ProNet Series User's Manual_V2.02 L010939 Pro Net Users Manual V2.02

User Manual: L010939 - ProNet Series Users Manual_V2.02

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ProNet Series AC Servo User's Manual

Version V2.02

ESTUN AUTOMATION TECHNOLOGY CO., LTD

Revision History

Date

Rev. No.

2009-09

V1.00

2010-02

V1.06

Section

V1.05
All chapters

V1.07

4.6.5

2010-10

2011-04

2011-12

2012-02

Revision: Pn840

Revision: Pn006.2

Addition: Pn411

Addition: Pn412

Addition: Low frequency vibration
suppression function

Appendix A

Revision: Pn006.3

V1.09

V1.10

V1.24

Addition: Pn139 and Pn140

4.9.2

Revision: External Torque Limit
1

Addition: Wire-saving incremental encoder

Revision: Internal setting speed

Addition: Description of OT signal

Addition: Description of /ALM signal

Addition: Description of /CLT signal

Addition: 4.6.8 Position Control (contact
reference)

Chapter 4

Addition: 4.12 Online Autotuning

Appendix A

Revision: Pn006.3

V1.22

V1.23

Addition: ProNet-02A/04A

Addition: Un017

V1.20

V1.21

5.1.6

Appendix A
2011-09

Revision: Pn002

Revision: Position reference

4.6

2011-08

4.6.3

All chapters
2011-07

Completely revised

V1.08

All chapters
2010-11

Remark

First edition

Appendix A
2010-06

Revised Content

Revision: Pn102
Pn413

Pn414

Pn107

Pn139

Pn14

Pn511

Chapter 4

Addition: Description of /RD signal

All chapters

Addition: ProNet-2BD

3.3.1

Revision: Encoder wiring

4.5.8

Revision: Encoder signal output phase form

4.6.9

Addition: Homing function

All chapters

Addition: ProNet-10D/15D

Appendix B

Addition: Alarm A67 and A69

Revision: ProNet-7.5kW~15kW
2012-03

V1.25

Chapter 1 and 3
Appendix

appearance
2

Addition: Resolver description

Addition: Reserved some parameters

Addition: Pn301 and Pn415
Revision: Pn307, Pn304, Pn681, Pn840

Addition: Alarm A19,A22,

Pn523, Pn525,

Pn526

2012-05

V1.26

All chapters

Deletion: A20

Deletion: Incremental wire-saving encoder

5 Addition: 3.6
6

Addition: 3.7 Installation Conditions of EMC

Directives
7

Addition: 3.8 Using More than One Servo

Drive

1 Add ProNet-E Servo Drive
2 Add three phase 400V power supply
2012-10

V2.00

All chapters

models
ProNet-10D

75D/ ProNet-E-10D

ProNet-1AD

2BD

50D

3 Delete EML model

2012-12

V2.01

4.6.1

3.1.2

Revision:Connection Example for
Open-Collector Gate Output

ProNet-02A

04A/ ProNet-E-02A

04A

Add and revise note

2013-1

V2.02

3.5.1

Appendix A.3

ProNet-02A

04A/ ProNet-E-02A

Add and revise note

Add note

04A

Copyright © 2011 ESTUN AUTOMATION TECHNOLOGY CO., LTD
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.

About this manual
This manual describes the following information required for designing and maintaining ProNet series servo drives.
Specification of the servo drives and servomotors.
Procedures for installing the servo drives and servomotors.
Procedures for wiring the servo drives and servomotors.
Procedures for operation of the servo drives.
Procedures for using the panel operator.
Communication protocols.
Ratings and characteristics.

Intended Audience:
Those designing ProNet series servo drive systems.
Those installing or wiring ProNet series servo drives.
Those performing trial operation or adjustments of ProNet series servo drives.
Those maintaining or inspecting ProNet series servo drives.

-1-

Safety Precautions
Do not connect the servomotor directly to the local electrical network.
Failure to observe this may result in damage to servomotor.
Do not plug or unplug connectors from servo drive after power is on.
Failure to observe this may result in damage to servo drive and servomotor.
Note that residual voltage still remains in the servo drive even after the power is turned off.
Please be noted that even after the power is turned off, residual voltage still remains in the capacitor inside the
servo drive. If inspection is to be performed after the power is turned off, always wait at least

5 minutes to avoid the

risk of an electrical shock.
Keep servo drives and other devices separated by at least 10mm.
The servo drive generates heat. Install the servo drive so that it can radiate heat freely. When installing

servo drives

with other devices in a control panel, provide at least 10mm space between them and 50mm space above and below
them.Please install servo drives in an environment free from condensation, vibration and shock.
Perform noise reduction and grounding properly.
Please comply with the following instructions strictly to avoid the noisy generated by signal lines.
1. Separate high-voltage cables from low-voltage cables.
2. Use cables as short as possible.
3. Sigle point grounding is required for the servomotor and servo drive (grounding resistance 100

or below).

4. Never use a line filter for the power supply in the circuit.
Conduct a voltage resistance test for the servo drive under the following conditions:
1. Input voltage: AC 1500Vrms, 1 minute
2. Braking current: 100mA
3. Frequency:50/60Hz
4. Voltage applied point: Between L1, L2,L3 terminals and frame ground.
Use a fast-response type ground-fault interrupter.
For a ground-fault interrupter, always use a fast-response type or one designed for PWM inverters. Do not use a
time-delay type.
Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to unstable operation.
The servomotor cannot be operated by turning the power on and off.
Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate, resulting in unexpected
problems.Always start or stop the servomotor by using reference pulses.

-2-

—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 ............................................................................................................................................- 7 1.1.2 Servo drive ............................................................................................................................................- 8 1.2 Part Names .....................................................................................................................................................- 14 1.2.1 Servomotor ..........................................................................................................................................- 14 1.2.2 Servo drive ..........................................................................................................................................- 14 Chapter 2 ......................................................................................................................................................................- 18 Installation .....................................................................................................................................................................- 18 2.1 Servomotor .....................................................................................................................................................- 18 2.1.1 Storage ................................................................................................................................................- 18 2.1.2 Installation Sites ..................................................................................................................................- 18 2.1.3 Installation Alignment...........................................................................................................................- 19 2.1.4 Installation Orientation .........................................................................................................................- 19 2.1.5 Handling Oil and Water........................................................................................................................- 19 2.1.6 Cable Tension ......................................................................................................................................- 20 2.2 Servo drive......................................................................................................................................................- 20 2.2.1 Storage ................................................................................................................................................- 20 2.2.2 Installation Sites ..................................................................................................................................- 20 2.2.3 Installation Orientation .........................................................................................................................- 20 2.2.4 Installation Method ..............................................................................................................................- 21 Chapter 3 ......................................................................................................................................................................- 22 Wiring ............................................................................................................................................................................- 22 3.1 Main Circuit Wiring..........................................................................................................................................- 22 3.1.1 Names and Functions of Main Circuit Terminals..................................................................................- 22 3.1.2 Typical Main Circuit Wiring Examples..................................................................................................- 23 3.2 I/O Signals ......................................................................................................................................................- 26 3.2.1 Examples of I/O Signal Connections ...................................................................................................- 26 3.2.2 I/O Signal Names and Functions .........................................................................................................- 27 3.2.3 I/O Signal Connector (CN1) Terminal Layout ......................................................................................- 29 3.2.4 Interface Circuit ...................................................................................................................................- 30 3.3 Wiring Encoders..............................................................................................................................................- 31 3.3.1 Connecting an Encoder(CN2)..............................................................................................................- 31 3.3.2 Encoder Connector(CN2) Terminal Layout .........................................................................................- 33 3.4 Communication Connection ............................................................................................................................- 33 3.4.1 Communication Connector(CN3) Terminal Layout ..............................................................................- 33 3.4.2 Communication Connector(CN4) Terminal Layout ..............................................................................- 34 3.5 Standard Wiring Examples..............................................................................................................................- 35 3.5.1 Single-phase 200V ProNet-02A

04A/ProNet-E-02A

-3-

04A ...............................................................- 35 -

3.5.2 Three-phase 200V ProNet-08A

50A/ProNet-E-08A

50A ................................................................- 35 -

3.5.3 Three-phase 400V ProNet-10D

75D/ProNet-E-10D

50D ...............................................................- 37 -

3.5.4 Three-phase 400V ProNet-1AD

2BD ................................................................................................- 38 -

3.5.5 Position Control Mode .........................................................................................................................- 39 3.5.6 Speed Control Mode ............................................................................................................................- 40 3.5.7 Torque Control Mode ...........................................................................................................................- 41 3.6 Wiring for Noise Control..................................................................................................................................- 42 3.6.1 Noise Control.......................................................................................................................................- 42 3.6.2 Precautions on Connecting Noise Filter ..............................................................................................- 43 3.7 Installation Conditions of EMC Directives .......................................................................................................- 45 3.8 Using More than One Servo Drive ..................................................................................................................- 47 Chapter 4 ......................................................................................................................................................................- 49 Operation ......................................................................................................................................................................- 49 4.1 Trial Operation ................................................................................................................................................- 49 4.1.1 Trial Operation for Servomotor Without Load ......................................................................................- 51 4.1.2 Trial Operation for Servomotor without Load from Host Reference .....................................................- 53 4.1.3 Trial Operation with the Servomotor Connected to the Machine..........................................................- 57 4.1.4 Trial Operation for Servomotor with Brakes .........................................................................................- 58 4.1.5 Position Control by Host Controller......................................................................................................- 58 4.2 Control Mode Selection...................................................................................................................................- 59 4.3 Setting Common Basic Functions ...................................................................................................................- 60 4.3.1 Setting the Servo ON Signal................................................................................................................- 60 4.3.2 Switching the Servomotor Rotation Direction ......................................................................................- 61 4.3.3 Setting the Overtravel Limit Function...................................................................................................- 62 4.3.4 Setting for Holding Brakes ...................................................................................................................- 65 4.3.5 Instantaneous Power Loss Settings.....................................................................................................- 68 4.4 Absolute Encoders ..........................................................................................................................................- 69 4.4.1 Selecting an Absolute Encoder............................................................................................................- 69 4.4.2 Handling Battery ..................................................................................................................................- 70 4.4.3 Replacing Battery ................................................................................................................................- 71 4.4.4 Absolute Encoder Setup(Fn010

Fn011) ............................................................................................- 71 -

4.5 Operating Using Speed Control with Analog Reference..................................................................................- 72 4.5.1 Setting Parameters ..............................................................................................................................- 72 4.5.2 Setting Input Signals............................................................................................................................- 73 4.5.3 Adjusting Reference Offset ..................................................................................................................- 74 4.5.4 Soft Start..............................................................................................................................................- 77 4.5.5 Speed Reference Filter Time Constant ................................................................................................- 77 4.5.6 S-curve Risetime .................................................................................................................................- 78 4.5.7 Using the Zero Clamp Function ...........................................................................................................- 78 4.5.8 Encoder Signal Output ........................................................................................................................- 80 4.5.9 Speed coincidence output ...................................................................................................................- 81 4.6 Operating Using Position Control....................................................................................................................- 82 4.6.1 Basic Setting in Position Control..........................................................................................................- 82 4.6.2 Setting the Clear Signal .......................................................................................................................- 86 4.6.3 Setting the Electronic Gear..................................................................................................................- 86 4.6.4 Smoothing ...........................................................................................................................................- 89 -

-4-

4.6.5 Low Frequency Vibration Suppression ................................................................................................- 90 4.6.6 Positioning Completion Output Signal .................................................................................................- 92 4.6.7 Reference Pulse Inhibit Function(INHIBIT)..........................................................................................- 93 4.6.8 Position Control (contact reference) ...................................................................................................- 94 4.6.9 Position Homing Control (Homing Function)........................................................................................- 97 4.7 Operating Using Torque Control....................................................................................................................- 100 4.7.1 Setting Parameters ............................................................................................................................- 100 4.7.2 Torque Reference Input.....................................................................................................................- 101 4.7.3 Adjusting the Reference Offset ..........................................................................................................- 102 4.7.4 Limiting Servomotor Speed During Torque Control............................................................................- 103 4.8 Operating Using Speed Control with an Internally Set Speed .......................................................................- 104 4.8.1 Setting Parameters ............................................................................................................................- 105 4.8.2 Input Signal Settings..........................................................................................................................- 106 4.8.3 Operating Using an Internally Set Speed...........................................................................................- 106 4.9 Limiting Torque..............................................................................................................................................- 107 4.9.1 Internal Torque Limit ..........................................................................................................................- 107 4.9.2 External Torque Limit .........................................................................................................................- 108 4.9.3 Torque Limiting Using an Analog Voltage Reference ........................................................................- 109 4.10 Control Mode Selection............................................................................................................................... - 110 4.10.1 Setting Parameters .......................................................................................................................... - 110 4.10.2 Switching the Control Mode ............................................................................................................. - 110 4.11 Other Output Signals................................................................................................................................... - 111 4.11.1 Servo alarm output........................................................................................................................... - 111 4.11.2 Rotation Detection Output Signal(/TGON) ....................................................................................... - 112 4.11.3 Servo Ready(/S-RDY) Output .......................................................................................................... - 112 4.11.4 Encoder C Pluse Output (/PGC) ...................................................................................................... - 112 4.11.5 Over travel signal output(OT)........................................................................................................... - 113 4.11.6 Servo Enabled Motor Excitation Output(/RD) .................................................................................. - 113 4.11.7 Torque Limit Detection Output (/CLT)............................................................................................... - 113 4.12 Online Autotuning........................................................................................................................................ - 115 4.12.1 Online Autotuning ............................................................................................................................ - 115 4.12.2 Online Autotuning Procedure........................................................................................................... - 115 4.12.3 Setting Online Autotuning ................................................................................................................ - 116 4.12.4 Machine Rigidity Setting for Online Autotuning................................................................................ - 116 Chapter 5 .................................................................................................................................................................... - 117 Panel Operator............................................................................................................................................................ - 117 5.1 Basic Operation ............................................................................................................................................ - 117 5.1.1 Functions on Panel Operator............................................................................................................. - 117 5.1.2 Resetting Servo Alarms ..................................................................................................................... - 117 5.1.3 Basic Mode Selection ........................................................................................................................ - 118 5.1.4 Status Display Mode .......................................................................................................................... - 118 5.1.5 Operation in Parameter Setting Mode ...............................................................................................- 120 5.1.6 Operation in Monitor Mode ................................................................................................................- 121 5.2 Operation in Utility Function Mode ................................................................................................................- 124 5.2.1 Alarm Traceback Data Display...........................................................................................................- 124 5.2.2 Parameter Settings Initialization ........................................................................................................- 125 -

-5-

5.2.3 Operation in JOG Mode.....................................................................................................................- 126 5.2.4 Automatic Adjustment of the Speed Reference Offset .......................................................................- 127 5.2.5 Manual Adjustment of the Speed Reference Offset ...........................................................................- 128 5.2.6 Offset-adjustment of Servomotor Current Detection Signal ...............................................................- 129 5.2.7 Software Version Display...................................................................................................................- 131 5.2.8 Position Teaching Function................................................................................................................- 131 5.2.9 Static Inertia Detection.......................................................................................................................- 131 5.2.10 Absolute Encoder Multiturn Data and Alarm Reset ..........................................................................- 132 5.2.11 Absolute Encoder Related Alarms Reset .........................................................................................- 132 Chapter 6 ....................................................................................................................................................................- 133 MODBUS Communication...........................................................................................................................................- 133 6.1 RS-485 Communication Wiring.....................................................................................................................- 133 6.2 MODBUS Communication Related Parameters ...........................................................................................- 134 6.3 MODBUS Communication Protocol ..............................................................................................................- 135 6.3.1 Code Meaning ...................................................................................................................................- 135 6.3.2 Communication Error Disposal ..........................................................................................................- 141 6.3.3 Data Communication Address of Servo State....................................................................................- 142 Chapter 7 ....................................................................................................................................................................- 145 Specifications and Characters.....................................................................................................................................- 145 7.1 Servo drive Specifications and Models .........................................................................................................- 145 7.2 Servo drive Dimensional Drawings ...............................................................................................................- 147 Appendix A ..................................................................................................................................................................- 150 Parameter ...................................................................................................................................................................- 150 A.1 Parameter List ..............................................................................................................................................- 150 A.2 Description of Parameter Type .....................................................................................................................- 157 A.3 Parameters in detail......................................................................................................................................- 158 Appendix B..................................................................................................................................................................- 175 Alarm Display ..............................................................................................................................................................- 175 -

-6-

Chapter 1
Checking Products and Parts Names
1.1 Checking Products on Delivery
Check Items

Comments

Are the delivered products the

Check the model numbers marked on the nameplate on the

ones that were ordered?

servomotor and servo drive.
Check the overall appearance, and check for damage or scratches

Is there any damage?

that may have occurred during shipping.

Dose the servomotor shaft rotate

If the servomotor shaft is smoothly turned by hand, it is normal.

smoothly?

However, if the servomotor has brakes, it cannot 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
Servomotor Model Designation

EMG

ESTUN Servomotor

1+2

EMG Model

1+2

Rated Output

Code

Rated Output

Code

Encoder

Code

Option

1.0kW

Incremental encoder 131072P/R

None

1.5kW

Absolute encoder

With oil seal

2.0kW

Resolver

With brake(DC 24V)

3.0kW

Incremental Wire-saving Type 2500P/R

With oil seal and brake(DC 24V)

5.0kW

Voltage

Encoder

7 Option

131072P/R

Designing Sequence

6 Shaft End

Code

Voltage

Code

Designing Sequence

Code

Shaft End

200V AC

Designing sequence

Straight without key(Standard)

400VAC

Straight with key and tap

Notes
1. The EMG-30

, EMG-50

2. There is no brake in EMG

servomotors are not mounted the incremental encoder.
D

servomotor.

-7-

Appearance and Nameplate

1.1.2 Servo drive
ProNet Servo drive Model Designation

PRONET

E A

-P

ProNet Model

Extended module type
-D DP100
-E EC100
-P PL100

Rated Output
02
0.2kW
04
0.4 kW
08
0.75 kW
10
1.0 kW
15
1.5 kW
20
2.0 kW
30
3.0 kW
50
5.0 kW
75
7.5 kW
1A 11 kW
1E
15 Kw
2B
22kW

Encoder
A 17-bit serial encoder
B Resolver 1

Voltage
A 200VAC
D 400VAC
Control Mode
M Speed control, torque control, position control
E Speed control, torque control, position control (support extended module)

Note:
1

Resolver, with the feature of high reliability and long service life, is suitable for harsh environment and wide temperature

or humidity range conditions. The factory setting for resolver precision used in ESTUN servo drive is 4096.
2

ProNet-

Support AE100 model. ProNet-

does not support extended module.

-8-

ProNet-E Servo drive Model Designation

PRONETE

ProNet-E Model

Voltage
A 200VAC
D 400VAC
Rated Output
02
0.2kW
04
0.4 kW
08
0.75 kW
10
1.0 kW
15
1.5 kW
20
2.0 kW
30
3.0 kW
50
5.0 kW

Note:
1

ProNet-E is only equipped with wire-saving incremental encoder(2500 P/R).

ProNet-E does not support extended module.

ProNet Servo Drive Appearance
ProNet-02A/04A

ProNet-08A/10A

CHARGE

POWER

L1
L2
L3
1
2

L1C
L2C
B1
B2
B3
U
V
W

-9-

ProNet-15A/20A

CHARGE

ProNet-10D/15D/20D

CHARGE

POWER

L2
L3

L3
1

L1C
24V
L2C

GND

ProNet-30A/50A

ProNet-30D/50D/75D

CHARGE
CHARGE
PO WER

L3
1

1
2

24V

L1C

GND

L2C

- 10 -

POWER

ProNet-1AD/1ED/2BD

ProNet-E Servo Drive Appearance
ProNet-E-02A/04A

ProNet-E-08A/10A

CHARGE

L1
L2
FG
1
2

L1C

L2C

B1
B2
B3

W
V
U

- 11 -

ProNet-E-15A/20A

ProNet-E-10D/15D/20D

CHARGE

POWER

L1
L2
L3

L2
L3

2
1
2

24V
GND
L1C

L2C

V
U

V
W

ProNet-E-30A/50A

CHARGE

ProNet-E-30D/50D

CHARG E

POWER

POW ER

L1C

24V

L2C

GND

B2
B2
B3
B3
U
U
V
V
W
W

- 12 -

ProNet Servo Drive Nameplate

Servodrive model
Applicable power
supply

Applicable servomotor
capacity

Serial number

ProNet-E Servo Drive Nameplate

- 13 -

1.2 Part Names
1.2.1 Servomotor
Servomotor without gear and brake.

Encoder
Mounting hole

Shell
Output shaft

Flange

1.2.2 Servo drive
ProNet-02A/04A/ProNet-E-02A/04A

Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged.
Connector for communication
Used to communicate with other devices.

Main circuit power supply terminals
Used for main circuit power supply input.
Connecting terminal of DC reactor

I/O signal connector
Used for reference input signals
and sequence I/O signals.

Control power supply terminals
Used for control power supply input.
Regenerative resistor connecting terminals
Used to connect external regenerative resistors.
Servomotor terminals
Connects to the servomotor power line.

Encoder connector
Connects to the encoder in the
servomotor.

Ground terminal
Be sure to connect to protect electric shock.

- 14 -

ProNet-08A/10A /ProNet-E-08A/10A

ProNet-15A/20A/ ProNet-E-15A/20A

CHARGE

POWER

L1
L2
L3
1
2

L1C
L2C
B1
B2
B3
U
V
W

- 15 -

ProNet-10D/15D/20D/ProNet-E-10D/15D/20D

CHARGE

POWER

L1
L2
L3
1
2

24V
GND
B1
B2
B3
U
V
W

ProNet-30A/50A/ ProNet-E-30A/50A

CHARGE

POWER

L1
L2
L3
1
2

L1C
L2C
B1
B2
B3
U
V
W

- 16 -

ProNet-30D/50D/75D/ ProNet-E-30D/50D

CHARGE
POWER

L1
L2
L3
1
2

24V
GND
B1
B2
B3
U
V
W

ProNet-1AD/1ED/2BD

- 17 -

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 will occur.
Please observe the installation instructions described below to install the servomotor correctly.
Before installation:
Anticorrosive paint is coated on the edge of the servomotor shaft. Clean off the anticorrosive paint thoroughly using
a cloth moistened with thinner.
Avoid getting thinner on other parts of the servomotor when cleaning the shaft.

2.1.1 Storage
When the servomotor is not used, store it in the temperature between -25

and 60

with the power cable

disconnected.

2.1.2 Installation Sites
The servomotor is designed for indoor use.Install the servomotor in an environment which meets the following
conditions.
Free from corrosive and explosive gases.
Well-ventilated and free from dust and moisture.
Ambient temperature from0 to 40

Relative humidity from 26% to 80%( non-condensing).
Facilitates inspection and cleaning.

- 18 -

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:
If the alignment accurancy is incorrect , vibration will occur, resulting in damage to the bearings.
Mechanical shock to the shaft end is forbidden, otherwise it may result in damage to the encoder of the servomotor.

2.1.4 Installation Orientation
Servomotor can be installed ethier horizontally or vertically.

2.1.5 Handling Oil and Water
If the servomotor is used in a location that is subject to water or oil drops, make sure of the servomotor protective
specification. If the servomotor is required to meet the protective specification to the through shaft section by default,
use a servomotor with an oil seal.

Through shaft section:
It refers to the gap where the shaft protrudes from the end of the servomotor.

- 19 -

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 Servo drive
ProNet series servo drive is a base-mounted type. Incorrect installation will cause problems. Always observe the
installation instructions described below.

2.2.1 Storage
When the servo drive is not used, store it in the temperature between -25
disconnected.

and 55

with the power cable

2.2.2 Installation Sites
Notes on installation are shown below.
Situation

Notes on installation

When installed in a control

Design the control panel size, unit layout, and cooling method so that the temperature

panel

around the periphery of the servo drive does not exceed 55

When installed near a
heating unit
When installed near a
source of vibration

Suppress radiation heat from the heating unit and a temperature rise caused by
convection so that the temperature around the periphery of the servo drive does not
exceed 55 .
Install a vibration isolator underneath the servo drive to prevent it from receving vibration.

When installed in a location

Take appropriate action to prevent corrosive gases. Corrosive gases do not immediately

subject to corrosive gases

affect the servo drive, but will eventually cause contactor-related devices to malfunction.

Others

Avoid installation in a hot and humid site or where excessive dust or iron powder is
present in the air.

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.

- 20 -

2.2.4 Installation Method
When installing multiple servo drives side by side in a control panel, observe the following installation method.
Cooling Fan

Cooling Fan

Installation Orientation
Install servo drive perpendicular to the wall so that the front panel (containing connectors) faces outward.
Cooling
Provide sufficient space around each servo drive to allow cooling by natural convection or fans.
Installing side by side
When installing servo drives side by side, provide at least 10 mm space between them and at least 50 mm space
above and below them as shown in the figure above. Make sure that the temperature inside the control panel is
evenly, and prevent the temperature around each servo drive from increasing excessively. Install cooling fans above
the servo drives if required.
Working conditions
1 Temperature

-20~ 55

2 Humidity 5%~95%RH
3 Vibration 4.9m/s2 or less
4 Ambient temperature to ensure long-term reliability: 45

- 21 -

or less

5.Condensation and Freezing: None

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 and signal lines
separated by at least 300 mm.
Use twisted-pair shielded wires or multi-core twisted-pair shielded wires for signal and encoder feedback
lines.
The maximum length is 3 m for reference input lines and is 20 m for encoder feedback lines.
Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still
remain in the servo drive.

3.1.1 Names and Functions of Main Circuit Terminals

Terminal
Symbol

Name

L1,L2

L1,L2,L3

Main circuit
power supply
input terminal
FG

Main
Circuit
Voltage(V)
200

400
200

Servo
Drive
Model
ProNet-

Servo
Drive
Model
Pronet-E-

02A-04A

Single-phase 200 230VAC +10% -15% (50/60Hz)

08A-50A

Three-phase 200 230VAC +10% -15% (50/60Hz)

10D-75D

10D-50D

Three-phase 380 480VAC +10% -15% (50/60Hz)

1AD-2BD
02A-04A

Functions

Three-phase 380 440VAC +10% -15% (50/60Hz)
02A-04A

Normally not connected.

Servomotor
U,V,W

Connect to the servomotor.

connection
terminals

L1C,L2C
24V,GND

Control circuit
power supply
input terminal

200
400

02A-50A

1AD-2BD
10D-75D

Single-phase 380 440VAC +10% -15% (50/60Hz)
10D-50D

servomotor ground terminal.

External
regenerative

02A-04A

08A-50A

10D-75D

10D-50D

200

resistor
connection

24VDC +10% -10%
Connects to the power supply ground terminals and

Ground terminals

B1,B2,B3

Single-phase 200 230VAC +10% -15% (50/60Hz)

400

- 23 -

Connect an external regenerative resistor(provided
by customer) between B1 and B2.
If use an internal regenerative resistor, please short
B2 and B3. Remove the wire between B2 and B3 and

Terminal
Symbol

Main
Circuit
Voltage(V)

Name

Servo
Drive
Model
ProNet-

Servo
Drive
Model
Pronet-E-

terminal

Functions
connect an external regenerative resistor(provided
by customer) between B1 and B2, if the capacity of
the internal regenerative resistor is insufficient.

B1,B2

Connect an external regenerative resistor between

1AD-2BD
DC reactor for
harmonic
suppression
terminal
Main circuit
minus terminal

B1 and B2.

200

02A-50A

400

10D-75D

10D-50D

200

02A-50A

400

10D-75D

10D-50D

Normally short + 1and + 2.
If a countermeasure against power supply harmonic
waves is needed, connect a DC reactor between +
1and + 2.
Normally not connected.

