ProNet Plus Series AC Servo User's Manual

(Version: V1.00)
Copyright © 2011 ESTUN AUTOMATION TECHNOLOGY CO., LTD

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

About this manual

 This manual describes the following information required for designing and maintaining ProNet Plus Series AC servo

drives.

• Specification of the servo drives and servomotors.

• Procedures for installing the servo drives and servomotors.

• Procedures for wiring the servo drives and servomotors.

• Procedures for operating of the servo drives.

• Procedures for using the panel operator.

• Communication protocols.

• Ratings and characteristics.

 Intended Audience:

• Those designing ProNet series servo drive systems.

• Those installing or wiring ProNet series servo drives.

• Those performing trial operation or adjustments of ProNet series servo drives.

• Those maintaining or inspecting ProNet series servo drives.

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 ProNet Plus Series AC Servo User's Manual

Safety Precautions

■ Do not connect the servomotor directly to the local electrical network.

Failure to observe this may result in damage to servomotor.
■ Do not plug or unplug connectors from servo drive when power is on.
Failure to observe this may result in damage to servo drive and servomotor.
■Please note that even after power is removed, residual voltage still remains in the capacitor inside the servo drive. If
inspection is to be performed after power is removed, please wait 5 minutes to avoid risk of electrical shock.
■ Keep servo drives and other devices separated by at least 10mm.
The servo drive generates heat. Install the servo drive so that it can radiate heat freely. When installing servo drives
with other devices in a control panel, provide at least 10mm space between them and 50mm space above and below
them. Please install servo drives in an environment free from condensation, vibration and shock.
■ Perform noise reduction and grounding properly.
Please comply with the following instructions to avoid noise generated by signal lines.
1. Separate high-voltage cables from low-voltage cables.
2. Use cables as short as possible.
3. Single point grounding is required for the servomotor and servo drive (grounding resistance 100Ω or below).
4. Never use a line filter for the motor's power supply in the circuit.
■ Conduct a voltage resistance test for the servo drive under the following conditions:
1. Input voltage: AC 1500Vrms, 1 minute
2. Braking current: 100mA
3. Frequency: 50/60Hz
4. Voltage applied point: Between L1, L2,L3 terminals and frame ground.
■ Use a fast-response type ground-fault interrupter.
For a ground-fault interrupter, always use a fast-response type or one designed for PWM inverters. Do not use a
time-delay type.
■ Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to unstable operation.
■ The servomotor cannot be operated by turning the power on and off.
Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate, resulting in unexpected
problems. Always start or stop the servomotor by using reference pulses.
■ Follow the instructions for PCB use:
1. Before touch the PCB, the body of the user must be discharged.
2. The PCB cannot be contact with highly insulating materials.
3. The PCB is only allowed to put on the conductive pad.
4. The PCB is only allowed to store and transport packaging in conductive wrapper or conductive foam rubber or
aluminum foil.
■ Precautions on turning ON and turning OFF the servo drive:
1. When turning on the servo drive, make sure that the control power supply has be turned on before turning on the
main circuit power supply.
2. When turning off the servo drive, make sure that the main circuit power supply has be turned off before turning off the
control power supply.

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 ProNet Plus Series AC Servo User's Manual

—Contents—

About this manual ........................................................................................................................................................... - 1 -

Safety Precautions .......................................................................................................................................................... - 2 -

Chapter 1 ........................................................................................................................................................................ - 7 -

Checking Products and Parts Names ............................................................................................................................. - 7 -

1.1 Checking Products on Delivery ......................................................................................................................... - 7 -
1.1.1 Servomotor ............................................................................................................................................ - 7 -
1.1.2 Servo drive ............................................................................................................................................ - 9 -
1.2 Part Names ..................................................................................................................................................... - 12 -
1.2.1 Servomotor .......................................................................................................................................... - 12 -
1.2.2 Servo drive .......................................................................................................................................... - 13 -

Chapter 2 ...................................................................................................................................................................... - 17 -

Installation ..................................................................................................................................................................... - 17 -
2.1 Servomotor ..................................................................................................................................................... - 17 -
2.1.1 Storage ................................................................................................................................................ - 17 -
2.1.2 Installation Sites .................................................................................................................................. - 17 -
2.1.3 Installation Alignment ........................................................................................................................... - 18 -
2.1.4 Installation Orientation ......................................................................................................................... - 18 -
2.1.5 Handling Oil and Water ........................................................................................................................ - 18 -
2.1.6 Cable Tension ...................................................................................................................................... - 19 -
2.1.7 Install to the Client ............................................................................................................................... - 19 -
2.2 Servo Drive ..................................................................................................................................................... - 19 -
2.2.1 Storage ................................................................................................................................................ - 19 -
2.2.2 Installation Sites .................................................................................................................................. - 19 -
2.2.3 Installation Orientation ......................................................................................................................... - 20 -
2.2.4 Installation Method .............................................................................................................................. - 20 -

Chapter 3 ...................................................................................................................................................................... - 22 -

Wiring ............................................................................................................................................................................ - 22 -
3.1 Main Circuit Wiring .......................................................................................................................................... - 22 -
3.1.1 Names and Functions of Main Circuit Terminals .................................................................................. - 22 -
3.1.2 Typical Main Circuit Wiring Examples .................................................................................................. - 23 -
3.2 I/O Signals ...................................................................................................................................................... - 25 -
3.2.1 Examples of I/O Signal Connections ................................................................................................... - 25 -
3.2.2 I/O Signal Names and Functions ......................................................................................................... - 26 -
3.2.3 I/O Signal Connector (CN1) Terminal Layout ...................................................................................... - 29 -
3.2.4 Interface Circuit ................................................................................................................................... - 30 -
3.3 Wiring Encoders.............................................................................................................................................. - 31 -
3.3.1 Connecting an Encoder(CN2).............................................................................................................. - 31 -
3.3.2 Encoder Connector(CN2) Terminal Layout ......................................................................................... - 32 -
3.4 Communication Connection ............................................................................................................................ - 32 -
3.4.1 Communication Connector(CN3) Terminal Layout .............................................................................. - 32 -
3.4.2 Communication Connector(CN4) Terminal Layout .............................................................................. - 33 -
3.5 Standard Wiring Examples ............................................................................................................................. - 34 -

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 ProNet Plus Series AC Servo User's Manual

3.5.1 Single-phase 200V ProNet-A5A～04A ................................................................................................ - 34 -

3.5.2 Three-phase 200V ProNet-08A～50A ................................................................................................. - 36 -
3.5.3 Three-phase 400V ProNet-10D～50D ................................................................................................. - 38 -
3.5.4 Position Control Mode ......................................................................................................................... - 40 -
3.5.5 Speed Control Mode ............................................................................................................................ - 41 -
3.5.6 Torque Control Mode ........................................................................................................................... - 42 -
3.6 Wiring for Noise Control .................................................................................................................................. - 43 -
3.6.1 Noise Control ....................................................................................................................................... - 43 -
3.6.2 Precautions on Connecting Noise Filter .............................................................................................. - 44 -
3.7 Installation Conditions of EMC Directives ....................................................................................................... - 46 -
3.8 Using More than One Servo Drive .................................................................................................................. - 48 -

Chapter 4 ...................................................................................................................................................................... - 50 -

Operation ...................................................................................................................................................................... - 50 -
4.1 Trial Operation ................................................................................................................................................ - 50 -
4.1.1 Trial Operation for Servomotor Without Load ...................................................................................... - 52 -
4.1.2 Trial Operation for Servomotor without Load from Host Reference ..................................................... - 54 -
4.1.3 Trial Operation with the Servomotor Connected to the Machine.......................................................... - 58 -
4.1.4 Trial Operation for Servomotor with Brakes ......................................................................................... - 59 -
4.1.5 Position Control by Host Controller ...................................................................................................... - 59 -
4.2 Control Mode Selection................................................................................................................................... - 60 -
4.3 Setting Common Basic Functions ................................................................................................................... - 61 -
4.3.1 Setting the Servo ON Signal ................................................................................................................ - 61 -
4.3.2 Switching the Servomotor Rotation Direction ...................................................................................... - 62 -
4.3.3 Setting the Overtravel Limit Function ................................................................................................... - 63 -
4.3.4 Setting for Holding Brakes ................................................................................................................... - 65 -
4.3.5 Instantaneous Power Loss Settings .................................................................................................... - 69 -
4.4 Absolute Encoders .......................................................................................................................................... - 69 -
4.4.1 Selecting an Absolute Encoder ............................................................................................................ - 69 -
4.4.2 Handling Battery .................................................................................................................................. - 69 -
4.4.3 Replacing Battery ................................................................................................................................ - 70 -
4.4.4 Absolute Encoder Setup(Fn010, Fn011) .............................................................................................. - 71 -
4.5 Operating Using Speed Control with Analog Reference ................................................................................. - 71 -
4.5.1 Setting Parameters .............................................................................................................................. - 71 -
4.5.2 Setting Input Signals ............................................................................................................................ - 72 -
4.5.3 Adjusting Reference Offset .................................................................................................................. - 72 -
4.5.4 Soft Start.............................................................................................................................................. - 74 -
4.5.5 Speed Reference Filter Time Constant ................................................................................................ - 75 -
4.5.6 S-curve Risetime ................................................................................................................................. - 75 -
4.5.7 Using the Zero Clamp Function ........................................................................................................... - 76 -
4.5.8 Encoder Signal Output ........................................................................................................................ - 78 -
4.5.9 Speed coincidence output ................................................................................................................... - 79 -
4.6 Operating Using Position Control .................................................................................................................... - 80 -
4.6.1 Basic Setting in Position Control.......................................................................................................... - 80 -
4.6.2 Setting the Clear Signal ....................................................................................................................... - 83 -
4.6.3 Setting the Electronic Gear .................................................................................................................. - 83 -
4.6.4 Smoothing ........................................................................................................................................... - 86 -

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 ProNet Plus Series AC Servo User's Manual

4.6.5 Low Frequency Vibration Suppression ................................................................................................ - 87 -

4.6.6 Positioning Completion Output Signal ................................................................................................. - 88 -
4.6.7 Reference Pulse Inhibit Function (INHIBIT) ......................................................................................... - 89 -
4.6.8 Position Control (contact reference) ................................................................................................... - 90 -
4.6.9 Position Homing Control (Homing Function)........................................................................................ - 93 -
4.7 Operating Using Torque Control...................................................................................................................... - 96 -
4.7.1 Setting Parameters .............................................................................................................................. - 96 -
4.7.2 Torque Reference Input ....................................................................................................................... - 97 -
4.7.3 Adjusting the Reference Offset ............................................................................................................ - 98 -
4.7.4 Limiting Servomotor Speed During Torque Control ............................................................................. - 99 -
4.8 Operating Using Speed Control with an Internally Set Speed ....................................................................... - 100 -
4.8.1 Setting Parameters ............................................................................................................................ - 100 -
4.8.2 Input Signal Settings .......................................................................................................................... - 101 -
4.8.3 Operating Using an Internally Set Speed .......................................................................................... - 101 -
4.9 Limiting Torque.............................................................................................................................................. - 102 -
4.9.1 Internal Torque Limit .......................................................................................................................... - 102 -
4.9.2 External Torque Limit ......................................................................................................................... - 103 -
4.9.3 Torque Limiting Using an Analog Voltage Reference ........................................................................ - 104 -
4.10 Control Mode Selection ............................................................................................................................... - 105 -
4.10.1 Setting Parameters .......................................................................................................................... - 105 -
4.10.2 Switching the Control Mode ............................................................................................................. - 105 -
4.11 Other Output Signals ................................................................................................................................... - 106 -
4.11.1 Servo alarm output........................................................................................................................... - 106 -
4.11.2 Rotation Detection Output Signal (/TGON) ...................................................................................... - 107 -
4.11.3 Servo Ready (/S-RDY) Output ......................................................................................................... - 107 -
4.11.4 Encoder C Pluse Output (/PGC) ...................................................................................................... - 107 -
4.11.5 Over travel signal output (OT) .......................................................................................................... - 108 -
4.11.6 Servo Enabled Motor Excitation Output(/RD) .................................................................................. - 108 -
4.11.7 Torque Limit Detection Output (/CLT) ............................................................................................... - 108 -
4.11.8 Torque Detection Output (/TCR) ...................................................................................................... - 110 -
4.12 Online Autotuning........................................................................................................................................ - 110 -
4.12.1 Online Autotuning ............................................................................................................................ - 110 -
4.12.2 Online Autotuning Procedure ........................................................................................................... - 111 -
4.12.3 Setting Online Autotuning ................................................................................................................ - 112 -
4.12.4 Load Rigidity Setting for Online Autotuning ..................................................................................... - 112 -
4.13 Inertia .......................................................................................................................................................... - 113 -
4.14 Updating Operation ..................................................................................................................................... - 113 -

Chapter 5 .................................................................................................................................................................... - 114 -

Panel Operator ............................................................................................................................................................ - 114 -

5.1 Basic Operation ............................................................................................................................................ - 114 -
5.1.1 Functions on Panel Operator ............................................................................................................. - 114 -
5.1.2 Resetting Servo Alarms ..................................................................................................................... - 114 -
5.1.3 Basic Mode Selection ........................................................................................................................ - 115 -
5.1.4 Status Display Mode .......................................................................................................................... - 115 -
5.1.5 Operation in Parameter Setting Mode ............................................................................................... - 117 -
5.1.6 Operation in Monitor Mode ................................................................................................................ - 117 -

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 ProNet Plus Series AC Servo User's Manual

5.2 Operation in Utility Function Mode ................................................................................................................ - 119 -

5.2.1 Alarm Traceback Data Display........................................................................................................... - 120 -
5.2.2 Parameter Settings Initialization ........................................................................................................ - 120 -
5.2.3 Operation in JOG Mode ..................................................................................................................... - 121 -
5.2.4 Automatic Adjustment of the Speed Reference Offset ....................................................................... - 121 -
5.2.5 Manual Adjustment of the Speed Reference Offset ........................................................................... - 123 -
5.2.6 Offset-adjustment of Servomotor Current Detection Signal ............................................................... - 124 -
5.2.7 Software Version Display ................................................................................................................... - 125 -
5.2.8 Position Teaching Function ................................................................................................................ - 125 -
5.2.9 Static Inertia Detection ...................................................................................................................... - 126 -
5.2.10 Absolute Encoder Multiturn Data and Alarm Reset .......................................................................... - 126 -
5.2.11 Absolute Encoder Related Alarms Reset ......................................................................................... - 126 -

Chapter 6 .................................................................................................................................................................... - 128 -

MODBUS Communication........................................................................................................................................... - 128 -

6.1 RS-485 Communication Wiring ..................................................................................................................... - 128 -
6.2 MODBUS Communication Related Parameters ........................................................................................... - 129 -
6.3 MODBUS Communication Protocol .............................................................................................................. - 130 -
6.3.1 Code Meaning ................................................................................................................................... - 130 -
6.3.2 Communication Error Disposal .......................................................................................................... - 136 -
6.3.3 Data Communication Address of Servo State.................................................................................... - 137 -

Chapter 7 .................................................................................................................................................................... - 140 -

Specifications and Characters..................................................................................................................................... - 140 -

7.1 Servo drive Specifications and Models ......................................................................................................... - 140 -
7.2 Servo drive Dimensional Drawings ............................................................................................................... - 143 -
7.3 Servo motor Specifications and Models ........................................................................................................ - 145 -
7.4 Servo Motor Dimensional Drawings .............................................................................................................. - 147 -

Appendix A .................................................................................................................................................................. - 151 -

Parameter ................................................................................................................................................................... - 151 -

A.1 Parameter List .............................................................................................................................................. - 151 -
A.2 Description of Parameter Type ..................................................................................................................... - 158 -
A.3 Parameters in detail...................................................................................................................................... - 159 -

Appendix B .................................................................................................................................................................. - 179 -

Alarm Display .............................................................................................................................................................. - 179 -

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 ProNet Plus Series AC Servo User's Manual

Chapter 1

Checking Products and Parts Names

1.1 Checking Products on Delivery

Check Items Comments
Are the delivered products the ones that Check the model numbers marked on the nameplate on the
were ordered? servomotor and servo drive.
Check the overall appearance, and check for damage or scratches
Is there any damage?
that may have occurred during shipping.
If the servomotor shaft can be easily rotated by hand, then the motor
Does the servomotor shaft rotate smoothly? is working normally. However, if a brake is installed on the
servomotor, then it cannot be turned by hand.
If any of the above items are faulty or incorrect, contact your ESTUN representative or the dealer from whom you
purchased the products.

1.1.1 Servomotor

 Servomotor Model Designation

EMJ– 08 A F B 2 4
ESTUN Servomotor
【1+2】 【3】 【4】 【5】 【6】 【7】
EMJ Model

【1+2】Rated Output 【4】Encoder 【7】Option

Code Spec. Code Spec. Code Spec.

A5 0.05 kW F Single-turn incremental encoder: 1048576P/R 2 With oil seal

01 0.1 kW S Multi-turn absolute encoder: 131072P/R 4 With oil seal and brake(DC24V)

02 0.2kW

04 0.4kW 【5】Designing Sequence

08 0.75kW Code Spec.

10 1.0kW A,B,H Designing sequence

【3】Voltage 【6】Shaft End

Code Spec. Code Spec.

A 200VAC 2 Straight with key and tap

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 ProNet Plus Series AC Servo User's Manual

EMG– 10 A F A 2 4
ESTUN Servomotor
【1+2】 【3】 【4】 【5】 【6】 【7】
EMG Model

【1+2】Rated Output 【4】Encoder 【7】Option

Code Spec. Code Spec. Code Spec.

10 1.0kW F Single-turn incremental encoder: 1048576P/R 2 With oil seal

15 1.5kW S Multi-turn absolute encoder: 131072P/R 4 With oil seal and brake(DC24V)

20 2.0kW

30 3.0kW 【5】Designing Sequence

50 5.0kW Code Code

A Designing sequence A

【3】Voltage B Designing sequence B

Code Spec.

A 200VAC 【6】Shaft End

D 400VAC Code Spec.

2 Straight with key and tap

EML– 10 A F A 2 4
ESTUN Servomotor
【1+2】 【3】 【4】 【5】 【6】 【7】
EML Model

【1+2】Rated Output 【4】Encoder 【7】Option

Code Spec. Code Spec. Code Spec.

10 1.0kW F Single-turn incremental encoder: 1048576P/R 2 With oil seal

20 2.0kW S Multi-turn absolute encoder: 131072P/R 4 With oil seal and brake(DC24V)

30 3.0kW

40 4.0kW 【5】Designing Sequence

Code Spec.

【3】Voltage A Designing sequence A

Code Spec. B Designing sequence B

A 200VAC

D 400VAC 【6】Shaft End

Code Spec.

2 Straight with key and tap

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 ProNet Plus Series AC Servo User's Manual

 Appearance and Nameplate

Servomotor model

Ratings

Serial number
{

1.1.2 Servo drive

 ProNet Servo drive Model Designation

PRONET – 10 A E G -EC
ProNet Model
Extended module type
Rated Output
-EC integrated EC100
A5 0.05 kW
01 0.1 kW
02 0.2 kW
04 0.4 kW
08 0.75 kW
10 1.0 kW
15 1.5 kW
20 2.0 kW
30 3.0 kW
50 5.0 kW

Encoder Interface
G Compatible with 17-bit,
20-bit serial encoders

Voltage
A 200VAC
D 400VAC

Control Mode
M Speed control, torque control, position control
E Speed control, torque control, position control (support extended module)

Note:
① For details about ProNet-□□□EG-EC servo drives, see EtherCAT User's Manual.
② EtherCAT bus only can be applied to ProNet-□□□EG-EC servo drives.

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 ProNet Plus Series AC Servo User's Manual

 ProNet Servo Drive Appearance

ProNet-A5A/01A/02A/04A ProNet-A5A/01A/02A/04A-EC

ProNet-08A/10A ProNet-08A/10A-EC

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 ProNet Plus Series AC Servo User's Manual

ProNet-15A/20A/10D/15D/20D ProNet-15A/20A/10D/15D/20D-EC

ProNet-30A/50A/30D/50D ProNet-30A/50A/30D/50D-EC

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 ProNet Plus Series AC Servo User's Manual

 ProNet Servo Drive Nameplate

Servodrive model

Applicable power supply Applicable servomotor capacity

Serial number

1.2 Part Names

1.2.1 Servomotor

Servomotor without gear and brake

Encoder
Mounting hole

Shell

Output shaft

Flange

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 ProNet Plus Series AC Servo User's Manual

1.2.2 Servo drive

 ProNet-A5A/01A/02A/04A

Charge indicator
Lights when the main circuit power
supply is ON and stays lit as long
as the main circuit power supply
capacitor remains charged. Connector for communication

Main circuit power supply terminals

Connecting terminal of DC reactor

Control power supply terminals I/O signal connector

Used for reference input signals
Regenerative resistor and sequence I/O signals.
connecting terminals

Servomotor terminals
Encoder connector
Connects to the encoder
Ground terminal in the servomotor.

 ProNet-A5A/01A/02A/04A-EC

Charge indicator Connector for communication

Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged.

Main circuit power supply terminals

Connector for debugging

Connecting terminal of DC reactor

I/O signal connector

Control power supply terminals Used for reference input
signals and sequence I/O
Regenerative resistor signals.
connecting terminals

Servomotor terminals
Encoder connector
Connects to the encoder
in the servomotor.

Ground terminal

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 ProNet Plus Series AC Servo User's Manual

 ProNet-08A/10A

Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit Power on indicator
power supply capacitor remains charged. Lights when the control
power supply is on.
Connector for communication
Main circuit power supply terminals

Connecting terminal of DC reactor

Control power supply terminals

I/O signal connector
Regenerative resistor
Used for reference input signals
connecting terminals
and sequence I/O signals.

Servomotor terminals
Encoder connector
Ground terminal
Connects to the encoder
in the servomotor.

 ProNet-08A/10A-EC

Charge indicator Power on indicator

Lights when the main circuit power supply is Lights when the control
ON and stays lit as long as the main circuit power supply is on.
power supply capacitor remains charged.
Connector for communication
Main circuit power supply terminals

Connecting terminal of DC reactor

Connector for debugging

Control power supply terminals

Regenerative resistor
connecting terminals I/O signal connector
Used for reference input signals
and sequence I/O signals.
Servomotor terminals

Encoder connector
Ground terminal Connects to the encoder
in the servomotor.

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 ProNet Plus Series AC Servo User's Manual

 ProNet-15A/20A/10D/15D/20D

Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged. Power on indicator
Lights when the control
power supply is on.
Main circuit power supply terminals
Connector for communication

Connecting terminal of DC reactor

Control power supply terminals I/O signal connector

Regenerative resistor Used for reference input signals
connecting terminals and sequence I/O signals.

Servomotor terminals

Ground terminal Encoder connector

Connects to the encoder
in the servomotor.

 ProNet-15A/20A/10D/15D/20D-EC

Power on indicator
Charge indicator
Lights when the control
Lights when the main circuit power supply is
power supply is on.
ON and stays lit as long as the main circuit
power supply capacitor remains charged. Connector for communication

Main circuit power supply terminals

Connecting terminal of DC reactor Connector for debugging

Control power supply terminals

I/O signal connector
Regenerative resistor
Used for reference input signals
connecting terminals
and sequence I/O signals.

Servomotor terminals

Encoder connector
Connects to the encoder
Ground terminal in the servomotor.

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 ProNet Plus Series AC Servo User's Manual

 ProNet-30A/50A/30D/50D

Charge indicator
Lights when the main circuit power supply is CHARGE Power on indicator
POWER
ON and stays lit as long as the main circuit Lights when the control

CN3
power supply capacitor remains charged. power supply is on.
L1
Connector for communication

CN4
L2
Main circuit power supply terminals
L3

＋1
Connecting terminal of DC reactor
＋2

CN1
I/O signal connector
－ Used for reference input signals
and sequence I/O signals.
L1C
Control power supply terminals
L2C

B1 Encoder connector

CN2
Regenerative resistor Connects to the encoder in
B2
connecting terminals the servomotor.
B3

U
Servomotor terminals
V

Ground terminal

 ProNet-30A/50A/30D/50D-EC

Charge indicator Power on indicator

Lights when the main circuit power supply is Lights when the control
ON and stays lit as long as the main circuit power supply is on.
power supply capacitor remains charged. Connector for communication
Main circuit power supply terminals

Connector for debugging

Connecting terminal of DC reactor
I/O signal connector
Used for reference input signals
Control power supply terminals and sequence I/O signals.

Regenerative resistor Encoder connector

connecting terminals Connects to the encoder
in the servomotor.

Servomotor terminals

Ground terminal

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 ProNet Plus Series AC Servo User's Manual

Chapter 2

Installation

2.1 Servomotor

Servomotor can be installed either horizontally or vertically. However, if the servomotor is installed incorrectly, the
service life of the servomotor will be shortened or unexpected problems may occur.
Please observe the installation instructions described below to install the servomotor correctly.

Before installation
Anticorrosive paint is coated on the edge of the servomotor shaft. Clean off the anticorrosive paint thoroughly using
a cloth moistened with thinner.
Avoid getting thinner on other parts of the servomotor when cleaning the shaft.

Anticorrosive paint

2.1.1 Storage

When the servomotor is not being used, store it in an area with a temperature between -25℃ and 60℃ with the power
cable disconnected.

2.1.2 Installation Sites

The servomotor is designed for indoor use. Install the servomotor in an environment which meets the following
conditions.
 Free from corrosive and explosive gases.
 Well-ventilated and free from dust and moisture.
 Ambient temperature from 0 to 40℃.
 Relative humidity from 26% to 80%( non-condensing).
 Facilitates inspection and cleaning.

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 ProNet Plus Series AC Servo User's Manual

2.1.3 Installation Alignment

Align the shaft of the servomotor with that of the machinery shaft to be controlled. Then connect the two shafts with an
elastic coupling.
Install the servomotor so that alignment accurancy falls within the range shown below.

Measure this distance at four different positions in the circumference. The difference between the maximum and
minimum measurements must be 0.03mm or less.(Turn together with couplings.)

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

2.1.4 Installation Orientation

Servomotor can be installed ethier horizontally or vertically.

2.1.5 Handling Oil and Water

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

Through shaft section

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

Through Shaft Section

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 ProNet Plus Series AC Servo User's Manual

2.1.6 Cable Tension

When connecting the cables, the bending radius should not be too small, do not bend or apply tension to cables.
Since the conductor of a signal cable is very thin (0.2 mm or 0.3 mm), handle it with adequate care.

2.1.7 Install to the Client

When the servo motor is mounted to the client, please firmly secure the servo motor by the screws with backing ring
as shown in the figure.

2.2 Servo Drive

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

2.2.1 Storage

When the servomotor is not being used, store it in an area with a temperature between -25℃ and 85℃ with the
power cable disconnected.

2.2.2 Installation Sites

Notes on installation are shown below.

Situation Notes on installation
When installed in a control Design the control panel size, unit layout, and cooling method so that the temperature
panel around the periphery of the servo drive does not exceed 55℃.
Suppress radiation heat from the heating unit and a temperature rise caused by
When installed near a
convection so that the temperature around the periphery of the servo drive does not
heating unit
exceed 55℃.
When installed near a
Install a vibration isolator underneath the servo drive to prevent it from receiving vibration.
source of vibration
When installed in a location Take appropriate action to prevent corrosive gases. Corrosive gases do not immediately
subject to corrosive gases affect the servo drive, but will eventually cause contactor-related devices to malfunction.
Avoid installation in a hot and humid site or where excessive dust or iron powder is
Others
present in the air.

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 ProNet Plus Series AC Servo User's Manual

2.2.3 Installation Orientation

Install the servo drive perpendicular to the wall as shown in the figure. The servo drive must be oriented this way
because it is designed to be cooled by natural convection or a cooling fan if required. Firmly secure the servo drive
through two mounting holes.

Wall

Ventilation

2.2.4 Installation Method

When installing multiple servo drives side by side in a control panel, observe the following installation method.

Colling Fan Colling Fan

Cooling Fan Cooling Fan

50mm min

50mm min
30mm min 10mm min

■Installation Orientation

Install servo drive perpendicular to the wall so that the front panel (containing connectors) faces outward.

■Cooling

Provide sufficient space around each servo drive to allow cooling by natural convection or fans.

■Installing side by side

When installing servo drives side by side, provide at least 10mm space between each individual servo drive and at

least 50mm space above and below each one as well as shown in the figure above. Ensure the temperature inside the

control panel is evenly distributed, and prevent the temperature around each servo drive from increasing excessively.

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 ProNet Plus Series AC Servo User's Manual

Install cooling fans above the servo drives if necessary.

■Working conditions

1.Temperature: 0~ 55 ℃

2.Humidity: 5%~95%RH

3.Vibration: 4.9m/s2 or less

4.Ambient temperature to ensure long-term reliability: 45 ℃ or less

5.Condensation and Freezing: None

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 ProNet Plus Series AC Servo User's Manual

Chapter 3

Wiring

3.1 Main Circuit Wiring

Please observe the following instructions while wiring the main circuit.

！CAUTION

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

3.1.1 Names and Functions of Main Circuit Terminals

Servo Drive
Terminal Main Circuit
Name Model Functions
Symbol Voltage(V)
ProNet-
Main circuit 200 A5A-04A Single-phase 200～230VAC +10%～-15% (50/60Hz)
L1,L2,L3 power supply 200 08A-50A Three-phase 200～230VAC +10%～-15% (50/60Hz)
input terminal 400 10D-50D Three-phase 380～440VAC +10%～-15% (50/60Hz)
FG FG 200 A5A-04A Normally not connected.
Servomotor
U,V,W connection － － Connect to the servomotor.
terminals
L1C,L2C Control circuit 200 A5A -50A Single-phase 200～230VAC +10%～-15% (50/60Hz)
power supply
24V,GND input terminal 400 10D-50D 24VDC +10%～-10%

Connects to the power supply ground terminals

Ground terminals － －
and servomotor ground terminal.
External Connect an external regenerative
regenerative 200 A5A -04A resistor(provided by customer) between B1 and
B1,B2,B3 resistor B2.
connection If using an internal regenerative resistor, please
200 08A-50A
terminal short B2 and B3. Remove the wire between B2

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 ProNet Plus Series AC Servo User's Manual

Servo Drive
Terminal Main Circuit
Name Model Functions
Symbol Voltage(V)
ProNet-
and B3 and connect an external regenerative
resistor(provided by customer) between B1 and
400 10D-50D
B2, if the capacity of the internal regenerative
resistor is insufficient.
DC reactor for 200 A5A-50A Normally short ○
+ 1and ○
+ 2.
harmonic If a countermeasure against power supply
+ 1, ○
○ +2
suppression 400 10D-50D harmonic waves is needed, connect a DC reactor
terminal between ○
+ 1and ○
+ 2.
Main circuit 200 A5A-50A
○
- Normally not connected.
minus terminal 400 10D-50D

3.1.2 Typical Main Circuit Wiring Examples

 Single-phase 200V ProNet-A5A～04A

L1 L2 Single-phase 200~230V+-10%
15% (50/60Hz)
Molded-case Circuit Breaker

Surge Protector
1Ry 1PL (Servo Alarm Display)

Noise Filter
Power OFF Power ON
1KM

1KM 1Ry 1SUP Be sure to connect a surge suppressor to the

excitation coil of the magnetic contactor and relay.

Magnetic Contactor

L1
A(1) Servodrive
L2 ProNet U
B(2)
Series Servodrive V M
C(3)
1 W
D(4)
2

L1C

L2C
Encoder

CN2 PG
External regenerator resistor
B1
B1
B2
B2
B3
B3

1Ry +24V
ALM+
ALM-
1D

Ground Terminal 0V

Note
1.The L1,L2,L3 and L1C,L2C terminals wiring method of ProNet-A5A～04A servo drives is different from other ProNet
series servo drives. Please note the specific terminal definition while wiring.
2.The main circuit power supply of ProNet-A5A～04A is Single-phase 200V.
3. External regenerative resistor for ProNet-A5A～04A is provided by customer, the model of 60W,50Ωresistor is
recommended.
4.Change Pn521.0 from “1” to “0” when using the external regenerative resistor in ProNet-A5A～04A servo drives.

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 ProNet Plus Series AC Servo User's Manual

 ·Three-phase 200V ProNet-08A～50A

+10%
L1 L2 L3 Three-phase 200~230V -15% (50/60Hz)
Molded-case Circuit Breaker

Surge Protector
1Ry 1PL (Servo Alarm Display)

Noise Filter
Power OFF Power ON
1KM

1KM 1Ry 1SUP Be sure to connect a surge suppressor to the

excitation coil of the magnetic contactor and relay..

Magnetic Contactor

L1
Servomotor
L2
ProNet U
A(1)

Series Servodrives B(2)

L3 V M
C(3)
1 W
D(4)
2

L1C

L2C
Encoder

CN2 PG

B1 B1

B2 B2
External Regenerator Resistor
B3 B3

+24V
1Ry
ALM+
ALM-
1D

Ground Terminal 0V

 Three-phase 400V ProNet-10D～50D

+10%
L1 L2 L3 Three-phase 380~440V -15% (50/60Hz)
Molded-case Circuit Breaker

Surge Protector
1Ry 1PL (Servo Alarm Display)

Noise Filter
Power OFF Power ON
1KM

1KM 1Ry 1SUP Be sure to connect a surge suppressor to the

excitation coil of the magnetic contactor and relay..

Magnetic Contactor

L1
Servomotor
L2
ProNet U
A(1)

Series Servodrives B(2)

L3 V M
C(3)
1 W
D(4)
2

24V
24VDC Power Supply
GND
Encoder

CN2 PG

B1 B1

B2 B2
External Regenerator Resistor
B3 B3

+24V
1Ry
ALM+
ALM-
1D

Ground Terminal 0V

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 ProNet Plus Series AC Servo User's Manual

3.2 I/O Signals

3.2.1 Examples of I/O Signal Connections

The I/O signal connections diagram of the ProNet-□□□MG servo drives is as shown in the following figure.

