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Estun ProNet Plus Series User Manual

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ProNet Plus Series AC Servo User's Manual
(Version: V1.05)

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Joseph ssejjingo
March 7, 2025

My servodrive EDS 0810A 200v brings error R01 on the screen of drive then when you go to command x asis it brings error AX1 or y asis brings AY1 ,it doesn't command servo motors for xand y to move

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Summary of Contents for Estun ProNet Plus Series

  • Page 1 ProNet Plus Series AC Servo User's Manual (Version: V1.05)
  • 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 ProNet Plus Series AC Servo User's Manual About this manual  This manual describes the following information required for designing and maintaining ProNet Plus Series ACservo drives. •Specification of the servo drives and servomotors. •Procedures for installing the servo drives and servomotors.

  • Page 4: Safety Precautions

    ProNet Plus 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 drivewhen power is on.

  • Page 5: Table Of Contents

    ProNet Plus Series AC Servo User's Manual —Contents— About this manual ................................- 1 - Safety Precautions ................................- 2 - Chapter 1 ..................................- 7 - Checking Products and Parts Names ..........................- 7 - 1.1 Checking Products on Delivery ......................... - 7 - 1.1.1 Servomotor ............................
  • Page 6 ProNet Plus Series AC Servo User's Manual 3.5.1 Single-phase 200V ProNet-A5A～04A ....................- 37 - 3.5.2 Three-phase 200V ProNet-08A～50A ....................- 39 - 3.5.3 Three-phase 400V ProNet-10D～50D ....................- 41 - 3.5.4 Position Control Mode ......................... - 43 - 3.5.5 Speed Control Mode ..........................- 44 - 3.5.6 Torque Control Mode ...........................
  • Page 7 ProNet Plus Series AC Servo User's Manual 4.6.5 Low Frequency Vibration Suppression ....................- 91 - 4.6.6 Positioning Completion Output Signal ....................- 92 - 4.6.7 Reference Pulse Inhibit Function (INHIBIT) ..................- 93 - 4.6.8Position Control (contact reference) ..................... - 94 - 4.6.9 Position Homing Control (Homing Function)..................
  • Page 8 ProNet Plus Series AC Servo User's Manual 5.2 Operation in Utility Function Mode ........................ - 123 - 5.2.1 Alarm Traceback Data Display ......................- 125 - 5.2.2 Parameter Settings Initialization ......................- 125 - 5.2.3 Operation in JOG Mode ........................- 126 - 5.2.4 Automatic Adjustment of the Speed Reference Offset ...............

  • 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 ProNet Plus Series AC Servo User's Manual EMG– ESTUN Servomotor 【1+2】 【3】 【4】 【5】 【6】 【7】 EMG Model 【1+2】Rated Output 【4】Encoder 【7】Option Code Spec. Code Spec. Code Spec. 1.0kW 20 bit incremental encoder: 1048576P/R Without oil seal and brake 1.5kW...
  • Page 11 ProNet Plus Series AC Servo User's Manual EML– ESTUN Servomotor 【1+2】 【3】 【4】 【5】 【6】 【7】 EML Model 【1+2】Rated Output 【4】Encoder 【7】Option Code Spec. Code Spec. Code Spec. 1.0kW 20 bit incremental encoder: 1048576P/R Without oil seal and brake 2.0kW...

  • Page 12: Servo Drive

    ProNet Plus Series AC Servo User's Manual  Appearance and Nameplate Servomotor model Ratings Serial number 1.1.2 Servo drive  ProNet Servo drive Model Designation – 10 A E G -EC ProNet ProNet Model Extended module type Rated Output -EC EtherCAT bus 0.05kW...
  • Page 13 ProNet Plus Series AC Servo User's Manual  ProNet Servo Drive Appearance ProNet-A5A/01A/02A/04A ProNet-A5A/01A/02A/04A-EC ProNet-08A/10A ProNet-08A/10A-EC - 11 -...
  • Page 14 ProNet Plus Series AC Servo User's Manual ProNet-15A/20A/10D/15D/20D ProNet-15A/20A/10D/15D/20D-EC ProNet-30A/50A/30D/50D ProNet-30A/50A/30D/50D-EC - 12 -...

  • Page 15: Part Names

    ProNet Plus Series AC Servo User's Manual  ProNet Servo Drive Nameplate Servodrive model Applicable power supply Applicable servomotor capacity Serial number 1.2 Part Names 1.2.1 Servomotor Servomotor without gear and brake Encoder Mounting hole Shell Output shaft Flange - 13 -...

  • Page 16: Servo Drive

    ProNet Plus Series AC Servo User's Manual 1.2.2 Servo drive  ProNet-A5A/01A/02A/04A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply Connector for communication capacitor remains charged.
  • Page 17 ProNet Plus Series AC Servo User's Manual  ProNet-08A/10A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit Power on indicator power supply capacitor remains charged. Lights when the control power supply is on.
  • Page 18 ProNet Plus Series AC Servo User's Manual  ProNet-15A/20A/10D/15D/20D Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit Power on indicator power supply capacitor remains charged. Lights when the control power supply is on.
  • Page 19 ProNet Plus Series AC Servo User's Manual  ProNet-30A/50A/30D/50D Charge indicator Lights when the main circuit power supply is Power on indicator CHARGE POWER ON and stays lit as long as the main circuit Lights when the control power supply capacitor remains charged.

  • Page 20: Chapter 2

    ProNet Plus 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 21: Installation Alignment

    ProNet Plus 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 withan elastic coupling. Install the servomotor so that alignment accurancy falls within the range shown below.

  • Page 22: Cable Tension

    ProNet Plus Series AC Servo User's Manual 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 mm or 0.3 mm), handle it with adequate care.

  • Page 23: Installation Orientation

    ProNet Plus 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 24 ProNet Plus Series AC Servo User's Manual Install cooling fans above the servo drives if necessary. ■Working conditions 1.Temperature: 0~ 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 - 22 -...

  • Page 25: Chapter 3

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

  • Page 26: Typical Main Circuit Wiring Examples

    ProNet Plus Series AC Servo User's Manual Servo Drive Terminal Main Circuit Name Model Functions Symbol Voltage(V) ProNet- and B3 and connect an external regenerative resistor(provided by customer) between B1 and 10D-50D B2, if the capacity of the internal regenerative resistor is insufficient.

  • Page 27: Three-Phase200V Pronet-08A～50A

    ProNet Plus Series AC Servo User's Manual  Three-phase200V ProNet-08A～50A + 10% Three-phase 200~230V (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 28: I/O Signals

    ProNet Plus Series AC Servo User's Manual 3.2 I/O Signals 3.2.1 Examples of I/O Signal Connections The I/O signal connections diagram of the ProNet-□□□MG servo drives is as shown in the following figure. VREF+ Speed Reference(± 0~10V/Rated Speed) VREF- PAO+...

