Adjusting the Reference Offset (1)Automatic Adjustment of the Torque Reference Offset When using torque control, the servomotor may rotate slowly even when 0V is specified as the analog reference voltage. This occurs when the host controller or external circuit has a slight offset (measured in mv) in the reference voltage. In this case, the reference offset can be adjusted automatically and manually using the panel operator.

  • Page 115: Limiting Servomotor Speed During Torque Control

    ProNet Series AC Servo User' s Manual 4.7.4 Limiting Servomotor Speed During Torque Control During torque control, the servomotor is controlled to output the specified torque, which means that the servomotor speed is not controlled. Accordingly, when an excessive reference torque is set for the mechanical load torque, it will prevail over the mechanical load torque and the servomotor speed will greatly increase.

  • Page 116: Operating Using Speed Control With An Internally Set Speed

    ProNet Series AC Servo User' s Manual (3)External Speed Limit Function Type Signal Name Connector Pin Number Name V-REF+ CN1-1 Input External Speed Limit Input V-REF- CN1-2 ·Inputs an analog voltage reference as the servomotor speed limit value during torque control.

  • Page 117: Setting Parameters

    ProNet Series AC Servo User' s Manual 4.8.1 Setting Parameters Parameter Meaning Pn005 Control mode selection: H.□□3□ Speed control(contact reference) Speed control(zero reference) Internal set speed 1 speed Pn316 Setting Range Setting Unit Factory Setting Setting Validation Immediately -6000～6000 Internal set speed 2...

  • Page 118: Input Signal Settings

    ProNet Series AC Servo User' s Manual 4.8.2 Input Signal Settings The following input signals are used to switch the operating speed. Type Signal Name Connector Pin Number Meaning Input /P-CON CN1-15 Selects the internally set speed. Input /P-CL CN1-41 Selects the internally set speed.

  • Page 119: Limiting Torque

    ProNet Series AC Servo User' s Manual 4.9 Limiting Torque The servo drive provides the following three methods for limiting output torque to protect the machine. Limiting Method Reference Section Internal torque limit 4.9.1 External torque limit 4.9.2 Torque limiting by analog voltage reference 4.9.3...

  • Page 120: External Torque Limit

    ProNet Series AC Servo User' s Manual 4.9.2 External Torque Limit This function allows the torque to be limited at specific times during machine operation, for example, during press stops and hold operations for robot workpieces. An input signal is used to enable the torque limits previously set in parameters.

  • Page 121: Torque Limiting Using An Analog Voltage Reference

    ProNet Series AC Servo User' s Manual 4.9.3 Torque Limiting Using an Analog Voltage Reference Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T-REF terminals (CN1-26,27). This function can be used only during speed or position control, not during torque control.

  • Page 122: Control Mode Selection

    ProNet Series AC Servo User' s Manual 4.10 Control Mode Selection The methods and conditions for switching the servo drive control modes are described below. 4.10.1 Setting Parameters The following control mode combinations can be selected according to the individual application of the user.

  • Page 123: Other Output Signals

    ProNet Series AC Servo User' s Manual 4.11 Other Output Signals 4.11.1 Servo alarm output The following diagram shows the right way to connect the Alarm Output. An external +24V I/O power supply is required since there is no +24V power source available inside the servo drive.

  • Page 124: Rotation Detection Output Signal (/Tgon)

    ProNet Series AC Servo User' s Manual 4.11.2 Rotation Detection Output Signal (/TGON) Type Signal Name Connector Pin Number Setting Meaning Servomotor is operating(Servomotor ON(low level) speed is above the setting in Pn503). CN1-5,CN1-6 Output /TGON Servomotor is not (Factory setting)

  • Page 125: Over Travel Signal Output (Ot)

    ProNet Series AC Servo User' s Manual 4.11.5 Over travel signal output (OT) Type Signal Name Connector Pin Number Setting Meaning Without forward rotation Not including this ON (low level) Prohibited (POT) and reverse rotation setting in the default prohibited (NOT) signal...
  • Page 126 ProNet Series AC Servo User' s Manual Indicates the output torque (current) of motor is limited. Type Signal Name Connector Pin Number Setting Meaning Motor output torque under limit (Internal Not including this setting in ON＝L torque reference is higher than setting the default setting,please value).