10K
40K ref
VREF+ 1 +
Speed Reference(±0~10V/Rated Speed)
P

40K
VREF- 2 -
20 PAO+
10K
ref
A/D 21 PAO-
TREF+ 26 + 22 PBO+
Torque Reference(±0~10V/Rated Torque)
P

PG Divided Ratio Output

TREF- 27 -
23 PBO- Applicable Line Output
24 PCO+ AM26LS32A Manufactured by TI or the Equivalent.
25 PCO-
50 DGND

Open-Collector Reference PPI 34

2KΩ
Use
150Ω
PULS+ 30
P

Position Reference PULS / CW / A PULS- 31

2KΩ

150Ω
SIGN+ 32
SIGN / CCW / B
P

SIGN- 33

Signal Allocations can be Modified:

5 TGON+ V-CMP: Speed Coincidence
COIN: Positioning Completion
6 TGON- TGON:Rotation Detection
9 S-RDY+ S-RDY:Servo Ready
CLT:Torque Limit Detection
10 S-RDY- BK:Brake Interlock
11 V-CMP+ PGC: Encoder C-Pulse Output
OT: Over Travel
12 V-CMP- RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output
+24V
DICOM 13
Signal Allocations can be Modified: 3.3KΩ
S-ON 14
S-ON: Servo ON
P-CON 15
P-CON: Proportion Control
P-OT 16
P-OT:Forward Run Prohibited
N-OT 17
N-OT:Reverse Run Prohibited
ALM-RST 39
ALM-RST: Alarm Reset 40
CLR
CLR: Clear Error Pulse P-CL 41
P-CL:Forward Torque Limit N-CL 42
N-CL:Reverse Torque Limit
SHOM: Home
ORG: Zero Position

1Ry +24V
7 ALM+
Shield 8 ALM-
Connect Shield to Connector Shell
1D

0V
ALM: Servo Alarm Output

Photocoupler Output:
Represents Twisted-pair Wires
P

Maximum Operating Voltage:DC30V

Maximum Output Current:DC50mA

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 ProNet Plus Series AC Servo User's Manual

The I/O signal connections diagram of the ProNet-□□□EG-EC servo drives is as shown in the following figure.

+24S
Allocable signals are as following: AFCLM 2-
0.0HΩ
S-ON: Servo ON P-LN 15
P-CON: P Control M-CLN 13
P-OT: Forward Run Prohibited M-LT 17
N-OT: Reverse Run Prohibited N-LT 15
ALM-RST: Alarm Reset AIM-OPT 19
BXT1 0
BXT2 4
Signals EXT4 and EXT5 are unable
to allocate, which shall be
connected to external signals1

Allocable signals are as following:

COIN: Positioning Completion
TGON:Rotation Detection
Connect Shield to Connector Shell1 Pefbia Shell S-RDY:Servo Ready
11 TDLN+
CLT:Torque Limit Detection
14 CLM2
BN:Brake Interlock
10 P-OAV+
14 CLM2 PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output
1Ov +24S
12 AIM+
14 CLM2
Represents Twisted-pair Wires
M

1A

-S

ALM: Servo Alarm Output

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

3.2.2 I/O Signal Names and Functions

 Input Signals
The input signals description of ProNet-□□□EG-EC servo drives is as shown in the following table.
Control Mode Signal Name Pin No. Function
/S-ON 14 Servo ON: Turns the servomotor on.
Function selected by parameter.
Proportional control Switches the speed control loop from PI
reference to P control when ON.
With the internally set speed selection:
Direction reference
/P-CON 15 Switch the rotation direction.
Control mode switching Enables control mode switching.
Speed control with zero-clamp function:
Zero-clamp reference
Reference speed is zero when ON.
Speed Position control with reference pulse:
Position Reference pulse block
Stops reference pulse input when ON.
Torque P-OT 16 Forward run prohibited Overtravel prohibited: Stops
N-OT 17 Reverse run prohibited servomotor when OFF.
Function selected by parameter.
Forward external
/PCL 41 torque limit ON Current limit function enabled when
Reverse external ON.
/NCL 42
torque limit ON
With the internally set speed selection:
Internal speed switching
Switches the internal speed settings.
/ALM-RST 39 Alarm reset: Releases the servo alarm state.

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 ProNet Plus Series AC Servo User's Manual

Control Mode Signal Name Pin No. Function

Control power supply input for I/O signals: Provide the +24V DC power
DICOM 13
supply
VREF+ 1
Speed Speed reference input: ±10V.
VREF- 2
PULS+ 30 Pulse reference input mode:
PULS- 31 Sign + pulse train
SIGN+ 32 CCW + CW pulse
SIGN- 33 Two-phase pulse (90º phase differential)
Power supply input for open collector reference (2KΩ/0.5W resistor is
PPI 34
Position built into the servo drive).
Positional error pulse clear input: Clear the positional error pulse during
/CLR 40
position control.
Homing trigger signal(effective at the rising edge),allocated by Pn509 or
SHOM -
Pn510
ORG - Zero Position(effective at high level), allocated by Pn509 or Pn510
T-REF+ 26
Torque Torque reference input: ±10V.
T-REF- 27

The input signals description of ProNet-□□□EG-EC servo drives is as shown in the following table.
Control Mode Signal Name Pin No. Function
/S-ON 15 Servo ON: Turns the servomotor on.
Function selected by parameter.
/P-CON 16 Proportional control Switches the speed control loop from PI
Speed reference to P control when ON.
Position P-OT 17 Forward run prohibited Overtravel prohibited: Stops
Torque N-OT 18 Reverse run prohibited servomotor when OFF.
/ALM-RST 19 Alarm reset: Releases the servo alarm state.
Control power supply input for I/O signals: Provide the +24V DC power
DICOM 20
supply
EXT1 3
Position Touch Probe input signals
EXT2 4

 Output signals
The output signals description of ProNet-□□□EG-EC servo drives is as shown in the following table.
Control Mode Signal Name Pin No. Function
/TGON+ 5 Detects when the servomotor is rotating at a speed higher than
/TGON- 6 the motor speed seeting.
ALM+ 7 Servo alarm:
ALM- 8 Turns off when an error is detected.
/S-RDY+ 9 Servo ready:
Speed ON if there is no servo alarm when the control/main circuit power
/S-RDY- 10
Position supply is turned ON.
Torque PAO+ 20
Phase-A signal
PAO- 21 Converted two-phase pulse(phases A
PBO+ 22 and B) encoder output.
Phase-B signal
PBO- 23
PCO+ 24
Phase-C signal Zero-point pulse(Phase-C) signal
PCO- 25

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 ProNet Plus Series AC Servo User's Manual

Control Mode Signal Name Pin No. Function

Connect frame to ground if the shield wire of the
FG Shell
I/O signal cable is connected to the connector shell.
/V-CMP+ 11 Speed coincidence:
Speed Detects whether the motor speed is within the setting range and
/V-CMP- 12
if it matches the reference speed value.
/COIN+ 11 Positioning completion:

Position Turns ON when the number of positional error pulses reaches

/COIN- 12 the value set. The setting is the number of positional error pulses
set in the reference units.
Reserved terminals:
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN)

/CLT can be changed by using the parameters.

/CLT: Torque limit output
Turns on when it reaches the value set.
— /BK: Brake interlock output
Releases the brake when ON,
Reserved
/PGC: C pulse output
/BK
OT: Over travel signal output
/RD: Servo enabled motor excitation output
/HOME: Home completion output
4,18,19,29,35
— 36,37,38,43 Not used.
44,45,47,49

The output signals description of ProNet-□□□EG-EC servo drives is as shown in the following table.
Control Mode Signal Name Pin No. Function
/TGON+ 11 Detects when the servomotor is rotating at a speed higher than
/TGON- 14 the motor speed seeting.
ALM+ 12 Servo alarm:
Speed ALM- 14 Turns off when an error is detected.
Position
/S-RDY+ 13 Servo ready:
Torque
ON if there is no servo alarm when the control/main circuit power
/S-RDY- 14
supply is turned ON.
Connect frame to ground if the shield wire of the
FG Shell
I/O signal cable is connected to the connector shell.
Reserved terminals:
/CLT
The functions allocated to /TGON and /S-RDY can be changed
by using the parameters.
/CLT: Torque limit output
— Turns on when it reaches the value set.
Reserved /BK /BK: Brake interlock output
Releases the brake when ON,
OT: Over travel signal output
/RD: Servo enabled motor excitation output
1,2,5,6,7
— Not used.
8,9,10

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 ProNet Plus Series AC Servo User's Manual

3.2.3 I/O Signal Connector (CN1) Terminal Layout

The signals description in CN1 terminal of PRONET-□□□MG servo drives is as shown in the following table.
No. Name Function No. Name Function
1 VREF+ 26 T-REF+
Speed reference input:±10V Torque referenceinput:±10V
2 VREF- 27 T-REF-
3 DGND DGND 28 DGND DGND
4 — Reserved 29 — Reserved
5 /TGON+ 30 PULS+
Running signal output Reference pulse input
6 /TGON- 31 PULS-
7 ALM+ 32 SIGN+
Servo alarm Reference sign input
8 ALM- 33 SIGN-
Open collector reference
9 /S-RDY+ 34 PPI
Servo ready power supply
10 /S-RDY- 35 — Reserved
11 /COIN+ 36 — Reserved
Positioning completion
12 /COIN- 37 — Reserved
I/O signal power supply 24V
13 DICOM 38 — Reserved
DC
14 /S-ON Servo ON 39 /ALM-RST Alarm reset
15 /P-CON P/PI control input 40 /CLR Position error pulse clear input
16 P-OT Forward run prohibited 41 /PCL Forward torque limit input
17 N-OT Reverse run prohibited 42 /NCL Reverse torque limit input
18 — Reserved 43 — Reserved
19 — Reserved 44 — Reserved
20 PAO+ PG dividing 45 — Reserved
pulse output PG
21 PAO- 46 DGND DGND
phase A dividing
22 PBO+ PG dividing pulse 47 — Reserved
pulse output output
23 PBO- 48 DGND DGND
phase B
24 PCO+ PG dividing 49 — Reserved
Zero-point
pulse output
25 PCO- pulse 50 DGND DGND
phase C

The signals description in CN1 terminal of ProNet-□□□EG-EC servo drives is as shown in the following table.
No. Name Function No. Name Function
1 — Reserved 11 /TGON+ Running signal output
2 — Reserved 12 ALM+ Servo alarm
3 EXT1 13 /S-RDY+ Servo ready
Touch Probe input signals
4 EXT2 14 COM2 Common port of output signal
5 — Reserved 15 /S-ON Servo ON
6 — Reserved 16 /P-CON P/PI control input
7 — Reserved 17 P-OT Forward run prohibited

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 ProNet Plus Series AC Servo User's Manual

No. Name Function No. Name Function

8 — Reserved 18 N-OT Reverse run prohibited
9 — Reserved 19 /ALM-RST Alarm reset
I/O signal power supply 24V
10 — Reserved 20 DICOM
DC

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

3.2.4 Interface Circuit

This section shows examples of servo drive I/O signal connection to the host controller.

■Interface for Analog Reference Input Circuit

Analog signals are either speed or torque reference signals at about 40kΩ impedance, and the maximum allowable

voltages for input signals is ±10V.

Reference speed input Reference torque input

Servodrive Servodrive

470Ω(1/2W)min.
470Ω(1/2W)min.

3
3
10V 2 V-REF
2KΩ 10V 2 T-REF
2KΩ
About 40KΩ
1 About 40KΩ
1
GND
GND

0V
0V

■Interface for Sequence Input Circuit

The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low-current relay

otherwise a faulty contact will result.

Servodrive Servodrive

DC24V DC24V
+24VIN 50mA min. 3.3KΩ
50mA min. 3.3KΩ +24VIN

/S-ON,etc. /S-ON,etc.

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 ProNet Plus Series AC Servo User's Manual

■Interface for Line Driver Output Circuit

The amount of two-phase (phase A and phase B) pulse output signals (PAO,/PAO,PBO,/PBO) and zero-point pulse

signals (PCO,/PCO) are output via line-driver output circuits. Normally, the servo drive uses this output circuit in speed

control to comprise the position control system at the host controller. Connect the line-driver output circuit through a line

receiver circuit at the host controller.

■Interface for Sequence Output Circuit

Photocoupler output circuits are used for Servo Alarm (ALM), Servo Ready(S-RDY), and other sequence output signal

circuits. Connect a photocoupler output circuit through a relay circuit.

3.3 Wiring Encoders

3.3.1 Connecting an Encoder(CN2)

17/20 bit Incremental/Absolute Encoders

Incremental/Absolute Encoders Servodrive Host controller
*
CN2 CN1
*
K(1) PS 7
Phase-A 20 PAO
L(2) P /PS 8
21 /PAO P
T(3) BAT+ 17
S(4) P BAT- 18 Phase-B 22 PBO
23 /PBO P

Phase-C 24 PCO
25 /PCO P
PG
Output line driver
AM26LS31 manufactured
by TI or the equivalent. Applicable line-
receiver SN75175
manufactured by TI
or the equivalent.
H(5) PG5V 9
G(6) PG0V 19
50 DGND
0V 0V

J(7) FG Connector shell

shielded wires Connector shell
（Shell）

* P
Represents multi-core twisted pair shielded wires.

Note: (1)BAT+ and BAT- signals are not used when using an incremental encoder .
(2)The pin numbers for the connector wiring differ depending on the servomotors .

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 ProNet Plus Series AC Servo User's Manual

3.3.2 Encoder Connector(CN2) Terminal Layout

17/20 Bit Incremental/ Absolute Encoder

Terminal No. Name Function Terminal No. Name Function
Battery(+)
7 PS PG serial signal input 17 BAT+
(For an absolute encoder)
Battery(-)
8 /PS PG serial signal input 18 BAT-
(For an absolute encoder)
9 PG5V PG power supply +5V 19 GND PG power supply 0V

3.4 Communication Connection

3.4.1 Communication Connector(CN3) Terminal Layout

The signals description in CN3 terminal of PRONET-□□□MG servo drives is as shown in the following table.
Terminal No. Name Function
1 —
Reserved
2 —
3 485+ RS-485 communication terminal
4 ISO_GND
Isolated ground
5 ISO_GND
6 485- RS-485 communication terminal
7 CANH CAN communication terminal
8 CANL CAN communication terminal
Note: Do not short terminal 1 and 2 of CN3.

The signals description in CN3 terminal of PRONET-□□□EG-EC servo drives is as shown in the following table.
Terminal No. Name Function
1 TD+ Communication terminal
2 TD- Communication terminal
3 RD+ Communication terminal
4 NC Reserved
5 NC Reserved
6 RD- Communication terminal
7 NC Reserved
8 NC Reserved

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 ProNet Plus Series AC Servo User's Manual

3.4.2 Communication Connector(CN4) Terminal Layout

The signals description in CN4 terminal of PRONET-□□□MG servo drives is as shown in the following table.
Terminal No. Name Function
1 —
Reserved
2 —
3 485+ RS-485 communication terminal
4 ISO_GND
Isolated ground
5 ISO_GND
6 485- RS-485 communication terminal
7 CANH CAN communication terminal
8 CANL CAN communication terminal

The signals description in CN4 terminal of PRONET-□□□EG-EC servo drives is as shown in the following table.
Terminal No. Name Function
1 TD+ Communication terminal
2 TD- Communication terminal
3 RD+ Communication terminal
4 NC Reserved
5 NC Reserved
6 RD- Communication terminal
7 NC Reserved
8 NC Reserved

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 ProNet Plus Series AC Servo User's Manual

3.5 Standard Wiring Examples

3.5.1 Single-phase 200V ProNet-A5A～04A

The standard wiring example of PRONET-□□□MG servo drives is as shown in the following figure.
L1 L2 single-phase 200~230V +-10%
15% (50/60Hz)
Molded-case Circuit Breaker

Surge Protector
1Ry 1PL (Servo Alarm Display )

Noise Filter
Power OFF Power ON
1KM

1KM 1Ry 1SUP Be sure to connect a surge suppressor to the

excitation coil of the magnetic contactor and relay.

Magnetic Contactor

ProNet Servomotor
A(1)
L1 Series Servodrives U
B(2)
L2 V M
C(3)
1 W
D(4)
2

CN2
Option
L1C
Incremental Wire-saving
L2C Encoder（2500P/R） Serial Encoder
1 A+ Encoder
2 A- 7 S+
External Regenerator Resistor 3 B+ 8 S-
B1 4 B- 17 BAT+ PG
B1
5 C+ 18 BAT-
B2 6 C- 9 PG5V
B2 PG5V
7,8,9
19 PG0V
B3 17,18,19 PG0V
B3 Shell Shield
Shell Shield

CN3

1 N.C. Be sure to prepare the end of the

Be sure to ground shielded wire properly.
2 N.C.
3 485+
CN1 4 ISO_GND
5 ISO_GND Use special communication cable to connect
10K
40K ref 6 485- PC(Personal Computer).
VREF+ 1 +
7 CANH
P

40K
Speed Reference(±0~10V/Rated Speed) VREF- 2 -

10K A/D
8 CANL Note: Do not short terminal 1 and 2 of CN3.
ref
TREF+ 26 + Shell Shield
P

Torque Reference (±0~10V / Rated Torque) TREF- 27 -

CN4

1 N.C.
2 N.C.
Open-collector Reference Use
PPI 34 3 485+
2KΩ
4 ISO_GND
150Ω
PULS+ 30 5 ISO_GND
PULS / CW / A
P

Position Reference PULS- 31 6 485-

2KΩ
7 CANH
150Ω
SIGN+ 32 8 CANL
SIGN / CCW / B
P

SIGN- 33
Shell Shield

+24V
Signal allocatons can be modified: DICOM 13 20 PAO+
3.3KΩ
S-ON: Servo ON S-ON 14 21 PAO-
P-CON: P Control P-CON 15 22 PBO+ PG Divided Ratio Output:
P-OT: Forward Run Prohibited P-OT 16 23 PBO- Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.
N-OT: Reverse Run Prohibited N-OT 17 24 PCO+
ALM-RST: Alarm Reset ALM-RST 39 25 PCO-
CLR: Clear Error Pulse CLR 40 50 DGND
P-CL: Forward Torque Limit P-CL 41
N-CL: Reverse Torque Limit N-CL 42 Signal Allocations can be Modified:
V-CMP: Speed Coincidence
SHOM: Home 5 TGON+ COIN: Positioning Completion
ORG: Zero Position 6 TGON- TGON:Rotation Detection
S-RDY:Servo Ready
9 S-RDY+ CLT:Torque Limit Detection
10 S-RDY- BK:Brake Interlock
11 V-CMP+ PGC: Encoder C-Pulse Output
OT:Over Travel
12 V-CMP- RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output
1Ry +24V
7 ALM+
Connect Shield to Connector Shell. Shield Shell
8 ALM-
1D

0V
ALM: Servo Alarm Output

Represents Twisted-pair Wires

P

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

Note 1.The L1,L2,L3 and L1C,L2C terminals wiring method of ProNet-A5A～04A servo drives is different from other

- 34 -
 ProNet Plus Series AC Servo User's Manual

ProNet series servo drives. Please note the specific terminal definition while wiring.
2.The main circuit power supply of ProNet-A5A～04A is Single-phase 200V.
3. External regenerative resistor for ProNet-A5A～04A is provided by customer, the model of 60W, 50Ωresistor is
recommended.
4.Change Pn521.0 from “1” to “0” when using the external regenerative resistor in ProNet- A5A～04A servo drives.

The standard wiring example of ProNet-□□□EG-EC servo drives is as shown in the following figure.
L1 L2 Single-phase 200~230V (-1-%
12% (50260Hz)
Polded-case Fircuit Breaner

Surge Protector
1Oy 4PL (Seryo Dlarm Gisplay)

Noise Filter
Power OFF Power ON 1HM

1HM 1Oy 1PUP Be sure to connect a surge suppressor to the

excitation coil oi the magnetic contactor and relay1

Madnetic Clntactlo

L1
ProNet A(1)
Seryomotor

Serial Seryo Griyes

L2 U
B(2)
FG S M
C(0)
1 W
D(4)
2

CN2

L1C

L2C Desolute Encoder

Encoder
7 P(
External Uegenerator Uesistor 5 P-
B1
B1
17 BAT( PG
B2
15 BAT-
B2
B0 6 PG2S
16 PG-S
B0
Shell Peieia

Be sure to ground CN0

Be sure to prepare the end oi the
1 TD( shielded wire properly1
2 TD-
0 OD(
4 N.C.
CN1 2 N.C.
3 OD-
(24S
Dllocaele signals are as iollowing: DFCLM 2- 7 N.C.
0.0HΩ
S-ON: Seryo ON P-LN 12 5 N.C.
P-FON: P Fontrol P-CLN 13 Shell Peieia
P-OW: Forward Uun Prohieited P-LT 17
N-OW: Ueyerse Uun Prohieited N-LT 15
CN4 UM75 Socnet
DLP-USW: Dlarm Ueset ALM-OPT 16
BXT1 0 1 TD(
BXT2 4 2 TD-
Signals EXW4 and EXW2 are unaele 0 OD(
to allocate, which shall ee 4 N.C.
connected to external signals1 2 N.C.
3 OD-
CN2 7 N.C.
5 N.C.
2S 1
D- 2 Shell Peieia
D( 0 Dllocaele signals are as iollowing:
FD 4 FOLN: Positioning Fompletion
GND 2 WGON:Uotation Getection
11 TGLN( S-UGY:Seryo Ueady
14 CLM2 FLW:Wortue Limit Getection
10 P-ODV( BN:Brane Lnterlocn
Fonnect Shield to Fonnector Shell1 Peieia Shell 14 CLM2 PGF: Encoder F-Pulse Output
OW:Oyer Wrayel
UG: Seryo Enaeled Potor Excitation Output
HOPE: Home Fompletion Output
1Oy (24S
12 ALM(
14 CLM2
Uepresents Wwisted-pair Wires
P

1D

-S

DLP: Seryo Dlarm Output

Photocoupler Output:
Paximum Operating Voltage: GF30V
Paximum Output Furrent: GF50mD

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 ProNet Plus Series AC Servo User's Manual

3.5.2 Three-phase 200V ProNet-08A～50A

The standard wiring example of PRONET-□□□MG servo drives is as shown in the following figure.
L1 L2 L3 Three-phase 200~230V +-15%
10%
(50/60Hz)
Molded-case Circuit Breaker

Surge Protector
1Ry 1PL (Servo Alarm Display )

Noise Filter
Power OFF Power ON
1KM

1KM 1Ry 1SUP Be sure to connect a surge suppressor to the

excitation coil of the magnetic contactor and relay.

Magnetic Contactor

L1
ProNet Servomotor
A(1)
L2 Series Servodrives U
B(2)
L3 V M
C(3)
1 W
D(4)
2

CN2

Option
L1C

L2C Incremental Wire-saving Serial Encoder

Encoder（2500P/R） Encoder
7 S+
B1 B1 1 A+ Resolver
2 A- 8 S-
7 SIN+ 17 BAT+ PG
B2 B2 3 B+
8 SIN- 18 BAT-
External Regenerator Resisotr 4 B-
17 COS+
5 C+ 9 PG5V
B3 B3 6 C-
18 COS-
9 R1
19 PG0V
7,8,9 PG5V 19 R2 Shell Shield
17,18,19 PG0V
Shell Shield
Shell Shield
Be sure to ground CN3

1 N.C. Be sure to prepare the end of the

2 N.C. shielded wire properly.
3 485+
CN1 4 ISO_GND
5 ISO_GND Use special communication cable to connect
10K
40K ref 6 485- PC(Personal Computer).
VREF+ 1 +
7 CANH
P

40K
Speed Reference(±0~10V/Rated Speed) VREF- 2 -

10K A/D
8 CANL Note: Do not short terminal 1 and 2 of CN3.
ref
TREF+ 26 + Shell Shield
P

Torque Reference (±0~10V/Rated Torque) TREF- 27 -

CN4

1 N.C.
2 N.C.
Open-collector Reference Use
PPI 34 3 485+
2KΩ
4 ISO_GND
150Ω
PULS+ 30 5 ISO_GND
PULS / CW / A
P

Position Reference PULS- 31 6 485-

2KΩ
7 CANH
150Ω
SIGN+ 32 8 CANL
SIGN / CCW / B
P

SIGN- 33
Shell Shield

+24V
Signal allocatons can be modified: DICOM 13 20 PAO+
3.3KΩ
S-ON: Servo ON S-ON 14 21 PAO-
P-CON: P Control P-CON 15 22 PBO+ PG Divided Ratio Output:
P-OT: Forward Run Prohibited P-OT 16 23 PBO- Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.
N-OT: Reverse Run Prohibited N-OT 17 24 PCO+
ALM-RST: Alarm Reset ALM-RST 39 25 PCO-
CLR: Clear Error Pulse CLR 40 50 DGND
P-CL: Forward Torque Limit P-CL 41
N-CL: Reverse Torque Limit N-CL 42 Signal Allocations can be Modified:
V-CMP: Speed Coincidence
SHOM: Home 5 TGON+ COIN: Positioning Completion
ORG: Zero Position 6 TGON- TGON:Rotation Detection
S-RDY:Servo Ready
9 S-RDY+ CLT:Torque Limit Detection
10 S-RDY- BK:Brake Interlock
11 V-CMP+ PGC: Encoder C-Pulse Output
OT:Over Travel
12 V-CMP- RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output
1Ry +24V
7 ALM+
Connect Shield to Connector Shell. Shield Shell
8 ALM-
1D

0V
ALM: Servo Alarm Output

Represents Twisted-pair Wires

P

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

- 36 -
 ProNet Plus Series AC Servo User's Manual

The standard wiring example of ProNet-□□□EG-EC servo drives is as shown in the following figure.
L1 L2 L3 Three-phase 233~233V (-1-%
12% (53263Hz)
Polded-case Circuit Breaner

Vurge Protector
1Oy 4PL (Veryo Dlarm Gisplay)

Noise Filter
Power OFF Power ON
1HM

1HM 1Oy 1PUP Be sure to connect a surge suppressor to the

excitation coil oi the magnetic contactor and relay1

Madnetic Clntactlo

L1
ProNet A(1)
Veryomotor

Verials Veryo Griyes

L2 U
B(2)
L3 V M
C(3)
1 T
D(4)
2

CN2

L1C

L2C Desolute Encoder

Encoder
7 P(
B1 B1
5 P-
17 BAT( PG
B2 B2
15 BAT-
External Uegenerator Uesistor 6 PG2V
B3 B3
16 PG-V
Vhell Peieia

Be sure to ground
Be sure to prepare the end oi the
CN3 shielded wire properly1

1 TD(
2 TD-
3 OD(
4 N.C.
CN1 2 N.C.
3 OD-
(24V 7 N.C.
Dllocaele signals are as iollowing: DFCLM 2- 5 N.C.
3.3HΩ
V-ON: Veryo ON P-LN 12
Vhell Peieia
P-CON: P Control P-CLN 13
P-OT: Forward Uun Prohieited P-LT 17
N-OT: Ueyerse Uun Prohieited N-LT 15 CN4 OJ42 Vocnet
DLP-UVT: Dlarm Ueset ALM-OPT 16
BXT1 3 1 TD(
BXT2 4 2 TD-
3 OD(
4 N.C.
Vignals EXT4 and EXT2 are unaele 2 N.C.
to allocate, which shall ee 3 OD-
connected to external signals1 7 N.C.
CN2 5 N.C.
2V 1 Vhell Peieia
D- 2
Dllocaele signals are as iollowing:
D( 3
COLN: Positioning Completion
FD 4
TJON:Uotation Getection
GND 2
11 TGLN( V-UGY:Veryo Ueady
14 CLM2 CLT:Tortue Limit Getection
13 P-ODV( BN:Brane Lnterlocn
Vhell 14 CLM2 PJC: Encoder C-Pulse Output
Connect Vhield to Connector Vhell1 Peieia
OT:Oyer Trayel
UG: Veryo Enaeled Potor Excitation Output
HOPE: Home Completion Output
1Oy (24V
12 ALM(
14 CLM2
Uepresents Twisted-pair Wires
P

1D

-V

DLP: Veryo Dlarm Output

Photocoupler Output:
Paximum Operating Voltage: GC33V
Paximum Output Current: GC53mD

- 37 -
 ProNet Plus Series AC Servo User's Manual

3.5.3 Three-phase 400V ProNet-10D～50D

The standard wiring example of PRONET-□□□MG servo drives is as shown in the following figure.
L1 L2 L3 Three-phase 380~440V -+15%
10%
(50/60Hz)
Molded-case Circuit Breaker

Surge Protector
1Ry 1PL (Servo Alarm Display)

Noise Filter
Power OFF Power ON
1KM

1KM 1Ry 1SUP Be sure to connect a surge suppressor to the

excitation coil of the magnetic contactor and relay.

Magnetic Contactor

L1
ProNet Servomotor
A(1)
L2 Series Servodrives U
B(2)
L3 V M
C(3)
1 W
D(4)
2

CN2
Option
24V
24VDC Power Supply
Incremental Wire-saving
GND Encoder（2500P/R）
Serial Encoder
Encoder
1 A+ Resolver 7 S+
B1 B1
2 A- 8 S-
7 SIN+
3 B+ 17 BAT+ PG
B2 B2 8 SIN-
4 B- 18 BAT-
External Regenerator Resisotr 17 COS+
5 C+ 9 PG5V
B3 B3 18 COS-
6 C-
9 R1 19 PG0V
7,8,9 PG5V 19 R2
17,18,19 PG0V Shell Shield
Shell Shield
Shell Shield
Be sure to ground CN3

1 N.C. Be sure to prepare the end of the

2 N.C. shielded wire properly.
3 485+
CN1 4 ISO_GND
5 ISO_GND Use special communication cable to connect
10K
40K ref 6 485- PC(Personal Computer).
VREF+ 1 +
7 CANH
P

40K
Speed Reference(±0~10V/Rated Speed) VREF- 2 -

10K A/D
8 CANL Note: Do not short terminal 1 and 2 of CN3.
ref
TREF+ 26 + Shell Shield
P

Torque Reference (±0~10V/Rated Torque) TREF- 27 -

CN4

1 N.C.
2 N.C.
Open-collector Reference Use
PPI 34 3 485+
2KΩ
4 ISO_GND
150Ω
PULS+ 30 5 ISO_GND
PULS / CW / A
P

Position Reference PULS- 31 6 485-

2KΩ
7 CANH
150Ω
SIGN+ 32 8 CANL
SIGN / CCW / B
P

SIGN- 33
Shell Shield

+24V
Signal allocatons can be modified: DICOM 13 20 PAO+
3.3KΩ
S-ON: Servo ON S-ON 14 21 PAO-
P-CON: P Control P-CON 15 22 PBO+ PG Divided Ratio Output:
P-OT: Forward Run Prohibited P-OT 16 23 PBO- Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.
N-OT: Reverse Run Prohibited N-OT 17 24 PCO+
ALM-RST: Alarm Reset ALM-RST 39 25 PCO-
CLR: Clear Error Pulse CLR 40 50 DGND
P-CL: Forward Torque Limit P-CL 41
N-CL: Reverse Torque Limit N-CL 42 Signal Allocations can be Modified:
V-CMP: Speed Coincidence
SHOM: Home 5 TGON+ COIN: Positioning Completion
ORG: Zero Position 6 TGON- TGON:Rotation Detection
S-RDY:Servo Ready
9 S-RDY+ CLT:Torque Limit Detection
10 S-RDY- BK:Brake Interlock
11 V-CMP+ PGC: Encoder C-Pulse Output
OT:Over Travel
12 V-CMP- RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output
1Ry +24V
7 ALM+
Connect Shield to Connector Shell. Shield Shell
8 ALM-
1D

0V
ALM: Servo Alarm Output

Represents Twisted-pair Wires

P

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

- 38 -
 ProNet Plus Series AC Servo User's Manual

The standard wiring example of ProNet-□□□EG-EC servo drives is as shown in the following figure.
L1 L2 L3 Three-phase 383~443V (1-%
-15% (53263Hz)
Polded-case Circuit Breaner

Vurge Protector
1Oy 4PL (Veryo Dlarm Gisplay)

Noise Filter
Power OFF Power ON
1HM

1HM 1Oy 1PUP Be sure to connect a surge suppressor to the

excitation coil oi the magnetic contactor and relay1

Madnetic Clntactlo

L1
ProNet A(1)
Veryomotor

Verials Veryo Griyes

L2 U
B(2)
L3 V M
C(3)
1 T
D(4)
2

CN2

24V
54V GC Power Vupply
GND Desolute Encoder
Encoder
4 P(
B1 B1
5 P-
14 BAT( PG
B2 B2
15 BAT-
External Uegenerator Uesistor 6 PG5V
B3 B3
16 PG-V
Vhell Peieia

Be sure to ground
CN3 Be sure to prepare the end oi the
shielded wire properly1
1 TD(
2 TD-
3 OD(
4 N.C.
CN1 5 N.C.
3 OD-
4 N.C.
(24V
Dllocaele signals are as iollowing: DFCLM 2- 5 N.C.
3.3HΩ
V-ON: Veryo ON P-LN 15
Vhell Peieia
P-CON: P Control P-CLN 13
P-OT: Forward Uun Prohieited P-LT 14
N-OT: Ueyerse Uun Prohieited N-LT 15 CN4 OJ45 Vocnet
DLP-UVT: Dlarm Ueset ALM-OPT 16
1 TD(
BXT1 3
2 TD-
BXT2 4
3 OD(
Vignals EXT4 and EXT5 are unaele 4 N.C.
to allocate, which shall ee 5 N.C.
connected to external signals1 3 OD-
4 N.C.
CN5 5 N.C.
5V 1 Vhell Peieia
D- 2 Dllocaele signals are as iollowing:
D( 3 COLN: Positioning Completion
FD 4 TJON:Uotation Getection
GND 5
11 TGLN( V-UGY:Veryo Ueady
14 CLM2 CLT:Tortue Limit Getection
13 P-ODV( BN:Brane Lnterlocn
14 CLM2 PJC: Encoder C-Pulse Output
Connect Vhield to Connector Vhell1 Peieia Vhell
OT:Oyer Trayel
UG: Veryo Enaeled Potor Excitation Output
HOPE: Home Completion Output
1Oy (24V
12 ALM(
Uepresents Twisted-pair Wires
P

14 CLM2
1D

-V

DLP: Veryo Dlarm Output

Photocoupler Output:
Paximum Operating Voltage: GC33V
Paximum Output Current: GC53mD

- 39 -
 ProNet Plus Series AC Servo User's Manual

3.5.4 Position Control Mode

NOTE: this function is available for PRONET-□□□MG servo drives only.