  • Page 29: I/O Signal Names And Functions

    ProNet Plus Series AC Servo User's Manual The I/O signal connections diagram of the ProNet-□□□EG-EC servo drives is as shown in the following figure. +24V Allocable signals are as following: DICOM 3.3K Ω S-ON: Servo ON S-ON P-CON: P Control...
  • Page 30 ProNet Plus Series AC Servo User's Manual Function Control Mode Signal Name Pin No. /ALM-RST Alarm reset: Releases the servo alarm state. Control power supply input for I/O signals: Provide the +24V DC power DICOM supply VREF+ Speed Speed reference input: ± 10V.
  • Page 31 ProNet Plus Series AC Servo User's Manual Function Control Mode Signal Name Pin No. PCO- Connect frame to ground if the shield wire of the Shell I/O signal cable is connected to the connector shell. /V-CMP+ Speed coincidence: Speed Detects whether the motor speed is within the setting range and /V-CMP- if it matches the reference speed value.

  • Page 32: I/O Signal Connector (Cn1) Terminal Layout

    ProNet Plus Series AC Servo User's Manual 3.2.3 I/O Signal Connector (CN1) Terminal Layout The signals description in CN1 terminal of ProNet-□□□MG servo drives is as shown in the following table. Name Function Name Function VREF+ T-REF+ Speed reference input:± 10V Torque referenceinput:±...

  • Page 33: Interface Circuit

    ProNet Plus Series AC Servo User's Manual Name Function Name Function — Reserved P-OT Forward run prohibited — Reserved N-OT Reverse run prohibited — Reserved /ALM-RST Alarm reset I/O signal power supply 24V — Reserved DICOM Note:The functions allocated to the following input and output signals can be changed by using the parameters.

  • Page 34: Wiring Encoders

    ProNet Plus Series AC Servo User's Manual ■Interface for Line Driver Output Circuit The amount of two-phase (phase A and phase B) pulse output signals (PAO,/PAO,PBO,/PBO) and zero-point pulse signals(PCO,/PCO) are output via line-driver output circuits.Normally, the servo drive uses this output circuit in speed control to comprise the position control system at the host controller.
  • Page 35 ProNet Plus Series AC Servo User's Manual 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. receiver SN75175 manufactured by TI or the equivalent.
  • Page 36 ProNet Plus Series AC Servo User's Manual Incrementa Encoders Encoders Servodrive Host controller K(1)(1) Phase-A L(2)(2) /PAO N(5)(3) P(6)(4) Phase-B /PBO Phase-C /PCO Output line driver AM26LS31 manufactured Applicable line- by TI or the equivalent. receiver SN75175 manufactured by TI or the equivalent.

  • Page 37: Encoder Connector(Cn2) Terminal Layout

    Note: Do not short terminal 1 and 2 of CN3. If connecting more than 16 CAN nodes,please contact ESTUN customer service. The signals description in CN3 terminal of ProNet-□□□EG-EC servo drives is as shown in the following table. Terminal No.

  • Page 38: Communication Connector(Cn4) Terminal Layout

    ProNet Plus Series AC Servo User's Manual Reserved Reserved 3.4.2 Communication Connector(CN4) Terminal Layout The signals description in CN4 terminal of ProNet-□□□MG servo drives is as shown in the following table. Terminal No. Name Function — Reserved — 485+ RS-485 communication terminal...

  • Page 39: Standard Wiring Examples

    ProNet Plus Series AC Servo User's Manual 3.5 Standard Wiring Examples 3.5.1 Single-phase200VProNet-A5A～04A The standard wiring example of ProNet-□□□MG servo drives is as shown in the following figure. + 10% single-phase 200~230V (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector...
  • Page 40 ProNet Plus Series AC Servo User's Manual The standard wiring example of ProNet-□□□EG-EC servo drives is as shown in the following figure. Single-phase 200~230V (50/60Hz) + 10% - 15% Molded-case Circuit Breaker Surge Protector 1PL (Servo Alarm Display) 1 Ry...
  • Page 41 ProNet Plus Series AC Servo User's Manual 3.5.2 Three-phase 200V ProNet-08A～50A The standard wiring example of ProNet-□□□MG servo drives is as shown in the following figure. + 10% Three-phase 200~230V (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector 1PL (...
  • Page 42 ProNet Plus Series AC Servo User's Manual The standard wiring example of ProNet-□□□EG-EC servo drives is as shown in the following figure. Three-phase 200~230V (50/60Hz) + 10% - 15% Molded-case Circuit Breaker Surge Protector 1PL (Servo Alarm Display) 1 Ry...

  • Page 43: Three-Phase 400V Pronet-10D～50D

    ProNet Plus Series AC Servo User's Manual 3.5.3 Three-phase 400V ProNet-10D～50D The standard wiring example of ProNet-□□□MG servo drives is as shown in the following figure. + 10% Three-phase 380~440V (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector 1 Ry...
  • Page 44 ProNet Plus Series AC Servo User's Manual The standard wiring example of ProNet-□□□EG-EC servo drives is as shown in the following figure. Three-phase 380~440V (50/60Hz) + 10% - 15% Molded-case Circuit Breaker Surge Protector 1PL (Servo Alarm Display) 1 Ry...

  • Page 45: Position Control Mode

    ProNet Plus Series AC Servo User's Manual 3.5.4 Position Control Mode NOTE: this function is available for ProNet-□□□MG servo drives only. ProNet Series Servodrives PAO+ PAO- PBO+ PG Divided Ratio Output: Applicable Line Receiver PBO- AM26LS32A Manufactured by TI or the Equivalent.

  • Page 46: Speed Control Mode

    ProNet Plus Series AC Servo User's Manual 3.5.5 Speed Control Mode NOTE: this function is available for ProNet-□□□MG servo drives only. ProNet Series Servodrives PAO+ VREF+ PAO- Speed Reference(±0~10V/Rated Speed) PG Divided Ratio Output: VREF- PBO+ Applicable Line Receiver PBO- AM26LS32A Manufactured by TI or the Equivalent.

  • Page 47: Torque Control Mode

    ProNet Plus Series AC Servo User's Manual 3.5.6 Torque Control Mode NOTE: this function is available for ProNet-□□□MG servo drives only. ProNet Series Servodrives PAO+ PAO- PBO+ PG Divided Ratio Output: Applicable Line Receiver PBO- AM26LS32A Manufactured by TI or the Equivalent.

