ESTUN AC Servo Drive

PRONET User Manual

www.estun-servo.com

Product Line-up

Servo motor Series Power 200W

-1

Servo drive Model EMJ-02APA EMJ-04APA EMJ-08APA EMJ-10APA EMG-10AA EMG-15AA EMG-20AA EMG-30AA EMG-50AA EML-10AA EML-20AA EML-30AA EML-40AA EMB-75DA EMB-1ADA EMB-1EDA 200V PRONET-02AA PRONET-04AA PRONET-08AA PRONET-10AA PRONET-10AA PRONET-15AA PRONET-20AA PRONET-30AA PRONET-50AA PRONET-10AA PRONET-20AA PRONET-30AA PRONET-50AA PRONET-75DA PRONET-1ADA PRONET-1EDA 400V

EMJ
Small capacity
3000min

400W 750W 1000W

EMG
2000min
-1

1.0kW 1.5kW 2.0kW 3.0kW 5.0kW

Medium inertia

Medium capacity

EML
1000min-1

1.0kW 2.0kW 3.0kW 4.0kW

Large capacity

EMB
1500min-1

7.5kW 11kW 15kW

ESTUN Servo Motor

series
Fetures
Medium inertia Instantaneous peak torque (300% of rated torque) Wide selection: 200W to 1000W, holding brake options Maximum speed: 4500r/min Mounted 2500P/R incremental encoder, Optional mounted 17-bit absolute encoder

Application Examples

Chip mounters PCB drilling stations Robots Material handling machines Food processing equipment Textile machines

Model Designations

EMJ

08

1
Options Code Specifications 1 Without options

ESTUN servo motor EMJ series Rated output power Code Specifications 02 200W

04 08 10

400W 750W 1000W

Encoder Code Specifications P Increamental wire-saving encoder 2500P/R S 17digit absolute 131072P/R

2 3

With oil seal With holding brake(DC24V) With oil seal and holding brake(DC24V)

Design revision order Code A Specifications Design revision order

Power supply voltage Code Specifications A 200VAC

Shaft end Code Specifications 1 Straight without key (standard) 2 Straight with key and tap

ESTUN Servo motor Ratings and specifications

Voltage Servomotor model Rated output power Rated torque Instantaneous Torque Rated Current Instantaneous Current Rated Speed Max. Speed Rotor Moment of Inertia Encoder Insulation Class Ambient Temperature Ambient Humidity Enclosure Vibration Max. Peak EMJW Nm Nm Arms Arms min-1 min
-1

200VAC 02AA 200 0.64 1.91 1.3 3.9 04PA 400 1.27 3.82 2.7 8.1 3000 4500 0.19 0.32 1.48 1.89 Increamental wire-saving2500P/R 17 digit absolute131072P/R B 0 to +40 (non freezing) 20 to 80% RH (non condensing) Totally enclosed, self-cooled, IP55 (except for shaft opening and connectors) 49m/s2 08AA 750 2.39 7.16 4.0 12.0 10AA 1000 3.18 9.55 5.3 15.9

x10-4kgm2 Standard Option

Torque-Motor Speed Characteristics (A:Continuous Duty Zone,B:Intermittent Duty Zone)

ESTUN Servo motor Dimension mm

Model EMJ02APA 04APA 08APA 10APA

L 153 183 191 211

LL 123 153 156 176

Flange face LR 30 30 35 35 LE 3 3 3 3 LF 6 6 10 10 LC 60 60 80 80 LA 70 70 90 90 LB 50 50 70 70 LZ 5.5 5.5 6 6

S 14 14 19 19

Tap Depth M5x10L M5x10L M6x15L M6x15L

Key QK 16 16 22 22 QL 4 4 4 4 W 5 5 6 6 T 5 5 6 6 U 3 3 3.5 3.5

Motor connector specification

connector172167-1 (AMP) pin
Pin No. 1 2 3 4

170360-1 (AMP)
Signal U phase V phase W phase FG Color red blue white Green/yellow

Encoder connector specification

connector172169-1 (AMP) pin
Pin No. 1 2 3 4 5 6 7 8 9

170359-3 (AMP) 17 digit absolute

Pin No. 1 2 3 4 5 6 7 8 9 Signal S+ S BAT+ BAT PG5V PG0V FG Color blue Blue/black brown Brown/black red black shield

Increamental wire-saving
Signal A+ B+ C+ ABCPG5V PG0V FG Color blue green yellow Blue/black Green/black Yellow/black red black shield

ESTUN Servo motor

series
Features
High-speed driving of feed shafts for
various Wide Selection: 1.0kW to 5.0kW, holding brake options

Mounted wire-saving encoder(2500P/R Optionalmounted 17-bit serial encoder Protective Structure: IP65

Application Examples

Machine tools Material handling machines Food processing equipment Textile machines

Model Designations

EMG
EMG series

10

1
options Code Specification 1 Without option

ESTUN servo motor

rated output power Code Specification 10 1.0kW

15 20 30 50

1.5kW 2.0kW 3.0kW 5.0kW

encoder Code Specification P Increamental wire-saving encoder 2500P/R S 17-bit absolute encoder131072P/R

2 3

With oil seal With holding brake (DC24V) With oil seal and holding brake(DC24V)

design revision order Code A Specification Design revision order

power supply voltage Code Specification A 200VAC

shaft end Code Specification 1 Straight without key (standard) 2 Straight with key and

tap

ESTUN Servo motor Ratings and Specifications

Voltage Servo motor Model Rated output power Rated torque Instantaneous Torque Rated Current Instantaneous Current Rated Speed Max. Speed Rotor Moment of Inertia Encoder Insulation Class Ambient Temperature Ambient Humidity Enclosure Vibration Max. Peak EMGkW Nm Nm Arms Arms min-1 min
-1

200VAC 10AA 1.0 4.78 14.3 6.0 18.0 15AA 1.5 7.16 21.5 9.0 27.0 20AA 2.0 9.55 28.7 12.0 36.0 2000 3000 9.43 13.7 18.0 Increamantal wire-saving2500P/R 17-bit absolute131072P/R 30AA 3.0 14.3 43.0 18.0 54.0 50AA 5.0 23.9 71.6 28.0 84.0

x10-4kgm2 Standard Option

Torque-Motor Speed Characteristics (A:Continuous Duty Zone, B:Intermittent Duty Zone)

ESTUN Servo motor Dimensions mm

Model EMG10AA 15AA 20AA 30AA 50AA

L 215 240 265 307 347

LL 160 185 210 228 268

KB1 84 109 134 143 183

KB2 135 160 185 203 243

KL1 118 118 118 140 140

KL2 79 79 79 79 79

Flange face LR 55 55 55 79 79 LE 4 4 4 3.2 3.2 LF 12 12 12 18 18 LC 130 130 130 180 180 LA 145 145 145 200 200 LB 110 110 110 114.3 114.3 LZ 9 9 9 13.5 13.5

S 22 22 22 35 35

Tap Depth M6x20L M6x20L M6x20L M8x16L M8x16L

Key QK 40 40 40 55 55 QL 5 5 5 6 6 W 8 8 8 10 10 T 7 7 7 8 8 U 4 4 4 5 5

Motor receptacle specification

receptacleMS3102A20-4P (EMG-10A/15A/20A)MS3102A22-22P (EMG-30A/50A) connectorMS3108B20-4S (EMG-10A/15A/20A)MS3108B22-22S (EMG-30A/50A) cable clampMS3057-12A
Pin A B C D Signal U phase V phase W phase FG Color red blue white Green/yellow

Encoder receptacle specification

receptacleMS3102A20-29P connectorMS3108B20-29S cable clampMS3057-12A Increamental wire-saving encoder
code A B C D E F G H J signal A+ AB+ BC+ CPG0V PG5V FG color blue Blue/black green Green/black yellow Yellow/black black red shield code K L M N P R S T signal color code A B C D E F G H J

17-bit absolute
signal PG0V PG5V FG color black red shield code K L M N P R S T signal S+ S BATBAT+ color blue Blue/black Yellow/black yellow

ESTUN Servo motor

series
Features
High-speed driving of feed shafts for various Wide Selection: 1.0kW to 5.0kW, holding brake options Mounted 2500P/R incremental encoder, Optional mounted 17-bit serial encoder Protective Structure: IP65

Application Examples
Machine tools Material handling machines Food processing equipment Textile machines

Model Designation

EML
EML series

10

1
option code Specification 1 Without option 2 3 With oil seal With holding brake (DC24V) With oil seal and holding brake(DC24V)

ESTUN servo motor

rated output power code Specification 10 1.0kW 20 30 40 2.0kW 3.0kW 4.0kW

encoder code Specification P Increamental wire-saving2500P/R S 17-bit absolute 131072P/R

design revision order code A Specification Design revision order

power supply voltage code Specification A 200VAC

shaft end code Specification 1 Straight without key (standard) 2 Straight with key and tap

ESTUN Servo motor Ratings and specification

voltage Servo motor Model Rated output power Rated torque Instantaneous Torque Rated Current Instantaneous Current Rated Speed Max. Speed Rotor Moment of Inertia Encoder Insulation Class Ambient Temperature Ambient Humidity Enclosure Vibration Max. Peak EMLkW Nm Nm Arms Arms min-1 min
-1

200VAC 10AA 1.0 9.55 28.7 6.0 18.0 20AA 2.0 19.1 57.3 12.0 36.0 1000 1500 18.0 Increamental wire-saving2500P/R 17-bit absolute131072P/R F 0 to +40 (non freezing) 20 to 80% RH (non condensing) Totally enclosed, self-cooled, IP55 (except for shaft opening and connectors) 24.5m/s2 30AA 3.0 28.7 86.0 18.0 54.0 40AA 4.0 38.2 114.6 24.0 72.0

x10-4kgm2 Standard Option

Torque-Motor Speed Characteristics (A:Continuous Duty Zone, B:Intermittent Duty Zone)

ESTUN Servo motor Dimention mm

Model EML10AA 20AA 30AA 40AA

L 265 332 372 412

LL 210 253 293 333

KB1 134 168 208 248

KB2 185 228 268 308

KL1 118 140 140 140

KL2 79 79 79 79

Flange face LR 55 79 79 79 LE 4 3.2 3.2 3.2 LF 12 18 18 18 LC 130 180 180 180 LA 145 200 200 200 LB 110 114.3 114.3 114.3 LZ 9 13.5 13.5 13.5

S 22 35 35 35

Tap Depth M6x20L M8x16L M8x16L M8x16L

key QK 40 55 55 55 QL 5 6 6 6 W 8 10 10 10 T 7 8 8 8 U 4 5 5 5

Motor receptacle specification

receptacleMS3102A20-4P (EML-10A)MS3102A22-22P (EML-20A/30A/40A) connectorMS3108B20-4S (EML-10A)MS3108B22-22S (EML-20A/30A/40A) cable clampMS3057-12A
code A B C D signal U phase V pahse W phase FG color red blue white Green/black

Encoder receptacle specification

receptacleMS3102A20-29P connectorMS3108B20-29S cable clampMS3057-12A Increamental wire-saving encoder
code A B C D E F G H J signal A+ AB+ BC+ CPG0V PG5V FG color blue Blue/black green Green/black yellow Yellow/black black red shield code K L M N P R S T signal color code A B C D E F G H J signal PG0V PG5V FG black red shield

17-bit absolute
color code K L M N P R S T signal S+ S BATBAT+ color blue Blue/black Yellow/black yellow

ESTUN Servo motor

series
Features
Power supply voltage 400V Driving of feed shafts for various
Wide Selection: 1.0kW to 5.0kW, holding brake options Mounted 2500P/R incremental encoder, Optional mounted 17-bit serial encoder Protective Structure: IP65