3.1.2 Typical Main Circuit Wiring Examples
Single-phase 200V ProNet-02A 04A/ Single-phase 200V ProNet-E-02A 04A
L1
Molded-case Circuit Breaker

Single-phase 200~230V 10%
15% (50/60Hz)

Surge Protector

Ry
Noise Filter

Power OFF Power ON

1PL (Servo Alarm Display)

1SUP

Be sure to connect a surge suppressor to the
excitation coil of the magnetic contactor and relay.

Magnetic Contactor
L
L2

ProNet
Series Servodrive

A(1)

B(2)

Servodrive
M

C(3)

D(4)

L C
L2C

Encoder
PG

CN2

External regenerator resistor
B1
B2
B3

B1
B2
B3

Ry
7
8

ALM+
ALM1D
V

Note 1.The L1,L2,L3 and L1C,L2C terminals wiring method of ProNet-02A 04A/ProNet-E-02A 04A servo drives is
different from other ProNet series servo drives. Please note the specific terminal definition while wiring.
2.The main circuit power supply of ProNet-02A 04A/ProNet-E-02A 04A is Single-phase 200V
3. External regenerative resistor for ProNet-02A 04A/ProNet-E-02A 04A is provided by customer, the model of
60W 50 resistor is recommended.
4.Change Pn521.0 from 1 to 0 when using the external regenerative resistor in ProNet-02/04 servo drives.

- 23 -

50A/ Three-phase 200V ProNet-E-08A

·Three-phase 200V ProNet-08A
Molded-case Circuit Breaker

Three-phase 200~230V

10%
15%

(50/60Hz)

Surge Protector

1PL (Servo Alarm Display)

Ry
Noise Filter

Power OFF

Power ON

1SUP

Be sure to connect a surge suppressor to the
excitation coil of the magnetic contactor and relay.

ProNet
Series Servodrives

L2
L3

A(1)

U
V

Servomotor

B(2)

C(3)

D(4)

L C
L2C

Encoder
PG

CN2

B3
V

Ry
7
8

ALM+
ALM1D
V

Three-phase 400V ProNet-10D 75D/ Three-phase 400V ProNet-E-10D 50D

Molded-case Circuit Breaker

Three-phase 380~440V

10%
15%

Surge Protector

(50/60Hz)

Ry
Noise Filter

Power OFF

Power ON

1PL (Servo Alarm Display)

1SUP

Be sure to connect a surge suppressor to the
excitation coil of the magnetic contactor and relay.

ProNet
Series Servodrives

L2
L3

A(1)

B(2)

Servomotor

C(3)

D(4)

24V
GND

Encoder
PG

CN2

Ry
7
8

ALM+
ALM1D
V

- 24 -

50A

Three-phase 400V ProNet-1AD
L1
Molded-case Circuit Breaker

2BD

Three-phase 380~440V

10%
15%

(50/60Hz)

Surge Protector

Ry
Noise Filter

Power OFF Power ON

1PL (Servo Alarm Display)

Be sure to connect a surge
suppressor to the excitation coil of
the magnetic contactor and relay.

1SUP

Magnetic Contactor
L
L2
L3

ProNet
Series Servodrive

A(1)

B(2)

Servodrive
M

C(3)

D(4)

L C
L2C

Encoder
PG

CN2
External Regenerative Resistor
B1
B2

Ry
7
8

ALM+
ALM1D
V

Notes:
1. The resistor of 2000W/18R is recommended for the external regenerative resistor of ProNet-1AD.
2. The resistor of 3000W/11R is recommended for the external regenerative resistor of ProNet-1ED.
3. The resistor of 4000W/9R is recommended for the external regenerative resistor of ProNet-2BD.

- 25 -

3.2 I/O Signals
3.2.1 Examples of I/O Signal Connections

ProNet
Series Servodrive
10K

VREF+
VREF-

Speed Reference(±0~10V/Rated Speed)

1
2

40K

ref

+
40K

10K

Torque Reference(±0~10V/Rated Torque)

26
27

+
-

PPI

34
30
31

150

PULS / CW / A

PULS+
PULSSIGN+
SIGN-

32
33

150

SIGN / CCW / B

Open-Collector Reference
Use

Position Reference

TREF+
TREF-

+24V

Signal Allocations can be Modified:
S-ON: Servo ON
P-CON: Proportion Control
P-OT:Forward Run Prohibited
N-OT:Reverse Run Prohibited
ALM-RST: Alarm Reset
CLR: Clear Error Pulse
P-CL:Forward Torque Limit
N-CL:Reverse Torque Limit
SHOM: Home
ORG: Zero Position

DICOM
S-ON
P-CON
P-OT
N-OT
ALM-RST
CLR
P-CL
N-CL

13
14
15
16
17
39
40
41
42

A/D
ref

20
21
22
23
24
25
50

PAO+
PAOPBO+
PBOPCO+
PCODGND

5
6
9
10
11
12

TGON+
TGONS-RDY+
S-RDYV-CMP+
V-CMP-

7
8

ALM+
ALM-

PG Divided Ratio Output
Applicable Line Output
AM26LS32A Manufactured by TI or the Equivalent.

Signal Allocations can be Modified:
V-CMP: Speed Coincidence
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT: Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

3.3K

Ry
Connect Shield to Connector Shell

Shield

1D
V
ALM: Servo Alarm Output
Photocoupler Output:
Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

Represents Twisted-pair Wires

- 26 -

3.2.2 I/O Signal Names and Functions
Input Signals
Control
Signal
Mode
Name

Speed
Position
Torque

Pin
No.

Function

/S-ON

Servo ON: Turns the servomotor on.
Function selected by parameter.
Proportional
Switches the speed control loop from PI to P control when
control reference
ON.
Direction
With the internally set speed selection: Switch the rotation
reference
direction.

/P-CON

Control mode
switching

P-OT
N-OT

16
17

Enables control mode switching.

Zero-clamp
reference
Reference pulse
block
Forward run
prohibited
Reverse run
prohibited

Speed control with zero-clamp function: Reference speed is
zero when ON.
Position control with reference pulse: Stops reference pulse
input when ON.
Overtravel prohibited: Stops servomotor when OFF.

Function selected by parameter.

/PCL
/NCL

Speed

Position

41
42

Forward external
torque limit ON
Reverse external
torque limit ON

Current limit function enabled when ON.

Internal speed
switching

With the internally set speed selection: Switches the internal
speed settings.

/ALM-RST

Alarm reset: Releases the servo alarm state.

DICOM

Control power supply input for I/O signals: Provide the +24V DC power supply

VREF+

VREF-

PULS+

PULS-

SIGN+

SIGN-

PPI

Power supply input for open collector reference (2K /0.5W resistor is built into the
servo drive).

/CLR

Positional error pulse clear input: Clear the positional error pulse during position
control.

SHOM

Homing trigger signal(effective at the rising edge),allocated by Pn509 or Pn510

ORG

Zero Position(effective at high level), allocated by Pn509 or Pn510

T-REF+

T-REF-

Torque

Speed reference input: ±10V.

Pulse reference input mode
Sign + pulse train
CCW + CW pulse
Two-phase pulse (90º phase differential)

Torque reference input: ±10V.

- 27 -

Output signals
Control
Mode

Signal
Name

Pin No.

Function

/TGON+

Detects when the servomotor is rotating at a speed higher than the motor

/TGON-

speed seeting.

ALM+

Servo alarm:

ALM-

Turns off when an error is detected.

/S-RDY+

Servo ready:

/S-RDY-

Position

PAO+

Torque

PAO-

PBO+

PBO-

PCO+

PCO-

Shell

/V-CMP+

/V-CMP-

/COIN+

/COIN-

Speed

ON if there is no servo alarm when the control/main circuit power supply
is turned ON.
Phase-A signal
Phase-B signal
Phase-C signal

Converted two-phase pulse(phases A and B)
encoder output.

Zero-point pulse(Phase-C) signal

Connected to frame ground if the shield wire of the
I/O signal cable is connected to the connector shell.
Speed coincidence:
Detects whether the motor speed is within the setting range and if it

Position

matches the reference speed value.
Positioning completion:
Turns ON when the number of positional error pulses reaches the value
set. The setting is the number of positional error pulses set in the
reference units.
Reserved terminals:
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be

/CLT

changed by using the parameters.
/CLT: Torque limit output
Turns on when it reaches the value set.

/BK: Brake interlock output
Releases the brake when ON,

Reserved

/PGC
/BK

OT
/RD

C pulse output

Over travel signal output
Servo enabled motor excitation output

/HOME: Home completion output
4,18,19,29,35

36,37,38,43

Not used.

44,45,47,49

- 28 -

3.2.3 I/O Signal Connector (CN1) Terminal Layout
Terminal
No.

Name

VREF+

VREF-

DGND

/TGON+

/TGON-

ALM+

ALM-

/S-RDY+

/S-RDY-

/COIN+

/COIN-

DICOM

Terminal

Function

No.

Speed reference input:±10V
DGND
Reserved
Running signal output
Servo alarm

Servo ready

Name

T-REF+

T-REF-

DGND

PULS+

PULS-

SIGN+

SIGN-

PPI

Function
Torque referenceinput:±10V
DGND
Reserved
Reference pulse input
Reference sign input
Open collector reference
power supply
Reserved

Reserved

Servo ON

/ALM-RST

P/PI control input

/CLR

Position error pulse clear input

Positioning completion
I/O signal power supply 24V
DC

/S-ON

/P-CON

P-OT

Forward run prohibit input

/PCL

Forward torque limit input

N-OT

Reverse run prohibit run

/NCL

Reverse torque limit input

Reserved

PAO+

PG dividing

Reserved

PAO-

DGND

PBO+

PBO-

DGND

PCO+

DGND

PCO-

pulse output

phase A

dividing

PG dividing

pulse

pulse output

output

phase B
PG dividing
pulse output
phase C

Zero-point
pulse

Alarm reset

DGND
Reserved
DGND
Reserved
DGND

Note: The functions allocated to the following input and output signals can be changed by using the parameters.
Input signals: /S-ON,/P-CON,P-OT,N-OT,/ALM-RST,/CLR,/PCL,/NCL,SHOM,ORG
Output signals: /TGON,/S-RDY,/COIN,/HOME
Please refer to A.3 Parameters in details for detailed information.

- 29 -

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

Reference speed input

Reference torque input

Servodrive
470
3
10V

V-REF
About 40K

1
GND

Interface for sequence input circuit
The sequence input circuit interface connects through a relay or open-collector transistor circuit.Select a low-current relay
otherwise a faulty contact will result.

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. Connect the line-driver output circuit through a line
receiver circuit at the host controller.

Interface for sequence output circuit
Photocoupler output circuits are used for Servo Alarm (ALM), Servo Ready(S-RDY), and other sequence output signal
circuits.Connect a photocoupler output circuit through a relay circuit.

- 30 -

3.3 Wiring Encoders
3.3.1 Connecting an Encoder(CN2)
Wire-saving Incremental Encoder

2500P/R

Waterproof

Wire-saving Incremental
Encoder

Servodrive
*
1(A)

PA
P

2(B)
3(C)

4(D)
5(E)
6(F)

Host controller
1CN

2CN

2-1

/PA

2-2

2-3

/PB
PC
/PC

2-4
2-5

Phase-A

Phase-B

2-6
Phase-C

PAO

/PAO

PBO

/PBO

PCO

/PCO

Output line driver
AM26LS31 manufactured
by TI or the equivalent.

7(H)

2-7 2-8 2-9
PG5V
2-17 2-18 2-19
PG0V

8(G)

1-18
1-36

Connector shell

shielded wires

Represents multi-core twisted pair shielded wires.

Wire-saving Incremental Encoder

2500P/R

Standard

Wire-saving Incremental
Encoder

Servodrive
*

2(C)
5(D)
3(E)
6(F)

Host controller
1CN

2CN

1(A)
4(B)

P
P

2-1

/PA

2-2

2-3

/PB
PC
/PC

2-4
2-5

Phase-A

Phase-B

2-6
Phase-C

PAO

/PAO

PBO

/PBO

PCO

/PCO

7(H)

9(J)

Applicable linereceiver SN75175
manufactured by TI
or the equivalent.

2-7 2-8 2-9
PG5V
2-17 2-18 2-19
PG0V

8(G)

1-18
1-36

Connector shell
Connector shell

shielded wires

Represents multi-core twisted pair shielded wires.

- 31 -

Output line driver
AM26LS31 manufactured
by TI or the equivalent.

Shell

Connector shell

9(J)
Shell

Applicable linereceiver SN75175
manufactured by TI
or the equivalent.

17 bit Incremental/Absolute Encoders
Incremental/Absolute Encoders

Servodrive
*

K(1)

PS
P

L(2)
T(3)

S(4)

Host controller
CN1

CN2
7

Phase-A

/PS

BAT+

BAT-

Phase-B

Phase-C
PG

PAO

/PAO

PBO

/PBO

PCO

/PCO

Output line driver
AM26LS31 manufactured
by TI or the equivalent.

PG5V

H(5)
G(6)

Applicable linereceiver SN75175
manufactured by TI
or the equivalent.

9
19

PG0V

J(7)

DGND

Connector shell

shielded wires

Connector shell

Shell

Represents multi-core twisted pair shielded wires.

Note: (1)There are no BAT+ and BAT- signals in incremental encoder.
(2)The pin numbers for the connector wiring differ depending on the servomotors.

Resolver
Resolver

Servodrive
*
K
L

SIN+
P

T
S

Host controller
CN1

CN2

SIN-

COS+

COS-

Phase-A

Phase-B

Phase-C
PG

PAO

/PAO

PBO

/PBO

PCO

/PCO

Output line-driver
AM26LS31
manufactured by TI
or equivalent.

9
19

Connect shell

shielded wires

Connector shell

Shell

Applicable linereceiver SN75175
manufactured by
TI or equivalent.

Represents multi-core twisted pair shielded wires.

- 32 -

DGND

3.3.2 Encoder Connector(CN2) Terminal Layout
Wire-saving Incremental Encoder 2500P/R
Terminal No.

Name

Function

Terminal No.

Name

PG input phase A

Function
PG input phase B

PG input phase /A

PG input phase /B

PG input phase B

PG power supply +5V

PG input phase /B

PG power supply 0V

17 Bit Incremental/ Absolute Encoder
Terminal No.

Name

Function

Terminal No.

Name

Function

PG serial signal input

BAT+

/PS

PG serial signal input

BAT-

PG5V

PG power supply +5V

GND

PG power supply 0V

Terminal No.

Name

Function

Terminal No.

Name

Function

SIN+

Differential Sine Signal

COS+

Differential Cosine Signal

SIN-

Differential Sine Signal

COS-

Differential Cosine Signal

Excitation signal

Excitation Signal

Battery(+)
(For an absolute encoder)
Battery(-)
(For an absolute encoder)

Resolver

3.4 Communication Connection
3.4.1 Communication Connector(CN3) Terminal Layout
Terminal No.

Name

Function

485+

ISO_GND

485-

RS-485 communication terminal

CANH

CAN communication terminal

CANL

CAN communication terminal

Reserved
RS-485 communication terminal
Isolated ground

Note: Do not short terminal 1 and 2 of CN3.

- 33 -

3.4.2 Communication Connector(CN4) Terminal Layout
Terminal No.

Name

Function

485+

ISO_GND

485-

RS-485 communication terminal

CANH

CAN communication terminal

CANL

CAN communication terminal

Reserved
RS-485 communication terminal
Isolated ground

- 34 -

3.5 Standard Wiring Examples
3.5.1 Single-phase 200V ProNet-02A 04A/ProNet-E-02A 04A

Three-phase 200~230V 10%
15% (50/60Hz)

Molded-case Circuit Breaker

Surge Protector

Ry
Noise Filter

1PL (Servo Alarm Display )

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
Series Servodrives

A(1)

B(2)

V
1

Servomotor

C(3)

D(4)

2
CN2
L C
L2C
External Regenerator Resistor

Serial Encoder

1
2
3
4
5
6

A+
AB+
BC+
C7,8,9
PG5V
17,18,19
PG0V
Shell Shield

7
8
17
18
9
19

S+
SBAT+
BATPG5V
PG0V

Shell

Shield

Encoder

CN3
1
N.C.
2
N.C.
3
485+
4 ISO_GND
5 ISO_GND
6
4857
CANH
8
CANL

Be sure to ground

CN1
10K

Speed Reference(±0~10V/Rated Speed)

VREF+
VREF-

1
2

Torque Reference (±0~10V / Rated Torque)

TREF+
TREF-

26
27

40K

ref

+
40K

10K

A/D
ref

Shell

Be sure to prepare the end of the
shielded wire properly.

Use special communication cable to connect
PC(Personal Computer).

Note: Do not short terminal 1 and 2 of CN3.

Shield

CN4

PPI

PULS+
PULS-

30
31

150

PULS / CW / A

SIGN+
SIGN-

32
33

150

SIGN / CCW / B

DICOM
S-ON
P-CON
P-OT
N-OT
ALM-RST
CLR
P-CL
N-CL

13
14
15
16
17
39
40
41
42

Open-collector Reference Use

Position Reference

Signal allocatons can be modified:
S-ON: Servo ON
P-CON: P Control
P-OT: Forward Run Prohibited
N-OT: Reverse Run Prohibited
ALM-RST: Alarm Reset
CLR: Clear Error Pulse
P-CL: Forward Torque Limit
N-CL: Reverse Torque Limit
SHOM: Home
ORG: Zero Position

+24V

1
N.C.
2
N.C.
3
485+
4 ISO_GND
5 ISO_GND
6
4857
CANH
8
CANL

3.3K

Shell

Shield

20
21
22
23
24
25
50

PAO+
PAOPBO+
PBOPCO+
PCODGND

5 TGON+
6
TGON9 S-RDY+
10 S-RDY11 V-CMP+
12 V-CMP-

PG Divided Ratio Output:
Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.

Signal Allocations can be Modified:
V-CMP: Speed Coincidence
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

Ry
Connect Shield to Connector Shell.

Shield

7
8

Shell

ALM+
ALM1D
V
ALM: Servo Alarm Output

Represents Twisted-pair Wires

Photocoupler Output:
Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

- 35 -

3.5.2 Three-phase 200V ProNet-08A 50A/ProNet-E-08A 50A

Three-phase 200~230V

1 0%
1 5%

(50/60Hz)

Molded-case Circuit Breaker

Surge Protector

Noise Filter

Power OFF Power ON

1PL ( Servo Alarm Display )

1SUP

Be sure to connect a surge suppressor to the
excitation coil of the magnetic contactor and relay.

Magnetic Contactor

ProNet
Series Servodrives

L
L2

A(1)

B(2)

Servomotor

C(3)

D(4)

2
CN2
L C
L2C
B1

Serial Encoder

1
2
3
4
5
6

A+
AB+
BC+
C7,8,9
PG5V
17,18,19
PG0V
Shell Shield

External Regenerator Resisotr

7
8
17
18
9
19

SIN+
SINCOS+
COSR1
R2

Shell

Shield

7
8
17
18
9
19

S+
SBAT+
BATPG5V
PG0V

Shell

Shield

1
N.C.
2
N.C.
3
485+
4 ISO_GND
ISO_GND
5
6
4857
CANH
8
CANL

CN1
10K

VREF+
VREF-

1
2

TREF+
TREF-

26
27

40K

ref

+
40K

10K

Torque Reference (±0~10V/Rated Torque)

CN3

Be sure to ground

Speed Reference(±0~10V/Rated Speed)

Encoder

A/D
ref

Shell

Be sure to prepare the end of the
shielded wire properly.

Use special communication cable to connect
PC(Personal Computer).

Note: Do not short terminal 1 and 2 of CN3.

Shield

CN4

PPI

PULS+
PULS-

30
31

150

PULS / CW / A

SIGN+
SIGN-

32
33

150

SIGN / CCW / B

DICOM
S-ON
P-CON
P-OT
N-OT
ALM-RST
CLR
P-CL
N-CL

13
14
15
16
17
39
40
41
42

Open-collector Reference Use

Position Reference

+24V

1
N.C.
2
N.C.
3
485+
4 ISO_GND
5 ISO_GND
6
4857
CANH
8
CANL

3.3K

Shell

Shield

20
21
22
23
24
25
50

PAO+
PAOPBO+
PBOPCO+
PCODGND

5
6
9
10
11
12

TGON+
TGONS-RDY+
S-RDYV-CMP+
V-CMP-

7
8

ALM+
ALM-

PG Divided Ratio Output:
Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.

Signal Allocations can be Modified:
V-CMP: Speed Coincidence
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

Ry
Connect Shield to Connector Shell.

Shield

Shell

1D
V
ALM: Servo Alarm Output
Represents Twisted-pair Wires

Photocoupler Output:
Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

- 36 -

3.5.3 Three-phase 400V ProNet-10D 75D/ProNet-E-10D 50D

Three-phase 380~480V

Molded-case Circuit Breaker

10%
15%

Surge Protector

(50/60Hz)

Ry
Noise Filter

Power OFF Power ON

1PL (Servo Alarm Display)

1SUP

Be sure to connect a surge suppressor to the
excitation coil of the magnetic contactor and relay.

Magnetic Contactor

ProNet
Series Servodrives

L
L2

A(1)

B(2)

Servomotor

C(3)

D(4)

2
CN2
24V
GND
B1

Serial Encoder

1
2
3
4
5
6

A+
AB+
BC+
C7,8,9
PG5V
17,18,19
PG0V
Shell Shield

External Regenerator Resisotr

7
8
17
18
9
19

SIN+
SINCOS+
COSR1
R2

Shell

Shield

7
8
17
18
9
19

S+
SBAT+
BATPG5V
PG0V

Shell

Shield

1
N.C.
2
N.C.
3
485+
4 ISO_GND
5 ISO_GND
6
4857
CANH
8
CANL

CN1
VREF+
VREF-

1
2

TREF+
TREF-

26
27

40K
40K

10K

ref

+
10K

Torque Reference (±0~10V/Rated Torque)

CN3

Be sure to ground

Speed Reference(±0~10V/Rated Speed)

Encoder

ref

A/D

Shell

Be sure to prepare the end of the
shielded wire properly.

Use special communication cable to connect
PC(Personal Computer).

Note: Do not short terminal 1 and 2 of CN3.

Shield

CN4

PPI

PULS+
PULS-

30
31

150

PULS / CW / A

SIGN+
SIGN-

32
33

150

SIGN / CCW / B

DICOM
S-ON
P-CON
P-OT
N-OT
ALM-RST
CLR
P-CL
N-CL

13
14
15
16
17
39
40
41
42

Open-collector Reference Use

Position Reference

+24V

1
N.C.
2
N.C.
3
485+
4 ISO_GND
5 ISO_GND
6
4857
CANH
8
CANL

3.3K

Shell

Shield

20
21
22
23
24
25
50

PAO+
PAOPBO+
PBOPCO+
PCODGND

5 TGON+
6
TGON9 S-RDY+
10 S-RDY11 V-CMP+
12 V-CMP-

PG Divided Ratio Output:
Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.

Signal Allocations can be Modified:
V-CMP: Speed Coincidence
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

Ry
Connect Shield to Connector Shell.

Shield

7
8

Shell

ALM+
ALM1D
V
ALM: Servo Alarm Output

Represents Twisted-pair Wires

Photocoupler Output:
Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

- 37 -

3.5.4 Three-phase 400V ProNet-1AD 2BD
L1

Three-phase 380~440V

Molded-case Circuit Breaker

10%
15%

Surge Protector

(50/60Hz)

1PL ( Servo Alarm Display )

Ry
Noise Filter

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
Series Servodrives

L
L2

A(1)

Servomotor

B(2)

C(3)

D(4)
CN2
L C
L2C

B1
External Regenerator Resisotr

1
3
7
8
17
18
9
19

Sensor 1
Sensor 2
SIN+
SINCOS+
COSR1
R2

Shell

Shield

Serial Encoder

7
8
17
18
9
19

S+
SBAT+
BATPG5V
PG0V

Shell

Shield

1
2
3
4
5
6
7
8

N.C.
N.C.
485+
ISO_GND
ISO_GND
485CANH
CANL

Shell

Shield

CN1
VREF+
VREF-

1
2

TREF+
TREF-

26
27

40K
40K

10K

ref

+
10K

Torque Reference (±0~10V/Rated Torque)

CN3

Be sure to ground

Speed Reference(±0~10V/Rated Speed)

Encoder

ref

A/D

Be sure to prepare the end of the
shielded wire properly.

Use special communication cable to connect
PC(Personal Computer).

Note: Do not short terminal 1 and 2 of CN3.

CN4

PPI

PULS+
PULS-

30
31

150

PULS / CW / A

SIGN+
SIGN-

32
33

150

SIGN / CCW / B

DICOM
S-ON
P-CON
P-OT
N-OT
ALM-RST
CLR
P-CL
N-CL

13
14
15
16
17
39
40
41
42

Open-collector Reference Use
Position Reference

Signal allocatons can be modified: +24V
S-ON: Servo ON
P-CON: P Control
P-OT: Forward Run Prohibited
N-OT: Reverse Run Prohibited
ALM-RST: Alarm Reset
CLR: Clear Error Pulse
P-CL: Forward Torque Limit
N-CL: Reverse Torque Limit
SHOM: Home
ORG: Zero Position

3.3K

1
2
3
4
5
6
7
8

N.C.
N.C.
485+
ISO_GND
ISO_GND
485CANH
CANL

Shell

Shield

20
21
22
23
24
25
50

PAO+
PAOPBO+
PBOPCO+
PCODGND

5
6
9
10
11
12

TGON+
TGONS-RDY+
S-RDYV-CMP+
V-CMP-

7
8

ALM+
ALM-

PG Divided Ratio Output:
Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.

Signal Allocations can be Modified:
V-CMP: Speed Coincidence
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

Ry
Connect Shield to Connector Shell.

Shield

Shell

1D
V
ALM: Servo Alarm Output
Represents Twisted-pair Wires

Photocoupler Output:
Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

- 38 -

3.5.5 Position Control Mode

ProNet
Series Servodrives

PPI

PULS+
PULS-

30
31

150

PULS / CW / A

SIGN+
SIGN-

32
33

150

SIGN / CCW / B

Open-collector Reference Use

Position Reference

+24V

DICOM
S-ON
P-CON
P-OT
N-OT
ALM-RST
CLR
P-CL
N-CL

13
14
15
16
17
39
40
41
42

Shield

Shell

20
21
22
23
24
25
50

PAO+
PAOPBO+
PBOPCO+
PCODGND

5
6
9
10
11
12

TGON+
TGONS-RDY+
S-RDYCOIN+
COIN-

7
8

ALM+
ALM-

PG Divided Ratio Output:
Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.

Signal Allocations can be Modified:
V-CMP: Speed Coincidence
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

3.3K

Ry
Connect Shield to Connector Shell.

1D
V
ALM: Servo Alarm Output
Represents Twisted-pair Wires

Photocoupler Output:
Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

- 39 -

3.5.6 Speed Control Mode
ProNet
Series Servodrives

10K

VREF+
VREF-

Speed Reference(±0~10V/Rated Speed)

1
2

40K
40K

10K

+24V

DICOM
S-ON
P-CON
P-OT
N-OT
ALM-RST
CLR
P-CL
N-CL

13
14
15
16
17
39
40
41
42

ref

A/D

20
21
22
23
24
25
50

PAO+
PAOPBO+
PBOPCO+
PCODGND

5
6
9
10
11
12

TGON+
TGONS-RDY+
S-RDYV-CMP+
V-CMP-

7
8

ALM+
ALM-

PG Divided Ratio Output:
Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.

Signal Allocations can be Modified:
V-CMP: Speed Coincidence
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

3.3K

Connect Shield to Connector Shell.

Shield

1D
Shell

V
ALM: Servo Alarm Output
Photocoupler Output:
Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA
Represents Twisted-pair Wires

- 40 -

3.5.7 Torque Control Mode

ProNet
Series Servodrives

A/D

Torque Reference (±0~10V/Rated Torque)

+24V

TREF+
TREF-

DICOM
S-ON
P-CON
P-OT
N-OT
ALM-RST
CLR
P-CL
N-CL

26
27

13
14
15
16
17
39
40
41
42

ref
+
-

3.3K

20
21
22
23
24
25
50

PAO+
PAOPBO+
PBOPCO+
PCODGND

5
6
9
10
11
12

TGON+
TGONS-RDY+
S-RDYV-CMP+
V-CMP-

7
8

ALM+
ALM-

PG Divided Ratio Output:
Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.