  • Page 48: Wiring For Noise Control

    ProNet Plus Series AC Servo User's Manual 3.6 Wiring for Noise Control 3.6.1 Noise Control The servodrive 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 49: Precautions On Connecting Noise Filter

    ProNet Plus 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 50 ProNet Plus Series AC Servo User's Manual Servo Drive Model JIANLI Noise Filter SCHAFFNER Noise Filter ProNet-10D DL-5EB FN3025HP-10-71 ProNet-20D DL-10EB FN3025HP-10-71 ProNet-30D DL-15EB3 FN3025HP-20-71 ProNet-50D DL-25EB3 FN3025HP-30-71 ProNet-70D DL-30EB3 FN3025HP-30-71 (2) Precautions on Using Noise Filters Do not put the input and output lines in the same duct or bundle them together.

  • Page 51: 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 52 ProNet Plus Series AC Servo User's Manual Noise filter Aprox.2m Aprox.5m Symbol Cable Name Specifications ① I/O signal cable Shield cable ② Servomotor cable Shield cable ③ Encoder cable Shield cable ④ AC line cable Shield cable Notes: The example above shows three-phase 200VAC servo drive connection.

  • Page 53: Using More Than One Servo Drive

    Note： Please arrange the system according to the above methods. For electromagnetic interference caused by customers not using recommended arrangement,ESTUN will not bear the legal responsibility. 3.8 Using More than One Servo Drive The following diagram is an example of the wiring when more than one servo drive is used.
  • Page 54 ProNet Plus 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. - 52 -...

  • Page 55: Chapter 4

    ProNet Plus 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 56 ProNet Plus 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 57: Trial Operation For Servomotor Without Load

    ProNet Plus Series AC Servo User's Manual 4.1.1 Trial Operation for Servomotor Without Load ！ CAUTION ·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 58 ProNet Plus 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 Panel Operator the INC key, and reverse direction by pressing the DEC key.

  • Page 59: Trial Operation For Servomotor Without Load From Host Reference

    ProNet Plus 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 60 ProNet Plus 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 61 ProNet Plus Series AC Servo User's Manual ■When Position Control is configured at the Host Analog speed reference Host Servodrive Controller Trial operation for Position control Speed control servomotor without load 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 62 ProNet Plus 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 63: Trial Operation With The Servomotor Connected To The Machine

    ProNet Plus Series AC Servo User's Manual 4.1.3 Trial Operation with the Servomotor Connected to the Machine ！ WARNING ·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 64: Trial Operation For Servomotor With Brakes

    ProNet Plus Series AC Servo User's Manual 4.1.4 Trial Operation for Servomotor with Brakes Holding brake operation of the servomotor can be controlled with the brake interlock output (/BK) signal of the servo drive. When checking the brake operation,take advance measures to prevent vibration due to gravity acting on the machine or external forces.

  • Page 65: Control Mode Selection

    ProNet Plus Series AC Servo User's Manual 4.2 Control Mode Selection The control modes supported by the ProNet series servo drives are described below. Parameter Control Mode Reference Section Speed Control (Analog voltage reference) Controls servomotor speed using analog voltage speedreference.

  • Page 66: Setting Common Basic Functions

    ProNet Plus 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) Type Name...

  • Page 67: Switching The Servomotor Rotation Direction

    ProNet Plus 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 68: Setting The Overtravel Limit Function

    ProNet Plus 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 69 ProNet Plus 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 b.□□0□ In the case of ProNet-□□□MG servo drives,the forward rotation prohibited(P-OT) signal is input fromCN1-16(factory setting).

  • Page 70: Setting For Holding Brakes

    ProNet Plus 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. Servodrive Servomotor ·Stop by dynamic brake: Stops by using the dynamic brake (short circuiting its electrical circuit).
  • Page 71 ProNet Plus Series AC Servo User's Manual 1. The servomotor with the built in brake, is a de-energization brake. It is used to hold the servomotor and cannot be used as a braking purposes. Use the holding brake only to hold a stopped servomotor.
  • Page 72 ProNet Plus Series AC Servo User's Manual Parameter Pn511 description as following: /COIN(/V-CMP)output /TGON rotation detecting output /S-RDY servo drive get ready output /CLT torque limit output /BK brake interlock output /PGC encoder C pulse output OT overtravel signal output...
  • Page 73 ProNet Plus Series AC Servo User's Manual ·When using the servomotor to control a vertical axis, the machine movable parts may shift slightly depending on the brake ON/ OFF timing due to gravity or an external force. By using this parameter to delay turning the servo ON/ OFF, this slight shift can be eliminated.

  • Page 74: Instantaneous Power Loss Settings

    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. - 72 -...

  • Page 75: Replacing Battery

    ProNet Plus Series AC Servo User's Manual Install the battary to the encoder cable: A.Open the shell of the battery case. B.Install the battery according to the following diagram. Encoder cable C.Cover the shell of the battery case. 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.

  • Page 76: Absolute Encoder Setup(Fn010, Fn011)

    ProNet Plus Series AC Servo User's Manual 4.4.4 Absolute Encoder Setup(Fn010, Fn011) Setting up the absolute encoder in the following cases. ·When starting the machine for the first time,set Pn002.2 to 0. ·When an encoder error alarm (A.45～A.48, A.51) is generated.

  • Page 77: Setting Input Signals

    ProNet Plus 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...
  • Page 78 ProNet Plus Series AC Servo User's Manual Speed Reference Offset. (1) Automatic Adjustment of the Speed Reference Offset The automatic adjustment of reference offset (Fn003) cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock. Use the speed reference offset manual adjustment (Fn004) described in the next section for a position loop.

  • Page 79: Soft Start

    ProNet Plus 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 80: Speed Reference Filter Time Constant

    ProNet Plus Series AC Servo User's Manual Soft Start Acceleration Time Speed Pn306 Setting Range Setting Unit Factory Setting Setting Validation Immediately 0～10000 Soft Start Deceleration Time Speed Pn307 Setting Range Setting Unit Factory Setting Setting Validation Immediately 0～10000 The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally set speeds.

  • Page 81: Using The Zero Clamp Function

    ProNet Plus Series AC Servo User's Manual 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. When the zero clamp signal (/P-CON) is ON, a position loop is formed inside the servo drive as soon as the input voltage of the speed reference (V-REF) drops below the servomotor zero clamp speed.
  • Page 82 ProNet Plus Series AC Servo User's Manual Zero clamp speed Speed Pn502 Setting Range Setting Unit Factory Setting Setting Validation 0～3000 Immediately Sets the servomotor speed at which the zero clamp is performed if zero clamp speed control(Pn005=H.□□A□) is selected. Even if this value is set higher than the maximum speed of the servomotor, the maximum speed will be used.

