Estun ProNet-A5A-EC, ProNet-01A, ProNet-A5A, ProNet-01A-EC, ProNet-02A-EC User Manual

ProNet Plus Series AC Servo User's Manual

(Version: V1.05)

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

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About this manual

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

drives.

•Specification of the servo drives and servomotors.

•Procedures for installing the servo drives and servomotors.

•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.

ProNet Plus Series AC Servo User's Manual

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Safety Precautions

■ Do not connect the servomotor directly to the local electrical network.
Failure to observe this may result in damage to servomotor.

■ Do not plug or unplug connectors from servo drivewhen power is on.
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 100mΩ 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 turningon 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 turningoff the
control power supply.

ProNet Plus Series AC Servo User's Manual

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—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 .......................................................................................................................................... - 10 -

1.2 Part Names ................................................................................................................................ ..................... - 13 -

1.2.1 Servomotor .......................................................................................................................................... - 13 -

1.2.2 Servo drive .......................................................................................................................................... - 14 -

Chapter 2 ...................................................................................................................................................................... - 18 -

Installation ..................................................................................................................................................................... - 18 -

2.1 Servomotor ..................................................................................................................................................... - 18 -

2.1.1 Storage ................................................................................................................................................ - 18 -

2.1.2 Installation Sites .................................................................................................................................. - 18 -

2.1.3 Installation Alignment ........................................................................................................................... - 19 -

2.1.4 Installation Orientation ................................................................................................ ......................... - 19 -

2.1.5 Handling Oil and Water ........................................................................................................................ - 19 -

2.1.6 Cable Tension ...................................................................................................................................... - 20 -

2.1.7 Install to the Client ............................................................................................................................... - 20 -

2.2 Servo Drive ..................................................................................................................................................... - 20 -

2.2.1 Storage ................................................................................................................................................ - 20 -

2.2.2 Installation Sites .................................................................................................................................. - 20 -

2.2.3 Installation Orientation ................................................................................................ ......................... - 21 -

2.2.4 Installation Method .............................................................................................................................. - 21 -

Chapter 3 ...................................................................................................................................................................... - 23 -

Wiring ............................................................................................................................................................................ - 23 -

3.1 Main Circuit Wiring .......................................................................................................................................... - 23 -

3.1.1 Names and Functions of Main Circuit Terminals .................................................................................. - 23 -

3.1.2 Typical Main Circuit Wiring Examples .................................................................................................. - 24 -

3.2 I/O Signals ...................................................................................................................................................... - 26 -

3.2.1 Examples of I/O Signal Connections ................................................................................................... - 26 -

3.2.2 I/O Signal Names and Functions ......................................................................................................... - 27 -

3.2.3 I/O Signal Connector (CN1) Terminal Layout ...................................................................................... - 30 -

3.2.4 Interface Circuit ................................................................................................................................... - 31 -

3.3 Wiring Encoders .............................................................................................................................................. - 32 -

3.3.1 Connecting an Encoder(CN2) .............................................................................................................. - 32 -

3.3.2 Encoder Connector(CN2) Terminal Layout ......................................................................................... - 35 -

3.4 Communication Connection ............................................................................................................................ - 35 -

3.4.1 Communication Connector(CN3) Terminal Layout .............................................................................. - 35 -

3.4.2 Communication Connector(CN4) Terminal Layout .............................................................................. - 36 -

3.5 Standard Wiring Examples ............................................................................................................................. - 37 -

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3.5.1 Single-phase 200V ProNet-A5A～04A ................................................................................................ - 37 -

3.5.2 Three-phase 200V ProNet-08A～50A ................................................................................................. - 39 -

3.5.3 Three-phase 400V ProNet-10D～50D ................................................................................................. - 41 -

3.5.4 Position Control Mode ......................................................................................................................... - 43 -

3.5.5 Speed Control Mode ............................................................................................................................ - 44 -

3.5.6 Torque Control Mode ........................................................................................................................... - 45 -

3.6 Wiring for Noise Control .................................................................................................................................. - 46 -

3.6.1 Noise Control ....................................................................................................................................... - 46 -

3.6.2 Precautions on Connecting Noise Filter .............................................................................................. - 47 -

3.7 Installation Conditions of EMC Directives ....................................................................................................... - 49 -

3.8 Using More than One Servo Drive .................................................................................................................. - 51 -

Chapter 4 ...................................................................................................................................................................... - 53 -

Operation ...................................................................................................................................................................... - 53 -

4.1 Trial Operation ................................................................................................................................................ - 53 -

4.1.1 Trial Operation for Servomotor Without Load ...................................................................................... - 55 -

4.1.2 Trial Operation for Servomotor without Load from Host Reference ..................................................... - 57 -

4.1.3 Trial Operation with the Servomotor Connected to the Machine .......................................................... - 61 -

4.1.4 Trial Operation for Servomotor with Brakes ......................................................................................... - 62 -

4.1.5 Position Control by Host Controller ...................................................................................................... - 62 -

4.2 Control Mode Selection ................................................................................................................................... - 63 -

4.3 Setting Common Basic Functions ................................................................................................................... - 64 -

4.3.1 Setting the Servo ON Signal ................................................................................................................ - 64 -

4.3.2 Switching the Servomotor Rotation Direction ...................................................................................... - 65 -

4.3.3 Setting the Overtravel Limit Function ................................................................................................... - 66 -

4.3.4 Setting for Holding Brakes ................................................................................................................... - 68 -

4.3.5 Instantaneous Power Loss Settings .................................................................................................... - 72 -

4.4 Absolute Encoders .......................................................................................................................................... - 72 -

4.4.1 Selecting an Absolute Encoder ............................................................................................................ - 72 -

4.4.2 Handling Battery .................................................................................................................................. - 72 -

4.4.3 Replacing Battery ................................................................................................................................ - 73 -

4.4.4 Absolute Encoder Setup(Fn010, Fn011) .............................................................................................. - 74 -

4.5 Operating Using Speed Control with Analog Reference ................................................................................. - 74 -

4.5.1 Setting Parameters .............................................................................................................................. - 74 -

4.5.2 Setting Input Signals ............................................................................................................................ - 75 -

4.5.3 Adjusting Reference Offset .................................................................................................................. - 75 -

4.5.4 Soft Start.............................................................................................................................................. - 77 -

4.5.5 Speed Reference Filter Time Constant ................................................................................................ - 78 -

4.5.6 S-curve Risetime ................................................................................................................................. - 78 -

4.5.7 Using the Zero Clamp Function ........................................................................................................... - 79 -

4.5.8 Encoder Signal Output ........................................................................................................................ - 81 -

4.5.9 Speed coincidence output ................................................................................................................... - 82 -

4.6 Operating Using Position Control .................................................................................................................... - 83 -

4.6.1 Basic Setting in Position Control .......................................................................................................... - 83 -

4.6.2 Setting the Clear Signal ....................................................................................................................... - 86 -

4.6.3 Setting the Electronic Gear .................................................................................................................. - 87 -

4.6.4 Smoothing ........................................................................................................................................... - 90 -

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4.6.5 Low Frequency Vibration Suppression ................................................................................................ - 91 -

4.6.6 Positioning Completion Output Signal ................................................................................................. - 92 -

4.6.7 Reference Pulse Inhibit Function (INHIBIT) ......................................................................................... - 93 -

4.6.8Position Control (contact reference) ..................................................................................................... - 94 -

4.6.9 Position Homing Control (Homing Function)........................................................................................ - 97 -

4.7 Operating Using Torque Control .................................................................................................................... - 100 -

4.7.1 Setting Parameters ............................................................................................................................ - 100 -

4.7.2 Torque Reference Input ..................................................................................................................... - 101 -

4.7.3 Adjusting the Reference Offset .......................................................................................................... - 102 -

4.7.4 Limiting Servomotor Speed During Torque Control ........................................................................... - 103 -

4.8 Operating Using Speed Control with an Internally Set Speed ....................................................................... - 104 -

4.8.1 Setting Parameters ............................................................................................................................ - 104 -

4.8.2 Input Signal Settings .......................................................................................................................... - 105 -

4.8.3 Operating Using an Internally Set Speed .......................................................................................... - 105 -

4.9 Limiting Torque .............................................................................................................................................. - 106 -

4.9.1 Internal Torque Limit .......................................................................................................................... - 106 -

4.9.2 External Torque Limit ......................................................................................................................... - 107 -

4.9.3 Torque Limiting Using an Analog Voltage Reference ........................................................................ - 108 -

4.10 Control Mode Selection ............................................................................................................................... - 109 -

4.10.1 Setting Parameters .......................................................................................................................... - 109 -

4.10.2 Switching the Control Mode ............................................................................................................. - 109 -

4.11 Other Output Signals ................................................................................................................................... - 110 -

4.11.1 Servo alarm output........................................................................................................................... - 110 -

4.11.2 Rotation Detection Output Signal (/TGON) ...................................................................................... - 111 -

4.11.3 Servo Ready (/S-RDY) Output ......................................................................................................... - 111 -

4.11.4 Encoder C Pluse Output (/PGC) ...................................................................................................... - 111 -

4.11.5 Over travel signal output (OT) .......................................................................................................... - 112 -

4.11.6 Servo Enabled Motor Excitation Output(/RD) .................................................................................. - 112 -

4.11.7 Torque Limit Detection Output (/CLT) ............................................................................................... - 112 -

4.11.8 Torque Detection Output (/TCR) ...................................................................................................... - 113 -

4.12 Online Autotuning ........................................................................................................................................ - 114 -