ProNet
Series Servodrives

20 PAO+
21 PAO-
22 PBO+ PG Divided Ratio Output:
Applicable Line Receiver
23 PBO- AM26LS32A Manufactured by TI or the Equivalent.
24 PCO+
25 PCO-
50 DGND

Open-collector Reference Use PPI 34

2KΩ

150Ω
PULS+ 30
PULS / CW / A
P

Position Reference
PULS- 31
2KΩ

150Ω
SIGN+ 32
SIGN / CCW / B
P

SIGN- 33

Signal Allocations can be Modified:

5 TGON+ V-CMP: Speed Coincidence
COIN: Positioning Completion
6 TGON- TGON:Rotation Detection
9 S-RDY+ S-RDY:Servo Ready
10 S-RDY- CLT:Torque Limit Detection
BK:Brake Interlock
11 COIN+ PGC: Encoder C-Pulse Output
12 COIN- OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

+24V
Signal allocatons can be modified: DICOM 13 3.3KΩ
S-ON: Servo ON S-ON 14
P-CON: P Control P-CON 15
P-OT: Forward Run Prohibited P-OT 16
N-OT: Reverse Run Prohibited N-OT 17
ALM-RST: Alarm Reset ALM-RST 39
CLR: Clear Error Pulse CLR 40
P-CL: Forward Torque Limit P-CL 41
N-CL: Reverse Torque Limit N-CL 42
SHOM: Home
ORG: Zero Position

1Ry +24V
7 ALM+
Connect Shield to Connector Shell. Shield Shell
8 ALM-
1D

0V

ALM: Servo Alarm Output

P

Represents Twisted-pair Wires Photocoupler Output:

Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

- 40 -
 ProNet Plus Series AC Servo User's Manual

3.5.5 Speed Control Mode

NOTE: this function is available for PRONET-□□□MG servo drives only.

ProNet
Series Servodrives

10K
ref
20 PAO+
40K
Speed Reference(±0~10V/Rated Speed) VREF+ 1 + 21 PAO-
P

40K
VREF- 2 -
22 PBO+ PG Divided Ratio Output:
Applicable Line Receiver
10K A/D 23 PBO- AM26LS32A Manufactured by TI or the Equivalent.
24 PCO+
25 PCO-
50 DGND

Signal Allocations can be Modified:

V-CMP: Speed Coincidence
5 TGON+ COIN: Positioning Completion
6 TGON:Rotation Detection
TGON- S-RDY:Servo Ready
9 S-RDY+ CLT:Torque Limit Detection
10 S-RDY- BK:Brake Interlock
PGC: Encoder C-Pulse Output
11 V-CMP+ OT:Over Travel
+24V 12 V-CMP- RD: Servo Enabled Motor Excitation Output
DICOM 13 HOME: Home Completion Output
Signal allocatons can be modified: 3.3KΩ
S-ON 14
S-ON: Servo ON
P-CON 15
P-CON: P Control
P-OT 16
P-OT: Forward Run Prohibited
N-OT 17
N-OT: Reverse Run Prohibited
ALM-RST 39
ALM-RST: Alarm Reset
CLR 40
CLR: Clear Error Pulse
P-CL 41
P-CL: Forward Torque Limit
N-CL 42
N-CL: Reverse Torque Limit
SHOM: Home
ORG: Zero Position

1Ry +24V
7 ALM+
8 ALM-
1D
Connect Shield to Connector Shell. Shield Shell
0V
ALM: Servo Alarm Output

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

Represents Twisted-pair Wires

- 41 -
 ProNet Plus Series AC Servo User's Manual

3.5.6 Torque Control Mode

NOTE: this function is available for PRONET-□□□MG servo drives only.

ProNet
Series Servodrives

20 PAO+
21 PAO-
22 PBO+ PG Divided Ratio Output:
Applicable Line Receiver
23 PBO- AM26LS32A Manufactured by TI or the Equivalent.
A/D 24 PCO+
ref
TREF+ 26 + 25 PCO-
Torque Reference (±0~10V/Rated Torque)
P

TREF- 27 - 50 DGND

Signal Allocations can be Modified:

5 TGON+ V-CMP: Speed Coincidence
COIN: Positioning Completion
6 TGON- TGON:Rotation Detection
+24V
Signal allocatons can be modified: DICOM 13 9 S-RDY+ S-RDY:Servo Ready
3.3KΩ CLT:Torque Limit Detection
S-ON: Servo ON S-ON 14 10 S-RDY- BK:Brake Interlock
P-CON: P Control P-CON 15 11 V-CMP+ PGC: Encoder C-Pulse Output
P-OT 16 12 V-CMP- OT:Over Travel
P-OT: Forward Run Prohibited RD: Servo Enabled Motor Excitation Output
N-OT: Reverse Run Prohibited N-OT 17 HOME: Home Completion Output
ALM-RST: Alarm Reset ALM-RST 39
CLR 40
CLR: Clear Error Pulse
P-CL 41
P-CL: Forward Torque Limit
N-CL 42
N-CL: Reverse Torque Limit
SHOM: Home
ORG: Zero Position

1Ry +24V
7 ALM+
Connect Shield to Connector Shell. 8 ALM-
Shield Shell 1D

0V
ALM: Servo Alarm Output

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

Represents Twisted-pair Wires

- 42 -
 ProNet Plus Series AC Servo User's Manual

3.6 Wiring for Noise Control

3.6.1 Noise Control

The servo drive uses high-speed switching elements in the main circuit. It may receive "switching noise" from these

high-speed switching elements.

To prevent malfunction due to noise, take the following actions:

• Position the input reference device and noise filter as close to the servo drive as possible.

• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.

• The distance between a power line (servomotor main circuit cable) and a signal line must be at least 30 cm. Do not put

the power and signal lines in the same duct or bundle them together.

• Do not share the power supply with an electric welder or electrical discharge machine. When the servo drive is placed

near a high-frequency generator, install a noise filter on the input side of the power supply line. As for the wiring of noise

filter, refer to (1) Noise Filter shown below.

• For proper grounding technique, refer to (2) Correct Grounding.

(1) Noise Filter

Please install a noise filter in the appropriate place to protect the servo drive from external noise interference.
Notice:

Noise filter *3 Servo Drive

Servomotor
AC 200V L1
M
AC 400V L2 (FG)
L3

3.5mm2 min. *1 0 CN2 PG

1
CN1

2
2mm min.

Operation relay sequence

Signal generation circuit

*3 *2
Noise DC
filter power
3.5mm2 min.

(ground plate) (ground plate) (ground 3.5mm2 min. *1

plate)

*1
Wires of
3.5mm2 min. (ground plate)
(ground plate)

Ground: Ground to an independent ground

use ground resistor 100Ω max.

•For ground wires connected to the ground plate, use a thick wire with a thickness of at least 3.5 mm2 (preferably, plain
stitch cooper wire)
• should be twisted-pair wires.
•When using a noise filter, follow the precautions in 3.6.2 Precautions on Connecting Noise Filter.

- 43 -
 ProNet Plus Series AC Servo User's Manual

(2) Correct Grounding

Take the following grounding measures to prevent the servo drive from malfunctioning due to noise.

￭ Grounding the Motor Frame

If the servomotor is grounded via the machine, a switching noise current will flow from the servo drive main circuit through
the servomotor stray capacitance.
Always connect servomotor frame terminal FG to the servo drive ground terminal. Also be sure to ground the ground
terminal .

￭ Noise on the I/O Signal Line

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

(3) Precautions on Installing on the Control Panel

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

3.6.2 Precautions on Connecting Noise Filter

(1) Noise Filter Brake Power Supply

Use the noise filter Manufactured by SCHAFFNER at the brake power input for servomotors with holding brakes.
Relationship between servo drive power and noise filter current:

Servo Drive Power Noise Filter Current

0.05 kW 0.7A
0.1 kW 1.4A
0.2kW 1A
0.4kW 2A
0.75kW 4A
1 kW 4A
1.5 kW 6A
2 kW 8A
3 kW 12A
5 kW 20A
Note:
1. A single-phase servomotor should apply a two-phase filter. A three-phase servo drive should apply a
three-phase filter.
2. Choose the right filter according the specifications of operating voltage, current, and manufacturer.
3. Recommended noise filter of 400V servo drive:

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 ProNet Plus Series AC Servo User's Manual

Servo Drive Model JIANLI Noise Filter SCHAFFNER Noise Filter

ProNet-10D DL-5EB FN3025HP-10-71
ProNet-20D DL-10EB FN3025HP-10-71
ProNet-30D DL-15EB3 FN3025HP-20-71
ProNet-50D DL-25EB3 FN3025HP-30-71
ProNet-70D DL-30EB3 FN3025HP-30-71

(2) Precautions on Using Noise Filters

Do not put the input and output lines in the same duct or bundle them together.

Noise Noise
Filter Filter

Ground plate Ground plate

Noise Noise
Filter Filter

Ground plate Ground plate

Separate these circuits

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

Noise Noise
Filter Filter

Ground plate Ground plate

Install the noise filter shield directly to the ground plate. Do not install the noise filter to the painted control panel.

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 ProNet Plus Series AC Servo User's Manual

Noise Noise
Filter Filter
servodrive servodrive servodrive servodrive

stub

Shielded
ground wire

ground plate ground plate

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

Control Panel
Servodrive

Noise
Filter

Servodrive

Ground
Ground plate

3.7 Installation Conditions of EMC Directives

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

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 ProNet Plus Series AC Servo User's Manual

Ground/Shield Box

Brake power
supply

Servo Drive
Brake

Clamp
U,V,W

Core
Power Supply

Core
Clamp
Noise L1,L2,L3
Three-phase 200VAC 2
4 filter Servo-
Three-phase 400VAC
L1C,L2C motor

Core

Core
Clamp
Core
CN2 Encoder
3

PE Aprox.2m CN1

Core Aprox.5m PE
1

Core

Host controller

Symbol Cable Name Specifications

① I/O signal cable Shield cable
② Servomotor cable Shield cable
③ Encoder cable Shield cable
④ AC line cable Shield cable

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

Cable Cable Name Mounting Position of the Core

I/O signals cable Near the host controller and servodrive.
Ferrite core
Motor cable Near the servodrive and servomotor.
Encoder cable Near the servodrive and servomotor.

(b) Recommended Ferrite-core

Cable Name Ferrite Core Model Manufacturer

I/O signals cable
Encoder cable ESD-SR-25 TOKIN
Motor 400W or less
cable 750W or less PC40T96 × 20 × 70 TDK

(c) Fixing the Cable

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 ProNet Plus Series AC Servo User's Manual

Fix and ground the cable shield using a piece of conductive metal.
• Example of Cable Clamp

Cable Shield(cable sheath stripped)

Host controller side
Fix and ground the cable shield
using a piece of conductive metal.
Ground plate
Cable clamp
Remove paint on mounting surface

(d) Shield Box

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

3.8 Using More than One Servo Drive

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

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 ProNet Plus Series AC Servo User's Manual

Power supply
R S T

Power
Power ON
QF
OFF 1RY 1KM

1KM
Noise
filter
SA

1KM
L1 Servo Motor
L2 Servo Drive
L3
L1C M
L2C

+24 1RY CN1

ALM+
ALM-

L1 Servo Drive Servo Motor

L2
L3
L1C M
L2C
CN1
ALM+
ALM-

L1 Servo Drive Servo Motor

L2
L3
L1C M
L2C
CN1
ALM+
ALM-
0V

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

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 ProNet Plus Series AC Servo User's Manual

Chapter 4

Operation

4.1 Trial Operation

Make sure that all wiring has been completed prior to trial operation.

Perform the following three types of trial operation in order. Instructions are given for speed control mode (standard setting)

and position control mode. Unless otherwise specified, the standard parameters for speed control mode (factory settings)

are used.
(1) Trial Operation for Servomotor Without Load (Refer to 4.1.1)
■ Purpose
The servomotor is operated without connecting the shaft to the
To power supply
machine in order to confirm the following wiring is correct.
·Power supply circuit wiring
·Servomotor wiring
·Encoder wiring
Secure the servomotor flange to the
machine, but do not connect the motor
shaft to the load shaft.
·Rotation direction and speed of servomotor.

(Please refer to step 1-4)

(2) Trial operation for servomotor with host reference (Refer to 4.1.2)
■ Purpose
The servomotor is operated without connecting the shaft to the
To power supply
machine in order to confirm the following wiring is correct.
To host controller
·I/O signal wiring with host controller
·Rotation direction, speed and number of rotations of servomotor.
·Check the operation of the brake, overtravel and other protective
Secure the servomotor flange to the
machine, but do not connect the
servomotor shaft to the load shaft.
functions.

(Please refer to step 5-8)

(3) Trial operation for servomotor and machine combined (Refer to 4.1.3)
■Purpose
Perform the trial operation with the servomotor
To power supply
connected to the machine. The servo drive is adjusted to match the
To host controller
machine characteristics.
·Servomotor speed and machine travel distance.
·Set the necessary parameters.
Secure the servomotor flange to the
machine, and connect the servomotor shaft
to the load shaft by using a coupling.

(Please refer to step 9-11)

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 ProNet Plus Series AC Servo User's Manual

Step Item Description Reference

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

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

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

Execute JOG Execute JOG operation with the servomotor alone under the no-load JOG
4
operation condition. Operation

Connect input Connect the input signals (CN1) necessary for trial operation to the
5 -
signals servo drive.

Use the internal monitor function to check the input signals.

Check input
6 Turn the power ON, and check the emergency stop, brake, overtravel, and -
signals
other protective functions for the correct operation.

Input the
Host
7 Servo-ON Input the Servo-ON signal, and turn ON the servomotor.
Reference
signal

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

Turn the power OFF, and connect the servomotor to the machine.
Protective If using a servomotor equipped with an absolute encoder, set up the absolute
9 -
operation encoder and make the initial settings for the host controller to match the
machine’s zero position.

Using the same procedure as you did to input a reference in step 8,operate
Set necessary the servomotor via the host controller and set the parameter to make sure
10 Host
parameters. the machine’s travel direction, travel distance, and travel speed all
Reference
correspond to the reference.

Host
11 Operation The servomotor can now be operated. Adjust the servo gain if necessary.
Reference

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 ProNet Plus Series AC Servo User's Manual

4.1.1 Trial Operation for Servomotor Without Load

！CAUTION
·Release the coupling between the servomotor and the machine, and secure only the servomotor without a load.
·To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings
and belts disconnected).

In this section, confirm the cable connections of the main circuit power supply, servomotor and encoder. Incorrect wiring is
generally the reason why servomotors fail to operate properly during the trial operation.
Confirm the wiring, and then conduct the trial operation for servomotor without load according to the following steps.

Step Description Check Method and Remarks

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

1 Do not connect anything to the

shaft ( no-load conditions).

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

When using a servomotor with a brake, release the brake Please refer to 4.3.4 Setting for Holding Brakes
Please refer to 4.5 Operating Using Speed Control
first before driving the servomotor.
4 with Analog Reference
When using a servomotor equipped with an absolute
encoder, the encoder setup is required before driving the
servomotor.

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 ProNet Plus Series AC Servo User's Manual

Step Description Check Method and Remarks

Use the panel operator to operate the servomotor with
utility function Fn002 (JOG Mode Operation)Check that
Panel Operator the servomotor rotates in the forward direction by pressing
the INC key, and reverse direction by pressing the DEC
Power Supply
key.
The operation is completed when the operation is
performed as described below and the alarm display does
5 not appear.
Complete the Fn002 (JOG Mode Operation) and turn OFF
the power.
For the operation method of the panel operator, refer to
Chapter 5 Panel Operator
The servomotor speed can be changed using the Pn305
(JOG Speed).The factory setting for JOG speed is
500rpm.

 JOG Mode Operation (Fn002)

Step Display after operation Panel operator Description

Press the MODE key to select the function

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

The servomotor will run in forward direction when INC

Forward key is pressed or in reverse direction when DEC key

running
5 INC or DEC key is pressed. The servomotor will operate as long as the
key is pressed.
Reverse
running

Press the MODE key. This will turn OFF the power to
6 MODE key
the servomotor.
Press the ENTER key to return to the Fn002 display
7 ENTER key of the utility function mode. Now, the servo drive is
OFF.

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

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 ProNet Plus Series AC Servo User's Manual

JOG Speed
Speed Position Torque
Pn305
Setting Range Setting Unit Factory Setting Setting Validation
0~6000 rpm 500 Immediately
Set the utility function Fn002 (JOG Mode Operation) to the reference value of servomotor speed.

The servomotor can be operated using only the panel operator without reference from the host controller.

Please note that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid during JOG

mode operation.

4.1.2 Trial Operation for Servomotor without Load from Host Reference

NOTE: this function is available for PRONET-□□□MG servo drives only.

Check that the servomotor move reference or I/O signals are correctly set from the host controller to the servo drive.

Also check the wiring and polarity between the host controller and servo drive, and the servo drive operation settings are

correct. This is the final check before connecting the servomotor to the machine.

(1)Servo ON Command from the Host

The following circuits are required: External input signal circuit or equivalent.

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 ProNet Plus Series AC Servo User's Manual

(2)Operating Procedure in Speed Control Mode (Pn005=H.□□0□)

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

Step Description Check Method and Remarks

Check the power and input signal circuits again,
Refer to the above figure for the input signal circuit.
1 and check that the speed reference input (voltage
between the V-REF+ and V-REF-) is 0V.
If the servomotor rotates at an extremely slow speed, refer to
2 Turn ON the servo ON (/S-ON) input signal. 4.5.3 Adjusting Reference Offset, and use the reference
voltage offset to keep the servomotor from moving.
Generally increase the speed reference input
3 The factory setting is 6V/rated rotation speed.
voltage between V-REF+ and V-REF- from 0 V.
Check the speed reference input to the servo drive
4 Refer to 5.1.6 Operation in Monitor Mode.
(Un001[rpm])
5 Check the Un000 (motor speed [rpm]) Refer to 5.1.6 Operation in Monitor Mode.
Check that the Un001 and Un000 values in steps 4 Change the speed reference input voltage and check that
6
and 5 are equal. Un001 and Un000 are equal for multiple speed references.
Refer to the following equation to change the speed reference
input gain (Pn300).
Un001＝(V-REF Voltage)[V]×Pn300
Check the speed reference input gain and
To change the servomotor rotation direction without changing
7 servomotor rotation direction.
polarity for speed reference input voltage, refer to 4.3.2
Switching the Servomotor Rotation Direction.
Perform the operation from step 2 again after the servomotor
rotation direction is changed.
When the speed reference input is set to 0 V and
8 servo OFF status enters, trial operation for
servomotor without load is completed.

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 ProNet Plus Series AC Servo User's Manual

■ When Position Control is configured at the Host

Analog speed
reference
Host
Controller
Servodrive M

Trial operation for

Position control Speed control servomotor without load

When the servo drive conducts speed control and position control is conducted at the host controller, perform the

operation below,following the operation in Operation Procedure in Speed Control Mode (Pn005=H.□□0□).

Step Description Check Method and Remarks

Check the input signal circuit again, and check that
9 the speed reference input (between the V-REF+ and Refer to the above figure for input signal circuit.
V-REF-) is 0 V.
If the servomotor rotates at an extremely slow speed,
refer to 4.5.3 Adjusting Reference
10 Turn the servo ON input signal (/S-ON) ON.
Offset, and use the reference voltage offset to keep the
servomotor from moving.
Send the command for the number of servomotor Refer to 5.1.6 Operation in Monitor Mode for how it is
rotations. Check the sent number of rotations, the displayed.
11
actual number of rotations by visual inspection, and Un004(rotation angle)[pulse]: The number of pulses
the Un004 (rotation angle)[pulse] from the zero point.
If the sent number of rotations and actual number of Refer to 4.5.8 Encoder Signal Output for how to set
rotations in step 11 are not equal, correctly set the PG divided ratio (Pn200[P/Rev]):The
12
Pn200 (PG divided ratio) outputting the encoder pulse number of encoder pulses per revolution.
from the servo drive.
When the speed reference input is set to 0 V and —

13 servo OFF status is entered, the trial operation for

position control with the host controller is completed.

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 ProNet Plus Series AC Servo User's Manual

(3)Operating Procedure in Position Control Mode (Pn005=H.□□1□)

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

Step Description Check Method and Remarks

Match the reference pulse form with the pulse output form Set the reference pulse form with Pn004.2.
1
from the host controller.
Set the reference unit and electronic gear ratio so that it Set the electronic gear ratio with Pn201(or
2
coincides with the host controller setting. Pn203)/Pn202.
3 Turn the power and the servo ON input signal ON.
Send the slow speed pulse reference for the number of Set the servomotor speed to 100rpm for the
4 servomotor rotation easy to check (for example, one reference pulse speed because such speed is safe.
servomotor revolution) from the host controller in advance.
Check the number of reference pulses input to the servo Refer to 5.1.6 Operation in Monitor Mode for how
5 drive by the changed amount before and after the Un013 and it is displayed.
Un014(input reference pulse counter)[pulse] were executed.
Check whether the actual number of servomotor rotations Refer to 5.1.6 Operation in Monitor Mode for how
6 Un009, Un010 coincides with the number of input reference it is displayed.
pulses.
Check that the servomotor rotation direction is the same as Check the input pulse polarity and input reference
7
the reference. pulse form.
Input the pulse reference with the large number of Set the servomotor speed to 100rpm for the
8 servomotor rotation from the host controller to obtain the reference pulse speed because such speed is safe.
constant speed.
Check the reference pulse speed input to the servo drive Refer to 5.1.6 Operation in Monitor Mode for how
9 using the Un008 in Monitor Mode. (input reference pulse it is displayed.
speed)[rpm].
Check the servomotor speed using the Un000 in Monitor Refer to 5.1.6 Operation in Monitor Mode for how
10
Mode. (servomotor speed) [rpm]. it is displayed.
To change the servomotor rotation direction without
changing the input reference pulse form, refer to
11 Check the rotation of the servomotor shaft. 4.3.2 Switching the Servomotor Rotation
Direction. Perform the operation from step 8 again
after the servomotor rotation direction is changed.
When the pulse reference input is stopped and servo OFF —
12 status is entered, the trial operation for servomotor without
load in position control mode is complete.

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 ProNet Plus Series AC Servo User's Manual

4.1.3 Trial Operation with the Servomotor Connected to the Machine

！WARNING

·Follow the procedure below for trial operation precisely as given.

·Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may
also cause an accident resulting in death or injury.

Follow the procedure below to perform the trial operation.

To power supply

To host controller

Secure the servomotor flange to the

machine, and connect the servomotor shaft
to the load shaft by using a coupling.

Step Description Check Method and Remarks

1 Turn the power ON, and make the settings for the Refer to 4.3 Setting Common Basic Functions.
mechanical configuration related to protective When a servomotor with brake is used, take advance
functions such as overtravel and brake. measures to prevent vibration due to gravity acting on
the machine or external forces before checking the
brake operation. Check that both servomotor and brake
operations are correct.
For details, refer to 4.3.4 Setting for Holding Brakes.
2 Set the necessary parameters for the control mode Refer to 4.5 Operating Using Speed Control with
used. Analog Reference, 4.6 Operating Using Position
Control, and 4.7 Operating Using Torque Control for
control mode used.
3 Connect the servomotor to the machine with the
coupling,etc.,while the power is OFF.
4 Check that the servo drive is servo OFF status and Refer to 4.3 Setting Common Basic Functions.
then turn ON the power to the machine (host For the following steps, take advanced measures for an
controller). Check again that the protective function in emergency stop so that the servomotor can stop safely
step 1 operates normally. when an error occurs during operation.
5 Perform trial operation with the servomotor connected Check that the trial operation is completed according to
to the machine, following each section in 4.1.2 Trial the trial operation for servomotor without load. Also,
Operation for Servomotor without Load from Host check the settings for machine such as reference unit.
Reference.
6 Check the parameter settings for control mode used in Check that the servomotor rotates matching the
step 2. machine operating specifications.
7 Adjust the servo gain and improve the servomotor The servomotor will not be broken in completely during
response characteristics, if necessary. trial operation. Therefore, let the system run for a
sufficient amount of time to ensure that it is properly
broken in.
8 Thus, the trial operation with the servomotor
connected to the machine is complete.

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 ProNet Plus Series AC Servo User's Manual

4.1.4 Trial Operation for Servomotor with Brakes

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

4.1.5 Position Control by Host Controller

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

Analog speed
reference
Host
Controller
Servodrive M

Trial operation for

Position control Speed control servomotor without load

Reference from the Host

Check Item Check Method Review Items
Controller
JOG Operation Servomotor speed Check servomotor speed as Check the parameter setting at
(Constant speed reference follows: Pn300 to see if reference
input from host controller) ·Use the servomotor speed monitor speed gain is correct.
(Un000) on the panel operator.
·Run the servomotor at a low
speed.
For example, input a reference
speed of 60rpm, and check to see if
the servomotor makes one
revolution per second.
Simple positioning Number of Input a reference equivalent to one Check the parameter setting at
servomotor servomotor rotation, and visually Pn200 to see if the number of
rotation check to see if the shaft makes one PG dividing pulses is correct.
revolution.
Overtravel (P-OT and Whether the Check to see if the servomotor Review P-OT and N-OT wiring
N-OT Used) servomotor stops stops when P-OT and N-OT signals if the servomotor does not
rotating when are input during continuous stop.
P-OT and servomotor operation.
N-OT signals
are input.

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4.2 Control Mode Selection

The control modes supported by the ProNet series servo drives are described below.
Parameter Control Mode Reference Section
Speed Control (Analog voltage reference)
Controls servomotor speed using analog voltage speed reference.
Use in the following instances.
H.□□0□ 4.5
·To control speed
·For position control using the encoder feedback division output from
the servo drive to form a position loop in the host controller.
Position Control (Pulse train reference)
Controls the position of the servomotor using pulse train position
reference.
H.□□1□ 4.6
Controls the position with the number of input pulses, and controls the
speed with the input pulse frequency.
Use when positioning is required.
Torque Control (Analog voltage reference)
Pn005 Controls the servomotor’s output torque with analog voltage torque
H.□□2□ 4.7
reference. Use to output the required amount of torque for operations
such as pressing.
Speed Control (contact reference) Speed Control
(zero reference)
Use the three input signals /P-CON, /P-CL and /N-CL to control the
H.□□3□ 4.8
speed as set in advance in the servo drive.
Three operating speeds can be set in the servo drive. (In this case, an
analog reference is not necessary.)
H.□□4□ These are swiching modes for using the four control methods
· described above in combination. Select the control method switching
· mode that best suits the application. 4.10
·
H.□□E□

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 ProNet Plus Series AC Servo User's Manual

4.3 Setting Common Basic Functions

4.3.1 Setting the Servo ON Signal

This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
(1)Servo ON signal(/S-ON)
Type Name Connector Pin Number Setting Meaning
Servomotor power ON. Servomotor can
ProNet-□□□MG: CN1_14 ON(low level)
be operated.
Input /S-ON ProNet-□□□EG-EC: CN1_15
Servomotor power OFF. Servomotor
(Factory setting) OFF(high level)
cannot be operated.
■Important
Always input the servo ON signal before inputting the input reference to start or stop the servomotor.
Do not input the input reference first and then use the /S-ON signal to start or stop. Doing so will degrade internal
elements and may cause the servo drive to malfunction.
A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to 3.2.2 I/O Signal Names
and Functions.

(2) Enabling/Disabling the Servo ON Signal

A parameter can be always used to set the servo ON condition. This eliminates the need to wire /S-ON, but care must be
taken because the servo drive can operate as soon as the power is turned ON.
Parameter Meaning
b.□□□0 External S-ON signal enabled (Factory setting)
Pn000 External S-ON signal disabled, the servomotor excitation signal is
b.□□□1
opened automatically after outputting the S-RDY signal.
After changing these parameters, turn OFF the main circuit and control power supplies, and then turn them
ON again to enable the new settings.

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 ProNet Plus Series AC Servo User's Manual

4.3.2 Switching the Servomotor Rotation Direction

The rotation direction of the servomotor can be switched without changing the reference pulse to the servo drive or the
reference voltage polarity.
This causes the rotation the servo motor shaft is rotating to change. The output signal polarity, such as the encoder pulse
output and the analog monitor signal from the servo drive do not change.
The standard setting for “forward rotation” is counterclockwise as viewed from the servomotor load end.
Reference
Parameter Name
Forward reference Reverse reference
b.□□□0 Standard setting
(CCW=forward)
(factory setting)

Pn001
b.□□□1 Reverse rotation
mode
(CW=forward)

The direction of P-OT and N-OT change. For Pn001=b.□□□0(standard setting), counterclockwise is P-OT. For
Pn001=b.□□□1(reverse rotation mode), clockwise is P-OT.

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 ProNet Plus Series AC Servo User's Manual

4.3.3 Setting the Overtravel Limit Function

The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn
ON a limit switch.
(1)Connecting the overtravel signal
To use the overtravel function, connect the following overtravel limit switch to the corresponding pin number of servo drive
CN1 connector correctly.

Type Signal Name Pin No. Setting Meaning

Forward rotation allowed. (Normal
ProNet-□□□MG: CN1_16 ON (low level)
operation status.)
Input P-OT ProNet-□□□EG-EC: CN1_17
Forward rotation prohibited. (Forward
(factory setting) OFF (high level)
overtravel)
Reverse rotation (Normal operation
ProNet-□□□MG: CN1_17 ON(low level)
status.)
Input N-OT ProNet-□□□EG-EC: CN1_18
Reverse rotation prohibited. (Reverse
(factory setting) OFF(high level)
overtravel)

Connect limit switches as shown below to prevent damage

Servomotor forward rotation direction.
to the devices during linear motion.
Servodrive
Rotation in the opposite direction is possible during
Servomotor
CN1
overtravel.
Limit switch Limit switch
P-OT
For example, reverse rotation is possible during forward
N-OT
overtravel.

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

！ CAUTION

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

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(2)Enabling/Disabling the Overtravel Signal

A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the overtravel input

signal.
Parameter Meaning
b.□□0□ In the case of ProNet-□□□MG servo drives, the forward rotation prohibited (P-OT)
signal is input from CN1-16 (factory setting).
In the case of ProNet-□□□EG-EC servo drives, the forward rotation prohibited (P-OT)
signal is input from CN1-17 (factory setting).
b.□□1□ Disables the forward rotation prohibited (P-OT) signal. (Allows constant forward rotation.)
Pn000
b.□0□□ In the case of ProNet-□□□MG servo drives, the reverse rotation prohibited (N-OT)
signal is input from CN1-17 (factory setting).
In the case of ProNet-□□□EG-EC servo drives, the reverse rotation prohibited (N-OT)
signal is input from CN1-18 (factory setting).
b.□1□□ Disables the reverse rotation prohibited (N-OT) signal. (Allows constant reverse rotation.)
·Applicable control modes: Speed control, position control, and torque control.
·After changing these parameters, turn OFF the main circuit and control power supplies, and then turn them ON again to
enable the new settings.
·A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.2.2 I/O Signal
Names and Functions.

(3) Selecting the Servomotor Stop Method

This is used to set the stop method when an overtravel(P-OT,N-OT)signal is input while the servomotor is operating.
Mode After
Parameter Stop Mode Meaning
Stopping
Stop by dynamic Rapidlly stops the servo motor by dynamic braking(DB),
H.□□□0
brake then places it into coast (power OFF) mode.
Coast Stops the servo motor in the same way as when the
H.□□□1 Coast to a stop servo is OFF (coast to a stop ), then places it into
coast(power OFF) mode.
Stops the servomotor by dynamic braking (DB) when
H.□□□2 servo OFF, stops the servo motor by plug braking when
overtravel, and then places it into coast (power OFF)
mode.
Coast
Pn004 Makes the servomotor coast to a stop state when servo
OFF, stops the servomotor by plug braking when
H.□□□3
S-OFF overtravel, and then places it into coast (power OFF)
/Overtravel mode.
Stops the servomotor by dynamic braking (DB) when
H.□□□4
servo OFF, stops the servomotor by plug braking when
overtravel, and then places it into zero clamp mode.
Zero Clamp
Makes the servomotor coast to a stop state when servo
H.□□□5 OFF, stops the servomotor by plug braking when
overtravel, then places it into zero clamp mode.

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

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

(4)Setting the Stop Torque for Overtravel

Plug braking torque limit`
Speed Position Torque
Pn405
Setting Range Setting Unit Factory Setting Setting Validation
0～300 % 300 Immediately
· This sets the stop torque for when the overtravel signal (P-OT,N-OT) is input.
· The setting unit is a percentage of the rated torque. (the rated torque is 100%)
· The value large enough to be the servomotor maximum torque, 300% is set as the factory setting for plug braking limit
torque. However, the actual output plug braking limit torque is determined by servomotor ratings.

4.3.4 Setting for Holding Brakes

The holding brake is used when the servo drive controls a vertical axis.
A servomotor with the brake option helps prevent movable parts from shifting due to gravity when power is removed from
the servo drive.
(Refer to 4.1.4 Trial Operation for Servomotor with Brakes.)

Vertical axis Shaft with external force applied

Servomotor

Servomotor
Holding brake External force

Prevents the servomotor

from shifting due to
gravity when the power is
OFF.
Prevents the servomotor from
shifting due to external force.

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 ProNet Plus Series AC Servo User's Manual

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

(1) Wiring Example

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

Servodrive Servomotor with brake

Power supply
R L1 U

S L2 V
M
T L3 W

L1C

L2C
CN2 PG
CN1
BK-RY (/BK+) *1

+24V
(/BK-) *2
BK

Brake power supply

BK-RY Yellow or blue Red

White AC DC Black

BK-RY：Brake control relay

1*、2*：The output terminals allocated with Pn511.

(2) Brake interlock output

Type Signal Name Connector Pin Number Setting Meaning
ON(Low level) Releases the brake.
Output /BK Must be allocated
OFF(High level) Applies the brake.
This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with
the factory setting.The output signal must be allocated by Pn511. It does not need to be connected for servomotor
without a brake.

(3) Allocating Brake Interlock Output (/BK)

Brake interlock output (/BK) is not used with the factory setting.The output signal must be allocated.
Connector Pin Number
Servo drivers Parameter Meaning
+ Terminal - Terminal
Pn511 H.□□□4 CN1-11 CN1-12 The /BK signal is output from CN1-11,12.
ProNet-□□□MG Pn511 H.□□4□ CN1-5 CN1-6 The /BK signal is output from CN1-5,6.
Pn511 H.□4□□ CN1-9 CN1-10 The /BK signal is output from CN1-9,10.
Pn511 H.□□□4 CN1_11 CN1_14 The /BK signal is output from CN1-11,14.
ProNet-□□□EG-EC
Pn511 H.□4□□ CN1_13 CN1_14 The /BK signal is output from CN1-13,14.
■Important
When set to the factory setting, the brake signal is invalid.
For the allocation of servo drive output signals other than /BK signal, refer to 3.2.2 I/O Signal Names and Functions.

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Parameter Pn511 description as following:

0 /COIN(/V-CMP)output

1 /TGON rotation detecting output

2 /S-RDY servo drive get ready output

3 /CLT torque limit output

4 /BK brake interlock output

5 /PGC encoder C pulse output

6 OT overtravel signal output

7 /RD servo enabled motor excitation output

8 /HOME home completion output

9 /TCR Torque Detection Output

Related parameter:
Parameter Setting
Name Unit Default
No. Range
Pn505 Servo ON waiting time ms -2000~2000 0
Pn506 Basic waiting flow 10ms 0~500 0
Pn507 Brake waiting speed rpm 10～100 100
Pn508 Brake waiting time 10ms 10～100 50

(4) Setting the Brake ON/OFF Timing after the Servomotor Stops
With the factory setting, the /BK signal is output at the same time as the servo is turned OFF. The servo OFF timing can be
changed with a parameter.