Application Examples
Machine tools Material handling machines Food processing equipment Textile machines

Model Designation

EMB
EMB series

1E

1
option code Specification 1 Without option

ESTUN servo motor

rated output power code Specification 75 7.5kW

1A 1E

11.0kW 15.0kW

encoder code Specification P Increamental wire-saving encoder 2500P/R S 17-bit absolute encoder131072P/R

2 3

With oil seal With holding brake (DC24V) With oil seal and holding brake(DC24V)

design revision order power supplu voltage code Specification D 400VAC code A Specification design revision order

shaft end code Specification 1 Straight without key (standard) 2 Straight with key and tap

ESTUN Servo motor Ratings and specifications

voltage Servo motor Model Rated output power Rated torque Instantaneous Torque Rated Current Instantaneous Current Rated Speed Max. Speed Rotor Moment of Inertia Encoder Insulation Class Ambient Temperature Ambient Humidity Enclosure Vibration Max. Peak EMBkW Nm Nm Arms Arms min-1 min
-1

200VAC 75DA 7.5 47.8 119.4 18.0 56.0 1ADA 11.0 70.0 175 28.0 70.0 1500 2000 Increamental wire-saving2500P/R 17-bit absolute131072P/R F 0 to +40 (non freezing) 20 to 80% RH (non condensing) Totally enclosed, self-cooled, IP55 (except for shaft opening and connectors) 24.5m/s2 1EDA 15.0 95.5 191 38.0 84.0

x10-4kgm2 standard option

Torque-Motor Speed Characteristics (A:Continuous Duty Zone, B:Intermittent Duty Zone)

ESTUN Servo motor Dimention mm

model EMB75DA 1ADA 1EDA

LL

KB1

KB2

KL1

KL2

Flange face LR 116 116 116 LE 4 4 4 LF 18 18 18 LC 220 220 220 LA 235 235 235 LB 200 200 200 LZ 13.5 13.5 13.5

S 42 42 42

Tap Depth M1632 M1632 M1632

key QK 100 100 100 QL 5 5 5 W 12 12 12 T 8 8 8 U 5 5 5

Motor receptacle specification

recepticalMS3102A32-17P connectorMS3108B32-17S cable clampMS3057-12A
code A B C D signal U phase V phase W phase FG color red blue white Green/yellow

Encoder receptacle specification

ReceptacleMS3102A20-29P ConnectorMS3108B20-29S Cable clampMS3057-12A Increamental wire-saving encoder
code A B C D E F G H J signal A+ AB+ BC+ CPG0V PG5V FG color blue Blue/black green Green/black yellow Yellow/black black red shield code K L M N P R S T signal color code A B C D E F G H J signal PG0V PG5V FG black red shield

17-bit absolute
color code K L M N P R S T signal S+ S BATBAT+ color blue Blue/black Yellow/black yellow

ESTUN Servo drive

series
Features

PRONET series servo drive added function of current forward-feedback control, acceleration forward-feedback control, speed viewer and inertia viewer which, in turn, enable our PRONET series servo drive to improve response performance more than three times than previous products. What is more, it is available to on-line real time workload inertia check and adjustment of gain at any time to achieve the best control effect.

Added switching control mode function,which could effectively reduce overshoot and adjustingtime by setting reasonable switch conditions. PRONET series servo drive is able to match 17 digit serial encode which in turn enhanced position precision and low speed stability & response performance. PRONET series servo drive designed expansion module interface. At represent, Profibus-DP bus communication module is available.

Model Designation

PRONET
ESTUN Servo drive PRONET Series rated output power code Specification 08 750W 10 1.0kW 15 1.5kW 20 2.0kW 30 3.0kW 50 5.0kW 75 1A 1E 7.5kW 11kW 15kW

10

A
design revision order Specification A Design revision order

power supply voltage Specification A 200VAC D 400VAC control mode Specification M Used for controlling speed,torque and position E Used for controlling speed,torque and position support option unit

ESTUN Servo drive Ratings and specifications

Servo Drives Model PRONETApplicable Servo Motors Model EMJApplicable Servo Motors Model EMGApplicable Servo Motors Model EMLApplicable Servo Motors Model EMBC o n t in o us o u t pu t cu r r e n [ A r m s P e a k o u t p u t c u r r e n [ A r m s Main circuit Input power Control circuit supply Power [kVA] Control method feedback Ambient/Storage Temperature Operating Conditions Configuration Speed control range Load Regulation Speed Voltage Regulation Regulation temperature Regulation Reference voltage Input Analog input impendance Circuit time constant Reference voltage Input Analog input impendance Circuit time constant Rotation Direction Set Speed Selection Reference Speed Selection Soft Start Function Setting Type Form Reference pulse frenquency Ambient/Storage Humidity Elevation Vibration/Impact Resistance 08A 08A 10A 10A 10A 10A 15A 20A 20A 30A 30A 50A 40A 75D t ] t ] 4.0 12.0 6.0 18.0 9.0 28.0 12.0 42.0 18.0 56.0 28.0 84.0 18.0 56.0 1AD 28.0 70.0 1ED 38.0 84.0 15A 20A 30A 50A 75D 1AD 1ED

3 phase 200~230VAC +10~-15% (50/60Hz) Single phase 200~230VAC +10~-15% (50/60Hz) 1.3 1.8 2.5 3.5 4.5 7.5

3 phase380~440VAC +10~-15% (50/60Hz) Single phase 380~440VAC +10~-15% (50/60Hz) 12.0 18.0 22.0

IGBT PWM control SVPWM control Increamental wire-saving encoder 2500P/R 17-bit absolute encoder131072P/R Ambient temperature: 0 to +55C, storage temperature: -20 to +85C 90% RH or less (no condensation) 1000m or less Vibration resistance: 4.9m/s2, Impact resistance: 19.6m/s2 Based-mounted 1:5000 0~100% load0.01% max.at rated speed Rated voltage 10%0%at rated speed 25250.1% max.at rated speed 10VDC at rated torque (variable setting range: 1 to 10VDC) Max. input voltage: 12V About 47K 63s DC10V/rated speedvariable setting range: 1 to 10VDC Max. input voltage12V About 47K 63s Switches the direction by /P-CON Speed 1 to 3 selection 0~10scan be set individually for acceleration and deceleration Select onesign+pulseCCW+CW90phase difference 2-phase pulseA phase+B phase Line driverabout+5Vcollector open Line drive sign+pulse trainCCW+CW4Mpps 90phase difference 2-phase pulse1Mpps Collector open Sign+pulseCCW+CW200kpps 90phase difference 2-phase pulse200kpps noteFrequencies drop when the dutues have errors Can set 16 position reference A phaseB phaseC phaseline drive output The number of dividing pulse: Any setting ratio is available of 8 Channels Signal allocations and positive/negative logics can be modified: Servo ON (/S-ON), P control (/P-CON), alarm reset (/ALM-RST), clear error pulse (/CLR), forward run prohibited (P-OT), reverse run prohibited (N-OT), forward torque limit (/P-CL), reverse torque limit (/N-CL) of 4 Channels Servo alarmALM

Performance

Torque control

Speed control

Positon control

Setting position reference

Position setting

Encoder Output Pulses Number Channels I/O signal Sequence Input Function Number Channels Function

Sequence output

Built-in Functions

Dynamic Brake (DB) Functions Regenerative Processing Functions Protective Functions Utility Functions Display Functions Communications

Signal allocations and positive/negative logics can be modified: Positioning completion (/COIN), speed agree detection (/V-CMP), motor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), brake interlock (/BK) Operates during main power OFF, servo alarm, servo OFF or overtravel 0.5kW to 5.0kW: built-in regenerative resistor; 7.5kW to 15kW: External regenerative resistor (optional) Overcurrent, overvoltage, low voltage, overload, regeneration error, overspeed, etc. Alarm trace back, JOG operation, Inertia detections, etc. CHARGE (red), POWER (green), 7-segment 5-digit LED RS-485 communication port, use MODBUS protocol. CAN communication port, use CANOpen protocol.

ESTUN Servo drive Dimention mm

Three-phase 200V0.5kW/1.0kW/1.5kWPRONET-08A/10A/15A

Three-phase 200V2.0kW/3.0kW/5.0kWPRONET-20A/30A/50A

ESTUN Servo drive

Three-phase 400V7.5kW/11kW/15kWPRONET-75D/1AD/1ED

Wirrings and connections

Caution
Do not wire power lines and signal lines in the same duct or bundle them together. Wire such that signal lines are kept apart from power lines by at least 30 cm. Twisted pair wire and multi-core twisted pair shielding wires should be used for signal lines, encoder (PG) feedback line. The length for wiring is 3m maximum for the reference input line, 20 m maximum for the PG feedback line. Do not touch the power terminal even if power is turned off. High voltage may still remain in Servo drive. Perform inspection only after the CHARGE LED extinct.

Names and functions of main circuit terminals

Terminal Symbol Name Main circuit power voltage[V]
200

Servo unit model PRONETA

Function

Three phase 200230VAC (50/60Hz)

+10,-15%

L1L2L3

Main circuit power supply input terminals

400

Three phase 380440VAC (50/60Hz)

+10,-15%

UVW

Servo motor connection terminals Control circuit power supply input terminals

Connect with the servo motor

200

Single phase 200230VAC (50/60Hz)

+10,-15%

L1CL2C

400

Single phase 380440VAC (50/60Hz)

+10,-15%

Ground terminal

Connects to the power supply ground terminal and servo motor ground terminal Normal short B2-B3(for the inside regenerative resistor)Remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2 if the capacity of inside regenerative resistor is insufficient Connect an external regenerative resistor between B1 and B2. Normallyshort .If

B1B2B3

Outside regenerative resistor connection terminal

200

B1B2 DC reactor for

400 200

D A

harmonic suppression terminal Main circuit minus terminal

countermeasure against power supply harmonic waves is needed, connect an DC reactor between 400 D Normal not connected

Wirings and Connections Input and output signal connection

Name and function of input signal
Control mode
Speed Position Torque

Signal
/S-ON

Pin no.
14 Servo ONmotor power on

Function
Choose this signal function through setting parameter Proportion switch Rotation direction switch Control mode switch Zero Clamp Command pulse prohibit If onswitch speed circuit control mode PI control to IP control Use this signal for switching rotation direction when want to use the function internal set speed selection

/P-CON

15

Switch control mode [Speed control]if ON, command speed value is 0 [Position control]when ON, stop command pulse input

P-OT N-OT 16 17

Forward drive prohibit Reverse drive prohibit Over travel prohibitwhen ON, stop the servo motors rotation

/PCL /NCL

41 42

Choose this signal function through setting parameter. Forward current limit Reverse current limit Current limit function is available if on.

Speed inside selection /ALM-RST DICOM Speed VREF+ VREFPULS+ PULSSIGN+ Position SIGNPPI 39 13 1 2 30 31 32 33 34

Choose different setting speed inside

Alarm resetrelease servo alarm status I/O signal power supply sourceshould provide 24VDC by the client Speed reference input10V Pulse input form *signalpulse string *CCW+CW pulse *two phase pulse90phase differential Collector open-circuit reference power sourceSeparately preset 2K/0.5W resistor inside of the drive Position error pulse clearingclear position error pulse during position control Torque reference input10V

/CLR

40 26 27

Torque

T-REF+ T-REF-

Wirings and Connections

Name and function of output signal
Control mode
Speed Position Torque

Signal
ALM+ ALM/TGON+ /TGON/S-RDY+ /S-RDYPAO+ PAOPBO+ PBO-

Pin no.
5 6 7 8 9 10 20 21 22 23 Servo alarm

Function
Turn off when check abnormal status. Motor rotation detect Turn on when motor rotation is over the setting value Servo ready Turn on if there is no alarm when control circuit and main circuit are powered. A phase signal

Two-phaseA phaseB phasePG frequency dividing output signal

B phase signal

PCO+ PCOFG /V-CMP+ /V-CMP/COIN+ /COIN/CLT /BK Maintain

24 25 Metal shell 11 12 11 12

C phase signal If the shield of

Zero-point pulseC phasesignal connector cable CN1 is connected with the metal shell, it

is connected with shell ground Consistent speed Turn on when the speed of motor is in the same condition with reference speed. Position complete When on after position complete(deviation pulse reach to the setting value Maintain functions could be allocated to /TGON /S-RDY /V-CMP /COIN signal

Speed

Position

pins by amending parameter setting /CLTTorque limit output. Above setting value ON /BKBreaker linkage output. Release break when on.