  • Page 127: Torque Detection Output (/Tcr)

    ProNet Series AC Servo User' s Manual 4.11.8 Torque Detection Output (/TCR) Type Signal Name Connector Pin Number Setting Meaning Not including this setting in Motor output torque is higher than Pn529 ON＝L setting value. the default setting,please Output /TCR...

  • Page 128: Online Autotuning Procedure

    ProNet Series AC Servo User' s Manual 4.12.2 Online Autotuning Procedure ！ WARNING ￭Do not perform extreme adjustment or setting changes causing unstable servo operation.Failure to observe this warning may result in injury and damages to the machine. ￭ Adjust the gains slowly while confirming motor operation.

  • Page 129: Setting Online Autotuning

    ProNet Series AC Servo User' s Manual 4.12.3 Setting Online Autotuning Related parameters: Parameter Setting Factory Setting Name Unit Range Setting Invalidation Online autotuning setting 0:Manual gain adjustment 1,2,3= Normal mode;4,5,6=Vertical load Pn100 After restart — 1,4 = Load inertia without variation;...

  • Page 130: Chapter 5

    ProNet Series AC Servo User' s Manual Chapter 5 Panel Operator 5.1 Basic Operation 5.1.1 Functions on Panel Operator The panel operator is a built-in operator that consists of display section and keys located on the front panel of the servo drive.

  • Page 131: Basic Mode Selection

    ProNet Series AC Servo User' s Manual 5.1.3 Basic Mode Selection The basic modes include status display mode, parameter setting mode, monitor mode, and utility function mode. Each time the MODE key is pressed, the next mode in the sequence is selected.
  • Page 132 ProNet Series AC Servo User' s Manual Bit Data Display Speed/Torque Control Mode Position Control Mode Bit Data Description Bit Data Description Lit when the difference between the Lit if error between position reference servomotor and reference speed is the...

  • Page 133: Operation In Parameter Setting Mode

    ProNet Series AC Servo User' s Manual 5.1.5 Operation in Parameter Setting Mode The servo drive offers a large number of functions, which can be selected or adjusted by the parameter settings. Refer to A.1 Parameter List for details. ■Parameter Setting Procedures The parameter settings can be used for changing parameter data.

  • Page 134: Operation In Monitor Mode

    ProNet Series AC Servo User' s Manual 5.1.6 Operation in Monitor Mode The monitor mode allows the reference values input into the servo drive, I/O signal status, and servo drive internal status to be monitored. ■Using the Monitor Mode The example below shows how to display the value (1500) stored in Un001.
  • Page 135 ProNet Series AC Servo User' s Manual ■List of Monitor Modes Contents of Monitor Mode Display Monitor Number Monitor Display Un000 Actual servomotor speed Unit: rpm Un001 Input speed reference Unit:rpm Input torque reference Unit:% Un002 (with respect to rated torque)
  • Page 136 ProNet Series AC Servo User' s Manual Contents of Bit Display： Monitor Number Display LED Number Content /S-ON（CN1-14） /PCON（CN1-15） P-OT（CN1-16） N-OT（CN1-17） Un005 /ALM-RST（CN1-39） /CLR（CN1-40） /PCL（CN1-41） /NCL（CN1-42） Monitor Number Display LED Number Content （Not used） （Not used） （Not used） Phase-C Un006...

  • Page 137: Operation In Utility Function Mode

    ProNet Series AC Servo User' s Manual 5.2 Operation in Utility Function Mode In utility function mode, the panel operator can be used to run and adjust the servo drive and servomotor. The following table shows the parameters in the utility function mode.

  • Page 138: Parameter Settings Initialization

    ProNet Series AC Servo User' s Manual 5.2.2 Parameter Settings Initialization Follow the procedures below to execute the parameter settings initialization. 1. Press the MODE key to select the utility function mode. 2. Press the INC or DEC key to select the function number of parameter settings initialization.

  • Page 139: Operation In Jog Mode

    ProNet Series AC Servo User' s Manual 5.2.3 Operation in JOG Mode Follow the procedures below to operate the servomotor in JOG mode. 1. Press the MODE key to select the utility function mode. 2. Press the INC or DEC key to select the function number of JOG mode operation.