4.12.1 Online Autotuning ............................................................................................................................ - 114 -

4.12.2Online Autotuning Procedure ............................................................................................................ - 114 -

4.12.3 Setting Online Autotuning ................................................................................................................ - 115 -

4.12.4 Load Rigidity Setting for Online Autotuning ..................................................................................... - 116 -

4.13 Inertia .......................................................................................................................................................... - 117 -

4.14 Updating Operation ..................................................................................................................................... - 117 -

Chapter 5 .................................................................................................................................................................... - 118 -

Panel Operator ............................................................................................................................................................ - 118 -

5.1 Basic Operation ............................................................................................................................................ - 118 -

5.1.1 Functions on Panel Operator ............................................................................................................. - 118 -

5.1.2 Resetting Servo Alarms ..................................................................................................................... - 118 -

5.1.3 Basic Mode Selection ........................................................................................................................ - 119 -

5.1.4 Status Display Mode .......................................................................................................................... - 119 -

5.1.5 Operation in Parameter Setting Mode ............................................................................................... - 121 -

5.1.6 Operation in Monitor Mode ................................................................................................................ - 121 -

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5.2 Operation in Utility Function Mode ................................................................................................................ - 123 -

5.2.1 Alarm Traceback Data Display ........................................................................................................... - 125 -

5.2.2 Parameter Settings Initialization ........................................................................................................ - 125 -

5.2.3 Operation in JOG Mode ..................................................................................................................... - 126 -

5.2.4 Automatic Adjustment of the Speed Reference Offset ....................................................................... - 126 -

5.2.5 Manual Adjustment of the Speed Reference Offset ........................................................................... - 128 -

5.2.6 Offset-adjustment of Servomotor Current Detection Signal ............................................................... - 129 -

5.2.7 Software Version Display ................................................................................................................... - 130 -

5.2.8 Position Teaching Function ................................................................................................................ - 130 -

5.2.9 Static Inertia Detection ...................................................................................................................... - 131 -

5.2.10 Absolute Encoder Multiturn Data and Alarm Reset .......................................................................... - 131 -

5.2.11 Absolute Encoder Related Alarms Reset ......................................................................................... - 131 -

Chapter 6 .................................................................................................................................................................... - 133 -

MODBUS Communication ........................................................................................................................................... - 133 -

6.1 RS-485 Communication Wiring ..................................................................................................................... - 133 -

6.2 MODBUS Communication Related Parameters ........................................................................................... - 134 -

6.3 MODBUS Communication Protocol ................................ ................................................................ .............. - 135 -

6.3.1 Code Meaning ................................................................................................................................... - 135 -

6.3.2 Communication Error Disposal .......................................................................................................... - 141 -

6.3.3 Data Communication Address of Servo State .................................................................................... - 142 -

Chapter 7 .................................................................................................................................................................... - 145 -

Specifications and Characters ..................................................................................................................................... - 145 -

7.1 Servo drive Specifications and Models ......................................................................................................... - 145 -

7.2 Servo drive Dimensional Drawings ................................................................................................ ............... - 148 -

7.3 Servo motor Specifications and Models ........................................................................................................ - 150 -

7.4 Servo Motor Dimensional Drawings .............................................................................................................. - 153 -

Appendix A .................................................................................................................................................................. - 158 -

Parameter ................................................................................................................................................................... - 158 -

A.1 Parameter List (ProNet-□□□MG) .............................................................................................................. - 158 -

A.2 Parameters in detail (ProNet-□□□MG) ..................................................................................................... - 165 -

A.3 Parameter List (ProNet-□□□EG-EC) ........................................................................................................ - 185 -

A.4 Parameters in detail (ProNet-□□□EG-EC) ................................................................ ................................ - 192 -

Appendix B .................................................................................................................................................................. - 211 -

Alarm Display .............................................................................................................................................................. - 211 -

ProNet Plus Series AC Servo User's Manual

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Chapter 1

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 20 bit incremental encoder: 1048576P/R

1

Without oil seal and brake

01

0.1 kW

S 17 bit absolute encoder: 131072P/R

2

With oil seal, Without brake

02

0.2kW

3

Without oil seal, With brake

04

0.4kW

【5】Designing Sequence

4

With oil seal and brake

08

0.75kW

Code

Spec.

10

1.0kW

A,B,D,H,M

Designing sequence

【3】Voltage

【6】Shaft End

Code

Spec.

Code

Spec.

A 200VAC

2

Straight with key and tap

Check Items

Comments

Are the delivered products theones that
were ordered?

Check the model numbers marked on the nameplate on the
servomotor and servo drive.

Is there any damage?

Check the overall appearance, and check for damage or scratches
that may have occurred during shipping.

Does the servomotor shaft rotatesmoothly?

If the servomotor shaft can be easily rotated by hand, then the motor
is working normally. However, if a brake is installed on the
servomotor, then it cannot be turned by hand.

Checking Products and Parts Names

1.1 Checking Products on Delivery

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

ProNet Plus Series AC Servo User's Manual

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EMG– 10 A F D 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 20 bit incremental encoder: 1048576P/R

1

Without oil seal and brake

15

1.5kW

S 17 bit absolute encoder: 131072P/R

2

With oil seal, Without brake

20

2.0kW

L 23 bit absolute encoder: 8388608 P/R

3

Without oil seal, With brake

30

3.0kW

【5】Designing Sequence

4

With oil seal and brake

50

5.0kW

Code

Code

A,B,D

Designing sequence

【3】Voltage

Code

Spec.

A

200VAC

【6】Shaft End

D

400VAC

Code

Spec.

2

Straight with key and tap

ProNet Plus Series AC Servo User's Manual

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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 20 bit incremental encoder: 1048576P/R

1

Without oil seal and brake

20

2.0kW

S 17 bit absolute encoder: 131072P/R

2

With oil seal, Without brake

30

3.0kW

L 23 bit absolute encoder: 8388608 P/R

3

Without oil seal, With brake

40

4.0kW

【5】Designing Sequence

4

With oil seal and brake

Code

Spec.

【3】Voltage

A,B,D

Designing sequence

Code

Spec.

A

200VAC

D

400VAC

【6】Shaft End

Code

Spec.

2

Straight with key and tap

ESTUN Servomotor

【1】

【2+3】

【4】

【5】

【6】

【7】

【8】

【9】

【10】

EM3 Model

【1】Servomotor Type

【2+3】Rated Output

【7】Shaft End

Code

Spec.

Code

Spec.

Code

Spec.

A

Low inertia，3000rpm

A5

0.05 kW

1 Without Key

01

0.1 kW

2 With Key

02

0.2 kW

【4】Voltage

04

0.4 kW

【8】Option Parts

Code

Spec.

08

0.75 kW

Code

Spec.

A

200VAC

10

1 kW 1

Without oil seal and brake

2

With oil seal, Without brake

【5】Encoder

3

Without oil seal, With brake

【6】Shaft End

Code

Spec.

4

With oil seal and brake

Code

Spec.

F

20 bit incremental encoder: 1048576P/R

A Designing Sequence A

L 23 bit absolute encoder: 8388608 P/R

【9】Plug

Code

Spec.

【10】Customized

1 Leadwire

Code

Spec.

2 Connector

None

Non-customized

EML– 10 A F A 2 4

EM3 A –02 A F A 2 4 1

ProNet Plus Series AC Servo User's Manual

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 Appearance and Nameplate

{

Serial number

Ratings

Servomotor model

Rated Output

Voltage

Control Mode

E Support extended bus function

Encoder Interface

ProNet Model

Extended module type

1.1.2 Servo drive

 ProNet Servo drive Model Designation

A5 0.05kW
01 0.1kW
02 0.2kW
04 0.4 kW
08 0.75 kW
10 1.0 kW
15 1.5 kW
20 2.0 kW
30 3.0 kW
50 5.0 kW

A200VAC
D400VAC

M Pulse analog,CANopen control

ProNet – 10 A E G -EC

-EC EtherCAT bus
None M control style

G 17/20/23 bit serial encoder

(Automatic identification)

ProNet Plus Series AC Servo User's Manual

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 ProNet Servo Drive Appearance

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

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

ProNet Plus Series AC Servo User's Manual

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

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

ProNet Plus Series AC Servo User's Manual

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 ProNet Servo Drive Nameplate

Servodrive model

Applicable power supply

Applicable servomotor capacity

Serial number

Encoder

Shell

Flange

Output shaft

Mounting hole

1.2 Part Names

1.2.1 Servomotor

Servomotor without gear and brake

ProNet Plus Series AC Servo User's Manual

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1.2.2 Servo drive

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.

Main circuit power supply terminals

Connecting terminal of DC reactor

Control power supply terminals

Regenerative resistor

connecting terminals

Ground terminal

Servomotor terminals

Connector for communication

I/O signal connector

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

Encoder connector

Connects to the encoder
in the servomotor.

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.

Main circuit power supply terminals

Connecting terminal of DC reactor

Connector for communication

I/O signal connector

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

Encoder connector

Connects to the encoder
in the servomotor.

Control power supply terminals

Regenerative resistor

connecting terminals

Servomotor terminals

Ground terminal

Connector for debugging

 ProNet-A5A/01A/02A/04A

 ProNet-A5A/01A/02A/04A-EC

ProNet Plus Series AC Servo User's Manual

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 ProNet-08A/10A

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.

Main circuit power supply terminals

Connecting terminal of DC reactor

Control power supply terminals

Regenerative resistor

connecting terminals

Ground terminal

Servomotor terminals

Power on indicator

Lights when the control
power supply is on.