4,18,19,29,35 36,37,38,43 44,45,47,49 Unused pins

Wirings and Connections

Input and output connector(CN1)terminal array
Terminal
1 2 3 4 5 6 7 8 9

Name
VREF+ VREFAGND ALM+ ALM/TGON+ /TGON/S-RDY+

Function
Speed reference input10V Analog ground maintain Servo alarm

Terminal
26 27 28 29 30 31 32 33 34

Name
T-REF+ T-REFAGND PULS+ PULSSIGN+ SIGNPPI 10V

Function
Torque reference input

Analog ground maintain Command pulse input

Motor rotation detection Servo ready

Command pulse input

Collector

open-circuit

reference power source 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 /S-RDY/COIN+ /COINDICOM /S-ON /P-CON P-OT N-OT PAO+ PAOPBO+ PBOPCO+ PCOPosition complete I/O signal 24VDC power supply Servo ON Position control switch Forward drive prohibit Reverse drive prohibit maintain maintain Encoder phase signal Encoder phase signal Encoder phase signal C B A Two pulse frequency dividing output signal Zero-point pulse signal phase PG 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 /ALM-RST /CLR /PCL /NCL DGND DGND DGND maintain maintain maintain maintain Alarm release Clear position bias pulse Forward external torque limit Reverse external torque limit maintain maintain maintain Digital ground maintain Digital ground maintain Digital ground

(Note) 1. The following input and output can be allocated or change the function by user parameters setting. Input/S-ON/P-CONP-OTN-OT/ALM-RST/CLR/PCL/NCL Output/TGON/S-RDY/COIN Related detailsplease reference toparameter detail explanationPn509,Pn510 and Pn511

Encoder signal connection

Encoder connector(CN2) terminal array
Terminal
1 2 3 4 5 6 7 8 9 10

Name
PA /PA PB /PB PC /PC PS /PS PG5V

Function
PG input A phase PG input/A phase PG input B phase PG input/B phase PG input C phase PG input/C phase PG serial signal input PG serial signal input PG power source 5V

Terminal
11 12 13 14 15 16 17 18 19 20

Name
PU /PU PV /PV PW /PW BAT+ BATGND

Function
PG input U phase PG input/U phase PG input V phase PG input/V phase PG input W phase PG input/W phase Battery(+)[absolute encoder] Battery(-)[absolute encoder] PG power source 0V

Wirings and Connections Communication signal connection

Communication connector(CN3) terminal array
Terminal
1 2 3 4 5

Name
5V 5V 485+ DGND DGND

Function
5VDC power source RS-485 communication terminal Grounding

6 7 8

485CANH CANL

RS-485 communication terminal CAN communication terminal CAN communication terminal

Communication connector(CN4) terminal array

Terminal
1 2 3 4 5 6 7 8

Name
485+ DGND DGND 485CANH CANL maintain maintain

Function

RS-485 communication terminal grounding RS-485 communication terminal CAN communication terminal CAN communication terminal

Wirings and Connections Connection diagrams

Three-phase 200V power supply specification

Wirings and Connection

Three-phase 400V power supply specification

Wirings and Connections Cables and connectors

CN1 Item Connector kit (CN1) Connector kit (CN2)
Incremental Encoder Cables

length 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 3m 5m 10m 15m 20m 2m

model EC-CN1-50 EC-CN2-20 PMP-JB24-03 PMP-JB24-05 PMP-JB24-10 PMP-JB24-15 PMP-JB24-20 PMP-GA24-03 PMP-GA24-05 PMP-GA24-10 PMP-GA24-15 PMP-GA24-20 PSP-JB24-03 PSP-JB24-05 PSP-JB24-10 PSP-JB24-15 PSP-JB24-20 PSP-GA24-03 PSP-GA24-05 PSP-GA24-10 PSP-GA24-15 PSP-GA24-20 PDM-JB18-03 PDM-JB18-05 PDM-JB18-10 PDM-JB18-15 PDM-JB18-20 PDM-GA16-03 PDM-GA16-05 PDM-GA16-10 PDM-GA16-15 PDM-GA16-20 PDM-GA14-03 PDM-GA14-05 PDM-GA14-10 PDM-GA14-15 PDM-GA14-20 PDM-GD14-03 PDM-GD14-05 PDM-GD14-10 PDM-GD14-15 PDM-GD14-20 PDM-GD12-03 PDM-GD12-05 PDM-GD12-10 PDM-GD12-15 PDM-GD12-20 PDM-BE12-03 PDM-BE12-05 PDM-BE12-10 PDM-BE12-15 PDM-BE12-20 PDM-BE10-03 PDM-BE10-05 PDM-BE10-10 PDM-BE10-15 PDM-BE10-20 PSC-CC24-02

Main specification connector10150-3000PE (3M) connector shell10350-52A0-008 (3M) connector10120-3000PE (3M) connector shell10320-52A0-008 (3M)

picture

(EMJ series servo motor)

Incremental

Encoder

Cables

CN2 Encoder

(EMG seriesEML series EMB series Servo motor)

Incremental

Encoder

Cables

(EMJ series servo motor)

Incremental

Encoder

Cables

(EMG seriesEML series EMB series Servo motor)

Power cable (EMJ series servo motor)

Power cable (EMG-10AEMG-15A EML-10A servo motor)

Power cable (EMG-20A servo motor) Servo drive terminal motor

Power cable (EML-20A servo motor)

Power cable (EMG-30AEMG-50A EML-30AEML-40A Servo motor) Power cable (EMB-75DEMB-1AD Servo motor)

Power cable (EMB-1ED servo motor)

CN3

PC connection cable

Operation introduction
Digital Operator operation introduction
Name INC key Function Press to display the parameter settings and set values. Press INC key to increment the set value Press DEC key to decrement the set value. Press to select the status display mode, setting mode, monitor mode, or error trace back mode. Press to cancel setting when set the parameters. Press to display the parameter settings and set values and release alarm.

DEC key

MODE key

ENTER key

Basic Mode Selection

Through swithching among basic mode of digital operatorbe able to operate status display, parameter setting, operating reference ect. Digital Operator operation allows status display, parameter setting, operating reference, and auto-tuning operations. Each time the mode key is pressed, the next mode in the sequence is selected. Power ON

Status display mode

Parameter setting mode

Monitor mode

Assistant function

Operation in Status Display Mode

The status display mode displays the Servodrive status as bit data and codes. Selecting Status Display Mode The status display mode is displayed when the power is turned ON. If the status display mode is not displayed, select the mode by using Mode Key to switch. Keys to the status display are shown below. The display varies in different modes amond speed control,torque control and position control.. For Speed and torque Control Bit data Code Speed coincidence *

Base block Control Power ON Speed Reference Input

/TGON Power ready Torque Reference Input

* It is highlighted when in torque control mode.

Bit displays Bit data Control Power ON Base block Speed Coincidence Descriptions Lit when SERVODRIVE control power ON. Lit for base block. Not lit at servo ON. Lit if the error between motor speed and the reference speed is below preset value Preset valuePn501(default value10min/r) Lit if motor speed exceeds preset value. Not lit if motor speed is below preset value Preset value: set in Pn503default value 20r/min Lit if input speed reference exceeds preset value. Not lit if input speed reference is below preset value. Preset value: set in Pn503default value 20r/min Lit if input torque reference exceeds preset value. Not lit if input torque reference is below preset value. Preset value10% rated torque Lit when main power supply circuit is normal. Not lit when power is OFF or main power supply circuit is faulty.

/TGON

Speed Reference Input

Torque Reference Input

Power Ready

Code displays Code Description Base block Servo OFF (motor power OFF) Run Servo ON (motor power ON) Forward Rotation Prohibited (P-OT) P-OT OFFstatus Reverse Rotation Prohibited (N-OT) N-OT OFF status Alarm Status Displays the alarm number. For position control
Bit data Code

Positioning Complete

Base block
Control power ON Reference pulse input

/TGON
Power ready

Error Counter Clear Input

Bit data dispaly Bit data Control power ON Base block Position

/TGON Reference pulse input Error Counter Clear Input Main circuit Power Ready

Description Lit when Servodrive control power ON. Lit for base block. Not lit at servo ON. Lit if error between position reference and actual motor position is below preset value. Preset valuePn501(standard setting:10 pulse) Lit if motor speed exceeds preset value. Not lit if motor speed is below preset value. Preset valueset in Pn50standard setting:20r/min Lit if reference pulse is input Not lit if no reference pulse is input. Lit when error counter clear signal is input. Not lit when error counter clear signal is not input. Lit when main power supply circuit is normal. Not lit when power is OFF or main power supply circuit is faulty.

Code display Code Description Base Block Servo OFF.motor power OFF Run Servo ON (motor power ON) Forward Rotation Prohibited 1CN-12 (P-OT) OFF. Reverse Rotation Prohibited 1CN-13 (N-OT) OFF Alarm Status Displays the alarm number. Press ENTER to release alarm if present status is alarm

Operation in Parameter Setting Mode

Select or adjust the functions by setting parameters. The parameter list is in the appendix. Parameter changing procedures are described below: he constant settings (Cn-03 to Cn-23) allow setting of a constant. Check the permitted range of the constant in Appendix List of Parameters, before changing the data. The example below shows how to change user setting Pn012 100 to 85. 1 Press MODE to select parameter setting mode.

2 Press INC key or DEC key to select parameter number.

3 Press ENTER key to display parameter data in step 2.

4 Press INC or DEC to change the data to the desired number 00085. Hold the button to accelerate the change of value. When the data reaches the max. or Min., the value will remain unchanged, if press INC/DEC.

5.

Press ENTER again to go back to parameter display.

In addtionpress MODE and ENTER at the same time to enter parameter mode,then modify parameter,after that,press both key to back off.Operate displacement of parameter in step 3 and 4:Press ENTER for a long timeto ender edit condition then press MODE to save and quitor perss ENTER for a long timeto quit then press ENTER to back off parameter display. Note If the left side of digital operator display b,it will display parameter in binary system

If displayH ,it will display in Hexadecimal and this parametercan only be modified in displacement editing condition,or can not be modified.

Operation in Monitor Mode

The monitor mode allows the reference values input into the SERVODRIVE, I/O signal status, and Servodrive internal status to be monitored. The monitor mode can be set during motor operation. Using the Monitor Mode The example below shows how to display 1500, the contents of monitor number Un-001. 1 Press MODE to select monitor mode.