Servo ON waiting time

Pn505
Setting Range Setting Unit Factory Setting Setting Validation

-2000～2000 ms 0 Immediately

Basic waiting flow

Pn506
Setting Range Setting Unit Factory Setting Setting Validation

0～500 10ms 0 Immediately

·When using the servomotor to control a vertical axis, the machine movable parts may shift slightly depending on the
brake ON/ OFF timing due to gravity or an external force. By using this parameter to delay turning the servo ON/ OFF, this
slight shift can be eliminated.
·For details on brake operation while the servomotor is operating, refer to (5) Setting the Brake ON/ OFF Timing When
Servomotor Running in this section.

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/S-ON Servo ON Servo ON

Servo OFF

Brake released Brake released

Using brakes brake
/BK Output

Motor power up Motor power up

Motor power down

Motor power up
Pn506 Pn505

■Important
·The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter.

·The machine movable part may shift due to gravity or external force during the time until the brake operates.

(5) Setting the Brake ON/OFF Timing When Servomotor Running

The following parameters can be used to change the /BK signal output conditions when a stop reference is output during

servomotor operation due to the servo OFF or an alarm occuring.

Brake Waiting Speed

Speed Position Torque
Pn507
Setting Range Setting Unit Factory Setting Setting Validation

10～100 1rpm 100 Immediately

Brake Waiting Time

Speed Position Torque
Pn508
Setting Range Setting Unit Factory Setting Setting Validation

10～100 10ms 50 Immediately

/BK Signal Output Conditions When Servomotor Running

The /BK signal goes to high level (brake ON) when either of the following conditions is satisfied:

· When the servomotor speed falls below the level set in Pn507 after servo OFF.

· When the time set in Pn508 is exceeded after servo OFF.

Servo OFF
/S-ON input Servo ON
or alarm or
power OFF
Servomotor stopped
by applying DB or
Servomotor Speed Pn507 coasting.
(Pn004.0)

Brake released Brake held

/BK Output

Pn508

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4.3.5 Instantaneous Power Loss Settings

Determines whether to continue operation or turn the servo OFF when the power supply voltage to the servo drive main
circuit is instantaneously interrupted.
Parameter Signal Name and Meaning
b.0□□□ Continue operation when the power supply voltage to servo drive main circuit is
Pn000 instantaneously interrupted.
b.1□□□ An alarm occurs when the power supply voltage to servo drive main circuit is
instantaneously interrupted.

4.4 Absolute Encoders

Absolute Encoder Output Range of

Resolution Action when limit is exceeded
Type Multiturn Data
·When the upper limit (+32767)is exceeded in the
forward direction, the multiturn data is -32768
16-bit/multiturn
ProNet Series -32768～+32767 ·When the lower limit (-32768)is exceeded
17-bit/singleturn
in the reverse direction, the multiturn data is
+32767.
The absolute position can be read by the MODBUS protocol. In the actual control, the MODBUS protocol can read the
initial position when the servomotor is stopped (S-OFF), then the real-time position during the servomotor is running can
be found from the number of PG divided output pulses.

4.4.1 Selecting an Absolute Encoder

An absolute encoder can also be used as an incremental encoder.

Parameter Meaning

Pn002 b.□0□□ Use the absolute encoder as an absolute encoder. (Factory setting)

b.□1□□ Use the absolute encoder as an incremental encoder.

·The back-up battery is not required when using the absolute encoder as an incremental encoder.

·After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON

again to enable the new settings.

4.4.2 Handling Battery

In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backed up by a

battery.

Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used.

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Install the battary to the encoder cable:

A. Open the shell of the battery case.

B. Install the battery according to the following diagram.

Encoder cable

C. Cover the shell of the battery case.

4.4.3 Replacing Battery

The servo drive will generate an absolute encoder battery alarm (A.48) when the battery voltage drops below about 3.1V.

 Battery Replacement Procedure

1. Replace the battery with only the servo drive control power supply turned ON.

2. After replacing the battery, using the panel operator with utility function Fn011 to cancel the absolute encoder battery

alarm (A.48).

3. Turn ON the servo drive power back again. If it operates without any problems, the battery replacement has been

completed.

Note:

·The servo drive will generate an absolute encoder battery alarm (A.48) when the battery voltage drops below about 3.1V.

·If an absolute encoder battery alarm (A.47) occurred, it means the battery voltage drops below about 2.5V, and the

multiturn data is lost. Please reset the absolute encoder after changing the battery.

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4.4.4 Absolute Encoder Setup(Fn010, Fn011)

Setting up the absolute encoder in the following cases.

·When starting the machine for the first time,set Pn002.2 to 0.

·When an encoder error alarm (A.45～A.48, A.51) is generated.

Use the panel operator in the servo drive for setup.

Note:
1. Encoder setup operation is only possible when the servo is OFF.
2. If the absolute encoder alarms(A.45～A.48, A.51 ) are displayed, cancel the alarm by using the same method as the
setup. They cannot be cancelled with the servo drive alarm reset input signal(/ALM-RST).
3. Any other alarms that monitor the inside of the encoder should be cancelled by turning OFF the power.

4.5 Operating Using Speed Control with Analog Reference

NOTE: this function is available for PRONET-□□□MG servo drives only.

4.5.1 Setting Parameters

Parameter Meaning
Pn005 H.□□0□ Control mode selection:Speed control(analog reference)(factory setting)

Speed Reference Input Gain

Speed Position Torque
Pn300
Setting Range Setting Unit Factory Setting Setting Validation
0～3000 rpm/v 150 Immediately
Sets the analog voltage level for the speed reference (V-REF) necessary to operate the servomotor at the rated speed.
■EXAMPLE
Pn300=150: 1V input is equivalent to the servomotor speed of 150rpm (factory setting).

Reference speed
（min-1)

Set this slope

Reference voltage（V）

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4.5.2 Setting Input Signals

(1) Speed Reference Input

Input the speed reference to the servo drive using the analog voltage reference to control the servomotor speed in
proportion to the input voltage.
Type Signal Name Connector Pin Number Name
V-Ref+ CN1-1 Speed Reference Input
Input
V-Ref- CN1-2 Speed Reference Input
The above inputs are used for speed control(analog voltage reference). (Pn005.1=0, 4, 7, 9, A) Pn300 is used to set the
speed reference input gain.Refer to 4.5.1 Setting Parameters.

(2) Proportional Control Reference (/P-CON)

Connector Pin
Tpye Signal Setting Meaning
Number
Operates the servo drive with proportional
ON(low level)
control
Input /P-CON CN1-15
Operates the servo drive with proportional
OFF(high level)
integral control.
/P-CON signal selects either the PI(proportional integral) or P(proportional) Speed Control Mode.
Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift.
Input reference: At 0V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops when
the servomotor is stopped.
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 3.2.2 I/O Signal
Names and Functions.

4.5.3 Adjusting Reference Offset

When using the speed control, the servomotor may rotate slowly even if 0V is specified as the analog voltage reference.

This happens if the host controller or external circuit has a slight offset (in the unit of mV) in the reference voltage.

Adjustments can be done manually or automatically by using the panel operator. Refer to 5.2 Operation in Utility

Function Mode.

The servo drive automatically adjusts the offset when the host controller or external circuit has the offset in the reference

voltage.

Reference Voltage Reference Voltage

Offset automatically
adjusted in servodrive.
Offset
Speed Reference
Speed Reference

Automatic offset adjustment

After completion of the automatic adjustment, the amount of offset is stored in the servo drive. The amount of offset can be

checked in the speed reference offset manual adjustment mode (Fn004). Refer to 4.5.3 (2) Manual Adjustment of the

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Speed Reference Offset.

(1) Automatic Adjustment of the Speed Reference Offset

The automatic adjustment of reference offset (Fn003) cannot be used when a position loop has been formed with a host
controller and the error pulse is changed to zero at the servomotor stop due to servolock. Use the speed reference offset
manual adjustment (Fn004) described in the next section for a position loop.
The zero-clamp speed control function can be used to force the servomotor to stop while the zero speed reference is
given. Refer to 4.5.7 Using the Zero Clamp Function.

Note:The speed reference offset must be automatically adjusted with the servo OFF.

Adjust the speed reference offset automatically in the following procedure.

1.Turn OFF the servo drive and input the 0V reference voltage from the host controller or external circuit.

Servodrive Servomotor

0V Speed
Host Reference
Controller

Servo OFF Slow rotation

（Servo ON）

2.Press the MODE key to select the utility function mode.

3.Press the INC or DEC key to select parameter Fn003.

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

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

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

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

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(2) Manual Adjustment of the Speed Reference Offset

Use the speed reference offset manual adjustment (Fn004) in the following situations:

·If a loop is formed with the host controller and the postion error pulse is set to be zero when servolock is stopped.

·To deliberately set the offset to some value

·To check the offset data set in the speed reference offset automatic adjustment mode.

This function operates in the same way as the reference offset automatic adjustment mode (Fn003), except that the

amount of offset is directly input during the adjustment.

The offset setting range and setting unit are as follows:

Speed Reference

Offset adjustment range

Offset adjustment range:

-1024~+1024
Offset setting
Analog voltage input
unit

Adjust the speed reference offset manually in the following procedure.

1. Press the MODE key to select the utility function mode.

2. Press the INC or DEC key to select parameter Fn004.

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

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

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

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

7. Press the ENTER key for one second to return to the display in step 4.
8. Press the ENTER key to return to the Fn004 display of the utility function mode.

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

4.5.4 Soft Start

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

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Soft Start Acceleration Time

Speed
Pn306
Setting Range Setting Unit Factory Setting Setting Validation
0～10000 1ms 0 Immediately
Soft Start Deceleration Time
Speed
Pn307
Setting Range Setting Unit Factory Setting Setting Validation
0～10000 1ms 0 Immediately
The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting
internally set speeds. Set both Pn306 and Pn307 to “0” for normal speed control.
Set these parameters as follows:
· Pn306: The time interval from the time the servomotor starts until the servomotor maximum speed is reached.
· Pn307: The time interval from the time the servomotor is operating at the servomotor maximum speed until it stops.

Servomotor maximum speed

After soft start

Before soft start

Pn306 Pn307

4.5.5 Speed Reference Filter Time Constant

Speed Reference Filter Time Constant

Speed
Pn308
Setting Range Setting Unit Factory Setting Setting Validation
0～10000 1ms 0 Immediately
st
This smooths the speed reference by applying a 1 –order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will decrease response.

4.5.6 S-curve Risetime

S-curve Risetime
Speed
Pn309
Setting Range Setting Unit Factory Setting Setting Validation
0～10000 1ms 0 Immediately

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4.5.7 Using the Zero Clamp Function

(1) Zero Clamp Function

The zero clamp function is used for systems where the host controller does not form a position loop for the speed

reference input. When the zero clamp signal (/P-CON) is ON, a position loop is formed inside the servo drive as soon as

the input voltage of the speed reference (V-REF) drops below the servomotor zero clamp speed. The servomotor ignores

the speed reference and quickly stops and locks the servomotor.

The servomotor is clamped within ±1 pulse when the zero clamp function is turned ON, and will still return to the zero

clamp position even if it is forcibly rotated by an external force.

When the /P-CON signal is turned ON, a

speed reference below the Pn502 setting is
detected.

Speed Reference
V-REF
Host Controller

Zero Clamp Stops precisely!

/P-CON

(2) Parameter Setting

Parameter Meaning
Pn005 H.□□A□ Control mode: Speed control(analog voltage reference) Zero Clamp
Zero Clamp Conditions:
Zero clamp is performed with Pn005=H.□□A□ when the following two conditions are both satisfied:
·/P-CON is ON (low level)
·Speed reference (V-REF) drops below the setting in Pn502.

Servodrive Speed “V-REF”speed reference

CN1 Preset value for zero

V-REF clamping Pn502
Speed reference 1
Time
/P-CON Open（OFF) Closed（ON)
Zero clamp 15 “/P-CON”input

Zero clamp is performed. OFF OFF

ON
ON ON

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Zero clamp speed

Speed
Pn502
Setting Range Setting Unit Factory Setting Setting Validation
0～3000 rpm 10 Immediately
Sets the servomotor speed at which the zero clamp is performed if zero clamp speed control(Pn005=H.□□A□) is
selected. Even if this value is set higher than the maximum speed of the servomotor, the maximum speed will be used.

(3) Input Signal Setting

Type Signal Name Connector Pin Number Setting Meaning
Zero clamp function
ON(low level)
ON(enabled)
/P-CON CN1-15
Zero clamp function
OFF(high level)
OFF(disabled)
Input Not including this setting in Zero clamp function
ON(low level)
the default setting,please ON(enabled)
/ZCLAMP choose terminal output by
setting parameter Zero clamp function
OFF(high level)
Pn509,Pn510 OFF(disabled)

/P-CON and /ZCLAMP are the input signals to switch to the zero clamp function.
■Important
In speed control (analog voltage reference) mode,when /ZCLAMP is allocated to an output terminal,zero clamp
function is enabled.

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4.5.8 Encoder Signal Output

Encoder feedback pulses processed inside the servo drive can be output externally.
Type Signal Name Connector Pin Number Name
PAO CN1-20 Encoder output phase A
Output
/PAO CN1-21 Encoder output phase /A
PBO CN1-22 Encoder output phase B
Output
/PBO CN1-23 Encoder output phase /B
PCO CN1-24 Encoder output phase C(zero-point pulse)
Output
/PCO CN1-25 Encoder output phase /C(zero-point pulse)

These outputs explained here.

Servodrive Host Controller

Encoder CN1
*
CN2 Phase A(PAO)
Serial Data Frequency Phase B(PBO)
PG
dividing
Phase C(PCO)
circuit

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

Forward rotation(phase B leads 90º) Reverse rotation(phase A leads 90º)

90º 90º

Phase A

Phase B

Phase C
t t

If the servomotor is not equipped with an absolute encoder, the servomotor needs two full rotations before using the servo
drive's Phase-C pulse output as the zero point reference.
Dividing: Dividing means that the divider converts data into the pulse density (Pn200) based on the pulse data of the
encoder installed on the servomotor, and outputs it. The setting unit is number of pulses/revolution.

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 Pulse Dividing Ratio Setting

PG Dividing Ratio
Speed Position Torque

Setting Range Setting Unit Factory Setting Setting Validation

Pn200
16～16384 16384
(Pn840.0=3/4/5/7/8) Puls (Pn840.0=3/4/5/7/8) After restart
1～2500(Pn840.0=6) 2500(Pn840.0=6)
Set the number of pulses for PG output signals (PAO,/PAO,PBO,/PBO) externally from the servo drive.
Feedback pulses from the encoder per revolution are divided inside the servo drive by the number set in Pn200 before
being output. (Set according to the system specifications of the machine or host controller.)
The setting range varies with the number of encoder pulses for the servomotor used.
■Output Example
Pn200=16(when 16 pulses are output per revolution)
Preset value：16

PAO
PBO

1 revolution

4.5.9 Speed coincidence output

The speed coincidence (/V-CMP) output signal is output when the actual servomotor speed during speed control is the
same as the speed reference input. The host controller uses the signal as an interlock.
Type Signal Name Connector Pin Number Setting Meaning
ProNet-□□□MG: CN1_11, CN1_12 ON(low level) Speed coincides.
Output /V-CMP(/COIN) ProNet-□□□EG-EC: manually set
OFF(high level) Speed does not coincide.
(factory setting)

Coincidence Difference
Speed
Pn501
Setting Range Setting Unit Factory Setting Setting Validation
0～100 rpm 10 Immediately
The /V-CMP signal is output when the difference between the speed reference and actual servomotor speed is less than
Pn501.
■Example
The /V-CMP signal turns ON at 1900 to 2100rpm if the Pn501 parameter is set to 100 and the reference speed is
2000rpm.
Servomotor speed Pn501

Reference speed

/V-CMP is output in this range.

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

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4.6 Operating Using Position Control

NOTE: this function is available for PRONET-□□□MG servo drives only.

Set the following parameters for position control using pulse trains.
Parameter Meaning
Pn005 H.□□1□ Control mode selection: position control (pulse train reference)

A block diagram for position control is shown as below.

Servodrive(in position control)
Pn113
Pn112 Pn201
Pn111
Feed forward
Feed forward B filter time
Differential Offset
A constant
Pn500
Pn202
Positioning
complete
Pn004.2
Pn201 Pn104 Servomotor
Pn204
×1 + +
Reference pulse B +
×2 Smoothing + Speed loop Current loop M
A KP
×4 Error counter

Pn202 -

×4
PG
Pn200
PG signal output
dividing Encoder

4.6.1 Basic Setting in Position Control

(1)Setting a reference pulse sign

Type Signal Name Connector Pin Number Name
PULS CN1-30 Reference pulse input
/PULS CN1-31 Reference pulse input
Input
SIGN CN1-32 Reference sign input
/SIGN CN1-33 Reference sign input
(2)Setting reference input filter for open collector signal

Pn006 0□□□ When pulse is difference input, servo receiving pulse frequency ≤4M

1□□□ When pulse is difference input, servo receiving pulse frequency ≤650K

2□□□ When pulse is difference input, servo receiving pulse frequency ≤150K

(3) Setting a Reference Pulse Form

Set the input form for the servo drive using parameter Pn004.2 according to the host controller specifications.
Reference Input Pulse Forward Rotation Reverse Rotation
Parameter
Pulse Form Multiplier Reference Reverse
Sign+pulse train PULS PULS
(CN1-30) (CN1-30)

Pn004 H.□0□□ (positive logic) — SIGN H SIGN L

(CN1-32) (CN1-32)

(factory setting)

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PULS
(CN1-30)
L PULS
CW+CCW SIGN
(CN1-30)

H.□1□□ — (CN1-32)
SIGN
(positive logic) (CN1-32) L

90º 90º
H.□2□□ Two-phase pulse ×1
PULS PULS
(CN1-30) (CN1-30)
H.□3□□ train with 90° ×2
SIGN SIGN
(CN1-32)
phase differential (CN1-32)

H.□4□□ ×4
(positive logic)
■Note:
The input pulse multiplier can be set for the two-phase pulse train with 90° phase differential reference pulse form.
Forward Rotation Reverse Rotation

PULS
(CN1-30)

SIGN
(CN1-32)

×1倍

Internal processing ×2倍 Servomotor movement

reference pulses.

×4倍

(4)Inverse PULS and SIGN reference

Pn004 0□□□ Do not inverse PULS reference and SIGN reference
1□□□ Do not inverse PULS reference; Inverse SIGN reference
2□□□ Inverse PULS reference; Do not inverse SIGN reference
3□□□ Inverse PULS reference and SIGN reference

(5)Reference Pulse Input Signal Timing

Reference pulse signal form Electrical specifications Remarks
Sign+pulse train input SIGN
(SIGN+PULS signal) SIGN t1
H=forward reference
t2
t7
t3
Maximum reference frequency: PULS t1，t2=0.1µs L=reverse reference
t4 t5 t6
t3，t7=0.1µs
t
t4，t5，t6>3µs
500kpps (For open-collector output: T t =1.0µs
(t /T)×100 = 50%
Forward reference Reverse reference
200kpps)

CW pulse+CCW pulse Maximum t1

reference frequency:500kpps CCW

t2 t t1，t2=0.1µs
t3>3µs
(For open-collector output: 200kpps) CW t =1.0µs
(t /T)×100 = 50%
t3
Forward reference Reverse reference

Two-phase pulse train with 90° phase A parameter

t1
differential (phase A +B) t2
Pn004.2 can be
Phase A
t1，t2=0.1µs
Maximum reference frequency: Phase B t =1.0µs used to switch of
t (t /T)×100 = 50%
T
×1 input pulse multiplier: 500kpps the input pulse
Forward reference Reverse reference

×2 input pulse multiplier: 400kpps Phase B leads A by 90º. Phase B lags B by 90º. multiplier mode.
×4 input pulse multiplier:
200kpps

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(6)Connection Example
The pulse train output form from the host controller corresponds to the following:
• Line-driver Output
• +24V Open-collector output
• +12V/+5V Open-collector output

(a)Connection Example for Line-driver Output

Applicable line driver: SN75174 manufactured by TI or MC3487 or the equivalent.

Host controller Servodrive

Line-driver CN1
* Photocoupler
PULS 30 150Ω

/PULS 31

SIGN 32 150Ω

/SIGN 33

*
Represents twisted-pair wires。

(b)Connection Example for Open-Collector Gate Output

 NPN OC GATE OUTPUT

Servodrive
Host controller
1CN-30 75Ω
PULS

R
NOTE:
75Ω VDC=12~24V
/PULS 1CN-31
R=(VDC-1.5Volt)/10mA-150

VDC VDC=12V,
1CN-34 2KΩ
R=1KΩ/0.25W
2KΩ

1CN-32
VDC=24V,
SIGN
75Ω R=2KΩ/0.25W

/SIGN 1CN-33
R 75Ω

GND

 PNP OC GATE OUTPUT

Servodrive
Host controller
1CN-30 75Ω
PULS

75Ω
NOTE:
/PULS 1CN-31
VDC=12~24V
R R=(VDC-1.5Volt)/10mA-150
VDC
1CN-34 2KΩ
VDC=12V,
2KΩ R=1KΩ/0.25W
SIGN 1CN-32
75Ω
VDC=24V,
R=2KΩ/0.25W
/SIGN 1CN-33
75Ω
R

GND

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

4.6.2 Setting the Clear Signal

(1) Setting the Clear Signal

Type Sign Name Connector Pin Numbe Function

ProNet-□□□MG: CN1_40
Input /CLR error counter clear
ProNet-□□□EG-EC: manually set
When the /CLR signal is set to low level, clear error counter:
·The error counter inside the servo drive is set to “0”
·Position loop operation is disabled.

(2) Setting the Clear Signal Mode

In position control mode, pulses will be still presented in the servo drive when servo OFF, thus it should be cleared when
servo drive is turned ON. Setting Pn004 to choose whether clearing the pulses automatically when servo OFF.

□□0□ Clear the error pulse when S-OFF, do not when overtravel.

Pn004 □□1□ Do not clear the error pulse.

□□2□ Clear the error pulse when S-OFF or overtravel (excep for zero clamp)

4.6.3 Setting the Electronic Gear

(1) Electronic Gear

The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to

any value.

One reference pulse from the host controller, i.e., the minimum position data unit, is called a reference unit.

When the Electronic Gear is Not Used When the Electronic Gear is Used

workpiece workpiece
Reference unit：1µm

No. of encoder No. of encoder

Ball screw pitch：6mm Ball screw pitch：6mm
pulses：32768 pulses：32768
To move a workpiece 10mm using
To move a workpiece 10mm :
reference units:
One revolution is 6mm. Therefore 10÷6＝
The reference unit is 1µm. Therefore, to
1.6666 revolutions.
move the workpiece 10mm (10000µm),
32768×4 pulses is one revolution.
1pulse=1µm, so 10000/1＝10000 pulses.
Therefore, 1.6666×32768×4＝218445
Input 10000 pulses per 10mm of
pulses. 218445 pulses are input as
workpiece movement.
reference pulses.
The equation must be calculated at the
host controller.

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(2) Related Parameters

□0□□ Use 16 bit electronic gear parameter

Pn009
□1□□ Use 32 bit electronic gear parameter
16 Bit Electronic Gear Ratio (Numerator)

Pn201
Setting Range Setting Unit Factory Setting Setting Validation
1～65535 — 1 After restart
16 Bit Electronic Gear Ratio (Denominator)

Pn202
Setting Range Setting Unit Factory Setting Setting Validation
1～65535 — 1 After restart
32 Bit Electronic Gear Ratio (Numerator,H)
Pn705 Setting Range Setting Unit Factory Setting Setting Validation
1～9999 10000 0 After restart
32 Bit Electronic Gear Ratio (Numerator,L)
Pn706 Setting Range Setting Unit Factory Setting Setting Validation
1～9999 1 1 After restart
32 Bit Electronic Gear Ratio (Denominator,H)
Pn707 Setting Range Setting Unit Factory Setting Setting Validation
1～9999 10000 0 After restart
32 Bit Electronic Gear Ratio (Denominator,L)
Pn708 Setting Range Setting Unit Factory Setting Setting Validation
1～9999 1 1 After restart
The deceleration ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the servomotor and n
is the rotation of the load shaft.
B Pn201
Electronic gear ratio: =
A Pn202
No. of encoder pulses × 4 m
= ×
Travel dis tan ce per load n
shaft revolution (reference units )

·When 32 bit electronic gear function is enabled, B = Pn705 ×10000 + Pn706 .

A Pn707 ×10000 + Pn708
·If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range.
·Be careful not to change the electronic gear ratio (B/A).
■Important
·Electronic gear ratio setting range: 0.01≤electronic gear ratio(B/A)≤ 100
·If the electronic gear ratio is outside this range, the servo drive will not operate properly. In this case, modify the load
configuration or reference unit.

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(3)Procedure for Setting the Electronic Gear Ratio

Use the following procedure to set the electronic gear ratio.

Step Operation Description
Check the deceleration ratio, ball screw pitch and pulley
1 Check machine specifications.
diameter.
Check the number of encoder
2 Check the number of encoder pulses for the servomotor used.
pulses.
Determine the reference unit from the host controller,
3 Determine the reference unit used. considering the machine specifications and positioning
accuracy.
Calculate the travel distance per load shaft Calculate the number of reference units necessary to turn the load shaft
4
revolution. one revolution based on the previously determined reference units.s
5 Calculate the electronic gear ratio. Use the electronic gear ratio equation to calculate the ratio (B/A).
6 Set parameters. Set parameters using the calculated values.

(4)Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.
Load Configuration
Ball Screw Disc Table Belt and Pulley

Reference unit：0.1º Reference unit：0.01mm

Step Operation Reference unit：0.001mm
Load shaft Load shaft

Deceleration ratio:
3：1 Deceleration ratio: Pulley diameter:
17-bit encoder Ball screw pitch：6mm 2：1 F 100mm
Load shaft
17-bit encoder 17-bit encoder

Rotation angle per Pulley diameter:100 mm

Check machine Ball screw pitch:6mm
1 revolution:360° (pulley circumference:314 mm)
specifications. Deceleration ratio:1/1
Deceleration ratio:3/1 Deceleration ratio:2/1
2 Encoder 17-bit:32768P/R 17-bit:32768P/R 17-bit:32768P/R
Determine the
1 reference unit:
3 reference unit 1 reference unit:0.1° 1 reference unit:0.01mm
0.001mm(1μm)
used
Calculate the
travel distance
4 6mm/0.001mm=6000 360°/0.1°=3600 314mm/0.01mm=31400
per load shaft
revolution
Calculate the
B 32768 × 4 1 B 32768 × 4 3 B 32768 × 4 2
5 electronic gear = × = × = ×
A 6000 1 A 3600 1 A 31400 1
ratio
Pn201 131072 Pn201 393216 Pn201 262144
6 Set parameters
Pn202 6000 Pn202 3600 Pn202 31400
Pn201 32768 Pn201 32768 Pn201 32768
7 Final result
Pn202 1500 Pn202 300 Pn202 3925
·Reduce the fraction (both numerator and denominator) if the calculated result will not be within the setting range.
·For example, reduce the above numerators and denominators by four or other numbers to obtain the final results in step
7 and complete the settings.

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(5)Electronic Gear Ratio Equation

4.6.4 Smoothing

A filter can be applied in the servo drive to a constant-frequency reference pulse.

(1)Selecting a Position Reference Filter

Parameter Description
0: 1st-order filter
Pn205
1: 2nd-order filter

* After changing the parameter, turn OFF the power once and turn it ON again to enable the new setting.

(2)Filter-related Parameters
Position Reference Acceleration/Deceleration Time Constant
Position
Pn204
Setting Range Setting Unit Factory Setting Setting Validation
0～32767 0.1ms 0 Immediately

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

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4.6.5 Low Frequency Vibration Suppression

(1) Note:

For the low rigidity load, low frequency vibration will occur continually at the front end of the load during fast acceleration

or fast deceleration. The vibration may delay positioning time and affect the productive efficiency.

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

position and compensating.

Low Frequency Vibration

Coupling Moving part Ball Screw

Workbench
Servomotor

(2) Application:

Low frequency vibration suppression function is enabled in both speed control mode and position control mode.

Low frequency vibration suppression function is disabled or can not reach the expected effect in the following conditions.

 Vibration is pricked up due to an external force.

 Vibration frequency is between 5.0Hz to 50.0Hz.

 There is mechanical clearance at the mechanical connection part.

 The time for movement is less than one vibration period.

(3) How to operate:

 Measuring Vibration frequency

Write the frequency data measured (unit:0.1Hz) directly to Parameter Pn411, if the vibration frequency can be

measured by an instrument (such as a laser interferometer).And it also can be measured indirectly by

communication software ESView or FFT analsis function.

Position error counter

ΔT

0
t

f ＝ 1 / ΔT

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 Related Parameters
Parameter Meaning
H.□0□□ 0:Low frequency vibration suppression function disabled
Pn006
H.□1□□ 1:Low frequency vibration suppression function enabled

Low frequency vibration frequency

Speed Position
Pn411 Setting Range Setting Unit Factory Setting Setting Validation
50～500 0.1Hz 100 Immediately
Low frequency vibration damp
Speed Position
Pn412 Setting Range Setting Unit Factory Setting Setting Validation
0～200 — 25 Immediately
·Writing the frequency data to parameter Pn411 can adjust Pn411 slightly to obtain the best suppression effect.
·If the servomotor stopped with continuous vibration, Pn412(Do not change in general) should be increased properly.
·Parameter Pn411 and Pn412 are enabled when Pn006.2=1 (Setting validation: after restart).

4.6.6 Positioning Completion Output Signal

This signal indicates that servomotor movement has been completed during position control. Use the signal as an
interlock to confirm that positioning has been completed at the host controller.
Type Signal Name Connector Pin Number Setting Meaning
CN1-11,CN1-12 ON (low level) Positioning has been
(Factory setting) completed.
Output /COIN
OFF (high level) Positioning is not
completed.
·This output signal can be allocated to an output terminal with parameter Pn511. Refer to 3.2.2 I/O Signal Names and
Functions.
·The factory setting is allocated to CN1-11,12.

Positioning Error
Position
Pn500 Setting Range Setting Unit Factory Setting Setting Validation
0～5000 Puls 100 Immediately

Position complete time

Position
Pn520
Setting Range Setting Unit Factory Setting Setting Validation
0~60000 0.1ms 500 Immediately
·The positioning completion (/COIN) signal is output when the difference (position error pulse) between the number of
reference pulses output by the host controller and the travel distance of the servomotor is less than the value set in this
parameter and the stabilization time is more than the value of Pn520.
·Set the number of error pulses in reference unit (the number of input pulses defined using the electronic gear).
·Too large a value at this parameter may output only a small error during low-speed operation that will cause the /COIN
signal to be output continuously.
·The positioning error setting has no effect on final positioning accuracy.

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Reference
Speed Servomotor speed

Pn500
Error pulse
(Un011,Un012)

/COIN
(CN1-11,12)

■Note
·/COIN is a position control signal.
·This signal is used for the speed coincidence output /V-CMP for speed control, and it always OFF (high level) for torque
control.

4.6.7 Reference Pulse Inhibit Function (INHIBIT)

(1)Description

This function inhibits the servo drive from counting input pulses during position control.

The servomotor remains locked (clamped) while pulses are inhibited.

Servodrive

Pn005.1

Pn005=H.□□1□
OFF +
Reference pulse
Pn005=H.□□B□ Error Counter
ON -

/P-CON
/P-CON
Feedback pulse

(2)Setting Parameters
Parameter Meaning
Pn005 H.□□B□ Control mode selection: position control(pulse train reference)⇔INHIBIT
■Inhibit(INHIBIT) switching condition
ON OFF ON
·/P-CON signal ON (low level) /P-CON

Reference pulse

t1 t2

t1，t2≤ 0.5ms
Input reference pulses are not
counted during this period.

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(3)Setting Input Signals

Signal Connector Pin
Type Setting Meaning
Name Number
Turns the INHIBIT function ON.
ON(low level) (Inhibit the servo drive from counting reference
Input /P-CON CN1-15 pulses)
Turns the INHIBIT function OFF.
OFF(high level)
(Counters reference pulses.)

4.6.8 Position Control (contact reference)

Position control under contact reference (parameter Pn005.1＝C). In this mode, servo drive can position with a single
axes without a host controller.
There are 16 position control points with each being able to set move distance, running speed, constants for position
reference filter time, and the stop time when positioning completed. Two speeds (1. speed moving toward distance switch
“speed of looking for reference point”. 2. Speed moving away from distance switch “moving speed.”) of reference points
could be set as:
Two position modes: 1. Absolute position mode 2. Relative position mode
Two running modes: 1. Circling mode 2. Non-circling mode
Two step switching method: 1. Delay step switching 2. /P-CON signal switching
Method of looking for reference points: 1. Forward direction 2. Reverse direction

￭Adjusting offset
Offset of each points has two correspondent parameters: one unit of the parameter is 【x 10000 reference pulse】and the
other is 【x 1 reference pulse】. Setting range of both parameters is: (-9999----+9999), while offset value equals sum of
those two values.
For example:
No.0 offset correspond to parameter Pn600【x 10000 reference pulse】 and Pn601【x 1 reference pulse】. Set Pn600
= 100, Pn601=-100.
No.0 offset value = Pn600x10000 reference pulse + Pn601x1 reference pulse
= 100x10000 reference pulse + (-100)x1 reference pulse
= 999900 reference pulse
With the same principle, we can conclude: in order to get the same results, we also can set Pn600 = 99 and Pn601 =
9900.
Thus, we can see when the two parameters are not zero; we can get same result by two ways: one is to set the two
parameters both negative or both positive, or one negative the other positive.

￭Speed
Speed mentioned here refers to the steady speed during which the motor is running, which is similar to the pulse
frequency given from the external pulse reference in position control.However, this speed has nothing to do with the
electronic gear; it is the actual speed of the motor.

￭Position reference filter time constant

Same as position reference filter time constant Pn204 in common position control.

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￭Time for change steps after desired position reached

Apply internal delay to change steps to a valid value in parameter Pn681.1.
Time for change steps outputs from positioning completed signal CON/, from Servo ON, or from the time when reference
point is found till the Servo performs the program to control position of the point. Such period of time depends on step
changing time required by a point number among start point in program.
When running point control program, if error counter is set as “not clear error counter when Servo OFF”, then the error
counter might flood. If it does not flood, then the servo drive will probably run at the max. running speed when Servo ON
again. PLEASE PAY ATTENTION TO THE SAFETY OF INSTRUMENT.