Signal Allocations can be Modified:
V-CMP: Speed Coincidence
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

Ry
Connect Shield to Connector Shell.

Shield

Shell

1D
V
ALM: Servo Alarm Output
Photocoupler Output:
Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

Represents Twisted-pair Wires

- 41 -

3.6 Wiring for Noise Control
3.6.1 Noise Control
The servo drive uses high-speed switching elements in the main circuit. It may receive "switching noise" from these
high-speed switching elements.
To prevent malfunction due to noise, take the following actions:
Position the input reference device and noise filter as close to the servo drive as possible.
Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.
The distance between a power line (servomotor main circuit cable) and a signal line must be at least 30 cm.Do not put
the power and signal lines in the same duct or bundle them together.
Do not share the power supply with an electric welder or electrical discharge machine. When the servo drive is placed
near a high-frequency generator, install a noise filter on the input side of the power supply line. As for the wiring of noise
filter, refer to (1) Noise Filter shown below.
Take the grounding measures correctly. As for the grounding, refer to (2) Correct Grounding.

(1) Noise Filter
Please installing a noise filter in the appropriate place to protect servo drive from external noise as much as possible.
Notice

Noise filter
AC 200V

Servo Drive
Servomotor
L1

M
(FG)

AC 400V

L3
3.5mm2 min.

CN2
CN1
2

2mm min.
Operation relay sequence
Signal generation circuit

*3
Noise
filter

*2
DC
power
3.5mm2 min.

(ground plate)
Wires of
3.5mm2 min.

(ground plate) (ground 3.5mm min. * 1
plate)
2

(ground plate)
(ground plate)
Ground: Ground to an independent ground

For ground wires connected to the ground plate, use a thick wire with a thickness of at least 3.5 mm (preferably, plain
stitch cooper wire)

should be twisted-pair wires.

When using a noise filter, follow the precautions in 3.6.2 Precautions on Connecting Noise Filter.

- 42 -

(2) Correct Grounding
Take the following grounding measures to prevent the malfunction 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
servomotor stray capacitance.
Always connect servomotor frame terminal FG to the servo drive ground terminal. Also be sure to ground the ground
terminal

Noise on the I/O Signal Line
If the I/O signal line receives noise, ground the 0 V line (SG) of the reference input line. If the main circuit wiring for the
motor is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point
only.
3

Precautions on installing on control panel

When the servo drive installing on control panel, a piece of metal plate should be fixed. It is used for fixing the servo drive
and other peripheral devices. Noise filter should be installed on metal plate, and closed to the hole drill through power
lines on control panel. Use screws to fix the noise filter to the metal plate. The grounding terminals of noise filter connect
to the grounding terminals of control panel.
Servo drive should be fixed on a piece of metal plate. Make sure the heat sink towards ground. The grounding terminals
of servo drive connect to the grounding terminals of control panel.

3.6.2 Precautions on Connecting Noise Filter
(1) Noise Filter Brake Power Supply
Use the noise filter Manufactured by SCHAFFNER at the brake power input for servomotors with holding brakes.
Relationship between servo drive power and noise filter current:

Servo Drive Power

Noise Filter Current

0.2kW

0.4kW

0.75kW

1 kW

1.5 kW

2 kW

3 kW

12A

5 kW

20A

7.5kW

30A

11kW

44A

15kW

60A

22kW

88A

- 43 -

Note:
1

Single phase servo should apply two phase filter. Three phase servo drive should apply three phase filter.

Choose the right filter according to the items

operate voltage

operate current

manufacturer

(2) Precautions on Using Noise Filters
Do not put the input and output lines in the same duct or bundle them together.

Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines and other signal lines in the same duct or bundle them
together.
X

Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other
ground wires.

- 44 -

If a noise filter is located inside a control panel, connect the noise filter ground wire and the ground wires from other
devices inside the control panel to the ground plate for the control panel first, then ground these wires.

3.7 Installation Conditions of EMC Directives
To adapt a combination of a servomotor and a servodrive to EMC Directives (EN61326-1:2006), the following conditions
must be satisfied.
(1) EMC Installation Conditions
This section describes the installation conditions that satisfy EMC guidelines for each model of the servodrive.
This section describes the EMC installation conditions satisfied in test conditions prepared by ESTUN. Theactual EMC
level may differ depending on the actual systems configuration, wiring, and other conditions.

- 45 -

Noise
filter

Aprox.2m
Aprox.5m

Symbol

Cable Name

Specifications

I/O signal cable

Shield cable

Servomotor cable

Shield cable

Encoder cable

Shield cable

AC line cable

Shield cable

Notes: The example above shows three-phase 200VAC servo drive connection.
(2) Cable Core and Cable Clamp
(a) Attaching the Ferrite Core
The diagram shows two turns in the cable.
The table shows the cable and the position where the ferrite core is attached.
Cable

Ferrite core

Cable Name

Mounting Position of the Core

I/O signals cable

Near the host controller and servodrive.

Motor cable

Near the servodrive and servomotor.

Encoder cable

Near the servodrive and servomotor.

(b) Recommended Ferrite-core
Cable Name

Ferrite Core Model

Manufacturer

ESD-SR-25

TOKIN

I/O signals cable
Encoder cable
Motor

400W or less

cable

750W or less

PC40T96

- 46 -

TDK

Cable
Host controller side
Ground plate

Shield(cable sheath stripped)
Fix and ground the cable shield
using a piece of conductive metal.

Cable clamp

Remove paint on mounting surface

(d) Shield Box
A shield box, which is a closed metallic enclosure, should be used for shielding magnetic interference. The structure of the
box should allow the main body, door, and cooling unit to be attached to the ground. The box opening should be as small
as possible.

3.8 Using More than One Servo Drive
The following diagram is an example of the wiring when more than one Servodrive is used.
Connect the alarm output (ALM) terminals for the three Servodrives in series to enable alarm detection relay 1RY to
operate.
When the alarm occurs, the ALM output signal transistor is turned OFF.
Multiple servos can share a single molded-case circuit breaker (QF) or noise filter. Always select a QF or noise filter that
has enough capacity for the total power capacity (load conditions) of those servos.

- 47 -

Power supply
R S T

Power
Power ON
OFF
1RY

1KM

Noise
filter

SA
1KM

1RY

Notes:
1. Power supply phase-S should connect to ground terminals.
2. The example above shows three-phase 200VAC servo drive connection.

- 48 -

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.
1

Trial Operation for Servomotor Without Load (Refer to 4.1.1)
Purpose
The servomotor is operated without connecting the shaft to the
machine in order to confirm the following wiring is correct.

To power supply

Power supply circuit wiring
Servomotor wiring
Encoder wiring
Secure the servomotor flange to the
machine, but do not connect the motor
shaft to the load shaft.

Rotation direction and speed of servomotor.
(Please refer to step 1-4)

Trial operation for servomotor with host reference (Refer to 4.1.2)
Purpose
The servomotor is operated without connecting the shaft to the
machine in order to confirm the following wiring is correct.
I/O signal wiring with host controller
Rotation direction, speed and number of rotations of servomotor.
Check the operation of the brake, overtravel and other protective
functions.
(Please refer to step 5-8)

(3) Trial operation for servomotor and machine combined. (Refer to 4.1.3)
Purpose
Perform the trial operation with the servomotor
connected to the machine. The servo drive is adjusted to match the
machine characteristics.
Servomotor speed and machine travel distance.
Set the necessary parameters.

(Please refer to step 9-11)

- 49 -

Step

Item

Description

Reference

Installation

Install the servomotor and servo drive according to the installation
conditions. (Do not connect the servomotor to the machine because the
servomotor will be operated first under the no-load condition for checking.)

Wiring

Connect the power supply circuit (L1, L2 and L3), servomotor wiring (U, V,
W), I/O signal wiring (CN1), and encoder wiring (CN2). But during (1) Trial
Operation for Servomotor Without Load, disconnect the CN1 connector.

Turn the power
ON

Turn the power ON. Using the panel operator to make sure that the servo
drive is running normally. If using a servomotor equipped with an absolute
encoder, please perform the setup for the absolute encoder.

Execute JOG
operation

Execute JOG operation with the servomotor alone under the no-load
condition.

Connect input
signals

Connect the input signals (CN1) necessary for trial operation to the
servo drive.

Check input
signals

Use the internal monitor function to check the input signals.
Turn the power ON, and check the emergency stop, brake, overtravel, and
other protective functions for correct operation.

Input the
Servo-ON
signal

Input the Servo-ON signal, and turn ON the servomotor.

Host
Reference

Input reference

Input the reference necessary for control mode, and check the servomotor
for correct operation.

Host
Reference

Protective
operation

Turn the power OFF, and connect the servomotor to the machine.
If using a servomotor equipped with an absolute encoder, set up the absolute
encoder and make the initial settings for the host controller to match the
machines zero position.

Set necessary
parameters.

Using the same procedure as you did to input a reference in step 8,operate
the servomotor via the host controller and set the parameter to make sure
the machines travel direction, travel distance, and travel speed all
correspond to the reference.

Operation

The servomotor can now be operated. Adjust the servo gain if necessary.

- 50 -

JOG
Operation

Host
Reference

4.1.1 Trial Operation for Servomotor Without Load

Release the coupling between the servomotor and the machine, and secure only the servomotor without a load.
To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings
and belts disconnected).
In this section, confirm the cable connections of the main circuit power supply, servomotor and encoder. Incorrect wiring is
generally the reason why servomotors fail to operate properly during the trial operation.
Confirm the wiring, and then conduct the trial operation for servomotor without load according to the following steps.
Step

Description

Check Method and Remarks

Secure the servomotor.

Secure the servomotor flange to the machine in order
to prevent the servomotor from moving during
operation.
Do not connect the servomotor shaft to the machine.
The servomotor may tip over during rotation.

Check the power supply circuit, servomotor, and encoder
wiring.

With the I/O signal connector (CN1) disconnected,
check the power supply circuit and servomotor wiring.
Refer to 3.1 Main Circuit Wiring.
If the power is correctly supplied, the panel operator
display on the front panel of the servo drive will appear
as shown on the left. The display on the left indicates
that forward run prohibited (P-OT) and reverse run
prohibited (N-OT).
If an alarm display appears, the power supply circuit,
servomotor wiring, or encoder wiring is incorrect. If an
alarm is displayed, turn OFF the power, find the
problem, and correct it.

Turn ON the control power supply and main circuit power
supply.
Normal Display
3
Alternate Display
Example of Alarm Display

Release the brake before driving the servomotor when a
servomotor with brake is used.
When using a servomotor equipped with an absolute
encoder, encoder setup is required before driving the
servomotor.

- 51 -

Please refer to 4.3.4 Setting for Holding Brakes
Please refer to 4.5 Operating Using Speed Control
with Analog Reference

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 INC key,
and reverse direction by DEC key.
The operation is completed when the operation is
performed as described below and the alarm display does
not appear.

Complete the Fn002 (JOG Mode Operation) and turn OFF
the power.
For operation method of the panel operator, refer to
Chapter 5 Panel Operator
The servomotor speed can be changed using the Pn305
(JOG Speed).The factory setting for JOG speed is
500rpm.

JOG Mode Operation (Fn002)
Step

Display after operation

Panel operator

Description
Press the MODE key to select the function

MODE key

mode.
INC or DEC key
ENTER key

Press the INC key or DEC key to select
Fn002.
Press the ENTER key, and the servomotor will enter
JOG operation mode.
Press the MODE key. This will turn ON the power to

MODE key

the servomotor.
The servomotor will run in forward direction when INC
key pressed or in reverse direction when DEC key

INC or DEC key

pressed. The servomotor will operate as long as the
key is pressed.

Press the MODE key. This will turn OFF the power to

MODE key

the servomotor.
Press the ENTER key to return to the Fn002 display

ENTER key

of the utility function mode. Now, the servo drive is
servo OFF.

Note
The servomotors rotation direction depends on the setting of parameter Pn001.0(Direction Selection).
The example above describes operation with Pn001.0 in the factory setting.

- 52 -

JOG Speed
Pn305

Speed

Position

Torque

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~6000

rpm

500

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.
Pay attention that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid during JOG
mode operation.

4.1.2 Trial Operation for Servomotor without Load from Host Reference
Check that the servomotor move reference or I/O signals are correctly set from the host controller to the servo drive.
Also check the wiring and polarity between the host controller and servo drive, and the servo drive operation setting are
correct. This is final check before connecting the servomotor to the machine.

(1)Servo ON Command from the Host
The following circuits are required: External input signal circuit or equivalent.

Speed Control
(Standard Setting)
[Pn005=H.

Position Control
[Pn005=H.

CN1

CN1
+24V
/S-ON
P-OT
N-OT
V-REF

+24V

/S-ON

14
P-OT
16
N-OT
17
PULS
1
SIGN

- 53 -

13
14
16
17
30
32

)

(2)Operating Procedure in Speed Control Mode (Pn005=H

The following circuit is required: External input signal circuit or equivalent.

Servodrive
CN1
13

+24V

V-REF+

/S-ON

P-OT

N-OT

V-REF+

V-REF-

GND

Max. Voltage (12V)

Step

Description

Check Method and Remarks

Check the power and input signal circuits again,
and check that the speed reference input (voltage

Refer to the above figure for input signal circuit.

between the V-REF+ and V-REF-) is 0V.
If the servomotor rotates at extremely slow speed, refer to
Turn ON the servo ON (/S-ON) input signal.

4.5.3 Adjusting Reference Offset, and use the reference
voltage offset to keep the servomotor from moving.

Generally increase the speed reference input
voltage between V-REF+ and V-REF- from 0 V.
Check the speed reference input to the servo drive
(Un001[rpm])

The factory setting is 6V/rated rotation speed.
Refer to 5.1.6 Operation in Monitor Mode.

Check the Un000 (motor speed [rpm])

Refer to 5.1.6 Operation in Monitor Mode.

Check that the Un001 and Un000 values in steps 4

Change the speed reference input voltage and check that

and 5 are equal.

Un001 and Un000 are equal for multiple speed references.
Refer to the following equation to change the speed reference
input gain (Pn300).
Un001

Check the speed reference input gain and

(V-REF Voltage)[V]×Pn300

To change the servomotor rotation direction without changing

servomotor rotation direction.

polarity for speed reference input voltage, refer to 4.3.2
Switching the Servomotor Rotation Direction.
Perform the operation from step 2 again after the servomotor
rotation direction is changed.

When the speed reference input is set to 0 V and
servo OFF status enters, trial operation for
servomotor without load is completed.

- 54 -

When Position Control is configured at the Host

When the servo drive conducts speed control and position control is conducted at the host controller, perform the
operation below,following the operation in Operation Procedure in Speed Control Mode (Pn005=H

Step

Description

Check Method and Remarks

Check the input signal circuit again, and check that
the speed reference input (between the V-REF+ and

Refer to the above figure for input signal circuit.

V-REF-) is 0 V.
If the servomotor rotates at extremely slow speed, refer
to 4.5.3 Adjusting Reference

Turn the servo ON input signal (/S-ON) ON.

Offset, and use the reference voltage offset to keep the
servomotor from moving.

Send the command for the number of servomotor

Refer to 5.1.6 Operation in Monitor Mode for how it is

rotation easy to check ( for example, one servomotor

displayed.

revolution) from the host controller in advance, and

Un004(rotation angle)[pulse]: The number of pulses

check the sent number of rotation and actual number

from the zero point.

of rotation by visual inspection and the Un004(rotation
angle)[pulse]
If the sent number of rotation and actual number of

Refer to 4.5.8 Encoder Signal Output for how to set

rotation in step 11 are not equal, correctly set the

PG divided ratio (Pn200[P/Rev]):The

Pn200 (PG divided ratio) outputting the encoder pulse

number of encoder pulses per revolution.

from the servo drive.
When the speed reference input is set to 0 V and
servo OFF status enters, the trial operation for
position control with the host controller is completed.

- 55 -

(3)Operating Procedure in Position Control Mode (Pn005=H

)

The following circuit is required: External input signal circuit or equivalent.

Servodrive
CN1
+24V
/S-ON
P-OT
N-OT
CLR
PULS

Reference pulse
according to parameter
Pn004.2 setting.

Step

13
14
16
17
40
30

/PULS

SIGN

/SIGN

Description

Check Method and Remarks

Match the reference pulse form with the pulse output form

Set the reference pulse form with Pn004.2.

from the host controller.
Set the reference unit and electronic gear ratio so that it

Set the electronic gear ratio with Pn201(or

coincides with the host controller setting.

Pn203)/Pn202.

Turn the power and the servo ON input signal ON.
Send the slow speed pulse reference for the number of

Set the servomotor speed of several 100rpm for the

servomotor rotation easy to check (for example, one

reference pulse speed because such speed is safe.

servomotor revolution) from the host controller in advance.
Check the number of reference pulses input to the servo

Refer to 5.1.6 Operation in Monitor Mode for how

drive by the changed amount before and after the Un013 and

it is displayed.

Un014(input reference pulse counter)[pulse] were executed.
Check whether the actual number of servomotor rotation

Refer to 5.1.6 Operation in Monitor Mode for how

Un009

it is displayed.

Un010 coincides with the number of input reference

pulse.
Check that the servomotor rotation direction is the same as

Check the input pulse polarity and input reference

the reference.

pulse form.

Input the pulse reference with the large number of

Set the servomotor speed of serval 100rpm

servomotor rotation from the host controller to obtain the

the reference pulse speed because such speed is

constant speed.

safe.

Check the reference pulse speed input to the servo drive

Refer to 5.1.6 Operation in Monitor Mode for how

using the Un008(input reference pulse speed)[rpm].

it is displayed.

Check the servomotor speed using the Un000 (servomotor

Refer to 5.1.6 Operation in Monitor Mode for how

speed) [rpm].

it is displayed.

for

To change the servomotor rotation direction without
changing the input reference pulse form, refer to
Check the servomotor rotation direction.

4.3.2 Switching the Servomotor Rotation
Direction. Perform the operation from step 8 again
after the servomotor rotation direction is changed.

When the pulse reference input is stopped and servo OFF
status enters, the trial operation for servomotor without load
in position control mode is completed.

- 56 -

4.1.3 Trial Operation with the Servomotor Connected to the Machine

Follow the procedure below for trial operation precisely as given.
Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may
also cause an accident resulting death or injury.

Follow the procedure below to perform the trial operation.

Step

Description

Check Method and Remarks

Turn the power ON and make the settings for
mechanical configuration related to protective
functions such as overtravel and brake.

Set the necessary parameters for control mode used.

Connect the servomotor to the machine with
coupling,etc.,while the power is turned OFF.
Check that the servo drive is servo OFF status and
then turn ON the power to the machine (host
controller). Check again that the protective function in
step 1 operates normally.
Perform trial operation with the servomotor connected
to the machine, following each section in 4.1.2 Trial
Operation for Servomotor without Load from Host
Reference.
Check the settings of parameters for control mode
used set in step 2 again.
Adjust the servo gain and improve the servomotor
response characteristics, if necessary.

6
7

Thus, the trial operation with the servomotor
connected to the machine is completed.

- 57 -

Refer to 4.3 Setting Common Basic Functions.
When a servomotor with brake is used, take advance
measures to prevent vibration due to gravity acting on
the machine or external forces before checking the
brake operation. Check that both servomotor and brake
operations are correct.
For details, refer to 4.3.4 Setting for Holding Brakes.
Refer to 4.5 Operating Using Speed Control with
Analog Reference, 4.6 Operating Using Position
Control, and 4.7 Operating Using Torque Control for
control mode used.

Refer to 4.3 Setting Common Basic Functions.
For the following steps, take advance measures for
emergency stop so that the servomotor can stop safely
when an error occurs during operation.
Check that the trial operation is completed with as the
trial operation for servomotor without load. Also, check
the settings for machine such as reference unit.
Check that the servomotor rotates matching the
machine operating specifications.
The servomotor will not be broken in completely during
the trial operation. Therefore, let the system run for a
sufficient amount of additional time to ensure that it is
properly broken in.

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
servo drive.
When checking the brake operation,take advance measures to prevent vibration due to gravity acting on the machine or
external forces. Check the servomotor operation and holding brake operation with the servomotor separated from the
machine.If both operations are correct, connect the servomotor with the machine and perform trial operation.
Refer to 4.3.4 Setting for Holding Brakes for wiring on a servomotor with brakes and parameter settings.

4.1.5 Position Control by Host Controller
As described above, be sure to separate the servomotor and machine before performing trial operation of the servomotor
without a load. Refer to the following table, and check the servomotor operation and specifications in advance.

Reference from the Host
Controller
JOG Operation

Check Item
Servomotor speed

(Constan speed reference
input from host controller)

Check Method

Review Items

Check servomotor speed as

Check the parameter setting at

follows:

Pn300 to see if reference

Use the servomotor speed

speed gain is correct.

monitor(Un000) on the panel
operator.
Run the servomotor at low speed.
For example, input a reference
speed of 60rpm, and check to see if
the servomotor makes one
revolution per second.
Simple positioning

Number of

Input a reference equivalent to one

Check the parameter setting at

servomotor

servomotor rotation and visually

Pn200 to see if the number of

rotation

check to see if the shaft makes one

PG dividing pulses is correct.

revolution.
Overtravel (P-OT and

Whether the

Check to see if the servomotor

Review P-OT and N-OT wiring

N-OT Used)

servomotor stops

stops when P-OT and N-OT signals

if the servomotor does not

rotating when

are input during continuous

stop.

P-OT and

servomotor operation.

N-OT signals
are input.

- 58 -

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 speed reference.
Use in the following instances.
To control speed
For position control using the encoder feedback division output from
the servo drive to form a position loop in the hsot controller.
Position Control(Pulse train reference)
Controls the position of the servomotor using pulse train position
reference.
Controls the position with the number of input pulses, and controls the
speed with the input pulse frequency.
Use when positioning is required.
Torque Control (Analog voltage reference)
Pn005

Controls the servomotors output torque with analog voltage torque
reference. Use to output the required amount of torque for operations
such as pressing.
Speed Control(contact reference)

Speed Control

(zero reference)
Use the three input signals /P-CON

/P-CL and /N-CL to control the

speed as set in advance in the servo drive.
Three operating speeds can be set in the servo drive. (In this case, an
analog reference is not necessary.)
These are swithing modes for using the four control methods
described above in combination. Select the control method switching
mode that best suits the application.

- 59 -

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

Input

Connector Pin

Name

Number

Meaning

ON(low level)

CN1-14

/S-ON

Setting

(Factory setting)

OFF(high level)

Servomotor power ON. Servomotor can be operated.
Servomotor power OFF. Servomotor cannot be
operated.

Important
Always input the servo ON signal before inputting the input reference to start or stop the servomotor.
Do not input the input reference first and then use the /S-ON signal to start or stop. Doing so will degrade internal
elements and result to malfunction.
A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to 3.2.2 I/O Signal Names
and Functions.

(2) Enabling/Disabling the Servo ON Signal
A parameter can be always used to set the servo ON condition. This eliminates the need to wire /S-ON, but care must be
taken because the servo drive can operate as soon as the power is turned ON.
Parameter

Pn000

Meaning

External S-ON signal enabled (Factory setting)
External S-ON signal disabled, the servomotor excitation signal is
opened automatically after outputting the S-RDY signal.

After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.

- 60 -

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 travel direction(+,-) of the shaft reverse. The output signal polarity such as encoder pulse output and
analog monitor signal from the servo drive does not change.
The standard setting for forward rotation is counterclockwise as viewed from the servomotor load end.
Parameter
b.

Name
0

Reference
Forward reference

Reverse reference

Standard setting
(CCW=forward)

CCW

(factory setting)

Encoder pulse division output

Encoder pulsedivisionoutput
PAO

PAO

PBO

Pn001

Reverse rotation
mode

CCW

(CW=forward)

Encoder pulsedivision output
PAO
PBO

The direction of P-OT and N-OT change. For Pn001=b.
Pn001=b.

Encoder pulse divisionoutput

PAO
PBO

0(standard setting), counterclockwise is P-OT. For

1(reverse rotation mode), clockwise is P-OT.

- 61 -

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 sorresponding pin number of servo drive
CN1 connector correctly.
Type

Input

Signal Name

P-OT

N-OT

Pin No.

Setting
ON(low level)

CN1-16
(factory setting)

OFF(high level)
ON(low level)

CN1-17
(factory setting)

OFF(high level)

Meaning
Forward rotation allowed. (Normal
operation status.)
Forward rotation prohibited.
(Forward overtravel)
Reverse rotation (Normal operation
status.)
Reverse rotation prohibited.
(Reverse overtravel)

Connect limit switches as shown below to prevent damage
to the devices during linear motion.

Servomotor forward rotation direction.

Rotation in the opposite direction is possible during

Servodrive

overtravel.

Servomotor

For example, reverse rotation is possible during forward

CN1
Limit switch

Limit switch

overtravel.

P-OT
N-OT

16
17

Important
When using overtravel to stop the servomotor during position control, the position error pulses are present. A clear
signal(CLR)input is required to clear the error pulses.

When using the servomotor on a vertical axis, the workpiece may fall in the overtravel condition.
To prevent this, always set the zero clamp after stopping with Pn004.0=5.

- 62 -

(2)Enabling/Disabling the Overtravel Signal
A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the overtravel input
signal.

Parameter

Meaning
Inputs the forward rotation prohibited(P-OT) signal from
CN1-16(factory setting).
Disables the forward rotation prohibited (P-OT) signal. (Allows constant
forward rotation.)

Pn000

Inputs the reverse rotation prohibited(N-OT) signal from CN1-17.(factory
setting)
Disables the reverse rotation prohibited(N-OT) signal. (Allows constant
reverse rotation.)

Applicable control modes: Speed control, position control, and torque control.
After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON againg
to enable the new settings.
A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.2.2 I/O Signal
Names and Functions.

Selecting the Servomotor Stop Method

This is used to set the stop method when an overtravel(P-OT,N-OT)signal is input while the servomotor is operating.
Parameter
H

Stop Mode

Mode After

Stop by dynamic

Rapidlly stops the servomotor by dynamic braking(DB),

brake

then places it into coast(power OFF) mode.
Coast

Meaning

Stopping

Coast to a stop

Stops the servomotor in the same way as when the
servo is OFF(coast to a stop ), then places it into
coast(power OFF) mode.
Stops the servomotor by dynamic braking (DB) when

servo OFF, stops the servomotor by plug braking when
overtravel, and then places it into coast (power OFF)
Coast

Pn004
H

mode.
Makes the servomotor coast to a stop state when servo
OFF, stops the servomotor by plug braking when

S-OFF

overtravel, and then places it into coast (power OFF)

/Overtravel

mode.
Stops the servomotor by dynamic braking (DB) when

servo OFF, stops the servomotor by plug braking when
Zero Clamp

overtravel, and then places it into zero clamp mode.
Makes the servomotor coast to a stop state when servo
OFF, stops the servomotor by plug braking when
overtravel, then places it into zero clamp mode.

- 63 -

After changing these parameters, turn OFF the main circuit and control power
supplies and then turn them ON again to enable the new settings.
Stop by dynamic brake: Stops by using the dynamic brake (with short-circuiting
by a circuit of servo drive).
Coast to a stop: Stops naturally, with no brake, by using the friction resistance
of the servomotor in operation.
Plug braking: Stops by using plug braking limit torque.
Zero Clamp Mode: A mode forms a position loop by using the position
reference zero.

Dynamic brake is an emergency stop function, and one of the general methods to cause a servomotor sudden stop.
Dynamic brake suddenly stops a servomotor by shorting its electrical circuit.
If the servomotor is frequently started and stopped by turning the power ON/OFF or using the servo ON signal(/S-ON),
the DB circuit will also be repeatedly operated, degrading the servo drives internal elements.
Use the speed input reference and position reference to control the starting and the stopping of the servomotor.