  • Page 140: Automatic Adjustment Of The Speed Reference Offset

    ProNet Series AC Servo User' s Manual 5.2.4 Automatic Adjustment of the Speed Reference Offset When using the speed/torque (analog reference) control, the servomotor may rotate slowly even if 0V is specified as the analog voltage reference. This happens if the host controller or external circuit has a slight offset (in the unit of mV) in the reference voltage.

  • Page 141: Manual Adjustment Of The Speed Reference Offset

    ProNet Series AC Servo User' s Manual 6. Press the ENTER key to return to the utility function mode display Fn003. 7. Thus, the speed reference offset automatic adjustment is complete. 5.2.5 Manual Adjustment of the Speed Reference Offset Manual adjustment of the speed/torque reference offset is used in the following cases: If a position loop is formed with the host controller and the error is zeroed when servolock is stopped.

  • Page 142: Offset-Adjustment Of Servomotor Current Detection Signal

    Thus, the speed reference offset manual adjustment is complete. 5.2.6 Offset-adjustment of Servomotor Current Detection Signal Automatic servomotor current detection offset adjustment is performed at ESTUN before shipping. Basically, the user does not need to perform this adjustment. Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset.
  • Page 143 ProNet Series AC Servo User' s Manual Thus, the automatic offset-adjustment of the servomotor current detection signal is complete. ■Manual Offset-adjustment of Servomotor Current Detection Signal Adjust the servomotor current detection signal manually in the following procedure. 1. Press the MODE key to select the utility function mode.

  • Page 144: Software Version Display

    ProNet Series AC Servo User' s Manual 5.2.7 Software Version Display Select Fn007 in utility function mode to check the current software version of the drive. 1. Press the MODE key to select the utility function mode. 2. Press the INC or DEC key to select the utility function number Fn007.

  • Page 145: Absolute Encoder Multiturn Data And Alarm Reset

    ProNet Series AC Servo User' s Manual Thus, the static inertia detection is complete. Note：Make sure that the servomotor completes at least 6 full revolutions in the CCW direction before detection. 5.2.10 Absolute Encoder Multiturn Data and Alarm Reset 1. Press the MODE key to select the utility function mode.

  • Page 146: Chapter 6

    MODBUS Communication 6.1 RS-485 Communication Wiring ProNet series servo drives provide the MODBUS communication function with RS-485 interface, which can be used to easily set parameters or to perform monitoring operations and so on. The definitions of the servo drive communication connector terminals are as follows.

  • Page 147: Modbus Communication Related Parameters

    ProNet Series AC Servo User' s Manual drives directly when multiple ProNet series servo drives are connected. Example: When a RS-485 network is composed of a PLC and three servo drives (A, B, and C), the cable wiring is shown as follows: PLC→CN3 of A, CN4 of A→CN3 of B, CN4 of B→CN3 of C, CN4 of C→120Ω...

  • Page 148: Modbus Communication Protocol

    ProNet Series AC Servo User' s Manual 6.3 MODBUS Communication Protocol MODBUS communication protocol is only used when Pn700.2 is set to 1. There are two modes for MODBUS communication: ASCII (American Standard Code for information interchange) mode and RTU (Remote Terminal Unit) mode.
  • Page 149 ProNet Series AC Servo User' s Manual 11-bit character form（8-bit data） Communication protocol structure： Data format of communication protocol： ASCII Mode： Start character‘：’＝＞(3A Communication address＝＞1-byte contains two ASCII codes Reference code＝＞1-byte contains two ASCII codes DATA(n-1) Data content＝＞n-word=2n-byte contain 4n ASCII codes，n≦12 ……...
  • Page 150 ProNet Series AC Servo User' s Manual RTU mode: Sleep interval of at least 4 bytes transmission time (automatically changed according to different communication speed). ADR（communication address） Valid communication address：1 to 254 For example: communicate with the servo drive which address is 32（20 in hex） ：...
  • Page 151 ProNet Series AC Servo User' s Manual ASCII mode： Reference information： Response information： “：” “：” ‘0’ ‘0’ ‘1’ ‘1’ ‘0’ ‘0’ ‘6’ ‘6’ ‘0’ ‘0’ ‘2’ ‘2’ Data start address Data start address ‘0’ ‘0’ ‘0’ ‘0’ ‘0’ ‘0’ ‘0’...
  • Page 152 ProNet Series AC Servo User' s Manual For example: read 1 word from 01 servo address 0201 ‘：’ ‘0’ ‘1’ ‘0’ ‘3’ ‘0’ ‘2’ Data start address ‘0’ ‘1’ ‘0’ Data number ‘0’ （count as word） ‘0’ ‘1’ ‘F’ LRC checking ‘8’...
  • Page 153 ProNet Series AC Servo User' s Manual ASCII mode： Communication is ended with (0DH) - [carriage return] and (0AH) - [new line]. RTU mode： When the time exceeds the sleep interval by at least 4 bytes transmission time while in the current communication speed, it means the communication is finished.