Setting
Para. No. Name and description Default
range
[0] Clear error pulse when S-0FF, not clear error pulse
when overtravel.
Pn004.1 0~2 0
[1] Not clear error pulse
[2] Clear error pulse When S-OFF or over travel

￭Looking for the reference point

Looking for the reference point is for establishing a zero physical point of the operating platform, which is used as zero
point in the coordinates during point position control. And users may choose to find a reference point either in forward or
reverse side.
How to find a reference point
Mount a limit switch in the forward or reverse side.Find a reference point in the forward direction after connecting to /PCL
and in the reverse direction after connecting to /NCL. When the operating platform bumps into the limit the switch, the
motor will first stop according to the way set by Pn004.0, and then rotate again against limit the switch. When the
operating platform leaves the limit switch and the motor reaches the position of first photo encoder Phase C pulse,then
position of operating platform is set to be the zero point of the coordinates.
How to find related parameters of reference point
Speed towards limit switch is called “speed of looking for reference point “, and the moving speed away from limit switch is
called “ moving speed”. These two speeds could be set by the following parameters:
Para. No. Description Unit Setting range Default
Speed of looking for reference point (hits
Pn685 rpm 0~3000 1500
the limit switch)
Moving speed (move away from limit
Pn686 rpm 0~200 30
switch)

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

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■ Related parameter
Para. No. Description Observation
Choose between cycle run and single run. Changing steps will be performed till
0: Cycle run, /PCL as start signal, /NCL reverse to the end point is completed comma
look for reference point. and the next change will start from
1: Single run, /PCL as start signal, /NCL reverse to the start point during multi-points
Pn681.0 look for reference point. cycle run.
2. Cycle run, /NCL as start signal, /PCL reverse to Point control program will not
look for reference point. change steps after the end point is
3. Single run, /NCL as start signal, /PCL reverse to completed during multi- points single
look for reference point. run.
Change steps by external /P-CON
Change step and start mode
signals. The signal will be valid when
0: Delay changing steps, the start signal is not
drive output reaches the desired
needed.
Pn681.1 position. When input signal changes,
1: Change steps by /P-CON, start signal not needed.
the signal is valid, then steps will be
2. Delay changing steps, need start signal.
changed by consequence from start
3. Change steps by /P-CON, need start signal.
point to end point.
Change step input signal mode
Pn681.2 [0] High or low level
[1] sign pulse
Incremental: relative moving
distance (distance from current point
to next point) programming.
0: Incremental
Pn682 Absolute: absolute moving distance
1: Absolute
(distance between operating
platform and the reference point)
programming.

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4.6.9 Position Homing Control (Homing Function)

In position control mode, the servomotor always needs to operate at a fixed position. This position is normally regarded as

the zero position. When the host controller is turned on, the zero position adjustment is required before processing. This

zero position will be regarded as the reference point. ESTUN servo drives can perform this function by the homing

function.

(1)Homing Mode Setting

Para. No. Description

b.□□□0 Homing in the forward direction
b.□□□1 Homing in the reverse direction
b.□□0□ Return to search C-Pulse when homing
Pn689 b.□□1□ Directly search C-Pulse when homing
b.□0□□ Homing function disabled
b.□1□□ Homing triggered by SHOM signal(rising edge)

·Applicable control mode:position control

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

(2)Related Parameter

Speed of finding reference point (Hitting the origin signal ORG)

Pn685 Setting Range Setting Unit Factory Setting Setting Validation
0~3000 rpm 1500 Immediately
Speed of finding reference point (Leaving the origin signal ORG)
Pn686 Setting Range Setting Unit Factory Setting Setting Validation
0~200 rpm 30 Immediately
Number of error pulses during homing
Pn690 Setting Range Setting Unit Factory Setting Setting Validation
0~9999 10000 P 0 Immediately
Number of error pulses during homing
Pn691 Setting Range Setting Unit Factory Setting Setting Validation
0~9999 1P 0 Immediately

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(3)Input Signal Setting

Type Signal Connector Pin Setting Meaning

Must be allocated by ON=↑(rising edge) Homing is enabled

Input SHOM
Pn509,Pn510 OFF (not rising edge) Homing is disabled

Must be allocated by ON=H ORG is enabled

Input ORG
Pn509,Pn510 OFF=L ORG is disabled
·After changing Pn509 and Pn510, turn OFF the main circuit and control power supplies and then turn
them ON again to enable the new settings.

Allocating Homing Output Signal (/HOME)

Connector Pin Number
Parameter Meaning
+ Terminal - Terminal
Pn511 H.□□□8 CN1-11 CN1-12 The signal is output from output terminal CN1-11,12.

Pn511 H.□□8□ CN1-5 CN1-6 The signal is output from output terminal CN1-5,6.

Pn511 H.□8□□ CN1-9 CN1-10 The signal is output from output terminal CN1-9,10.

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

(4)Description of Homing Operation

Please set Pn689 according to the actual operation in position control mode. When starting the homing function, the

servomotor will run at the speed of Pn685 when detecting the rising edge of SHOM signal; the servomotor will run at the

speed of Pn686 according to the setting of Pn689.1 when detecting the valid ORG signal.

When input ORG and the encoder C-Pulse is being detected, the servo drive will begin to calculate the number of homing

offset pulses. When offset pulses is completed, the servomotor stops and outputs homing completion signal /HOME, then

homing control is completed.

Pn685 (Hitting the origin signal (ORG)) is usually set at high speed, Pn686 (Leaving the origin signal ORG) is usually set

at low speed.

Please be attention that if Pn686 is setting too high, the precision of mechanical zero position will be affected.

After hitting the origin signal ORG, the motor will return to find C-pulse; the figure is shown as below:
Speed Pn 685

(rpm)

Pn 686

Return to find C-pulse

0rpm

Homing offset distance

（ Pn 690 *10000 ＋ Pn 691 ）
Rising edge
SHOM

ORG

Encoder C-pulse

Begin to counter offset distance after the first C -

pulse is produced when leaving zero posiion .

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Corresponding position:
Mechanical shaft

Machine moves, return to search

pulse C Motor slow down, reverse

Begin to counter offset distance after

the first C-pulse is produced when
leaving zero posiion.

Encoder C-pulse

ORG

Rising edge
SHOM

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

Speed Pn 685

rpm

Pn 686
Find C-pulse without
0rpm returning

Homing offset distance

Pn 690 × 10000 ＋ Pn 691
Rising edge
SHOM

ORG

Encoder C-pulse

Begin to counter offset distance after the first C -pulse

is produced when leaving zero posiion.

Corresponding position:

Mechanical shaft

Machine moves, return to search

pulse C

Begin to counter offset distance after

the first C-pulse is produced when
Motor slow down
leaving zero posiion.

Encoder C-pulse

ORG

Rising edge

SHOM

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4.7 Operating Using Torque Control

NOTE: this function is available for PRONET-□□□MG servo drives only.

4.7.1 Setting Parameters

The following parameters must be set for torque control operation with analog voltage reference.
Parameter Meaning
Pn005 H.□□2□ Control mode selection: Torque control(analog voltage reference)

Torque Reference Input Gain

Speed Position Torque
Pn400 Setting Range Setting Unit Factory Setting Setting Validation
10～100 0.1V/100% 33 Immediately
This sets the analog voltage level for the torque reference(T-REF) that is necessary to operate the servomotor at the
rated torque.
■Example
Pn400=30: The servomotor operates at the rated torque with 3V input (factory setting).
Pn400=100: The servomotor operates at the rated torque with 10V input.
Pn400=20: The servomotor operates at the rated torque with 2V input.
Reference torque

Rated torque

Reference voltage(V)

This reference voltage is set.

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4.7.2 Torque Reference Input

By applying a torque reference determined by the analog voltage reference to the servo drive, the servomotor torque can

be controlled in proportion with the input voltage.

Type Signal Name Connector Pin Number Meaning
T-REF+ CN1-26
Input Torque Reference Input
T-REF- CN1-27

Used during torque control (analog voltage reference) 300

(Pn005.1=2, 6, 8, 9) Reference torque（%）

200
The torque reference input gain is set in Pn400. For setting
details, refer to 4.7.1 Setting Parameters. 100

■Input specifications -12 -8 -4

0 3 4 8 12
· Input range:DC±0～±10V/rated torque Factory setting Input voltage(V)
-100
· Factory setting
Pn400=30: Rated torque at 3V -200 Set the slope with Pn400.

+3V input: Rated torque in forward direction

-300
+9V input: 300% rated torque in forward direction
-0.3V input: 10% rated torque in reverse direction
The voltage input range can be changed with parameter Pn400.
Servodrive
470O
■Input circuit example 1/2W min. CN1

Use twisted-pair wires as a countermeasure against noise. T-REF+

26
2KO
+12V T-REF- 27

GND

Checking the internal torque reference

1.Checking the internal torque reference with the panel operator.

Use the Monitor Mode(Un003). Refer to 5.1.6 Operation in Monitor Mode.

2.Checking the internal torque reference with an analog monitor.

The internal torque reference can also be checked with an analog monitor.

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4.7.3 Adjusting the Reference Offset

(1)Automatic Adjustment of the Torque Reference Offset

When using torque control, the servomotor may rotate slowly even when 0V is specified as the analog reference voltage.
This occurs when the host controller or external circuit has a slight offset (measured in mv) in the reference voltage. In this
case, the reference offset can be adjusted automatically and manually using the panel operator.
The automatic adjustment of analog(speed,torque) reference offset(Fn003) automatically measures the offset and adjusts
the reference voltage.
The servo drive performs the following automatic adjustment when the host controller or external circuit has an offset in
the reference voltage.

Reference voltage Reference voltage

Offset automatically adjusted in

Offset the servodrive.
Torque reference Torque reference

Automatic offset
adjustment

After completion of the automatic adjustment, the amount of offset is stored in the servo drive. The amount of offset can
be checked in the manual adjustment of torque reference offset(Fn004).
The automatic adjustment of analog reference offset(Fn003) cannot be used when a position loop has been formed with
the host controller and the error pulse is changed to zero at the servomotor stop due to servolock.
Use the torque reference offset manual adjustment(Fn004).

Note:
The analog reference offset must be automatically adjusted with the servo OFF.

(2)Manual Adjustment of the Torque Reference Offset

Manual adjustment of the torque reference offset(Fn004) is used in the following cases.
·If a position loop is formed with the host controller and the error is zeroed when servolock is stopped.
·To deliberately set the offset to some value.
·Use this mode to check the offset data that was set in the automatic adjustment mode of the torque reference offset.
This mode operates in the same way as the automatic adjustment mode(Fn003), except that the amount of offset is
directly input during the adjustment.
The offset adjustment range and setting unit are as follows.
Torque reference

Offset adjustment range

Offset adjustment range:

-1024~+1024
Offset setting unit Analog voltage input

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4.7.4 Limiting Servomotor Speed During Torque Control

During torque control, the servomotor is controlled to output the specified torque, which means that the servomotor speed

is not controlled. Accordingly, when an excessive reference torque is set for the mechanical load torque, it will prevail over

the mechanical load torque and the servomotor speed will greatly increase.

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

Danger of damage due to Safe operation with speed limit.

Servomotor speed
Servomotor speed excessive of machine speed.
Max.speed
Speed limit

t t

(1)Speed Limit Enable

Parameter Description
b.□□0□ Use the value set in Pn406 as the speed limit (Internal speed limit )
Pn001 Use the lower speed between V-REF and Pn406 as an external speed limit
b.□□1□
input.(External speed limit)

(2)Speed Limit During Torque Control

Speed Limit During Torque Control
Torque
Pn406
Setting Range Setting Unit Factory Setting Setting Validation
0～6000 rpm 1500 Immediately
·Set the servomotor speed limit value during torque control.
·Pn005=H.□□1□, Pn406 is motor speed limit value.
·The servomotor’s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the
servomotor used.

(3)External Speed Limit Function

Type Signal Name Connector Pin Number Name
V-REF+ CN1-1
Input External Speed Limit Input
V-REF- CN1-2
·Inputs an analog voltage reference as the servomotor speed limit value during torque control.
·The smaller value is enabled, the speed limit input from V-REF or the Pn406 (speed limit during torque control) when
Pn005=H.□□1□.
·The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.

Speed Reference Input Gain

Speed Position Torque
Pn300 Setting Range Setting Unit Factory Setting Setting Validation
0~3000 rpm/v 150 Immediately
·Set the voltage level for the speed that is to be externally limited during torque control.

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4.8 Operating Using Speed Control with an Internally Set Speed

NOTE: this function is available for PRONET-□□□MG servo drives only.

The function of internally set speed selection allows speed control operation by externally selecting an input signal from

among seven servomotor speed setting made in advance with parameters in the servo drive. The speed control

operations within the three settings are valid. There is no need for an external speed or pulse generator.

Servodrive

CN1 Internally set speed parameters

15 SPEED1 Pn316 Servomotor

/P-CON
SPEED2 Pn317
Speed reference
SPEED3 Pn318
Contact inputs 41 M
/P-CL SPEED4 Pn319

SPEED5 Pn320

42 SPEED6 Pn321
/N-CL
SPEED7 Pn322

4.8.1 Setting Parameters

Parameter Meaning
Pn005 H.□□3□ Control mode selection:
Speed control(contact reference) Speed control(zero reference)

Internal set speed 1 speed

Pn316
Setting Range Setting Unit Factory Setting Setting Validation

-6000～6000 rpm 100 Immediately

Internal set speed 2 speed

Pn317
Setting Range Setting Unit Factory Setting Setting Validation

-6000～6000 rpm 200 Immediately

Internal set speed 3 speed

Pn318
Setting Range Setting Unit Factory Setting Setting Validation

-6000～6000 rpm 300 Immediately

Internal set speed 4 speed

Pn319
Setting Range Setting Unit Factory Setting Setting Validation

-6000～6000 rpm -100 Immediately

Internal set speed 5 speed

Pn320
Setting Range Setting Unit Factory Setting Setting Validation

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-6000～6000 rpm -200 Immediately

Internal set speed 6 speed

Pn321
Setting Range Setting Unit Factory Setting Setting Validation

-6000～6000 rpm -300 Immediately

Internal set speed 7 speed

Pn322
Setting Range Setting Unit Factory Setting Setting Validation

-6000～6000 rpm 500 Immediately

NOTE: the servomotor’s maximum speed will be used whenever a speed setting for the Pn316～Pn322 exceeds the
maximum speed.

4.8.2 Input Signal Settings

The following input signals are used to switch the operating speed.
Type Signal Name Connector Pin Number Meaning
Input /P-CON CN1-15 Selects the internally set speed.
Input /P-CL CN1-41 Selects the internally set speed.
Input /N-CL CN1-42 Selects the internally set speed.

4.8.3 Operating Using an Internally Set Speed

Use ON/OFF combinations of the following input signals to operate with the internally set speeds.
When Pn005.1=3: Selects the internally set speed (contact reference) Speed control (zero reference)

Input Signal
Speed
/P-CON /P-CL /N-CL

OFF(H) OFF(H) Speed control (zero reference)

OFF(H) ON(L) SPEED1

OFF(H)
ON(L) OFF(H) SPEED2

ON(L) ON(L) SPEED3

OFF(H) OFF(H) SPEED4

OFF(H) ON(L) SPEED5

ON(L)
ON(L) OFF(H) SPEED6

ON(L) ON(L) SPEED7

Note: OFF= High level; ON= Low level

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■Control Mode Switching

When Pn005.1 = 4, 5, 6, and either /P-CL or /N-CL is OFF (high level), the control mode will switch.
Example:
When Pn005.1=5: Speed control(contact reference) Position control (pulse train)

Input Signal
Speed
/P-CON /P-CL /N-CL

OFF(H) OFF(H) Pulse train reference input (position control)

OFF(H) ON(L) SPEED1

OFF(H)
ON(L) OFF(H) SPEED2

ON(L) ON(L) SPEED3

OFF(H) OFF(H) SPEED4

OFF(H) ON(L) SPEED5

ON(L)
ON(L) OFF(H) SPEED6

ON(L) ON(L) SPEED7

4.9 Limiting Torque

The servo drive provides the following three methods for limiting output torque to protect the machine.
NO. Limiting Method Reference Section
1 Internal torque limit 4.9.1
2 External torque limit 4.9.2
3 Torque limiting by analog voltage reference 4.9.3

4.9.1 Internal Torque Limit

Maximum torque is always limited to the values set in the following parameters.
Forward Torque Limit
Speed Position Torque
Pn401 Setting Range Setting Unit Factory Seeting Setting Validation
0～300 % 300 Immediately
Reverse Torque Limit
Speed Position Torque
Pn402 Setting Range Setting Unit Factory Seeting Setting Validation
0～300 % 300 Immediately

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·The setting unit is a percentage of rated torque.

·The maximum torque of the servomotor is used, even though the torque limit is set higher than the maximum torque of
the servomotor. (as is the case with the 300% factory setting)

With No Internal Torque Limit

With Internal Torque Limit
（Maximum torque can be output）

Pn402

t
t
Pn401
Speed Speed
Limiting torque
Maximum torque

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

4.9.2 External Torque Limit

This function allows the torque to be limited at specific times during machine operation, for example, during press stops

and hold operations for robot workpieces.

An input signal is used to enable the torque limits previously set in parameters.

(1)Related Parameters
Forward External Torque Limit
Speed Position Torque
Pn403 Setting Range Setting Unit Factory Setting Setting Validation
0～300 1% 100 Immediately
Reverse External Torque Limit
Speed Position Torque
Pn404 Setting Range Setting Unit Factory Setting Setting Validation
0～300 1% 100 Immediately
Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
(2)Input Signals
Signal
Type Connector Pin Number Setting Meaning Limit Value
Name
ProNet-□□□MG: CN1_41 ON(low level) Forward external torque limit Pn403
Input /P-CL
ProNet-□□□EG-EC: manually set OFF(high level) Forward internal torque limit Pn401
ProNet-□□□MG: CN1-42 ON(low level) Reverse external torque limit Pn404
Input /N-CL
ProNet-□□□EG-EC: manually set OFF(high level) Reverse internal torque limit Pn402
When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.

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(3)Changes in Output Torque during External Torque Limiting

Example: External torque limit (Pn401, Pn402) set to 300%

/P-CL(Forward External Torque Limit Input)
High level Low level
Pn402
Pn402
Torque Torque

High 0 0

level
Speed Pn403
Pn401 Speed
/N-CL
(Reverse
External
Torque Pn404 Pn404
Torque Torque
Limit Input)
Low
0 0
level

Pn403
Speed Speed
Pn401

Note: Select the servomotor rotation direction by setting Pn001=b.□□□0 (standard setting, CCW=Forward direction).

4.9.3 Torque Limiting Using an Analog Voltage Reference

NOTE: this function is available for PRONET-□□□MG servo drives only.

Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T-REF

terminals (CN1-26,27). This function can be used only during speed or position control, not during torque control.

Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed control.
Servodrive
Pn401
(forward rotation torque limit)
T-REF
Torque limit value Torque reference
input gain（Pn400)

V-REF Speed reference input + Speed loop gain +

Speed reference
gain（Pn300) (Pn102) + Torque reference
—

Speed loop
integral time
constant
(Pn103)

Pn402
Speed feedback
(reverse rotation torque limit)

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

Related Parameters
Parameter Meaning
Pn001 b.□1□□ Use the T-REF terminal to be used as an external torque limit input.

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4.10 Control Mode Selection

NOTE: this function is available for PRONET-□□□MG servo drives only.

The methods and conditions for switching the servo drive control modes are described below.

4.10.1 Setting Parameters

The following control mode combinations can be selected according to the individual application of the user.
Parameter Control Method
H.□□4□ Speed control (contact reference) Speed control (analog voltage reference)
H.□□5□ Speed control (contact reference) Position control (pulse train reference)
H.□□6□ Speed control (contact reference) Torque control (analog voltage reference)
H.□□7□ Position control (pulse train reference) Speed control (analog voltage reference)
H.□□8□ Position control (pulse train reference) Torque control (analog voltage reference)
Pn005 H.□□9□ Torque control (analog voltage reference) Speed control (analog voltage reference)
H.□□A□ Speed control (analog voltage reference) Zero clamp
H.□□B□ Position control (pulse train reference) Position control (inhibit)
H.□□C□ Position control (contact reference)
H.□□D□ Speed control (Parameter reference)
H.□□E□ Special control

4.10.2 Switching the Control Mode

Switching Speed Control (Pn005.1=4, 5, 6)

With the sequence input signals in the factory setting, the control mode will switch when both /P-CL and /N- CL signals

are OFF (high level).

Type Signal Name Connector Pin Number Setting Meaning

Input /P-CL CN1-41 (factory setting) OFF (high level)

Switches control mode.
Input /N-CL CN1-42 (factory setting) OFF (high level)

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4.11 Other Output Signals

4.11.1 Servo alarm output

The following diagram shows the right way to connect the Alarm Output.
Servo drive
1CN
I/O Power supply
+24V 0V
Optocoupler output 7 ALM+
(Each output node)
50mA max
Max.output voltage: 30V ALM-
Max.output current: 50mA 8

An external +24V I/O power supply is required since there is no +24V power source available inside the servo drive.
Output → ALM+ 1CN- 7 Servo alarm output
Output → ALM- 1CN- 8 Servo alarm output uses grounding signal

ALM outputs a signal when the servo drive is detected in an abnormal state.

Servo drive

Be detected
abnormal ALM Output

Cut off the main circuit

power

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

Signal Status Output level Comments

ProNet-□□□MG: CN1_07, CN1_08: “L” level
ON Normal state
ProNet-□□□EG-EC: CN1_12, CN1_14: “L” level
ALM
ProNet-□□□MG: CN1_07, CN1_08: “H” level
OFF Alarm state
ProNet-□□□EG-EC: CN1_12, CN1_14: “H” level

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

→ Input /ALM-RST 1CN- 39 alarm reset input

Signal Status Input level Comments

ProNet-□□□MG: CN1_39: “L” level
ON Reset servo alarm
ProNet-□□□EG-EC: CN1_19: “L” level
/ALM-RST
ProNet-□□□MG: CN1_39: “H” level
OFF Do not reset servo alarm
ProNet-□□□EG-EC: CN1_19: “H” level

Normally, the external circuit can switch off the power supply of the servo drive when an alarm occurs. When
powered on again, the servo drive removes the alarm automatically, so the alarm reset is not required to be connected. In
addition, the alarm reset is enabled with the panel operator.
Note: When an alarm occurs, remove the alarm reason before resetting the alarms.

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4.11.2 Rotation Detection Output Signal (/TGON)

Type Signal Name Connector Pin Number Setting Meaning

Servomotor is operating
ON(low level) (Servomotor speed is above the
ProNet-□□□MG: CN1_05, 06
setting in Pn503).
Output /TGON ProNet-□□□EG-EC: CN1_11, 14
Servomotor is not operating
(Factory setting)
OFF(high level) (Servomotor speed is below the
setting in Pn503).
This signal output indicates that the servomotor is curently operating above the setting set in parameter Pn503.

·Related parameter
Rotation Detection Speed TGON
Speed Position Torque
Pn503
Setting range Setting unit Factory setting Setting validation
0～3000 rpm 20 Immediately
·This parameter sets the range in which the rotation detection output signal (/TGON) is output
·When the servomotor rotation speed is above the value set in the Pn503,the servomotor rotation speed signal
(/TGON) is output.
·The rotation detection signal can also be checked on the panel operator.

4.11.3 Servo Ready (/S-RDY) Output

Type Signal Name Connector Pin Number Setting Meaning

ProNet-□□□MG: CN1_09, 10 ON (low level) Servo is ready.
Output /S-RDY ProNet-□□□EG-EC: CN1_13, 14
OFF (high level) Servo is not ready.
(factory setting)

·This signal indicates that the servo drive received the servo ON signal and completed all preparations.

·It is an output when there are no servo alarms and the main circuit power supply is turned ON.

4.11.4 Encoder C Pluse Output (/PGC)

Type Signal Name Connector Pin Number Setting Meaning

Not including this setting in ON (low level) With encoder C pluse output
the default setting,
Output /PGC please choose terminal Without encoder C pluse
OFF (high level)
output by setting output
parameter Pn511.

This signal indicates when the servo drive circumrotates to the C pulse position; there is a correlation between the width

of the C pulse and the speed of the servo drive.

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4.11.5 Over travel signal output (OT)

Type Signal Name Connector Pin Number Setting Meaning

Not including this Without forward rotation

ON (low level) Prohibited (POT) and reverse rotation
setting in the default
prohibited (NOT) signal
setting,please choose
Output OT
terminal output by With forward rotation
OFF (high level) Prohibited (POT) and reverse rotation
setting parameter
prohibited (NOT) signal
Pn511

When machine is on over travel state,OT signal is OFF;Host controller can use this signal to stop sending

reference.

Related parameter
POT/NOT
Speed Position Torque
Pn000
Setting Range Unit Factory Setting Setting Validation
0～1111 － 0 After restart
Pn000.1＝1,external POT disabled;Pn000.2＝1, external NOT disabled;
Pn000.1＝1 and Pn000.2＝1,OT signal is ON.

4.11.6 Servo Enabled Motor Excitation Output(/RD)

Type Signal Name Connector Pin Number Setting Meaning

Not including this setting in
ON＝L Servo enabled motor excitation
the default setting,please
Output /RD
choose terminal output by
OFF＝H Servo disabled motor not excitation
setting parameter Pn511

/RD is on when servo enabled motor excitation.

4.11.7 Torque Limit Detection Output (/CLT)

The application of output signal /CLT is as follows:

Servo Drive
24V Power
supply
Photocoupler output +24V
1CN- /CLT+
Max.applicable Voltage：
DC30V
Max.applicable current： 1CN- /CLT-
DC50mA

－>Output /CLT Torque limit output Speed, torque control, position control

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

Type Signal Name Connector Pin Number Setting Meaning
Motor output torque under limit (Internal
Not including this setting in
ON＝L torque reference is higher than setting
the default setting,please
Output /CLT value).
choose terminal output by
No torque limit (Internal torque reference
setting parameter Pn511 OFF＝H
is lower than setting value).

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

Connector Pin Number

Para. No. Meaning
+Terminal -Terminal
In the case of ProNet-□□□MG servo drives, the /CLT signal is
output from CN1-11, 12.
Pn511 H.□□□3 CN1-11 CN1-12
In the case of ProNet-□□□EG-EC servo drives, there is no

output.
In the case of ProNet-□□□MG servo drives, the /CLT signal is
output from CN1-05, 06.
Pn511 H. □□3□ CN1-05 CN1-06
In the case of ProNet-□□□EG-EC servo drives, the /CLT signal

is output from CN1-11, 14.

In the case of ProNet-□□□MG servo drives, the /CLT signal is
output from CN1-09, 10.
Pn511 H. □3□□ CN1-09 CN1-10
In the case of ProNet-□□□EG-EC servo drives, the /CLT signal

is output from CN1-13, 14.

Pn511.0=3
CN1-11,CN1-12
/CLT
Torque limit Pn511.1=3
output CN1-05,CN1-06

Pn511.2=3
CN1-09,CN1-10
Output terminal

Parameter Pn511 description as following:

0 /COIN (/V-CMP) output

1 /TGON rotation detecting output

2 /S-RDY servo drive get ready output

3 /CLT torque limit output

4 /BK brake interlock output

5 /PGC encoder C pulse output

6 OT overtravel signal output

7 /RD servo enabled motor excitation output

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8 /HOME home completion output

9 /TCR Torque Detection Output

4.11.8 Torque Detection Output (/TCR)

Type Signal Name Connector Pin Number Setting Meaning

Not including this setting in Motor output torque is higher than Pn529
ON＝L
the default setting,please setting value.
Output /TCR
choose terminal output by Motor output torque is lower than Pn529
OFF＝H
setting parameter Pn511 setting value.
Torque detection output time is set by Pn530.

Parameter Pn511 description as following:

0 /COIN (/V-CMP) output

1 /TGON rotation detecting output

2 /S-RDY servo drive get ready output

3 /CLT torque limit output

4 /BK brake interlock output

5 /PGC encoder C pulse output

6 OT overtravel signal output

7 /RD servo enabled motor excitation output

8 /HOME home completion output

9 /TCR torque detection output

4.12 Online Autotuning

4.12.1 Online Autotuning

Online autotuning calculates the load moment of inertia during operation of the servo drive and sets parameters so that
the servo gains are consistent with the load rigidity.
Online autotuning may not be effective in the following cases:
• The motor high speed is lower than 100 rpm.
• The motor acceleration or deceleration is lower than 5000rpm/s.
• Load rigidity is low and mechanical vibration occurs easily or friction is high.
•The speed load moment is changed greatly.
• Mechanical gas is very large.

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If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotuning,
set the value in Pn106 (Load inertia ratio) and perform the adjustment manually.

4.12.2 Online Autotuning Procedure

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

Start

Operate with factor setting.

（Set Pn100=1）

Operation OK？ Yes

No

No Load moment of inertia

varies?

Yes

Continuous online autotuning

（Pn100=2、3、5、6）

Operation OK? Yes

No

Adjust the machine rigidity setting

（Set at Pn101）

Operation OK？ Yes

No

Do not perform online autotuning.

（Set Pn100=0）

End

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4.12.3 Setting Online Autotuning

Related parameters:
Parameter Setting Setting
Name Unit FactorySetting
No. Range Invalidation
Online auto-tuning setting
selection
[0] Load inertia setting ProNet-□□□MG: 0x0010
Pn100 — 0~0x0036 After restart
[1] Online auto-tuning setting ProNet-□□□EG-EC: 0x0000

[2] Reserved
[3] Reserved

Pn101 Machine rigidity setting — 0~36 6 Immediately

4.12.4 Load Rigidity Setting for Online Autotuning

There are 37 load rigidity settings for online auto-tuning, When the load rigidity setting is selected, the servo gains (speed
loop gain, speed loop integral time constant, position loop gain) are determined automatically. The factory setting of the
load rigidity is set to 5.
Machine Position Speed Speed Position Speed Speed Position Speed Speed
Rigidity Loop Loop Loop Loop Loop Loop Loop Loop Loop
Setting Gain Gain Integral Gain Gain Integral Gain Gain Integral
【s 】-1
【rad/s】 Time 【s 】
-1
【rad/s】 Time 【s 】 -1
【rad/s】 Time
Constant Constant Constant
【0.1ms】 【0.1ms】 【0.1ms】
Pn100.1=1 Standard Pn100.1=2 Steadily Pn100.1=3 High precision
Pn104 Pn102 Pn103 Pn104 Pn102 Pn103 Pn104 Pn102 Pn103
0 16 63 637 10 63 796 27 63 318
1 24 94 424 16 94 531 41 94 212
2 31 126 318 21 126 398 55 126 159
3 39 157 255 26 157 318 69 157 127
4 47 188 212 31 188 265 82 188 106
5 55 220 182 37 220 227 96 220 91
6 63 251 159 42 251 199 110 251 80
7 71 283 141 47 283 177 124 283 71
8 79 314 127 52 314 159 137 314 64
9 86 345 116 58 345 145 151 345 58
10 94 377 106 63 377 133 165 377 53
11 102 408 98 68 408 122 179 408 49
12 110 440 91 73 440 114 192 440 45
13 118 471 85 79 471 106 206 471 42
14 126 502 80 84 502 99 220 502 40
15 134 534 75 89 534 94 234 534 37

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16 141 565 71 94 565 88 247 565 35

17 149 597 67 99 597 84 261 597 34
18 157 628 64 105 628 80 275 628 32
19 165 659 61 110 659 76 289 659 30
20 173 691 58 115 691 72 302 691 29
21 181 722 55 120 722 69 316 722 28
22 188 754 53 126 754 66 330 754 27
23 196 785 51 131 785 64 344 785 25
24 204 816 49 136 816 61 357 816 24
25 212 848 47 141 848 59 371 848 24
26 220 879 45 147 879 57 385 879 23
27 228 911 44 152 911 55 399 911 22
28 236 942 42 157 942 53 412 942 21
29 243 973 41 162 973 51 426 973 21
30 251 1005 40 168 1005 50 440 1005 20
31 259 1036 39 173 1036 48 454 1036 19
32 267 1068 37 178 1068 47 467 1068 19
33 275 1099 36 183 1099 45 481 1099 18
34 283 1130 35 188 1130 44 495 1130 18
35 291 1162 34 194 1162 43 509 1162 17
36 298 1193 34 199 1193 42 522 1193 17

4.13 Inertia

Overvoltage (A.13) may happen if the servomotor exceeds 30 times the load inertia in acceleration。

Regeneration error (A.16) may happen if using the wrong internal regenerative resistor or external regenerative resistor.
If any of the above alarms happens, take the following actions:
 Decrease torque limit value
 Decrease deceleration curvature
 Decrease high speed
If the alarm is not released with the above actions, re-select external regenerative resistor or contact your ESTUN
representative or the dealer from whom you purchased the products.

4.14 Updating Operation

You can fulfill the updating operation by using ESView V3 application, for details see the ESViewV3 Help.

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Chapter 5

Panel Operator

5.1 Basic Operation

5.1.1 Functions on Panel Operator

The panel operator is a built-in operator that consists of display section and keys located on the front panel of the servo
drive.
Parameter setting, status display ,and execution of utility function are enabled using the panel operator.
The names and functions of the keys on the panel operator are shown as follows:

MODE INC DEC ENTER

Panel Corresponding
Function
Symbol Key Name
·To display the parameter settings and setting values.
▲ INC key
·To increase the setting value.
▼ DEC key
·To decrease the setting value.

·To select a basic mode, such as the display mode, parameter setting
M MODE key mode, monitor mode, or utility function mode.

·To save the setting during parameter setting and exit.

◄ ENTER key To display the parameter settings and setting values, and release ararm.
Note: In this manual, the Panel Symbol is represented by Corresponding Key Name for easy understanding.

5.1.2 Resetting Servo Alarms

Servo alarms can be reset by pressing the ENTER key when the panel operator in display mode. Servo alarms can also

be reset using the CN1-39(/ALM-RST) input signal.

There is no need to clear the servo alarms if it turns the main circuit power supply OFF.

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

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5.1.3 Basic Mode Selection

The basic modes include status display mode, parameter setting mode, monitor mode, and utility function mode. Each
time the MODE key is pressed, the next mode in the sequence is selected.
Select a basic mode to display the operation status, set parameters and operation references.
The basic mode is selected in the following order.

Power ON

Status display mode

Parameter setting mode

Monitor mode

Utility function mode

5.1.4 Status Display Mode

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

Bit Data Code

①

③
④ ⑦
⑤ ⑥

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 Bit Data Display

Speed/Torque Control Mode Position Control Mode
No.
Bit Data Description Bit Data Description
Lit when the difference between the
Lit if error between position reference
servomotor and reference speed is the
and actual servomotor position is below
Speed same as or less than the preset value. Positioning
1
○ preset value.
Coincidence Present value:Pn501 (factory setting is Completion
Present value:Pn500(10 pulse is factory
10rpm )
setting)
Always lit in torque control mode.