(4)Setting the Stop Torque for Overtravel
Plug braking torque limit`
Pn405

Setting Range
0

300

Speed

Position

Torque

Setting Unit

Factory Setting

Setting Validation

300

Immediately

This sets the stop torque for when the overtravel signal(P-OT,N-OT) is input.
The setting unit is a percentage of the rated torque.(the rated torque is 100%)
The value large enough to be the servomotor maximum torque, 300% is set as the factory setting for plug braking limit
torque.However, the actual output plug braking limit torque is determined by servomotor ratings.

- 64 -

4.3.4 Setting for Holding Brakes
The holding brake is used when the servo drive controls a vertical axis.
A servomotor with brake prevents the movable part from shifting due to gravity when the servo drive power goes OFF.
(Refer to 4.1.4 Trial Operation for Servomotor with Brakes.)

1. The brake built into the servomotor with brakes is a deenergization brake, which is used to hold and cannot be used for
braking. Use the holding brake only to hold a stopped servomotor.
2. When operating using only a speed loop, turn OFF the servo and set the input reference to 0V when the brake is
applied.
3. When forming a position loop, do not use a mechanical brake while the servomotor is stopped because the servomotor
enters servolock status.
1

Wiring Example

Use the servo drive sequence output signal /BK and the brake power supply to form a brake ON/OFF circuit.
The following diagram shows a standard wiring example.
Servodrive
R

Power supply

Servomotor with brake
U

L1C
L2C
BK-RY

CN2

CN1
(/BK+)

(/BK-)

+24V
BK
Brake power supply
BK-RY

Yellow or blue

Red
White AC DC Black

BK-RY Brake control relay
1* 2*

The output terminals allocated with Pn511.

- 65 -

Brake interlock output

Type

Signal Name

Output

Connector Pin Number

/BK

Must be allocated

Setting

Meaning

ON(Low level)

Releases the brake.

OFF(High level)

Applies the brake.

This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with
the factory setting.The output signal must be allocated by Pn511. It does not need to be connected for servomotor
without a brake.

Allocating Brake Interlock Output (/Bk)

Brake interlock output (/BK) is not used with the factory setting.The output signal must be allocated.
Connector Pin Number

Parameter
Pn511

Pn511

4
4
4

+ Terminal

- Terminal

CN1-11

CN1-12

CN1-5

CN1-6

CN1-9

CN1-10

Meaning
The /BK signal is output from output
terminal CN1-11,12.
The /BK signal is output from output
terminal CN1-5,6.
The /BK signal is output from output
terminal CN1-9,10.

Important
When set to the factory setting, the brake signal is invalid.
For the allocation of servo drive output signals other than /BK signal, refer to 3.2.2 I/O Signal Names and Functions.
Parameter Pn511 description as following
0

/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

/RD servo enabled motor excitation output

/HOME home completion output

Related parameter

Parameter
No.

Name

Pn505

Servo ON waiting time

Pn506

Basic waiting flow

Pn507

Brake waiting speed

Pn508

Brake waiting time

Unit

Setting
Range

Default

-2000~2000

10ms

0~500

rpm

100

10ms

100

- 66 -

Setting the Brake ON/OFF Timing after the Servomotor Stops

With the factory setting, the /BK signal is output at the same time as the servo is turned OFF. The servo OFF timing can be
changed with a parameter.
Servo ON waiting time
Pn505

Setting Range
-2000

2000

Setting Unit

Factory Setting

Setting Validation

Immediately

Setting Unit

Factory Setting

Setting Validation

10ms

Immediately

Basic waiting flow
Pn506

Setting Range
0

500

When using the servomotor to control a vertical axis, the machine movable part 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.
For details on brake operation while the servomotor is operating, refer to (5) Setting the Brake ON/ OFF Timing When
Servomotor Running in this section.
/S-ON (CN1-14)
/BK Output
Power to Servomotor

Servo ON

Servo OFF

Brake released

Using brakes
brake

Power to
servomotor

Servo ON
Brake released
Power to
servomotor

No power to
servomotor
Pn506

Pn505

Important
The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter.
The machine movable part may shift due to gravity or external force during the time until the brake operates.

- 67 -

Setting the Brake ON/OFF Timing When Servomotor Running

The following parameters can be used to change the /BK signal output conditions when a stop reference is output during
servomotor operation due to the servo OFF or an alarm occuring.
Brake Waiting Speed
Pn507

Setting Range
10

100

Speed

Setting Range
10

100

Torque

Setting Unit

Factory Setting

Setting Validation

1rpm

100

Immediately

Brake Waiting Time
Pn508

Position

Speed

Position

Torque

Setting Unit

Factory Setting

Setting Validation

10ms

Immediately

/BK Signal Output Conditions When Servomotor Running
The /BK signal goes to high level(brake ON) when either of the following conditions is satisfied:
When the servomotor speed falls below the level set in Pn507 after servo OFF.
When the time set in Pn508 is exceeded after servo OFF.

/S-ON input
or alarm or
power OFF

Servo ON

Servo OFF

Servomotor stopped
by applying DB or
Pn507 coasting.
(Pn004.0)

Servomotor Speed

/BK Output

Brake released

Brake held

Pn508

4.3.5 Instantaneous Power Loss Settings
Determines whether to continue operation or turn the servo OFF when the power supply voltage to the servo drive main
circuit is instantaneously interrupted.
Parameter

Signal Name and Meaning

Continue operation when the power supply voltage to servo drive main circuit is

Pn000

instantaneously interrupted.
b

An alarm occurs when the power supply voltage to servo drive main circuit is
instantaneously interrupted.

- 68 -

4.4 Absolute Encoders
Absolute Encoder
Type

Resolution

Output Range of

Action when limit is exceeded

Multiturn Data

When the upper limit(+32767)is exceeded in the
ProNet Series

16-bit/multiturn
17-bit/singleturn

forward direction, the multiturn data is -32768
-32768

+32767

When the lower limit(-32768)is exceeded
in the reverse direction, the multiturn data is
+32767.

The absolute position can be read by the MODBUS protocol. In the actual control, the MODBUS protocol can read the
initial position when the servomotor is stopped (S-OFF), then the real-time position during the servomotor is running can
be learnt from the number of PG divided output pulses.

4.4.1 Selecting an Absolute Encoder
An absolute encoder can also be used as an incremental encoder.
Parameter
Pn002

Meaning

Use the absolute encoder as an absolute encoder.(Factory setting)

Use the absolute encoder as an incremental encoder.

The back-up battery are not required when using the absolute encoder as an incremental encoder.
After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON
again to enable the new settings.

- 69 -

4.4.2 Handling Battery
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.
Install the battary to the encoder cable
A.Open the shell of the battery case.
B.Install the battery according to the following diagram.

C.Cover the shell of the battery case.

- 70 -

4.4.3 Replacing Battery
The servo drive will generate an absolute encoder battery alarm(A.48) when the battery voltage drops below about 3.1V.
Battery Replacement Procedure
1. Replace the battery with only the servo drive control power supply turned ON.
2. After replacing the battery, using the panel operator with utility function Fn011 to cancel the absolute encoder battery
alarm(A.48).
3. Turn ON the servo drive power back again. If it operates without any problems, the battery replacement has been
completed.

Note:
The servo drive will generate an absolute encoder battery alarm(A.48) when the battery voltage drops below about 3.1V.
If an absolute encoder battery alarm(A.47) occurred, it represents that the battery voltage drops below about 2.5V,and
the multiturn data is lost.Please reset the absolute encoder after changing the battery.

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.
Use the panel operator in the servo drive for setup.
Note:
1. Encoder setup operation is only possible when the servo is OFF.
2. If the absolute encoder alarms(A.45 A.48

A.51 ) are displayed, cancel the alarm by using the same method as the

setup. They cannot be canceled with the servo drive alarm reset input signal(/ALM-RST).
3. Any other alarms that monitor the inside of the encoder should be canceled by turning OFF the power.

- 71 -

4.5 Operating Using Speed Control with Analog Reference
4.5.1 Setting Parameters
Parameter
Pn005

Meaning

Control mode selection:Speed control(analog reference)(factory setting)

Speed Reference Input Gain
Pn300

Setting Range
0

3000

Speed

Position

Torque

Setting Unit

Factory Setting

Setting Validation

rpm/v

150

Immediately

Sets the analog voltage level for the speed reference(V-REF) necessary to operate the servomotor at the rated speed.
EXAMPLE
Pn300=150 1V input is equivalent to the servomotor speed of 150rpm(factory setting).

- 72 -

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
Input

Signal Name

Connector Pin Number

Name

V-Ref+

CN1-1

Speed Reference Input

V-Ref-

CN1-2

Speed Reference Input

The above inputs are used for speed control(analog voltage reference).(Pn005.1=0 4 7 9 A) Pn300 is used to set the
speed reference input gain.Refer to 4.5.1 Setting Parameters.
2

Proportional Control Reference (/P-CON)

Tpye

Signal

Connector Pin
Number

Setting
ON(low level)

Input

/P-CON

CN1-15
OFF(high level)

Meaning
Operates the servo drive with proportional
control
Operates the servo drive with proportional
integral control.

/P-CON signal selects either the PI(proportional integral) or P(proportional) Speed Control Mode.
Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift.
Input reference: At 0V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops when
the servomotor is stopped.
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 3.2.2 I/O Signal
Names and Functions.

- 73 -

4.5.3 Adjusting Reference Offset
When using the speed control, the servomotor may rotate slowly even if 0V is specified as the analog voltage reference.
This happens if the host controller or external circuit has a slight offset (in the unit of mV) in the reference voltage.
Adjustments can be done manually or automatically by using the panel operator. Refer to 5.2 Operation in Utility
Function Mode.
The servo drive automatically adjusts the offset when the host controller or external circuit has the offset in the reference
voltage.

(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.
The zero-clamp speed control function can be used to force the servomotor to stop while the zero speed reference is
given. Refer to 4.5.7 Using the Zero Clamp Function.
Note:The speed reference offset must be automatically adjusted with the servo OFF.

Adjust the speed reference offset automatically in the following procedure.
1.Turn OFF the servo drive and input the 0V reference voltage from the host controller or external circuit.

2.Press the MODE key to select the utility function mode.
3.Press the INC or DEC key to select parameter Fn003.

- 74 -

4.Press the ENTER key to enter into the speed reference offset automatic adjustment mode.

5.Press the MODE key for more than one second, the reference offset will be automatically adjusted.

7.Press ENTER key to return to the Fn003 display of the utility function mode.

8.Thus, the speed reference offset automatic adjustment is completed.

- 75 -

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.
To deliberately set the offset to some value
To check the offset data set in the speed reference offset automatic adjustment mode.
This function operates in the same way as the reference offset automatic adjustment mode (Fn003), except that the
amount of offset is directly input during the adjustment.
The offset setting range and setting unit are as follows:

Adjust the speed 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 parameter Fn004.

3. Press the ENTER key to enter into the speed reference offset manual adjustment mode.

4. Turn ON the servo ON (/S-ON) signal. The display will be shown as below.

5. Press the ENTER key for one second to display the speed reference offset amount.

6. Press the INC or DEC key to adjust the amount of offset.
7. Press the ENTER key for one second to return to the display in step 4.
8. Press the ENTER key to return to the Fn004 display of the utility function mode.

9. Thus, the speed reference offset manual adjustment is completed.

- 76 -

4.5.4 Soft Start
The soft start function converts the stepwise speed reference inside the servo drive to a consistent rate of acceleration
and deceleration.
Pn310 can be used to select the soft start form:
0: Slope; 1: S curve; 2: 1st-order filter; 3: 2nd-order filter
Soft Start Acceleration Time
Pn306

Setting Range
0

Speed

Setting Unit

Factory Setting

Setting Validation

1ms

Immediately

10000

Soft Start Deceleration Time
Pn307

Setting Range
0

10000

Speed

Setting Unit

Factory Setting

1ms

Setting Validation
Immediately

The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting
internally set speeds. Set both Pn306 and Pn307 to 0 for normal speed control.
Set these parameters as follows:
Pn306

The time interval from the time the servomotor starts until the servomotor maximum speed is reached.

Pn307

The time interval from the time the servomotor is operating at the servomotor maximum speed until it stops.

4.5.5 Speed Reference Filter Time Constant
Speed Reference Filter Time Constant
Pn308

Setting Range
0

Speed

Setting Unit

Factory Setting

Setting Validation

1ms

Immediately

10000
st

This smoothens the speed reference by applying a 1 order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will slow down response.

- 77 -

4.5.6 S-curve Risetime
S-curve Risetime
Pn309

Setting Range
0

10000

Speed
Setting Unit

Factory Setting

Setting Validation

1ms

Immediately

4.5.7 Using the Zero Clamp Function
1

Zero Clamp Function

The zero clamp function is used for systems where the host controller does not form a position loop for the speed
reference input. 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. The servomotor ignores
the speed reference and then quickly stops and locks the servomotor.
The servomotor is clamped within ±1 pulse when the zero clamp function is turned ON, and will still return to the zero
clamp position even if it is forcibly rotated by external force.

- 78 -

Parameter Setting
Parameter

Pn005

Meaning

Control mode: Speed control(analog voltage reference)

Zero Clamp

Zero Clamp Conditions:
Zero clamp is performed with Pn005=H

when the following two conditions are both satisfied:

/P-CON is ON (low level)
Speed reference (V-REF) drops below the setting of Pn502.

Servodrive

V-REF

Speed reference

V-REF

Speed

speed reference

Preset value for zero
clamping Pn502

CN1
1

Time
Zero clamp

/P-CON

Open

input

Zero clamp is performed.

OFF)

Closed

OFF

ON)

OFF

ON
ON

Zero clamp speed
Pn502

Setting Range
0

3000

Speed
Setting Unit

Factory Setting

Setting Validation

rpm

Immediately

Sets the servomotor speed at which the zero clamp is performed if zero clamp speed control(Pn005=H.

selected. Even if this value is set higher than the maximum speed of the servomotor, the maximum speed will be used.
3

Input Signal Setting

Type

Signal Name

Connector Pin Number

Setting
ON(low level)

Input

/P-CON

CN1-15
OFF(high level)

/P-CON is the input signal to switch to the zero clamp function.

- 79 -

Meaning
Zero clamp function
ON(enabled)
Zero clamp function
OFF(disabled)

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

PAO

CN1-20

Encoder output phase A

/PAO

CN1-21

Encoder output phase /A

PBO

CN1-22

Encoder output phase B

/PBO

CN1-23

Encoder output phase /B

PCO

CN1-24

Encoder output phase C(zero-point pulse)

/PCO

CN1-25

Encoder output phase /C(zero-point pulse)

Output

Output
Output

These outputs explained here.

Servodrive

Encoder

Host Controller
CN1

Phase A(PAO)

CN2
PG

Serial Data

Frequency
dividing
circuit

Phase B(PBO)
Phase C(PCO)

The dividing output phase form is the same as the standard setting(Pn001.0=0) even if in the reverse rotation
mode(Pn001.0=1).
Output phase form

If a servomotor is not equipped with the absolute encoder,servomotor needs two circles rotation before using the serivedr
ive's phase-C pulse output for zero point reference.
Dividing: The dividing means that the divider converts data into the pulse density(Pn200) based on the pulse data of the
encoder installed on the servomotor, and outputs it. The setting unit is the number of pulses/revolution.

- 80 -

Pulse Dividing Ratio Setting
PG Dividing Ratio
Pn200

Speed

Position

Torque

Setting Range

Setting Unit

Factory Setting

Setting Validation

16~16384

1Puls

16384

After restart

Set the number of pulses for PG output signals(PAO,/PAO,PBO,/PBO) externally from the servo drive.
Feedback pulses from the encoder per revolution are divided inside the servo drive by the number set in Pn200 before
being output. (Set according to the system specifications of the machine or host controller.)
The setting range varies with the number of encoder pulses for the servomotor used.
Output Example
Pn200=16(when 16 pulses are output per revolution)

4.5.9 Speed coincidence output
The speed coincidence (/V-CMP) output signal is output when the actual servomotor speed during speed control is the
same as the speed reference input. The host controller uses the signal as an interlock.
Type
Output

Signal Name

Connector Pin Number

/V-CMP(/COIN)

CN1-11

(factory setting)

Setting

Meaning

ON(low level)

Speed coincides.

OFF(high level)

Speed does not coincide.

Coincidence Difference
Pn501

Setting Range
0

100

Speed
Setting Unit

Factory Setting

Setting Validation

rpm

Immediately

The /V-CMP signal is output when the difference between the speed reference and actual servomotor speed is less than
Pn501.
Example
The /V-CMP signal turns ON at 1900 to 2100rpm if the Pn501 parameter is set to 100 and the reference speed is
2000rpm.

Note
This pin outputs the /COIN signal in position control mode, and the /V-CMP signal in speed control mode.

- 81 -

4.6 Operating Using Position Control
Set the following parameters for position control using pulse trains.
Parameter
Pn005

Meaning
1

Control mode selection

position control(pulse train reference)

A block diagram for position control is shown as below.
Servodrive(in position control)
Pn112

B
A

Feed forward

Differential

Pn113

Pn201

Pn111

Feed forward
filter time
constant

Offset
Pn500

Pn202
Positioning
complete
Pn004.2
Pn201

Pn204
×1
×2
×4

Reference pulse

Smoothing

Pn104

B
A

Pn202

Servomotor
+
+

Error counter

+
Speed loop

Current loop

×4

Pn200

PG signal output

dividing

Encoder

4.6.1 Basic Setting in Position Control
(1)Setting a reference pulse sign
Type

Signal Name

Connector Pin Number

Name

PULS

CN1-30

Reference pulse input

/PULS

CN1-31

Reference pulse input

SIGN

CN1-32

Reference sign input

/SIGN

CN1-33

Reference sign input

Input

(2)Setting reference input filter for open collector signal
Pn006

when pulse is difference input, servo receiving pulse frequency 4M

when pulse is difference input, servo receiving pulse frequency 650K

when pulse is difference input, servo receiving pulse frequency 150K

- 82 -

(3) Setting a Reference Pulse Form
Set the input form for the servo drive using parameter Pn004.2 according to the host controller specifications.
Parameter

Reference

Input Pulse

Pulse Form

Multiplier

Forward Rotation
Reference

Sign+pulse train
H

PULS
(CN1-30)

(positive logic)

SIGN
(CN1-32)

(factory setting)

PULS
(CN1-30)

H
H
H
H

CW+CCW
(positive logic)

SIGN
(CN1-32)

PULS
(CN1-30)

SIGN
(CN1-32)

Reverse Rotation
Reverse

SIGN
(CN1-32)

×1

Two-phase pulse
train with 90°

×2

phase differential

×4

(positive logic)

Note:
The input pulse multiplier can be set for the two-phase pulse train with 90° phase differential reference pulse form.
Forward Rotation

Reverse Rotation

PULS
(CN1-30)

SIGN
(CN1-32)

×1

Internal processing

×2

Servomotor movement
reference pulses.

×4

(4)Inverses PULS and SIGN reference
Pn004

Do not inverse PULS reference and SIGN reference
Do not inverse PULS reference; Inverses SIGN reference
Inverse PULS reference; Do not inverse SIGN reference
Inverse PULS reference and SIGN reference

- 83 -

(5)Reference Pulse Input Signal Timing
Reference pulse signal form

Electrical specifications

Remarks
SIGN

Sign+pulse train input
(SIGN+PULS signal)

SIGN

Maximum reference frequency

H=forward reference

t1 t2=0.1µs
t3 t7=0.1µs
t4 t5 t6>3µs
t =1.0µs
(t /T)×100 = 50%

PULS
t4

500kpps (For open-collector output

T
Forward reference

200kpps)
CW pulse+CCW pulse Maximum

Reverse reference

L=reverse reference

t1
T

reference frequency:500kpps

CCW

(For open-collector output 200kpps)

t1 t2=0.1µs
t3>3µs
t =1.0µs
(t /T)×100 = 50%

t3
Reverse reference

Forward reference

Two-phase pulse train with 90° phase

A parameter

differential(phase A +B)

Pn004.2 can be

Phase A

Maximum reference frequency

t1 t2=0.1µs
t=1.0µs
(t /T)×100 = 50%

Phase B
t

×1 input pulse multiplier

500kpps

×2 input pulse multiplier

400kpps

Forward reference

the input pulse

Reverse reference

Phase B leads A by 90º.

Phase B lags B by 90º.

×4 input pulse multiplier
200kpps

(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.
Host controller
Line-driver

Servodrive
*

CN1
PULS

30 150

/PULS

SIGN

32 150

/SIGN

*
Represents twisted-pair wires

- 84 -

used to switch of

Photocoupler

multiplier mode.

(b)Connection Example for Open-Collector Gate Output
NPN OC GATE OUTPUT

Servodrive
Host controller

1CN-30

PULS

NOTE:
VDC=12~24V
R=(VDC-1.5Volt)/10mA-150

R
/PULS

VDC

1CN-31

1CN-34

VDC=12V,
R=1K /0.25W

2K
SIGN

1CN-32
75

/SIGN

VDC=24V,
R=2K /0.25W

1CN-33
75

R
GND

PNP OC GATE OUTPUT
Servodrive
Host controller
PULS

1CN-30

/PULS

1CN-31

NOTE:
VDC=12~24V
R=(VDC-1.5Volt)/10mA-150

R
VDC

1CN-34

2K
2K

SIGN

1CN-32
75

/SIGN

VDC=12V,
R=1K /0.25W
VDC=24V,
R=2K /0.25W

1CN-33
75

GND

Note When the host controller applied by open-collector signal output, input signal noise margin lowers. When a position
error caused by the noise occurs, set the parameter Pn006.3.

- 85 -

4.6.2 Setting the Clear Signal
1

Setting the Clear Signal
Type

Sign Name

Connector Pin Numbe

Function

Input

/CLR

1CN-40

error counter clear

When the /CLR signal is set to low level, clear error counter:
The error counter inside the servo drive is set to

Position loop operation is disabled.
2

Setting the Clear Signal Mode

In position control mode, pulses will be still presented in the servo drive when servo OFF, thus it should be cleared when
servo drive is turned ON. Setting Pn004 to choose whether clearing the pulses automatically when servo OFF.
Clear the error pulse when S-OFF, do not when overtravel.
Do not clear the error pulse.
Clear the error pulse when S-OFF or overtravel (excep for zero clamp)

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.
When the Electronic Gear is Not Used

When the Electronic Gear is Used

workpiece

No. of encoder
pulses 32768

workpiece
Reference unit
No. of encoder
pulses 32768

Ball screw pitch 6mm

To move a workpiece 10mm using
reference units:

To move a workpiece 10mm :
One revolution is 6mm. Therefore 10÷6
1.6666 revolutions.
32768×4 pulses is one revolution.
Therefore, 1.6666×32768×4 218445
pulses. 218445 pulses are input as
reference pulses.
The equation must be calculated at the
host controller.

The reference unit is 1µm. Therefore, to
move the workpiece 10mm (10000µm),
1pulse=1µm, so 10000/1 10000 pulses.
Input 10000 pulses per 10mm of
workpiece movement.

- 86 -

1µm

Related Parameters
Electronic Gear Ratio(Numerator)
Pn201

Setting Range
1

Position

Setting Unit

Factory Setting

Setting Validation

After restart

65535

Electronic Gear Ratio(Denominator)
Pn202

Setting Range
1

Position

Setting Unit

Factory Setting

Setting Validation

After restart

65535

If the deceleration ratio of the servomotor and the load shaft is given as n/m where m is the
rotation of the servomotor and n is the rotation of the load shaft.
Electronic gear ratio:

B
A

Pn 201
Pn 202
No. of encoder pulses 4
Travel dis tan ce per load

m
n

shaft revolution (reference units)
If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range.
Be careful not to change the electronic gear ratio (B/A).
Important
Electronic gear ratio setting range: 0.01 electronic gear ratio(B/A) 100
If the electronic gear ratio is outside this range, the servo drive will not operate properly. In this case, modify the load
configuration or reference unit.

(3)Procedure for Setting the Electronic Gear Ratio
Use the following procedure to set the electronic gear ratio.
Step
1
2

Operation
Check machine specifications.
Check the number of encoder
pulses.

Description
Check the deceleration ratio, ball screw pitch and pulley
diameter.
Check the number of encoder pulses for the servomotor used.
Determine the reference unit from the host controller,

Determine the reference unit used.

considering the machine specifications and positioning
accuracy.

Calculate the travel distance per load shaft

Calculate the number of reference units necessary to turn the load shaft

revolution.

one revolution based on the previously determined reference units.s

Calculate the electronic gear ratio.

Use the electronic gear ratio equation to calculate the ratio (B/A).

Set parameters.

Set parameters using the calculated values.

- 87 -

(4)Electronic Gear Ratio Setting Examples
The following examples show electronic gear ratio settings for different load configurations.
Load Configuration
Ball Screw

Disc Table

Belt and Pulley
Reference unit

Step

Reference unit 0.001mm
Load shaft

Operation

17-bit encoder

0.01mm

Load shaft

Deceleration ratio:
2 1

Ball screw pitch 6mm

Pulley diameter:
F 100mm

17-bit encoder

1
2

Check

machine

Rotation angle per revolution

specifications.

Deceleration ratio:/1

:360° eceleration ratio:3/1

Encoder

17-bit:32768P/R

1 reference unit:0.1°

1 reference unit:0.01mm

360°/0.1°=3600

314mm/0.01mm=31400

Determine the
3

Pulley diameter:100 mm

Ball screw pitch:mm

1 reference unit:

rference unit

0.001mm(1 m)

used

(pulley circumference:314 mm)
·Deceleration ratio:2/1

Calculate the
4

travel distance

6mm/0.001mm=6000

per load shaft
revolution
Calculate the
ratio
Set parameters

Final Result

32768 4 1
6000
1

B
A

electronic gear

B
A

32768 4 3
3600
1

32768 4 2
31400
1

Pn201

131072

Pn201

393216

Pn201

262144

Pn202

6000

Pn202

3600

Pn202

31400

Pn201

32768

Pn201

32768

Pn201

32768

Pn202

1500

Pn202

300

Pn202

3925

Reduce the fraction (both numerator and denominator) if the calculated result will not be within the setting range.
For example, reduce the above numerators and denominators by four or other numbers to obtain the final results in step
7 and complete the settings.
(5)Electronic Gear Ratio Equation

Servomotor

Reference pulse

(mm / P)

B
A

Pitch P mm/rev
Position
loop

( mm / P ) : Reference unit

Speed
loop

m
n
n p

×4
PG(P/rev))

PG(P/rev)) Encoder pulses
P mm/rev

Ball screw pitch
Deceleration ratio

B
( ) 4 PG m
A
B
4 PG m
( )
A
n p

4 PG
P

m
n

Set A and B with the following parameters

- 88 -

Pn202

Pn201

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

Description

Pn205

1 -order filter

2nd-order filter

After changing the parameter, turn OFF the power once and turn it ON again to enable the new setting.
(2)Filter-related Parameters
Position Reference Acceleration/Deceleration Time Constant
Pn204

Setting Range
0

32767

Position

Setting Unit

Factory Setting

Setting Validation

0.1ms

Immediately

Important
When the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference
pulse input and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the
reference pulse from the host controller and input the clear signal (CLR), or turn OFF to clear the error.
This function provides smooth servomotor operating in the following cases.
When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
When the reference pulse frequency is too low.
When the reference electronic gear ratio is too high (i.e., 10× or more)

- 89 -

4.6.5 Low Frequency Vibration Suppression
1

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.
The function of low frequency vibration suppression is embedded in ProNet series servo drives by calculating the load
position and compensating.

Application:

Low frequency vibration suppression function is enabled in both speed control mode and position control mode.
Low frequency vibration suppression function is disabled or can not reach the expected effect in the following condition.
Vibration is pricked up due to external force.
Vibration frequency is out of 5.0Hz to 50.0Hz
There is mechanical clearance at the mechanical connection part.
The time for movement is less than one vibration period.
3

How to operate:
Measuring Vibration frequency
Write the frequency data that measured(unit:0.1Hz) directly to Parameter Pn411, if the vibration frequency can be
measured by instrument (such as laser interferometer).And it also can be measured indirectly by communication
software ESView or FFT analyse function.

