Estun PRONET-10AMA User Manual
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Estun PRONET-10AMA User Manual

Estun PRONET-10AMA User Manual

Pronet series ac servo system
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ProNet
series
ProNet
series
ProNet
ProNet series
series AC
User's Manual V. 1.08
Estun Limited Warranty
This manual does not entitle you to any rights. Estun reserves the right to change this
manual without prior notice. All rights reserved. The copyright is held by Estun. No part
of this publication may be copied or reproduced without written permission from Estun.
ProNet series AC servo system user's manual V.1.08
AC
servo
AC
servo
AC servo
servo system
system
system
system

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March 7, 2025

Can l get manual book for servodrive EDS 0810A 200v such that I can see all the alarms

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Summary of Contents for Estun PRONET-10AMA

  • Page 1 User’s Manual V. 1.08 Estun Limited Warranty This manual does not entitle you to any rights. Estun reserves the right to change this manual without prior notice. All rights reserved. The copyright is held by Estun. No part of this publication may be copied or reproduced without written permission from Estun.
  • Page 2 Contents About this manual � This manual describes the following information required for designing and maintaining ProNet series servodrives. •Specification of the servodrives and servomotors. •Procedures for installing the servodrives and servomotors. •Procedures for wiring the servodrives and servomotors. •Procedures for operation of the servodrives. •Procedures for using the panel operator.
  • Page 3 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 servodrive after power is on. Failure to observe this may result in damage to servodrive and servomotor. ■...
  • Page 4 Contents Contents ProNet series AC servo system ..................- 1 - About this manual ......................- 1 - Safety Precautions ......................- 2 - Contents ..........................- 3 - Chapter 1 ........................... - 7 - Checking Products and Parts Names ................- 7 - 1.1 Checking Products on Delivery....................
  • Page 5 3.4 Communication Connection....................- 30 - 3.4.1 Communication Connector(CN3) Terminal Layout............- 30 - 3.4.2 Communication Connector(CN4) Terminal Layout............- 30 - 3.5 Standard Wiring Examples ..................... - 31 - 3.5.1 Three-phase 200V(ProNet-02A～04A)................ - 31 - 3.5.2 Three-phase 200V(ProNet-08A～50A)................ - 32 - 3.5.3 Three-phase 400V(ProNet-75D～1ED)................- 33 - 3.5.4 Position Control Mode....................
  • Page 6 Contents 4.6.6 Positioning Completion Output Signal................- 79 - 4.6.7 Reference Pulse Inhibit Function(INHIBIT)..............- 80 - 4.7 Operating Using Torque Control..................... - 81 - 4.7.1 Setting Parameters.......................- 81 - 4.7.2 Torque Reference Input....................- 82 - 4.7.3 Adjusting the Reference Offset..................- 83 - 4.7.4 Limiting Servomotor Speed During Torque Control............
  • Page 7 6.3 MODBUS Communication Protocol..................- 111 - 6.3.1 Code Meaning......................- 111 - 6.3.2 Communication Error Disposal...................- 118 - 6.3.3 Data Communication Address of Servo State............- 119 - Chapter 7 ........................- 121 - Specifications and Characters ..................- 121 - 7.1 Servodrive Specifications and Models..................- 121 - 7.2 Servodrive Dimensional Drawings..................- 123 - Appendix A ........................

  • Page 8: Checking Products And Parts Names

    However, if the servomotor has brakes, it cannot smoothly? be turned manually. If any of the above items are faulty or incorrect, contact your ESTUN representative or the dealer from whom you purchased the products. 1.1.1 Servomotor � � � �...
  • Page 9 Designation Designation Designation EMG– – – – A A A A D D D D A A A A 1 1 1 1 1 1 1 1 ESTUN Servomotor 【1+2】 【3】 【4】 【5】 【6】 【7】 EMG Model 【1+2】Rated Output 【4】Encoder 【7】Option...
  • Page 10 Contents 1.1.2 Servodrive � � � � Appearance Appearance Appearance Appearance ProNet-200W～400W ProNet-750W-1.0KW CHARGE POWER CH ARG E CH ARG E CH ARG E CH ARG E L1 L1 L1 L1 L2 L2 L2 L2 ＋ L3 L3 L3 L3 ＋...
  • Page 11 ProNet-7.5/11/15KW � � � � Nameplate Nameplate Nameplate Nameplate Servodrive model Ap p lica b le Applicable servomotor pow er ca p a ci t y su p p l y Serial number ProNet series AC servo system User’s manual V.1.08 - 10 -...

  • Page 12: Servodrive

    Contents � � � � Servodrive Servodrive Model Model Designation Designation Servodrive Servodrive Model Model Designation Designation PRONET – – – – 10 10 A A A A M M M M A A A A PRONET PRONET PRONET ProNet ProNet Model Model...
  • Page 13 1.2.2 Servodrive � ProNet-200W～400W C harge indicator C harge indicator C harge indicator C harge indicator Lights when the m ain circuit pow er supply is ON and stays lit as long as the m ain CHARGE CHARGE CHARGE CHARGE circuit power supply Connector for communication Connector for communication...

  • Page 14: Servomotor

    Contents � ProNet-1.5kW Charge indicat or Charge indicat or Charge indicat or Charge indicat or Lights when the m ain cir cuit power supply is ON and stays lit as long as the m ain Power on indicat or Power on indicat or Power on indicat or Power on indicat or cir cuit power supply...
  • Page 15 � ProNet-7.5kW～15kW Charge indicator Charge indicator Charge indicator Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main Power on indicator Power on indicator Power on indicator Power on indicator circuit power supply POWER CHARGE Lights when the control power supply is...
  • Page 16 Chapter 2 Installation 2.1 Servomotor Servomotor can be installed either horiz ontally or vertically. However, if the servomotor is installed incorrectly, the service life of the servomotor will be shortened or unexpected problems will occur. Please observe the installation instructions described below to install the servomotor correctly. Before Before Before...
  • Page 17 2.1.3 Installation Alignment Align the shaft of the servomotor with that of the machinery to be controlled, and then connect the shafts with elastic couplings.Install the servomotor so that alignment accurancy falls within the range shown below. Measure this distance at four different positions in the circumference. The difference between the maximum and minimum measurements must be 0.03mm or less.(Turn together with couplings.) Note: Note:...