2
○ Base lock Lit for base block. Not lit at servo ON. Base block Lit for base block. Not lit at servo ON.

Control Control Lit when servo drive control power is

3
○ Lit when servo drive control power is ON.
power ON power ON ON.
Lit if input speed reference exceeds preset
Speed value. Not lit if input speed reference is Lit if reference pulse is input.
Reference
4
○ reference below preset value. Not lit if no reference pulse is input.
pulse input
input Preset value: Pn503(factory setting is 20
rpm)
Lit if input torque reference exceeds preset
Torque value. Error Lit when error counter clear signal is
5
○ reference Not lit if input torque reference is below counter clear input. Not lit when error counter clear
input preset value. signal input signal is not input.
Preset value: 10％ of rated torque
Lit when main circuit power supply is ON Lit when main circuit power supply is
and normal. ON and normal.
6
○ Power ready Power ready
Not lit when main circuit power supply is Not lit when main circuit power supply is
OFF. OFF.
Lit if servomotor speed exceeds preset Lit if servomotor speed exceeds preset
Rotation value.Not lit if servomotor speed is below Rotation value. Not lit if servomotor speed is
7
○ detection preset value. detection below preset value.
/TGON Preset value: Pn503 (factory setting is 20 /TGON Preset value: Pn503(factory setting is
rpm) 20 rpm)

 Codes Display
Code Meaning
Baseblock
Servo OFF (servomotor power OFF)
Run
Servo ON (servomotor power ON)
Forward Run Prohibited
CN1-16 (P-OT) is OFF.
Reverse Run Prohibited
CN1-17 (N-OT) is OFF.
Alarm Status
Displays the alarm number.
Press ENTER key to clear the present servo alarm.

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5.1.5 Operation in Parameter Setting Mode

The servo drive offers a large number of functions, which can be selected or adjusted by the parameter settings. Refer to
A.1 Parameter List for details.
■Parameter Setting Procedures
The parameter settings can be used for changing parameter data. Before changing the data, check the permitted range of
the parameter.
The example below shows how to change parameter Pn102 from “100” to “85”.
1． Press MODE key to select the parameter setting mode.

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

3． Press ENTER key to display the current data of Pn102.

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

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

5.1.6 Operation in Monitor Mode

The monitor mode allows the reference values input into the servo drive, I/O signal status, and servo drive internal status
to be monitored.
■Using the Monitor Mode
The example below shows how to display the value (1500) stored in Un001.
1.Press MODE key to select the monitor mode.

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

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

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

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■List of Monitor Modes

Contents of Monitor Mode Display

Monitor Number Monitor Display

Un000 Actual servomotor speed Unit: rpm
Un001 Input speed reference Unit:rpm
Input torque reference Unit:%
Un002
(with respect to rated torque)
Internal torque reference Unit:%
Un003
(with respect to rated torque)
Un004 Number of encoder rotation angle pulses Internal status bit display

Un005 Input signal monitor 7 6 5 4 3 2 1 0

Un006 Encoder signal monitor
Un007 Output signal monitor
Un008 Frequency given by pulse Unit:1kHZ
Un009 Number of servomotor rotation pulses
Un010 Pulse rate of servomotor rotated (x104)
Un011 Error pulse counter lower 16 digit
Un012 Error pulse counter higher 16 digit
Un013 Number of pulses given
Un014 Number of pulses given (×10000)
Un015 Load inertia percentage
Un016 Servomotor overload ratio
Only used in ProNet-7.5kW～22kW when
Un017 Servomotor winding temperature
equipped with resolver.
Encoder EEPROM saves motor and encoder
Un018
types and correlation information
Un019 Reserve
Un020 Reserve
Un021 Nikon Encode internal Temperature (unit: ℃)

Contents of Bit Display are as shown in the following table.

Content
Monitor Number Display LED Number
ProNet-□□□MG ProNet-□□□EG-EC
0 /S-ON (CN1-14) /S-ON (CN1-15)
1 /PCON (CN1-15) /PCON (CN1-16)
2 P-OT (CN1-16) P-OT (CN1-17)
3 N-OT (CN1-17) N-OT (CN1-18)
Un005
4 /ALM-RST (CN1-39) /ALM-RST (CN1-19)
5 /CLR (CN1-40) (Not used)
6 /PCL (CN1-41 (Not used)
7 /NCL (CN1-42) (Not used)

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Monitor Number Display LED Number Content

0 (Not used)
1 (Not used)
2 (Not used)
3 Phase-C
Un006
4 Phase-B
5 Phase-A
6 (Not used)
7 (Not used)

Content
Monitor Number Display LED Number
ProNet-□□□MG ProNet-□□□EG-EC
0 CN1_05, CN1_06 CN1_11, CN1_14
1 CN1_07, CN1_08 CN1_12, CN1_14
Un007
2 CN1_09, CN1_10 CN1_13, CN1_14
3 CN1_11, CN1_12 Reserved

5.2 Operation in Utility Function Mode

In utility function mode, the panel operator can be used to run and adjust the servo drive and servomotor.
The following table shows the parameters in the utility function mode.
Parameter No. Function
Fn000 Alarm traceback data display
Fn001 Parameter setting initialization
Fn002 JOG mode operation
Fn003 Automatic adjustment of speed reference offset
Fn004 Manual adjustment of speed reference offset
Fn005 Automatic adjustment of servomotor current detection
Fn006 Manual adjustment of servomotor current detection
Fn007 Software version display
Fn008 Position teaching
Fn009 Static inertia detection
Fn010 Absolute encoder multiturn data and alarm reset
Fn011 Absolute encoder related alarms reset

Note: Fn010, Fn011 only can be used when the servomotor mounted the absolute encoder.

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5.2.1 Alarm Traceback Data Display

The alarm traceback display can display up to 10 previously occurred alarms.The alarm is displayed on Fn000, which is
stored in the alarm traceback data.
Follow the procedures below to confirm alarms which have been generated.
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the function number of alarm trace back data display.

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

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

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

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

5.2.2 Parameter Settings Initialization

Follow the procedures below to execute the parameter settings initialization.

1. Press the MODE key to select the utility function mode.

2. Press the INC or DEC key to select the function number of parameter settings initialization.

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

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

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

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

5.2.3 Operation in JOG Mode

Follow the procedures below to operate the servomotor in JOG mode.

1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the function number of JOG mode operation.

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

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

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

Forward rotation Reverse rotation

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

5.2.4 Automatic Adjustment of the Speed Reference Offset

When using the speed/torque (analog reference) control, the servomotor may rotate slowly even if 0V is specified as the

analog voltage reference.

This happens if the host controller or external circuit has a slight offset (in the unit of mV) in the reference voltage.

The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage. It

can adjust both speed and torque reference offset.

The servo drive automatically adjusts the offset when the host controller or external circuit has the offset in the reference

voltage.

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Reference Voltage Reference Voltage

Offset automatically
adjusted in servodrive.
Offset
Speed Reference
Speed Reference

Automatic offset adjustment

After completion of the automatic adjustment, the amount of offset is stored in the servo drive. The amount of offset can be

checked in the speed reference offset manual adjustment mode (Fn004). Refer to 4.5.3 (2) Manual Adjustment of the

Speed Reference Offset.

The automatic adjustment of reference offset (Fn003) cannot be used when a position loop has been formed with a host
controller and the error pulse is changed to zero at the servomotor stop due to servolock. Use the speed reference offset
manual adjustment for a position loop.
The zero-clamp speed control function can be used to force the servomotor to stop while the zero speed reference is
given.
Note: The speed reference offset must be automatically adjusted with the servo OFF.

Adjust the speed reference offset automatically in the following procedure.

1. Turn OFF the servo drive, and input the 0V reference voltage from the host controller or external circuit.

Servodrive Servomotor

0V Speed
Host Reference
Controller

Servo OFF Slow rotation

（Servo ON）

2. Press the MODE key to select the utility function mode.

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

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

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

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

7. Thus, the speed reference offset automatic adjustment is complete.

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5.2.5 Manual Adjustment of the Speed Reference Offset

Manual adjustment of the speed/torque reference offset is used in the following cases:
 If a position loop is formed with the host controller and the error is zeroed when servolock is stopped.
 To deliberately set the offset to some value.
Use this mode to check the offset data that was set in the automatic adjustment mode of the speed/torque reference

offset.

This mode operates in the same way as the automatic adjustment mode, except that the amount of offset is directly input

during the adjustment.

The offset adjustment range and setting unit are as follows.

Torque reference

Offset adjustment range

Offset adjustment range:

-1024~+1024
Offset setting unit Analog voltage input

Note:

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

Adjust the analog reference offset manually in the following procedure:

1. Press the MODE key to select the utility function mode.

2. Press the INC or DEC key to select the utility function number Fn004.

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

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

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

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

7. Hold the ENTER key to return to the display in step 4.
8. Press ENTER key to return to the utility function mode display Fn004..

Thus, the speed reference offset manual adjustment is complete.

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5.2.6 Offset-adjustment of Servomotor Current Detection Signal

Automatic servomotor current detection offset adjustment is performed at ESTUN before shipping. Basically, the user
does not need to perform this adjustment.
Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset.
This section describes the automatic and manual servomotor current detection offset adjustment.

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

■Automatic Offset-adjustment of Servomotor Current Detection Signal

Adjust the servomotor current detection signal automatically in the following procedure:

1. Press the MODE key to select the utility function mode.

2. Press the INC or DEC key to select the utility function number Fn005.

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

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

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

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

■Manual Offset-adjustment of Servomotor Current Detection Signal

Adjust the servomotor current detection signal manually in the following procedure.
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the utility function number Fn006.

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

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4. Press the MODE key to switch between the phase U(o _ CuA) and phase V(1_ Cub) servomotor current detection
offset adjustment.

5. Hold the ENTER key for one second to display the phase V offset amount.

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

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

Thus, the manual offset-adjustment of the servomotor current detection signal is completed.
Note:
The adjusting range of the servomotor current detection offset is -1024 to +1024.

5.2.7 Software Version Display

Select Fn007 in utility function mode to check the current software version of the drive.
1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the utility function number Fn007.

3. Press the ENTER key to display the DSP software version (the highest bit displays d or E or F or 0).

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

5. Press the MODE key to return to DSP software version display.

6. Press the ENTER key to return to the utility function mode display Fn007.

5.2.8 Position Teaching Function

Perform the position teaching function in the following procedure.

1. Press the MODE key to select the utility function mode.
2. Press the INC or DEC key to select the utility function number Fn008.

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

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

5. Release the ENTER key to complete position teaching function.

5.2.9 Static Inertia Detection

1. Press the MODE key to select the utility function mode.

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

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

4. Press the MODE key to rotate the servomotor, and the servomotor dynamic speed will be displayed.

5. The unit of the servomotor and load total inertia displayed when servomotor stops is kg.cm²
Thus, the static inertia detection is complete.

Note: Make sure that the servomotor completes at least 6 full revolutions in the CCW direction before detection.

5.2.10 Absolute Encoder Multiturn Data and Alarm Reset

1. Press the MODE key to select the utility function mode.

2. Press the INC or DEC key to select the utility function number Fn010.

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

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

5. Thus the absolute encoder multiturn data and alarm reset is complete.

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

5.2.11 Absolute Encoder Related Alarms Reset

1. Press the MODE key to select the utility function mode.

2. Press the INC or DEC key to select the utility function number Fn011.

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

4. Press the MODE key to clear the alarms.

5. Thus the absolute encoder related alarms reset is complete.

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Chapter 6

MODBUS Communication

6.1 RS-485 Communication Wiring

The MODBUS protocol communication can be applied to ProNet series servo drives, which allow you to modify the
parameters and perform the monitoring operation.
In the case of ProNet-□□□MG servo drives, the communication method is using the RS-485 interface (CN3 and CN4).
The definitions of the communication connector terminals are as follows.
CN3:
Terminal No. Name Function
1 —
Reserved
2 —
3 485+ RS-485 communication terminal
4 ISO_GND
Isolated ground
5 ISO_GND
6 485- RS-485 communication terminal
7 CANH CAN communication terminal
8 CANL CAN communication terminal
Note: Do not short terminal 1 and 2 of CN3.

CN4:
Terminal No. Name Function
1 — Reserved
2 — Reserved
3 485+ RS-485 communication terminal
4 ISO_GND
Isolated ground
5 ISO_GND
6 485- RS-485 communication terminal
7 CANH CAN communication terminal
8 CANL CAN communication terminal

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

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the next slave station; if need not, add balance resistor in CN4 terminal.).It is prohibited to connect CN3 of any two servo
drives directly when multiple ProNet series servo drives are connected.
Example:
When a RS-485 network is composed of a PLC and three servo drives (A, B, and C), the cable wiring is shown as follows:
PLC→CN3 of A, CN4 of A→CN3 of B, CN4 of B→CN3 of C, CN4 of C→120Ω terminating resistance.

In the case of ProNet-□□□EG-EC servo drives, the communication method is using the standard mini-USB port. By
using the CP2102 chip, it converts the RS232 communication to USB communication. Thus, it is necessary to install the
CP2102 drive in the host computer. In addition, the definitions of the communication connector terminals are as follows.
Terminal No. Name Function
1 5V Isolated Power
2 D- Communication terminal
3 D+ Communication terminal
4 DI Reserved
5 G Isolated ground

6.2 MODBUS Communication Related Parameters

Parameter Setting Control

Description Meaning
No. Validation Mode
Pn700.0 MODBUS baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
Pn700.1 Communication protocol selection
[0] 7, N, 2 (MODBUS,ASCII)
[1] 7, E, 1 (MODBUS,ASCII)
[2] 7, O, 1 (MODBUS,ASCII)
After [3] 8, N, 2 (MODBUS,ASCII)
Pn700 Hex ALL
restart [4] 8, E, 1 (MODBUS,ASCII)
[5] 8, O, 1 (MODBUS,ASCII)
[6] 8, N, 2 (MODBUS,RTU)
[7] 8, E, 1 (MODBUS,RTU)
[8] 8, O, 1 (MODBUS,RTU)
Pn700.2 Communication protoco selection
[0] SCI communication with no protocol
[1] MODBUS SCI communication Pn700.3
Reserved
MODBUS axis After Axis address of MODBUS protocol
Pn701 ALL
address restart communication

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6.3 MODBUS Communication Protocol

MODBUS communication protocol is only used when Pn700.2 is set to 1. There are two modes for MODBUS
communication: ASCII (American Standard Code for information interchange) mode and RTU (Remote Terminal Unit)
mode.
The next section describes the two communication modes.

6.3.1 Code Meaning

ASCII Mode:
Every 8-bit data is consisted by two ASCII characters. For example: One 1-byte data 64 H (Hexadecimal expression) is
expressed as ASCII code ‘64’, which contains ‘6’ as ASCII code 36H and ‘4’ as ASCII code 34H.

ASCII code for number 0 to 9, character A to F are as follows:

Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCII Code 30 H 31 H 32 H 33 H 34 H 35 H 36 H 37 H
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCII Code 38 H 39 H 41 H 42 H 43 H 44 H 45 H 46 H

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

Data Structure:
10-bit character form (7-bit data)
Pn700.1=0：7，N，2（Modbus，ASCII）

Start Stop Stop

0 1 2 3 4 5 6
bit bit bit

7-data bits
10- bits character frame

Pn700.1=1：7，E，1（Modbus，ASCII）

Start Even Stop

0 1 2 3 4 5 6 parity
bit bit

7-data bits
10- bits character frame

Pn700.1=2：7，O，1（Modbus，ASCII）

Start Odd Stop

0 1 2 3 4 5 6 parity
bit bit

7-data bits
10- bits character frame

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11-bit character form (8-bit data)

8，N，2（Modbus，ASCII / RTU）

Start Stop Stop

0 1 2 3 4 5 6 7
bit bit bit

8-data bits
11- bits character frame

8，E，1（Modbus，ASCII / RTU）

Start Even Stop

0 1 2 3 4 5 6 7 parity
bit bit

8-data bits
11- bits character frame

8，O，1（Modbus，ASCII / RTU）

Start Odd Stop

0 1 2 3 4 5 6 7 parity
bit bit

8-data bits
11- bits character frame

Communication protocol structure:

Data format of communication protocol:
ASCII Mode:
STX Start character‘: ’＝＞(3A H)
ADR Communication address＝＞1-byte contains two ASCII codes
CMD Reference code＝＞1-byte contains two ASCII codes
DATA(n-1) Data content＝＞n-word=2n-byte contain 4n ASCII codes, n≦12
……
DATA(0)
LRC Checking code＝＞1-byte contains two ASCII codes
End 1 End code 1＝＞ (0D H) (CR)
End 0 End code 0＝＞ (0A H) (LF)

RTU Mode:
STX Sleep interval of at least 4 bytes transmission time.
ADR Communication address＝＞1-byte
CMD Reference code＝＞1-byte
DATA(n-1) Data content＝＞n-word=2n-byte, n≦12
……
DATA(0)
CRC CRC checking code＝＞1-byte
End 1 Sleep interval of at least 4 bytes transmission time.

Communication protocol data format instructions are as follows:

STX (communication start)
ASCII mode: ‘: ’character

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RTU mode: Sleep interval of at least 4 bytes transmission time (automatically changed according to different
communication speed).
ADR (communication address)
Valid communication address: 1 to 254
For example: communicate with the servo drive which address is 32 (20 in hex) :
ASCII mode: ADR=‘2’, ‘0’=＞‘2’=32H, ‘0’=30H
RTU mode: ADR=20H
CMD (command reference) and DATA (data)
Data structure is determined by command code. Regular command code is shown as follows:
Command code: 03H, read N words(word), N ≦ 20.
For example: read 2 words starting from 0200 H from the servo drive which address is 01 H.
ASCII mode:
Reference information: Response information:
STX “: ” STX “: ”
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘3’ ‘3’
‘0’ Data number ‘0’
‘2’ (count as byte) ‘4’
Data start address
‘0’ ‘0’
‘0’ Content of data start ‘0’
‘0’ address 0200H ‘B’
Data number ‘0’ ‘1’
(count as word) ‘0’ ‘1’
‘2’ Content of second ‘F’
‘F’ data address 0201 H ‘4’
LRC checking
‘8’ ‘0’
End 1 (0D H)(CR) ‘E’
LRC checking
End 0 (0A H)(LF) ‘8’
End 1 (0D H )(CR)
End 0 (0A H )(LF)

RTU mode:
Reference information: Response information:
ADR 01 H ADR 01 H
CMD 03 H CMD 03 H
02 H (high-bit) Data number
Data start address 04 H
00 H (low-bit) (count as byte)
Data number 00 H Content of data start 00 H (high-bit)
(count as word) 02 H address 0200H B1 H (low-bit)
CRC checking C5 H (low-bit) Content of second 1F H (high-bit)
CRC checking B3 H (high-bit) data address 0201 H 40 H (low-bit)
CRC checking A3 H (low-bit)
CRC checking D3 H (high-bit)

Reference code: 06H, write in one word

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For example: write 100 (0064 H) into 01H servo address 0200 H .

ASCII mode:
Reference information: Response information:
STX “: ” STX “: ”
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘6’ ‘6’
‘0’ ‘0’
‘2’ ‘2’
Data start address Data start address
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
‘0’ Content of data start ‘0’
Data content
‘6’ address 0200H ‘6’
‘4’ ‘4’
‘9’ ‘9’
LRC checking LRC checking
‘3’ ‘3’
End 1 (0D H)(CR) End 1 (0D H )(CR)
End 0 (0A H)(LF) End 0 (0A H )(LF)

RTU mode:
Reference information: Response information:
ADR 01 H
ADR 01 H
CMD 06 H
CMD 06 H
02 H (high-bit)
02 H (high-bit) Data start address
Data start address 00 H (low-bit)
00 H (low-bit)
00 H (high-bit)
00 H (high-bit) Data content
Data content 64 H (low-bit)
64 H (low-bit)
CRC checking 89 H (low-bit)
CRC checking 89 H (low-bit)
CRC checking 99 H (high-bit)
CRC checking 99 H (high-bit)

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

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

STX ‘: ’
‘0’
ADR
‘1’
‘0’
CMD
‘3’
‘0’
‘2’
Data start address
‘0’
‘1’
‘0’
Data number ‘0’
(count as word) ‘0’
‘1’
‘F’
LRC checking
‘8’
End 1 (0D H)(CR)
End 0 (0A H)(LF)
Add from ADR data to the last data.

01 H +03 H +02 H +01 H +00 H +01 H =08 H

The compensate value is F8H when 2 is used to compensate 08H, so LRC is “F”,”8”.

CRC calculation of RTU mode:

RTU mode uses CRC (Cyclical Redundancy Check) error detection value.
The process of CRC error detection value calculation is shown as follows:

Step 1: Load in a 16-bit register of FFFFH, named “CRC” register.

Step 2: Run XOR calculation between the first bit (bit 0) of instruction information and 16-bit CRC register’s low bit (LSB),
and the result is saved to CRC register.
Step 3: Check the lowest bit (LSB) of CRC register, if it is 0, CRC register moves one bit to right; if it is 1, CRC register
moves one bit to right, then run XOR calculation with A001H;
Step 4: Go to step 5 till the third step has been executed for 8 times, otherwise return to step 3.
Step 5: Repeat the steps from 2 to 4 for the next bit of instruction information, the comment of CRC register is the CRC
error detection value while all the bits have been executed by the same way.
Note: After calculating out the CRC error detection value, the CRC low bit should be filled first in instruction information,
and then fill the high bit of CRC.
Please refer to the following example:
Read 2 words from the 0101H address of 01H servo. The final CRC register content calculated from ADR to the last bit of
data is 3794H, and then the instruction information is shown as follows,
Please be sure that 94H is transmitted before 37H.
ADR 01 H
CMD 03 H
01H (high-bit)
Data start address
01H (low-bit)
Data number 00 H (high-bit)
(count as word) 02H (low-bit)
CRC checking 94H (low-bit)
CRC checking 37H (high-bit)
End1, End0 (Communication is complete.)

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ASCII mode:
Communication is ended with (0DH) - [carriage return] and (0AH) - [new line].
RTU mode:
When the time exceeds the sleep interval by at least 4 bytes transmission time while in the current communication speed,
it means the communication is finished.
Example:
The following example uses C language to generate CRC value. The function needs two parameters.
unsigned char * data;
unsigned char length;
The function will return unsigned integer type CRC value.

unsigned int crc_chk(unsigned char * data,unsigned char length){

int i,j;
unsigned int crc_reg=oxFFFF;
While(length- -){
crc_ reg ^=*data++;
for(j=0;j<8;j++){
If(crc_reg & 0x01){
crc_reg=( crc_reg >>1)^0xA001;
}else{
crc_reg＝crc_reg >>1;
}
}
}
return crc_reg;
}

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6.3.2 Communication Error Disposal

Problems that occur during communication are a result of the following:

 Data address is incorrect while reading/writing parameters.
 The data is not within the parameter setting range while writing.
 Data transmission fault or checking code fault when communication is disturbed.

When the first and second communication faults occur, the servo drive is running normally, and will feed back an error
frame.
When the third communication fault occurs, transmission data will be recognized as invalid to give up, and no error frame
is returned.

The format of error frame:

Host controller data frame:

start Slave station address Command Data address,content Checking
command

Servo drive feeds back error frame:

start Slave station address Response code Error code Checking
command＋80 H

Error frame responses code=command+80H

Error code＝00H: Normal communication
＝01H: Servo drive cannot identify the required functions
＝02H: The required data address does not exist in the servo drive
＝03H: The required data in servo drive is not allowed. (Beyond the maximum or minimum
value of the parameter)
＝04H: Servo drive starts to perform the requirement, but cannot achieve it.

For example: Servo drive axis number is 03H, write data 06H into parameter Pn100 is not allowed , because the range of
parameter Pn100 is 0~0x0036. The servo drive will feedback an error frame, the error code is 03H (Beyond the
parameter’s maximum value or minimum value).
Host controller data frame:
start Slave station address Command Data address,content Checking
03H 06H 0002H 0006H

Servo drive feedback error frame:

start Slave station address Response code Error code Checking
03H 86H 03H

Besides, if the data frame sent from host controller slave station address is 00H, it determines the data to be broadcast
data. The servo drives will not feedback any frames.

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6.3.3 Data Communication Address of Servo State

The communication parameter addresses are shown in the following table:

Data Address (HEX) Meaning Description Operation

Corresponding parameters in
0000 ~ 02FD Parameter area Read/write
parameter list

07F1 ~07FA Alarm information memory area Ten alarms historical record Read only

07FB Speed reference zero offset Read/write

07FC Torque reference zero offset Read/write
07FD Iu zero offset Read only
07FE Iv zero offset Read only

Monitor data (corresponding with

0806 ~ 0816
displayed data)
0806 Speed feedback Unit:rpm Read only
0807 Input speed reference value Unit:rpm Read only
0808 Input torque reference percentage Relative rated torque Read only
Internal torque reference
0809 Relative rated torque Read only
percentage
Low 16 bits of the encoder rotation
080A Used in conjunction with 081D Read only
pulse number
080B Input signal state Read only
080C Encoder signal state Read only
080D Output signal state Read only
080E Pulse setting Read only
080F Low bits of present location Unit:1 reference pulse Read only
0810 High bits of present location Unit:10000 reference pulses Read only
0811 Error pulse counter low 16 bits Read only
0812 Error pulse counter high 16 bits Read only
0813 Setting pulse counter low bits Unit:1 reference pulse Read only
0814 Setting pulse counter high bits Unit:10000 reference pulses Read only
0815 Load inertia percentage % Read only
0816 Servomotor overloading proportion % Read only
0817 Current alarm Read only
0818 Servomotor winding temperature ℃ Read only
High 16 bits of the encoder rotation
081D Used in conjunction with 080A Read only
pulse number

Do not save when

0900 MODBUS communication IO signal Read/write
power off.
090E DSP version Version is expressed by digit. Read only
090F CPLD version Version is expressed by digit. Read only

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 ProNet Plus Series AC Servo User's Manual

Data Address (HEX) Meaning Description Operation

1010 Encoder multi-turn information Unit:1 revolution
1011 Encoder single-turn information
Read only.
Encoder single-turn information high Unit:1 pulse
1012
bits
1021 Clear historical alarms 01:Clear Write only
1022 Clear current alarms 01:Clear Write only
01:Enable
1023 JOG servo enabled Write only
00:Disable
01:Forward rotation
1024 JOG forward rotation Write only
00:Stop
01:Reverse rotation
1025 JOG reverse rotation Write only
00:Stop
JOG forward rotation at node 01:Forward rotation
1026
position ( start signal has been set) 00:Stop
JOG reverse rotation at node 01:Reverse rotation
1027
position (start signal has been set) 00:Stop
01:Pause
1028 Pause at node position
00:Cancel pause

1040 Clear encoder alarm 01:Clear

Write only
1041 Clear encoder multi-turn data 01:Clear
1070 Position teaching function 01:Start Write only

Note:
1. Parameter area (communication address 0000～00DEH)
Parameter address is relevant to the parameters in the parameter list.
For example, parameter Pn000 is relevant to communication address 0000H; parameter Pn101 is relevant to
communication address 0065H. Read/write operation to address 0000H is the read/write operation to Pn000. If the
communication input data is not within the parameter range, the data will be aborted, and servo drive will return an
operation unsuccessful signal.

2. Alarm information storage area (07F1～07FAH)

Historical alarm number Description Communication address
Historical alarm 1 07F1H
0
(the latest alarm)
1~8 Historical alarm 2 ~ 9 07F2H ~ 07F9H
9 Historical alarm 10 (the furthest alarm) 07FAH

3. Monitor data area (0806～0816H)

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

4. MODBUS communication IO signal

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

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 ProNet Plus Series AC Servo User's Manual

Pn512 and Pn513 enable the IO bit, the IO can be controlled by communication.

5. Software version (090FH)

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

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 ProNet Plus Series AC Servo User's Manual

Chapter 7

Specifications and Characters

7.1 Servo drive Specifications and Models

Servo drive Model: ProNet- A5A 01A 02A 04A 08A 10A 15A 20A 30A 50A 10D 15D 20D 30D 50D

EMJ- A5A 01A 02A 04A 08A 10A — — — — — — — — —

Applicable Servomotor Model: EMG- — — — — — 10A 15A 20A 30A 50A 10D 15D 20D 30D —

EML- — — — — — 10A — 20A 30A 40A 10D — 20D 30D 40D

Continuous Output Current[Arms] 0.95 1.05 1.4 2.8 4.0 6.0 9.0 12.0 18.0 28.0 3.2 5.0 6.4 9.0 15.0

Max. Output Current [Arms] 3.0 3.3 4.2 8.4 12.0 18.0 28.0 42.0 45.0 62.0 9.6 15.0 19.2 27.0 45.0

Main Input Power Supply Capacity [kVA] 0.2 0.3 0.5 0.9 1.3 1.8 2.5 3.5 4.5 7.5 1.8 2.8 3.5 5.0 8.2

DC24V Power Supply Capacity [W] — — — — — — — — — — 30.0 30.0 30.0 45.0 45.0

Single-Phase Three-phase
Main Circuit 200～230VAC 200～230VAC Three-phase 380～440VAC +10%～-15%(50/60Hz)
+10%～-15% (50/60Hz) +10%～-15% (50/60Hz)
Input Power Supply
Single-phase
24VDC
Control Circuit 200～230VAC
+10%～-15% (50/60Hz) +10%～-15%

Control Method SVPWM Control

Feedback Serial Encoder: 131072P/R /1048576 P/R

Ambient temperature: 0～+55℃
Ambient/Storage Temperature
Storage temperature: -25～+85℃
Operating Ambient/Storage Humidity 5%～95% RH (with no condensation)
Conditions Elevation 1000m or less
Vibration/ShockResistance Vibration Resistance: 4.9m/s2, Impact Resistance: 19.6m/s2
Electric Power System TN system *3

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 ProNet Plus Series AC Servo User's Manual

Servo drive Model: ProNet- A5A 01A 02A 04A 08A 10A 15A 20A 30A 50A 10D 15D 20D 30D 50D

EMJ- A5A 01A 02A 04A 08A 10A — — — — — — — — —

Applicable Servomotor Model: EMG- — — — — — 10A 15A 20A 30A 50A 10D 15D 20D 30D —

EML- — — — — — 10A — 20A 30A 40A 10D — 20D 30D 40D

Configuration Base-mounted

Speed Control Range 1:5000

Load Regulation 0～100% load: ±0.01% or less (at rated speed)

Performance Voltage
Speed Rated voltage ±10%: 0% (at rated speed)
Regulation
Regulation
Temperature
25±25℃: ±0.1% or less (at rated speed)
Regulation
±10VDC at rated torque (Variable setting range:±0～10VDC)
Reference Voltage
Max. input voltage: ±12V
Analog
Torque Control Input Impedance About 10MΩ or above
Reference Input
Circuit Time
10μs
Constant
±10VDC at rated speed (Variable setting range:±0～10VDC)
Reference Voltage
Max. input voltage: ±12V
Analog Input
Input Impedance About 10MΩ or above
Reference
Circuit Time
10μs
Constant
Speed
Rotation Direction
Control With /P-CON signal
Speed Selection Selection
Speed Selection Speed 1 to 7
Soft
Function Start 0～10s (Can be set individually for acceleration and deceleration.)
Setting
Sign + pulse train;CCW + CW pulse train;
Type
90°phase difference 2-phase (phase A + phase B)
Form Non-insulated linde driver (about + 5V), open collector
Position Pulse ×1 multiplier: 4Mpps
Control Reference ×2 multiplier: 2Mpps
Frequency ×4 multiplier: 1Mpps
Open collector: 200Kpps
Frequency will begin to decline when the duty ratio error occurs..

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 ProNet Plus Series AC Servo User's Manual

Servo drive Model: ProNet- A5A 01A 02A 04A 08A 10A 15A 20A 30A 50A 10D 15D 20D 30D 50D

EMJ- A5A 01A 02A 04A 08A 10A — — — — — — — — —

Applicable Servomotor Model: EMG- — — — — — 10A 15A 20A 30A 50A 10D 15D 20D 30D —

EML- — — — — — 10A — 20A 30A 40A 10D — 20D 30D 40D

Position
Reference Position Setting 16 postion nodes can be set.
Setting
Encoder Dividing Pulses Phase-A, phase-B, phase-C, line driver output
Output Number of dividing pulses: any

Number of
8 channels
channels
Sequence Input Signal allocations and positive/negative logic modifications:
Function Servo ON (/S-ON), P control (/P-CON), alarm reset (/ALM-RST), position error clear (/CLR), forward run prohibited (P-OT), reverse run prohibited (N-OT),
forward current limit (/P-CL), reverse current limit (/N-CL) and so on.
Number of
4 channels
Sequence channels
I/O Signals
Signal allocations and positive/negative logic modifications:
Output
Function Positioning completion (/COIN), speed coincidence (/V-CMP),servomotor rotation detection (/TGON), servo ready (/S-RDY),torque limit output (/CLT), brake
interlock output (/BK), encoder C pulse (/PGC) and Over travel (/OT).
Regenerative Functions 0.75kW～7.5kW: internal regenerative resistor; 11kW～22kW: external regenerative resistor
Protection Functions Overcurrent, overvoltage,low voltage, overload,regeneration error,overspeed,etc.
Utility Function Alarm trace back, JOG operation, load inertia detection, etc.
Display Function CHARGE (Red), POWER(Green), five 7-segment LEDS (Built-in panel operator)
RS-485 communication port,MODBUS protocol;CAN communication port,CANopen protocol;
Communication Functiion
EtherCAT communication module,CiA402 protocol

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 ProNet Plus Series AC Servo User's Manual

7.2 Servo drive Dimensional Drawings

ProNet-A5A/01A/02A/04A ProNet-A5A/01A/02A/04A-EC

Unit: Millimeter Nameplate

40

160
10020
0M
10020
0M

（75） 180 180

Mounting Hole Diagram

20M4
5

5 150

160

ProNet-08A/10A ProNet-08A/10A-EC

Unit: Millimeter 9414 Nameplate

Airflow

13
96

186

Airflow
10320
3M
10320
3M

Airflow84 （75） 183

Cooling Fan

Mounting Hole Diagram

186
174

Airflow

40M5

72
84

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 ProNet Plus Series AC Servo User's Manual

ProNet-10D/15A/15D/20A/20D ProNet-10D/15A/15D/20A/20D-EC
94.4 Naphslawh
Unit: Millimeter Airflow

25

96

务必在阅读使用说明书后，按其步骤操作。 Reaa manrai caoefriiy ana fliilw the afoectfln.