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

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

4 Press ENTER once more to display the monitor number.

5 Above is the procedure for display 1500 in monitor number Un001 Monitor Mode Displays Below is the monitor mode dispalys Monitor content No. Un000 Actual motor speed Units r/min Un001 Input speed reference Units r/min Input torque reference Units:% (with respect Un002 to rated torque) Internal torque reference Units:% (with Un003 respect to rated torque) Un004 Number of pulses of Encoder angles Un005 Input signal monitor Un006 Encoder signal monitor Un007 input signal monitor Un008 Speed given by pulse (when gear ratio is 1:1) Un009 Pulse count of motor rotated Pulse rate of motor rotated Un010 104 Un011 Error pulse counter lower 16 digit Un012 Error pulse counter higher 16 digit Un013 Received pulse counter lower digit

internal status bit display

Un014 Un015 Un016

Received pulse counter high digit (x104) Load inertia percentage Motor overload ratio

Bit data display Monitor Bit No. No. 0 1 2 3 Un005 4 5 6 7 Monitor No.

Content 1CN_14 1CN_15 1CN_16 1CN_17 1CN_39 1CN_40 1CN_41 1CN_42 input input input input input input input input

Bit No. 0 1 2 3 4 5 6 7

Content W phase V phase U phase C phase B phase A phase not used not used

Un006

Monitor No. Un007

Bit No. 0 1 2 3

Content 1CN_051CN_06 1CN_071CN_08 1CN_091CN_10 1CN_111CN_12

Operation in Assistant function mode

If it is in the assistant function mode, some operations could be select in digital operator. The detailed functions are shown as below: Function No. Fn000 Fn001 Fn002 Fn003 Fn004 Fn005 Fn006 Fn007 Fn008 Content Display historical alarm data Turn to default value JOG mode Set speed reference offset automatically Set speed reference manually automatically adjustment of offset detected by motor current Manually adjustment of offset detected by motor current Servo software version display Teaching function

Alarm Trace-back Data

In alarm trace-back data, latest ten times alarms could be displayed. The following shows the procedure to display the historical record. 1 Press MODE to select assistant function mode 2 Press INC or DEC to select function number of alarm historical record.

1 Press ENTER to display the latest alarm code. Alarm number Alarm code

3 Press INC or DEC to display other recent occurred alarm code.

2 Press ENTER to return to function number display.

If the user wants to clear all the record, just hold ENTER for one second, then all the

historical data will be deleted.

Operation of recovering to default value

The follows are procedures to recovery of default value. 1 Press MODE to select assistant mode. 2 Press INC or DEC to select function number of recovering to default value

3 Press ENTER to enter parameter default recovery mode.

4.

Hold ENTER key for one second to recover the parameter to default setting.

5. Release ENTER key to return to function number display.

Operation in JOG mode

The following is steps in JOG mode 1 Press MODE to select assistant mode. 2 Press INC or DEC to select Function number of JOG mode.

3 Press ENTER to enter JOG mode.

4 Press MODE to enter Servo ON (motor ON) status.

5 Press MODE to switch between servo ON and Servo OFF. If motor running is required, servo must be ON. 6 Press INC or DEC (motor runs when press the keys.)

7 Press ENTER to return to function number display.(Servo is OFF)

Reference Offset Automatic Adjustment

The motor may rotate slowly when the reference voltage is intended to be 0 V. This occurs when the host controller or external circuit has a small offset (measured in mV) in the reference voltage. The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage. It adjusts both speed and torque references. The following diagram illustrates automatic adjustment of an offset in the reference voltage from the host controller or external circuit.

After completion of offset automatic adjustment, the amount of offset is stored in the Servodrive. The amount of offset can be checked in the speed reference offset manual adjustment mode. Refer to Reference Offset Manual Adjustment Mode for details The reference offset automatic adjustment mode cannot be used where a position loop is formed with the host controller and the error pulses are zeroed when servo lock is stopped. In this case, use the speed reference offset manual adjustment mode. Refer to Reference Offset Manual Adjustment Mode for details. Zero-clamp speed control is available to force the motor to stop during zero speed reference. Refer to Using Zero-Clamp for details. Note Please automatively adjust analog reference offset on the servo OFF condition. Follow the procedure below to automatically adjust the reference offset: 1 Input the (intended) 0 V reference voltage from the host controller or external circuit.

2 Press Mode to select assistant function mode. 3 Press INC or DEC key to select function number of speed reference offset.

4 Press ENTER to enter mode that automatically adjust the reference offset.

5 Press MODE. When the flashing lasts for one minute, the speed offset is adjusted automatically.

6 Press ENTER to return to function number display

7.

This is the end of reference offset automatic adjustment.

Reference Offset Manual Adjustment Mode

Speed reference offset manual adjustment is very convenient in the following situations: If a loop is formed with the host controller and the error is zeroed when servo lock is stopped. To deliberately set the offset to some value. It is available when checking the data of offset automatic adjustment. The basic function is the same as analog reference offset automatic adjustment.But must directly input offset while adjusting.Offset can be set as speed reference or torque reference. Offset Adjustment Range and Setting Units are as follows:

Note: When offset seting by automatic adjustment is over the range of adjusting reference offset manually(-1024~+1024manually adjustment is not available. The following is procedures of adjusting reference offset manually. 1 Press MODE to select assistant function mode. 2. Press INC or DEC to select reference offset manual adjustment function number

3.

Press ENTER to enter mode that manually adjust the reference offset

4. Select ON signal/S-ONON, it displays as follows

5. Press ENTER key for a second to display speed reference offset

6. Press INC or DEC to adjust the offset. 7. Press ENTER for a second to display the interface on step 4. 8. Press ENTER again to go back to function display.

This ends the procedure.

Motor Current Detection Offset Adjustment

Current detection offset adjustment is performed at Estun before shipping. Basically, the customer need not perform this adjustment. Perform this adjustment only if highly accurate adjustment is required when the Digital Operator is combined with a specific motor. This section will describe the operation of automatic offset and manual offset.

Note: Current detection offset manual adjustment could only be performed when the Servo is OFF. Any accidentally activation of this function especially the manual adjustment, deteriorated situations might occur. If the torque pulse is obviously too high compared with other Servodrives. Please adjust the offset automatically. Motor current detection offset automatic adjustment

Follow the procedure below to perform current detection offset automatic adjustment 1 Press MODE key to select assistant function mode. 2 Press INC key or DEC key to select function number of motor current detection offset automatic adjustment

3.

Press ENTER to enter motor current detection offset automatic adjustment.

4.

Press MODE key and the adjustment will be finished after it flashes for a second.

5.

Press ENTER to return function number display.

This ends the operation of adjusting the motor current detection offset automatic adjustment Motor current detection offset manual adjustment Follow the procedure below to perform current detection offset manual adjustment 1 Press MODE key and select assistant function mode. 2 Press INC key or DEC key to select function number of motor current detection offset manual adjustment.

3 Press ENTER key to enter into motor current detection offset manual adjustment.

4 Press MODE key to switch U phaseCu1_oand V phaseCu2_ocurrent detection offset adjustment mode.

5 Hold ENTER key for a second, current phase current detection data will be displayed.

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

7 Hold ENTER key for a second to return the display of step 3 or step 4. 8 Press ENTER again to go back to function number display.

This ends the operation of the motor current detection offset manual adjustment Note: motor current detection offset manual adjustment range:-102~+102

Checking Software Version

Use the following procedure to check the software version. 1. Press MODE key and select assistant function mode. 2. Press INC key or DEC to select the function number for servo software version.

3. Press ENTER to display software version(D,E,F is displayed at the highest position)

4. Press Mode key to display FPGA/CPLD software version(P is displayed at the highest position)

5. Repress Mode key and switch back to display the DSP software version 6. Press ENTER key to return to display the function number

Teaching position
Following procedure is for teaching position. 1. Press MODE key and select assistant function mode. 2. Press INC key or DEC to select the function number for servo software version.

3. Press ENTER,to display as follows

4. Press ENTER for a second then it will display as follows

5. Teaching has been completed and release ENTER

MODBUS Communication Functions

RS-485 communication cable wiring
PRONET series have MODBUS communication function with RS-485 interface,which can modify parameters and monitor servo drive.Definitions of servo drive communication interface are as follows: CN3 interface definition Interface No.
1 2 3 4 5 6 7 8

Name
5V 5V 485+ DGND DGND 485CANH CANL

Function
Power supply:5VDC RS-485 communication interface ground RS-485 communication interface CAN communication interface CAN communication interface

CN4 interface definition Interface No.

1 2 3 4 5 6 7 8

Name
485+ DGND DGND 485CANH CANL maintain maintain

Function

RS-485 communication interface ground RS-485 communication interface CAN communication interface CAN communication interface

Inductions 1The cable length is less than 100 meters when in a less disturbed environment.However, if transmission speed is above 9600Kbps, its strongly recommended that the cable length is less than 15 meters to ensure the accuracy of transmission. 2Its available for up to 31 PCS servo drives to work together when RS485 is applied. 485 network end-point need to separately connect a 120 resistor.If need to join more appliance,a relay should be applied to expand. Need to separately connect a 120 resistor.If you want to connect with more appliance,a relay must be need to expand connection units. 3 CN3 of servo drive is always taken as input terminals and CN4 is always take as communication cable output terminalsIf still need to connect appendix stationconnect cable from this terminal to the next applianceif needntadd balance resistor in this terminal.If connect more than one sets pronets servo drive,it is prohibited to directly connect CN3 of servo drives. For example RS-485 network is composed of a pcs of PLC,A,B,C three sets of Pronets.Cable wirring is as follows: PLC CN3 and CN4 of A servo drive CN3 and CN4 of B servo drive CN3 and

CN4 of C servo drive

120 terminal resistor.

MODBUS communication relative parameters

Paramet ers No. Name and discription If need to electrif ied Which control mode is available Function and introduction Pn700.0 MODBUS communication baud rate [0] 4800bps [1] 9600bps [2] 19200bps Pn700.1 communication protocol selection [0] 7N2Modbus,ASCII [1] 7E1Modbus,ASCII [2] 7O1Modbus,ASCII [3] 8N2Modbus,ASCII [4] 8E1Modbus,ASCII [5] 8O1Modbus,ASCII [6] 8N2Modbus,RTU [7] 8E1Modbus,RTU [8] 8O1Modbus,RTU Pn700.2 communication protocol selection [0] no protocol SCI communicate [1] MODBUS SCI communicate Pn700.3 maintain Aix address of MODBUS protocol communication

Pn700

16 bit datum

Yes

ALL

Pn701

Aix address

Yes

ALL

MODBUS communication
Only when Pn213 is set as 1 or 2 can communication be put into operation with MODBUS protocol.There are two modes for MODBUS communication. They are ASCII American Standard Code for information interchangemode orRTURemote Terminal Unitmode. The brief introduction as follows:

Code Meaning
ASCII mode Hex Every 8-bit datum is consisted by two ASCII characters. For instance: One 1-byte datum 64 h expressionis expressed as ASCII code 64. It contains 6as ASCII code36 h and4 as ASCII code34 h. ASCII code for Number 0 to 9character A to F are as follows: 0 1 2 3 4 Number 30H 31H 32H 33H 34H Relevant ASCII code 8 9 A B C Character 38H 39H 41H 42H 43H Relevant ASCIIcode

5 35H D 44H

6 36H E 45H

7 37H F 46H

RTU mode Every 8-bit datum is consisted by two 4-bit hex datum. That is to say, a normal hex number. For instance: algorism 100 can be expressed into 1-byteRTU datum as 64 h. Datum structure: 10bit character formapply in 7-bit datum

11bit character formapply in 8-bit datum

Communication protocol structure Communication protocol data format ASCII mode

STX ADR CMD DATA(n-1) DATA(0) LRC End 1 End 0 Checking code1-byte contains 2 pcs of ASCII code End code 10DH CR End code 00AH LF Start charactor (3AH) Communication address1-byte contains 2 pcs of ASCII code Reference code1-byte contains 2 pcs of ASCII code Data contentn-word=2n-byte contains 4 pcs of ASCIIcoden12

RTU mode
STX ADR CMD DATA(n-1) DATA(0) CRC End 1 CRC Verifying code 1-byte At least stop transimission for 10ms At least stop transimission for 10ms Communication address1-byte

Reference code1-byte
Data contentn-word=2n-byten12

Communication protocol data format instructions below STXcommunication start ASCII mode character. RTU modeSleep interval (no pulse) of transmission time which equals to four bytes at present transmission speed.automatively changed according to different communication speed ADRcommunication address Acceptable communication addresses range from 1 to 254. For example:communicate with the servo drive which address is 32hex as 20 ASCII modeADR=2 0=2=32H 0=30H RTU modeADR=20H CMDorder instruction and DATAdatum Datum structure is formed by order code. Regular order code as follows: Order code: 03 h read N wordsN is not more than 20. For instance: read 2 words from address 0200 h from servo addressed at 01 h.