  • Page 154: Communication Error Disposal

    ProNet Series AC Servo User' s Manual 6.3.2 Communication Error Disposal Problems that occur during communication are a result of the following: Data address is incorrect while reading/writing parameters. The data is not within the parameter setting range while writing.

  • Page 155: Data Communication Address Of Servo State

    ProNet Series AC Servo User' s Manual 6.3.3 Data Communication Address of Servo State The communication parameter addresses are shown in the following table: Communication data address Meaning Description Operation Parameter area Corresponding parameters in Read/write 0000 ~ 02FD parameter list...
  • Page 156 ProNet Series AC Servo User' s Manual Communication data address Meaning Description Operation 17-bit encoder multi-turn Unit:1 revolution Read only. 1010 information Only for 17-bit Encoder. Unit:1 pulse 17-bit encoder single-turn 1011 Multi-turn:16 bits information Single-turn:17 bits 17-bit encoder single-turn...
  • Page 157 ProNet Series AC Servo User' s Manual Therefore, the speed setting is -1258r/m. 4. MODBUS communication IO signal Use communication to control digital IO signal. This data will not be saved after power off. It is operated with Pn512 and Pn513 as the communication input IO signal. That is to say, when the parameters setting in Pn512 and Pn513 enable the IO bit, the IO can be controlled by communication.

  • Page 158: Chapter 7

    ProNet Series AC Servo User' s Manual Chapter 7 Specifications and Characters 7.1 Servo drive Specifications and Models Servo drive Model： ProNet- Servo drive Model： ProNet-E- — — — — — EMJ- — — — — — — — —...
  • Page 159 ProNet Series AC Servo User' s Manual Servo drive Model： ProNet- Servo drive Model： ProNet-E- — — — — — Resolver：65536P/R（Max.） Incremental Wire-saving type:2500 P/R Ambient temperature：-20～+55℃ Ambient/Storage Temperature Storage temperature：-25～+55℃ Operating Ambient/Storage Humidity 5%～95% RH (with no condensation) Elevation...
  • Page 160 ProNet Series AC Servo User' s Manual Servo drive Model： ProNet- Servo drive Model： ProNet-E- — — — — — Setting Sign + pulse train;CCW + CW pulse train; Type 90°phase difference 2-phase (phase A + phase B) Form Non-insulated linde driver (about + 5V), open collector Pulse ×1 multiplier：4Mpps...

  • Page 161: Servo Drive Dimensional Drawings

    ProNet Series AC Servo User' s Manual 7.2 Servo drive Dimensional Drawings ProNet-02/04A ProNet-E-02/04A Unit:mm Nameplate Note：ProNet-E does not support extended module. ProNet-04B/08A/10A ProNet-E-04B/08A/10A Unit: mm Nameplate Air Flow (32) Extended Module D P 1 0 0 CHARGE POWER COMM...
  • Page 162 ProNet Series AC Servo User' s Manual ProNet-08B/10D/15A/15D/20A/20D ProNet-E-08B/10D/15A/15D/20A/20D Unit:mm (32) 94.4 Air Flow Nameplate Extended Module SERVODRIVE 200V PRONET-10A D P 1 0 0 CHARGE POWER COMM Air Flow Three Terminals Cooling Fan Air Flow Ground Terminal 2-M4 Screw...
  • Page 163 ProNet Series AC Servo User' s Manual ProNet-75D/1AD/1ED/2BD Unit:mm Air Flow Air Flow Air Flow - 161 -...