- 90 -

Related Parameters
Parameter

Meaning
0:Low frequency vibration suppression function disabled

Pn006

1:Low frequency vibration suppression function enabled

Low frequency vibration frequency
Pn411

Setting Range
50

500

Setting Range
0

200

Position

Setting Unit

Factory Setting

Setting Validation

0.1Hz

100

Immediately

Low frequency vibration damp
Pn412

Speed

Position

Setting Unit

Factory Setting

Setting Validation

Immediately

Writing the frequency data to parameter Pn411 can adjust Pn411 slightly to obtain best suppression effect.
If the servomotor stopped with continuous vibration, Pn412(Do not change in general) should be increased properly.
Parameter Pn411 and Pn412 are enabled when Pn006.2=1(Setting validation: after restart).

- 91 -

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

Signal Name

Connector Pin Number
CN1-11,CN1-12

Output

Setting
ON(low level)

(Factory setting)

/COIN

Meaning
Positioning

has

been

completed.
OFF(high level)

Positioning is not
completed.

This output signal can be allocated to an output terminal with parameter Pn511. Refer to 3.2.2 I/O Signal Names and
Functions.
The factory setting is allocated to CN1-11,12.
Positioning Error
Pn500

Setting Range
0

5000

Position
Setting Unit

Factory Setting

Setting Validation

1Puls

Immediately

Position complete time
Pn520

Setting Range

Position
Setting Unit

Factory Setting

Setting Validation
Immediately

The positioning completion (/COIN) signal is output when the difference (position error pulse) between the number of
reference pulses output by the host controller and the travel distance of the servomotor less than the value set in this
parameter and the stabilization time more than the value of Pn520.
Set the number of error pulses in reference unit (the number of input pulses defined using the electronic gear).
Too large a value at this parameter may output only a small error during low-speed operation that will cause the /COIN
signal to be output continuously.
The positioning error setting has no effect on final positioning accuracy.
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.

- 92 -

4.6.7 Reference Pulse Inhibit Function(INHIBIT)
(1)Description
This function inhibits the servo drive from counting input pulses during position control.
The servomotor remains locked (clamped) while pulses are inhibited.
Servodrive
Pn005.1
Pn005=H.

1
OFF

Reference pulse

Error Counter

Pn005=H.
ON

/P-CON

+
-

/P-CON
Feedback pulse

(2)Setting Parameters
Parameter
Pn005

Meaning
Control mode selection

position control(pulse train reference)

INHIBIT

Inhibit(INHIBIT) switching condition
/P-CON signal ON (low level)

(3)Setting Input Signals
Type

Signal

Connector Pin

Name

Number

Setting

Meaning
Turns the INHIBIT function ON.

ON(low level)
Input

/P-CON

CN1-15

(Inhibit the servopack from counting
reference pulses)

OFF(high level)

- 93 -

Turns the INHIBIT function OFF.
(Counters reference pulses.)

4.6.8 Position Control (contact reference)
Position control under contact reference (parameter Pn005.1

C). In this mode, servo drive can position with a single

axes without a host controller.
There are 16 position control points with each could set move distance, running speed, constants for position reference
filter time and the stop time when positioning completed. Two speeds (1. speed moving towards distance switch speed of
looking for reference point. 2. Speed moving away from distance switch moving speed.) of reference points could be set
as:
Two position modes: 1. Absolute position mode 2. Relative position mode
Two running modes: 1. Circling mode 2. Non-circling mode
Two step switching method: 1. Delay step switching 2. /P-CON signal switching
Method of looking for reference points: 1. Forward direction 2. Reverse direction
Adjusting offset
Offset of each points has two correspondent parameters: one unit of the parameter is
other is

x 1 reference pulse

x 10000 reference pulse and the

. Setting range of both parameters is: (-9999----+9999), while offset value equals sum of

those two values.
For example:
No.0 offset correspond to parameter Pn600 x 10000 reference pulse

and Pn601

x 1 reference pulse . Set Pn600

= 100, Pn601=-100.
No.0 offset value = Pn600x10000 reference pulse + Pn601x1 reference pulse
= 100x10000 reference pulse + (-100)x1 reference pulse
= 999900 reference pulse
With the same principle, we can conclude: in order to get the same results, we also can set Pn600 = 99 and Pn601 =
9900.
Thus, we can see when the two parameters are not zero; we can get same result by two ways: one is to set the two
parameters both negative or both positive, or one negative the other positive.
Speed
Speed mention here refers to the steady speed during motor running, which is similar to the pulse frequency given from
external in ordinary position control. However, this speed has nothing to do with electronic gear; it is just the actual speed
of the motor.
Position reference filter time constant
Same as position reference filter time constant Pn204 in common position control.
Time for change steps after desired position reached
Apply internally delay of changing steps to valid 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. Such period of time depends on step
changing time required by a point number among start point in program.
When running point control program, if error counter is set as not clear error counter when Servo OFF, then the error
counter might flood. If it does not flood, then the servo drive will probably run at the max. running speed when Servo ON
again. PLEASE PAY ATTENTION TO THE SAFETY OF INSTRUMENT.

- 94 -

Para. No.

Name and description

Setting
range

Default

0~2

[0] Clear error pulse when S-0FF, not clear error pulse
Pn004.1

when overtravel.
[1] Not clear error pulse
[2] Clear error pulse When S-OFF or over travel

Looking for the reference point
Looking for the reference point is for establishing a zero physical point of the operating platform, which is used as zero
point in the coordinates during point position control. And users may choose to find a reference point either in forward side
or reverse side.
How to find a reference point
Mount a limit switch in the forward or reverse side, find a reference point in the forward direction after connect to /PCL
and in the reverse direction after connect to /NCL. When the operating platform bump into the limit switch, motor will first
stop according to the way set by Pn004.0 and then rotates again against limit switch. When the operating platform leaves
the limit switch and the motor reaches the position of first photo encoder Phase C pulse. Then position of operating
platform is set to be the zero point of the coordinates.
How to find related parameters of reference point
Speed towards limit switch is called speed of looking for reference point , and the speed moving away from limit switch is
called moving speed.
Para. No.
Pn685
Pn686

These two speeds could be set by following parameters:
Description

Speed of looking for reference point (hits
the limit switch)
Moving speed (move away from limit
switch)

Unit

Setting range

Default

rpm

0~3000

1500

rpm

0~200

Usually, if the set speed of the reference point (Pn685) is high and the Moving speed (Pn686) is low. Note: if moving
speed is too high, precision of finding a reference point would be affected.
Besides, /PCL and /NCL is no longer functioned to limiting external current when looking for a reference point.

- 95 -

Related parameter
Para. No.

Description

Observation

Choose between cycle run and single run.
0: cycle run, /PCL as start signal, /NCL reverse to look
for reference point.
1: Single run, /PCL as start signal, /NCL reverse to
Pn681.0

look for reference point.
2. Cycle run, /NCL as start signal, /PCL reverse to
look for reference point.
3. Single run, /NCL as start signal, /PCL reverse to
look for reference point.

Pn681.1

Changing steps will be performed till
the end point completed and the
next change will start from the start
point during multi-points cycle run,
Point control program will not
change steps after the end point
completed during multi- points single
run.

Change step and start mode

Change steps by external /P-CON

0: Delay changing steps, the start signal is not

signals. The signal will be valid when

needed.

drive output reaches the desired

1: Change steps by /P-CON, no need of the start

position. When input signal changes

signal

the signal is valid, then steps will be

2. Delay changing steps, need start signal.

changed by consequence from start

3. Change steps by /P-CON, need start signal

point to end point.

Change step input signal mode
Pn681.2

[0] High or low level
[1] sign pulse
Incremental: relative moving
distance (distance from current point

Pn682

to next point) programming

0: Incremental

Absolute: absolute moving distance

1: Absolute

(distance between operating
platform and the reference point)
programming.

- 96 -

4.6.9 Position Homing Control (Homing Function)
In position control mode, servomotor always need to operate in a fixed position, this position is normally regarded as zero
position. When the host controller is turned on, zero position adjustment is required before processing. This zero position
will be regarded as the reference point. ESTUN servo drive can perform this by the homing function.
(1)Homing Mode Setting
Para. No.

Pn689

Description

Homing in the forward direction

Homing in the reverse direction

Return to search C-Pulse when homing

Directly search C-Pulse when homing

Homing function disabled

Homing triggered by SHOM signal(rising edge)

Applicable control mode:position control
Homing operation can only be operated when /COIN is ON.
Pulses sending from the host controller is disabled when homing
Homing operation is disabled when switching control mode,
Control mode switching is not allowed during homing.
After changing these parameters, turn OFF the main circuit and control power supplies and then turn
them ON again to enable the new settings.
A parameter can be used to re-allocate input connector number for the SHOM and ORG signals. Refer
to 3.2.2 I/O Signal Names and Functions.

(2)Related parameter:
Speed of finding reference point(Hitting the origin signal ORG)
Pn685

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~3000

rpm

1500

Immediately

Speed of finding reference point(Leaving the origin signal ORG)
Pn686

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~200

rpm

Immediately

Number of error pulses during homing
Pn690

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~9999

10000 pulses

Immediately

Number of error pulses during homing
Pn691

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~9999

1 pulse

Immediately

- 97 -

(3)Input Signal Setting
Type

Signal

Connector Pin

Input

SHOM

Must be allocated by
Pn509,Pn510

Input

ORG

Must be allocated by
Pn509,Pn510

Setting
ON=

rising edge

Meaning
Homing is enabled

OFF(not rising edge)

Homing is disabled

ON=H

ORG is enabled

OFF=L

ORG is disabled

After changing Pn509 and Pn510, turn OFF the main circuit and control power supplies and then turn
them ON again to enable the new settings.

Allocating Homing Output Signal (/HOME)
Parameter

Connector Pin Number
+ Terminal

- Terminal

Meaning

Pn511

CN1-11

CN1-12

The signal is output from output terminal CN1-11,12.

Pn511

CN1-5

CN1-6

The signal is output from output terminal CN1-5,6

Pn511

CN1-9

CN1-10

The signal is output from output terminal CN1-9,10

After changing Pn510, turn OFF the main circuit and control power supplies and then turn them ON again to enable
the new settings.
/HOME signal is only enabled at low level.

(4)Description of Homing Operation
Please set Pn689 according to the actual operation in position control mode. Starting homing function, the servomotor will
run at the speed of Pn685 when detecting the rising edge of SHOM signal; the servomotor will run at the speed of Pn686
according to the setting of Pn689.1 when detecting the valid ORG signal.
When ORG is disabled and detecting encoder C-pulse, servo drive will begin to calculate the number of homing offset
pulses. When offset pulses is completed, the servomotor stops and outputs homing completion signal /HOME, then
homing control is completed.
Pn685 (Hitting the origin signal (ORG)) is usually set at high speed, Pn686 (Leaving the origin signal ORG) is usually set
at low speed.
Please be attention that if Pn686 is setting too high, the precision of mechanical zero position will be affected.

After hitting the origin signal ORG, the motor will return to find C-pulse; the figure is shown as below:
Speed

Pn 685

(rpm)

Pn 686
Return to find C-pulse

0rpm

Homing offset distance
Pn 690
*10000
SHOM

Rising edge

ORG

Encoder C-pulse
Begin to counter offset distance after the first C pulse is produced when leaving zero posiion .

- 98 -

Pn 691

Corresponding position:

After hitting the origin signal ORG, the motor will find C-pulse directly; the figure is shown as below:
Speed

Pn 685

rpm

Pn 686
Find C-pulse without
returning

0rpm

Homing offset distance

SHOM

Pn 690 × 10000

Rising edge

Pn 691

ORG

Encoder C-pulse
Begin to counter offset distance after the first C -pulse
is produced when leaving zero posiion.

Corresponding position:
Mechanical shaft

Machine moves, return to search
pulse C

Begin to counter offset distance after
the first C-pulse is produced when
leaving zero posiion.

Motor slow down

Encoder C-pulse

ORG

Rising edge
SHOM

- 99 -

4.7 Operating Using Torque Control
4.7.1 Setting Parameters
The following parameters must be set for torque control operation with analog voltage reference.
Parameter

Meaning

Pn005

Control mode selection
Torque Reference Input Gain

Pn400

Setting Range
10

100

Torque control(analog voltage reference)

Speed

Position

Torque

Setting Unit

Factory Setting

Setting Validation

0.1V/100%

Immediately

This sets the analog voltage level for the torque reference(T-REF) that is necessary to operate the servomotor at the
rated torque.
Example
Pn400=30

The servomotor operates at the rated torque with 3V input (factory setting).

Pn400=100 The servomotor operates at the rated torque with 10V input.
Pn400=20

The servomotor operates at the rated torque with 2V input.

- 100 -

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

Input

Connector Pin Number

T-REF+

CN1-26

T-REF-

CN1-27

Meaning
Torque Reference Input

Used during torque control (analog voltage reference)
(Pn005.1=2

300

Reference torque %

The torque reference input gain is set in Pn400. For setting
details, refer to 4.7.1 Setting Parameters.

100

Input specifications
Input range:DC±0

200

-12

-8

-4
0

±10V/rated torque

Rated torque in forward direction

+9V input

300% rated torque in forward direction

-0.3V input

10% rated torque in reverse direction

-100

Rated torque at 3V

+3V input

Input voltage(V)

Factory setting
Pn400=30

Factory setting

-200

Set the slope with Pn400.

-300

The voltage input range can be changed with parameter Pn400.
Servodrive
470O
1/2W min.

Input circuit example

CN1

Use twisted-pair wires as a countermeasure against noise.

T-REF+
+12V

2KO

GND

Checking the internal torque reference
Checking the internal torque reference with the panel operator.
Use the Monitor Mode(Un003). Refer to 5.1.6 Operation in Monitor Mode.
Checking the internal torque reference with an analog monitor.
The internal torque reference can also be checked with an analog monitor.

- 101 -

T-REF- 27

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.
The automatic adjustment of analog(speed,torque) reference offset(Fn003) automatically measures the offset and adjusts
the reference voltage.
The servo drive performs the following automatic adjustment when the host controller or external circuit has an offset in
the reference voltage.

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 manual adjustment of torque reference offset(Fn004).
The automatic adjustment of analog reference offset(Fn003) cannot be used when a position loop has been formed with
the host controller and the error pulse is changed to zero at the servomotor stop due to servolock.
Use the torque reference offset manual adjustment(Fn004).
Note
The analog reference offset must be automatically adjusted with the servo OFF.

(2)Manual Adjustment of the Torque Reference Offset
Manual adjustment of the torque reference offset(Fn004) 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.
To deliberately set the offset to some value.
Use this mode to check the offset data that was set in the automatic adjustment mode of the torque reference offset.
This mode operates in the same way as the automatic adjustment mode(Fn003), except that the amount of offset is
directly input during the adjustment.
The offset adjustment range and setting unit are as follows.

- 102 -

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.
This function serves to limit the servomotor speed during torque control to protect the machine.
Without Speed Limit

With Speed Limit

(1)Speed Limit Enable
Parameter

Description
Use the value set in Pn406 as the speed limit

Pn001

Internal speed limit

Use the lower speed between V-REF and Pn406 as an external speed limit
input.(External speed limit)

(2)Speed Limit During Torque Control
Speed Limit During Torque Control
Pn406

Setting Range
0

6000

Torque

Setting Unit

Factory Setting

Setting Validation

rpm

1500

Immediately

Set the servomotor speed limit value during torque control.
The servomotors maximum speed will be used when the setting in this parameter exceeds the maximum speed of the
servomotor used.

- 103 -

(3)External Speed Limit Function
Type
Input

Signal Name

Connector Pin Number

V-REF+

CN1-1

V-REF-

CN1-2

Name
External Speed Limit Input

Inputs an analog voltage reference as the servomotor speed limit value during torque control.
The smaller value is enabled, the speed limit input from V-REF or the Pn406 (speed limit during torque control) when
Pn005=H.
The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.
Speed Reference Input Gain
Pn300

Speed

Position

Torque

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~3000

rpm/v

150

Immediately

Set the voltage level for the speed that is to be externally limited during torque control.

4.8 Operating Using Speed Control with an Internally Set Speed
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. The speed control
operations within the three settings are valid. There is no need for an external speed or pulse generator.

- 104 -

4.8.1 Setting Parameters
Parameter
Pn005

Meaning
Control mode selection:
Speed control(contact reference)

Speed control(zero reference)

Internal set speed 1
Pn316

Setting Range

speed
Setting Unit

Factory Setting

Setting Validation
Immediately

Internal set speed 2
Pn317

Setting Range

speed
Setting Unit

Factory Setting

Setting Validation
Immediately

Internal set speed 3
Pn318

Setting Range

speed
Setting Unit

Factory Setting

Setting Validation
Immediately

Internal set speed 4
Pn319

Setting Range

speed
Setting Unit

Factory Setting

Setting Validation
Immediately

Internal set speed 5
Pn320

Setting Range

speed
Setting Unit

Factory Setting

Setting Validation
Immediately

Internal set speed 6
Pn321

Setting Range

speed
Setting Unit

Factory Setting

Setting Validation
Immediately

Internal set speed 7
Pn322

Setting Range

speed
Setting Unit

Factory Setting

Setting Validation
Immediately

(Note):The servomotors maximum speed will be used whenever a speed setting for the
maximum speed.

- 105 -

exceeds the

4.8.2 Input Signal Settings
The following input signals are used to switch the operating speed.
Type

Signal Name

Connector Pin Number

Meaning

Input

/P-CON

CN1-15

Selects the internally set speed.

Input

/P-CL

CN1-41

Selects the internally set speed.

Input

/N-CL

CN1-42

Selects the internally set speed.

4.8.3 Operating Using an Internally Set Speed
Use ON/OFF combinations of the following input signals to operate with the internally set speeds.
When Pn005.1=3: Selects the internally set speed (contact reference)

Speed control (zero reference)

Input Signal
/P-CON

OFF(H)

ON(L)

Speed

/P-CL

/N-CL

OFF(H)

Speed control (zero reference)

OFF(H)

ON(L)

SPEED1

ON(L)

OFF(H)

SPEED2

ON(L)

SPEED3

OFF(H)

SPEED4

OFF(H)

ON(L)

SPEED5

ON(L)

OFF(H)

SPEED6

ON(L)

SPEED7

Note: OFF= High level; ON= Low level
Control Mode Switching
When Pn005.1 = 4

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)

Input Signal
/P-CON

OFF(H)

ON(L)

Speed

/P-CL

/N-CL

OFF(H)

Pulse train reference input (position control)

OFF(H)

ON(L)

SPEED1

ON(L)

OFF(H)

SPEED2

ON(L)

SPEED3

OFF(H)

SPEED4

OFF(H)

ON(L)

SPEED5

ON(L)

OFF(H)

SPEED6

ON(L)

SPEED7

- 106 -

4.9 Limiting Torque
The servo drive provides the following three methods for limiting output torque to protect the machine.
NO.

Limiting Method

Reference Section

Internal torque limit

4.9.1

External torque limit

4.9.2

Torque limiting by analog voltage reference

4.9.3

4.9.1 Internal Torque Limit
Maximum torque is always limited to the values set in the following parameters.
Forward Torque Limit
Pn401

Setting Range
0

Speed
Setting Unit

Factory Seeting

Setting Validation

300

Immediately

300

Reverse Torque Limit
Pn402

Setting Range
0

Torque

Position

Speed

Torque

Setting Unit

Factory Seeting

Setting Validation

300

Immediately

300

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)
With No Internal Torque Limit
Maximum torque can be output

With Internal Torque Limit

Pn402
t

t
Pn401
Speed
Limiting torque

Speed
Maximum torque

Note:
Too small a torque limit setting will result in insufficient torque during acceleration and deceleration.

- 107 -

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
Forward External Torque Limit
Pn403

Setting Range
0

Speed

Factory Setting

Setting Validation

100

Immediately

300

Setting Range

Speed

Position

Torque

Setting Unit

Factory Setting

Setting Validation

100

Immediately

300

Torque

Setting Unit

Reverse External Torque Limit
Pn404

Position

Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
(2)Input Signals
Type
Input
Input

Signal

Connector Pin

Name

Number

/P-CL
/N-CL

CN1-41
(factory setting)
CN1-42
(factory setting)

Setting

Meaning

Limit Value

ON(low level)

Forward external torque limit

Pn403

OFF(high level)

Forward internal torque limit

Pn401

ON(low level)

Reverse external torque limit

Pn404

OFF(high level)

Reverse internal torque limit

Pn402

When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.

(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
Torque

High

level
Pn403

/N-CL

Speed

(Reverse
External
Torque
Limit Input)

Pn404

Torque

Low
level

Pn401

Speed

Note: Select the servomotor rotation direction by setting Pn001=b.

- 108 -

0 (standard setting, CCW=Forward direction).

4.9.3 Torque Limiting Using an Analog Voltage Reference
Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T-REF
terminals (CN1-26,27). This function can be used only during speed or position control, not during torque control.
Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed control.

Important
There is no polarity in the input voltage of the analog voltage reference for torque limiting.
The absolute values of both + and voltages are input, and a torque limit value corresponding to that absolute
value is applied in the forward or reverse direction.

Related Parameters
Parameter
Pn001

Meaning
Use the T-REF terminal to be used as an external torque limit input.

- 109 -

4.10 Control Mode Selection
The methods and conditions for switching servo drive control modes are described below.

4.10.1 Setting Parameters
he following combinations of control modes can be selected according to the application of customers.
Parameter

Pn005

Control Method
Speed control(contact reference)

Speed control(analog voltage reference)

Speed control(contact reference)

Position control(pulse train reference)

Speed control(contact reference)

Torque control(analog voltage reference)

Position control(pulse train reference)

Speed control(analog voltage reference)

Position control(pulse train reference)

Torque control(analog voltage reference)

Speed control(analog voltage reference)

Zero clamp

Position control(pulse train reference)

Position control(inhibit)

4.10.2 Switching the Control Mode
Switching Speed Control(Pn005.1=4

With the sequence input signals in the factory setting, the control mode will switch when both /P-CL and /N- CL signals
are OFF (high level).

Type

Signal Name

Connector Pin Number

Setting

Input

/P-CL

CN1-41(factory setting)

OFF(high level)

Input

/N-CL

CN1-42(factory setting)

OFF(high level)

- 110 -

Meaning
Switches control mode.

4.11 Other Output Signals
4.11.1 Servo alarm output
The following diagram shows the right way to connect Alarm Output.

External +24V I/O power supply is required, since there is no +24V power supply available inside servo drive.
Output
Output

ALM+ 1CN- 7
ALM- 1CN- 8

Servo alarm output
Servo alarm output uses grounding signal

The signal outputs when servo drive is detected abnormal.

Normally, the external circuit consists of /ALM should be able to switch off power of servo drive.
Signal

Status
ON
OFF

ALM

Output level
1CN-7 L level
1CN-8 H level

Comments
Normal state
Alarm state

When servo alarm(ALM) happens, always remove alarm reasons first , and then turn the input signal "/ALM-RST" to ON
position to reset alarm status.
Input

/ALM-RST

Signal
/ALM-RST

1CN- 39

Status
ON
OFF

alarm reset input
Input level
1CN-39 L level
1CN-39 H level

Comments
Reset servo alarm
Do not reset servo alarm

Normally, the external circuit can switch off power supply of servo drive when alarm occurs. When servo drive is
re-switched on, it removes alarm automatically, so normally alarm reset signal is not required to be connected.
In addition, alarm reset are enabled with panel operator.
Note

When alarm occurs

always remove alarm reasons before resetting alarms.

- 111 -

4.11.2 Rotation Detection Output Signal(/TGON)
Type

Signal Name

Connector Pin Number

Setting

Meaning
Servomotor is operating(Servomotor
speed is above the setting in Pn503).
CN1-5,CN1-6
Output
/TGON
Servomotor is not
(Factory setting)
OFF(high
operating(Servomotor
level)
speed is below the setting in Pn503).
This signal is output to indicate that the servomotor is currently operating above the setting in parameter Pn503.
ON(low level)

Related parameter
Rotation Detection Speed TGON
Pn503

Setting range
0

Speed

Position

Torque

Setting unit

Factory setting

Setting validation

rpm

Immediately

3000

Sets the range in which the rotation detection output signal (/TGON) is output in this parameter.
When the servomotor rotation speed is above the value set in the Pn503, it is judged that servomotor rotation speed
signal (/TGON) is output.
The rotation detection signal can also be checked on the panel operator.

4.11.3 Servo Ready(/S-RDY) Output
Type

Signal Name

Output

/S-RDY

Connector Pin Number

Setting

Meaning

CN1-9,CN1-10

ON(low level)

(factory setting)

OFF(high level)

Servo is ready.
Servo is not ready.

This signal indicates that the servo drive received the servo ON signal and completed all preparations.
It is output when there are no servo alarms and the main circuit power supply is turned ON.

4.11.4 Encoder C Pluse Output (/PGC)
Type

Signal Name

Connector Pin Number

Setting

Meaning

Not including this setting in

ON(low level)

With encoder C pluse output

the default setting,
Output

/PGC

please choose terminal
output by setting

OFF(high level)

Without encoder C pluse
output

parameter Pn511
This signal indicates that when servo drive circumrotate to position of C pluse
of C pluse and the speed of servo drive.

- 112 -

there is a correlation between the width

4.11.5 Over travel signal output(OT)
Type

Signal Name

Connector Pin Number

Setting

Meaning
Without forward rotation

Not including this
ON(low level)

setting in the default
Output

prohibited(NOT)signal

setting,please choose

With forward rotation

terminal output by
setting parameter

prohibited(POT) and reverse rotation

OFF(high level)

prohibited(POT )and reverse rotation
prohibited(NOT)signal

Pn511

When machine is on over travel state,OT signal is OFF;Host controller can use this signal to stop sending
reference.
Related parameter
POT/NOT
Pn000
Pn000.1
Pn000.1

Speed

Position

Torque

Setting Range
Unit
Factory Setting
0
0 1111
1,external POT disabled;Pn000.2 1, external NOT disabled;
1 and Pn000.2 1,OT signal is ON.

Setting Validation
After restart

4.11.6 Servo Enabled Motor Excitation Output(/RD)
Type

Signal Name

Connector Pin Number
Not including this setting in
the

default

setting,please

choose terminal output by
setting parameter Pn511

Setting

Meaning

Servo enabled motor excitation

OFF

Servo disabled motor not excitation

/RD is on when servo enabled motor excitation.

4.11.7 Torque Limit Detection Output (/CLT)
The application of output signal /CLT is as follows:
Servo Drive

Photocoupler output
Max.applicable Voltage
DC30V
Max.applicable current
DC50mA

>Output /CLT

Torque limit output

24V Power
supply
1CN-

/CLT+

1CN-

/CLT-

Speed, torque control, position control

- 113 -

+24V

Indicates the output torque (current) of motor is limited.
Type

Signal Name

Connector Pin Number

Setting

Meaning
Motor output torque under limit

Not including this setting in
the

default

(Internal torque reference is higher than

setting,please

setting value )

choose terminal output by

No torque limit

setting parameter Pn511

OFF

(Internal torque reference is lower than
setting value )

Please use the following user constants to define output signals and pins when using /CLT signal.

Connector Pin Number

Para. No.
Pn511

Pn511

H. 3

+Terminal
3
3

Meaning

-Terminal

CN1-11

CN1-12

Output signal of CN1-11

CN1-12 is /CLT

CN1-05

CN1-06

Output signal of CN1-5

CN1-6 is /CLT

CN1-09

CN1-10

Output signal of CN1-9

CN1-10 is /CLT

Pn511.0=3
1CN-11,1CN-12

/CLT
Torque limit
output

Pn511.1=3
1CN-05,1CN-06
Pn511.2=3
1CN-09,1CN-10
Output terminal

Parameter Pn511 description as following
0

/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

/RD servo enabled

/HOME home completion output

motor excitation output

- 114 -

4.12 Online Autotuning
4.12.1 Online Autotuning
Online autotuning calculates the load moment of inertia during operation of the servo drive and sets parameters so that
the servo gains consistent with the machine rigidity are achieved.
Online autotuning may not be effective in the following cases.
The motor high speed is lower than 100 rpm
The motor acceleration or deceleration is lower than 5000rpm/s
Load rigidity is low and mechanical vibration occurs easily or friction is high.
The speed load moment is changed greatly
Mechanical gas is very large.
If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotuning,
set the value in Pn106 (Load inertia percentage) and performthe adjustment manually.