ASCII mode Order information

Response information
: 0 ADR 1 0 CMD 3 0 ( byte) 4 0 0 0200H B 1 1 F 0201H 4 0 E LRC 8 End 1 (0DH)(CR) End 0 (0AH)(LF) STX

STX

: 0 ADR 1 0 CMD 3 0 2 0 0 0 0 (word) 0 2 F LRC 8 End 1 (0DH)(CR) End 0 (0AH)(LF)

RTU mode Order information

Response information
ADR CMD (word) 01H 03H 04H

ADR CMD (word) CRC CRC

01H 03H 02H() 00H() 00H 02H C5H() B3H()

00H() 0200H B1H() 1FH() 0201H 40H() CRC A3H() CRC D3H()

Order code: 06 hwrite in one characterword For instance: write 100 0064 hin address 0200 h of servo addressed 01 h. ASCII mode Instruction information Response information

STX

: 0 ADR 1 0 CMD 6 0 2 0 0 0 0 6 4 9 LRC 3 End 1 (0DH)(CR) End 0 (0AH)(LF)

: 0 ADR 1 0 CMD 6 0 2 0 0 0 0 0200H 6 4 9 LRC 3 End 1 (0DH)(CR) End 0 (0AH)(LF)

STX

RTU mode Instruction information

ADR CMD CRC CRC 01H 06H 02H() 00H() 00H() 64H() 89H() 99H()

Response information
01H 06H 02H() 00H() 00H() 64H() CRC 89H() CRC 99H() ADR CMD

LRCASCI modeand CRCRTU modechecksums calculation LRC calculation in ASCII mode ASCII mode use LRC checksum. The exceeded part (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 checksum.

STX

: 0 ADR 1 0 CMD 3 0 2 0 1 0 0 (word) 0 1 F LRC 8 End 1 (0DH)(CR) End 0 (0AH)(LF)

Add from ADR data to the last data. 01H+03H+02H+01H+00H01H=08H The compensate value is F8H when 2 is selected from 08H, so LRC is F,8. CRC calculation of RUT mode: RTU mode use CRC( Cyclical Redundancy Check) checksum. The process of CRC checksum calculation is as following: The first step: Load in a 16-bit register of FFFFH, named CRC register. The second step: Run XOR calculation between the first bit(bit 0) of instruction information and 16-bit CRC registers Low bit( LSB), save back the result to CRC register. The third step: Check the lowest bit (LSB) of CRC register, if it is 0, CRC register right move a bit; if it is 1, CRC register right move a bit, then run XOR calculation with A001H; The fourth step: turn back to the third step, know that the third step has been operated for 8 times, then go to the fifth step. The fifth step: repeat the second step to the fourth step to the next bit of instruction information, know all the bits haven been operated the same way, then comment of CRC register is CRC checksum. Illustration: after calculate out the CRC checksum, in the instruction information, the CRC low bit should be filled first, and then fill the high bit of CRC, please check the following example: Read 2 word from the 0101H address of 01H servo. The final CRC register comment calculated from ADR to the last bit of information is 3794H, then the instruction information is as following, please note that 94H is transmitted before 37H.

01H 03H 01H() 01H() 00H() word 02H() CRC 94H() CRC 37H()

ADR CMD

End1End0Communication check is done ASCII mode (0DH)\r carriage returnand (0AH)--\n new line, mean the end of communication. RTU mode The silent period of 4 bits communication time exceeding present communication speed means communication end. Example: The following C language create CRC value, the function need two parameters. unsigned char * data; unsigned char length; The function will return unsigned integer modes 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_regcrc_reg >>1; } } } return crc_reg; }

Communication fault disposal

While communication, faults may occur. Normal faults as follows: While read/write parameter, datum address wrong While write parameter, the datum exceeds the maximum value of this parameter or is less than the minimum value of this parameter Communication is disturbed, datum transmission fault or verifying code fault When above mentioned communication faults occur, servo drive running wont be affected. Meanwhile, servo drive will feed back a faulty frame. The faulty frame form as follows: Host controller datum frame: Start Servo drive Address

Instruction Instruction

Datum data

address,

Verifying

Servo drive feedback fault frame: Start Servo drive address

Response code 80H

Fault code

Verifying

Fault frame response code=order+80h Fault code00hcommunication in gear 01hservo drive can not identify the required functions 02hThe required address does not exist in the servo drive; 03 h The required datum in the servo is not workable. (Beyond maximum or minimum value of the parameter) 04hServo drive starts to execute the requirement, but cannot achieve it For instance: servo drive addressed at 03hwrite in 06h into parameter Pn002, the written data are not valid because the range of Pn002 is from 0--1,the driver will feedback a fault frame, the fault code is 03H(beyond the maximal and minimal value),here following the structure. Host controller datum frame Start Servo driver address 03H Start Servo address 03H driver

Instruction 06H Response code 86H

Datum data 0002H Fault code 03H

address, 0006H

Verifying

Verifying

Besides, if the datum from host controller indicated servo drives address as 00 h , it

represents this datum is broadcasting datum, servo dries will not return any frames.

Servo state data communication address

Communication data address Hex 0000 ~ 02FD Parameter area Corresponding parameter to parameter list Alarm information memory area Speed instruction zero offset Torque instruction zero offset Lu zero offset Lv zero offset Monitor data(corresponding with R/min R/min Corresponding rated torque Corresponding rated torque Ten former alarms Read only Read only Read only Read only Read only Read only Read only Read only Read only Read only Read only Read only Read only Read only Read only Unit:1 instruction pulse Unit:10000 pulse Deviation pulse counter low 16 bits Deviation pulse counter high 16 bits setting pulse counter low bits Setting pulse counter high bits Load/inertia Motor overload percentage Current alarm Modbus communication IO signal Driver state Relevant phase value Inertia inspection value Power off without save Unit:1 instruction pulse Unit:10000 pulse % % Read only Read only Read only Read writable Read only Read only Read only and instruction Read only Read only Read only Read only instruction Read only Read only Read-write Meaning Illustration Operation

07F1 ~07FA 07FB 07FC 07FD 07FE

0806 ~ 0814 0806 0807 0808 0809 080A 080B 080C 080D 080E 080F 0810 0811 0812 0813 0814 0815 0816 0817

displayed data) Speed feedback Input speed value Input torque instruction percentage Inside torque instruction percentage Encoder rotation pulse number Input signal state Encoder signal state Output signal state Pulse setting Present location low bits present location high bits

0900 0901 0902 0903

0904 090E 090F

Driver running time software edition software edition

Unit: minute Edition is displayed by digit Edition is displayed by digit

Read only Read only Read only

1021 1022 1023 1024 1025 1026

Clear former alarms Clear current alarms

01Clear 01Clear 01Enable 00No enable 01 Forward rotation 00 Stop 01 Backward rotation 00 Stop at node 01 Forward rotation 00 Stop 01 Backward rotation 00 Stop 01 Pause 00 Cancel pause

Read writable Read writable Read writable Read writable Read writable

and and and and and

JOG servo on JOG forward rotate JOG backward rotate JOG forward rotate

position(start signal has been set) 1027 1028 JOG backward rotate at node

position(start signal has been set) Pause at node position

Instruction: 1parameter areacommunication address 0000 h 00DE h It is relevant to parameters in the parameter list. For instance: parameter Pn000 is relevant to communication address 0000 h; parameter Pn101 is relevant to communication address 0065 h; read-write operation to address 0000 h is the read-write operation to Pn000. If the input datum is out of the parameter range, the datum shall be abnegated and servo drive will return an operation unsuccessful signal. 2Alarm information storage area07F1 07FAH Previous alarm Instruction Communication address number Previous alarm record 1 the last 07F1H 0 alarm
1~8 9 Previous alarms record 1--9 Previous alarm record (the longest time) 07F2H ~ 07F9H 07F3H

3monitor data area0806 h 0814 h These monitor data are relevant to servo drive display panel Un000~Un014. For instance: read address 0807 h (speed setting) through communication as FB16 h. Therefore, the speed setting is-1258RPM. 4modbus communication IO signal Use communication to control input number IO signal. This datum wont be reserved after power

off. 5drive state0901 h This 1-word represents the current state of the system. Meaning of each bit as follows:

6software edition090E h It represents drives software edition by number. E.g. If the number is D201Hit means the software edition is D-2.01.

PARAMETER LIST
Parame ter
Binary Pn000.0: parameter servo on Pn000.1: Forward rotation prohibited input (P-OT). Pn000.2: Forward rotation prohibited input (N-OT). Pn000.3: instant power off output servo alarm outputALM Binary Pn001.0: CCW,CW selection Pn001.1: analog speed limited enable Pn001.2: enable Binary Pn002.0: switch method of electronic gear Pn002.1: reserve Pn002.2: reserve Pn002.3: reserve Binary Pn003.0: code wheel fault code alarm enale Pn003.1:C pulse protection Pn003.2: low speed compensation Pn003.3: overload increase Hex Pn004.0: Stop way analog torque limited enable Pn001.3: the second electronic gear

Name and description

Unit

Range

Default

Need power on again

Pn000

0~1111

Need

Pn001

0~1111

Need

Pn002

0~0011

0010

Need

Pn003

0~1111

Need

Pn004

Pn004.1: offset counter clear mode Pn004.2: instruction pulse form Pn004.3: reverse pulse 1Hex Pn005.0: torque forward feedback form Pn005.1: Control method [0] Speed control( analog instruction)

0~0x3425

Need

Pn005

[1] Positioning control (pulse train instruction) [2] Torque control (analog instruction) [3] Speed control(node instruction)

0~0x33d3

Need

Parame ter

Name and description

Unit

Range

Default

Need power on again

Speed control (zero instruction) [4] Speed control(node instruction) peed control (analog instruction) [5] Speed control (node instruction) Positioning control(pulse train instruction) [6] Speed control(node instruction) Torque control(analog instruction) [7] Positioning control(pulse train instruction)Speed control(analog instruction) [8] Positioning control(pulse train instruction) [9] Torque Speed Torque control(analog instruction) control(analog control(analog instruction) instruction) [A] Speed control(analog instruction) zero clamp control [B] positioning control(pulse train instruction) [C] Positioning control(pulse prohibited) Positioning control(parameter (parameter instruction) [D]Speed instruction) Pn005.2:Our-of-tolerance alarm enable Pn005.3: Motor type Hex Pn006.0: Bus mode control

Pn006

Pn006.1: Reserved Pn006.2: Reserved Pn006.3: Reserved Real time auto tune setting 0: User manual gain 1,2,3= Regular mode;4,5,6= Upright

0~0x0002

Need

Pn100

load 1,4 = No change of overload inertia;2,5 =Small change of overload inertia;3,6= Big change of overload inertia