  • Page 18: Servodrive

    Chapter 2 Installation 2.1.6 Cable Tension When connecting the cables, the bending radius should not be too small, do not bend or apply tension to cables. Since the conductor of a signal cable is very thin (0.2 to 0.3 mm), handle it with adequate care. 2.2 Servodrive ProNet series servodrive is a base-mounted type.

  • Page 19: Installation Orientation

    2.2.3 Installation Orientation Install the servodrive perpendicular to the wall as shown in the figure. The servodrive must be oriented this way because it is designed to be cooled by natural convection or a cooling fan if required. Firmly secure the servodrive through two mounting holes. W a ll Ve ntila tion 2.2.4 Installation Method...

  • Page 20: Servodrive

    Chapter 2 Installation ■ ■ ■ ■ Installation Installation Installation Installation Orientation Orientation Orientation Orientation Install servodrive perpendicular to the wall so that the front panel (containing connectors) faces outward. ■ ■ ■ ■ Cooling Cooling Cooling Cooling Provide sufficient space around each servodrive to allow cooling by natural convection or fans. ■...

  • Page 21: Servomotor

    Chapter 3 Wiring 3.1 Main Circuit Wiring Please observe the following instructions while wiring the main circuit. C A U T ION ！ · 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 22: Typical Main Circuit Wiring Examples

    Chapter 3 Wiring 3.1.2 Typical Main Circuit Wiring Examples � Three-phase 200V ProNet-02A～04A Three-phase 200~230V +1 0 % (50/60Hz) -1 5 % Molded-case Circuit Breaker Surge Protector Surge Protector Surge Protector Surge Protector 1PL (Servo Alarm Display) Noise Filter Power OFF Power ON 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay.
  • Page 23 � Three-phase 400V ProNet-75D～1ED +10% Three-phase 380~440V (50/60Hz) -15% Molded-case Circuit Breaker Surge Protector Surge Protector Surge Protector Surge Protector 1PL (Servo Alarm Display ) Noise Filter Power OFF Power ON 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay.
  • Page 24 3.2 I/O Signals 3.2.1 Examples of I/O Signal Connections ProNet ProNet ProNet ProNet Series Servodrive r e f VREF+ Speed Reference(±1V~10V/Rated Speed) VREF- PAO+ AGND PAO- A /D r e f TREF+ PBO+ Torque Referenc e(±1V~10V/Rated Torque) PG Divided Ratio Output TREF- PBO- Applicable Line Output...
  • Page 25 3.2.2 I/O Signal Names and Functions � � � � Input Input Signals Signals Input Input Signals Signals Control Control Control Control Signal Signal Signal Signal Pin No No..Function Function Function Function Mode Name Mode Mode Mode Name Name...

  • Page 26: I/O Signals

    � � � � Output Output signals signals Output Output signals signals Control Control Control Control Signal Signal Signal Signal Mode Function Mode Mode Mode Pin No. Function Function Function Name Name Name Name /TGON+ Detects when the servomotor is rotating at a speed higher /TGON- than the motor speed seeting.

  • Page 27: I/O Signal Connector (Cn1) Terminal Layout

    3.2.3 I/O Signal Connector (CN1) Terminal Layout Terminal Terminal Terminal Terminal Terminal Terminal Terminal Terminal Name Name Function Function Name Name Function Function Name Name Function Function Name Name Function Function VREF+ T-REF+ Torque reference Speed reference input:±10V input:±10V VREF- T-REF- AGND AGND...

  • Page 28: Interface Circuit

    3.2.4 Interface Circuit This section shows examples of servodrive I/O signal connection to the host controller. Interface Interface Analog Analog Reference Reference Input Input Circuit Circuit ■ Interface Interface for for Analog Analog Reference Reference Input Input Circuit Circuit Analog signals are either speed or torque reference signals at about 40kΩimpedance, and the maximum allowable voltages for input signals is ±10V.

  • Page 29: Wiring Encoders

    3.3 Wiring Encoders 3.3.1 Connecting an Encoder(CN2) � Incremental/Absolute Encoders Incremental Incremental Incremental Incremental/ / / / Absolute Encoders Absolute Encoders Absolute Encoders Absolute Encoders Servodrive Servodrive Servodrive Servodrive Host controller Host controller Host controller Host controller C N2 C N1 P h a s e -A P A O /P S...

  • Page 30: Encoder Connector(Cn2) Terminal Layout

    3.3.2 Encoder Connector(CN2) Terminal Layout � Incremental/ Absolute Encoder Terminal Terminal Terminal Terminal Terminal Terminal Terminal Terminal Name Name Name Name Function Function Function Function Name Name Name Name Function Function Function Function PG serial signal Battery(+) BAT+ input (For an absolute encoder) PG serial signal Battery(-) BAT-...

  • Page 31: Communication Connection

    3.4 Communication Connection 3.4.1 Communication Connector(CN3) Terminal Layout Terminal Name Function Terminal Terminal Terminal No. Name Name Name Function Function Function Power supply 5V DC 485+ RS-485 communication terminal DGND Ground DGND 485- RS-485 communication terminal CANH CAN communication terminal CANL CAN communication terminal 3.4.2 Communication Connector(CN4) Terminal Layout...

  • Page 32: Standard Wiring Examples

    3.5 Standard Wiring Examples 3.5.1 Three-phase 200V(ProNet-02A～04A) Three-phase 200~230V 1 0 % (50/60Hz) 1 5 % Molded-case Circuit Breaker Surge Protector 1PL ( Servo Alarm Display Noise Filter Power OFF Power ON Be sure to connect a surge suppressor to the 1SUP excitation coil of the magnetic contactor and relay.

  • Page 33: Three-Phase 200V(Pronet-08A～50A)

    3.5.2 Three-phase 200V(ProNet-08A～50A) +10% Three-phase 200~230V (50/60Hz) -15% Molded-case Circuit Breaker Surge Protector 1PL ( Servo Alarm Display Noise F ilter Power OFF Power ON 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay. Magnetic Contactor ProNet Servomotor...