Connector for communication

I/O signal connector

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

Encoder connector

Connects to the encoder
in the servomotor.

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.

Connecting terminal of DC reactor

Ground terminal

Power on indicator

Lights when the control
power supply is on.

Connector for communication

I/O signal connector

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

Encoder connector

Connects to the encoder
in the servomotor.

Servomotor terminals

Regenerative resistor

connecting terminals

Control power supply terminals

Main circuit power supply terminals

Connector for debugging

 ProNet-08A/10A-EC

ProNet Plus Series AC Servo User's Manual

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 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.

Main circuit power supply terminals

Connecting terminal of DC reactor

Control power supply terminals

Regenerative resistor

connecting terminals

Ground terminal

Servomotor terminals

Power on indicator

Lights when the control
power supply is on.

Connector for communication

I/O signal connector

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

Encoder connector

Connects to the encoder
in the servomotor.

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.

Main circuit power supply terminals

Connecting terminal of DC reactor

Control power supply terminals

Regenerative resistor

connecting terminals

Connector for communication

I/O signal connector

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

Encoder connector

Connects to the encoder
in the servomotor.

Power on indicator

Lights when the control
power supply is on.

Servomotor terminals

Ground terminal

Connector for debugging

 ProNet-15A/20A/10D/15D/20D-EC

ProNet Plus Series AC Servo User's Manual

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 ProNet-30A/50A/30D/50D

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.

Main circuit power supply terminals

Connecting terminal of DC reactor

Control power supply terminals

Regenerative resistor

connecting terminals

Ground terminal

Servomotor terminals

Power on indicator

Lights when the control
power supply is on.

Connector for communication

I/O signal connector

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

Encoder connector

Connects to the encoder in
the servomotor.

CN3

CN4

CN1

CN2

CHARGE

POWER

L1
L2
L3

L1C
L2C

B1
B2
B3

U
V
W

＋

－

1

＋

2

Power on indicator

Lights when the control
power supply is on.

Connector for communication

I/O signal connector

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

Encoder connector

Connects to the encoder
in the servomotor.

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.

Main circuit power supply terminals

Connecting terminal of DC reactor

Control power supply terminals

Regenerative resistor

connecting terminals

Servomotor terminals

Ground terminal

Connector for debugging

 ProNet-30A/50A/30D/50D-EC

ProNet Plus Series AC Servo User's Manual

- 18 -

Chapter 2

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

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.

2.1.1 Storage

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

ProNet Plus Series AC Servo User's Manual

- 19 -

2.1.3 Installation Alignment

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.

Through Shaft Section

Align the shaft of the servomotor with that of the machinery shaft to be controlled. Then connect the two shafts withan

elastic coupling.

Install the servomotor so that alignment accurancy falls within the range shown below.

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.)

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.

ProNet Plus Series AC Servo User's Manual

- 20 -

2.1.6 Cable Tension

I

n

s

t

a

l

l

a

t

i

o

n

o

r

i

e

n

t

a

t

i

o

n

Situation

Notes on installation

When installed in a control
panel

Design the control panel size, unit layout, and cooling method so that the temperature
around the periphery of the servo drive does not exceed 55℃.

When installed near a
heating unit

Suppress radiation heat from the heating unit and a temperature rise caused by
convection so that the temperature around the periphery of the servo drive does not
exceed 55℃.

When installed near a
source of vibration

Install a vibration isolator underneath the servo drive to prevent it from receiving vibration.

When installed in a location
subject to corrosive gases

Take appropriate action to prevent corrosive gases. Corrosive gases do not immediately
affect the servo drive, but will eventually cause contactor-related devices to malfunction.

Others

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

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.

ProNet Plus Series AC Servo User's Manual

- 21 -

2.2.3 Installation Orientation

Wall

Ventilation

Colling Fan

Colling Fan

Cooling Fan

Cooling Fan

30mm min

10mm min

50mm min

50mm min

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.

2.2.4 Installation Method

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

■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.

ProNet Plus Series AC Servo User's Manual

- 22 -

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

ProNet Plus Series AC Servo User's Manual

- 23 -

3.1 Main Circuit Wiring

！

CAUTION

·Do not bundle or run power and signal lines together in the same duct. Keep power andsignallines

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.

Terminal

Symbol

Name

Main Circuit

Voltage(V)

Servo Drive

Model

ProNet-

Functions

L1,L2,L3

Main circuit
power supply

input terminal

200

A5A-04A

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

200

08A-50A

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

400

10D-50D

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

FG

FG

200

A5A-04A

Normally not connected.

U,V,W

Servomotor
connection
terminals

－

－

Connect to the servomotor.

L1C,L2C

Control circuit
power supply

input terminal

200

A5A -50A

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

24V,GND

400

10D-50D

24VDC +10%～-10%

Ground terminals

－

－

Connects to the power supply ground terminals
and servomotor ground terminal.

B1,B2,B3

External
regenerative
resistor
connection
terminal

200

A5A -04A

Connect an external regenerative
resistor(provided by customer) between B1 and
B2.

200

08A-50A

If using an internal regenerative resistor, please
short B2 and B3. Remove the wire between B2

Please observe the following instructions while wiring the main circuit.

Chapter 3

Wiring

3.1.1 Names and Functions of Main Circuit Terminals

ProNet Plus Series AC Servo User's Manual

- 24 -

Terminal

Symbol

Name

Main Circuit

Voltage(V)

Servo Drive

Model

ProNet-

Functions

400

10D-50D

and B3 and connect an external regenerative
resistor(provided by customer) between B1 and
B2, if the capacity of the internal regenerative
resistor is insufficient.

○

+ 1,○+ 2

DC reactor for
harmonic

suppression
terminal

200

A5A-50A

Normally short○+ 1and○+ 2.
If a countermeasure against power supply

harmonic waves is needed, connect a DC reactor
between○+ 1and ○+ 2.

400

10D-50D

○

-

Main circuit
minus terminal

200

A5A-50A

Normally not connected.

400

10D-50D

L1 L2

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

+10%

-15%

Power OFF Power ON

1KM 1SUP

1KM

1Ry

L1

L2

W

V

U

M

PG

A(1)
B(2)
C(3)
D(4)

L2C

L1C

CN2

1Ry

1D

+24V

0V

1Ry

1PL (Servo Alarm Display)

ALM+

ALM-

ProNet

Series Servodrive

1
2

Ground Terminal

Encoder

Servodrive

Magnetic Contactor

Molded-case Circuit Breaker

Surge Protector

Noise Filter

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

B1
B2
B3

B1
B2
B3

External regenerator resistor

3.1.2 Typical Main Circuit Wiring Examples

 Single-phase 200V ProNet-A5A～04A

Note

1.The L1,L2,L3 and L1C,L2C terminals wiring method of ProNet-A5A～04Aservo 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.

ProNet Plus Series AC Servo User's Manual

- 25 -

 Three-phase200V ProNet-08A～50A

Noise Filter

L1 L2 L3

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

+10%

-15%

Power OFF Power ON

1KM 1SUP

1KM

1Ry

L1
L2
L3

W

V

U

M

PG

Servomotor

Encoder

A(1)
B(2)
C(3)
D(4)

L2C

L1C

CN2

1Ry

1D

+24V

0V

Surge Protector

Magnetic Contactor

Molded-case Circuit Breaker

1Ry

1PL (Servo Alarm Display)

ALM+

ALM-

Be sure to connect a surge suppressor to the

excitation coil of the magnetic contactor and relay..

ProNet

Series Servodrives

1
2

B1
B2
B3

B2

B1

External Regenerator Resistor

B3

Ground Terminal

Noise Filter

L1 L2 L3

Three-phase 380~440V (50/60Hz)

+10%

-15%

Power OFF Power ON

1KM 1SUP

1KM

1Ry

L1
L2
L3

W

V

U

M

PG

Servomotor

Encoder

A(1)
B(2)
C(3)
D(4)

CN2

1Ry

1D

+24V

0V

Surge Protector

Magnetic Contactor

Molded-case Circuit Breaker

1Ry

1PL (Servo Alarm Display)

ALM+
ALM-

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

ProNet

Series Servodrives

1
2

B1
B2
B3

B2

B1

External Regenerator Resistor

B3

Ground Terminal

GND

24V

24VDC Power Supply

 Three-phase 400V ProNet-10D～50D

ProNet Plus Series AC Servo User's Manual

- 26 -

3.2 I/O Signals

+

A/D

2KΩ

150Ω

150Ω

2KΩ

PULS / CW / A

SIGN / CCW / B

Connect Shield to Connector Shell

Open-Collector Reference

Use

Speed Reference(±0~10V/Rated Speed)

Torque Reference(±0~10V/Rated Torque)

Position Reference

Signal Allocations can be Modified:

S-ON: Servo ON
P-CON: Proportion Control
P-OT:Forward Run Prohibited
N-OT:Reverse Run Prohibited

ALM-RST: Alarm Reset

CLR: Clear Error Pulse
P-CL:Forward Torque Limit
N-CL:Reverse Torque Limit

SHOM: Home

ORG: Zero Position

+24V

P P P P

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

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

P

Represents Twisted-pair Wires

ALM: Servo Alarm Output
Photocoupler Output:

Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

-

-

+

ref

ref

40K

10K

40K

10K

1Ry

1D

+24V

0V

PAO+

20

PAO-21

PBO+

22

PBO-

23

PCO+24
PCO-

25

DGND

50

TGON+

5

TGON-

6

S-RDY+

9

S-RDY-

10

V-CMP+11
V-CMP-

12

ALM+7

ALM-

8

VREF+ 1
VREF-

2

TREF+

26

TREF- 27

PPI

34

PULS+

30

PULS-

31

SIGN+

32

SIGN-

33

DICOM

13

S-ON

14

P-CON

15

P-OT

16

N-OT 17

ALM-RST

39

CLR

40
P-CL 41
N-CL 42

Shield

3.3KΩ

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.