0~6

Need

Pn101

Load rigid selection

0~15

No need

Parame ter Pn102 Pn103 Pn104 Pn105 Pn106 Pn107 Pn108 Pn109 Pn110 Pn111 Pn112 Pn113 Pn114 Pn115

Name and description

Unit Hz 0.1ms 1/s 0.1ms Hz 0.1ms Hz 0.1ms R/min % 0.1ms % 0.1ms

Range 1~2500 1~4096 0~1000 0~250 0~20000 1~2500 1~4096 0~1000 0~250 0~300 0~100 0~640 0~100 0~640

Default 160 200 40 4 0 40 200 40 150 0 0 0 0 0

Speed loop gain Speed loop integration time Position loop gain Torque instruction filter counstant Load/inertia percentage The second speed loop gain The second speed loop integration time count The second position loop gain The second torque instruction filter constant Speed offset Forward feedback Forward feedback filtering Torque forward feedback Torque forward feedback filtering
P/PI switch condition 0: Torque instruction percentage 1: Offset counter value 2: Setting acceleration value 3: Setting speed value 4: PI Fixed PI

Need power on again No need No need No need No need No need No need No need No need No need No need No need No need No need No need

Pn116

0~4

Need

Pn117 Pn118 Pn119 Pn120

Torque switch threshold Offset counter switch threshold Setting acceleration switch threshold Setting speed switch threshold
Gain switch condition 0: The first group gain is fixed 1: Outside power switch gain swap 2: Torque percentage 3: Offset counter value 4: Setting acceleration value10r/min 5: Setting speed value 6: Input of instruction with position

%
Instruction pulse

0~300 0~10000 0~3000 0~10000

200 0 0 0

No need No need No need No need

10rpm/s Rpm

Pn121

0~6

Need

Pn122 Pn123 Pn124 Pn125 Pn126 Pn127 Pn128

Deferred switch time Switch threshold level Reserved Position gain switch time Switch hysteresis Test filtering at low speed The increase of speed

0.1ms

0~20000 0~20000 0~20000 0~20000 0~100 0~3

0 0 0 0 10 3

No need No need No need No need No need No need

0.1ms 0.1ms

gain

Parame ter

Name and description

Unit

Range

Default

Need power on again

Pn129 Pn200 Pn201 Pn202 Pn203 Pn204 Pn205 Pn300 Pn301 Pn302 Pn303 Pn304 Pn305 Pn306 Pn307 Pn308 Pn309

relationship in real time adjustment period Low speed verifying constant PG frequency division The first electronic gear molecule Electronic gear denominator The second electronic gear molecule Position instruction filtering time constant Position instruction filtering form selection Input gain of speed instruction Inside speed 1 Inside speed 2 Inside speed 3 Parameter speed JOG speed Soft accelerating time Soft reset decelerating time Speed filtering time constant S Rising time of S curve.
Speed instruction curve form 0: Incline

Pulse 0.1ms

0~30000 16~16384 1~65535 1~65535 1~65535 0~32767 0~1 0~3000 0~6000 0~6000 0~6000 0~6000 0~6000 0~10000 0~10000 0~10000 0~10000

0 16384 1 1 1 0 0 150 100 200 300 500 500 0 0 0 0

No need Need Need Need Need No need Need No need No need No need No need No need No need No need No need No need No need

Rpm/v Rpm Rpm Rpm Rpm Rpm Ms Ms Ms Ms

Pn310

1: S curve 2: Once filtering 3: Twice filtering

0~3

Need

Pn311 Pn312 Pn400 Pn401 Pn402 Pn403 Pn404 Pn405 Pn406 Pn407 Pn408 Pn408 Pn410

S form selection DP communication inching. Torque instruction gain Forward direction torque inside limit Reversed direction torque inside limit Forward direction outside torque limit Reversed outside torque limit Plug braking torque limit Speed limit in torque control period Wave trap 1 frequency Wave trap 1 depth Wave trap 2 frequency Wave trap 2 depth

Rpm 0.1V/100% % % % % % Rpm Hz Hz

0~3 -6000~6000 10~100 0~300 0~300 0~300 0~300 0~300 0~6000 50~5000 0~11 50~5000 0~11

0 500 33 300 300 100 100 300 1500 5000 1 5000 1

No need No need No need No need No need No need No need No need No need No need No need No need No need

Parame ter

Name and description

Unit

Range

Default

Need power on again No need No need No need No need No need No need No need No need No need Need Need Need No need No need No need No need No need No need No need No need No need No need No need No need No need No need No need No need No need No need

Pn500 Pn501 Pn502 Pn503 Pn504 Pn505 Pn506 Pn507 Pn508 Pn509 Pn510 Pn511 Pn512 Pn513 Pn514 Pn515 Pn516 Pn517 Pn518 Pn519 Pn520 Pn600 Pn601 Pn631 Pn632 Pn647 Pn648 Pn663 Pn664 Pn679

Discrepancy of positioning Discrepancy of speed Zero clamp speed Rotation inspection speed TGON Offset counter overflow alarm Servo on waiting time Basal waiting process Braking waiting speed Braking waiting time Match input end to a end of signal hex 4 bit Match input end to a end of signal hex 4 bit Output signal distribute Bus control input node low bit enable Bus control input node high bit enable Input end filtering Reserved Select the contrary of input end signal Select the contrary of input end signal Reserved Reserved Reserved Point position control position pulse Point position control position pulse Point position control position pulse Point position speed control Point position speed control Point position once filtering Point position once filtering Stopping time Stopping time

Puls Rpm Rpm Rpm 256Puls Ms 10ms Rpm 10ms

0~5000 0~100 0~3000 0~3000 1~32767 0~2000 0~500 10~100 10~100 0~0xbbbb 0~0xbbbb 0~0x0444 0~1111 0~1111 0~1000 0~3 0~1111 0~1111 50~2000 0~10000 0~60000
-9999~9999 -9999~9999 -9999~9999

10 10 10 20 1024 200 0 100 50 0x3210 0x7654 0x0210 0 0 1 1 0 0 125 3 50 0 0 0 500 500 0 0 10 10

0.2ms 0.2ms Ms 0.1ms 0.1ms 10000P 1P 1P Rpm Rpm 0.1ms 0.1ms 50ms 50ms

0~6000 0~6000 0~32767 0~32767 0~300 0~300

Parame ter

Name and description

Unit

Range

Default

Need power on again

Pn680

Reserved
Hex

Pn681

Pn682 Pn683 Pn684 Pn685 Pn686 Pn687 Pn688

time/recycle, Pn681.0:One reset/referring point selection Pn681.1: Change step and reset mode Pn681.2: Change step input signal mode Pn681.3: Reserved Program mode Program start step Program end step Search travel speed Leave travel switch speed Teaching position pulse Teaching position pulse
Hex Pn700.0: MODBUS communication baud rate

0~x0333

0x0000

No need

Rpm Rpm 10000P 1P

0~1 0~15 0~15 0~3000 0~3000

-9999~9999 -9999~9999

0 0 1 1500 30 0 0

No need No need No need No need No need No need No need

Pn700

Pn700.1:MODBUS protocols

communication

0~0x0182

0x0151

Need

Pn700.2:Communication protocols selection Pn700.3: Reserved

Pn701

MODBUS shaft address

1~247

Need

Illustration of parameter form

Form Function selection switch code Pn000~Pn006 Control mode, stop mode and other function selection. Position gain, speed gain, rigidity and so on PG frequency division, electronic gear and so on Speed instruction input, soft reset and so on. Torque limit and so on description

Servo gain parameter and so on Position control relationship parameter Speed control relationship parameter Torque control relationship parameter

Pn100~Pn129 Pn200~Pn205 Pn300~Pn312 Pn400~Pn406

Parameter to control input/output ends. Relevant parameter of point position control

Pn500~Pn520 Pn600~Pn686

Distribution of input/output end functions Relevant parameter of inside point position control.

Detail explanation of parameters

No. Name and illustration Power on again The effective control mode Function and meaning Pn000.0: parameter servo on [0] outside S-ON valid [1] Outside S-ON outside S-ON invalid, after S-RDY output, motor excitation signal is turned on automatically Pn000.1 Forward direction input prohibited [0] Outside P-OT valid, it moves according to the time sequence movement set by Pn004.0 when it reach the travel limit. [1] Outside P-PT invalid. Pn000.2 Reversed direction input prohibited [0] Outside N-OT valid, it moves according to the time sequence movement set by Pn004.0 when it reach the travel limit. [1]Outside P-PT invalid. Pn000.3 Momentary power off alarm output [0] No alarm in one momentary power off circle [1] Alarm in one momentary power off circle. Pn001.0 CCW,CW selection [0] CCW: counter clockwise is the forward direction [1] CW: clockwise is the forward direction Pn001.1 analog speed limit enable [0] Inter parameter Pn406 is the limited value of speed while torque control period [1] Vref input analog voltage corresponding value is the speed limit value while torque control. All control modes of the parameter are effective Pn001.2 analog torque limit enable [0] Pn401~Pn404 Pn401Pn404 act as torque limit [1] Tref Tref input corresponding value act as torque limit. Pn001.3 The second electric gear enable [0] There is no the second electric gear PCON signal acting as P/PI switch [1] The second electric gear effective PCON signal can only act as the second electric gear when Pn005.3=1 Pn002.0 Switch mode of electric gear [0] Corresponding time sequence

Pn000

Binary

Need

ALL

Pn001

Binary

Need

Pn001.0 ALL Pn001.1 T Pn001.2 PS Pn001.3 P

Pn002

Binary

Need

ALL

No.

Name and illustration

Power on again

The effective control mode

Pn201 1 PCON t1

Function and meaning

Pn203 2 PCON

Pn201 1 PCON t2

t1t2>1ms

[1] Corresponding time sequence

Pn201 1 PCON t1 t1t2>1ms Pn203 2 PCON Pn201 1 PCON t2

set to the time sequence 0 and 1 both available.

fault time sequence

Pn201 1 PCON t1 t1t2>1ms Pn203 2 PCON Pn201 1 PCON t2

Pn003

Binary

Need

ALL

Pn002.1 Reserved Pn002.2 Reserved Pn002.3:Reserved Pn003.0 Code panel error code alarm enable [0] A.30~A.33:Alarm invalid [1] A.30~A.33:Alarm valid Pn003.1 C pulse protection [0] No C pulse protection [1] with C pulse protection Pn003.2 Low speed compensation [0] No low speed verifying

No.

Name and illustration

Power on again

The effective control mode

Function and meaning [1] With low speed verifying to prevent motor crawling, but the intensity of motor low speed verifying has to be determined by value of Pn129 sometimes. Pn003.3 overload enhancement [0] No overload enhancement function [1] With overload enhancement function, In some frequent start-stop applications, the function can enhance the overload which surpass 2 times rated overload in instantaneous time. Pn004.0 Stop mode [0] Cancel braking after DB braking and running stop. [1] Stop freely [2] DB when servo off, DB when servo off, plug braking stop servo off when over travel. [3] Stop freely when servo off, plug braking stop servo off when over travel. [4] DB when servo off, zero clamp after plug braking stop when over travel [5] Freely stop when servo off, zero clamp after plug braking stop when over travel. Pn004.1 Offset counter clear mode [0] Offset counter clear when S-off, does not clear when over travel. [1] Offset counter does not clear [2] Offset counter clear when both S-off and also over travel(except zero clamp) Pn004.2 Instruction pulse mode [0] Symbol + pulse [1] CW+CCW [2] A+Borthogonal 1 frequency doubling [3] A+Brthogonal 2 frequency doubling [4] A+Borthogonal 4 frequency doubling Pn004.3 Pulse negation [0] PULS instruction no negation, SIGN instruction no negation [1] PULS instruction no negation, SIGN instruction negation [2] PULS instruction negation, SIGN instruction no negation. [3] PULS instruction negation, SIGN instruction negation Pn005.0 Torque feedforward mode [0] Outside analog (Tref) feed forward invalid, use regular torque feed forward. [1] Outside analog (Tref) feed forward valid, use high speed torque feed forward [2] Outside analog (Tref) feedforward invalid, use high speed torque feedforward [3] Outside analog (Tref) feedforward valid, use regular

Pn004

Hex

Need

Pn004.0 ALL Pn004.1 P Pn004.2 P Pn004.3 P

Pn005

Hex

Need

Pn005.0 PS Pn005.1 ALL Pn005.2 P

No.