  • Page 34: Three-Phase 400V(Pronet-75D～1Ed)

    3.5.3 Three-phase 400V(ProNet-75D～1ED) +10% T hree-phase 380~440V (50/60Hz) -15% Mold ed-case C ircuit Breaker Surg e Protector 1PL ( Servo Ala rm D isplay N oise Filter Pow er OFF Pow er ON Be sure to conne ct a surge supp resso r to the 1SUP e xcitation co il of the ma gne tic co nta ctor and relay.

  • Page 35: Position Control Mode

    3.5.4 Position Control Mode ProNet Series Servodrives r e f VREF+ Speed Reference(±1V~10V/Rated Speed) VREF- PAO+ AGND PAO- A /D r e f PG Divided Ratio Output: TREF+ 26 PBO+ Torque Reference (±1V~10V/Rated Torque) Applicable Li n e Recei v er TREF- PBO- AM26LS32A Manufactured by TI or the Equi v al e nt.
  • Page 36 Chapter 3 Wiring 3.5.5 Speed Control Mode ProNet Series Servodrives PAO+ r e f VREF+ PAO- Speed Reference(±1V~10V/Rated Speed) VREF- PBO+ PG Divided Ratio Output: Appl i cable Line Receiver AGND PBO- A /D AM26LS32A Manufactured by TI or the Equi v alent. r e f TREF+ PCO+...
  • Page 37 3.5.6 Torque Control Mode ProNet Series Servodrives PAO+ PAO- r e f PG Di v i d ed Rati o Output: PBO+ VREF+ Speed Li m i t Input(±1V~10V/Rated Speed) Appl i c abl e Li n e Recei v er PBO- VREF- AM26LS32A Manufactured by TI or the Equi v al e nt.

  • Page 38: Speed Control Mode

    Chapter 3 Wiring 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. Unless otherwise specified, the standard parameters for speed control mode (factory settings) are used.
  • Page 39 Chapter 4 Operation Step Step Step Step Item Item Item Item Description Description Description Description Reference Reference Reference Reference Install the servomotor and servodrive according to the installation conditions. Installation (Do not connect the servomotor to the machine because the servomotor will be operated first under the no-load condition for checking.) Connect the power supply circuit (L1, L2 and L3), servomotor wiring (U, V, Trial...

  • Page 40: Operation

    Chapter 4 Operation Using the same procedure as you did to input a reference in step 8,operate Set necessary the servomotor via the host controller and set the parameter to make sure Host parameters. the machine’s travel direction, travel distance, and travel speed Reference correspond to the reference.
  • Page 41 Turn ON the control power supply and main If the power is correctly supplied, the panel circuit power supply. operator display on the front panel of the Normal Display servodrive will appear as shown on the left. The display on the left indicates that forward run prohibited (P-OT) and reverse run Alternate Display prohibited (N-OT).
  • Page 42 Chapter 4 Operation Step Step Step Step Description Description Description Description Check Check Check Check Method Method Method Method and and Remarks Remarks Remarks Remarks Use the panel operator to operate the servomotor with utility function Fn002 (JOG Mode P ane l Ope r ator P ane l Ope r ator P ane l Ope r ator P ane l Ope r ator...

  • Page 43: Trial Operation For Servomotor Without Load

    Speed Speed Pn305 JOG Speed Speed Speed Position Torque Setting Setting Setting Setting Range Range Range Range Setting Setting Setting Setting Unit Unit Unit Unit Factory Factory Factory Factory Setting Setting Setting Setting Setting Setting Setting Setting Validation Validation Validation Validation 0~6000 Immediately...
  • Page 44 Chapter 4 Operation (2)Operating (2)Operating (2)Operating (2)Operating Procedure Procedure Procedure Procedure in in in in Speed Speed Speed Speed Control Control Control Control Mode Mode Mode Mode (Pn005=H. (Pn005=H. (Pn005=H. (Pn005=H.□□ □□ □□ □□0 0 0 0 □ □ □ □ ) ) ) ) The following circuit is required: External input signal circuit or equivalent.
  • Page 45 When the speed reference input is set to 0 V and servo OFF status enters, trial operation for servomotor without load is completed. ■ When Position Control is configured at the Host Analog speed Analog speed Analog speed Analog speed reference reference reference...
  • Page 46 Chapter 4 Operation (3)Operating Operating Operating Operating Procedure Procedure Procedure Procedure in in in in Position Position Position Position Control Control Control Control Mode Mode Mode Mode (Pn005 (Pn005 (Pn005 (Pn005=H. =H.□□ □□ □□ □□1 1 1 1 □ □ □ □ ) ) ) ) The following circuit is required: External input signal circuit or equivalent.

  • Page 47: Trial Operation With The Servomotor Connected To The Machine

    4.1.3 Trial Operation with the Servomotor Connected to the Machine ！ W A R N IN G ·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 death or injury.

  • Page 48: Trial Operation For Servomotor With Brakes

    Chapter 4 Operation 4.1.4 Trial Operation for Servomotor with Brakes Holding brake operation of the servomotor with brake can be controlled with the brake interlock output (/BK) signal of the servodrive. When checking the brake operation,take advance measures to prevent vibration due to gravity acting on the machine or external forces.

  • Page 49: Control Mode Selection

    4.2 Control Mode Selection The control modes supported by the ProNet series servodrives are described below. Reference Reference Reference Reference Parameter Control Mode Parameter Parameter Parameter Control Control Control Mode Mode Mode Section Section Section Section Speed Speed Control Control (Analog (Analog voltage...

  • Page 50: Switching The Servomotor Rotation Direction

    Chapter 4 Operation (1)Servo (1)Servo (1)Servo (1)Servo ON ON signal(/S-ON) signal(/S-ON) signal(/S-ON) signal(/S-ON) Connector Connector Connector Connector Pin Type Type Type Type Name Name Name Name Setting Setting Setting Setting Meaning Meaning Meaning Meaning Number Number Number Number Servomotor power ON. Servomotor can be ON(low level) CN1-14 operated.