ProNet Plus Series AC Servo User's Manual

- 27 -

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

Allocable signals are as following:

S-ON: Servo ON
P-CON: P Control
P-OT: Forward Run Prohibited
N-OT: Reverse Run Prohibited
ALM-RST: Alarm Reset

ALM: Servo Alarm Output

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

TGON+11

COM2

14

S-RDY+

13

COM214

Allocable signals are as following:

COIN: Positioning Completion

TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

ALM+

12

COM2

14

1Ry

1D

+24V

0V

+24V

DICOM

20

S-ON

15

P-CON

16

P-OT 17

N-OT

18

ALM-RST

19

3.3KΩ

Connect Shield to Connector Shell.

Shield

Shell

P

Represents Twisted-pair Wires

EXT1

3

EXT2

4

Signals EXT1 and EXT2 are unable
to allocate, which shall be
connected to external signals.

Control Mode

Signal Name

Pin No.

Function

Speed

Position

Torque

/S-ON

14

Servo ON:Turns the servomotor on.

/P-CON

15

Function selected by parameter.

Proportional control
reference

Switches the speed control loop from PI
to P control when ON.

Direction reference

With the internally set speed
selection:Switch the rotation direction.

Control mode switching

Enables control mode switching.

Zero-clamp reference

Speed control with zero-clamp
function:Reference speed is zero when
ON.

Reference pulse block

Position control with reference
pulse:Stops reference pulse input when
ON.

P-OT
N-OT

16
17

Forward run prohibited
Reverse run prohibited

Overtravel prohibited: Stops
servomotor when OFF.

/PCL
/NCL

41
42

Function selected by parameter.

Forward external
torque limit ON
Reverse external
torque limit ON

Current limit function enabled when
ON.

Internal speed switching

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

3.2.2 I/O Signal Names and Functions

 Input Signals

The input signals description of ProNet-□□□MG servo drives is as shown in the following table.

ProNet Plus Series AC Servo User's Manual

- 28 -

Control Mode

Signal Name

Pin No.

Function

/ALM-RST

39

Alarm reset: Releases the servo alarm state.

DICOM

13

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

Speed

VREF+

1

Speed reference input: ±10V.

VREF-

2

Position

PULS+

30

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

PULS-

31

SIGN+

32

SIGN-

33

PPI

34

Power supply input for open collector reference (2KΩ/0.5W resistor is

built into the servo drive).

/CLR

40

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

SHOM

-

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

ORG

-

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

Torque
T-REF+

26

Torque reference input: ±10V.

T-REF-

27

Control Mode

Signal Name

Pin No.

Function

Speed

Position

Torque

/S-ON

15

Servo ON:Turns the servomotor on.

/P-CON

16

Function selected by parameter.

Proportional control
reference

Switches the speed control loop from PI
to P control when ON.

P-OT
N-OT

17
18

Forward run prohibited
Reverse run prohibited

Overtravel prohibited: Stops
servomotor when OFF.

/ALM-RST

19

Alarm reset: Releases the servo alarm state.

DICOM

20

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

Position

EXT1

3

Touch Probe input signals

EXT2

4

Control Mode

Signal Name

Pin No.

Function

Speed

Position

Torque

/TGON+

5

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

/TGON-

6

ALM+

7

Servo alarm:
Turns off when an error is detected.

ALM-

8

/S-RDY+

9

Servo ready:
ON if there is no servo alarm when the control/main circuit power

supply is turned ON.

/S-RDY-

10

PAO+

20

Phase-A signal

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

PAO-

21

PBO+

22

Phase-B signal

PBO-

23

PCO+

24

Phase-C signal

Zero-point pulse(Phase-C) signal

The input signals description ofProNet-□□□EG-EC servo drives is as shown in the following table.

 Output signals

The output signals description ofProNet-□□□MG servo drives is as shown in the following table.

ProNet Plus Series AC Servo User's Manual

- 29 -

Control Mode

Signal Name

Pin No.

Function

PCO-

25

FG

Shell

Connect frame to ground if the shield wire of the
I/O signal cable is connected to the connector shell.

Speed

/V-CMP+

11

Speed coincidence:
Detects whether the motor speed is within the setting range and

if it matches the reference speed value.

/V-CMP-

12

Position

/COIN+

11

Positioning completion:
Turns ON when the number of positional error pulses reaches

the value set. The setting is the number of positional error pulses
set in the reference units.

/COIN-

12

Reserved

/CLT

—

Reserved terminals:
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN)
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,
/PGC: C pulse output
OT: Over travel signal output
/RD: Servo enabled motor excitation output
/HOME: Home completion output

/BK

—

4,18,19,29,35

36,37,38,43
44,45,47,49

Not used.

Control Mode

Signal Name

Pin No.

Function

Speed

Position

Torque

/TGON+

11

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

/TGON-

14

ALM+

12

Servo alarm:
Turns off when an error is detected.

ALM-

14

/S-RDY+

13

Servo ready:
ON if there is no servo alarm when the control/main circuit power

supply is turned ON.

/S-RDY-

14

FG

Shell

Connect frame to ground if the shield wire of the
I/O signal cable is connected to the connector shell.

Reserved

/CLT

—

Reserved terminals:
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.
/BK:Brake interlock output
Releases the brake when ON,
OT: Over travel signal output
/RD: Servo enabled motor excitation output

/BK

—

1,2,5,6,7

8,9,10

Not used.

The output signals description of ProNet-□□□EG-EC servo drives is as shown in the following table.

ProNet Plus Series AC Servo User's Manual

- 30 -

No.

Name

Function

No.

Name

Function

1

VREF+

Speed reference input:±10V

26

T-REF+

Torque referenceinput:±10V

2

VREF-

27

T-REF-

3

DGND

DGND

28

DGND

DGND 4 —

Reserved

29

—

Reserved

5

/TGON+

Running signal output

30

PULS+

Reference pulse input

6

/TGON-

31

PULS-

7

ALM+

Servo alarm

32

SIGN+

Reference sign input

8

ALM-

33

SIGN-

9

/S-RDY+

Servo ready

34

PPI

Open collector reference
power supply

10

/S-RDY-

35

—

Reserved

11

/COIN+

Positioning completion

36

—

Reserved

12

/COIN-

37

—

Reserved

13

DICOM

I/O signal power supply 24V
DC

38

—

Reserved

14

/S-ON

Servo ON

39

/ALM-RST

Alarm reset

15

/P-CON

P/PI control input

40

/CLR

Position error pulseclear input

16

P-OT

Forward run prohibited

41

/PCL

Forward torque limitinput

17

N-OT

Reverse run prohibited

42

/NCL

Reverse torque limitinput

18

—

Reserved

43

—

Reserved

19

—

Reserved

44

—

Reserved

20

PAO+

PG dividing
pulse output
phase A

PG
dividing
pulse
output

45

—

Reserved

21

PAO-

46

DGND

DGND

22

PBO+

PG dividing
pulse output
phase B

47

—

Reserved

23

PBO-

48

DGND

DGND

24

PCO+

PG dividing
pulse output
phase C

Zero-point
pulse

49

—

Reserved

25

PCO-

50

DGND

DGND

No.

Name

Function

No.

Name

Function

1

—

Reserved

11

/TGON+

Running signal output

2

—

Reserved

12

ALM+

Servo alarm

3

EXT1

Touch Probe input signals

13

/S-RDY+

Servo ready

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

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.

The signals description in CN1 terminal of ProNet-□□□EG-EC servo drives is as shown in the following table.

ProNet Plus Series AC Servo User's Manual

- 31 -

No.

Name

Function

No.

Name

Function

7

—

Reserved

17

P-OT

Forward run prohibited

8

—

Reserved

18

N-OT

Reverse run prohibited

9

—

Reserved

19

/ALM-RST

Alarm reset

10

—

Reserved

20

DICOM

I/O signal power supply 24V
DC

10V

470Ω(1/2W)min.

1

2

3

2KΩ

V-REF

GND

About 40KΩ

0V

Servodrive

10V

470Ω(1/2W)min.

1

2

3

2KΩ

T-REF

GND

About 40KΩ

0V

Servodrive

Servodrive

3.3KΩ

+24VIN

/S-ON,etc.

DC24V

50mA min.

Servodrive

3.3KΩ

+24VIN

/S-ON,etc.

DC24V

50mA min.

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 40kΩimpedance, and the maximum allowable

voltages for input signals is ±10V.

Reference speed input Reference torque input

■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.

ProNet Plus Series AC Servo User's Manual

- 32 -

■Interface for Line Driver Output Circuit

Servo dirve

DC5V~24V

0V

Relay

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)

Absolute Encoders

ProNet Plus Series AC Servo User's Manual

- 33 -

Encoders

Servodrive

PG

K(1)

L(2)
T(3)
S(4)

PS

/PS
BAT+
BAT-

H(5)
G(6)

PAO

/PAO

20
21

P

P

P

*

*

PG5V
PG0V

Connector shell

Connector shell

shielded wires

P

Represents multi-core twisted pair shielded wires.