WARNFNG
CAUTFON
Use polpeo golrnafng technfnres.
接地端子必须接地。

注 意

危 险
Al nlt tlrch heatsfnk. May carse bron.

May carse eiectofc shlck.

Afsclnnect aii plweo ana waft 2 mfnrtes befloe seovfcfng.
切断电源５分钟内，请勿触摸驱动器端子和配线！有触电的危险。
通电时请勿触摸散热片！有烫伤的危险。
186
Airflow

.0020
0M
.0020
0M
4.8
Cooling Fan Airflow
Golrna Teomfnai （75） 180
2-M4 Scoew
100
5.5

Mounwing Holh Giagrap

40M4
175
186

Airflow

5.5 89
100

ProNet-30A/30D/50A/50D ProNet-30A/30D/50A/50D-EC
4-M5
Unit: Millimeter Airflow
Mounting Hole Diagram Nameplate
6
270.5

258.5

.-02-
0M
270.5

.-02-
0M

Ground Terminal
14-M4 Screw

5.5
6 112 （75）
Ground Terminal 204.5
125 Airflow 2-M4 Screw

125

Cooling Fan

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 ProNet Plus Series AC Servo User's Manual

7.3 Servo motor Specifications and Models

The specification of EMJ model motor is as shown in the following table.

Voltage 100VAC/200VAC

02ASA□□ 04ASA□□ 04ASH□□ 08ASB□□ 10ASB□□

Motor model EMJ- A5ASA□□ 01ASA□□
02AFA□□ 04AFB□□ 04AFH□□ 08AFB□□ 10AFB□□

Rated output
kW 0.05 0.1 0.2 0.4 0.75 1.0
power

Rated torque N*m 0.16 0.32 0.64 1.27 2.39 3.18

Instantaneous

maximum N*m 0.48 0.96 1.91 3.82 7.16 9.55

torque

Rated current Arms 0.6 1.1 1.4 2.8 4.0 5.3

Instantaneous

maximum Arms 1.7 3.0 4.2 8.4 12.0 15.9

current

Rated speed r/min 3000

Maximum
r/min 5000 4500
speed

0.019 0.035 0.19 0.31 0.7 1.35 1.74

Rotor inertia ×10-4kg*m2
(0.05) (0.052) (0.23) (0.35) (0.74) (1.47) (1.87)

0.374 0.508 1.21 1.52 1.52 2.96 3.69

Weight kg
(0.566) (0.7) (1.71) (2.02) (2.17) (3.66) (4.29)

Rated voltage of brake DC24V±10%

Rated power of
W 4 7.2 11.5
brake

Hold torque of
N*m 0.318 1.3 3.2
brake

17-bit absolute encoder 20-bit incremental encoder 1048576P/R

Encoder
131072P/R 17-bit absolute encoder 131072P/R

Thermal endurance class F

Ambient temperature 0 ~ +40℃ (No frozen)

Ambient humidity 20% ~ 80% RH (No condensation)

Anti-vibration performance 49 m/s2

Fully enclosed, self-cooling, IP65 (exclude the shaft extension if not equipped with an oil seal; exclude the
Protected mode
connector if not equipped with an waterproof plug)

<NOTE>: the values in parentheses indicate the value of the brake motor.

The specification of EMG model motor is as shown in the following table.

Voltage 200VAC / 400VAC

Motor model EMG- 10A□B□□ 10D□B□□ 15A□B□□ 15D□B□□ 20A□B□□ 20D□B□□ 30A□A□□ 30D□A□□ 50A□A□□ 50D□A□□

Rated output power kW 1.0 1.0 1.5 1.5 2.0 2.0 3.0 3.0 5.0 5.0

Rated torque N*m 4.78 4.78 7.16 7.16 9.55 9.55 14.3 14.3 23.9 23.9

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 ProNet Plus Series AC Servo User's Manual

Voltage 200VAC / 400VAC

Motor model EMG- 10A□B□□ 10D□B□□ 15A□B□□ 15D□B□□ 20A□B□□ 20D□B□□ 30A□A□□ 30D□A□□ 50A□A□□ 50D□A□□

Instantaneous
N*m 14.3 14.3 21.5 21.5 28.7 28.7 43.0 43.0 71.6 71.6
maximum torque

Rated current Arms 5.8 3.0 8.2 4.3 11.3 5.7 18.0 8.8 28.0 15.0

Instantaneous
Arms 17.4 9.0 24.6 12.9 33.9 17.1 54.0 26.4 84.0 45.0
maximum current

Rated speed r/min 2000

Maximum speed r/min 3000

Rotor inertia ×10-4kg*m2 13.2 (14.3) 18.4 (19.5) 23.5 (24.6) 41.3 (44.5) 65.7 (68.9)

Weight kg 7 (8.5) 8.9 (10.4) 10.8 (12.3) 16.63 (20.23) 24.3 (27.9)

Rated voltage of brake DC24V±10%

Rated power of brake W 19.5 35

Hold torque of brake N*m 12 40

20-bit incremental encoder 1048576P/R

Encoder
17-bit absolute encoder 131072P/R

Thermal endurance class F

Ambient temperature 0 ~ +40℃ (No frozen)

Ambient humidity 20%~80% RH (No condensation)

Anti-vibration performance 24.5m/s2

Protected mode Fully enclosed, self-cooling, IP65 (exclude the shaft extension if not equipped with an oil seal)

<NOTE>: the values in parentheses indicate the value of the brake motor.

The specification of EML model motor is as shown in the following table.

Voltage 200VAC / 400VAC

Motor model EML- 10A□B□□ 10D□B□□ 20A□A□□ 20D□A□□ 30A□A□□ 30D□A□□ 40A□A□□ 40D□A□□

Rated output power kW 1.0 2.0 3.0 4.0

Rated torque N*m 9.55 19.1 28.7 38.2

Instantaneous
N*m 28.7 57.3 86.0 114.6
maximum torque

Rated current Arms 5.5 2.8 12.0 6.2 18.0 9.0 24.0 12.2

Instantaneous
Arms 16.5 8.4 36.0 18.6 54.0 27.0 72.0 36.6
maximum current

Rated speed r/min 1000

Maximum speed r/min 1500

Rotor inertia ×10-4kg*m2 23.5 (24.6) 53.5 (56.7) 77.8 (81.0) 102.2 (105.4)

Weight kg 10.8 (12.3) 18.1 (21.7) 19.5 (23.1) 34.75 (38.35)

Rated voltage of brake DC24V±10%

Rated power of brake W 19.5 35

Hold torque of brake N*m 12 40

20-bit incremental encoder 1048576P/R

Encoder
17-bit absolute encoder 131072P/R

Thermal endurance class F

Ambient temperature 0 ~ +40℃ (No frozen)

Ambient humidity 20%~80% RH (No condensation)

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 ProNet Plus Series AC Servo User's Manual

Voltage 200VAC / 400VAC

Motor model EML- 10A□B□□ 10D□B□□ 20A□A□□ 20D□A□□ 30A□A□□ 30D□A□□ 40A□A□□ 40D□A□□

Anti-vibration performance 24.5m/s2

Protected mode Fully enclosed, self-cooling, IP65 (exclude the shaft extension if not equipped with an oil seal)

<NOTE>: the values in parentheses indicate the value of the brake motor.

7.4 Servo Motor Dimensional Drawings

EMJ dimensions

Overall dimension Thread hole Key

EMJ- L LL S
LR LH LG LE LF LC LA LB LZ × depth QK W T U

A5ASA 84.5(120.1) 59.5(95.1)

25 2 20 2.5 5 40 46 30 4.5 8 M3×10L 16 3 3 1.8
01ASA 98.5(134.1) 73.5(109.1)

<NOTE>: the values in parentheses indicate the value of the brake motor.

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Overall dimension Thread hole Key

EMJ- L LL S
LR LE LF LC LA LB LZ × depth QK QL W T U

02AFA 142(182) 112(152)

02ASA 154(194) 124(164)

04AFB 161(201) 131(171)

30 6 60 70 50 5. 14 M5×10L 16 5 5 3
04ASA 174(214) 144(184)

04AFH 172(212) 142(182)

3 4
04ASH 182(222) 152(192)

08AFB 173(216) 138(181)

08ASB 186(229) 151(194)

35 9 80 90 70 7 19 M6×15L 22 6 6 3.5
10AFB 191(234) 156(199)

10ASB 204(247) 169(212)

<NOTE>: the values in parentheses indicate the value of the brake motor.

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 ProNet Plus Series AC Servo User's Manual

EMG dimensions

Overall dimension Thread hole Key

EMG- L LL KB1 KB2 KL1 KL2 S
LR LE LF LC LA LB LZ × depth QK QL W T U

10□□B 203(245.5) 148(190.5) 80(103.2) 131.5(174)

15□□B 225(267.5) 170(212.5) 102(125.2) 153.5(196) 117 60.5 55 4 12 130 145 110 9 22 M6×20L 40 5 8 7 4

20□□B 247(289.5) 192(234.5) 124(147.2) 175.5(218)

<NOTE>: the values in parentheses indicate the value of the brake motor.

Overall dimension Thread hole key

EMG- L LL KB1 KB2 KL1 KL2 S
LR LE LF LC LA LB LZ × depth QK QL W T U

30□□A 307(378) 228(299) 143 203(274)

140 79 79 3.2 18 180 200 114.3 13.5 35 M8×16L 55 6 10 8 5
50□□A 357(428) 278(349) 183 253(324)

<NOTE>: the values in parentheses indicate the value of the brake motor.

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EML dimensions

Flange face Thread hole Key

EML- L LL KB1 KB2 KL1 KL2 S
LR LE LF LC LA LB LZ × depth QK QL W T U

10□□B 247(289.5) 192(234.5) 124(147.2) 175.5(218) 117 60.5 55 4 12 130 145 110 9 22 M6×20L 40 5 8 7 4

<NOTE>: the values in parentheses indicate the value of the brake motor.

Flange face Thread hole Key

EML- L LL KB1 KB2 KL1 KL2 S
LR LE LF LC LA LB LZ × depth QK QL W T U

20□□A 332(401) 253(322) 168 228(245)

30□□A 372(443) 293(364) 208 268(287) 140 79 79 3.2 18 180 200 114.3 13.5 35 M8×16L 55 6 10 8 5

40□□A 412(478) 333(399) 243 308(322)

<NOTE>: the values in parentheses indicate the value of the brake motor.

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 ProNet Plus Series AC Servo User's Manual

Appendix A

Parameter

A.1 Parameter List

Parameter Setting Factory Setting

Name Unit
No. Range Setting Invalidation
Binary
Pn000.0: Servo ON
Pn000.1: Forward rotation input signal
prohibited (P-OT)
Pn000 — 0~1111 0 After restart
Pn000.2: Reverse rotation input signal
prohibited (N-OT)
Pn000.3: Alarm output when
instantaneous power loss
Binary
Pn001.0: CCW,CW selection
Pn001 Pn001.1: Analog speed limit enabled — 0~1111 0 After restart
Pn001.2: Analog torque limit enabled
Pn001.3: 2nd electronic gear enabled
Binary
Pn002.0: Electronic gear switching mode
Pn002 Pn002.1: Reserved — 0~0111 0010 After restart
Pn002.2: Absolute encoder selection
Pn002.3: Reserved
Binary
Pn003.0: Reserved
Pn003 Pn003.1: Reserved — 0~1111 0 After restart
Pn003.2: Low speed compensation
Pn003.3: Overload enhancement
Hex
Pn004.0: Stop mode
Pn004 Pn004.1: Error counter clear mode — 0~0x3425 0 After restart
Pn004.2: Reference pulse form
Pn004.3: Inverses pulse

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Parameter Setting Factory Setting

Name Unit
No. Range Setting Invalidation
Hex
Pn005.0: Torque feedforward mode
Pn005 Pn005.1: Control mode — 0~0x33E3 0 After restart
Pn005.2: Out-of-tolerance alarm selection
Pn005.3: Servomotor model

Hex
Pn006.0: Bus mode
ProNet-□□□MG: ProNet-□□□MG:
Pn006.1: Reserved
0~0x2133 0x0020
Pn006 Pn006.2: Low-frequency vibration suppression — After restart
ProNet-□□□ ProNet-□□□
switch
EG-EC: 0~0x2134 EG-EC:0x0024
Pn006.3: Reference input filter for open
collector signal
Binary
Pn007.0: Wider the width of C pulse or not
Pn007 Pn007.1: Reserved — 0~0x1111 0 After restart
Pn007.2: Reserved
Pn007.3: Torque filter
Hex ProNet-□□□MG ProNet-□□□EG-EC

Alarm classification ProNet-□□□MG:

Pn008.0 Reserved
selection 0~0x0000
Pn008 — 0 After restart
Pn008.1 Reserved SON effective mode ProNet-□□□EG-EC:
Pn008.2 Reserved Reserved 0000~0011
Pn008.3 Reserved Reserved

Binary ProNet-□□□MG ProNet-□□□EG-EC

ProNet-□□□MG:
Pn009.0 Reserved Sensor type selection
0~0100
Pn009 Pn009.1 Reserved — 0 After restart
ProNet-□□□EG-EC:
Pn009.2 Electronic gear selection
0~1111
Pn009.3 Reserved

Hex
Pn010.0: Automatic identification function of
motor enable
Pn010 — 0~0x0001 0x0000 After restart
Pn010.1: Reserved
Pn010.2: Reserved
Pn010.3: Reserved

Online autotuning setting selection

Pn100.0: Load inertia setting
Pn100 Pn100.1: Online autotuning setting — 0~0x0036 0x0011 After restart
Pn100.2: Reserved
Pn100.3: Reserved
Pn101 Machine rigidity setting — 0~36 6 Immediately
Pn102 Speed loop gain rad/s 1~4000 250 Immediately
Pn103 Speed loop integral time constant 0.1ms 1~4096 200 Immediately

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Parameter Setting Factory Setting

Name Unit
No. Range Setting Invalidation
Pn104 Position loop gain 1/s 0~1000 40 Immediately
Pn105 Torque reference filter time constant 0.01ms 0~2500 100 Immediately
Pn106 Load inertia ratio % 0~20000 100 Immediately
Pn107 2nd speed loop gain rad/s 1~4000 250 Immediately
Pn108 2nd speed loop integral time constant 0.1ms 1~4096 200 Immediately
Pn109 2nd position loop gain rad/s 0~1000 40 Immediately
Pn110 2nd torque reference filter time constant 0.01ms 0~2500 100 Immediately
Pn111 Speed bias rpm 0~300 0 Immediately
Pn112 Feedforward % 0~100 0 Immediately
Pn113 Feedforward filter 0.1ms 0~640 0 Immediately
Pn114 Torque feedforward % 0~100 0 Immediately
Pn115 Torque feedforward filter 0.1ms 0~640 0 Immediately
Pn116 P/PI switching condition — 0~4 4 After restart
Pn117 Torque switching threshold % 0~300 200 Immediately
reference
Pn118 Offset counter switching threshold 0~10000 0 Immediately
pulse
Setting acceleration speed switching
Pn119 10rpm/s 0~3000 0 Immediately
threshold
Pn120 Setting speed switching threshold rpm 0~10000 0 Immediately
Pn121 Gain switching condition — 0~8 0 After start
Pn122 Switching delay time 0.1ms 0~20000 0 Immediately
Pn123 Threshold switching level 0~20000 0 Immediately
Pn124 Actual speed threshold rpm 0~2000 0 Immediately
Pn125 Position gain switching time 0.1ms 0~20000 0 Immediately
Pn126 Hysteresis switching — 0~20000 0 Immediately
Pn127 Low speed detection filter 0.1ms 0~100 10 Immediately
Speed gain acceleration relationship Immediately
Pn128 — 0~3 3
during online autotuning
Pn129 Low speed correction coefficient — 0~30000 0 Immediately
Pn130 Friction load 0.1% 0~3000 0 Immediately
Pn131 Friction compensation speed hysteresis area rpm 0~100 0 Immediately
0.1%/1000rp Immediately
Pn132 Sticking friction load 0~1000 0
m
Pn146 Notch filters 1 trap width — 0~15 2 Immediately

Pn147 Notch filters 2 trap width — 0~15 2 Immediately

Pn200 PG divided ratio Puls 16~16384 16384 After restart
Pn201 16 bit 1st electronic gear numerator — 1~65535 1 After restart
Pn202 16 bit electronic gear denominator — 1~65535 1 After restart
Pn203 16 bit 2nd electronic gear numerator — 1~65535 1 After restart
Position reference Acceleration
Pn204 0.1ms 0~32767 0 Immediately
/deceleration time constant
Pn205 Position reference filter form selection — 0~1 0 After restart
Pn206 Reserved for manufacturer — — — —

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Factory Setting

Name Unit
No. Range Setting Invalidation
Pn207 Lock torque during homing operation % 0~200 20 Immediately
Pn208 lock time during homing operation 0.1ms 0~10000 100 Immediately
Pn209 Touch Probe input channel signal selection — 0~0x0022 0x0010 After restart
Pn210 Touch Probe input signal filtering time 0.01μs 0~1000 0 Immediately
Pn300 Speed reference input gain rpm/v 0~3000 150 Immediately
Pn301 Analog speed given zero bias 10mv -1000~1000 0 Immediately
Pn302 Reserved — — — —
Pn303 Reserved — — — —
Pn304 Parameter speed rpm -6000~6000 500 Immediately
Pn305 JOG speed rpm 0~6000 500 Immediately
Pn306 Soft start acceleration time ms 0~10000 0 Immediately
Pn307 Soft start deceleration time ms 0~10000 0 Immediately
Pn308 Speed filter time constant ms 0~10000 0 Immediately
Pn309 S curve risetime ms 0~10000 0 Immediately
Speed reference curve form
0:Slope
Pn310 1:S curve — 0~3 0 After restart
st
2:1 order filter
3:2nd order filter
Pn311 S form selection — 0~3 0 Immediately
Pn312 DP communication JOG speed rpm -6000~6000 500 Immediately
Pn316 Internal speed 1 rpm -6000~6000 100 Immediately
Pn317 Internal speed 2 rpm -6000~6000 200 Immediately
Pn318 Internal speed 3 rpm -6000~6000 300 Immediately
Pn319 Internal speed 4 rpm -6000~6000 -100 Immediately
Pn320 Internal speed 5 rpm -6000~6000 -200 Immediately
Pn321 Internal speed 6 rpm -6000~6000 -300 Immediately
Pn322 Internal speed 7 rpm -6000~6000 500 Immediately
Pn400 Torque reference gain 0.1V/100% 10~100 33 Immediately
Pn401 Forward internal torque limit % 0~350 300 Immediately
Pn402 Reverse internal torque limit % 0~350 300 Immediately
Pn403 Forward external torque limit % 0~350 100 Immediately
Pn404 Reverse external torque limit % 0~350 100 Immediately
Pn405 Plug braking torque limit % 0~300 300 Immediately
Pn406 Speed limit during torque control rpm 0~6000 1500 Immediately
Pn407 Notch filter 1 frequency Hz 50~5000 5000 Immediately
Pn408 Notch filter 1 depth — 0~23 1 Immediately
Pn409 Notch filter 2 frequency Hz 50~5000 5000 Immediately
Pn410 Notch filter 2 depth — 0~23 1 Immediately
Pn411 Low frequency jitter frequency 0.1Hz 50~500 100 Immediately
Pn412 Low frequency jitter damp — 0~200 25 Immediately
Pn413 Torque control delay time 0.1ms 1~2000 100 Immediately
Pn414 Torque control speed hysteresis rpm 10~1000 50 Immediately

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Parameter Setting Factory Setting

Name Unit
No. Range Setting Invalidation
Pn415 Analog torque given zero bias 10mv -1000~1000 0 Immediately
Pn416 Reserved for manufacturer — — — —
Pn500 Positioning error Puls 0~5000 100 Immediately
Pn501 Coincidence difference rpm 0~100 10 Immediately
Pn502 Zero clamp speed rpm 0~3000 10 Immediately
Pn503 Rotation detection speed rpm 0~3000 20 Immediately
Pn504 Offset counter overflow alarm 256Puls 1~32767 1024 Immediately
Pn505 Servo ON waiting time ms -2000~2000 0 Immediately
Pn506 Basic waiting flow 10ms 0~500 0 Immediately
Pn507 Brake waiting speed rpm 10~100 100 Immediately
Pn508 Brake waiting time 10ms 10~100 50 Immediately
Pn509 Allocate input signal to terminal — 0~0xFFFF 0x3210 After restart
Pn510 Allocate input signal to terminal — 0~0xFFFF 0x7654 After restart
Pn511 Allocate output signal to terminal — 0~0x0999 0x0210 After restart
Pn512 Bus control input node low-bit enable — 0~1111 0 Immediately
Pn513 Bus control input node low-bit enable — 0~1111 0 Immediately
Pn514 Input port filter 0.2ms 0~1000 1 Immediately
Pn515 Alarm port filter 0.2ms 0~3 1 Immediately
Pn516 Input port signal inversion — 0~1111 0 Immediately
Pn517 Input port signal inversion — 0~1111 0 Immediately
Pn518 Dynamic brake time 0.5ms 50~2000 125 Immediately
Pn519 Serial encoder error time 0.1ms 0~10000 3 Immediately
Pn520 Position complete time 0.1ms 0~60000 500 Immediately
Pn521.0 whether to connect externally
regenerative resistor (This parameter is in
effect only on ProNet-02/04
Pn521.0 Pn521.0
Pn521 /ProNet-E-02/04) — After restart
0~1 1
Pn521.1 Reserved for manufacturer
Pn521.2 Reserved for manufacturer
Pn521.3 Reserved for manufacturer
Pn522 Reserved — — — —
Pn523 Reserved — — — —
Pn524 Reserved — — — —
Pn525 Overload alarm threshold % 100~150 100 Immediately
Temperature threshold of motor overheat
Pn526 ℃ 50~180 110 Immediately
alarm (Only enabled in ProNet–75/1A/1E/2B)
Pn528 Output signal inverse — 0~1111 0 Immediately
Pn529 Torque detection output signal threshold value % 3~300 100 Immediately
Pn530 Torque detection output signal time ms 1~10000 5000 After restart
Pn531 Reserved for manufacturer — — — —
Pn600 Position pulse in point to point control 10000P -9999~9999 0 Immediately
Pn601 Position pulse in point to point control 1P -9999~9999 0 Immediately
……

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Parameter Setting Factory Setting

Name Unit
No. Range Setting Invalidation
Pn630 Position pulse in point to point control 10000P -9999~9999 0 Immediately
Pn631 Position pulse in point to point control 1P -9999~9999 0 Immediately
Pn632 Point to point speed control rpm 0~4500 500 Immediately
……
Pn647 Point to point speed control rpm 0~4500 500 Immediately
Pn648 Point to point 1st order filter 0.1ms 0~32767 0 Immediately
……
Pn663 Point to point 1st order filter 0.1ms 0~32767 0 Immediately
Pn664 Stop time 50ms 0~300 10 Immediately
……
Pn679 Stop time 50ms 0~300 10 Immediately
Pn680 Reserved — — — —
Hex
Pn681.0:Single/cyclic, start/reference point
selection
Pn681 — 0~0x0133 0x0000 Immediately
Pn681.1:Change step and start mode
Pn681.2:Change step input signal mode
Pn681.3:Reserved
Pn682 Programme mode — 0~1 0 Immediately
Pn683 Programme start step — 0~15 0 Immediately
Pn684 Programme stop step — 0~15 1 Immediately
Search travel speed in position control
(contact reference); Speed of finding reference
Pn685 rpm 0~3000 1500 Immediately
point (hitting the origin signal ORG) in position
homing control.
Leave travel switch speed in position
control(contact reference);
Pn686 Speed of finding reference point (leaving the rpm 0~200 30 Immediately
origin signal ORG) in position homing
control.
Pn687 Position teaching pulse 10000P -9999~9999 0 Immediately
Pn688 Position teaching pulse 1P -9999~9999 0 Immediately
Pn689 Homing Mode Setting — 0~0111 0 After restart
Pn690 Number of error pulses during homing 10000P 0~9999 0 Immediately
Pn691 Number of error pulses during homing 1P 0~9999 0 Immediately
Hex
Pn700.0: MODBUS communication baud
rate
Pn700 Pn700.1: MODBUS protocol selection — 0~0x0182 0x0151 After restart
Pn700.2:Communication protocol
selection
Pn700.3: Reserved
Pn701 MODBUS axis address — 1~247 1 After restart

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Factory Setting

Name Unit
No. Range Setting Invalidation
Pn702 Reserved — — — —
Pn703 CAN communication speed — 0~0x0015 0x0014 After restart
Pn704 CAN communication contact — 1~127 1 After restart
Pn705 32 bit 1st electronic gear numerator (H) — 0~9999 0 After restart
Pn706 32 bit 1st electronic gear numerator (L) — 0~9999 1 After restart
Pn707 32 bit electronic gear denominator (H) — 0~9999 0 After restart
Pn708 32 bit electronic gear denominator (L) — 0~9999 1 After restart
Pn709 32 bit 2st electronic gear numerator (H) — 0~9999 0 After restart
Pn710 32 bit 2st electronic gear numerator (L) — 0~9999 1 After restart
Hex
Pn840.0: Encoder model selection
0x0003~
Pn840 Pn840.1: Motor designing sequence — — After restart
0x0B18
Pn840.2: Servo drive model selection
Pn840.3: Reserved
Note: ○1 The setting range and factory setting of Pn401 to Pn405 depend on the actual overload
E
A

capacity.

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 ProNet Plus Series AC Servo User's Manual

A.2 Description of Parameter Type

Type Parameter No. Description

Funtion selection switches Pn000~Pn010 Control mode, stop mode, and some functions selection
Parameters of servo gain Pn100~Pn149 Position gain, speed gain,rigidity,etc.
Position control related parameters Pn200~Pn205 PG divided ratio, electronic gear, etc.
Speed control related parameters Pn300~Pn322 Speed reference input, soft start, etc.
Torque control related parameters Pn400~Pn415 Torque limit, etc.
Parameters to control I/O port Pn500~Pn530 Allocation of I/O port function
Point-to-point control and homing control Pn600~Pn699 Internal point-to-point control and homing control related
related parameters parameters
Communication parameters Pn700~Pn701 Setting of communication parameters

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 ProNet Plus Series AC Servo User's Manual

A.3 Parameters in detail

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
Pn000.0 Servo ON
[0] External S-ON enabled.
[1] External S-ON disabled. Servo motor excitation
signal is turned ON automatically after S-RDY is
output.
Pn000.1 Forward rotation input signal prohibited
(P-OT)
[0] External P-OT enabled. Operate in the time
sequence setting in Pn004.0 when travel limit occurs.
[1] External P-OT disabled.
Pn000 Binary After restart ALL Pn000.2 Reverse rotation input signal prohibited
(N-OT)
[0]External N-OT enabled. Operate in the time
sequence setting in Pn004.0 when travel limit occurs.
[1] External N-OT disabled.
Pn000.3 Alarm output when instantaneous power
loss (ALM)
[0]Instantaneous power loss for one period with no
alarm output
[1]Instantaneous power loss for one period with alarm
output
Pn001.0 CCW,CW selection
[0] Sets CCW as forward direction
[1] Sets CW as forward direction
Pn001.1 Analog speed limit enabled
[0] Sets the value of Pn406 as the speed limit value
Pn001.0
during torque control.
ALL
[1] Use the lower speed between V-REF and Pn406
Pn001.1
as an external speed limit input.
T
Pn001 Binary After restart Pn001.2 Analog torque limit enabled
Pn001.2
[0] Sets Pn401~Pn404 as torque limit.
P, S
[1] Sets the value corresponding to Tref input analog
Pn001.3
voltage as torque limit.
P
Pn001.3 2nd electronic gear enabled
[0] 2nd electronic gear is disabled, PCON signal is
used to switch P/PI
[1] 2nd electronic gear is enabled, PCON signal is only
used as 2nd electronic gear when Pn005.1 is set to 1.
Pn002.0 Electronic gear switching mode
Pn002 Binary After restart ALL
[0] Corresponding time sequence

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode

Pn203
Pn201 Electronic gear numerator 2 Pn201
Electronic gear numerator 1 PCON enabled Electronic gear numerator 1
PCON disabled PCON disabled

Reference pulse
t1 t2

t1，t2>1ms

[1] Corresponding time sequence

Pn203
Electronic gear numerator 2 Pn201
Pn201
Electronic gear numerator 1 PCON enabled Electronic gear numerator 1
PCON disabled PCON disabled

Reference pulse
t1 t2

t1，t2>1ms

Time sequence when Pn002.0=0 or 1

Pn203
Pn201 Electronic gear numerator 2 Pn201
Electronic gear numerator 1 PCON enabled Electronic gear numerator 1
PCON disabled PCON disabled

Reference pulse
t1 t2 t3 t4

t1，t2，t3，t4>1ms

Error time sequence

Pn203
Pn201 Electronic gear numerator 2 Pn201
Electronic gear numerator 1 PCON enabled Electronic gear numerator 1
PCON disabled PCON disabled

Reference pulse
t1 t2

t1，t2>1ms

Pn002.1 Reserved
Pn002.2 Absolute encoder selection
[0] Use absolute encoder as an absolute encoder
[1] Use absolute encoder as an incremental encoder
Pn002.3 Reserved
Pn003.0 Reserved
Pn003.1 Reserved
Pn003.2 Low speed compensation
[0] Without low speed correction
[1] With low speed correction to avoid servomotor
creeping, but the degree of correction is
Pn003 Binary After restart ALL determined by the setting in Pn219.
Pn003.3 Overload enhancement
[0] Without overload enhancement function
[1] With overload enhancement function, which can
enhance the overload capacity when servomotor
exceeds the 2 times rated overload. It is used in
frequent power ON/OFF occasions.

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
Pn004.0 Stop Mode
[0] Stops the servomotor by applying DB and then
releases DB.
[1] Coast to a stop.
[2] Stops the servomotor by DB when servo OFF,
stops the servomotor by plug braking when overtravel,
then places it into coast (power OFF) mode.
[3] Makes the servomotor coast to a stop state when
servo OFF, stops the servomotor by plug braking
when overtravel, then places it into coast (power OFF)
mode.
[4] Stops the servomotor by DB when servo OFF,
stops the servomotor by plug braking when overtravel,
then places it into zero clamp mode.
Pn004.0 [5] Makes the servomotor coast to a stop state when
ALL servo OFF, stops the servomotor by plug braking
Pn004.1 when overtravel, then places it into zero clamp mode.
P Pn004.1 Error counter clear mode
Pn004 Hex After restart
Pn004.2 [0] Clear error pulse when S-OFF, do not when
P overtravel.
Pn004.3 [1] Do not clear error pulse.
P [2] Clear error pulse when S-OFF orovertravel
(excep for zero clamp)
Pn004.2 Reference pulse form
[0] Sign + Pulse
[1] CW+CCW CW + CCW
[2] A + B (×1)
[3] A + B (×2)
[4] A + B (×4)
Pn004.3 Inverses pulse
[0] Do not inverse PULS reference and SIGN reference.
[1] Do not inverse PULS reference; Inverses SIGN
reference.
[2] Inverse PULS reference;Do not inverse SIGN
reference.
[3] Inverse PULS reference and SIGN reference.
Pn005.0 Torque feedforward form
Pn005.0 [0]Use general torque feedforward, external
P, S analog(Tref) feedforward input is invalid.
Pn005.1 [1]Use general torque feedforward, external
Pn005 Hex After restart
ALL analog(Tref) feedforward input is valid.
Pn005.2 [2]Use high-speed torque feedforward, external
P analog(Tref) feedforward input is invalid.
[3]Use high-speed torque feedforward, external

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Parameter Setting Control

Description Function and Meaning
No. Validation Mode
Analog (Tref) feedforward input is valid.
Pn005.1 Control mode
[0]Speed control (analog reference)
PCON: OFF, PI control；ON, P control
[1]Position control (pulse train reference)
PCON: OFF, PI control；ON, P control
[2]Torque control (analog reference)
PCON is invalid.
[3]Speed control (contact reference)←→speed
Control (zero reference)
PCON, PCL, NCL: OFF Switches to speed
control(zero reference)
[4]Speed control (contact reference)←→speed
control(analog reference)
PCON, PCL, NCL: OFF Switches to speed control
(analog reference)
[5]Speed control (contact reference)←→position
control(pulse train reference)
PCON, PCL, NCL: OFF Switches to position
control(pulse train reference)
[6]Speed control (contact reference)←→torque
Control (analog reference)
PCON, PCL, NCL: OFF Switches to position
control (analog reference)
[7]Position control (pulse train reference)←→speed
Control (analog reference)
PCON: OFF position control (pulse train
reference)；ON speed control (analog reference)
[8]Position control (pulse train reference)←→Torque
Control (analog reference)
PCON: OFF position control (pulse train
reference)；ON torque control (analog reference)
[9]Torque control (analog reference)←→speed
Control (analog reference)
PCON: OFF Torque control (analog reference)；ON
Speed control (analog reference)
[A]Speed control (analog reference)←→zero clamp
Control
PCON: OFF Speed control (analog reference)；ON
zero clamp control
[B]Positin control (pulse train reference)←→position
control (INHIBIT)
PCON: OFF Position control (pulse train
reference)；ON position control (INHIBIT)

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Parameter Setting Control

Description Function and Meaning
No. Validation Mode
[C]Position control (contact reference)
PCON: Used to change step
PCL, NCL: Used to search reference point or start
[D]Speed control (parameter reference)
PCON invalid
Pn005.2 Out-of-tolerance alarm selection
[0] Out-of-tolerance alarm disabled
[1] Out-of-tolerance alarm enabled. Outputs alarm
when the value of error counter exceeds Pn504
setting value.
[2] Reserved
[3] Reserved
Pn005.3 Servomotor model selection
[0] EMJ
[1] EMG
[2] EML
[3] EMB
[4] Reserved
[5] Reserved
Pn006.0 Bus type selection
[0] No bus
[1] PROFIBUS-DP V0/V1
[2] PROFIBUS-DP V2
[3] CANopen
[4] EtherCAT
Pn006.1 Reserved
Pn006.2 Low-frequency vibration suppression
switch
[0] Low-frequency vibration suppression function
disabled
[1] Low-frequency vibration suppression function
Pn006 Hex After restart P, S
enabled
Pn006.3 Reference input filter for open collector
signal
[0] When pulse is difference input, the max value of
servo receiving pulse frequency ≤4M
[1] When pulse is difference input, the max value of
servo receiving pulse frequency ≤650K
[2] When pulse is difference input, the max value of
servo receiving pulse frequency≤150K
Notes: “the max value of servo receiving pulse
frequency” ,it means the sufficient max value of pulse
frequency receiving by servo hardware.