  • Page 51: Setting The Overtravel Limit Function

    Reference Reference Reference Reference Parameter Parameter Parameter Parameter Name Name Name Name Forward Forward Forward Forward reference reference reference reference Reverse Reverse Reverse Reverse reference reference reference reference b.□□□0 Standard setting (CCW=forward) C C W Encoder pulse division output Encoder pulse division output (factory setting) P A O P A O...
  • Page 52 Chapter 4 Operation Signal Signal Signal Signal Type Type Type Type Pin No. Setting Setting Setting Setting Meaning Meaning Meaning Meaning Name Name Name Name Forward rotation allowed. ON(low level) CN1-16 (Normal operation status.) Input P-OT (factory setting) Forward rotation prohibited. OFF(high level) (Forward overtravel) Reverse rotation (Normal...
  • Page 53 Chapter 4 Operation (2)Enabling/Disabling (2)Enabling/Disabling (2)Enabling/Disabling (2)Enabling/Disabling the the Overtravel Overtravel Overtravel Overtravel Signal Signal Signal 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 Parameter Parameter...
  • Page 54 Chapter 4 Operation ·After changing these parameters, turn OFF the main circuit and Servodrive Servomotor control power supplies and then turn them ON again to enable the new settings. ·Stop by dynamic brake: Stops by using the dynamic brake (with short-circuiting by a circuit of servodrive).

  • Page 55: Setting For Holding Brakes

    Chapter 4 Operation 4.3.4 Setting for Holding Brakes The holding brake is used when the servodrive controls a vertical axis. A servomotor with brake prevents the movable part from shifting due to gravity when the servodrive power goes OFF. (Refer to 4.1.4 4.1.4 4.1.4 4.1.4 Trial...
  • Page 56 Chapter 4 Operation （2 2 2 2 ）Brake Brake Brake Brake interlock interlock interlock interlock output output output output Type Type Signal Signal Name Name Connector Connector Number Number Setting Setting Meaning Meaning Type Type Signal Signal Name Name Connector Connector Pin Pin Number Number...

  • Page 57: Instantaneous Power Loss Settings

    Chapter 4 Operation （5 5 5 5 ) ) ) ) Setting Setting Setting Setting the the Brake Brake Brake Brake ON ON Timing Timing Timing Timing When When When When Servomotor Servomotor Servomotor Servomotor Running Running Running 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 58 Chapter 4 Operation 4.4 Absolute Encoders Absolute Absolute Absolute Absolute Output Output Output Output Range Range Range Range of of of of Resolution Resolution Resolution Resolution Action Action Action Action when when when when limit limit limit limit is is is is exceeded exceeded exceeded exceeded...
  • Page 59 In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backedup by a battery. Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used. 1.Install the battary to the servodrive.

  • Page 60: Absolute Encoders

    Chapter 4 Operation 4.4.3 Replacing Battery The servodrive 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 servodrive control power supply turned ON. 2.
  • Page 61 Parameter Parameter Parameter Parameter Meaning Meaning Meaning Meaning Pn005 H.□□0□ Control mode selection:Speed control(analog reference)(factory setting) Speed Reference Input Gain Speed Position Torque Pn300 Setting Setting Setting Setting Range Range Range Range Setting Setting Setting Setting Unit Unit Unit Unit Factory Factory Factory...

  • Page 62: Setting Parameters

    Chapter 4 Operation 4.5.2 Setting Input Signals （1 1 1 1 ）Speed Speed Speed Speed Reference Reference Reference Reference Input Input Input Input Input the speed reference to the servodrive using the analog voltage reference to control the servomotor speed in proportion to the input voltage. Type Signal Name...
  • Page 63 Reference Voltage Reference Voltage Reference Voltage Reference Voltage Reference Voltage Offset automatically Offset automatically Offset automatically Offset automatically adjusted in servodrive adjusted in servodrive adjusted in servodrive ..adjusted in servodrive Offset Speed Reference Speed Reference Speed Reference Speed Reference Speed Reference Automatic offset adjustment...
  • Page 64 Chapter 4 Operation 7.Press ENTER key to return to the Fn003 display of the utility function mode. 8.Thus, the speed reference offset automatic adjustment is completed. - 63 -...
  • Page 65 Chapter 4 Operation （2 2 2 2 ）Manual Manual Manual Manual Adjustment Adjustment Adjustment Adjustment of of of of the the Speed Speed Speed Speed Reference Reference Reference Reference Offset Offset Offset 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 66: Soft Start

    Chapter 4 Operation 4.5.4 Soft Start The soft start function converts the stepwise speed reference inside the servodrive to a consistent rate of acceleration and deceleration. Pn310 can be used to select the soft start form: 0: Slope; 1: S curve; 2: 1 -order filter;...

  • Page 67: Using The Zero Clamp Function

    Chapter 4 Operation 4.5.7 Using the Zero Clamp Function （1 1 1 1 ）Zero Zero Zero Zero Clamp Clamp Clamp Clamp Function Function Function 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 68: Encoder Signal Output

    Chapter 4 Operation Zero clamp speed Speed Pn502 Setting Range Setting Unit Factory Setting Setting Validation Setting Setting Setting Range Range Range Setting Setting Setting Unit Unit Unit Factory Factory Factory Setting Setting Setting Setting Setting Setting Validation Validation Validation 0～3000 Immediately Sets the servomotor speed at which the zero clamp is performed if zero clamp speed...
  • Page 69 T hese outputs explained here T hese outputs explained here T hese outputs explained here T hese outputs explained here ..Servodrive H ost C ontroller Servodrive Servodrive Servodrive H ost C ontroller H ost C ontroller H ost C ontroller C N1 1 1 1 E nc ode r...

  • Page 70: Speed Coincidence Output

    Chapter 4 Operation � � � � Pulse Pulse Pulse Pulse Dividing Dividing Dividing Dividing Ratio Ratio Ratio Ratio Setting Setting Setting Setting PG Dividing Ratio Torque Speed Position Pn200 Setting Range Setting Unit Factory Setting Setting Validation Setting Setting Setting Range Range Range...

  • Page 71: Operating Using Position Control

    4.6 Operating Using Position Control 4.6.1 Setting Parameters Set the following parameters for position control using pulse trains. （1 1 1 1 ）Control Control Control Control Mode Mode Mode Mode Selection Selection Selection Selection Parameter Parameter Parameter Parameter Meaning Meaning Meaning Meaning Pn005...
  • Page 72 Chapter 4 Operation (3)Inverses (3)Inverses (3)Inverses (3)Inverses PULS PULS PULS PULS and and SIGN SIGN SIGN SIGN reference reference reference reference Pn004 0□□□ Does not inverse PULS reference and SIGN reference 1□□□ Does not inverse PULS reference; Inverses SIGN reference 2□□□...