*

Phase-A

Output line driver
AM26LS31 manufactured
by TI or the equivalent.

CN1

CN2

7

8
17
18

9

19

FG

Applicable line­receiver SN75175
manufactured by TI
or the equivalent.

PBO
/PBO

22
23

P

Phase-B

PCO

/PCO

24
25

P

Phase-C

0V

DGND

0V

50

（Shell）

Note: The pin numbers for the connector wiring differ depending on the servomotors.

Host controller

J(7)

ProNet Plus Series AC Servo User's Manual

- 34 -

Incrementa Encoders

Encoders

Servodrive

PG

S+
S-

MA+

MA-

PAO

/PAO

20
21

P

P

P

*

*

PG5V
PG0V

Connector shell

Connector shell

shielded wires

P

Represents multi-core twisted pair shielded wires.

*

Phase-A

Output line driver
AM26LS31 manufactured
by TI or the equivalent.

CN1

CN2

7

8

5

6

9/10

19/20

FG

Applicable line­receiver SN75175
manufactured by TI
or the equivalent.

PBO
/PBO

22
23

P

Phase-B

PCO

/PCO

24
25

P

Phase-C

0V

DGND

0V

50

（Shell）

Note: The pin numbers for the connector wiring differ depending on the servomotors.

Host controller

K(1)(1)
L(2)(2)
N(5)(3)

P(6)(4)

H(8)(5)
G(7)(6)

J(10)(7)

ProNet Plus Series AC Servo User's Manual

- 35 -

3.3.2 Encoder Connector(CN2) Terminal Layout

Terminal No.

Name

Function

Terminal No.

Name

Function

7

PS

PG serial signal input

17

BAT+

Battery(+)

(For an absolute encoder)

8

/PS

PG serial signal input

18

BAT-

Battery(-)

(For an absolute encoder)

9

PG5V

PG power supply +5V

19

GND

PG power supply 0V

Terminal No.

Name

Function

Terminal No.

Name

Function

7

S+

PG serial signal input

5

MA+

PG serial clock output

8

S-

PG serial signal input

6

MA-

PG serial clock output

9/10

PG5V

PG power supply +5V

19/20

GND

PG power supply 0V

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

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

Absolute Encoder

Incremental Encoder

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.

Note:

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

2. If connecting more than 16 CAN nodes,please contact ESTUN customer service.

The signals description in CN3 terminal of ProNet-□□□EG-EC servo drives is as shown in the following table.

ProNet Plus Series AC Servo User's Manual

- 36 -

7

NC

Reserved

8

NC

Reserved

3.4.2 Communication Connector(CN4) Terminal Layout

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

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

The signals description in CN4 terminal of ProNet-□□□MG servo drives is as shown in the following table.

The signals description in CN4 terminal of ProNet-□□□EG-EC servo drives is as shown in the following table.

ProNet Plus Series AC Servo User's Manual

- 37 -

3.5 Standard Wiring Examples

Noise Filter

L1 L2

single-phase 200~230V (50/60Hz)

+10%

-15%

Power OFF Power ON

1KM 1SUP

1KM

1Ry

L1

L2
1
2

W

V

U

M

PG

Servomotor

Encoder

A(1)
B(2)
C(3)
D(4)

L2C

L1C

+

A/D

CN1

CN2

2KΩ

150Ω

150Ω

2KΩ

PULS / CW / A

SIGN / CCW / B

Connect Shield to Connector Shell.

ProNet

Series Servodrives

Open-collector Reference Use

Speed Reference(±0~10V/Rated Speed)

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

Position Reference

Signal allocatons can be modified:
S-ON: Servo ON
P-CON: P Control
P-OT: Forward Run Prohibited
N-OT: Reverse Run Prohibited

ALM-RST: Alarm Reset
CLR: Clear Error Pulse
P-CL: Forward Torque Limit
N-CL: Reverse Torque Limit
SHOM: Home
ORG: Zero Position

+24V

P P P P

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

P

Represents Twisted-pair Wires

-

-

+

ref

ref

40K

10K

40K

10K

CN3

CN4

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

1Ry

1D

+24V

0V

Surge Protector

Magnetic Contactor

Molded-case Circuit Breaker

1Ry

1PL (Servo Alarm Display)

1
2

485+3

ISO_GND

4

ISO_GND

5

485-6
CANH7
CANL

8

N.C.1

N.C.

2

485+3

ISO_GND

4

ISO_GND

5

485-6
CANH7
CANL

8

PAO+

20

PAO-21
PBO+22

PBO-

23

PCO+

24

PCO-25

DGND

50

TGON+

5

TGON-

6

S-RDY+

9

S-RDY-

10

V-CMP+

11

V-CMP-12

ALM+7

ALM-

8

VREF+ 1

VREF-

2

TREF+

26

TREF- 27

PPI 34

PULS+

30

PULS-

31

SIGN+

32

SIGN-

33

DICOM

13

S-ON 14

P-CON

15

P-OT

16

N-OT

17

ALM-RST 39

CLR

40
P-CL 41
N-CL 42

Shield

Shell

S+7
S-

8

BAT+

17

BAT-

18

PG5V

9

PG0V

19

Shield

Serial Encoder

Shell

Shield

Shell

Shield

Shell

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

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

Be sure to ground

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

ALM: Servo Alarm Output

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

3.3KΩ

N.C.
N.C.

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

B1
B2
B3

B1
B2
B3

External Regenerator Resistor

3.5.1 Single-phase200VProNet-A5A～04A

The standard wiring example of ProNet-□□□MG servo drives is as shown in the following figure.

ProNet Plus Series AC Servo User's Manual

- 38 -

The standard wiring example of ProNet-□□□EG-EC servo drives is as shown in the following figure.

Noise Filter

L1 L2

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

+10%

-15%

Power OFF

Power ON

1KM 1SUP

1KM

1Ry

L1
L2
FG

1
2

W

V

U

M

PG

Servomotor

Encoder

A(1)
B(2)
C(3)
D(4)

L2C

L1C

CN2

ProNet

Serial Servo Drives

Surge Protector

Magnetic Contactor

Molded-case Circuit Breaker

1Ry

1PL (Servo Alarm Display)

S+7

S-

8

BAT+17

BAT-

18

PG5V

9

PG0V

19

Shield

Serial Encoder

B2

B1

B3

Shell

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

Be sure to prepare the end of the

shielded wire properly.

Be sure to ground

B1

B2

B3

External Regenerator Resistor

ALM: Servo Alarm Output

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

TGON+11

COM2

14

S-RDY+

13

COM214

Allocable signals are as following:
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready

CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

ALM+

12

COM214

1Ry

1D

+24V

0V

CN1

Connect Shield to Connector Shell.

Shield

Shell

CN3

CN4

RJ45 Socket

1
2

RD+

3

N.C.4
N.C.

5

RD-

6

N.C.7
N.C.

8

1
2

3

4
5
6
7
8

Shield

Shell

Shield

Shell

TD+

TD-

RD+
N.C.
N.C.

RD­N.C.
N.C.

TD+
TD-

5V

1

D- 2

D+

3

ID 4

GND

5

CN5

P

Represents Twisted-pair Wires

Allocable signals are as following:
S-ON: Servo ON
P-CON: P Control
P-OT: Forward Run Prohibited
N-OT: Reverse Run Prohibited
ALM-RST: Alarm Reset

+24V

DICOM

20

S-ON

15

P-CON

16
P-OT 17
N-OT

18

ALM-RST

19

3.3KΩ

EXT1

3

EXT2

4

Signals EXT1 and EXT2 are unable
to allocate, which shall be
connected to external signals.

Note

1.The main circuit power supply of ProNet-A5A～04Ais Single-phase 200V.

2.External regenerative resistor for ProNet-A5A～04Ais provided by customer, the model of 60W, 50Ωresistor is
recommended.

3.Change Pn521.0 from “1” to “0” when using the external regenerative resistor in ProNet- A5A～04A servo drives.

ProNet Plus Series AC Servo User's Manual

- 39 -

3.5.2 Three-phase 200V ProNet-08A～50A

Noise Filter

L1 L2 L3

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

+10%

-15%

Power OFF Power ON

1KM 1SUP

1KM

1Ry

L1
L2
L3
1
2

W

V

U

M

PG

Servomotor

Encoder

A(1)
B(2)
C(3)
D(4)

L2C

L1C

B1
B2
B3

+

A/D

CN1

CN2

2KΩ

150Ω

150Ω

2KΩ

PULS / CW / A

SIGN / CCW / B

Connect Shield to Connector Shell.

ProNet

Series Servodrives

Open-collector Reference Use

Speed Reference(±0~10V/Rated Speed)

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

Position Reference

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

+24V

P P P P

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

P

Represents Twisted-pair Wires

-

-

+

ref

ref

40K

10K

40K

10K

CN3

CN4

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

1Ry

1D

+24V

0V

Surge Protector

Magnetic Contactor

Molded-case Circuit Breaker

1Ry

1PL (Servo Alarm Display)

1
2

485+3

ISO_GND

4

ISO_GND

5

485-6
CANH7
CANL

8

N.C.1

N.C.2

485+3

ISO_GND

4

ISO_GND

5

485-6
CANH7
CANL

8

PAO+20

PAO-21

PBO+22

PBO-

23

PCO+24

PCO-

25

DGND

50

TGON+

5

TGON-

6

S-RDY+

9

S-RDY-

10

V-CMP+11

V-CMP-12

ALM+7
ALM-

8

VREF+ 1
VREF-

2

TREF+

26

TREF- 27

PPI

34

PULS+ 30
PULS-

31

SIGN+

32

SIGN-

33

DICOM 13

S-ON 14

P-CON

15

P-OT

16

N-OT 17

ALM-RST

39

CLR

40

P-CL

41

N-CL

42

Shield

Shell

S+7

S-8
BAT+17
BAT-

18

PG5V

9

PG0V

19

Shield

Serial Encoder

B2

B1

External Regenerator Resisotr

B3

Shell

Shield

Shell

Shield

Shell

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

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

Be sure to ground

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

ALM: Servo Alarm Output

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

3.3KΩ

N.C.
N.C.