4.12.2 Online Autotuning Procedure

Do not perform extreme adjustment or setting changes causing unstable servo operation.Failure to observe
this warning may result in injury and damages to the machine.
Adjust the gains slowly while confirming motor operation.
Start

Operate with factor setting.
Set Pn100=1

Operation OK

Yes

Load moment of inertia
varies?
Yes
Continuous online autotuning
Pn100=1 2 3 4 5 6

Operation OK?

Yes

No
Adjust the machine rigidity setting
Set at Pn101

Operation OK
No
Do not perform online autotuning.
Set Pn100=0

End

- 115 -

Yes

4.12.3 Setting Online Autotuning
Related parameters:
Parameter
No.

Name

Unit

Setting
Range

Factory
Setting

Setting
Invalidation

0~6

After restart

0~15

Immediately

0~3

Immediately

Online autotuning setting
0:Manual gain adjustment
1,2,3=Normal mode;4,5,6=Vertical load

Pn100

1,4 = Load inertia without variation;
2,5 = Load inertia with little variation;
3,6=Load inertia with great variation

Pn101

Machine rigidity setting
Speed gain acceleration relationship during
online autotuning

Pn128

If the setting is greater, the servo gain will
increase.

4.12.4 Machine Rigidity Setting for Online Autotuning
There are 16 machine rigidity settings for online autotuning, When the machine rigidity setting is selected, the servo
gains (speed loop gain, speed loop integral time constant, position loop gain) are determined automatically. The
factory setting for the machine rigidity setting is 5.
Machine
Rigidity Setting

Position Loop Gain
Pn104

-1

Speed Loop Gain Hz
Pn102=Pn104*( Pn128+1)

Speed Loop Integral Time
Constant

0.1ms

Pn103
0

800

600

450

100

400

120

300

160

200

260

140

320

110

100

400

120

480

140

560

160

640

180

720

210

840

250

1000

300

1200

- 116 -

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 servo drive.
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.

MODE

INC

DEC

ENTER

Panel

Corresponding

Symbol

Key Name
INC key

Function
To display the parameter settings and setting values.
To increase the setting value.

DEC key

To decrease the setting value.
To select a basic mode, such as the display mode, parameter setting

MODE key

mode, monitor mode or utility function mode.
To save the setting during parameter setting and exit.

ENTER key

To display the parameter settings and setting values, and release ararm.

Note: In this manual, the Panel Symbol is represented by Corresponding Key Name for easy understanding.

5.1.2 Resetting Servo Alarms
Servo alarms can be reset by pressing the ENTER key when the panel operator in display mode. Servo alarms can also
be reset the CN1-39(/ALM-RST) input signal.
There is no need to clear the servo alarms if it turns the main circuit power supply OFF.
Note

After an alarm occurs, remove the cause of the alarm before resetting it.

- 117 -

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.

Power ON

Status display mode

Parameter setting mode

Monitor mode

Utility function mode

5.1.4 Status Display Mode
The status display mode displays the servo drive status as bit data and codes.
Selecting Status Display Mode
The status display mode is selected when the power supply is turned ON. If it is not displayed, select this mode by
pressing MODE key.
Note that the display differs between the speed/torque control and position control types.

- 118 -

Bit Data Display
No.

Speed/Torque Control Mode
Bit Data

Position Control Mode

Description

Bit Data

Lit when the difference between the

Lit if error between position reference

servomotor and reference speed is the
Speed

same as or less than the preset value.

Positioning

Coincidence

Preset value:Pn501(factory setting is

Completion

10rpm )

Control
power ON

and actual servomotor position is below
preset value.
Preset value:Pn500(10 pulse is factory
setting)

Always lit in torque control mode.
Base lock

Description

Lit for base block. Not lit at servo ON.
Lit when servo drive control power is ON.

Base block

Lit for base block. Not lit at servo ON.

Control

Lit when servo drive control power is

power ON

ON.

Lit if input speed reference exceeds preset
Speed

value.Not lit if input speed reference is

reference

below preset value.

input

Preset value

Pn503(factory setting is 20

Reference
pulse input

Lit if reference pulse is input.
Not lit if no reference pulse is input.

rpm)
Lit if input torque reference exceeds preset
Torque

value.

Error

Lit when error counter clear signal is

reference

Not lit if input torque reference is below

counter clear

input. Not lit when error counter clear

input

preset value.

signal input

signal is not input.

Preset value

of rated torque

Lit when main circuit power supply is ON
Power ready

and normal.
Not lit when main circuit power supply is

Lit when main circuit power supply is
Power ready

OFF.

ON and normal.
Not lit when main circuit power supply is
OFF.

Lit if servomotor speed exceeds preset

Rotation

value.Not lit if servomotor speed is below

Rotation

value.Not lit if servomotor speed is

detection

preset value.

detection

below preset value.

/TGON

Preset value: Pn503(factory setting is 20

/TGON

Preset value: Pn503(factory setting is

rpm)

20 rpm)

Codes Display
Code

Meaning
Baseblock
Servo OFF(servomotor power OFF)
Run
Servo ON servomotor power ON
Forward Run Prohibited
CN1-16 P-OT

is OFF.

Reverse Run Prohibited
CN1-17 N-OT

is OFF.

Alarm Status
Displays the alarm number.
Press ENTER key to clear the present servo alarm.

- 119 -

5.1.5 Operation in Parameter Setting Mode
The servo drive offers a large number of functions, which can be selected or adjusted by the parameter settings. Refer to
A.1 Parameter List for details.
Parameter Setting Procedures
The parameter settings can be used for changing parameter data. Before changing the data, check the permitted range of
the parameter.
The example below shows how to change parameter Pn102 from 100 to 85.
1

Press MODE key to select the parameter setting mode.

Press INC key or DEC key to select parameter number.

Press ENTER key to display the current data of Pn102.

Press the INC or DEC key to change the data to the desired number 00085. Hold the key to accelerate the changing
of value. When the maximum value or minimum value is reached, pressing INC or DEC key will have no effect.

Press the ENTER or MODE key once to return to the display of Pn102.

In addition, press MODE and ENTER keys at the same time to enter into parameter number shifting status to modify
parameter number, and then execute the same action to exit parameter number shifting status.
In step 3 and 4, press the ENTER key for longer time to enter into parameter shifting status to modify parameter, and then
press the MODE key to save and exit or press the ENTER key to return to parameter number display.

- 120 -

5.1.6 Operation in Monitor Mode
The monitor mode allows the reference values input into the servo drive, I/O signal status, and servo drive internal status
to be monitored.
Using the Monitor Mode
The example below shows how to display 1500,the contents of monitor number Un001.
Press MODE key to select the monitor mode.

Press the INC or DEC key to select the monitor number to display.

Press the ENTER key to display the data for the monitor number selected at step 2.

Press the ENTER key once more to return to the monitor number display.

- 121 -

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

Un002
Un003

Input torque reference Unit:%
(with respect to rated torque)
Internal status bit display

Internal torque reference Unit:%
(with respect to rated torque)

7 6 5 4 3 2 1 0

Un004

Number of encoder rotation angle pulses

Un005

Input signal monitor

Un006

Encoder signal monitor

Un007

Output signal monitor

Un008

Frequency given by pulse Unit:1kHZ

Un009

Number of servomotor rotation pulses

Un010

Pulse rate of servomotor rotated

Un011

Error pulse counter lower 16 digit

Un012

Error pulse counter higher 16 digit

Un013

Number of pulses given

Un014

Number of pulses given ×10000

Un015

Load inertia percentage

Un016

Servomotor overload ratio

Un017

Servomotor winding temperature

x10

Only used in ProNet-7.5kW 22kW when
equipped with resolver.

- 122 -

Contents of Bit Display
Monitor Number

Un005

Monitor Number

Un006

Monitor Number

Un007

Display LED Number

Content

/S-ON CN1-14

/PCON

P-OT

CN1-16

N-OT

CN1-17

/ALM-RST

/CLR CN1-40

/PCL CN1-41

/NCL CN1-42

CN1-15

Display LED Number

CN1-39

Content

Not used

Phase-C

Phase-B

Phase-A

Not used

Display LED Number

Content

CN1_05

CN1_06

CN1_07

CN1_08

CN1_09

CN1_10

CN1_11

CN1_12

- 123 -

5.2 Operation in Utility Function Mode
In utility function mode, the panel operator can be used to run and adjust the servo drive and servomotor.
The following table shows the parameters in the utility function mode.
Parameter No.

Note: Fn010

Function

Fn000

Alarm traceback data display

Fn001

Parameter setting initialization

Fn002

JOG mode operation

Fn003

Automatic adjustment of speed reference offset

Fn004

Manual adjustment of speed reference offset

Fn005

Automatic adjustment of servomotor current detection

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

Fn011 only can be used when the servomotor mounted the absolute encoder.

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.
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the function number of alarm trace back data display.

3. Press the ENTER key once, the latest alarm data is displayed.
Alarm Sequence Number

Alarm Code

4. Press the INC or DEC key to display other alarms occurred in recent.

5. Press the ENTER key, the display will return to Fn000.

Note: Hold the ENTER key for one second with alarm code displaying, all the alarm traceback datas will be cleared.

- 124 -

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. Press the ENTER key to enter into parameter settings mode.

4. Hold the ENTER key for one second, the parameters will be initialized.

5. Release the ENTER key to ruturn to the utility function mode display Fn001.

Note
Press the ENTER key during servo ON does not initialize the parameter settings.
Initialize the parameter settings with the servo OFF.

- 125 -

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. Press the ENTER key to enter into JOG operation mode.

4. Press the MODE key to enter into servo ON(servomotor power ON) status.

5. Press the MODE key to switch between the servo ON and servo OFF status.The servo drive must be in servo ON
status when the servomotor is running.
6. Press the INC or DEC key to rotate the servomotor.

7. Press the ENTER key to return to utility function mode display Fn002.Now the servo is OFF(servomotor power OFF).

- 126 -

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.
The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage. It
can adjust both speed and torque reference offset.
The servo drive automatically adjusts the offset when the host controller or external circuit has the offset in the reference
voltage.

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). Refer to 4.5.3 (2) Manual 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 for a position loop.
The zero-clamp speed control function can be used to force the servomotor to stop while the zero speed reference is
given.
Note: The speed reference offset must be automatically adjusted with the servo OFF.

Adjust the speed reference offset automatically in the following procedure.
1. Turn OFF the servo drive and input the 0V reference voltage from the host controller or external circuit.

2. Press the MODE key to select the utility function mode.
3. Press the INC or DEC key to select the utility function number Fn003.

4. Press the ENTER key to enter into the speed reference offset automatic adjustment mode.

5. Press the MODE key for more than one second, the reference offset will be automatically adjusted.

- 127 -

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.
If a position loop is formed with the host controller and the error is zeroed when servolock is stopped.
To deliberately set the offset to some value.
Use this mode to check the offset data that was set in the automatic adjustment mode of the speed/torque reference
offset.
This mode operates in the same way as the automatic adjustment mode, except that the amount of offset is directly input
during the adjustment.
The offset adjustment range and setting unit are as follows.

Note:
When the offset using in automatic adjustment exceeds manual adjustment range (-1024~+1024
adjustment will be invalid.

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.

- 128 -

manual

4. Turn ON the servo-ON signal, the display is shown as follows:

5. Hold the ENTER key for one second, the speed reference offset will be displayed.

6. Press the INC or DEC key to change the offset.
7. Hold the ENTER key for one second to return to the display in step 4.
8. Press ENTER key to return to the utility function mode display Fn004..

Thus, the speed reference offset manual adjustment is completed.

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.
This section describes the automatic and manual servomotor current detection offset adjustment.
Note
Offset-adjustment of the servomotor current detection signal is possible only while power is supplied to the main
circuit power supply and with the servo is OFF.
Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other servo
drives.
If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.

Automatic Offset-adjustment of Servomotor Current Detection Signal
Adjust the servomotor current detection signal automatically 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 Fn005.

3. Press the ENTER key to enter into the automatic adjustment of the servomotor current detection signal mode.

4. Press the MODE key,the display will blinks for one second. The offset will be automatically adjusted.

5. Press the ENTER key to return to the utility function mode display Fn005.

- 129 -

Thus, the automatic offset-adjustment of the servomotor current detection signal is completed.

Manual Offset-adjustment of Servomotor Current Detection Signal
Adjust the servomotor current detection signal manually in the following procedure.
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the utility function number Fn006.

3. Press the ENTER key to enter into the manual adjustment of the servomotor current detection signal mode.

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.

6. Press the INC or DEC key to adjust the offset.

7. Press the ENTER key for one second to return to the display in step 3 or 4.
8. Press the ENTER key to return to the utility function mode display Fn006.

Thus, the manual offset-adjustment of the servomotor current detection signal is completed.

Note:
The adjusting range of the servomotor current detection offset is -1024 to +1024.

- 130 -

5.2.7 Software Version Display
Set the Fn007 to select the software version check mode to check the servo drive 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. Press the ENTER key to display the DSP software version (the highest bit displays d or E or F or 0).

4. Press the MODE key to display the FGPA/CPLD software version (the highest bit displays P).

5. Press the MODE key to return to DSP software version display.
6. Press the ENTER key to return to the utility function mode display Fn007.

5.2.8 Position Teaching Function
Perform the position teaching function 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 Fn008.

3. Press the ENTER key, the display will be shown as below.

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.
2. Press the INC or DEC key to select the utility function number Fn009.

3. Press the ENTER key, the display will be shown as below.

4. Press the MODE key to rotate the servomotor, and the servomotor dynamic speed will be displayed.
5. The unit of the servomotor and load total inertia displayed when servomotor stops is kg.cm²

- 131 -

Thus, the static inertia detection is completed.
Note

Make sure that the servomotor has 6 circles travel displacement in the CCW direction at least before

detection.

5.2.10 Absolute Encoder Multiturn Data and Alarm Reset
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the utility function number Fn010.

3. Press the ENTER key, the display will be shown as below.

4. Press the MODE key to reset the absolute encoder multiturn data and alarm.

5. Thus the absolute encoder multiturn data and alarm reset is completed.
Important:
This function will clear the absolute position of the encoder; the mechanical safety must be noted.
When the multiturn data is cleared, other encoder alarms will be reset at the same time.

5.2.11 Absolute Encoder Related Alarms Reset
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the utility function number Fn011.

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 completed.

- 132 -

Chapter 6
MODBUS Communication
6.1 RS-485 Communication Wiring
ProNet series servo drives provide the MODBUS communication function with RS-485 interface,
which can be used to easily set parameters or to perform monitoring operations and so on.
The definitions of the servo drive communication connector terminals are as follows.
CN3
Terminal No.

Name

485+

ISO_GND

Function
Reserved
RS-485 communication terminal
Isolated ground

485-

CANH

RS-485 communication terminal
CAN communication terminal

CANL

CAN communication terminal

Note: Do not short terminal 1 and 2 of CN3.
CN4
Terminal No.

Name

Function

Reserved

485+

ISO_GND

485-

CANH

CAN communication terminal

CANL

CAN communication terminal

RS-485 communication terminal
Isolated ground
RS-485 communication terminal

Note
1. The length of the cable should be less than 100 meters in a less disturbed environment. However, if transmission speed
is above 9600bps, please use the communication cable within 15 meters to ensure the accuracy of transmission.
2. A maximum of 31 servo drives can be connected when RS485 is used. Terminating resistances are used at both ends
of the 485 network. If more devices are wanted to connect, use the repeaters to expand.
3. CN3 of servo drive is always used as communication cable input terminal and CN4 is always used as communication
cable output terminal(If still need to connect slave stations

the communication cable is connected from CN4 terminal to

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.

- 133 -

Example:
When RS-485 network is composed of a PLC and A
PLC

CN3 of A, CN4 of A

C three servo drives, the cable wiring is shown as follows:

CN3 of B, CN4 of B CN3 of C, CN4 of C

120

terminating resistance.

6.2 MODBUS Communication Related Parameters
Parameter No.

Description

Setting
Validation

Control Mode

Meaning
Pn700.0 MODBUS baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
Pn700.1 Communication protocol
selection

Pn700

Hex

After restart

ALL

[0] 7

MODBUS,ASCII

[1] 7

MODBUS,ASCII

[2] 7

MODBUS,ASCII

[3] 8

MODBUS,ASCII

[4] 8

MODBUS,ASCII

[5] 8

MODBUS,ASCII

[6] 8

MODBUS,RTU

[7] 8

MODBUS,RTU

[8] 8

MODBUS,RTU

Pn700.2 Communication protocol
selection
[0] SCI communication with no
protocol
[1] MODBUS SCI communication
Pn700.3 Reserved
Pn701

Axis address

After restart

ALL

- 134 -

Axis address of MODBUS protocol
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.

6.3.1 Code Meaning
ASCII Mode
Every 8-bit data is consisted by two ASCII characters. For example: One 1-byte data 64 H

Hexadecimal expression is

expressed as ASCII code 64, which contains 6 as ASCII code 36H and 4as ASCII code 34H.
ASCII code for number 0 to 9

character A to F are as follows:

Character

ASCII Code

30 H

31 H

32 H

33 H

34 H

35 H

36 H

37 H

Character

ASCII Code

38 H

39 H

41 H

42 H

43 H

44 H

45 H

46 H

RTU Mode
Every 8-bit data is consisted by two 4-bit hexadecimal data, that is to say, a normal hexadecimal data. For example:
decimal data 100 can be expressed as 64H by 1-byte RTU data.
Data Structure
10-bit character form

7-bit data

- 135 -

11-bit character form

8-bit data

Communication protocol structure
Data format of communication protocol
ASCII Mode
STX

Start character

ADR

Communication address

CMD

Reference code

DATA(n-1)

Data content

(3A H)
1-byte contains two ASCII codes

1-byte contains two ASCII codes
n-word=2n-byte contain 4n ASCII codes

DATA(0)
LRC

Checking code

End 1

End code 1

0D H

End 0

End code 0

0A H

1-byte contains two ASCII codes

RTU Mode
STX

Sleep interval of at least 4 bytes transmission time.

ADR

Communication address

CMD

Reference code

DATA(n-1)

Data content

1-byte

1-byte
n-word=2n-byte

DATA(0)
CRC

CRC checking code

1-byte

End 1

Sleep interval of at least 4 bytes transmission time.

Communication protocol data format instructions are as follows
STX

communication start

ASCII mode

: character

- 136 -

RTU mode: Sleep interval of at least 4 bytes transmission time
communication speed
ADR

automatically changed according to different

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

RTU mode

ADR=20H

CMD

command reference

2=32H

0=30H

and DATA data

Data structure is determined by command code. Regular command code is shown as follows:
Command code: 03H

read N words(word)

20.

For example: read 2 words starting from 0200 H from the servo drive which address is 01 H.
ASCII mode
Response information

Reference information
STX
ADR
CMD

Data start address

Data number
(count as word

LRC checking

STX

ADR

1
0

CMD

0
1
0
3

Data number

count as byte

Content of data start

address 0200H

1
1

0
2

Content of second data

address 0201 H

End 1

(0D H)(CR)

End 0

(0A H)(LF)

LRC checking

End 1

(0D H )(CR)

End 0

(0A H )(LF)

RTU mode
Reference information
ADR
CMD

Response information
01 H

ADR

01 H
03 H

03 H

CMD

02 H (high-bit)

Data number

00 H (low-bit)

count as byte

Data number

00 H

Content of data start

count as word

02 H

address 0200H

B1 H (low-bit)

CRC checking

C5 H (low-bit)

Content of second data

1F H (high-bit)

CRC checking

B3 H (high-bit)

address 0201 H

40 H (low-bit)

CRC checking

A3 H (low-bit)

CRC checking

D3 H (high-bit)

Data start address

- 137 -

04 H
00 H (high-bit)

write in one word

Reference code: 06H

For example: write 100 0064

into 01H servo address 0200 H .

ASCII mode
Reference information

Response information

STX

ADR

1
0

CMD

6
0

Data start address

Data content

0
1
0
6
2
0

Content of data start

address 0200H

LRC checking

Data start address

LRC checking

9
3

End 1

(0D H)(CR)

End 1

(0D H )(CR)

End 0

(0A H)(LF)

End 0

(0A H )(LF)

RTU mode
Reference information

Response information

ADR

01 H

ADR

01 H

CMD

06 H

CMD

06 H

Data start address
Data content

02 H (high-bit)

Data start address

00 H (low-bit)
00 H (high-bit)

Data content

64 H (low-bit)

02 H (high-bit)
00 H (low-bit)
00 H (high-bit)
64 H (low-bit)

CRC checking

89 H (low-bit)

CRC checking

89 H (low-bit)

CRC checking

99 H (high-bit)

CRC checking

99 H (high-bit)

LRC ASCII mode

and CRC

RTU mode

error detection value calculation

LRC calculation in ASCII mode:
ASCII mode uses LRC (Longitudinal Redundancy Check) error detection value. The exceeded parts (e.g. the total value is
128H of hex, then take 28H only) is taken off by the unit of 256 in the total value from ADR to the last information, then
calculate and compensate, the final result is LRC error detection value.

- 138 -

For example: read 1 word from 01H servo address 0201H
STX

ADR

1
0

CMD

3
0
2

Data start address

0
1
0

Data number

count as word

0
1
F

LRC checking

End 1

(0D H)(CR)

End 0

(0A H)(LF)

Add from ADR data to the last data.
01 H +03 H +02 H +01 H +00 H +01 H =08 H
The compensate value is F8H when 2 is used to compensate 08H, so LRC is F,8.
CRC calculation of RTU mode:
RTU mode uses CRC (Cyclical Redundancy Check) error detection value.
The process of CRC error detection value calculation is shown as follows:
Step 1: Load in a 16-bit register of FFFFH, named CRC register.
Step 2: Run XOR calculation between the first bit (bit 0) of instruction information and 16-bit CRC registers low bit (LSB),
and the result is saved to CRC register.
Step 3: Check the lowest bit (LSB) of CRC register, if it is 0, CRC register moves one bit to right; if it is 1, CRC register
moves one bit to right, then run XOR calculation with A001H;
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.
Note: After calculating out the CRC error detection value, the CRC low bit should be filled first in instruction information,
and then fill the high bit of CRC.
Please refer to the following example:
Read 2 words from the 0101H address of 01H servo. The final CRC register content calculated from ADR to the last bit of
data is 3794H, and then the instruction information is shown as follows,
Please be sure that 94H is transmitted before 37H.
ADR

01 H

CMD

03 H
01H (high-bit)

Data start address

End1

01H (low-bit)

Data number

00 H (high-bit)

count as word

02H (low-bit)

CRC checking

94H (low-bit)

CRC checking

37H (high-bit)

End0 Communication is complete.

- 139 -

ASCII mode
Communication is end with (0DH) namely character\r

carriage return

and (0AH) namely character\n

new line

RTU mode
When the time exceeds the sleep interval of at least 4 bytes transmission time in current communication speed means the
communication is finished.
Example
The following example uses C language to generate CRC value. The function needs two parameters.
unsigned char * data;
unsigned char length;
The function will return unsigned integer type CRC value.
unsigned int crc_chk(unsigned char * data,unsigned char length){
int i,j;
unsigned int crc_reg=oxFFFF;
While(length- -){
crc_ reg ^=*data++;
for(j=0;j<8;j++){
If(crc_reg & 0x01){
crc_reg=( crc_reg >>1)^0xA001;
}else{
crc_reg crc_reg >>1;
}
}
}
return crc_reg;
}

- 140 -

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.
Data transmission fault or checking code fault when communication is disturbed.
When the first and second communication faults occur, the servo drive is running normally, and will feed back an error
frame.
When the third communication fault occurs, transmission data will be recognized as invalid to give up, and no error frame
is returned.
The format of error frame
Host controller data frame
start

Slave station address

Command

Data address,content

Checking

Error code

Checking

command
Servo drive feeds back error frame:
start

Slave station address

Response code
command

80 H

Error frame responses code=command+80H
Error code

00H

Normal communication

01H

Servo drive cannot identify the required functions

02H: The required data address does not exist in the servo drive
03H

The required data in servo drive is not allowed. (Beyond the maximum or minimum
value of the parameter)

04H

Servo drive starts to perform the requirement, but cannot achieve it.

For example: Servo drive axis number is 03H

write data 06H into parameter Pn100 is not allowed , because the range of

parameter Pn100 is 0~6. The servo drive will feedback an error frame, the error code is 03H (Beyond the parameters
maximum value or minimum value).
Host controller data frame
start

Slave station address

Command

03H

06H

Data address,content
0002H

Checking

0006H

Servo drive feedback error frame
start

Slave station address

Response code

Error code

03H

86H

03H

Checking

Besides, if the data frame sent from host controller slave station address is 00H, it represents this data is broadcast data,
servo drives will not feed back any frames.

- 141 -

6.3.3 Data Communication Address of Servo State
The communication parameters addresses are shown in the following table:

Communication
data address

Meaning

Description

Operation

Hex
0000 ~ 02FD

07F1 ~07FA

Parameter area

Corresponding parameters in

Read/write

parameter list
Alarm information memory area

Ten alarms historical record

Read only

07FB

Speed reference zero offset

Read/write

07FC

Torque reference zero offset

Read/write

07FD

Iu zero offset

Read only

07FE

Iv zero offset

Read only

0806 ~ 0814

Monitor data (corresponding with
displayed data)

0806

Speed feedback

Unit:rpm

Read only

0807

Input speed reference value

Unit:rpm

Read only

Relative rated

Read only

0808
0809

Input torque reference percentage

torque
Internal torque reference

Relative rated

percentage

torque

Read only

080A

Number of encoder rotation pulses

Read only

080B

Input signal state

Read only

080C

Encoder signal state

Read only

080D

Output signal state

Read only

080E

Pulse settign

080F

Low bits of present location

0810
0811

Read only

High bits of present location

Unit:1 reference pulse

Read only

Unit:10000

Read only

reference pulses
Error pulse counter low 16 bits

Read only

0812

Error pulse counter high 16 bits

0813

Setting pulse counter low bits

Unit:1 reference pulse

Read only

0814

Setting pulse counter high bits

Unit:10000 reference pulses

Read only

0815

Load inertia percentage

Read only

0816

Servomotor overloading proportion

Read only

0817

Current alarm

Read only

0818

Servomotor winding temperature

Read only

0900

Read only

MODBUS communication IO signal

Donot save when

Read/write

power off.

090E

DSP version

Version is expressed by digit.

Read only

090F

CPLD version

Version is expressed by digit.

Read only

- 142 -

Communication
data address

Meaning

Description

Operation

Hex
1010

1011

1012

17-bit encoder multi-turn

Encoder.