  • Page 164: Parameter

    ProNet Series AC Servo User' s Manual Appendix A Parameter A.1 Parameter List Parameter Setting Factory Setting Name Unit Range Setting Invalidation Binary Pn000.0：Servo ON Pn000.1：Forward rotation input signal prohibited（P-OT） Pn000 — 0~1111 After restart Pn000.2：Reverse rotation input signal prohibited（N-OT）...
  • Page 165 ProNet Series AC Servo User' s Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn005.0: Torque feedforward mode Pn005.1: Control mode [0] Speed control (analog reference) [1] Position control (pulse train) [2] Torque control (analog reference) [3]Speedcontrol (contact reference)←→...
  • Page 166 ProNet Series AC Servo User' s Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation 1,4 = Load inertia without variation; 2,5 = Load inertia with little variation; 3,6= Load inertia with great variation Pn101 Machine rigidity setting —...
  • Page 167 ProNet Series AC Servo User' s Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn126 Hysteresis switching — 0~20000 Immediately Pn127 Low speed detection filter 0.1ms 0~100 Immediately Speed gain acceleration relationship Immediately Pn128 — during online autotuning...
  • Page 168 ProNet Series AC Servo User' s Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation order filter Pn311 S form selection — Immediately Pn312 DP communication JOG speed -6000~6000 Immediately Pn313 Reserved — — — — Pn314 Reserved —...
  • Page 169 ProNet Series AC Servo User' s Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn514 Input port filter 0.2ms 0~1000 Immediately Pn515 Alarm port filter 0.2ms Immediately Pn516 Input port signal inversion — 0~1111 Immediately Pn517 Input port signal inversion —...
  • Page 170 ProNet Series AC Servo User' s Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation selection Pn681.1:Change step and start mode Pn681.2:Change step input signal mode Pn681.3:Reserved Pn682 Programme mode — Immediately Pn683 Programme start step — 0~15 Immediately...

  • Page 171: Description Of Parameter Type

    ProNet Series AC Servo User' s Manual A.2 Description of Parameter Type Type Parameter No. Description Funtion selection switches Pn000~Pn006 Control mode, stop mode, and some functions selection Parameters of servo gain Pn100~Pn129 Position gain, speed gain,rigidity,etc. Position control related parameters Pn200~Pn205 PG divided ratio, electronic gear, etc.