  • Page 73: Setting The Electronic Gear

    Chapter 4 Operation 4.6.2 Setting the Electronic Gear （1 1 1 1 ）Electronic Electronic Electronic Electronic Gear Gear Gear Gear The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to any value. One reference pulse from the host controller, i.e., the minimum position data unit, is called a reference unit.
  • Page 74 Chapter 4 Operation (3)Procedure (3)Procedure (3)Procedure (3)Procedure for for Setting Setting Setting Setting the the Electronic Electronic Electronic Electronic Gear Gear Gear Gear Ratio Ratio Ratio Ratio Use the following procedure to set the electronic gear ratio. Step Step Step Step Operation Operation...

  • Page 75: Position Reference

    Chapter 4 Operation (5)Electronic Electronic Electronic Electronic Gear Gear Gear Gear Ratio Ratio Ratio Ratio Equation Equation Equation Equation Servom otor P i t ch＝P（ m m/r e v） R eferen ce pu lse Position S p eed l o o p l o o p —...
  • Page 76 Chapter 4 Operation (1)Input/Output (1)Input/Output (1)Input/Output (1)Input/Output Signal Signal Signal Signal Timing Timing Timing Timing Example Example Example Example S e rv o O N Re le a se t1=3 0m s Baseblock t2=6m s (W hen Pn5 0 6 is set to 0 ) C N1-3 2 t3=4 0 m s S ign + Pulse train...
  • Page 77 (2)Connection (2)Connection (2)Connection (2)Connection Example Example Example Example (a)Connection Example for Line-driver Output Applicable line driver: SN75174 manufactured by TI or MC3487 or the equivalent. Host controller Se r vodr ive C N1 L in e -dr ive r Photoc ouple r 1 5 0Ω...
  • Page 78 Chapter 4 Operation When the external power supply is used, the circuit will be isolated by a photocoupler. When the servodrive internal power supply is used, the circuit will not be isolated. Host controller Se r vodr ive C N1 +2 4V 2kΩ...

  • Page 79: Smoothing

    4.6.4 Smoothing A filter can be applied in the servodrive to a constant-frequency reference pulse. (1)Selecting (1)Selecting a a a a Position Position Reference Filter (1)Selecting (1)Selecting Position Position Reference Reference Reference Filter Filter Filter Parameter Parameter Parameter Parameter Description Description Description Description...

  • Page 80: Low Frequency Vibration Suppression

    Chapter 4 Operation 4.6.5 Low Frequency Vibration Suppression （1 1 1 1 ）Note: Note: Note: Note: For the low rigidity load, low frequency vibration will be occurred continually at the front end of the load during fast starting or fast stopping. The vibration may delay positioning time and affect the productive efficiency.
  • Page 81 Position error counter f ＝ 1 / ? T � � � � Related Related Related Related Parameters Parameters Parameters Parameters Parameter Parameter Meaning Meaning Parameter Parameter Meaning Meaning H.□0□□ 0:Low frequency vibration suppression function disabled Pn006 1:Low frequency vibration suppression function enabled H.□1□□...

  • Page 82: Positioning Completion Output Signal

    Chapter 4 Operation 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. Type Type Type Type Signal Signal...

  • Page 83: Reference Pulse Inhibit Function(Inhibit)

    4.6.7 Reference Pulse Inhibit Function(INHIBIT) (1)Description (1)Description (1)Description (1)Description This function inhibits the servodrive from counting input pulses during position control. The servomotor remains locked (clamped) while pulses are inhibited. Se r vodr ive Se r vodr ive Se r vodr ive Se r vodr ive P n0 0 5.1 P n0 0 5=H.□...

  • Page 84: Operating Using Torque Control

    Chapter 4 Operation 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 Parameter Parameter Parameter Meaning Meaning Meaning Pn005 H.□□2□ Control mode selection：Torque control(analog voltage reference) Torque Reference Input Gain Speed Torque...

  • Page 85: Torque Reference Input

    Chapter 4 Operation 4.7.2 Torque Reference Input By applying a torque reference determined by the analog voltage reference to the servodrive, the servomotor torque can be controlled in proportion with the input voltage. Signal Signal Signal Signal Connector Connector Connector Connector Pin Type Type...

  • Page 86: Adjusting The Reference Offset

    Chapter 4 Operation 4.7.3 Adjusting the Reference Offset (1)Automatic (1)Automatic (1)Automatic (1)Automatic Adjustment Adjustment Adjustment Adjustment of of of of the the Torque Torque Torque Torque Reference Reference Reference Reference Offset Offset Offset Offset When using torque control, the servomotor may rotate slowly even when 0V is specified as the analog reference voltage.

  • Page 87: Limiting Servomotor Speed During Torque Control

    Chapter 4 Operation 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 88: Operating Using Speed Control With An Internally Set Speed

    Chapter 4 Operation The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect. Speed Reference Input Gain Position Speed Torque Pn300 Setting Range Setting Unit Factory Setting Setting Validation Setting Setting Setting Range Range Range...

  • Page 89: Input Signal Settings

    Chapter 4 Operation 4.8.2 Input Signal Settings The following input signals are used to switch the operating speed. Type Type Signal Signal Name Name Connector Connector Number Number Meaning Meaning Type Type Signal Signal Name Name Connector Connector Pin Pin Number Number Meaning Meaning...
  • Page 90 Chapter 4 Operation · · · · Example Example Example Example of of of of Operating Operating Operating Operating with with with with Internally Internally Internally Internally Set Set Speed Speed Speed Speed Selection Selection Selection Selection The shock that results when the speed is changed can be reduced by using the soft start function. For details on the soft start function, refer to 4.5.4 4.5.4 4.5.4...

  • Page 91: Limiting Torque

    4.9 Limiting Torque The servodrive provides the following three methods for limiting output torque to protect the machine. Limiting Limiting Limiting Limiting Method Method Method Method Reference Reference Reference Reference Section Section Section Section Internal torque limit 4.9.1 External torque limit 4.9.2 Torque limiting by analog voltage reference 4.9.3...