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

The standard wiring example of ProNet-□□□MG servo drives is as shown in the following figure.

ProNet Plus Series AC Servo User's Manual

- 40 -

The standard wiring example of ProNet-□□□EG-EC servo drives is as shown in the following figure.

Noise Filter

L1 L2 L3

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

+10%

-15%

Power OFF Power ON

1KM 1SUP

1KM

1Ry

L1
L2
L3
1
2

W

V

U

M

PG

Servomotor

Encoder

A(1)
B(2)
C(3)

D(4)

L2C

L1C

B1
B2
B3

CN2

ProNet

Serials Servo Drives

Surge Protector

Magnetic Contactor

Molded-case Circuit Breaker

1Ry

1PL (Servo Alarm Display)

S+7
S-

8

BAT+17

BAT-

18

PG5V9

PG0V

19

Shield

Serial Encoder

B2

B1

External Regenerator Resistor

B3

Shell

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

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

Be sure to ground

CN3

CN4

RJ45 Socket

1
2

RD+

3

N.C.4

N.C.

5

RD-

6

N.C.7

N.C.8

1
2
3
4
5
6
7
8

Shield

Shell

Shield

Shell

ALM: Servo Alarm Output

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

TD+

TD-

RD+

N.C.

N.C.

RD-

N.C.

N.C.

TD+

TD-

TGON+11

COM214

S-RDY+

13

COM214

Allocable signals are as following:
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

ALM+12
COM214

1Ry

1D

+24V

0V

CN1

P

Represents Twisted-pair Wires

Connect Shield to Connector Shell.

Shield

Shell

5V

1
D- 2
D+

3

ID 4

GND

5

CN5

Allocable signals are as following:
S-ON: Servo ON
P-CON: P Control
P-OT: Forward Run Prohibited
N-OT: Reverse Run Prohibited
ALM-RST: Alarm Reset

+24V

DICOM

20

S-ON

15

P-CON

16
P-OT 17
N-OT

18

ALM-RST

19

3.3KΩ

EXT1

3

EXT2 4

Signals EXT1 and EXT2 are unable
to allocate, which shall be
connected to external signals.

ProNet Plus Series AC Servo User's Manual

- 41 -

3.5.3 Three-phase 400V ProNet-10D～50D

Noise Filter

L1 L2 L3

Three-phase 380~440V (50/60Hz)

+10%

-15%

Power OFF Power ON

1KM 1SUP

1KM

1Ry

L1
L2
L3
1
2

W

V

U

M

PG

Servomotor

Encoder

A(1)
B(2)
C(3)
D(4)

B1
B2
B3

+

A/D

CN1

CN2

2KΩ

150Ω

150Ω

2KΩ

PULS / CW / A

SIGN / CCW / B

Connect Shield to Connector Shell.

ProNet

Series Servodrives

Open-collector Reference Use

Speed Reference(±0~10V/Rated Speed)

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

Position Reference

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

+24V

P P P P

PG Divided Ratio Output:

Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.

P

Represents Twisted-pair Wires

-

-

+

ref

ref

40K

10K

40K

10K

CN3

CN4

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

1Ry

1D

+24V

0V

Surge Protector

Magnetic Contactor

Molded-case Circuit Breaker

1Ry

1PL (Servo Alarm Display)

1
2

485+3

ISO_GND

4

ISO_GND

5

485-6

CANH7

CANL

8

N.C.1
N.C.

2

485+3

ISO_GND

4

ISO_GND

5

485-6

CANH7

CANL

8

PAO+

20

PAO-21

PBO+22

PBO-

23

PCO+

24

PCO-25

DGND

50

TGON+

5

TGON-

6

S-RDY+

9

S-RDY-

10

V-CMP+

11

V-CMP-12

ALM+7

ALM-

8

VREF+ 1

VREF-

2

TREF+

26

TREF- 27

PPI 34

PULS+

30

PULS-

31

SIGN+

32

SIGN-

33

DICOM

13

S-ON 14

P-CON

15

P-OT

16

N-OT

17

ALM-RST 39

CLR

40
P-CL 41
N-CL 42

Shield

Shell

S+7
S-

8

BAT+

17

BAT-

18

PG5V

9

PG0V

19

Shield

Serial Encoder

B2

B1

External Regenerator Resisotr

B3

Shell

Shield

Shell

Shield

Shell

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

Be sure to prepare the end of the

shielded wire properly.

Be sure to ground

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

ALM: Servo Alarm Output

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

3.3KΩ

N.C.
N.C.

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

GND

24V

24VDC Power Supply

The standard wiring example of ProNet-□□□MG servo drives is as shown in the following figure.

ProNet Plus Series AC Servo User's Manual

- 42 -

The standard wiring example of ProNet-□□□EG-EC servo drives is as shown in the following figure.

Noise Filter

L1 L2 L3

Three-phase 380~440V (50/60Hz)

+10%

-15%

Power OFF Power ON

1KM 1SUP

1KM

1Ry

L1
L2
L3
1
2

W

V

U

M

PG

Servomotor

Encoder

A(1)
B(2)
C(3)
D(4)

GND

24V

B1
B2
B3

CN2

ProNet

Serials Servo Drives

Surge Protector

Magnetic Contactor

Molded-case Circuit Breaker

1Ry

1PL (Servo Alarm Display)

S+7
S-

8

BAT+17

BAT-18

PG5V

9

PG0V

19

Shield

Serial Encoder

B2

B1

External Regenerator Resistor

B3

Shell

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

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

Be sure to ground

24V DC Power Supply

CN3

CN4

RJ45 Socket

1
2

RD+3
N.C.4
N.C.

5

RD-

6

N.C.7
N.C.

8

1
2
3
4
5
6
7
8

Shield

Shell

Shield

Shell

ALM: Servo Alarm Output

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

TD+
TD-

RD+
N.C.
N.C.

RD­N.C.
N.C.

TD+
TD-

TGON+11

COM214

S-RDY+

13

COM214

Allocable signals are as following:
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock
PGC: Encoder C-Pulse Output
OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

ALM+

12

COM214

1Ry

1D

+24V

0V

CN1

Connect Shield to Connector Shell.

Shield

Shell

5V

1

D- 2

D+

3

ID 4

GND

5

CN5

Allocable signals are as following:
S-ON: Servo ON
P-CON: P Control
P-OT: Forward Run Prohibited
N-OT: Reverse Run Prohibited
ALM-RST: Alarm Reset

+24V

DICOM

20

S-ON

15

P-CON

16

P-OT

17

N-OT

18

ALM-RST

19

3.3KΩ

EXT1

3

EXT2 4

Signals EXT1 and EXT2 are unable

to allocate, which shall be

connected to external signals.

P

Represents Twisted-pair Wires

ProNet Plus Series AC Servo User's Manual

- 43 -

3.5.4 Position Control Mode

2KΩ

150Ω

150Ω

2KΩ

PULS / CW / A

SIGN / CCW / B

+24V

P P

P

1Ry

1D

+24V

0V

PAO+20

PAO-21

PBO+22

PBO-

23

PCO+24

PCO-25

DGND50

TGON+5

TGON-6

S-RDY+

9

S-RDY-

10

COIN+11

COIN-12

ALM+7
ALM-

8

PPI 34

PULS+ 30

PULS-

31

SIGN+

32

SIGN- 33

DICOM

13

S-ON 14

P-CON 15

P-OT 16
N-OT

17

ALM-RST

39

CLR

40
P-CL 41
N-CL 42

Shield

ProNet

Series Servodrives

Open-collector Reference Use

Position Reference

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

SHOM: Home
ORG: Zero Position

Shell

Connect Shield to Connector Shell.

Represents Twisted-pair Wires

ALM: Servo Alarm Output

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

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

PG Divided Ratio Output:

Applicable Line Receiver
AM26LS32A Manufactured by TI or the Equivalent.

3.3KΩ

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

ProNet Plus Series AC Servo User's Manual

- 44 -

3.5.5 Speed Control Mode

+

A/D

+24V

P

P

-

ref

40K

10K

40K

10K

1Ry

1D

+24V

0V

PAO+

20

PAO-21

PBO+22

PBO-

23

PCO+24

PCO-

25

DGND

50

TGON+

5

TGON-

6

S-RDY+

9

S-RDY-

10

V-CMP+

11

V-CMP-

12

ALM+7

ALM-

8

VREF+

1

VREF-

2

DICOM

13

S-ON

14

P-CON

15

P-OT

16

N-OT

17

ALM-RST

39

CLR

40

P-CL

41

N-CL

42

Shield

ALM: Servo Alarm Output
Photocoupler Output:

Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

Represents Twisted-pair Wires

Shell

Connect Shield to Connector Shell.