  • Page 83: Encoder Signal Output

    ProNet Plus 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 84: Speed Coincidence Output

    ProNet Plus 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 puls 16384 After restart Set the number of pulses for PG output signals(PAO,/PAO,PBO,/PBO) externally from the servo drive.

  • Page 85: Operating Using Position Control

    ProNet Plus Series AC Servo User's Manual 4.6 Operating Using Position Control NOTE: this function is available for ProNet-□□□MG servo drives only. 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 86 ProNet Plus Series AC Servo User's Manual PULS (CN1-30) PULS CW+CCW (CN1-30) — SIGN H.□1□□ (CN1-32) SIGN (positive logic) (CN1-32) 90º 90º H.□2□□ ×1 Two-phase pulse PULS PULS (CN1-30) (CN1-30) H.□3□□ train with 90° ×2 SIGN SIGN phase differential (CN1-32) (CN1-32) H.□4□□...
  • Page 87 ProNet Plus Series AC Servo User's Manual (6)Connection Example The pulse train output form from the host controller corresponds to the following: • Line-driver Output • +24V Open-collector output • +12V/+5V Open-collector output (a)Connection Example for Line-driver Output Applicable line driver: SN75174 manufactured by TI or MC3487 or the equivalent.

  • Page 88: Setting The Clear Signal

    ProNet Plus Series AC Servo User's Manual Servodrive Host controller 75Ω 1CN-30 PULS NOTE: 75Ω 1CN-31 /PULS VDC=12~24V R=(VDC-1.5Volt)/10mA-150 1CN-34 2KΩ VDC=12V, R=1KΩ /0.25W 2KΩ 1CN-32 SIGN VDC=24V, 75Ω R=2KΩ /0.25W 1CN-33 /SIGN 75Ω Note: When the host controller is applied by open-collector signal output,the input signal noise margin lowers.When a position error caused by the noise occurs,set the parameter Pn006.3.

  • Page 89: Setting The Electronic Gear

    ProNet Plus Series AC Servo User's Manual 4.6.3 Setting the Electronic Gear (1) Electronic 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 90 ProNet Plus Series AC Servo User's Manual (2) Related Parameters Use 16 bit electronic gear parameter □0□□ Pn009 Use 32 bit electronic gear parameter □1□□ 16 BitElectronic Gear Ratio(Numerator) Pn201 Setting Range Setting Unit Factory Setting Setting Validation — 1～65535...
  • Page 91 ProNet Plus Series AC Servo User's Manual (3)Procedure for Setting the Electronic Gear Ratio Use the following procedure to set the electronic gear ratio. Step Operation Description Check the deceleration ratio, ball screw pitch and pulley Check machine specifications. diameter.

  • Page 92: Smoothing

    ProNet Plus Series AC Servo User's Manual (5)Electronic Gear Ratio Equation Servomotor Pitch＝P（mm/rev） Reference pulse Position Speed — loop loop     Reference unit × 4 (P/rev)) (P/rev))： Encoder pulses P（mm/rev）：Ball screw pitch ：Deceleration ratio   ...

  • Page 93: Low Frequency Vibration Suppression

    ProNet Plus Series AC Servo User's Manual 4.6.5 Low Frequency Vibration Suppression (1) Note: 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.

  • Page 94: Positioning Completion Output Signal

    ProNet Plus Series AC Servo User's Manual  Related Parameters Parameter Meaning H.□0□□ 0:Low frequency vibration suppression function disabled Pn006 H.□1□□ 1:Low frequency vibration suppression function enabled Low frequency vibration frequency Position Speed Pn411 Setting Range Setting Unit Factory Setting Setting Validation 50～500...

  • Page 95: Reference Pulse Inhibit Function(Inhibit)

    ProNet Plus Series AC Servo User's Manual Reference Servomotor speed Speed Pn500 Error pulse (Un011,Un012) /COIN (CN1-11,12) ■Note ·/COIN is a position control signal. ·This signal is used for the speed coincidence output /V-CMP for speed control, and it always OFF(high level) for torque control.

  • Page 96: 8Position Control (Contact Reference)

    ProNet Plus Series AC Servo User's Manual (3)Setting Input Signals Signal Connector Pin Type Setting Meaning Name Number Turns the INHIBIT function ON. ON(low level) (Inhibit the servo drive from countingreference Input /P-CON CN1-15 pulses) Turns the INHIBIT function OFF.
  • Page 97 ProNet Plus Series AC Servo User's Manual ￭Time for change steps after desired position reached Apply internal delay to change steps to a valid value in parameter Pn681.1. Time for change steps outputs from positioning completed signal CON/, from Servo ON, or from the time when reference point is found till the Servo performs the program to control position of the point.
  • Page 98 ProNet Plus 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 99: 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 100 ProNet Plus Series AC Servo User's Manual (3)Input Signal Setting Type Signal Connector Pin Setting Meaning Name Number 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...
  • Page 101 ProNet Plus Series AC Servo User's Manual Corresponding position: Mechanical shaft Machine moves, return to search pulse C Motor slow down, reverse Begin to counter offset distance after the first C-pulse is produced when leaving zero posiion. Encoder C-pulse Rising edge SHOM After hitting the origin signal ORG, the motor will find C-pulse directly;...

  • Page 102: Operating Using Torque Control

    ProNet Plus Series AC Servo User's Manual 4.7 Operating Using Torque Control NOTE: this function is available for ProNet-□□□MG servo drives only. 4.7.1 Setting Parameters The following parameters must be set for torque control operation with analog voltage reference. Parameter Meaning H.□□2□...

  • Page 103: Torque Reference Input

    ProNet Plus 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 104: Adjusting The Reference Offset

    ProNet Plus 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 105: Limiting Servomotor Speed During Torque Control

    ProNet Plus 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 106: Operating Using Speed Control With An Internally Set Speed

    ProNet Plus Series AC Servo User's Manual 4.8 Operating Using Speed Control with an Internally Set Speed NOTE: this function is available for ProNet-□□□MG servo drives only. The function of internally set speed selection allows speed control operation by externally selecting an input signal from among seven servomotor speed setting made in advance with parameters in the servo drive.

  • Page 107: Input Signal Settings

    ProNet Plus Series AC Servo User's Manual -6000～6000 -200 Immediately Internal set speed 6 speed Pn321 Setting Range Setting Unit Factory Setting Setting Validation -6000～6000 -300 Immediately Internal set speed 7 speed Pn322 Setting Range Setting Unit Factory Setting Setting Validation -6000～6000...