Unit:1 pulse

17-bit encoder single-turn

Multi-turn:16 bits

information

Single-turn:17 bits

17-bit encoder single-turn
information high bits
Clear historical alarms

1022

Clear current alarms

1023

JOG servo enabled

1024

JOG forward rotation

1025

JOG reverse rotation

1027

Read only.
Only for 17-bit

1021

1026

Unit:1 revolution

information

01:Clear

Write only

01:Clear

Write only

01:Enable

Write only

00:Disable
01:Forward rotation

Write only

00:Stop
01:Reverse rotation

Write only

00:Stop

JOG forward rotation at node

01:Forward rotation

position( start signal has been set)

00:Stop

JOG reverse rotation at node

01:Reverse rotation

position(start signal has been set)

00:Stop
01:Pause

1028

Pause at node position

1040

Clear encoder alarm

01:Clear

Write only

1041

Clear encoder multi-turn data

01:Clear

Only 17-bit encoder

00:Cancel pause

Note:
1. Parameter area

communication address 0000 00DEH

Parameter address is relevant to the parameters in the parameter list.
For example, parameter Pn000 is relevant to communication address 0000H; parameter Pn101 is relevant to
communication address 0065H. Read/write operation to address 0000H is the read/write operation to Pn000. If the
communication input data is not within the parameter range, the data will be aborted and servo drive will return an
operation unsuccessful signal.
2. Alarm information storage area
Historical alarm number
0

Communication address

Historical alarm 1

07F1H

the latest alarm

1~8
9

3. Monitor data area

07F1 07FAH
Description

0806

Historical alarm 1 ~ 9

07F2H ~ 07F9H

Historical alarm 10

07FAH

the furthest alarm

0816H

The monitor data is corresponding to servo drive panel displays Un000~Un016.
For example: the corresponding data of communication address 0807H (speed setting) is FB16H.
Therefore, the speed setting is -1258r/m.

- 143 -

4. MODBUS communication IO signal
Use communication to control digital IO signal. This data will not be saved after power off.
It is operated with Pn512 and Pn513 as the communication input IO signal. That is to say, when the parameters setting in
Pn512 and Pn513 enable the IO bit, the IO can be controlled by communication.

5. Software version

090FH

Use digit to represent servo drive software version. For example, if the read out data is D201H
version is D-2.01.

- 144 -

it means the software

Chapter 7
Specifications and Characters
7.1 Servo drive Specifications and Models
Servo drive Model

ProNet-

Servo drive Model

ProNet-E-

Applicable
Servomotor
Model
Continuous Output Current

[Arms]

Max. Output Current

[Arms]

Main Input Power Supply Capacity [kVA]
DC24V Power Supply Capacity

[W]
Singlephase

Main Circuit

200

Three-phase

230VAC

200

380

380 440VAC

+10%

230VAC
-15% (50/60Hz)

480VAC

+10%

-15%(50/60Hz)

+10%

-15%(50/60Hz)

-15%

Input Power Supply

(50/60Hz)
Single-phase

Single-phase
Control Circuit

200 230VAC
+10%

Control Method

-15% (50/60Hz)

Serial Encoder
Resolver

131072P/R

65536P/R

Max.

Ambient/Storage

Ambient temperature

-20

+55

Temperature

Storage temperature -25

+55

Ambient/Storage
Operating Conditions

Humidity
Elevation
Vibration/ShockRe
sistance

Configuration

95% RH (with no condensation)

1000m or less
Vibration Resistance

4.9m/s2 Impact Resistance

Base-mounted
Speed Control Range
Load
Regulation

Performance

+10%

SVPWM Control

Feedback

Speed

Voltage

Regulation

Regulation
Temperature
Regulation

1:5000
0

100% load

±0.01% or less

Rated voltage ±10%
25±25

380 440VAC

24VDC

±0.1% or less

at rated speed

at rated speed
at rated speed

- 145 -

19.6m/s2

-15%

+10%

-15%(50/60Hz)

Servo drive Model

ProNet-

Servo drive Model

ProNet-E-

Applicable
Servomotor
Model

Torque
Control

Reference

±10VDC at rated torque Variable setting range:±0

Voltage

Max. input voltage ±12V

Analog

Input

Reference

Impedance

Input

Circuit Time
Constant

Analog
Input
Reference

About 10M

10VDC

or above

10 s

Reference

±10VDC at rated speed

Voltage

Max. input voltage ±12V

Input

About 10M

Variable setting range:±0

10VDC

or above

I
d
Circuit
Time

10 s

Constant

Speed

Rotation

Control
Speed

Direction

Selection

Selection
Speed

With /P-CON signal

Speed 1 to 7

Soft
Function

Start

10s Can be set individually for acceleration and deceleration.

Setting
Type
Form

Position

Sign + pulse train;CCW + CW pulse train;
90°phase difference 2-phase (phase A + phase B)
Non-insulated linde driver (about + 5V), open collector

Pulse

×1 multiplier

4Mpps

Reference

×2 multiplier

2Mpps

×4 multiplier

1Mpps

Frequency

Control

Open collector

200Kpps

Frequency will begin to decline when the duty ratio error occurs..
Position
Reference
Setting

Position
Setting

16 postion nodes can be set.

Encoder Dividing Pulses

Phase-A, phase-B, phase-C, line driver output

Output

Number of dividing pulses
Number of

Sequence
Input

channels

8 channels
Signal allocations and positive/negative logic modifications:

Function

Servo ON /S-ON
P-OT

Number of
I/O Signals

Sequence
Output

any

channels

P control /P-CON

reverse run prohibited

N-OT

alarm reset /ALM-RST

position error clear /CLR

forward current limit /P-CL

reverse current limit

forward run prohibited
/N-CL

and so on.

4 channels
Signal allocations and positive/negative logic modifications:

Function

Positioning

completion(/COIN),

speed

coincidence(/V-CMP),servomotor

rotation

detection(/TGON),

ready(/S-RDY),torque limit output(/CLT), brake interlock output (/BK), encoder C pulse(/PGC) and Over travel
Regenerative Functions

0.75kW

Protection Functions

Overcurrent, overvoltage,low voltage, overload,regeneration error,overspeed,etc.

Utility Function

Alarm trace back

JOG operation load inertia detection, etc.

Display Function

CHARGE

POWER

Communication Functiion

7.5kW

Red

internal regenerative resistor

Green

11kW

22kW

external regenerative resistor

five 7-segment LEDS (Built-in panel operator)

RS-485 communication port,MODBUS protocol ;CAN communication port,CANopen protocol;
EtherCAT communication module,CiA402 protocol;POWERLINK communication module,CiA402 protocol

- 146 -

servo
/OT

7.2 Servo drive Dimensional Drawings
ProNet-02A/04A
ProNet-E-02A/04A

Note

ProNet-E does not support extended module.
ProNet-08A/10A
ProNet-E-08A/10A

Unit: mm
Nameplate
Air Flow

Extended Module
D P 1 00

CHARGE

POWER

L1
L2
L3
1
2

Air Flow

L1C
L2C
B1
B2
B3
U
V
W

Cooling Fan

Air Flow

Mounting Hole Diagram

Air Flow

Note ProNet-E does not support extended module.

- 147 -

ProNet-10D/15A/15D/20A/20D
ProNet-10D/15A/15D/20A/20D
Unit:mm

Air Flow

Extended Module

SERVODRIVE
PRONET-10A

Nameplate

200V

D P 100

CHARGE

POWER

L1
L2
L3
1
2

Air Flow
L1C
L2C
B1
B2
B3

Three Terminals

U
V
W

Cooling Fan
Air Flow
Mounting Hole Diagram

4-M4 Screw Holes

Ground Terminal

2-M4

Figure

Air Flow

Note

ProNet-E does not support extended module.
ProNet-30A/30D/50A/50D/75D
ProNet-E-30A/30D/50A/50D
Unit:mm

Mounting Hole Diagram

Extended Module

Air Flow

4-M5 Screw Holes

SERVODRIVE
PRONET-50A

Nameplate

200V

D P100

CHARGE

POWER

Figure

Terminal
Screw

Mounting Pitch

Terminal
Air Flow Ground
2-M4

Cooling Fan

Note

ProNet-E does not support extended module.

- 148 -

ProNet-1AD/1ED/2BD

- 149 -

Appendix A
Parameter
A.1 Parameter List
Parameter
No.

Name

Unit

Setting
Range

Factory
Setting

Setting
Invalidation

0~1111

After restart

0~1111

After restart

0~0111

0010

After restart

0~1111

After restart

0~0x3425

After restart

Binary

Pn000

Pn000.0

Servo ON

Pn000.1

Forward rotation input signal
prohibited

P-OT

Pn000.2

Reverse rotation input signal

Pn000.3

Alarm output when

prohibited

N-OT

instantaneous power loss
Binary

Pn001

Pn001.0

CCW,CW selection

Pn001.1

Analog speed limit enabled

Pn001.2

Analog torque limit enabled

Pn001.3 2nd electronic gear enabled
Binary
Pn002.0

Pn002

Electronic gear switching mode

Pn002.1 Reserved
Pn002.2

Absolute encoder selection

Pn002.3

Reserved

Binary
Pn003.0: Reserved

Pn003

Pn003.1

Reserved

Pn003.2

Low speed compensation

Pn003.3

Overload enhancement

Hex
Pn004.0: Stop mode

Pn004

Pn004.1: Error counter clear mode
Pn004.2: Reference pulse form
Pn004.3: Inverses pulse

- 150 -

Parameter
No.

Name

Unit

Setting
Range

Factory
Setting

Setting
Invalidation

0~0x33E3

After restart

0~0x2133

0x0020

After restart

0~0001

After restart

0~6

After restart

Hex
Pn005.0: Torque feedforward mode
Pn005.1: Control mode
[0] Speed control(analog reference)
[1] Position control(pulse train)
[2] Torque control(analog reference)
[3]Speedcontrol(contact reference)
speed control(zero reference)
[4] Speed control(contact reference)
speed control(analog reference)
[5] Speed control(contact reference)
position control(pulse train)
[6] Speed control(contact reference)
torque control(analog reference)

Pn005

[7] Position control(pulse train)
speed control(analog reference)
[8] Position control(pulse train)
torque control(analog reference)
[9] Torque control(analog reference)
speed control(analog reference)
[A] Speed control(analog reference)
zero clamp
[B] Position control(pulse train)
position control(inhibit)
[C] Position control (contact reference)
[D] Speed control(parameter reference)
[E] Special control
Pn005.2:Out-of-tolerance alarm selection
Pn005.3:Servomotor model
Hex
Pn006.0: Bus mode
Pn006.1: Reserved

Pn006

Pn006.2: Low frequency jitter suppersion
switch
Pn006.3: Reference input filter for open
collector signal
Binary

Pn007

Pn007.0

wider the width of C pulse or not

Pn007.1

Reserved

Pn007.2

Reserved

Pn007.3

Reserved

Online autotuning setting

Pn100

0:Manual gain adjustment

1,2,3=Normal mode;4,5,6=Vertical load

- 151 -

Parameter
No.

Name

Unit

Setting
Range

Factory
Setting

Setting
Invalidation

1,4 = Load inertia without variation;
2,5 = Load inertia with little variation;
3,6=Load inertia with great variation

Pn101

Machine rigidity setting

0~15

Immediately

Pn102

Speed loop gain

1~4000

160

Immediately

Pn103

Speed loop integral time constant

0.1ms

1~4096

200

Immediately

Pn104

Position loop gain

1/s

0~1000

Immediately

Pn105

Torque reference filter time constant

0.1ms

Pn106

Load inertia percentage

Pn107

2nd speed loop gain

Pn108

2nd speed loop integral time constant

Pn109

2nd position loop gain

Pn110

2nd torque reference filter time constant

Pn111

Speed bias

Pn112

Feedforward

Pn113

Feedforward filter

Pn114

Torque feedforward

Pn115

Torque feedforward filter

0~250

Immediately

0~20000

Immediately

1~4000

Immediately

0.1ms

1~4096

200

Immediately

0~1000

Immediately

0.1ms

0~250

Immediately

rpm

0~300

Immediately

0~100

Immediately

0.1ms

0~640

Immediately

0~100

Immediately

0.1ms

0~640

Immediately

0~4

After restart

0~300

200

Immediately

0~10000

Immediately

10rpm/s

0~3000

Immediately

rpm

0~10000

Immediately

0~6

After start

0.1ms

0~20000

Immediately

0~20000

Immediately

0.1ms

0~20000

Immediately

0~20000

Immediately

P/PI switching condition
0:Torque reference percentage

Pn116

1:Value of offset counter
2:Value of acceleration speed setting
3:Value of speed setting
4:Fixed PI

Pn117

Torque switching threshold

Pn118

Offset counter switching threshold

Pn119
Pn120

reference
pulse

Setting acceleration speed switching
threshold
Setting speed switching threshold
Gain switching condition
0:Fix to 1st group gain
1:External switch gain switching

Pn121

2:Torque percentage
3:Value of offset counter
4:Value of acceleration speed setting
5:Value of speed setting
6:Speed reference input

Pn122

Switching delay time

Pn123

Threshold switching level

Pn124

Reserved

Pn125

Position gain switching time

Pn126

Hysteresis switching

- 152 -

Name

Unit

Setting
Range

Factory
Setting

Setting
Invalidation

Low speed detection filter

0.1ms

0~100

Immediately

0~3

Parameter
No.
Pn127
Pn128

Speed gain acceleration relationship
during online autotuning

Pn129

Low speed correction coefficient

Pn130

Friction load

Pn131

Friction compensation speed hysteresis
area

0~30000

Immediately

0.1%

0~3000

Immediately

rpm

0~100

0~1000

0.1%/1000rp

Pn132

Sticking friction load

Pn133

Reserved

Pn134

Reserved

Pn135

Reserved

Pn136

Reserved

Pn137

Reserved

Pn138

Reserved

Pn139

Reserved

Pn140

Reserved

Pn141

Reserved

Pn142

Reserved

Pn143

Reserved

Pn144

Reserved

Pn200

PG divided ratio

Puls

Pn201

1st electronic gear numerator

Pn202

Electronic gear denominator

Pn203

2nd electronic gear numerator

Pn204

Position reference Acceleration
/deceleration time constant

Immediately

Immediately
Immediately

16384

After restart

1~65535

After restart

1~65535

After restart

1~65535

After restart

0.1ms

0~32767

Immediately

0~1

After restart

16~16384

Pn205

Position reference filter form selection

Pn300

Speed reference input gain

rpm/v

0~3000

150

Immediately

Pn301

Analog speed given zero bias

10mv

-1000~1000

Immediately

Pn302

Reserved

Pn303

Reserved

Pn304

Parameter speed

rpm

-6000~6000

500

Immediately

Pn305

JOG speed

rpm

0~6000

500

Immediately

Pn306

Soft start acceleration time

0~10000

Immediately

Pn307

Soft start deceleration time

0~10000

Immediately

Pn308

Speed filter time constant

0~10000

Immediately

Pn309

S curve risetime

0~10000

Immediately

0~3

After restart

Speed reference curve form
0:Slope

Pn310

1:S curve
st

2:1 order filter
3:2nd order filter

- 153 -

Parameter
No.

Name

Unit

Setting
Range

Factory
Setting

Setting
Invalidation

0~3

Immediately

rpm

-6000~6000

500

Immediately

Pn311

S form selection

Pn312

DP communication JOG speed

Pn313

Reserved

Pn314

Reserved

Pn315

Reserved

Pn316

Internal speed 1

rpm

-6000~6000

100

Immediately

Pn317

Internal speed 2

rpm

-6000~6000

200

Immediately

Pn318

Internal speed 3

rpm

-6000~6000

300

Immediately

Pn319

Internal speed 4

rpm

-6000~6000

-100

Immediately

Pn320

Internal speed 5

rpm

-6000~6000

-200

Immediately

Pn321

Internal speed 6

rpm

-6000~6000

-300

Immediately

Pn322

Internal speed 7

rpm

-6000~6000

500

Immediately

Pn400

Torque reference gain

0.1V/100%

10~100

Immediately

Pn401

Forward torque internal limit

0~300

300

Immediately

Pn402

Reverse torque internal limit 1

0~300

300

Immediately

Pn403

Forward external torque limit

0~300

100

Immediately

Pn404

Reverse external torque limit

0~300

100

Immediately

Pn405

Plug braking torque limit

0~300

300

Immediately

Pn406

Speed limit during torque control

rpm

0~6000

1500

Immediately

Pn407

Notch filter 1 frequency

50~5000

5000

Immediately

Pn408

Notch filter 1 depth

0~11

Immediately

Pn409

Notch filter 2 frequency

50~5000

5000

Immediately

Pn410

Notch filter 2 depth

Pn411

Low frequency jitter frequency

Pn412

0~11

Immediately

0.1Hz

50~500

100

Immediately

Low frequency jitter damp

0~200

Immediately

Pn413

Torque control delay time

0.1ms

1~2000

100

Immediately

Pn414

Torque control speed hysteresis

rpm

10~1000

Immediately

Pn415

Analog torque given zero bias

10mv

-1000~1000

Immediately

Pn500

Positioning error

Puls

0~5000

Immediately

Pn501

Coincidence difference

rpm

0~100

Immediately

Pn502

Zero clamp speed

rpm

0~3000

Immediately

Pn503

Rotation detection speed TGON

Pn504

Offset counter overflow alarm

Pn505

Servo ON waiting time

Pn506

Basic waiting flow

Pn507

Brake waiting speed

Pn508

Brake waiting time

Pn509

rpm

0~3000

Immediately

256Puls

1~32767

1024

Immediately

-2000~2000

Immediately

10ms

0~500

Immediately

rpm

10~100

100

Immediately

10ms

10~100

Immediately

Allocate input signal to terminal

0~0xEEEE

0x3210

After restart

Pn510

Allocate input signal to terminal

0~0xEEEE

0x7654

After restart

Pn511

Allocate output signal to terminal

0~0x0888

0x0210

After restart

Pn512

Bus control input node low-bit enable

0~1111

Immediately

Pn513

Bus control input node low-bit enable

0~1111

Immediately

Pn514

Input port filter

0.2ms

0~1000

Immediately

- 154 -

Parameter
No.

Name

Unit

Setting
Range

Factory
Setting

Setting
Invalidation

0.2ms

0~3

Immediately

Pn515

Alarm port filter

Pn516

Input port signal inversion

0~1111

Immediately

Pn517

Input port signal inversion

0~1111

Immediately

Pn518

Dynamic brake time

0.5ms

50~2000

125

0.5ms

Pn519

Serial encoder error time

0.1ms

0~10000

0.1ms

Pn520

Position complete time

0.1ms

0~60000

500

0.1ms

Pn521

Reserved

Pn522

Reserved

Pn523

Reserved

Pn524

Reserved

Pn525

Overload alarm threshold

100~150

100

Immediately

50~180

110

Immediately

Temperature threshold of motor overheat

Pn526

alarm
Only enabled in ProNet75/1A/1E/2B

Pn600

Position pulse in point to point control

10000P

-9999~9999

Immediately

Pn601

Position pulse in point to point control

-9999~9999

Immediately

Pn630

Position pulse in point to point control

-9999~9999

Immediately

Pn631

Position pulse in point to point control

-9999~9999

Immediately

Pn632

Point to point speed control

rpm

0~3000

500

Immediately

Pn647

Point to point speed control

rpm

0~3000

500

Immediately

Pn648

Point to point 1st order filter

0.1ms

0~32767

Immediately

Pn663

Point to point 1st order filter

0.1ms

0~32767

Immediately

Pn664

Stop time

50ms

0~300

Immediately

Pn679

Stop time

50ms

0~300

Immediately

Pn680

Reserved

0~0x0133

0x0000

Immediately

Hex
Pn681.0:Single/cyclic, start/reference point

Pn681

selection
Pn681.1:Change step and start mode
Pn681.2:Change step input signal mode
Pn681.3:Reserved

Pn682

Programme mode

0~1

Pn683

Programme start step

0~15

Immediately

Pn684

Programme stop step

0~15

Immediately

rpm

0~3000

1500

Immediately

Search travel speed in position
control(contact reference);

Pn685

Speed of finding reference point(Hitting the
origin signal ORG) in position homing
control.

- 155 -

Parameter
No.

Name

Unit

Setting
Range

Factory
Setting

Setting
Invalidation

rpm

0~200

Immediately

Leave travel switch speed in position
control(contact reference);

Pn686

Speed of finding reference point(Leaving
the origin signal ORG) in position homing
control.

Pn687

Position teaching pulse

10000P

-9999~9999

Pn688

Position teaching pulse

-9999~9999

Immediately

Pn689

Homing Mode Setting

0~0111

After restart

Pn690

Number of error pulses during homing

10000pulse

0~9999

Immediately

Pn691

Number of error pulses during homing

1pulse

0~9999

Immediately

0~0x0182

0x0151

After restart

1~247

After restart

Hex
Pn700.0: MODBUS communication baud
rate

Pn700

Pn700.1: MODBUS protocol selection
Pn700.2:Communication protocol
selection
Pn700.3: Reserved

Pn701

MODBUS axis address

Pn702

Reserved

Pn703

CAN communication speed

0x0005

0x0004

After restart

Pn704

CAN communication contact

1~127

After restart

Hex

Pn840

Note:

Pn840.0

Encoder model selection

Pn840.1

Reserved

Pn840.2

Reserved

Pn840.3

Reserved

0x0003~
0x0B06

The setting range and factory setting of Pn401 to Pn405 are depending on the actual overload

capacity.

- 156 -

A.2 Description of Parameter Type
Type

Parameter No.

Description

Funtion selection switches

Pn000~Pn006

Control mode, stop mode, and some functions selection

Parameters of servo gain

Pn100~Pn129

Position gain, speed gain,rigidity,etc.

Position control related parameters

Pn200~Pn205

PG divided ratio, electronic gear, etc.

Speed control related parameters

Pn300~Pn322

Speed reference input, soft start, etc.

Torque control related parameters

Pn400~Pn406

Torque limit, etc.

Parameters to control I/O port

Pn500~Pn520

Allocation of I/O port function

Point-to-point control and homing control

Pn600~Pn686

Internal point-to-point control and homing control related

related parameters
Communication parameters

parameters
Pn700~Pn701

- 157 -

Setting of communication parameters

A.3 Parameters in detail
Parameter
No.

Description

Setting

Control

Validation

Mode

Function and Meaning
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.
Pn000.1 Forward rotation input signal prohibited
P-OT
[0]External P-OT enabled. Operate in the time
sequence setting in Pn004.0 when travel limit occurs.
[1] External P-OT disabled.

Pn000

Binary

After restart

ALL

Pn000.2 Reverse rotation input signal prohibited
(N-OT)
[0]External N-OT enabled. Operate in the time
sequence setting in Pn004.0 when travel limit occurs.
[1] External N-OT disabled.
Pn000.3 Alarm output when instantaneous power
loss
[0]Instantaneous power loss for one period with no
alarm output
[1]Instantaneous power loss for one period without
alarm output
Pn001.0 CCW,CW selection
[0] Sets CCW as forward direction
[1] Sets CW as forward direction
Pn001.1 Analog speed limit enabled

Pn001.0
ALL
Pn001.1

Pn001

Binary

After restart

T
Pn001.2
P

Pn001.3
P

[0] Sets the value of Pn406 as the speed limit value
during torque control.
[1]Use the lower speed between V-REF and Pn406 as
an external speed limit input.
Pn001.2 Analog torque limit enabled
[0] Sets Pn401~Pn404 as torque limit.
[1]Sets the value corresponding to Vref input analog
voltage as torque limit.
Pn001.3 2nd electronic gear enabled
[0]Without 2nd electronic gear, PCON signal is used to
switch P/PI
[1]2nd electronic gear is enabled, PCON signal is only
used as 2nd electronic gear when Pn005.3 is set to 1.
Pn002.0 Electronic gear switching mode

Pn002

Binary

After restart

ALL

- 158 -

[0]Corresponding time sequence

Parameter
No.

Description

Setting

Control

Validation

Mode

Function and Meaning
Pn203
Electronic gear numerator 2
PCON enabled

Pn201
Electronic gear numerator 1
PCON disabled

Reference pulse
t1

t2
t1

t2>1ms

[1] Corresponding time sequence

Time sequence when Pn002.0=0 or 1

Error time sequence

Pn002.1 Reserved
Pn002.2 Absolute encoder selection
[0] Use absolute encoder as an absolute encoder
[1] Use absolute encoder as an incremental encoder
Pn002.3 Reserved
Pn003.0 Reserved
Pn003.1 Reserved
Pn003.2 Low speed compensation
[0] Without low speed correction
[1]With low speed correction to avoid servomotor
creeping, but the degree of correction is

Pn003

Binary

After restart

ALL

determined by the setting in Pn219.
Pn003.3 Overload enhancement
[0] Without overload enhancement function
[1]With overload enhancement function, which can
enhance the overload capacity when servomotor
exceeds the 2 times rated overload. It is used in
frequent power ON/OFF occasions.

- 159 -

Parameter

Description

No.

Setting

Control

Validation

Mode

Function and Meaning
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.
[3]Makes the servomotor coast to a stop state when
servo OFF, stops the servomotor by plug braking
when overtravel, then places it into coast (power OFF)
mode.
[4]Stops the servomotor by DB when servo OFF,
stops the servomotor by plug braking when overtravel,
then places it into zero clamp mode.

Pn004

Hex

After restart

Pn004.0

[5]Makes the servomotor coast to a stop state when

ALL

servo OFF, stops the servomotor by plug braking

Pn004.1

when overtravel, then places it into zero clamp mode.
Pn004.1 Error counter clear mode

P
Pn004.2

[0]Clear error pulse when S-OFF, do not when
overtravel.

P
Pn004.3

[1]Do not clear error pulse.
[2]Clear error pulse when S-OFF orovertravel

(excep for zero clamp)
Pn004.2 Reference pulse form
[0]Sign + Pulse
[1]CW+CCW CW + CCW
[2]A + B (×1)
[3]A + B (×2)
[4]A + B (×4)
Pn004.3 Inverses pulse
[0]Do not inverse PULS reference and SIGN reference
[1]Do not inverse PULS reference; Inverses SIGN
reference
[2]Inverse PULS reference; Do not inverse SIGN
reference
[3]Inverse PULS reference and SIGN reference.
Pn005.0 Torque feedforward form
Pn005.0
P

Pn005

Hex

After restart

Pn005.1
ALL
Pn005.2
P

[0]Use general torque feedforward,external
analog(Tref) feedforward input is invalid.
[1]Usegeneral

torque feedforward,external

analog(Tref) feedforward input is valid.
[2]Use high-speed torque feedforward,external
analog(Tref) feedforward input is invalid.
[3]Use high-speed torque feedforward,external

- 160 -

Parameter
No.

Description

Setting

Control

Validation

Mode

Function and Meaning
analog(Tref) feedforward input is valid.
Pn005.1 Control mode
[0]Speed control(analog reference)
PCON

OFF

PI control

P control

[1]Position control(pulse train reference)
PCON

OFF

PI control

P control

[2]Torque control(analog reference)
PCON is invalid.
[3]Speed control(contact reference)

speed

control(zero reference)
PCON

PCL

NCL

OFF Switches to position

control(zero reference)
[4]Speed

control(contact

reference)

speed

control(analog reference)
PCON

PCL

NCL

OFF Switches to position

control(analog reference)
position

[5]Speed control(contact reference)
control(pulse train reference)
PCON

PCL

NCL

OFF Switches to position

control(pulse train reference)
[6]Speed control(contact reference)

torque

control(analog reference)
PCON

PCL

NCL

OFF Switches to position

control(analog reference)
[7]Position control(pulse train reference)

speed

control(analog reference)
PCON

OFF position control(pulse train

reference)

ON speed control(analog reference)

[8]Position control(pulse train reference)

Torque

control(analog reference)
PCON

OFF position control(pulse train

reference)

ON torque control(analog reference)

[9]Torque control(analog reference)

speed

control(analog reference)
PCON OFF Torque control(analog reference) ON
Speed control(analog reference)
[A]Speed control(analog reference)

zero clamp

Control
PCON

OFF Speed control(analog reference)

zero clamp control
[B]Positin control(pulse train reference)
control(INHIBIT)
PCON

OFF Position control(pulse train

reference)

- 161 -

ON position control(INHIBIT)

position

Parameter

Description

No.