Name and illustration

Power on again

The effective control mode

Function and meaning torque feedforward Pn005.1 Control mode [0] Speed control (analog instruction) PCONOFFPI controlONP control [1] Position control(pulse train instruction) PCONOFFPI controlONP control [2]) Torque control (analog instruction) PCON invalid [3] Speed control(node instruction)Speed control(zero instruction) PCONOFF motor forward rotateON motor backward rotate PCLNCLOFF motor stop [4] Speed control(node instruction) Speed control (analog instruction) PCONOFF Motor forward rotateON motor backward rotate PCL NCL OFF switch to speed control(analog instruction) [5] Speed control (node instruction)Position control (pulse train instruction) PCONOFF motor forward rotateON Motor backward rotate PCLNCLOFF switch to position control (pulse train instruction) [6] Speed control (node instruction)Torque control (analog instruction) PCONOFF motor forward rotateON motor backward rotate PCL NCL OFF switch to torque control(analog instruction) [7] Position control (pulse train instruction)Speed control (analog instruction) PCONOFFposition control (pulse train instruction) ON speed control (analog instruction) [8] position control (pulse train instruction)Torque control (analog instruction) PCONOFFposition control (pulse train instruction) ON Torque control (analog instruction) [9] Torque control (analog instruction)Speed control (analog instruction) PCONOFFTorque control(analog instruction)

No.

Name and illustration

Power on again

The effective control mode

Function and meaning ON Speed control (analog instruction) [A])Speed control(analog instruction) zero clamp control PCONOFFspeed control(analog instruction) ON zero clamp control [B] position control(pulse train instruction) position control (pulse prohibited) PCONOFF position control (pulse train instruction) ON Position control(pulse prohibited) [C] Position control(node instruction) PCON can be as changing step PCL NCL can be as searching reference point or start. [D] Speed control( parameter instruction) PCONPCLNCL invalid Pn005.2 Overproof alarm enable [0] Overproof alarm no enable [1] overproof alarm enable, alarm when offset counter value surpass the corresponding value of Pn504 [2] Reserved [3] Reserved Pn005.3 Selection of motor type [0] EMJ [1] EMG [2] EML [3] EMB Pn006.0 Bus mode [0] No bus [1] PROFIBUS-DP V0/V1 [2] PROFIBUS-DP V2 Pn006.1 Reserved Pn006.2 Reserved Pn006.3 Reserved [0] User manual gain [1,2,3] Regular mode [4,5,6] Upright load [1,4] No change of load inertia [2,5] Small change of load inertia [3,6] Big change of load inertia Attention: The auto adjustment below the highest speed 100rpm is invalid while the movement of servo motor The adjustment is invalid while the acceleration and

Pn006

Hex

Need

Pn100

Real time auto adjustment set

Need

PS

No.

Name and illustration

Power on again

The effective control mode

Function and meaning deceleration be lower than 5000rpm/s, It should be set to user manual gain. When leak of machine is too big to be suitable for auto-adjustment during movement course, it should be set to user manual gain. When speed load are different too much to be suitable for auto-adjustment during movement course, it should be set to manual gain. The value determines the response speed of servo system, normally the rigid should be set larger, but if it is too large, it would suffer the Mechanical impaction. It should be set smaller when vibration is big. The value is valid only when auto-adjustment time. The value determines speed loop gains value and load inertia percentage. The right corresponding unit is HZ when Pn 106 is set correctly. Decreasing the value can shorten position time, the speed response raising unit is 0.1ms The value determines the position loop gains value, Setting torque filtering can remove or decrease the mechanical vibration, but wrong setting will cause mechanical vibration sometimes. 0 The percentage between load inertia and motor rotor inertia. The unit is %. Setting value=( load inertia/rotor inertia)x100

Pn101

Load selection

rigid

No need No need No need No need No need No need No need No need No need No need

PS

Pn102 Pn103 Pn104 Pn105 Pn106 Pn107

Speed loop gain Speed loop integral time position loop gain Torque instruction filter constant Load inertia percentage The second speed loop gain The second speed loop integral time constant The second loop gain The second torque instruction filter constant Speed offset

PS PS P PST PS PS

Pn108

PS These parameters meaning is same with Pn102~Pn105. These parameters are only need to set when two level gain switch mode is open.

Pn109

Pn110

PST The value is to shorten the position time, But if it is set too big or not corresponded well with Pn111, vibration occurs, The relationship between the value and speed instruction, offset counter is as following.

Pn111

No need

No.

Name and illustration

Power on again

The effective control mode

Function and meaning

Pn111 Pn500

Pn111

Pn500

Pn112

Feed forward Feed forward filtering Torque forward feed

no need

Pn113

no need

Pn114 Pn115

no need no need

PS PS

Torque feed forward filtering switch conditions Torque switch threshold Offset counter switch threshold Setting acceleration switch threshold Setting speed

Pn116

Need

PS

It is used to set position feed forward value, more higher position lead to faster response, less position offset. It would cause vibration and overswing when it is set too big. The mechanical impaction caused by smooth position feed forward. It would enlarge feed forward lag and cause vibration if it is set too big. Unit:0.1ms it is used to set torque feed forward value in order to fasten the speed response. Pls set load rotation inertia percentage correctly while in the manual adjustment mode Mechanical impaction caused by smooth torque feed forward . Unit:0.1ms 0: torque instruction percentage 1: offset counter value 2: setting acceleration value 3: setting speed value 4: fixed PI The torque threshold value unit from PI control to P control:% The offset counter threshold value unit from PI control to P :Pulse The acceleration threshold value unit from PI control to P :10rpm/s

Pn117 Pn118 Pn119 Pn120

no need No need No need No No

PS P PS PS

No.

Name and illustration switch threshold

Power on again need

The effective control mode

Function and meaning The speed threshold value unit from PI control to P:rpm 0: Fixed to the first group gain 1: Outside power switch gain transfer(G-SEL) 2: Torque percentage 3: Offset counter value 4: Setting acceleration value(10r/min) 5: Setting speed value 6: there are position instructions input How long should the gain switch be delayed when it get to the switch condition. Gain switchs trigger level It can bridge smoothly by the parameter if the change between the two groups gain is too large. It is used to set gain switch movement delay It sets the filtering during speed inspection at low speed, if it is too large, the speed inspection at low speed will delay. It is the increase times of speed loop gain at the same rigid in the real time auto adjustment. The real time auto adjustment speed loop gain is larger as the value is set larger.

Pn121

Gain switch condition

No need

PS

Pn122 Pn123 Pn124 Pn125 Pn126 Pn127

switch delay time Switch threshold level Reserved Position gain switch time Hysterics switch speed inspection filtering at low speed Real time adjustment speed gain increase relationship Low speed verifying constant

No need No need No need No need No need

PS PS

P PS PS

Pn128

No need

PS

Pn129

No need

PS

The anti crawl strength, anti outside friction at low speed. But it will cause vibration if it is set too large. Analog encoder output orthogonal differential pulse, the value means the encoder output orthogonal pulses No. When motor rotate a round. Using electrical gear can match the instruction pulse along with the amount of motor movement corresponding to the motor, it makes the upper device do not need to care mechanical deceleration ratio and encoder pulse No., essentially, it is a setting of frequency doubling or frequency division to instruction pulse.

Pn200

PG frequency division The first electrical gear numerator Electrical gear denominator The second electrical gear numerator Position instruction

Need

PST

Pn201 Pn202 Pn203 Pn204

Need Need Need No need

P P P P

( Pn201Pn203) ( Pn202)
The smooth effect is better if the smoothness of input pulse is bigger. Delay will occur when it is too big.

No.

Name and illustration filtering time constant Selection of position instruction filtering mode Speed instruction input gain

Power on again

The effective control mode

Function and meaning

Pn205

Need

[0] Once filtering [1] Twice filtering

Pn300

No need

The corresponding speed to Each voltages analog Inside speed, the parameter is valid as the control mode is 3~6 Name of State of Actual Inside speed ends ends value PCL OFF Zero speed or switch to other control modes NCL OFF PCL NCL PCL NCL OFF ON ON OFF Inside speed 1 Inside speed 3

Pn301

Inside speed 1

No need

Pn302

Inside speed 2

No need

Pn303

Inside speed 3

No need No need No need No need No need No need No need Need

PCL ON Inside speed 2 NCL ON PCONOFF forward rotationON backward rotation The parameter can be set to positive value and negative value. When control mode is set to D, it determines the speed of motor The speed of JOG running, direction is decided by the keys The time to 1000rpm acceleration of trapezoid acceleration, Unit: ms The time to 1000rpm deceleration of trapezoid acceleration, Unit: ms Once filtering time constant unit: ms The time from one speed spot to another by S curve transferring 0: Incline 1: S curve 2: Once filtering 3: Twice filtering It determines the transfer mode of S curve

Pn304 Pn305 Pn306

Parameter speed JOG speed Soft reset acceleration time Soft reset deceleration time Speed filtering time constant S curve rising time Speed instruction curve mode Selection of S shape

S S S

Pn307 Pn308 Pn309

S S S

Pn310

Pn311

Need

No.

Name and illustration Communication inching speed Torque instruction gain forward rotation torque inside limit Backward torque inside limit Forward rotation outside torque limit Backward outside torque limit Plug braking torque limit Torque control speed limit Wave trap 1 frequency Wave trap 1 depth Wave trap 2 frequency Wave trap 2 depth

Power on again No need No need No need No need No need No need No need No need No need No need No need No need No need No need No need No need No

The effective control mode PST

Function and meaning Bus inchings communication speeds value can be set to positive and negative. It means the needed analog input voltages unit is 0.1v/100% in order to get to the rated torque. Motor output torque limit value

Pn312

Pn400 Pn401

T PST

Pn402

PST

Motor output torque limit value

Pn403

PST

Motor output torque limit value

Pn404 Pn405 Pn406 Pn407 Pn408 Pn409 Pn410

PST PST T PST PST PST PST

Motor output torque limit value Motor output torque limit value Torque control speed limit value Wave trap 1 frequency Wave trap 1 depth Wave trap 2 frequency Wave trap 2 depth 1Setting wave trap might enlarge the mechanical vibration and response delay under certain work condition 2The wave trap is invalid when the frequency of wave trap is set to 5000

Pn500 Pn501

Position offset Same offset Zero speed speed

P P

COIN signal is output if the offset counter value is less than it The same speed signal VCMP is output if the differ between speed instruction value and speed feedback value is lees than the set value of the parameter. The motor is locked by the temporary position loop mode when the speed corresponding to input analog is lees than the set value of the parameter. The motor is considered to be rotated steady and TGON signal is output when the speed of motor surpass the set value of the parameter. It is considered that offset counter alarm occur and alarm signal is

Pn502

clamp

Pn503 Pn504

Rotation inspection speed TGON Offset counter

PST P

No.