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

SHOM: Home
ORG: Zero Position

Signal Allocations can be Modified:
V-CMP: Speed Coincidence
COIN: Positioning Completion
TGON:Rotation Detection
S-RDY:Servo Ready
CLT:Torque Limit Detection
BK:Brake Interlock

PGC: Encoder C-Pulse Output

OT:Over Travel
RD: Servo Enabled Motor Excitation Output
HOME: Home Completion Output

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

ProNet

Series Servodrives

Speed Reference(±0~10V/Rated Speed)

3.3KΩ

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

ProNet Plus Series AC Servo User's Manual

- 45 -

3.5.6 Torque Control Mode

A/D

+24V

P

P

-

+

ref

1Ry

1D

+24V

0V

PAO+

20

PAO-21

PBO+

22

PBO-

23

PCO+24

PCO-

25

DGND50

TGON+

5

TGON-6

S-RDY+

9

S-RDY-

10

V-CMP+11
V-CMP-

12

ALM+7

ALM-8

TREF+ 26

TREF- 27

DICOM 13

S-ON 14

P-CON

15

P-OT

16

N-OT 17

ALM-RST 39

CLR

40
P-CL 41
N-CL 42

Shield

ProNet

Series Servodrives

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

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

SHOM: Home
ORG: Zero Position

Connect Shield to Connector Shell.

Represents Twisted-pair Wires

Shell

ALM: Servo Alarm Output
Photocoupler Output:

Maximum Operating Voltage:DC30V
Maximum Output Current:DC50mA

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

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

3.3KΩ

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

ProNet Plus Series AC Servo User's Manual

- 46 -

3.6 Wiring for Noise Control

AC 200V
AC 400V

Servo Drive

PG

Noise filter

*3

2

*1

Operation relay sequence

Signal generation circuit

*3

*2

Noise
filter

DC
power

*1

(ground plate)

Wires of

*1

Ground: Ground to an independent ground

L1
L2
L3





CN1

CN2

M
(FG)

Servomotor

(ground plate)

(ground
plate)

(ground plate)

(ground plate)

3.5mm min.

2

3.5mm min.

2

3.5mm min.

2

3.5mm min.

2

2mm min.

3.6.1 Noise Control

The servodrive uses high-speed switching elements in the main circuit. It may receive "switching noise"from these
high-speed switching elements.
To prevent malfunction due to noise, take the following actions:

• 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 supplyline. 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:

•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.

ProNet Plus Series AC Servo User's Manual

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(2) Correct Grounding

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

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 servodrive 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:

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:

ProNet Plus Series AC Servo User's Manual

- 48 -

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

x

Noise
Filter

Ground plate

Separate these circuits

Noise
Filter

Noise
Filter

Noise
Filter

Ground plate

Ground plate

Ground plate

X

Noise
Filter

Ground plate

Noise
Filter

Ground plate

(2) Precautions on Using Noise Filters

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

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

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

ProNet Plus Series AC Servo User's Manual

- 49 -

Noise
Filter

ground plate

Shielded
ground wire

servodrive

stub

x

Noise
Filter

servodrive

servodrive servodrive

ground plate

Control Panel

Servodrive

Servodrive

Ground plate

Ground

Noise
Filter

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

3.7 Installation Conditions of EMC Directives

To adapt a combination of a servomotor and a servodrive to EMC Directives (EN61326-1:2006), the following conditions
must be satisfied.
(1) EMC Installation Conditions
This section describes the installation conditions that satisfy EMC guidelines for each 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.

ProNet Plus Series AC Servo User's Manual

- 50 -

Aprox.2m

Noise

filter

1

4

2

3

Clamp

Core

Core

Core

Core

Core

Core

Core

Aprox.5m

Host controller

Clamp

Clamp

Brake

Servo­motor

Encoder

Servo Drive

PE

PE

U,V,W

Brake power

supply

L1C,L2C

L1,L2,L3

CN2

CN1

Power Supply
Three-phase 200VAC
Three-phase 400VAC

Ground/Shield Box

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

Cable

Ferrite core

Cable Name

Ferrite Core Model

Manufacturer

I/O signals cable

ESD-SR-25

TOKIN

Encoder cable

Motor

cable

400W or less

750W or less

PC40T96 × 20 × 70

TDK

Cable Name

Mounting Position of the Core

I/O signals cable

Near the host controller and servodrive.

Motor cable

Near the servodrive and servomotor.

Encoder cable

Near the servodrive and servomotor.

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.

(b) Recommended Ferrite-core

ProNet Plus Series AC Servo User's Manual

- 51 -

(c) Fixing the Cable

Host controller side

Ground plate

Cable

Cable clamp

Shield(cable sheath stripped)

Fix and ground the cable shield
using a piece of conductive metal.

Remove paint on mounting surface

Note：

Please arrange the system according to the above methods. For electromagnetic interference caused by

customers not using recommended arrangement,ESTUN will not bear the legal responsibility.

Fix and ground the cable shield using a piece of conductive metal.

• Example of Cable Clamp

(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 servodrives in series to enable alarm detection relay1RY 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.

ProNet Plus Series AC Servo User's Manual

- 52 -

+24

0V

M

M

M

Power supply

QF

Noise

filter

1KM

Power
OFF

Power
ON

1KM

1KM

1RY

SA

R

S

T

1RY

Servo Drive

L1

L2
L3

L1C
L2C

CN1

L1
L2
L3

L1C
L2C

CN1

L1
L2

L3

L1C

L2C
CN1

ALM-

ALM+

ALM-

ALM+

ALM-

ALM+

Servo Drive

Servo Drive

Servo Motor

Servo Motor

Servo Motor

Notes:

1.Power supply phase-S should connect to ground terminals.

2.The example above shows three-phase 200VAC servo drive connection.

ProNet Plus Series AC Servo User's Manual

- 53 -

Chapter 4

(1) Trial Operation for Servomotor Without Load (Refer to 4.1.1)

To power supply

Secure the servomotor flange to the
machine, but do not connect the motor
shaft to the load shaft.

■Purpose
The servomotor is operated without connecting the shaft to the
machine in order to confirm the following wiring is correct.

·Power supply circuit wiring

·Servomotor wiring

·Encoder wiring

·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)

To power supply

Secure the servomotor flange to the
machine, but do not connect the
servomotor shaft to the load shaft.

To host controller

■Purpose
The servomotor is operated without connecting the shaft to the
machine in order to confirm the following wiring is correct.

·I/O signal wiring with host controller

·Rotation direction, speed and number of rotations of servomotor.

·Check the operation of the brake, overtravel and other protective

functions.

(Please refer to step 5-8)

(3) Trial operation for servomotor and machine combined(Refer to 4.1.3)

To power supply

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

To host controller

■Purpose
Perform the trial operation with the servomotor
connected to the machine. The servo drive is adjusted to match the
machine characteristics.

·Servomotor speed and machine travel distance.

·Set the necessary parameters.

(Please refer to step 9-11)

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.

ProNet Plus Series AC Servo User's Manual

- 54 -

Step

Item

Description

Reference

1

Installation

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

-

2 Wiring

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

-

3

Turn the power
ON

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

-

4

Execute JOG
operation

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

JOG

Operation

5

Connect input
signals

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

-

6

Check input
signals

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

-

7

Input the
Servo-ON
signal

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

Host

Reference

8

Input reference

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

Host

Reference

9

Protective
operation

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

-

10

Set necessary
parameters.

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

Host

Reference

11

Operation

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

Host

Reference

ProNet Plus Series AC Servo User's Manual

- 55 -

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).

Step

Description

Check Method and Remarks

1

Secure the servomotor.

Secure the servomotor
flange to the machine.

Do not connect anything to the
shaft ( no-load conditions).

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

2

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

With the I/O signal connector (CN1)disconnected,
check the power supply circuit and servomotor wiring.
Refer to 3.1 Main Circuit Wiring.

3

Turn ON the control power supply and main circuit power
supply.
Normal Display

Alternate Display

Example of Alarm Display

If the power is correctly supplied, the panel operator
display on the front panel of the servo drive will appear
as shown on the left. The display on the left indicates
that forward run prohibited (P-OT) and reverse run
prohibited (N-OT).
If an alarm display appears, the power supply circuit,
servomotor wiring, or encoder wiring is incorrect. If an
alarm is displayed, turn OFF the power, find the
problem, and correct it.

4

When using a servomotor with a brake, release the brake
first before driving the servomotor.

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

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

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.

ProNet Plus Series AC Servo User's Manual

- 56 -

Step

Description

Check Method and Remarks

5

Panel Operator

Power Supply

Use the panel operator to operate the servomotor with
utility function Fn002 (JOG Mode Operation)Check that
the servomotor rotates in the forward direction by pressing
the INC key, and reverse direction by pressing the DEC
key.
The operation is completed when the operation is
performed as described below and the alarm display does
not appear.
Complete the Fn002 (JOG Mode Operation) and turn OFF
the power.
For 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.

Step

Display after operation

Panel operator

Description

1

MODE key

Press the MODE key to select the function
mode.

2

INC or DEC key

Press the INC key or DEC key to select
Fn002.

3

ENTER key

Press the ENTER key, and the servomotor will enter
JOG operation mode.

4

MODE key

Press the MODE key. This will turn ON the power to
the servomotor.

5

Forward

running

Reverse

running

INC or DEC key

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

6

MODE key

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

7

ENTER key

Press the ENTER key to return to the Fn002 display
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.

 JOG Mode Operation (Fn002)

ProNet Plus Series AC Servo User's Manual

- 57 -

Pn305

JOG Speed

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.