Setting

Control

Validation

Mode

Function and Meaning
[C]Position control(contact reference)
PCON

Used to change step

PCL NCL Used to search reference point or start
[D]Speed control(parameter reference)
PCON

PCL

NCL invalid

[E ]Special control
PCON invalid
Pn005.2 Out-of-tolerance alarm selection
[0]Out-of-tolerance alarm disabled
[1]Out-of-tolerance alarm enabled. Outputs alarm
when the value of error counter exceeds Pn504
setting value.
[2] Reserved
[3] Reserved
Pn005.3 Servomotor model selection
[0]EMJ
[1]EMG
[2]Reserved
[3]EMB
Pn006.0 Bus type selection
[0]No bus
[1]PROFIBUS-DP V0/V1
[2]PROFIBUS-DP V2
3 CANopen
Pn006.1

Reserved

Pn006.2 Low-frequency vibration suppression
switch
[0]Low-frequency vibration suppression function

Pn006

Hex

disabled

After restart

[1]Low-frequency vibration suppression function
enabled
Pn006.3 Reference input filter for open collector
signal
[0] when pulse is difference input, The max value of
servo receiving pulse frequency 2

[1] when pulse is difference input, The max value of
servo receiving pulse frequency 2

650K

[2] when pulse is difference input, The max value of
servo receiving pulse frequency 2 150K
Pn007.0

wider the width of C pulse or not

[0] standard width of C pulse

Pn007

Binary

After restart

[1] wider the width of C pulse
Pn007.1

reserved

Pn007.2 reserved

- 162 -

Parameter
No.

Description

Setting

Control

Validation

Mode

Function and Meaning
Pn007.3

reserved

[0] Manual gain adjustment
[1,2,3] Normal mode
[4,5,6] Vertical load
[1,4] Load inertia without variation
[2,5] Load inertia with little variation
[3,6] Load inertia with great variation
Note
1.Autotuning is invalid when servomotor max.speed is

Online autotuning

Pn100

setting

After restart

less than 100rpm.Manual gain adjustment is used.
2.Autotuning is invalid when servomotor acceleration
/deceleration speed is less than 5000rpm/s. Manual
gain adjustment is used.
3.Autotuning is invalid when mechanical clearance is
too big during operation. Manual gain adjustment is
used.
4.Autotuning is invalid when the difference of different
speed load is too great. Manual gain adjustment is
used.
The response speed of servo system is determined by
this parameter. Normally, the rigidity should be set a

Pn101

Machine rigidity
setting

Immediately

little larger. However, if it is too large, it would suffer
mechanical impact. It should be set a little smaller
when large vibration is present. This parameter is only
valid in autotuning.

Pn102

Pn103

Speed loop gain
Speed loop integral
time constant

Immediately

This parameter determines speed loop gain.
Unit: Hz
Decreases the value of this parameter to shorten

Immediately

positioning time and enhance speed response.
Unit: 0.1ms
This

Pn104

Position loop gain

Immediately

parameter

determines

position

loop

gain.

Decreases this value to enhance servo rigidity, but

vibration will occur if the value is too large.
Unit: 1/s

Pn105

Pn106
Pn107
Pn108

Torque reference
filter time constant
Load inertia
percentage
2nd speed loop gain
2nd speed loop
integral time constant

Torque reference filter can eliminate or lighten
Immediately

S T

mechanical vibration. But incorrect setting will result to
mechanical vibration. Unit:0.1ms

Immediately

- 163 -

Setting value=(load inertia/rotor inertia)

100

Unit: %
The meanings of these parameters are the same as
Pn102~Pn105.
These parameters are only needed to set when two

Parameter

Description

No.

Pn109
Pn110

2nd position loop
gain
2nd torque reference
filter time constant

Setting

Control

Validation

Mode

Immediately

Function and Meaning
types of gain function are enabled.

S T
This parameter setting can shorten positioning time.
However, if it is too large or does not cooperate with
Pn111 correctly, vibration will occur.
The relationship with speed reference, error counter,
positioning error is shown in the following chart.

Pn111

Speed bias

Immediately

It is used to set position feedforward. The response
speed is faster and position error is less when this

Pn112

Feedforward

Immediately

parameter setting is higher. Vibration will occur if the
value is set too large.
Unit: %
It is used to ease mechanical vibration due to position

Pn113

Feedforward filter

Immediately

feedforward. The feedforward lag will be enlarged and

result to vibration if the value is set too large.
Unit: 0.1ms
It is used to set torque feedforward, and enhance
response speed.

Pn114

Torque feedforward

Immediately

Set the load inertia percentage(Pn106) correctly to
enable this function in manual gain adjustment mode.
Unit: %

Pn115

Torque feedforward
filter

It is used to ease mechanical vibration due to torque
Immediately

feedforward.
Unit: 0.1ms
0:Torque reference percentage

Pn116

P/PI switching
condition

1:Value of offset counter
After restart

P S

2:Value of acceleration speed setting
3:Value of speed setting
4: Fixed PI

Pn117

Torque switching
threshold

After restart

- 164 -

Threshold of torque to switch PI control to P control.
Unit: %

Parameter

Description

No.

Pn118

Offset counter
switching threshold

Setting

Control

Validation

Mode

Threshold of error counter to switch PI control to P
Immediately

control.
Unit: pulse

Setting acceleration

Pn119

speed switching

Threshold of acceleration speed to switch PI control to
Immediately

threshold

Pn120

Setting speed
switching threshold

Function and Meaning

P control.
Unit: 10rpm/s

Immediately

Threshold of speed to switch PI control to P control.
Unit: rpm
0:Fix to 1st group gain
1:External switch gain switching(G-SEL)

Gain switching

Pn121

condition

2:Torque percentage
After restart

3:Value of offset counter
4:Value of acceleration speed setting

10rpm

5:Value of speed setting
6:Speed reference input

Pn122

Switching delay time

Immediately

Pn123

Switch threshold level

Immediately

Pn124

Reserved

Pn125
Pn126

Pn127

Position gain
switching time
Hysteresis switching
Low speed detection
filter

Immediately

Pn128

relationship during

is satisfied.
Gain switching trigger level
This parameter is used to smooth transition if the

change of the two groups of gain is too large.

Immediately

This parameter is used to set the operation hysteresis
of gain switching.
This parameter is used to filter in low speed detection.
The speed detection will be lagged if the value is too
large.

Speed gain
acceleration

Delay time of switching gain when switching condition

The increasing multiple of speed loop gain in the same
rigidity during online autotuning. The speed loop gain

Immediately

Frictin load or fixed load compensation

Immediately

Threshold of friction compensation start

Immediately

Sticking damp which is in direct proportion to speed.

is larger when this value is higher.

online autotuning

Pn129
Pn130

Low speed correction
coefficient
Friction Load

The intensity of anti-friction and anti-creeping at low
speed. Vibration will occur if this value is set too large.

Friction

Pn131

compensation speed
hysteresis area

Pn132

Sticking friction load

Pn133

Reserved

Pn134

Reserved

Pn135

Reserved

Pn136

Reserved

Pn137

Reserved

Pn138

Reserved

- 165 -

Parameter

Description

No.

Setting

Control

Validation

Mode

Function and Meaning

Pn139

Reserved

Pn140

Reserved

Pn141

Reserved

Pn142

Reserved

Pn143

Reserved

Pn144

Reserved

Analog encoder output orthogonal difference pulses.

Pn200

PG divided
ratio

After restart

S T

The meaning of this value is the number of analog
encoder output orthogonal difference pulses per one
servomotor rotation.

Pn201
Pn202

1st electronic gear
numerator
Electronic gear
denominator

After restart

The electornic gear enables the reference pulse relate
with the servomotor travel distance, so the host
controller need not to care mechanical deceleration
ratio and encoder pulses.In fact it is the setting of
frequency doubling or frequency division to the

Pn203

2nd electronic gear
numerator

After restart

Position reference

Pn204

acceleration
/deceleration time

Pn300

Position reference
filter form selection
Speed reference
input gain

Numerator ( Pn201 or Pn203)
Deno min ator ( Pn202)
This value is used to smooth the input pulses. The

Immediately

effect of smoothness is better when the value
higher. But

constant

Pn205

reference pulses .

After restart

Immediately

lag will occur if the value is too large.

[0]

1st order filter

[1]

2nd order filter

The corresponding speed to 1V analog input
This parameter is used to set zero bias of analog
speed given, and it is related with speed reference

Pn301

Analog speed given
zero bias

Immediately

input gain (Pn300),
Speed

reference=(External

speed

given

analog-Analog speed given zero bias)

input
Speed

reference input gain

Pn302

Reserved

Pn303

Reserved
The parameter can be set to positive or negative.
When control mode is set to D, it determines the

Pn304

Parameter speed

Immediately

speed of motor
The

servomotor

speed

determined

this

parameter when Pn005.1=D
It is used to set JOG rotation speed, and the direction

Pn305

JOG speed

Immediately

is determined by the pressing key during JOG
operation.

Pn306

Soft start acceleration
time

Immediately

- 166 -

The time for trapeziform acceleration to accelerate to 1000rpm.
Unit: ms

Parameter

Description

No.

Pn307

Pn308
Pn309

Soft start
deceleration time
Speed filter time
constant
S curve
risetime

Setting

Control

Validation

Mode

The time for trapeziform deceleration to decelerate to
Immediately

curve form

1000rpm.
Unit: ms

Immediately

1st order filter time constant
Unit: ms
The time for transition from one point to another point
in S curve.
0:Slope

Speed reference

Pn310

Function and Meaning

After restart

1:S curve
2:1st order filter
3:2nd order filter

Pn311
Pn312

S form selection
DP communication
JOG speed

After restart
Immediately

S
P

S T

This value determines the transition form of S curve.
Communication speed of bus JOG.
It can be set to positive or negative.

Pn313

Reserved

Pn314

Reserved

Pn315

Reserved

Pn316

Speed internal 1

Immediately

Pn317

Speed internal 2

Immediately

Pn318

Speed internal 3

Immediately

Pn319

Speed internal 4

Immediately

Pn320

Speed internal 5

Immediately

Pn321

Speed internal 6

Immediately

Pn322

Pn400
Pn401
Pn402
Pn403
Pn404
Pn405
Pn406

Speed internal 7

Torque reference
gain
Forward torque
internal limit
Reverse torque
internal limit
Forward external
torque limit
Reverse external
torque limit
Plug braking torque
limit
Speed limit during

Immediately

S T

Immediately

S T

Immediately

S T

Immediately

S T

Immediately

S T

Immediately

- 167 -

Internal speed is enabled when Pn005.1=3~6
Input signal

operating speed

/P-CON

/P-CL

/N-CL

OFF(H)

ON(L)

SPEED1

ON(L)

OFF(H)

SPEED2

ON(L)

SPEED3

OFF(H)

SPEED4

OFF(H)

ON(L)

SPEED5

ON(L)

OFF(H)

SPEED6

ON(L)

SPEED7

ON(L)

Zero speed or switch

The meaning of this parameter is the needed analog
input voltage to reach the rated torque.

Servomotor output torque limit value

depending on

the actual overload capacity.

Servomotor output torque limit value during torque

Parameter

Description

No.

Setting

Control

Validation

Mode

torque control

Pn407
Pn408
Pn409

Notch filter 1
frequency
Notch filter 1 depth
Notch filter 2
frequency

Function and Meaning
control

Immediately

S T

Notch filter 1 frequency

Immediately

S T

Notch filter 1 depth

Immediately

S T

Notch filter 2 frequency

1. In some conditions,
vibration will be picked
up and response will be
lagged after notch filter
is set.
2. When notch filter

Pn410

Notch filter 2 depth

Immediately

S T

Notch filter 2 depth

frequency

set

5000, the notch filter is
invalid.

Pn411
Pn412
Pn413
Pn414

Low frequency
vibration frequency
Low frequency
vibration damp
Torque control delay
time
Torque control speed
hysteresis

Immediately

Frequency of low frequency vibration with load.
Attenuation damp of low frequency vibration with load.
It does not need to change.
These parameters are only enabled in position control
mode.
This parameter is used to set zero bias of analog
torque given, and it is related with torque reference

Pn415

Analog torque given
zero bias

Immediately

input gain (Pn400),
Torque reference=(External torque given input
analog-Analog torque given zero bias)

Torque

reference input gain

Pn500

Pn501

Positioning error
Coincidence
difference

Immediately

Outputs /COIN signal when error counter is less than
this value.
Outputs /VCMP signal when the difference between
speed reference value and speed feedback value is
less than this value.
The servomotor is locked in the form of temporary

Pn502

Zero clamp speed

Immediately

position loop when the speed corresponding to the
analog input is less than this value.

Pn503

Pn504

Rotation detection
speed TGON
Offset counter
overflow alarm

When the servomotor speed exceeds this parameter
Immediately

S T

setting value, it means that the servomotor has
already rotated steadily and outputs /TGON signal.
When the value in error counter exceeds this

Immediately

parameter setting value, it means that error counter
alarm has occurred and outputs alarm signal.
These parameters are only enabled when the port

Pn505

Servo ON waiting
time

Immediately

S T

output parameters are allocated with /BK signal
output.
These parameters are used to keep braking (prevent

- 168 -

Parameter
No.

Description

Setting

Control

Validation

Mode

Function and Meaning
from gravity glissade or continuous outside force on
servomotor) time sequence.

Pn506

Basic waiting flow

Immediately

S T

Servo ON waiting time
1 For the parameter is plus,/BK signal is output firstly
when servo-ON signal is input, and then servomotor
excitation

Pn507

Brake waiting speed

Immediately

S T

signal

created

after

delaying

the

parameter setting time.
2 For the parameter is minus, servomotor excitation
signal is output firstly when servo-ON signal is input,
and then /BK signal is created after delaying the
parameter setting time.
Basic waiting flow:
Standard setting: /BK output (braking action) and
servo-OFF are at the same time.
Now, the machine movable part may shift slightly due
to gravity according to mechanical configuration and
character. But it can be eliminated by using
parameters which are only enabled when the

Pn508

Brake waiting time

Immediately

S T

servomotor is stop or at low speed.
Brake waiting speed:
/BK signal is output when the servomotor speed is
decreased to the below of this parameter setting value
at servo-OFF.
Brake waiting time
BK signal is output when the delay time exceeds the
parameter setting value after servo-OFF.
/BK signal is output as long as either of the brake
waiting speed or brake waiting time is satisfied.

Allocate input port to

Pn509

signal, one port with

Pn509.0 corresponding port CN1_14
After restart

S T

four bits(hex)

Pn509.1 corresponding port CN1_15
Pn509.2 corresponding port CN1_16
Pn509.3 corresponding port CN1_17
Pn510.0 corresponding port CN1_39
Pn510.1 corresponding port CN1_40
Pn510.2 corresponding port CN1_41
Pn510.3 corresponding port CN1_42
Terminal

Allocate input port to

Pn510

signal, one port with

After restart

S T

PRI

CN1_14<

CN1_15<

CN1_16<

CN1_17< CN1_39< CN1_40< CN1_41< CN1_42
Corresponding signal of each data is shown as

four bits(hex)

following

- 169 -

S-ON

P-CON

P-OT

N-OT

Parameter
No.

Description

Setting

Control

Validation

Mode

Function and Meaning
4

ALMRST

CLR

P-CL

N-CL

G-SEL

JDPOS-JOG+

JDPOS-JOG-

JDPOS-HALT

C HmRef
D SHOM
E

ORG

Pn511.0 corresponding port CN1_11

CN1_12

Pn511.1 corresponding port CN1_05

CN1_06

Pn511.2 corresponding port CN1_09

CN1_10

Corresponding signal of each data is shown as
follows:

Pn511

Output signal
allocation

After restart

S T

/COIN/VCMP

/TGON

/S-RDY

/CLT

/BK

/PGC

/RD

/HOME

Bus communication input port enabled:

Pn512

Bus control input
node low-bit enabled

Immediately

S T

[0]

Disabled

[1]

Enabled

Pn512.0 CN1_14
Pn512.1 CN1_15
Pn512.2 CN1_16
Pn512.3 CN1_17

Pn513

Bus control input
node low-bit enabled

Immediately

S T

Pn513.0 CN1_39
Pn513.1 CN1_40
Pn513.2 CN1_41
Pn513.3 CN1_42

Pn514

Input port filter

Pn515

Reserved

Immediately

S T

Input port signal

Pn516

inversion

Immediately

S T

It is used to set input port filter time. The signal will be
lagged if the parameter setting is too high.

[0]

Do not inverse signal.

[1]

Inverse signal

Pn516.0 CN1_14 inversion
Pn516.1 CN1_15 inversion

- 170 -

Parameter
No.

Description

Setting

Control

Validation

Mode

Function and Meaning
Pn516.2 CN1_16 inversion
Pn516.3 CN1_17 inversion

Input port signal

Pn517

inversion

Immediately

S T

Pn517.0 CN1_39 inversion
Pn517.1 CN1_40 inversion
Pn517.2 CN1_41 inversion
Pn517.3 CN1_42 inversion

Pn518

Reserved

Pn519

Reserved

Pn520

Reserved
If connect externally regenerative resistor
0 connect externally regenerative resistor between B1

Pn521

Binary

Immediately

P,S,T

and B2
1

dose not connect externally regenerative resistor,

relay on internal capacitance.
This parameter is in effect only on ProNet-02/04

Pn522

Reserved
Pn523.0

IGBT overheat alarm

Only enabled in

ProNet2B
[0] IGBT overheat alarm enabled

Pn523

Binary

Immediately

P,S,T

[1] IGBT overheat alarm disabled
Pn523.1

Motor overheat alarm

Only enabled in

ProNet75/1A/1E/2B
[0] Motor overheat alarm enabled
[1] Motor overheat alarm disabled

Pn524

Reserved
When load percentage larger than overload alarm

Overload alarm

Pn525

threshold

Immediately

S T

threshold, A04 will occur soon.
Pn525 is recommended to set below 120, otherwise
the servo drive and motor will be damaged.

Temperature
threshold of motor

Pn526

overheat alarm

When servomotor
Immediately

S T

(Only enabled in

winding temperature exceeds

Pn526 setting, A19 will occur.(Only enabled in0
ProNet75/1A/1E/2B )

ProNet75/1A/1E/2B)
JPOS0 Position pulse

Pn600

in point to point

The two parameters are used in combination, and the
Immediately

control

Position pulse in

reach.(The

number

servomotor

rotation

revolutions is related with the programme mode of

JPOS0

Pn601

algebraic sum of them is the position of JPOS0 needs

Immediately

point to point control

point to point control.)
Pn600 Unit

10000P

Pn601 Unit

The meaning of other point to point control related
parameters are the same.

- 171 -

Parameter

Description

No.

Setting

Control

Validation

Mode

JPOS15 Position

Pn630

Pn631

pulse in point to point

Function and Meaning
The two parameters are used in combination, and the

Immediately

algebraic sum of them is the position of JPOS0 needs

control

JPOS15 Position

revolutions is related with the programme mode of

pulse in point to point

Immediately

reach.(The

number

servomotor

rotation

point to point control.)

control

Pn632

JPOS0 Point to point
speed control

JPOS0 Point to point speed control
Unit

rpm

The speed of other point to point control

Pn647

JPOS15 Point to
point speed control

Immediately

JPOS0

Pn648

Point to point
1st order filter

The speed of JPOS15 point to point control
Unit

rpm

1st order filter time of JPOS0 point to point control can
stop or start the servomotor mildly.
1st order filter of other point to point control.

Pn663
Pn664

JPOS15 Point to
point 1st order filter
JPOS0 point to point
control stop time

Immediately

1st order filter time of JPOS15 point to point control
can stop or start the servomotor mildly.
JPOS0 point to point control stop time
Unit

50ms

Other point to point control stop time
JPOS15 point to

Pn679

point control stop

Immediately

time

Pn680

JPOS15 point to point control stop time
Unit

50ms

Reserved
Pn681.0 Single/cyclic, start/reference point selection
[0]Cyclic operation, PCL start signal, NCL search
reference point in forward direction.
[1]Single operation, PCL start signal, NCL search
reference point in forward direction.
[2]Cyclic operation, NCL start operation, PCL search
reference point in forward direction.
[3] Single operation, NCL start operation, PCL search
reference point in forward direction.
Pn681.1 Change step and start mode

Pn681

Hex

Immediately

[0]Delay to change step, no need of start signal, delay
to start after S-ON.
[1]PCON change step, no need of start signal, PCON
delay to start

after S-ON, but inside pulse can not

stop when PCON off.
[2]Delay to change step, need start signal, canceling
start signal can immediately stop inside pulse.
Return to programme start point process step when
reset.
[3]PCON change step, need start signal, canceling
start signal can immediately stop inside pulse. Return
to programme start point process step when reset.

- 172 -

Parameter
No.

Description

Setting

Control

Validation

Mode

Function and Meaning
Pn681.2 Change step input signal mode
[0] Change step input signal electrical level mode
[1] Change step input signal pulse mode
Pn681.3 Reserved
[0]

Incremental programme

[1]

Absolute programme

Pn682

Programme mode

Pn683

Programme start step

Immediately

Select the start point of the point to point control

Pn684

Programme stop step

Immediately

Select the stop point of the point to point control.

Immediately

Search travel speed
in position
control(contact
reference);

Pn685

Speed of finding
reference

Search the servomotor speed in the direction of
reference point towards travel switch.

point(Hitting the
origin signal ORG) in
position homing
control.
Leave travel switch
speed in position
control(contact
reference);

Pn686

Speed of finding
reference

Search the servomotor speed when the reference
point leaves travel switch.

point(Leaving the
origin signal ORG) in
position homing
control.

Pn687

Position teaching
pulse

The two parameters are used in combination, and the
algebraic sum of them is the current position of
position teaching. When perform the position teaching

Pn688

Position teaching
pulse

by utility function, the algebraic sum of the two
Immediately

parameters are given to the current position
Pn687 unit

10000P

Pn688 unit

Pn689.0 Homing Mode
[0] Homing in the forward direction
[1] Homing in the reverse direction
Pn689.1 Search C-Pulse Mode

Pn689

Homing Mode Setting

Immediately

[0] Return to search C-Pulse when homing
[1] Directly search C-Pulse when homing
Pn689.2 Homing trigger starting mode
[0] Homing function disabled
[1] Homing triggered by SHOM signal(rising edge)
Pn689.3 Reserved

- 173 -

Parameter

Description

No.

Pn690
Pn691

Number of error
pulses during homing
Number of error
pulses during homing

Setting

Control

Validation

Mode

Immediately

Function and Meaning
unit

10000P

unit

Pn700.0 MODBUS communication baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
Pn700.1 MODBUS protocol selection

Pn700

Hex

After restart

ALL

[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

[5] 8

O 1

MODBUS,ASCII

[6] 8

N 2

MODBUS,RTU

[7] 8

E 1

MODBUS,RTU

[8] 8

O 1

MODBUS,RTU

Pn700.2 Communication protocol selection
[0] No protocol SCI communication
[1] MODBUS SCI communication
Pn700.3 Reserved

Pn701
Pn702

MODBUS Axis

address

After restart

ALL

Axis address of MODBUS protocol communication

Reserved
Pn703.0 CAN communication baud rate
[0] 50Kbps

Pn703

CAN communication
speed

[1] 100Kbps
After restart

ALL

[2] 125Kbps
[3] 250Kbps
[4] 500Kbps
[5] 1Mbps

Pn704

CAN communication
contact

After restart

ALL

CANopen Aix address of communication
Pn840.0 Encoder model selection
[0]-[2] Reserved

For factory using

[3] 17-bit absolute encoder
[4] 17-bit incremental encoder

Pn840

Hex

After restart

ALL

[5] Resolver
[6] Wire-saving incremental encoder
Pn840.1 Reserved

For factory using

Pn840.2 Reserved

For factory using

Pn840.3 Reserved

For factory using

Note
When connecting to EMJ-04A H
Pn005.3 should be set as “1”.
“the max value of servo receiving pulse frequency” ,it means the sufficient max value of pulse
frequency receiving by servo hardware.

- 174 -

Appendix B

Alarm Display
Alarm

Alarm

Display

Output

Alarm Name

Meaning

Parameter breakdown

The checksum results of parameters are abnormal.

AD shift channels breakdown

AD related electrical circuit is faulty

Overspeed

Overload

Position error counter overflow

Internal counter overflow

Position error pulse overflow

Position error pulse exceeded parameter(Pn504)

The servomotor speed is excessively high and the
servomotor is out of control.
The servomotor is operating continuously under a torque
largely exceeding ratings.

The setting of electronic gear or
given

pulse

frequency

not

reasonable.
The 1st channel of current

The setting of electronic gear is not reasonable or the
given pulse frequency is too high.

Something wrong with the inside chip of the 1st channel.

Incremental Encoder is break off.

At least one of Incremental Encoder PA,PB,PC is break off.

Overcurrent

An overcurrent flowed through the IPM.

Overvoltage

Undervoltage

Bleeder resistor error

Bleeder resistor is faulty.

Regeneration error

Regenerative circuit error

Resolver error

The communication of resolver is abnormal.

IGBT superheat alarm

IGBT temperature is too high.

Motor overheat alarm

Motor temperature is too high.

power line phase shortage

one phase does not bring into main circuit power supply.

Instantaneous power off alarm

An power off for more than one period is occurred in AC.

detection is wrong.
The

2nd

channel

current

detection is wrong.

Main circuit voltage for servomotor rotation is excessively
high.
Main circuit voltage for servomotor rotation is excessively
low.

Motor temperature detection sensor
is break off.
Brake overcurrent alarm

Something wrong with the inside chip of the 2nd channel.

Encoder cable is error.
Bleeder resistor is too small. Or bleeder module is faulty.

- 175 -

Alarm

Display

Output

Alarm Name

Meaning

Reserved

Servomotor type error

Servo drive type error

Reserved

Battery voltage below 2.5V

Absolute encoder multiturn information is loss.

Battery voltage below 3.1V

Battery voltage is too low.

Serial encoder communication

Encoder disconnected; encoder signal disturbed; encoder

overtime

error or encoder decoding circuit error.

The parameter setting of servo drive does not match the
servomotor.
The parameter setting of servo drive does not match the
servomotor.
Reserved

Absolute encoder multiturn

Absolute encoder multiturn information is faulty.

information error
Absolute encoder multiturn

Absolute encoder multiturn information is overflow.

information overflow

Absolute encoder multiturn information may be faulty.
Error reasons
A

Absolute encoder overspeed alarm
detected

1.The battery is not connected or the battery voltage is
insufficient.
2.The power supply to servo drive is not turned ON when
the battery voltage is normal, or the servomotor running
acceleration is too high due to external reason.

Absolute state of serial encoder
error

Encoder or the encoder decoding circuit is faulty.

Serial encoder calcaution error

Encoder or the encoder decoding circuit is faulty.

Parity bit or end bit in serial encoder

Encoder signal is disturbed or the encoder decoding circuit

control domain error

is faulty.

Serial encoder communication data

Encoder signal is disturbed or the encoder decoding circuit

checking error

is faulty.

End bit in serial encoder control

Encoder signal is disturbed or the encoder decoding circuit

domain error

is faulty.

Serial encoder data empty

The EEPROM data of serial encoder is empty.

Serial encoder data format error

The EEPROM data format of serial encoder is incorrect.

Communication module not

Communication

detected

communication module is faulty.

Communication unsuccessful

CPU of communication module operated abnormally.

Servo drive can not receive the
A

period

data

communication

module.

module

receive the servo drive response

plugged

Receive channel of servo drive data or send channel of
communication module is faulty.

Communication module can not
A

not

Communication module is faulty.

data.

- 176 -

the

Alarm

Display

Output

Alarm Name

Meaning

Communication module and bus

Bus communication is faulty.

CAN communication abnormal

Receiving heartbeat timeout

The master station sends heartbeat time timeout

Synchronization signal monitoring

The filling time and the cycle of the synchronous signal

cycle is longer than setting

does not match.

Not an error

Normal operation status.

connectionless

Output transistor is ON.
A.45

A.46 A.47

CAN communication is faulty because of abnormal
communication connection or disturbance.

Output transistor is OFF.

A.51 only can be reset when the absolute encoder related alarm is cleared.

The multiturn data should be cleared because of the multiturn information is incorrect.

- 177 -

ESTUN AUTOMATION TECHNOLOGY CO.,LTD
ADD 16 Shuige Road Jiangning Development Zone
Nanjing

211106 P.R.China

TEL 025-52785866 52785989
FAX 025-52785576
Web www.estun-servo.com
E-mail info@estun.com

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