  • Page 92: External Torque Limit

    Chapter 4 Operation 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. (1)Related Parameters (1)Related...
  • Page 93 (3)Changes (3)Changes (3)Changes (3)Changes in in in in Output Output Output Output Torque Torque Torque Torque during during during during External External External External Torque Torque Torque Torque Limiting Limiting Limiting Limiting Example: External torque limit (Pn401，Pn402) set to 300% /P-CL(Forward External Torque Limit Input) High level Low level...

  • Page 94: Control Mode Selection

    Chapter 4 Operation 4.10 Control Mode Selection The methods and conditions for switching servodrive control modes are described below. 4.10.1 Setting Parameters The following combinations of control modes can be selected according to the application of customers. Parameter Parameter Parameter Parameter Control Control...

  • Page 95: Other Output Signals

    4.11 Other Output Signals 4.11.1 Rotation Detection Output Signal(/TGON) Signal Signal Connector Connector Signal Signal Connector Connector Type Type Setting Setting Meaning Meaning Type Type Setting Setting Meaning Meaning Name Name Name Name Pin Number Number Number Number Servomotor is operating(Servomotor CN1-5,CN1-6 ON(low level) speed is above the setting in Pn503).

  • Page 96: Panel Operator

    Chapter 5 Panel Operator 5.1 Basic Operation 5.1.1 Functions on Panel Operator Panel operator is a built-in operator that consists of display part and keys located on the front panel of the servodrive. Parameter setting, status display and execution of utility function are enabled using the panel operator. The names and functions of the keys on the panel operator are shown as follows.

  • Page 97: Basic Mode Selection

    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. Select a basic mode to display the operation status, set parameters and operation references. The basic mode is selected in the following order.
  • Page 98 Chapter 5 Panel Operator � � � � Bit Data Data Data Data Display Display Display Display Speed/Torque Speed/Torque Control Control Mode Mode Position Position Control Control Mode Mode Speed/Torque Speed/Torque Control Control Mode Mode Position Position Control Control Mode Mode Data Data...

  • Page 99: Operation In Parameter Setting Mode

    5.1.5 Operation in Parameter Setting Mode The servodrive offers a large number of functions, which can be selected or adjusted by the parameter settings. Refer to A.1 A.1 Parameter Parameter Parameter Parameter List List List List for details. Parameter Setting Procedures ■Parameter Parameter...

  • Page 100: Operation In Monitor Mode

    Chapter 5 Panel Operator 5.1.6 Operation in Monitor Mode The monitor mode allows the reference values input into the servodrive, I/O signal status, and servodrive internal status to be monitored. ■Using Using Using Using the the Monitor Monitor Monitor Monitor Mode Mode Mode Mode...
  • Page 101 Contents of Bit Display： Monitor Monitor Monitor Monitor Number Number Number Number Display Display Display Display LED LED Number Number Number Number Content Content Content 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 Number Content Monitor Monitor Monitor Number...

  • Page 102: Operation In Utility Function Mode

    Chapter 5 Panel Operator 5.2 Operation in Utility Function Mode In utility function mode, the panel operator can be used to run and adjust the servodrive and servomotor. The following table shows the parameters in the utility function mode. Parameter Function Parameter Parameter...

  • Page 103: Parameter Settings Initialization

    be cleared. 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. 3.

  • Page 104: Operation In Jog Mode

    Chapter 5 Panel Operator 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. 3.

  • Page 105: Automatic Adjustment Of The Speed Reference Offset

    Chapter 5 Panel Operator 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 106: Manual Adjustment Of The Speed Reference Offset

    Chapter 5 Panel Operator 5. Press the MODE key for more than one second, the reference offset will be automatically adjusted. 6. Press ENTER key to return to the utility function mode display Fn003. 7. Thus, the speed reference offset automatic adjustment is completed. 5.2.5 Manual Adjustment of the Speed Reference Offset Manual adjustment of the speed/torque reference offset is used in the following cases.
  • Page 107 Adjust the analog reference offset manually in the following procedure. 1. Press the MODE key to select the utility function mode. 2. Press the INC or DEC key to select the utility function number Fn004. 3. Press the ENTER key to enter into the speed reference offset manual adjustment mode. 4.

  • Page 108: Offset-Adjustment Of Servomotor Current Detection Signal

    Chapter 5 Panel Operator 5.2.6 Offset-adjustment of Servomotor Current Detection Signal Automatic servomotor current detection offset adjustment has performed at ESTUN before shipping. Basically, the user need not perform this adjustment. Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset.
  • Page 109 ■Manual Manual Manual Manual Offset-adjustment Offset-adjustment Offset-adjustment Offset-adjustment of of of of Servomotor Servomotor Servomotor Servomotor Current Current Current Current Detection Detection Detection Detection Signal Signal Signal Signal Adjust the servomotor current detection signal manually in the following procedure. 1. Press the MODE key to select the utility function mode. 2.

  • Page 110: Software Version Display

    Chapter 5 Panel Operator 5.2.7 Software Version Display Set the Fn007 to select the software version check mode to check the servodrive software version. 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. 3.

  • Page 111: Absolute Encoder Multiturn Data And Alarm Reset

    5. The unit of the servomotor and load total inertia displayed when servomotor stops is kg.cm² Thus, the static inertia detection is completed. Note Note Note Note：Make sure that the servomotor has 6 circles travel displacement in the CCW direction at least before detection.

  • Page 112: Modbus Communication

    Chapter 6 MODBUS Communication 6.1 RS-485 Communication Wiring ProNet series servodrives 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 servodrive communication connector terminals are as follows. CN3：...

  • Page 113: Modbus Communication Related Parameters

    servodrives are connected. Example: Example: Example: Example: When RS-485 network is composed of a PLC and A、B、C three servodrives, 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 terminating resistance. 6.2 MODBUS Communication Related Parameters Parameter Parameter...