Name and illustration overflow alarm

Power on again need

The effective control mode

Function and meaning output when the value of offset counter is larger than the set value of the parameter. These parameter are only valid when there is BK output set by end output parameter. These parameters is used to keep braking(prevent from gravity glissade or continuous outside force on motor) time sequence Servo on waiting time BK signal is output at first when servo-on is input, then motor stimulant signal is created after the parameter setting time is delayed. The basic waiting course The standard is: BK output ( braking motion) servo-off at the same time. Now, the machine moves a little sometimes caused by gravity, because of the machines constitution and characters of braking. Now the movement can be eliminated by using user constant relay servo-off motion. The parameter can only be valid when the motor is stop or at low speed. Braking waiting speed BK signal is output when the speed of motor after servo off is dropped below the set value of the parameter. Braking waiting time BK signal is output when the delay after servo off surpass the set value of the parameter. The BK signal can be output either the barking waiting speed or the braking waiting time is met. Pn509.0 corresponding to 1CN_14 Pn509.1 corresponding to 1CN_15 Pn509.2 corresponding to 1CN_16 Pn509.3 corresponding to 1CN_17 Pn510.0 corresponding to 1CN_39 Pn510.1 corresponding to 1CN_40 Pn510.2 corresponding to 1CN_41 Pn510.3 corresponding to 1CN_42 Every datas corresponding signal as following: 0S-ON 1P-CON 2P-OT 3N-OT 4ALMRST 5CLR 6P-CL 7N-CL 8G-SEL

Pn505

Servo-on waiting time

No need

PST

Pn506

Basic course

waiting

No need

PST

Pn507

Braking waiting speed

No need

PST

Pn508

Braking waiting time

No need

PST

Pn509

Match the ends to signals

Need

PST

Pn510

Match the ends to signals

Need Need

PST

No.

Name and illustration

Power on again

The effective control mode 9JDPOS-JOG+ AJDPOS-JOGBJDPOS-HALT

Function and meaning

Pn511

Match the output signals to signals

Pn511.0 corresponding to1cn_111CN_12 Pn511.1 corresponding to1cn_071CN_08 Pn511.2 corresponding to1cn_091CN_10 Every datas corresponding signal as following: Need PST 0COIN/VCMP 1TGON 2S-RDY 3CLT 4BK Bus communication input ends enable [0] no enable [1] enable Pn512.01CN_14 Pn512.11CN_15 Pn512.21CN_16 Pn512.31CN_17 Pn513.01CN_39 Pn513.11CN_40 Pn513.21CN_41 Pn513.31CN_42 Input end filtering time, too long set time will make the input end signal delay. For user [0] No negate [1] Negate Pn516.01CN_14 Negate Pn516.11CN_15 Negate

Pn512

Bus control input node low bit enable

No need

PST

Pn513

Bus control input node high bit enable input filtering Reserved end

No need

PST

Pn514 Pn515

No need

PST PST

Pn516

Input end signal negate

No need

PST

No.

Name and illustration

Power on again

The effective control mode

Function and meaning Pn516.21CN_16 Negate Pn516.31CN_17 Negate Pn517.01CN_39 Negate Pn517.11CN_40 Negate Pn517.21CN_41 Negate Pn517.31CN_42 Negate For user For user For user The two parameters are used combinedly, their algebraic sum is the

Pn517

Output end signal negate

No need

PST

Pn518 Pn519 Pn520

Reserved Reserved Reserved JPOS0 point position control position pulse JPOS0 point position control position pulse JPOS15 point position control mode pulse JPOS15 point position control mode pulse JPOS0 position control JPOS15 position control JPOS0 position filtering JPOS15 position point speed

No need No need No need No need No need

PST PST P

Pn600

position that JPOS0s point position need to reach( How many rounds the real motor really rotate is relevant to the programming mode when point position control)

Pn601

Pn602 unit10000P Pn603 unit1P Other point position parameters mean same The two parameters are used combinedly, their algebraic sum is the

Pn630

No need No need

position that JPOS0s point position need to reach( How many rounds the real motor really rotate is relevant to the programming mode when point position control)

Pn631

Pn630 unit10000P Pn631 unit1P JPOS0 point position control speed unitrpm other point position control speed

Pn632

No need

Pn647

point speed

No need

JPOS15 point position control speed Unitrpm JPOS0 Point position controls once filtering time, it makes motor start-stop More tender other point positions once filtering JPOS15 Point position controls once filtering time, it makes motor start-stop

Pn648

point once

No need No need

Pn663

point once

No.

Name and illustration filtering JPOS0 point position stop time JPOS15 point position stop time Reserved

Power on again

The effective control mode More tender

Function and meaning

Pn664

No need

JPOS0 point position controls stop time unit 50ms other point position control stop time

Pn679

No need

JPOS15 point position control stop time unit 50ms

Pn680

Pn681

Hex

No need

Pn681.0 once/recycle, start/reference point selection [0] recycle run, PCL start signal, NCL forward direction search reference point. [1] once run, PCL start signal, NCL forward direction search reference point. [2] recycle run, NCL start signal, PCL forward direction search reference point. [3] once run, NCL start signal, PCL forward direction search reference point. Pn681.1 change step and start mode [0] Change step delay, no need of start signal, start delay after S-ON. [1] PCON change step, no need of start signal, PCON start delay after S-ON, but inside pulse can not stop when PCON off. [2] Change step delay, need start signal, canceling start signal can immediately shut down inside pulse, turn back to programme start point process step when reset. [3] Change PCON step , need start signal, canceling start signal can immediately shut down inside pulse, turn back to programme start point process step when reset. Pn681.2 Change step input signal valid mode [0] Change step input signal electrical level mode [1] Change step input signal pulse mode Pn681.3 Reserved [0] Increase programming [1] Absolute programming Select the start point of point position control Select the stop point of point position control

Pn682 Pn683 Pn684

programming mode programming start step programming stop step

No need No need No need

P P P

No.

Name and illustration Search travel speed leave travel switch speed Teaching position pulse Teaching position pulse

Power on again No need No need No need No need

The effective control mode P P

Function and meaning Search the travel switch forward direction reference point s motor speed. Search the travel switch backward direction reference point s motor speed. If these two parameters are used combinedly, their algebraic sum is
the present position of teaching, the two parameters algebraic sum will be given to present position at the assistant function teaching

Pn685 Pn686

Pn687

Pn600 unit10000P Pn601 unit1P P Pn700.0 MODBUS Communication baud rate [0] 4800bps [1] 9600bps [2] 19200bps Pn700.1 communication protocols selection [0] 7N2Modbus,ASCII [1] 7E1Modbus,ASCII [2] 7O1Modbus,ASCII [3] 8N2Modbus,ASCII [4] 8E1Modbus,ASCII [5] 8O1Modbus,ASCII [6] 8N2Modbus,RTU [7] 8E1Modbus,RTU [8] 8O1Modbus,RTU Pn700.2 communication protocols selection [0] No protocols SCI communication [1] MODBUS SC communication Pn700.3 Reserved

Pn688

Pn700

Hex

Need

ALL

Pn701

MODBUS axis address

Need

ALL

The axis address when MODBUS protocols communication

If the selected driver is BUS mode, the pulse input and analog input are invalid. This moment, the motor is controlled by bus circular data. If controlling motor speed is needed, the control mode can be set to analog instruction speed control mode. It equals that the bus data is used directly to indicate speed instruction now instead of using analog to match along with speed. And now, the other functions are the same with None bus control.

List of Alarm Displays

Alarm display on digital operator A01 A02 A03 A04 A05 A06 A07

Alarm output

Alarm Name

Meaning

Parameter breakdown A/D breakdown Overspeed Overloaded Position error counter overflow position error pulse overflow The setting of electrical gear and setting of given pulse frequency are not reasonable Something wrong with the first tunnel of electric current. Something wrong with the second tunnel of electric current. Encoder PA PB or PC disconnected Encoder PU PV or PW disconnected Overcurrent Overvoltage Undervoltage Bleeder resistor damaged Regenerative error Power lines Open phase

Checksum results of parameters are abnormal. AD relevant electrical circuit breakdown Motor is out of control Continuous running which surpass the rated torque Inside counter overflow Position error pulse has exceeded the value set in parameter Pn-036 Electrical gear setting is not reasonable or pulse frequency is too high Something wrong with inside chip of the first tunnel Something wrong with inside chip of the second tunnel At least one of PA,PB or PC is disconnected At least one of PU,PV or PW is disconnected An overcurrent flowed through the IPM module. Voltage supply for the main motor circuit exceeds rating. Voltage supply for the main motor circuit is too low. Bleeder resistor damaged Regenerative circuit error One phase is not connected in The main power supply

A08

A09 A10 A11 A12 A13 A14 A15 A16 A20

A21 A30 A31 A32 A33 A50 A52 A53 A54 A55 A56 A60 A61 A62

instantaneous alarm

power

off

There are more than one power cycles power off U,V, W all 1 or 0 U,V,W code sequence is fault C pulse appears in wrong position No C pulse appear after one round of encoder. Encoder disconnect, encoder signal is disturbed, encoder or encoder decode electric circuit is damaged Encoder or encoder decode electric circuit is damaged Encoder or encoder decode electric circuit is damaged Encoder signal is disturbed or encoder decode electric circuit is damaged Encoder signal is disturbed or encoder decode electric circuit is damaged Encoder signal is disturbed or encoder decode electric circuit is damaged No communication module or something wrong with communication module. CPU of communication does not work well There are something wrong with The drive data receiving tunnel or communication module sending tunnel Something wrong with communication module. Bus communication is abnormal Display normal motion state.

Encoder UVW illegal code Encoder UVW wrong code Encoder C pulse is not correct Encoder has no C pulse Encoder communication exceed time Encoder absolute state is wrong Encoder count error The parity bit, cut off point error. Encoder communication verifying error Encoder status field cut off point error Can not detect communication module Can not managed to connect with communication module drive can not receive circular data from communication module The communication module can not receive the drives response data No connection between communication module and bus No display of error

A63

A64 A00

Output transistor=Open(ON) Output transistor=Cut off(Alarm state)(OFF)

ASCII
STX : 0 ADR 1 0 CMD 6 0 2 0 0 0 0 6 4 9 LRC 3 End 1 (0DH)(CR) End 0 (0AH)(LF)

: 0 ADR 1 0 CMD 6 0 2 0 0 0 0 0200H 6 4 9 LRC 3 End 1 (0DH)(CR) End 0 (0AH)(LF) STX

RTU
ADR CMD CRC CRC 01H 06H 02H() 00H() 00H() 64H() 89H() 99H()

01H 06H 02H() 00H() 00H() 64H() CRC 89H() CRC 99H() ADR CMD

LRCASCII CRCRTU ASCII LRC ASCII LRCLongitudinal Redunancy CheckLRC ADR 256 128H 28H LRC 01H 0201 1 word

STX

: 0 ADR 1 0 CMD 3 0 2 0 1 0 0 (word) 0 1 F LRC 8 End 1 (0DH)(CR) End 0 (0AH)(LF)

ADR 01H+03H+02H+01H+00H01H=08H 08H 2 F8H LRC F 8 RTU CRC RTU CRCCyclical Redundancy Check CRC FFFFH 16-bit CRC bit0 16-bit CRC LSB XOR CRC CRC LSB 0 CRC 1 CRC A001H XOR 8 CRC CRC CRC CRC CRC 01H 0101H 2 word ADR CRC 3794H 94H 37H
01H 03H 01H() 01H() 00H() word 02H() CRC 94H() CRC 37H() ADR CMD

End1End0

ASCII 0DH\r carriage return0AH\n new line RTU 4 C CRC unsigned char * data; unsigned char length; unsigned integer CRC 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_regcrc_reg >>1; } } } return crc_reg; }