  • Page 108: Limiting Torque

    ProNet Plus Series AC Servo User's Manual ■Control Mode Switching When Pn005.1 = 4, 5, 6, and either /P-CL or /N-CL is OFF (high level), the control mode will switch. Example: When Pn005.1=5: Speed control(contact reference) Position control (pulse train)

  • Page 109: External Torque Limit

    ProNet Plus Series AC Servo User's Manual ·The setting unit is a percentage of rated torque. ·The maximum torque of the servomotor is used, even though the torque limit is set higher than the maximum torque of the servomotor. (as is the case with the 300% factory setting)

  • Page 110: Torque Limiting Using An Analog Voltage Reference

    ProNet Plus Series AC Servo User's Manual (3)Changes in Output Torque during External Torque Limiting Example: External torque limit (Pn401, Pn402) set to 300% /P-CL(Forward External Torque Limit Input) High level Low level Pn402 Pn402 Torque Torque High level Pn403...

  • Page 111: Control Mode Selection

    ProNet Plus Series AC Servo User's Manual 4.10 Control Mode Selection NOTE: this function is available for ProNet-□□□MG servo drives only. 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 112: Other Output Signals

    ProNet Plus 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. Servo drive I/O Power supply +24V Optocoupler output ALM+ (Each output node) 50mA max Max.output voltage: 30V...

  • Page 113: Rotationdetectionoutput Signal(/Tgon)

    ProNet Plus Series AC Servo User's Manual 4.11.2 RotationDetectionOutput Signal(/TGON) Type SignalName Connector PinNumber Setting Meaning Servomotor is ON(low level) operating(Servomotorspeed is ProNet-□□□MG: CN1_05, 06 above the setting in Pn503). Output /TGON ProNet-□□□EG-EC: CN1_11, 14 Servomotor is not (Factory setting)

  • Page 114: Over Travel Signal Output(Ot)

    ProNet Plus Series AC Servo User's Manual 4.11.5 Over travel signal output(OT) Type SignalName Connector Pin Number Setting Meaning Without forward rotation Not including this ON(low level) Prohibited(POT)and reverserotation setting in the default prohibited(NOT)signal setting,please choose Output With forward rotation...

  • Page 115: Torque Detection Output(/Tcr)

    ProNet Plus 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...

  • Page 116: Online Autotuning

    ProNet Plus Series AC Servo User's Manual Parameter Pn511 description as following: /COIN(/V-CMP) output /TGON rotation detecting output /S-RDY servo drive get ready output /CLT torque limit output /BK brake interlock output /PGC encoder C pulse output OT overtravel signal output...

  • Page 117: Setting Online Autotuning

    ProNet Plus Series AC Servo User's Manual Start Operate with factor setting. （Set Pn100=1） Operation OK？ Load moment of inertia varies? Continuous online autotuning （Pn100=2、3、5、6） Operation OK? Adjust the machine rigidity setting （Set at Pn101） Operation OK？ Do not perform online autotuning.

  • Page 118: Loadrigidity Setting For Online Autotuning

    ProNet Plus Series AC Servo User's Manual Online auto-tuning setting selection [0] Load inertia setting ProNet-□□□MG: 0x0010 — Pn100 0~0x0036 After restart [1]Online auto-tuning setting ProNet-□□□EG-EC: 0x0000 [2] Reserved [3] Reserved — Pn101 0~36 Immediately Machine rigidity setting 4.12.4 LoadRigidity Setting for Online Autotuning There are 37load rigidity settings for online auto-tuning, When the load rigidity setting is selected, the servo gains (speed loop gain, speed loop integral time constant, position loop gain) are determined automatically.

  • Page 119: Inertia

    Decrease deceleration curvature  Decreasehigh speed If the alarm is not releasedwith the above actions, re-select external regenerative resistor or contact your ESTUN representative or the dealer from whom you purchased the products. 4.14 Updating Operation You can fulfill the updating operation by using ESView V3 application, for details see the ESViewV3 Help.

  • Page 120: Chapter 5

    ProNet Plus Series AC Servo User's Manual Chapter 5 Panel Operator 5.1Basic 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 121: Basic Mode Selection

    ProNet Plus 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 122 ProNet Plus 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 123: Operation In Parameter Setting Mode

    ProNet Plus 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 toA.1 Parameter List for details. ■Parameter Setting Procedures The parameter settings can be used for changing parameter data.
  • Page 124 ProNet Plus 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 125: Operation In Utility Function Mode

    ProNet Plus Series AC Servo User's Manual (Not used) Phase-C Phase-B Phase-A (Not used) (Not used) Content Monitor Number Display LED Number ProNet-□□□MG ProNet-□□□EG-EC CN1_05, CN1_06 CN1_11, CN1_14 CN1_07, CN1_08 CN1_12, CN1_14 Un007 CN1_09, CN1_10 CN1_13, CN1_14 CN1_11, CN1_12 Reserved The display methods of Un009, Un011 and Un013 are as follows: (1) Three pages are used for display.
  • Page 126 ProNet Plus Series AC Servo User's Manual Fn006 Manual adjustment of servomotor current detection Fn007 Software version display Fn008 Position teaching Fn009 Static inertia detection Fn010 Absolute encoder multiturn data and alarm reset Fn011 Absolute encoder related alarms reset Note: Fn010, Fn011 only can be used when the servomotor mounted the absolute encoder.

  • Page 127: Alarm Traceback Data Display

    ProNet Plus Series AC Servo User's Manual 5.2.1 Alarm Traceback Data Display The alarm traceback display can display up to 10 previously occurred alarms.The alarm is displayed on Fn000, which is stored in the alarm traceback data. Follow the procedures below to confirm alarms which have been generated.

  • Page 128: Operation In Jog Mode

    ProNet Plus Series AC Servo User's Manual Note: Press the ENTER key during servo ON does not initialize the parameter settings. Initialize the parameter settings with the servo OFF. 5.2.3 Operation in JOG Mode Follow the procedures below to operate the servomotor in JOG mode.
  • Page 129 ProNet Plus Series AC Servo User's Manual Reference Voltage Reference Voltage Offset automatically adjusted in servodrive. Offset Speed Reference Speed Reference Automatic offset adjustment After completion of the automatic adjustment, the amount of offset is stored in the servo drive. The amount of offset can be checked in the speed reference offset manual adjustment mode (Fn004).

  • Page 130: Manual Adjustment Of The Speed Reference Offset

    ProNet Plus Series AC Servo User's Manual 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 131: Offset-Adjustment Of Servomotor Current Detection Signal

    ProNet Plus Series AC Servo User's Manual 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 132: Software Version Display

    ProNet Plus Series AC Servo User's Manual 4. Press the MODE key to switch between the phase U(o _ CuA) and phase V(1_ Cub) servomotor current detection offset adjustment. 5. Hold the ENTER key for one second to display the phase V offset amount.