  • Page 114: Modbus Communication Protocol

    Chpater 6 MODBUS Communication 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. The next section describes the two communication modes.
  • Page 115 P n7 0 0.1=2：7，O，1（M odbus，A SC II） O dd S tart Stop p a rity b it b it 7-data bits 1 0- bits character frame 11-bit character form 8-bit data 11-bit 11-bit 11-bit character character character form form form（8-bit 8-bit 8-bit data data...
  • Page 116 Chapter 7 Specifications and Characters RTU Mode Mode Mode Mode： Sleep interval of at least 4 bytes transmission time. Communication address＝＞1-byte Reference code＝＞1-byte DATA(n-1) Data content＝＞n-word=2n-byte，n≦12 …… DATA(0) CRC checking code＝＞1-byte End 1 Sleep interval of at least 4 bytes transmission time. Communication protocol data format instructions are as follows：...
  • Page 117 Chpater 6 MODBUS Communication RTU mode: Sleep interval of at least 4 bytes transmission time （automatically changed according to different communication speed）. ADR（communication communication communication communication address address address address） Valid communication address：1 to 254 For example: communicate with the servodrive which address is 32（20 in hex） ： ，‘0’=30 ASCII mode：ADR=‘2’，‘0’=＞‘2’=32 RTU mode：ADR=20H...
  • Page 118 Chapter 7 Specifications and Characters RTU mode mode mode mode： Reference information：： Response information： (high-bit) Data number Data start address （count as byte） (low-bit) Content of data (high-bit) Data number （count as word） start address 0200 (low-bit) Content of second (high-bit) CRC checking (low-bit)
  • Page 119 RTU mode mode mode mode： Reference information： Response information： (high-bit) (high-bit) Data start address Data start address (low-bit) (low-bit) (high-bit) (high-bit) Data content Data content (low-bit) (low-bit) CRC checking (low-bit) CRC checking (low-bit) CRC checking (high-bit) CRC checking (high-bit) LRC（ASCII mode）and CRC（RTU mode）error detection value calculation： LRC calculation calculation calculation...
  • Page 120 Chapter 7 Specifications and Characters CRC register moves one bit to right, then run XOR calculation with A001 Step 4: Go to step 5 till the third step has been executed for 8 times, otherwise return to step 3. Step 5: Repeat the steps from 2 to 4 for the next bit of instruction information, the comment of CRC register is the CRC error detection value while all the bits have been executed by the same way.

  • Page 121: Communication Error Disposal

    Chapter 7 Specifications and Characters 6.3.2 Communication Error Disposal Problems that occur during communication are resulted by the following reasons: � Data address is incorrect while reading/writing parameters. � The data is not within the parameter setting range while writing. �...

  • Page 122: Data Communication Address Of Servo State

    Chapter 7 Specifications and Characters 6.3.3 Data Communication Address of Servo State The communication parameters addresses are shown in the following table: Communication Communication Communication Communication data data data data address address address address Meaning Meaning Description Description Operation Operation Meaning Meaning Description...
  • Page 123 Note: ） 1. Parameter area（communication address 0000～00DE Parameter address is relevant to the parameters in the parameter list. For example, parameter Pn000 is relevant to communication address 0000 ; parameter Pn101 is relevant to communication address 0065 . Read/write operation to address 0000 is the read/write operation to Pn000.

  • Page 124: Specifications And Characters

    Chapter 7 Specifications and Characters 7.1 Servodrive Specifications and Models Servodrive Servodrive Servodrive Servodrive Model Model Model Model： ProNet- ProNet- ProNet- ProNet- — — — — — — — EMG- EMG- EMG- EMG- — — — — — — Applicable Applicable Applicable Applicable Servomotor...
  • Page 125 Reference ±10VDC at rated speed（Variable setting range:±1～10VDC） Voltage Max. input voltage：±12V Analog Input Input Impedance About 10MΩ or above Referenc Circuit Time 10μs Speed Constant Control Rotation Direction With /P-CON signal Speed Selection Referenc e Setting Speed Selection Speed 1 to 3 selection Function Soft Start Setting 0～10s（Can be set individually for acceleration and deceleration.）...

  • Page 126: Servodrive Dimensional Drawings

    Chapter 7 Specifications and Characters 7.2 Servodrive Dimensional Drawings � � � � Three-phase Three-phase Three-phase Three-phase 200V 200V 200V 200V，ProNet-02A/04A ProNet-02A/04A ProNet-02A/04A ProNet-02A/04A Unit：mm Nameplate � � � � Three-phase Three-phase Three-phase 200V 200V ProNet-08A/10A ProNet-08A/10A Three-phase 200V 200V，ProNet-08A/10A ProNet-08A/10A Unit: mm Nameplate...
  • Page 127 � � � � Three-phase Three-phase Three-phase Three-phase 200V 200V 200V 200V，ProNet-15A ProNet-15A ProNet-15A ProNet-15A Unit:mm (32) 94.4 Air Flow Nameplate E xtended Module SERVODRIVE 2 0 0 V PRONET-1 0 A D P 1 0 0 C H AR G E PO WER COMM Air Flow...
  • Page 128 Chapter 7 Specifications and Characters � � � � Three-phase Three-phase Three-phase Three-phase 400V 400V 400V 400V，ProNet-75D/1AD/1ED ProNet-75D/1AD/1ED ProNet-75D/1AD/1ED ProNet-75D/1AD/1ED Unit:mm Co o lin g F a n M o u n tin g Ho le Dia g ra m Na m e p la te 4-M5 Scr e w Ho le Air F lo w...

  • Page 129: Appendix A

    Appendix A Parameter A.1 Parameter List Setting Setting Factory Factory Setting Setting Setting Setting Factory Factory Setting Setting Para Para Para..No. Name Name Unit Unit Para Name Name Unit Unit Range Range Setting Setting Invalidation Invalidation Range Range Setting...
  • Page 130 Appendix A Parameter Setting Setting Setting Setting Factory Factory Factory Factory Setting Setting Setting Setting Para Para Para Para..No. Name Name Name Name Unit Unit Unit Unit Range Range Setting Setting Invalidation Invalidation Range Range Setting Setting Invalidation Invalidation...
  • Page 131 Setting Factory Setting Setting Setting Setting Factory Factory Factory Setting Setting Setting Para Para Para..No. Name Name Unit Unit Para Name Name Unit Unit Range Range Setting Setting Invalidation Invalidation Range Range Setting Setting Invalidation Invalidation Pn105 Torque reference filter time constant 0.1ms...
  • Page 132 Appendix A Parameter Setting Setting Setting Setting Factory Factory Factory Factory Setting Setting Setting Setting Para Para Para Para..No. Name Name Name Name Unit Unit Unit Unit Range Range Setting Setting Invalidation Invalidation Range Range Setting Setting Invalidation Invalidation...
  • Page 133 Setting Factory Setting Setting Setting Setting Factory Factory Factory Setting Setting Setting Para Para Para..No. Name Name Unit Unit Para Name Name Unit Unit Range Range Setting Setting Invalidation Invalidation Range Range Setting Setting Invalidation Invalidation Pn412 Low frequency jitter damp —...