  • Page 172: Parameters In Detail

    ProNet Series AC Servo User' s Manual A.3 Parameters in detail Parameter Setting Control Description Function and Meaning Validation Mode Pn000.0 Servo ON [0] External S-ON enabled. [1] External S-ON disabled. Servo motor excitation signal is turned ON automatically after S-RDY is output.
  • Page 173 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode Pn203 Pn201 Electronic gear numerator 2 Pn201 Electronic gear numerator 1 PCON enabled Electronic gear numerator 1 PCON disabled PCON disabled Reference pulse t1，t2>1ms [1] Corresponding time sequence Time sequence when Pn002.0=0 or 1...
  • Page 174 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode Pn004.0 Stop Mode [0] Stops the servomotor by applying DB and then releases DB. [1] Coast to a stop. [2] Stops the servomotor by DB when servo OFF, stops the servomotor by plug braking when overtravel, then places it into coast (power OFF) mode.
  • Page 175 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode Analog (Tref) feedforward input is valid. Pn005.1 Control mode [0]Speed control (analog reference) PCON：OFF，PI control；ON，P control [1]Position control (pulse train reference) PCON：OFF，PI control；ON，P control [2]Torque control (analog reference) PCON is invalid.
  • Page 176 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode [C]Position control (contact reference) PCON： Used to change step PCL，NCL：Used to search reference point or start [D]Speed control (parameter reference) PCON，PCL，NCL invalid [E ] Special control PCON invalid Pn005.2 Out-of-tolerance alarm selection...
  • Page 177 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode Pn007.3：reserved [0] Manual gain adjustment [1,2,3] Normal mode [4,5,6] Vertical load [1,4] Load inertia without variation [2,5] Load inertia with little variation [3,6] Load inertia with great variation Note：...
  • Page 178 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode 2nd position loop types of gain function are enabled. Pn109 Immediately gain 2nd torque reference Pn110 Immediately P，S，T filter time constant This parameter setting can shorten positioning time.
  • Page 179 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode Threshold of error counter to switch PI control to P Offset counter Pn118 Immediately control. switching threshold Unit: pulse Setting acceleration Threshold of acceleration speed to switch PI control to...
  • Page 180 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode Pn138 Reserved — — — Pn139 Reserved — — — Pn140 Reserved — — — Pn141 Reserved — — — Pn142 Reserved — —...
  • Page 181 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode time Unit: ms The time for trapeziform deceleration to decelerate to Soft start Pn307 Immediately 1000rpm. deceleration time Unit: ms Speed filter time 1st order filter time constant...
  • Page 182 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode Speed limit during Servomotor output torque limit value during torque Pn406 Immediately torque control control Notch filter 1 1. In some conditions, Pn407 Immediately P，S，T...
  • Page 183 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode from gravity glissade or continuous outside force on servomotor) time sequence. Pn506 Basic waiting flow Immediately P，S，T Servo ON waiting time： ○ 1 For the parameter is plus,/BK signal is output firstly...
  • Page 184 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode 4：ALMRST 5：CLR 6：P-CL 7：N-CL 8：G-SEL 9：JDPOS-JOG+ A：JDPOS-JOG- B：JDPOS-HALT C：HmRef D：SHOM E：ORG Pn511.0 corresponding port CN1_11，CN1_12 Pn511.1 corresponding port CN1_05，CN1_06 Pn511.2 corresponding port CN1_09，CN1_10 Corresponding signal of each data is shown as follows: 0：/COIN/VCMP...
  • Page 185 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode [0]：Do not inverse signal. Input port signal [1]：Inverse signal Pn516 inversion Immediately P，S，T Pn516.0 CN1_14 inversion Pn516.1 CN1_15 inversion Pn516.2 CN1_16 inversion Pn516.3 CN1_17 inversion Input port signal Pn517.0 CN1_39 inversion...
  • Page 186 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode JPOS0 Position pulse The two parameters are used in combination, and the Pn600 in point to point Immediately algebraic sum of them is the position JPOS0 needs to control reach.
  • Page 187 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode delay to start after S-ON, but inside pulse can not stop when PCON off. [2] Delay to change step, need start signal, canceling start signal can immediately stop inside pulse.
  • Page 188 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode [1] Homing in the reverse direction Pn689.1 Search C-Pulse Mode [0] Return to search C-Pulse when homing [1] Directly search C-Pulse when homing Pn689.2 Homing trigger starting mode...
  • Page 189 ProNet Series AC Servo User' s Manual Parameter Setting Control Description Function and Meaning Validation Mode [6] Wire-saving incremental encoder Pn840.1 Reserved（For factory using） Pn840.2 Reserved（For factory using） Pn840.3 Reserved（For factory using） Note： ①：When connecting to EMJ-04A□H□□ ，Pn005.3 should be set as “1”.

  • Page 190: Alarm Display

    ProNet Series AC Servo User' s Manual Appendix B Alarm Display Alarm Alarm Alarm Name Meaning Display Output A．01 Parameter breakdown The checksum results of parameters are abnormal. ╳ A．02 AD shift channels breakdown AD related electrical circuit is faulty ╳...
  • Page 191 ProNet Series AC Servo User' s Manual Alarm Alarm Alarm Name Meaning Display Output Brake overcurrent alarm Bleeder resistor is too small, or bleeder module is faulty. A．23 ╳ A．41 Reserved Reserved ╳ The parameter setting of servo drive does not match the A．42...
  • Page 192 ProNet Series AC Servo User' s Manual Alarm Alarm Alarm Name Meaning Display Output Communication module can not A．63 receive the servo drive response Communication module is faulty. ╳ data. Communication module and bus A．64 Bus communication is faulty. ╳...

Table of Contents