  • Page 133: Static Inertia Detection

    ProNet Plus Series AC Servo User's Manual 4. Press the ENTER key, the display will be shown as below. 5. Release the ENTER key to complete position teaching function. 5.2.9 Static Inertia Detection 1. Press the MODE key to select the utility function mode.
  • Page 134 ProNet Plus Series AC Servo User's Manual 3. Press the ENTER key, the display will be shown as below. 4. Press the MODE key to clear the alarms. 5. Thus the absolute encoder related alarms reset is complete. - 132 -...

  • Page 135: Chapter 6

    ProNet Plus Series AC Servo User's Manual Chapter 6 MODBUS Communication 6.1 RS-485 Communication Wiring The MODBUS protocol communication can be applied to ProNet series servo drives, which allow you to modify the parameters and perform the monitoring operation. In the case of ProNet-□□□MG servo drives, the communication method is using the RS-485 interface (CN3 and CN4).

  • Page 136: Modbus Communication Related Parameters

    ProNet Plus Series AC Servo User's Manual the next slave station; if need not, add balance resistor in CN4 terminal.).It is prohibited to connect CN3 of any two servo 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 137: Modbus Communication Protocol

    ProNet Plus 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 138 ProNet Plus Series AC Servo User's Manual 11-bit character form (8-bit data) 8，N，2（Modbus，ASCII / RTU） Start Stop Stop 8-data bits 11- bits character frame 8，E，1（Modbus，ASCII / RTU） Even Start Stop parity 8-data bits 11- bits character frame 8，O，1（Modbus，ASCII / RTU）...
  • Page 139 ProNet Plus 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) : ASCII mode: ADR=‘2’, ‘0’=＞‘2’=32...
  • Page 140 ProNet Plus Series AC Servo User's Manual For example: write 100 (0064 ) into 01 servo address 0200 ASCII mode: Reference information: Response information: “: ” “: ” ‘0’ ‘0’ ‘1’ ‘1’ ‘0’ ‘0’ ‘6’ ‘6’ ‘0’ ‘0’ ‘2’ ‘2’...
  • Page 141 ProNet Plus 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’ ‘0’ Data number ‘0’ (count as word) ‘1’ ‘F’...
  • Page 142 ProNet Plus 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 143: Communication Error Disposal

    ProNet Plus 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 144: Data Communication Address Of Servo State

    ProNet Plus 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: Data Address (HEX) Meaning Description Operation Corresponding parameters 0000 ~ 02FD Parameter area Read/write parameter list...
  • Page 145 ProNet Plus Series AC Servo User's Manual Data Address (HEX) Meaning Description Operation 081C Read only Servomotor overloading proportion 081D Read only Current alarm 081E ℃ Read only Servomotor winding temperature High 16 bits of the encoder rotation 081F Read only...
  • Page 146 ProNet Plus Series AC Servo User's Manual 1 ~ 8 Historical alarm 2 ~ 9 07F2 ~ 07F9 Historical alarm 10 (the furthest alarm) 07FA 3. Monitor data area (0806～0816 The monitor data is corresponding to servo drive panel displays Un000~Un016.

  • Page 147: Chapter 7

    ProNet Plus Series AC Servo User's Manual Chapter 7 Specifications and Characters 7.1 Servo drive Specifications and Models Servo drive Model: ProNet- — — — — — — — — — EMJ- — — — — — — EMG- Applicable Servomotor Model: —...
  • Page 148 ProNet Plus Series AC Servo User's Manual Servo drive Model: ProNet- — — — — — — — — — EMJ- — — — — — — EMG- Applicable Servomotor Model: — — — — — EML- — — —...
  • Page 149 ProNet Plus Series AC Servo User's Manual Servo drive Model: ProNet- — — — — — — — — — EMJ- — — — — — — EMG- Applicable Servomotor Model: — — — — — EML- — — —...

  • Page 150: Servo Drive Dimensional Drawings

    ProNet Plus Series AC Servo User's Manual 7.2 Servo drive Dimensional Drawings ProNet-A5A/01A/02A/04A ProNet-A5A/01A/02A/04A-EC Unit: mm Nameplate （75） Mounting Hole Diagram 2-M4 ProNet-08A/10A ProNet-08A/10A-EC 94.4 Unit: mm Nameplate Airflow Airflow （75） Airflow Cooling Fan Mounting Hole Diagram Airflow 4-M5 - 148 -...
  • Page 151 ProNet Plus Series AC Servo User's Manual ProNet-10D/15A/15D/20A/20D ProNet-10D/15A/15D/20A/20D-EC 94.4 Nameplate Unit: mm Airflow Airflow Cooling Fan Airflow （75） Ground Terminal 2-M4 Screw Mounting Hole Diagram 4-M4 Airflow ProNet-30A/30D/50A/50D ProNet-30A/30D/50A/50D-EC 4-M5 Unit: mm Airflow Nameplate Mounting Hole Diagram Ground Terminal 14-M4 Screw （75）...

  • Page 152: Servo Motor Specifications And Models

    ProNet Plus Series AC Servo User's Manual 7.3 Servo motor Specifications and Models The specification of EMJ model motor is as shown in the following table. Voltage 200VAC 02ASA□□ 04ASA□□ 04ASH□□ 08ASB□□ 10ASB□□ Motor model EMJ- A5ASA□□ 01ASA□□ 02AFD□□ 04AFD□□...
  • Page 153 ProNet Plus Series AC Servo User's Manual The specification of EMG model motor is as shown in the following table. Voltage 200VAC / 400VAC 10AFD□ □ 10DFB□ □ 15AFD□ □ 15DFB□ □ 20AFD□ □ 20DFB□ □ 30AFD□ □ 30DFA□ □...
  • Page 154 ProNet Plus Series AC Servo User's Manual Voltage 200VAC / 400VAC 10AFD□□ 10DFB□□ 20AFD□□ 20DFA□□ 30AFD□□ 30DFA□□ 40AFD□□ 40DFA□□ 10ASB□□ 10DSB□□ 20ASA□□ 20DSA□□ 30ASA□□ 30DSA□□ 40ASA□□ 40DSA□□ Motor model EML- 10ALB□□ 10DLB□□ 20ALA□□ 20DLA□□ 30ALA□□ 30DLA□□ 40ALA□□ 40DLA□□ Instantaneous maximum Arms 16.5...