  • Page 134: A.2 Description Of Parameter Type

    Appendix A Parameter Setting Setting Setting Setting Factory Factory Factory Factory Setting Setting Setting Setting Para Para Para Para..No. Name Name Name Name Unit Unit Unit Unit Range Range Setting Setting Invalidation Invalidation Range Range Setting Setting Invalidation Invalidation...

  • Page 135: A.3 Parameters In Detail

    A.3 Parameters in detail Para Para Para Para..Setting Setting Setting Setting Control Control Control Control Description Description Description Description Func tion Func tion Func tion Func tion and and Meaning Meaning Meaning Meaning Validation Validation Validation Validation Mode Mode...
  • Page 136 Appendix A Parameter Para Para Para Para..Setting Setting Setting Setting Control Control Control Control Description Description Description Description Func tion Func tion Func tion Func tion and and Meaning Meaning Meaning Meaning Validation Validation Mode Mode Validation Validation Mode...
  • Page 137 Para Para Para..Setting Setting Control Control Para Setting Setting Control Control Description Description Func tion Func tion Meaning Meaning Description Description Func tion Func tion and and Meaning Meaning Validation Validation Mode Mode Validation Validation Mode Mode Pn003.0 Pn003.0...
  • Page 138 Appendix A Parameter Para Para Para Para..Setting Setting Setting Setting Control Control Control Control Description Description Description Description Func tion Func tion Func tion Func tion and and Meaning Meaning Meaning Meaning Validation Validation Mode Mode Validation Validation Mode...
  • Page 139 Para Para Para..Setting Setting Control Control Para Setting Setting Control Control Description Description Func tion Func tion Meaning Meaning Description Description Func tion Func tion and and Meaning Meaning Validation Validation Mode Mode Validation Validation Mode Mode (pulse (pulse...
  • Page 140 Appendix A Parameter Para Para Para Para..Setting Setting Setting Setting Control Control Control Control Description Description Description Description Func tion Func tion Func tion Func tion and and Meaning Meaning Meaning Meaning Validation Validation Mode Mode Validation Validation Mode...
  • Page 141 Para Para Para..Setting Setting Control Control Para Setting Setting Control Control Description Description Func tion Func tion Meaning Meaning Description Description Func tion Func tion and and Meaning Meaning Validation Validation Mode Mode Validation Validation Mode Mode This parameter determines speed loop gain.
  • Page 142 Appendix A Parameter Para Para Para Para..Setting Setting Setting Setting Control Control Control Control Description Description Description Description Func tion Func tion Func tion Func tion and and Meaning Meaning Meaning Meaning Validation Validation Mode Mode Validation Validation Mode...
  • Page 143 Para Para Para..Setting Setting Control Control Para Setting Setting Control Control Description Description Func tion Func tion Meaning Meaning Description Description Func tion Func tion and and Meaning Meaning Validation Validation Mode Mode Validation Validation Mode Mode Position gain This parameter is used to smooth transition if the...
  • Page 144 Appendix A Parameter Para Para Para Para..Setting Setting Setting Setting Control Control Control Control Description Description Description Description Func tion Func tion Func tion Func tion and and Meaning Meaning Meaning Meaning Validation Validation Mode Mode Validation Validation Mode...
  • Page 145 Para Para Para..Setting Setting Control Control Para Setting Setting Control Control Description Description Func tion Func tion Meaning Meaning Description Description Func tion Func tion and and Meaning Meaning Validation Validation Mode Mode Validation Validation Mode Mode Communication speed of bus JOG.
  • Page 146 Appendix A Parameter Para Para Para Para..Setting Setting Setting Setting Control Control Control Control Description Description Description Description Func tion Func tion Func tion Func tion and and Meaning Meaning Meaning Meaning Validation Validation Mode Mode Validation Validation Mode...
  • Page 147 Para Para Para..Setting Setting Control Control Para Setting Setting Control Control Description Description Func tion Func tion Meaning Meaning Description Description Func tion Func tion and and Meaning Meaning Validation Validation Mode Mode Validation Validation Mode Mode llows: 0：S-ON...
  • Page 148 Appendix A Parameter Para Para Para Para..Setting Setting Setting Setting Control Control Control Control Description Description Description Description Func tion Func tion Func tion Func tion and and Meaning Meaning Meaning Meaning Validation Validation Mode Mode Validation Validation Mode...
  • Page 149 Para Para Para..Setting Setting Control Control Para Setting Setting Control Control Description Description Func tion Func tion Meaning Meaning Description Description Func tion Func tion and and Meaning Meaning Validation Validation Mode Mode Validation Validation Mode Mode Pn681.0 Pn681.0...
  • Page 150 Appendix A Parameter Para Para Para Para..Setting Setting Setting Setting Control Control Control Control Description Description Description Description Func tion Func tion Func tion Func tion and and Meaning Meaning Meaning Meaning Validation Validation Mode Mode Validation Validation Mode...

  • Page 151: Appendix B

    Appendix B Alarm Display Alarm Alarm Alarm Alarm Alarm Alarm Alarm Alarm Alarm Alarm Name Name Meaning Meaning Alarm Alarm Name Name Meaning Meaning Displa y Output Displa y Displa y Displa y Output Output Output ╳ A．01 Parameter breakdown The checksum results of parameters are abnormal.
  • Page 152 Appendix A Parameter Alarm Alarm Alarm Alarm Alarm Alarm Alarm Alarm Alarm Name Meaning Alarm Alarm Alarm Name Name Name Meaning Meaning Meaning Displa y Displa y Displa y Displa y Output Output Output Output ╳ A．47 Battery voltage below 2.5V Absolute encoder multiturn information is loss.

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