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
Pn007.0: Wider the width of C pulse or not
[0] Standard width of C pulse
[1] Wider the width of C pulse
Pn007.1: Reserved
Pn007 Binary After restart ALL
Pn007.2: Reserved
Pn007.3: Torque filter
[0] Standard torque filter
[1] New torque filter
Parameter ProNet-□□□MG: ProNet-□□□EG-EC:

Pn008.0 Reserved Alarm classification selection

Pn008 Hex After restart — Pn008.1 Reserved SON effective mode

Pn008.2 Reserved Reserved

Pn008.3 Reserved Reserved

Sub-Parameter ProNet-□□□MG: ProNet-□□□EG-EC:

Sensor type selection

Pn009.0 Reserved [0] PT1000

[1] KTY84

Pn009 Binary After restart P Pn009.1 Reserved

Electronic gear selection

Pn009.2 [0] 16 bit electronic gear

[1] 32 bit electronic gear

Pn009.3 Reserved

Pn010.0: Automatic identification function of motor

and enable
[0] Disable auto identity function
[1] Enable auto identity function (get the models of
Pn010 Hex After restart P, S, T servo drive, servo motor, encoder automatically, and
load the servo drive parameters, but not read the
motor parameters from Pn parameters.
Pn010.1: Reserved
Pn010.2: Reserved
Pn100.0 Load inertia setting
[0] Manual setting
[1,2,3] Normal mode
[4,5,6] Vertical load
[1,4] Load inertia without variation
[2,5] Load inertia with little variation
Online autotuning
Pn100 After restart P, S [3,6] Load inertia with great variation
setting selection
Pn100.1 Online autotuning setting
[0] Manual setting
[1] Standard
[2] Steadily
[3] High precision

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
Note:
Autotuning may be invalid in the following cases:
1.Autotuning is invalid when servomotor max.speed is
less than 100rpm.
2.Autotuning is invalid when servomotor acceleration
/deceleration speed is less than 5000rpm/s.
3.Autotuning is invalid when mechanical clearance is
too big during operation. 4.Autotuning is invalid when
the difference of different speed load is too great.
5. Autotuning is invalid when mechanical vibration and
friction are too big during operation.
The response speed of servo system is determined by
this parameter. Normally, the rigidity should be set a
Machine rigidity little larger. However, if it is too large, it would suffer
Pn101 Immediately P, S
setting mechanical impact. It should be set a little smaller
when large vibration is present. This parameter is only
valid in autotuning.
This parameter determines speed loop gain.
Pn102 Speed loop gain Immediately P, S
Unit: rad/s
Decreases the value of this parameter to shorten
Speed loop integral
Pn103 Immediately P, S positioning time and enhance speed response.
time constant
Unit: 0.1ms
This parameter determines position loop gain.
Decreases this value to enhance servo rigidity, but
Pn104 Position loop gain Immediately P
vibration will occur if the value is too large.
Unit: 1/s
Torque reference filter can eliminate or lighten
Torque reference
Pn105 Immediately P, S, T mechanical vibration, but incorrect setting will result to
filter time constant
mechanical vibration. Unit:0.01ms
Load inertia Setting value=(load inertia/rotor inertia) × 100
Pn106 Immediately P, S
ratio Unit: %
Pn107 2nd speed loop gain Immediately P, S
2nd speed loop
Pn108 Immediately P, S The meanings of these parameters are the same as
integral time constant
Pn102~Pn105.
2nd position loop
Pn109 Immediately P These parameters are only needed to set when the
gain
gain function are enabled.
2nd torque reference
Pn110 Immediately P, S, T
filter time constant
This parameter setting can shorten positioning time.
However, if it is too large or does not cooperate with
Pn111 Speed bias Immediately P Pn111 correctly, vibration will occur.
The relationship with speed reference, error counter,
positioning error is shown in the following chart.

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode

Speed reference

Pn111
Pn500

Error counter

Pn111
Pn500

It is used to set position feedforward. The response

speed is faster and position error is less when this
Pn112 Feedforward Immediately P parameter setting is higher. Vibration will occur if the
value is set too large.
Unit: %
It is used to ease mechanical vibration due to position
feedforward. The feedforward lag will be enlarged and
Pn113 Feedforward filter Immediately P
result to vibration if the value is set too large.
Unit: 0.1ms
It is used to set torque feedforward, and enhance
response speed.
Pn114 Torque feedforward Immediately P, S Set the load inertia ratio (Pn106) correctly to enable
this function in manual gain adjustment mode.
Unit: %
It is used to ease mechanical vibration due to torque
Torque feedforward
Pn115 Immediately P, S feedforward.
filter
Unit: 0.1ms
0: Torque reference percentage
1: Value of offset counter
P/PI switching
Pn116 After restart P, S 2: Value of acceleration speed setting
condition
3: Value of speed setting
4: Fixed PI
Torque switching Threshold of torque to switch PI control to P control.
Pn117 After restart P, S
threshold Unit: %
Threshold of error counter to switch PI control to P
Offset counter
Pn118 Immediately P control.
switching threshold
Unit: reference pulse
Setting acceleration Threshold of acceleration speed to switch PI control to
Pn119 speed switching Immediately P, S P control.
threshold Unit: 10rpm/s
Setting speed Threshold of speed to switch PI control to P control.
Pn120 Immediately P, S
switching threshold Unit: rpm
Pn121 Gain switching After restart P, S 0: Fix to 1st group gain

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
condition 1: External switch gain switching(G-SEL)
2: Torque percentage
3: Value of offset counter
4: Value of acceleration speed setting (10rpm)
5: Value of speed setting
6: Position reference input
7: actual motor speed
8: Position reference(Pn123) + actual speed (Pn124)
Pn122 Switching delay time Immediately P, S The required time for switching the gain. Unit:0.1ms
Pn123 Switch threshold level Immediately P, S Gain switching trigger level
Actual speed
Pn124 Immediately P, S When Pn121=8, Pn124 is valid. Unit: rpm
threshold
This parameter is used to smooth transition if the
Position gain
Pn125 Immediately P change of the two groups of gain is too
switching time
large.Unit:0.1ms
This parameter is used to set the operation hysteresis
Pn126 Hysteresis switching Immediately P, S
of gain switching.
This parameter is used to filter in low speed detection.
Low speed detection
Pn127 Immediately P, S The speed detection will be lagged if the value is too
filter
large. Unit:0.1ms
Speed gain
The increasing multiple of speed loop gain is the same
acceleration
Pn128 Immediately P, S rigidity during online autotuning. The speed loop gain
relationship during
is larger when this value is higher.
online autotuning
Low speed correction The intensity of anti-friction and anti-creeping at low
Pn129 Immediately P, S
coefficient speed. Vibration will occur if this value is set too large.
Pn130 Friction Load Immediately P, S Frictin load or fixed load compensation Unit: 0.1%
Friction
Pn131 compensation speed Immediately P, S Threshold of friction compensation start Unit: rpm
hysteresis area
Sticking damp which is in direct proportion to
Pn132 Sticking friction load Immediately P, S
speed.Unit: 0.1%/1000rpm
Notch filters 1 trap
Pn146 Immediately P, S, T Notch filters 1 trap width
width
Notch filters 2 trap
Pn147 Immediately P, S, T Notch filters 2 trap width
width
Analog encoder output orthogonal difference pulses.
The meaning of this value is the number of analog
Pn200 PG dividedratio After restart P, S, T
encoder output orthogonal difference pulses per one
servomotor rotation.
16 bit 1st electronic The parameters are valid,when Pn009.2=0.
Pn201 After restart P
gear numerator The electronic gear enables the reference pulse to
16 bit electronic gear relate with the servomotor travel distance, so the host
Pn202 After restart P
denominator controller doesn't change the mechanical deceleration

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
ratio and encoder pulses. In fact, it is the setting of
frequency doubling or frequency division to the
16 bit 2nd electronic
Pn203 After restart P reference pulses.
gear numerator
Numerator ( Pn201 or Pn203)
Deno min ator ( Pn202)
Position reference This value is used to smooth the input pulses. The
acceleration effect of smoothness is better when the value is
Pn204 Immediately P
/deceleration time higher, but lag will occur if the value is too large.
constant Unit:0.1ms
Position reference [0]: 1st order filter
Pn205 After restart P
filter form selection [1]: 2nd order filter
Reserved for
Pn206 — — —
manufacturer
Lock torque during The value limits the torque during homing operation,
Pn207 Immediately P
homing operation which is the percentage of rated torque.
lock time during The allowed time for the stalled during homing
Pn208 Immediately P
homing operation operation. Unit is 0.1ms
Pn209.0 Touch Probe Channel 1 input signal selection
[0] Set CN1_3 as channel 1 input signal
[1] Set CN1_4 as channel 1 input signal
Touch Probe input
[2] Use internal signals for testing
Pn209 channel signal After restart P
Pn209.1 Touch Probe Channel 2 input signal selection
selection
[0] Set CN1_3 as channel 2 input signal
[1] Set CN1_4 as channel 2 input signal
[2] Use internal signals for testing
Touch Probe input
Pn210 Immediately P The time for filtering the input signal. Unit is 0.01μs
signal filtering time
Speed reference The corresponding speed to 1V analog input
Pn300 Immediately S
input gain Unit: rpm/V
This parameter is used to set zero bias of analog
speed given, and it is related with the speed reference
input gain (Pn300).
Analog speed given
Pn301 Immediately S Speed reference=(External speed given input
zero bias
analog-Analog speed given zero bias) × Speed
reference input gain
Unit: 10mv
Pn302 Reserved — — —
Pn303 Reserved — — —
The parameter can be set to positive or negative.
When control mode is set to D, it determines the
speed of motor.
Pn304 Parameter speed Immediately S
The servomotor speed is determined by this
parameter when Pn005.1=D.
Unit: rpm

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
It is used to set JOG rotation speed, and the direction
is determined by the pressing key during JOG
Pn305 JOG speed Immediately S
operation.
Unit: rpm
Soft start acceleration The time for trapeziform acceleration to accelerate to 1000rpm.
Pn306 Immediately S
time Unit: ms
The time for trapeziform deceleration to decelerate to
Soft start
Pn307 Immediately S 1000rpm.
deceleration time
Unit: ms
Speed filter time 1st order filter time constant
Pn308 Immediately S
constant Unit: ms
The time for transition from one point to another point
S curve
Pn309 Immediately S in S curve.
risetime
Unit: ms
0:Slope
Speed reference
1:S curve
Pn310 curve form After restart S
2:1st order filter
3:2nd order filter
Pn311 S form selection After restart S This value determines the transition form of S curve.
Communication speed of bus JOG.
DP communication
Pn312 Immediately P, S, T It can be set to positive or negative.
JOG speed
Unit: rpm
Pn316 Speed internal 1 Immediately S Internal speed is enabled when Pn005.1=3~6
Pn317 Speed internal 2 Immediately S Input signal Operating speed
Pn318 Speed internal 3 Immediately S
/P-CON /P-CL /N-CL
Pn319 Speed internal 4 Immediately S
Pn320 Speed internal 5 Immediately S OFF(H) OFF(H) OFF(H) Zero speed or switch

Pn321 Speed internal 6 Immediately S to other control modes

OFF(H) ON(L) SPEED1

ON(L) OFF(H) SPEED2

ON(L) ON(L) SPEED3

Immediately
Pn322 Speed internal 7 S ON(L) OFF(H) OFF(H) SPEED4

OFF(H) ON(L) SPEED5

ON(L) OFF(H) SPEED6

ON(L) ON(L) SPEED7

Torque reference The meaning of this parameter is the needed analog
Pn400 Immediately T
gain input voltage to reach the rated torque.
Forward torque
Pn401 Immediately P, S, T
internal limit
Servomotor output torque limit value (depending on
Reverse torque
Pn402 Immediately P, S, T the actual overload capacity) .Unit:%
internal limit
Pn403 Forward external Immediately P, S, T

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
torque limit
Reverse external
Pn404 Immediately P, S, T
torque limit
Plug braking torque
Pn405 Immediately P, S, T
limit
Speed limit during Servomotor output torque limit value during torque
Pn406 Immediately T
torque control control Unit: rpm
Notch filter 1 Notch filter 1 frequency 1. In some conditions,
Pn407 Immediately P, S, T
frequency Unit:Hz vibration will be picked
Pn408 Notch filter 1 depth Immediately P, S, T Notch filter 1 depth up and response will be
Notch filter 2 Notch filter 2 frequency lagged after notch filter
Pn409 Immediately P, S, T
frequency Unit:Hz is set.
2. When notch filter
frequency is set to
Pn410 Notch filter 2 depth Immediately P, S, T Notch filter 2 depth
5000, the notch filter is
invalid.
Low frequency Frequency of low frequency vibration with load.
Pn411 Immediately P, S
vibration frequency Unit:0.1Hz
Low frequency
Pn412 Immediately P, S Attenuation damp of low frequency vibration with load.
vibration damp
Torque control delay
Pn413 Immediately T
time These parameters are only enabled in position control
Torque control speed mode.
Pn414 Immediately T
hysteresis
This parameter is used to set zero bias of analog
torque given, and it is related with torque reference
Analog torque given input gain (Pn400),
Pn415 Immediately T
zero bias Torque reference=(External torque given input
analog-Analog torque given zero bias) × Torque
reference input gain Unit:10mv
Pn416 Reserved — — —
Outputs /COIN signal when error counter is less than
Pn500 Positioning error Immediately P
this value.Unit:Puls
Outputs /VCMP signal when the difference between
Coincidence
Pn501 Immediately P speed reference value and speed feedback value is
difference
less than this value. Unit: rpm
The servomotor is locked when the speed
Pn502 Zero clamp speed Immediately S corresponding to the analog input is less than this
value. Unit: rpm
When the servomotor speed exceeds this parameter
Rotation detection setting value, it means that the servomotor has
Pn503 Immediately P, S, T
speed already rotated steadily and outputs /TGON signal.
Unit: rpm
Pn504 Offset counter Immediately P When the value in error counter exceeds this

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
overflow alarm parameter setting value, it means that error counter
alarm has occurred and outputs alarm an signal.
Unit:256Puls
These parameters are only enabled when the port

Servo ON waiting output parameters are allocated with /BK signal

Pn505 Immediately P, S, T output.
time
These parameters are used to keep braking (prevent
from gravity glissade or continuous outside force on
servomotor) time sequence.

Pn506 Basic waiting flow Immediately P, S, T Servo ON waiting time:

○
1 For the parameter is plus,/BK signal is output firstly
A E A

when servo-ON signal is input, and then servomotor

excitation signal is created after delaying the
parameter setting time.
Pn507 Brake waiting speed Immediately P, S, T ○
2 For the parameter is minus, servomotor excitation
A E A

signal is output firstly when servo-ON signal is input,

and then /BK signal is created after delaying the
parameter setting time.
Basic waiting flow:
Standard setting: /BK output (braking action) and
servo-OFF are at the same time.
Now, the machine movable part may shift slightly due
to gravity according to mechanical configuration and
character; it can be eliminated by using the
parameters when the servomotor is at stop or at a low

Pn508 Brake waiting time Immediately P, S, T speed.

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

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
Pn509.0 corresponding port CN1_14
Pn509.1 corresponding port CN1_15
Pn509.2 corresponding port CN1_16
Pn509.3 corresponding port CN1_17
Pn510.0 corresponding port CN1_39
Pn510.1 corresponding port CN1_40
Pn510.2 corresponding port CN1_41
Allocate input port to
Pn510.3 corresponding port CN1_42
Pn509 signal, one port with After restart P, S, T
Terminal PRI: CN1_14< CN1_15< CN1_16<
four bits(hex)
CN1_17< CN1_39< CN1_40< CN1_41< CN1_42
Corresponding signal of each data is shown as
following:
0: S-ON
1: P-CON
2: P-OT
3: N-OT
4: ALMRST
5: CLR
6: P-CL
7: N-CL
8: G-SEL
9: JDPOS-JOG+
A: JDPOS-JOG-
B: JDPOS-HALT
C: HmRef
D: SHOM
E: ORG
ProNet-□□□MG: ProNet-□□□EG-EC:
Pn509.0 → CN1_14 Pn509.0 → CN1_15
Allocate input port to
Pn509.1 → CN1_15 Pn509.1 → CN1_16
Pn510 signal, one port with After restart P, S, T Pn509.2 → CN1_17
Pn509.2 → CN1_16
four bits(hex) Pn509.3 → N1_18
Pn509.3 → CN1_17
Pn510.0 → CN1_19
Pn510.0 → CN1_39

Pn510.1 → CN1_40

Pn510.2 → CN1_41

Pn510.3 → CN1_42
In the case of ProNet-□□□MG, terminal PRI is CN1_14< CN1_15
CN1_17< CN1_39< CN1_40< CN1_41< CN1_42
In the case of ProNet-□□□EG-EC, terminal PRI is CN1_15< CN1
CN1_17< CN1_18< CN1_19
Corresponding signal of each data is shown as following:
0: S-ON
1: P-CON
2: P-OT
3: N-OT

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
4: ALMRST
5: CLR
6: P-CL
7: N-CL
8: G-SEL
9: JDPOS-JOG+
A: JDPOS-JOG-
B: JDPOS-HALT
C: HmRef
D: SHOM
E: ORG
F: ZCLAMP
ProNet-□□□MG: ProNet-□□□EG-EC:
Pn511.0 → CN1_11, CN1_12 Pn511.1 → CN1_11，CN1_14
Pn511.1 → CN1_05, CN1_06 Pn511.2 → CN1_13，CN1_14

Pn511.2 → CN1_09, CN1_10

Corresponding signal of each data is shown as
follows:
0: /COIN/VCMP
Output signal 1: /TGON
Pn511 After restart P, S, T
allocation 2: /S-RDY
3: /CLT
4: /BK
5: /PGC
6: OT
7: /RD
8: /HOME
9: /TCR
Bus communication input port enabled:
[0]: Disabled
Bus control input [1]: Enabled
Pn512 Immediately P, S, T
node low-bit enabled ProNet-□□□MG: ProNet-□□□EG-EC:
Pn512.0CN1_14 Pn512.0CN1_15
Pn512.1CN1_15 Pn512.1CN1_16

Pn512.2CN1_16 Pn512.2CN1_17
Pn512.3CN1_18
Pn512.3CN1_17
Pn513.0CN1_19
Bus control input Pn513.0CN1_39
Pn513 Immediately P, S, T
node low-bit enabled Pn513.1CN1_40

Pn513.2CN1_41

Pn513.3CN1_42
It is used to set input port filter time. The signal will be
Pn514 Input port filter Immediately P, S, T
lagged if the parameter setting is too high.Unit:0.2ms
It is used to set alarm port filter time, The signal will be
Pn515 Alarm port filter Immediately P, S, T
lagged if the parameter setting is too high.Unit:0.2ms

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
[0]: Do not inverse signal.
Input port signal [1]: Inverse signal
Pn516 inversion Immediately P, S, T ProNet-□□□MG: ProNet-□□□EG-EC:
Pn516.0CN1_14 inversion Pn516.0CN1_15 inversion
Pn516.1CN1_15 inversion Pn516.1CN1_16 inversion

Pn516.2CN1_16 inversion Pn516.2CN1_17 inversion

Pn516.3CN1_18 inversion
Pn516.3CN1_17 inversion
Input port signal Pn517.0CN1_19 inversion
Pn517.0CN1_39 inversion
Pn517 inversion Immediately P, S, T
Pn517.1CN1_40 inversion

Pn517.2CN1_41 inversion

Pn517.3CN1_42 inversion
Pn518 Dynamic brake time Immediately P, S, T Motor dynamic brake time Unit: ms
Serial encoder error In the range of this parameter, there will be no
Pn519 Immediately P, S, T
time warning of serial encoder error Unit: 0.1ms
Position complete
Pn520 Immediately P, S, T This parameter set position complete time Unit: 0.1ms
time
Pn521.0 If a regenerative resistor if connected
externally
0: connect externally regenerative resistor between B1
and B2
1: Dose not connect externally regenerative resistor,
Pn521 Binary After restart P,S,T relay on internal capacitance.
(This parameter is in effect only on ProNet-02/04/
ProNet-E-02/04)
Pn521.1 Reserved for manufacturer
Pn521.2 Reserved for manufacturer
Pn521.3 Reserved for manufacturer
Pn522 Reserved — — —
Pn523 Reserved — — —
Pn524 Reserved — — —
When load percentage is larger than overload alarm
threshold, A04 will occur soon.
Overload alarm
Pn525 Immediately P, S, T Pn525 is recommended to set below 120, otherwise
threshold
the servo drive and motor will be damaged.
Unit:%
Temperature When servomotor winding temperature exceeds
Pn526 threshold of motor Immediately P, S, T Pn526 setting, A19 will occur. Unit: ℃
overheat alarm (Only enabled in ProNet–75/1A/1E/2B))
[0]: Do not inverse signal.
[1]: Inverse signal

Immediately ProNet-□□□MG: ProNet-□□□EG-EC:

Pn528 Output signal inverse P, S, T
Pn528.0CN1_5,6 inversion Pn528.0CN1_11,14 inversion
Pn528.1CN1_7,8 inversion Pn528.1CN1_12,14 inversion
Pn528.2CN1_9,10 inversion Pn528.2CN1_13,14 inversion

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
Pn528.3CN1_11,12 inversion

Torque detection When motor torque output is higher than Pn529

setting value,/TCR is ON. When motor torque output is
Pn529 output signal Immediately P, S, T
lower than Pn529 setting value,/TCR is OFF.
threshold value
Unit: %
Torque detection
Pn530 After restart P, S, T Torque detection output signal time. Unit: ms
output signal time
Reserved for
Pn531 — — —
manufacturer
JPOS0 Position pulse The two parameters are used in combination, and the
Pn600 in point to point Immediately P algebraic sum of them is the position JPOS0 needs to
control reach. (The number of servomotor rotation revolutions
is related with the programme mode of point to point
JPOS0
control.)
Pn601 Position pulse in Immediately P
Pn600 Unit: 10000P
point to point control
Pn601 Unit: 1P
The meaning of other point to point control related
……
parameters are the same.
JPOS15 Position The two parameters are used in combination, and the
Pn630 pulse in point to point Immediately P algebraic sum of them is the position of JPOS0 needs
control to reach. (The number of servomotor rotation
revolutions is related with the programme mode of
JPOS15 Position
point to point control.)
Pn631 pulse in point to point Immediately P
Pn630 Unit: 10000P
control
Pn631 Unit: 1P
JPOS0 Point to point JPOS0 Point to point speed control
Pn632 Immediately P
speed control Unit: rpm
…… The speed of other point to point control
JPOS15 Point to The speed of JPOS15 point to point control
Pn647 Immediately P
point speed control Unit: rpm
JPOS0
1st order filter time of JPOS0 point to point control can
Pn648 Point to point Immediately P
stop or start the servomotor mildly.Unit: 0.1ms
1st order filter
…… 1st order filter of other point to point control.
JPOS15 Point to 1st order filter time of JPOS15 point to point control
Pn663 Immediately P
point 1st order filter can stop or start the servomotor mildly. Unit: 0.1ms
JPOS0 point to point JPOS0 point to point control stop time
Pn664 Immediately P
control stop time Unit: 50ms
…… Other point to point control stop time
JPOS15 point to
JPOS15 point to point control stop time
Pn679 point control stop Immediately P
Unit: 50ms
time
Pn680 Reserved — — —
Pn681 Hex Immediately P Pn681.0 Single/cyclic, start/reference point

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
selection
[0] Cyclic operation, PCL start signal, NCL search
reference point in forward direction.
[1] Single operation, PCL start signal, NCL search
reference point in forward direction.
[2] Cyclic operation, NCL start operation, PCL search
reference point in forward direction.
[3] Single operation, NCL start operation, PCL
search reference point in forward direction.
Pn681.1 Change step and start mode
[0] Delay to change step, no need of start signal, delay
to start after S-ON.
[1] PCON change step, no need of start signal, PCON
delay to start after S-ON, but inside pulse can not
stop when PCON off.
[2] Delay to change step, need start signal, canceling
start signal can immediately stop inside pulse.
Return to programmed start point process step when
reset.
[3] PCON change step, need start signal, canceling
start signal can immediately stop inside pulse. Return
to programmed start point process step when reset.
Pn681.2 Change step input signal mode
[0] Change step input signal electrical level mode
[1] Change step input signal pulse mode
Pn681.3 Reserved
[0]: Incremental programme
Pn682 Programme mode Immediately P
[1]: Absolute programme
Pn683 Programme start step Immediately P Select the start point of the point to point control
Pn684 Programme stop step Immediately P Select the stop point of the point to point control.
Search travel speed
in position
control (contact
reference);
Speed of finding Search the servomotor speed in the direction of
Pn685 Immediately P
reference point reference point towards travel switch.Unit: rpm
(Hitting the
origin signal ORG) in
position homing
control.
Leave travel switch
speed in position
control (contact
Search the servomotor speed when the reference
Pn686 reference); Immediately P
point leaves travel switch. Unit: rpm
Speed of finding
reference point
(Leaving the

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
origin signal ORG) in
position homing
control.
The two parameters are used in combination, and the
Position teaching
Pn687 Immediately P algebraic sum of them is the current position of
pulse
position teaching. When performing the position
teaching by utility function, the algebraic sum of the
Position teaching two parameters are given to the current position
Pn688 Immediately P
pulse Pn687 unit: 10000P
Pn688 unit: 1P
Pn689.0 Homing Mode
[0] Homing in the forward direction
[1] Homing in the reverse direction
Pn689.1 Search C-Pulse Mode
[0] Return to search C-Pulse when homing
Pn689 Homing Mode Setting After restart P
[1] Directly search C-Pulse when homing
Pn689.2 Homing trigger starting mode
[0] Homing function disabled
[1] Homing triggered by SHOM signal (rising edge)
Pn689.3 Reserved
Number of error
Pn690 Immediately P unit: 10000P
pulses during homing
Number of error
Pn691 Immediately P unit: 1P
pulses during homing
Pn700.0 MODBUS communication baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
Pn700.1 MODBUS protocol selection
[0] 7, N, 2 (MODBUS,ASCII)
[1] 7, E, 1 (MODBUS,ASCII)
[2] 7, O, 1 (MODBUS,ASCII)
[3] 8, N, 2 (MODBUS,ASCII)
Pn700 Hex After restart ALL
[4] 8, E, 1 (MODBUS,ASCII)
[5] 8, O, 1 (MODBUS,ASCII)
[6] 8, N, 2 (MODBUS,RTU)
[7] 8, E, 1 (MODBUS,RTU)
[8] 8, O, 1 (MODBUS,RTU)
Pn700.2 Communication protocol selection
[0] No protocol SCI communication
[1] MODBUS SCI communication
Pn700.3 Reserved
MODBUS axis
Pn701 After restart ALL Axis address of MODBUS protocol communication
address
Pn702 Reserved — — —
Pn703.0 CAN communication baud rate
Pn703 CAN communication After restart ALL
[0] 50Kbps

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 ProNet Plus Series AC Servo User's Manual

Parameter Setting Control

Description Function and Meaning
No. Validation Mode
speed [1] 100Kbps
[2] 125Kbps
[3] 250Kbps
[4] 500Kbps
[5] 1Mbps
CAN communication
Pn704 After restart ALL CANopen Aix address of communication
contact
Pn705 32 bit 1st electronic After restart ALL
gear numerator (H)
The parameters are valid,when Pn009.2=1.
Pn706 32 bit 1st electronic After restart ALL
The electronic gear enables the reference pulse to
gear numerator (L)
relate with the servomotor travel distance, so the host
Pn707 32 bit electronic gear After restart ALL
controller doesn't change the mechanical deceleration
denominator (H)
ratio and encoder pulses. In fact, it is the setting of

Pn708 32 bit electronic gear After restart ALL frequency doubling or frequency division to the

denominator (L) reference pulses.

Pn709 32 bit 2nd electronic After restart ALL Numerator(Pn 705 * 10000 + Pn 706 or Pn 709 * 10000 + Pn 710)
Deno min ator(Pn 707 * 10000 + Pn 708)
gear numerator (H)
Pn710 32 bit 2nd electronic After restart ALL
gear numerator (L)
Pn840.0 Encoder model selection
[0]-[8] Reserved for manufacturer
Pn840.1 Motor designing sequence
[0]-[1] Reserved for manufacturer
Pn840.2 Servo drive model selection
[E] 0.05kW servo drive
[F] 0.1kW servo drive
[0] 0.2kW servo drive
[1] 0.4kW servo drive
Pn840 Hex After restart ALL [2] 0.75kW servo drive
[3] 1.0 kW servo drive
[4] 1.5kW servo drive
[5] 2.0kW servo drive
[6] 3.0kW servo drive
[7] 5.0kW servo drive
[8] Reserved
[9] Reserved
[A] Reserved
[B] Reserved
Pn840.3 Reserved (For factory using)

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 ProNet Plus Series AC Servo User's Manual

Appendix B

Alarm Display
Alarm Alarm
Alarm Name Meaning
Display Output

A．01 ╳ Parameter breakdown The checksum results of parameters are abnormal.

A．02 ╳ AD shift channels breakdown AD related electrical circuit is faulty.

The servomotor speed is excessively high and the

A．03 ╳ Overspeed
servomotor is out of control.
The servomotor is operating continuously under a torque
A．04 ╳ Overload
largely exceeding ratings.

A．05 ╳ Position error counter overflow Internal counter overflow.

A．06 ╳ Position error pulse overflow Position error pulse exceeded parameter (Pn504).

The setting of electronic gear or

The setting of electronic gear is not reasonable or the
A．07 ╳ given pulse frequency is not
given pulse frequency is too high.
reasonable.
The 1st channel of current
A．08 ╳ Something wrong with the inside chip of the 1st channel.
detection is wrong.
The 2nd channel of current
A．09 ╳ Something wrong with the inside chip of the 2nd channel.
detection is wrong.

A．12 ╳ Overcurrent An overcurrent flowed through the IPM.

Main circuit voltage for servomotor rotation is excessively

A．13 ╳ Overvoltage
high.
Main circuit voltage for servomotor rotation is excessively
A．14 ╳ Undervoltage
low.

A．15 ╳ Bleeder resistor error Bleeder resistor is faulty.

A．16 ╳ Regeneration error Regenerative circuit error.

A．18 ╳ IGBT superheat alarm IGBT temperature is too high.

A．19 ╳ Motor overheat alarm Motor temperature is too high.

A．20 ╳ Power line phase shortage One phase does not bring into main circuit power supply.

A．21 ╳ Instantaneous power off alarm An power off for more than one period is occurred in AC.

Motor temperature detection sensor

A．22 ╳ Encoder cable is error.
is break off.

A．23 ╳ Brake overcurrent alarm Bleeder resistor is too small, or bleeder module is faulty.

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 ProNet Plus Series AC Servo User's Manual

Alarm Alarm
Alarm Name Meaning
Display Output
Mechanical stuck or motor power line U phase sequence is
A．25 ╳ Motor power line U over current
wrong.
Mechanical stuck or motor power line V phase sequence is
A．26 ╳ Motor power line V over current
wrong.
Mechanical stuck or motor power line W phase sequence
A．27 ╳ Motor power line V over current
is wrong.
Nikon encoder temperatur is too
A．28 ╳ Nikon Encode internal Temperature (unit: ℃)
high

A．41 ╳ Reserved Reserved

The parameter setting of servo drive does not match the

A．42 ╳ Servomotor type error
servomotor.
The parameter setting of servo drive does not match the
A．43 ╳ Servo drive type error
servomotor.

A．44 ╳ Reserved Reserved

Absolute encoder multiturn

A．45 ╳ Absolute encoder multiturn information is faulty.
information error
Absolute encoder multiturn
A．46 ╳ Absolute encoder multiturn information overflow.
information overflow

A．47 ╳ Battery voltage below 2.5V Absolute encoder multiturn information is lost.

A．48 ╳ Battery voltage below 3.1V Battery voltage is too low.

The position of the encoder was Not connect the battery, the battery voltage is low, or the
A．49 ╳
changed. encoder had been damaged.
Serial encoder communication Encoder disconnected; encoder signal disturbed; encoder
A．50 ╳
overtime error or encoder decoding circuit error.
Absolute encoder multiturn information may be faulty.
Error reasons:
1.The battery is not connected or the battery voltage is
Absolute encoder overspeed alarm
A．51 ╳ insufficient.
detected
2. The power supply to servo drive is not turned ON when
the battery voltage is normal, or the servomotor running
acceleration is too high due to external reason.
Absolute state of serial encoder
A．52 ╳ Encoder or the encoder decoding circuit is faulty.
error

A．53 ╳ Serial encoder calcaution error Encoder or the encoder decoding circuit is faulty.

Parity bit or end bit in serial encoder Encoder signal is disturbed or the encoder decoding circuit
A．54 ╳
control domain error is faulty.
Serial encoder communication data Encoder signal is disturbed or the encoder decoding circuit
A．55 ╳
checking error is faulty.
End bit in serial encoder control Encoder signal is disturbed or the encoder decoding circuit
A．56 ╳
domain error is faulty.

A．58 ╳ Serial encoder data empty The EEPROM data of serial encoder is empty.

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 ProNet Plus Series AC Servo User's Manual

Alarm Alarm
Alarm Name Meaning
Display Output

A．59 ╳ Serial encoder data format error The EEPROM data format of serial encoder is incorrect.

Interpolation given position was The interpolation given speed is greater than maximum
A．65 ╳
overflowed motor speed, and location of the cumulative is overflowed.
CAN communication is faulty because of abnormal
A．66 ╳ CAN communication abnormal
communication connection or disturbance.

A．67 ╳ Receiving heartbeat timeout The master station sends heartbeat time timeout.

The time interval for monitoring the synchronization frame

A．68 ╳ Synchronous frame was premature
is less than half of the set synchronization period.
Synchronization signal monitoring The filling time and the cycle of the synchronous signal
A．69 ╳
cycle is longer than setting does not match.
EtherCAT master set the period does not meet the
A．70 ╳ EtherCAT synchronization error
requirements or SYNC0 is not synchronized with the drive.

A．71 ╳ Internal error of ESC chip An error has occurred inside the communication chip.

CPU parallel port communication

A．80 ╳ CPU data line, address line or FRAM is faulty.
abnormal

A．81 ╳ Power line was disconnected The input signals U, V or W of motor was disconnected.

A．82 ╳ Torque output alarm The torque output of the motor exceeds the set value.

Pn parameter ferroelectric memory

A．98 ╳ Pn parameter storage operation was unsuccessful.
failed

A．00 〇 Not an error Normal operation status.

〇: Output transistor is ON. ╳: Output transistor is OFF.

A.45, A.46, A.47, A.48, A.51 only can be reset when the absolute encoder related alarm is cleared.
The multiturn data should be cleared because of the multiturn information is incorrect.

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