  • Page 155: Servo Motor Dimensional Drawings

    ProNet Plus Series AC Servo User's Manual Voltage 200VAC Motor model EM3A- Hold torque of brake N· m 20-bit incremental encoder 1048576P/R Encoder 23- bit absolute encoder 8388608P/R Thermal endurance class 0 ~ +40℃ (No frozen) Ambient temperature Ambient humidity 20%~80% RH (No condensation) Vibration：working 49m/s2（5G）or less；not working24.5m/s2（2.5G）or less...
  • Page 156 ProNet Plus Series AC Servo User's Manual Dimension EMJ- × depth A5ASA 84.5(120.1) 59.5(95.1) M3×10L 01ASA 98.5(134.1) 73.5(109.1) Note: The dimensions in parentheses are for servo motors with holding brake. Unit: mm Dimension EMJ- × depth 02AFD 142(182) 112(152) 02ASA...
  • Page 157 ProNet Plus Series AC Servo User's Manual EMG dimension Unit: mm Dimension EMG- KL1 KL2 × depth LR LE LF LB LZ QK QL W T U 10□□B/D 203(245.5) 148(190.5) 80(103.2) 131.5(174) 117 60.5 55 4 12 130 145 110 9 22 M6×20L 40 8 7 4 15□□B/D 225(267.5) 170(212.5) 102(125.2) 153.5(196)
  • Page 158 ProNet Plus Series AC Servo User's Manual EML dimension Unit: mm Dimension EML- KL1 KL2 × depth LR LE LF LC LB LZ QK QL W T U 10□□B/D 247(289.5) 192(234.5) 124(147.2) 175.5(218) 117 60.5 55 4 12 130 145 110 9 22 M6×20L 40 5 8 7 4 Note: The dimensions in parentheses are for servo motors with holding brake.
  • Page 159 ProNet Plus Series AC Servo User's Manual EM3A dimension Unit: mm Dimension EM3A- × depth 02ALA 108（137） 78（107） M5X12 129（158） 99（128） 04ALA M5X12 08ALA 141(184) 111(144) M6X12 10ALA 155(198) 125(158) M6X12 02AFA 126.5（155.5） 96.5(125.5) M5X10 147.5(176.5) 117.5 （146.5） 30 04AFA...

  • Page 160: Parameter

    ProNet Plus Series AC Servo User's Manual Appendix A Parameter A.1 Parameter List (ProNet-□□□MG) 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) Pn000.3: Alarm output when...
  • Page 161 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn005.0:Torque feedforward mode — Pn005 Pn005.1:Control mode 0~0x33E3 After restart Pn005.2:Out-of-tolerance alarm selection Pn005.3: Reserved Pn006.0:Bus mode Pn006.1:Reserved — Pn006 Pn006.2:Low-frequency vibration suppression 0~0x2133...
  • Page 162 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn109 2nd position loop gain rad/s 0~1000 Immediately Pn110 2nd torque reference filter time constant 0.01ms 0~2500 Immediately Pn111 Speed bias 0~300 Immediately Pn112...
  • Page 163 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn304 Parameter speed -6000~6000 Immediately Pn305 JOG speed 0~6000 Immediately Pn306 Soft start acceleration time 0~10000 Immediately Pn307 Soft start deceleration time 0~10000 Immediately...
  • Page 164 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn506 Basic waiting flow 10ms 0~500 Immediately Pn507 Brake waiting speed 10~100 Immediately Pn508 Brake waiting time 10ms 0~100 Immediately — Pn509 Allocate input signal to terminal...
  • Page 165 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn647 JPOS015 point to point speed control 0~6000 Immediately JPOS0 point to point control 1st order filter Immediately Pn648 0.1ms 0~32767 time …… JPOS15 point to point control 1st order filter Pn663 0.1ms...
  • Page 166 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation — Pn704 CAN communication contact 1~127 After restart — Pn705 32 bit 1st electronic gear numerator (H) 0~9999 After restart — Pn706 32 bit 1st electronic gear numerator (L)

  • Page 167: Parameters In Detail (Pronet-□□□Mg)

    ProNet Plus Series AC Servo User's Manual A.2 Parameters in detail (ProNet-□□□MG) 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 168 ProNet Plus 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...
  • Page 169 ProNet Plus 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 170 ProNet Plus 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 171 ProNet Plus 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 invalid Pn005.2 Out-of-tolerance alarm selection...
  • Page 172 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode [1] New torque filter — — — Pn008 Reserved Pn009.0:Reserved Pn009.1:Reserved Pn009.2:Electronic gear selection Pn009 Binary After restart [0] 16 bit electronic gear [1] 32 bit electronic gear Pn009.3:Reserved...
  • Page 173 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode Pn100.2: Reserved Pn100.3: Reserved The response speed of servo system is determined by this parameter. Normally, the rigidity should be set a Machine rigidity little larger.
  • Page 174 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode Speed reference Pn111 Pn500 Error counter Pn111 Pn500 It is used to set position feedforward. The response speed is faster and position error is less when this...
  • Page 175 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode condition [1]External switch gain switching(G-SEL) [2]Torque percentage [3]Value of offset counter [4]Value of acceleration speed setting (10rpm/s) [5]Value of speed setting [6] Position reference input...
  • Page 176 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode ratio and encoder pulses. In fact, it is the setting of frequency doubling or frequency division to the 16 bit 2nd electronic Pn203 After restart reference pulses.
  • Page 177 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode The time to decelerate to 1000rpm on slope speed Soft start Pn307 Immediately reference. deceleration time Unit: ms Speed filter time Speed reference 1st order filter time constant...
  • Page 178 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode Notch filter 1 Notch filter 1 frequency 1. In some conditions, Pn407 Immediately P, S, T frequency Unit:Hz vibration will be picked up and response will be...
  • Page 179 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode These parameters are only enabled when the port output parameters are allocated with /BK signal Servo ON waiting Pn505 Immediately P, S, T output.
  • Page 180 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode Pn509.0 → CN1_14 Pn509.1 → CN1_15 Pn509.2 → CN1_16 Pn509.3 → CN1_17 Pn510.0 → CN1_39 Pn510.1 → CN1_40 Pn510.2 → CN1_41 Pn510.3 → CN1_42...
  • Page 181 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode [B]R-OUT2 Bus control input terminal enabled: [0]: Disabled control input [1]: Enabled Pn512 Immediately P, S, T terminal enabled Pn512.0CN1_14 Pn512.1CN1_15 Pn512.2CN1_16 Pn512.3CN1_17 Pn513.0CN1_39...
  • Page 182 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode — — — Pn524 Reserved When load percentage is larger than overload alarm threshold, A04 will occur soon. Overload alarm Pn525 Immediately P, S, T...
  • Page 183 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode point speed control Unit: rpm JPOS0 point to point 1st order filter time of JPOS0 point to point control can Pn648 control 1st order filter Immediately stop or start the servomotor mildly.Unit: 0.1ms...
  • Page 184 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode Search travel speed in position control (contact reference); Speed of finding Search the servomotor speed in the direction of Pn685 Immediately reference point reference point towards travel switch.Unit: rpm...
  • Page 185 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode Pn700.1 MODBUS protocol [0] 7, N, 2 (MODBUS,ASCII) [1] 7, E, 1 (MODBUS,ASCII) [2] 7, O, 1 (MODBUS,ASCII) [3] 8, N, 2 (MODBUS,ASCII) [4] 8, E, 1 (MODBUS,ASCII)
  • Page 186 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode [1] 0.4kW servo drive [2] 0.75kW servo drive [3] 1.0 kW servo drive [4] 1.5kW servo drive [5] 2.0kW servo drive [6] 3.0kW servo drive [7] 5.0kW servo drive...

  • Page 187: Parameter List (Pronet-□□□Eg-Ec)

    ProNet Plus Series AC Servo User's Manual A.3 Parameter List (ProNet-□□□EG-EC) 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) Pn000.3: Alarm output when...
  • Page 188 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Binary Pn007.0: Wider the width of C pulse or not — Pn007 Pn007.1: Reserved 0~0x1111 After restart Pn007.2: Reserved Pn007.3: Torque filter Binary Pn008.0: Alarm classification selection —...
  • Page 189 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn118 Offset counter switching threshold puls 0~10000 Immediately Setting acceleration speed switching Pn119 10rpm/s 0~3000 Immediately threshold Pn120 Setting speed switching threshold 0~10000 Immediately —...
  • Page 190 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation Speed reference curve form 0:Slope — Pn310 1:S curve After restart order filter order filter — Pn311 S form selection Immediately Pn312 DP communication JOG speed...
  • Page 191 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation — Pn512 Bus control input terminal enabled 0~1111 Immediately — Pn513 Bus control input terminal enabled 0~1111 Immediately Pn514 Input port filter 0.2ms 0~1000...
  • Page 192 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation …… Pn679 JPOS15 point to point stop time 50ms 0~300 Immediately — — — — Pn680 Reserved Pn681.0:Single/cyclic, start/reference point selection — Pn681 0~0x0133...
  • Page 193 ProNet Plus Series AC Servo User's Manual Parameter Setting Factory Setting Name Unit Range Setting Invalidation — Pn706 32 bit 1st electronic gear numerator (L) 0~9999 After restart — Pn707 32 bit electronic gear denominator (H) 0~9999 After restart —...

  • Page 194: Parameters In Detail(Pronet-□□□Eg-Ec)

    ProNet Plus Series AC Servo User's Manual A.4 Parameters in detail(ProNet-□□□EG-EC) Parameter Setting Control Description Function and Meaning Validation Mode Pn000.0 Servo ON [0] External S-ON enabled. [1]External S-ON disabled. Servomotor excitation signal is turned ON automatically after S-RDY is output.
  • Page 195 ProNet Plus 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...
  • Page 196 ProNet Plus 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 197 ProNet Plus 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 198 ProNet Plus 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 invalid Pn005.2 Out-of-tolerance alarm selection [0]Out-of-tolerance alarm disabled [1]Out-of-tolerance alarm enabled.
  • Page 199 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode [1] New torque filter Pn008.0: Alarm classification selection Pn008.1: SON effective mode — Pn008 Binary After restart Pn008.2: Reserved Pn008.3: Reserved Pn009.0: Sensor type selection Pn009.1: Reserved...
  • Page 200 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode friction are too big during operation. Pn100.2: Reserved Pn100.3: Reserved The response speed of servo system is determined by this parameter. Normally, the rigidity should be set a Machine rigidity little larger.
  • Page 201 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode Speed reference Pn111 Pn500 Error counter Pn111 Pn500 It is used to set position feedforward. The response speed is faster and position error is less when this...
  • Page 202 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode condition [1]External switch gain switching(G-SEL) [2]Torque percentage [3]Value of offset counter [4]Value of acceleration speed setting (10rpm/s) [5]Value of speed setting [6] Position reference input...
  • Page 203 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode ratio and encoder pulses. In fact, it is the setting of frequency doubling or frequency division to the 16 bit 2nd electronic Pn203 After restart reference pulses.
  • Page 204 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode The servomotor speed is determined by this parameter when Pn005.1=D. Unit: rpm It is used to set JOG rotation speed, and the direction is determined by the pressing key during JOG...
  • Page 205 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode Reverse torque Pn402 Immediately P, S, T internal limit Forward external Pn403 Immediately P, S, T torque limit Reverse external Pn404 Immediately P, S, T...
  • Page 206 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode already rotated steadily and outputs /TGON signal. Unit: rpm When the value in error counter exceeds this Offset counter parameter setting value, it means that error counter...
  • Page 207 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode Pn509.0 → CN1_15 Pn509.1 → CN1_16 Pn509.2 → CN1_17 Pn509.3 → N1_18 Pn510.0 → CN1_19 Allocate input port to Terminal PRI is CN1_15< CN1_16< CN1_17<...
  • Page 208 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode terminal enabled Pn512.2CN1_17 Pn512.3CN1_18 Pn513.0CN1_19 control input Pn513 Immediately P, S, T terminal enabled It is used to set input port filter time. The signal will be...
  • Page 209 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode [0]: Do not inverse signal. [1]: Inverse signal Pn528.0→CN1_11，CN1_14 Immediately Pn528 Output signal inverse P, S, T Pn528.1→CN1_12，CN1_14 Pn528.2→CN1_13，CN1_14 When motor torque output is higher than Pn529 Torque detection setting value,/TCR is ON.
  • Page 210 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode …… Other point to point control stop time JPOS15 point to JPOS15 point to point control stop time point control stop Pn679 Immediately Unit: 50ms time —...
  • Page 211 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode speed in position point leaves travel switch. Unit: rpm control (contact reference); Speed of finding reference point (Leaving the origin signal ORG) in position homing control.
  • Page 212 ProNet Plus Series AC Servo User's Manual Parameter Setting Control Description Function and Meaning Validation Mode — — — Pn702 Reserved Pn703.0: Reserved Pn703.1: Synchronous frame early detection Pn703 After restart [0]Close [1]Open EtherCAT Pn704 communication After restart EtherCAT Aix address of communication...

  • Page 213: Alarm Display

    ProNet Plus 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 214 ProNet Plus Series AC Servo User's Manual Alarm Alarm Alarm Name Meaning Display Output Mechanical stuck or motor power line U phase sequence is ╳ Motor power line U overcurrent A．25 wrong. Mechanical stuck or motor power line V phase sequence is ╳...
  • Page 215 ProNet Plus Series AC Servo User's Manual Alarm Alarm Alarm Name Meaning Display Output End bit in serial encoder control Encoder signal is disturbed or the encoder decoding circuit ╳ A．56 domain error is faulty. ╳ A．58 Serial encoder data empty The EEPROM data of serial encoder is empty.

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