0V

+24V

/S-ON

P-OT

N-OT

V-REF

13

30

17

16

14

CN1

13

1

17

16

14

CN1

32

+24V

/S-ON

P-OT

N-OT
PULS

SIGN

Speed Control

(Standard Setting)

[Pn005=H.□□0□]

Position Control

[Pn005=H.□□1□]

0V

Speed

Position

Torque

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.

ProNet Plus Series AC Servo User's Manual

- 58 -

+24V

/S-ON

P-OT

N-OT

1

17

16

14

13

2

3

V-REF+

V-REF-

GND

CN1

V-REF+
V-REF-

0V

Servodrive

Max. Voltage (12V)

Step

Description

Check Method and Remarks

1

Check the power and input signal circuits again,
and check that the speed reference input (voltage
between the V-REF+ and V-REF-) is 0V.

Refer to the above figure for the input signal circuit.

2

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

If the servomotor rotates at an extremely slow speed, refer to

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

3

Generally increase the speed reference input
voltage between V-REF+ and V-REF- from 0 V.

The factory setting is 6V/rated rotation speed.

4

Check the speed reference input to the servo drive
(Un001[rpm])

Refer to 5.1.6 Operation in Monitor Mode.

5

Check the Un000 (motor speed [rpm])

Refer to 5.1.6 Operation in Monitor Mode.

6

Check that the Un001 and Un000 values in steps 4
and 5 are equal.

Change the speed reference input voltage and check that
Un001 and Un000 are equal for multiple speed references.

7

Check the speed reference input gain and
servomotor rotation direction.

Refer to the following equation to change the analog speed
reference input gain (Pn300).
Un001＝(V-REF Voltage)[V]×Pn300
To change the servomotor rotation direction without changing
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.

8

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

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

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

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M

Trial operation for

servomotor without load

Speed controlPosition control

Host

Controller

Servodrive

Analog speed

reference

Step

Description

Check Method and Remarks

9

Check the input signal circuit again, and check that
the speed reference input (between the V-REF+ and
V-REF-) is 0 V.

Refer to the above figure for input signal circuit.

10

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

If the servomotor rotates at an extremely slow speed,
refer to 4.5.3 Adjusting Reference
Offset, and use the reference voltage offset to keep
theservomotor from moving.

11

Send the command for the number of servomotor
rotations. Check the sent number of rotations, the
actual number of rotations by visual inspection, and
the Un004 (rotation angle)[pulse]

Refer to5.1.6 Operation in Monitor Mode for how it is
displayed.
Un004(rotation angle)[pulse]: The number of pulses
from the zero point.

12

If the sent number of rotations and actual number of
rotations in step 11 are not equal, correctly set the
Pn200 (PG divided ratio) outputting the encoder pulse
from the servo drive.

Refer to 4.5.8 Encoder Signal Output for how to set
PG divided ratio (Pn200[P/Rev]):The
number of encoder pulses per revolution.

13

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

—

■When Position Control is configured at the Host

When the servo drive conducts speed control and position control is conducted at the host controller, perform the
operation below,following the operation in Operation Procedure in Speed Control Mode (Pn005=H.□□0□).

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

13

40

17

16

14

CN1

30

+24V
/S-ON

P-OT
N-OT

CLR
PULS

31
32

33

/PULS

SIGN

/SIGN

Servodrive

Reference pulse
according to parameter
Pn004.2 setting.

Pulse reference

Step

Description

Check Method and Remarks

1

Match the reference pulse form with the pulse output form
from the host controller.

Set the reference pulse form with Pn004.2.

2

Set the reference unit and electronic gear ratio so that it
coincides with the host controller setting.

Set the electronic gear ratio with Pn201(or
Pn203)/Pn202.

3

Turn the power and the servo ON input signal ON.

4

Send the slow speed pulse reference for the number of
servomotor rotation easy to check (for example, one
servomotor revolution) from the host controller in advance.

Set the servomotor speed to100rpm for the
reference pulse speedbecause such speed is safe.

5

Check the number of reference pulses input to the servo
drive by the changed amount before and after the Un013 and
Un014(input reference pulsecounter)[pulse] were executed.

Refer to5.1.6 Operation in Monitor Modefor how it
is displayed.

6

Check whether the actual number of servomotor
rotationsUn009, Un010 coincides with the number of input
reference pulses.

Refer to5.1.6 Operation in Monitor Mode for how
it is displayed.

7

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

Check the input pulse polarity and input reference
pulse form.

8

Input the pulse reference with the large number of
servomotor rotation from the host controller to obtain the
constant speed.

Set the servomotor speed to 100rpm for the
reference pulse speed because such speed is safe.

9

Check the reference pulse speed input to the servo drive
using the Un008in Monitor Mode. (input reference pulse
speed)[rpm].

Refer to5.1.6 Operation in Monitor Modefor how it
is displayed.

10

Check the servomotor speed using the Un000 in Monitor
Mode. (servomotor speed) [rpm].

Refer to5.1.6 Operation in Monitor Modefor how it
is displayed.

11

Check the rotation of the servomotor shaft.

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

4.3.2 Switching theServomotor Rotation
Direction. Perform the operation from step 8 again

after the servomotor rotation direction is changed.

12

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

—

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

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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.

To power supply

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

To host controller

Step

Description

Check Method and Remarks

1

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

Refer to 4.3 Setting Common Basic Functions.
When a servomotor with brake is used, take advance
measures to prevent vibration due to gravity acting on
the machine or external forces before checking the
brake operation. Check that both servomotor and brake
operations are correct.
For details, refer to 4.3.4 Setting for Holding Brakes.

2

Set the necessary parameters for the control mode
used.

Refer to 4.5 Operating Using Speed Control with

Analog Reference,4.6 Operating Using Position
Control, and 4.7 Operating Using Torque Controlfor

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
then turn ON the power to the machine (host
controller). Check again that the protective function in
step 1 operates normally.

Refer to 4.3 Setting Common Basic Functions.
For the following steps, take advanced measures for an
emergency stop so that the servomotor can stop safely
when an error occurs during operation.

5

Perform trial operation with the servomotor connected
to the machine, following each section in 4.1.2 Trial

Operation for Servomotor without Load from Host
Reference.

Check that the trial operation is completed according to
the trial operation for servomotor without load. Also,
check the settings for machine such as reference unit.

6

Check the parameter settings for control mode used in
step 2.

Check that the servomotor rotates matching the
machine operating specifications.

7

Adjust the servo gain and improve the servomotor
response characteristics, if necessary.

The servomotor will not be broken in completely during
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.

Follow the procedure below to perform the trial operation.

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4.1.4 Trial Operation for Servomotor with Brakes

M

Trial operation for
servomotor without load

Speed controlPosition control

Host
Controller

Servodrive

Analog speed
reference

Reference from the Host

Controller

Check Item

Check Method

Review Items

JOG Operation
(Constant speed reference
input from host controller)

Servomotor speed

Check servomotor speed as
follows:

·Use the servomotor speed
monitor(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.

Check the parameter setting at
Pn300 to see if analog speed
reference input gainis correct.

Simple positioning

Number of
servomotor
rotation

Input a reference equivalent to one
servomotor rotation, and visually
check to see if the shaft makes one
revolution.

Check the parameter setting at
Pn200 to see if the number of
PG dividing pulses is correct.

Overtravel (P-OT and
N-OT Used)

Whether the
servomotor stops
rotating when
P-OT and
N-OT signals
are input.

Check to see if the servomotor
stops when P-OT and N-OT signals
are input during continuous
servomotor operation.

Review P-OT and N-OT wiring
if the servomotor does not
stop.

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.

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4.2 Control Mode Selection

Parameter

Control Mode

Reference Section

Pn005

H.□□0□

Speed Control (Analog voltage reference)

Controls servomotor speed using analog voltage speedreference.
Use in the following instances.

·To control speed

·For position control using the encoder feedback divisionoutput from

the servo drive to form a position loop inthe host controller.

4.5

H.□□1□

Position Control(Pulse train reference)

Controls the position of the servomotor using pulse train position
reference.
Controls the position with the number of input pulses, and controls the
speed with the input pulse frequency.
Use when positioning is required.

4.6

H.□□2□

Torque Control (Analog voltage reference)

Controls the servomotor’s output torque with analog voltage torque

reference. Use to output the required amount of torque for operations
such as pressing.

4.7

H.□□3□

Speed Control(contact reference) Speed Control
(zero reference)

Use the three input signals /P-CON, /P-CL and /N-CL to control the
speed as set in advance in the servo drive.
Three operating speeds can be set in the servo drive. (In this case, an
analog reference is not necessary.)

4.8

H.□□4□

·

·

·

H.□□E□

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

The control modes supported by the ProNet series servo drives are described below.

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4.3 Setting Common Basic Functions

Type

Name

Connector Pin Number

Setting

Meaning

Input

/S-ON

ProNet-□□□MG: CN1_14

ProNet-□□□EG-EC: CN1_15

(Factory setting)

ON(low level)

Servomotor power ON. Servomotor can
beoperated.

OFF(high level)

Servomotor power OFF. Servomotor
cannot beoperated.

■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 internalelements
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.

Parameter

Meaning

Pn000

b.□□□0

External S-ON signal enabled (Factory setting)

b.□□□1

External S-ON signal disabled, the servomotor excitation signal is
opened automatically after outputting the S-RDY signal.

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

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)

(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.

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4.3.2 Switching the Servomotor Rotation Direction

Parameter

Name

Reference

Forward reference

Reverse reference

Pn001

b.□□□0

Standard setting
(CCW=forward)
(factory setting)

PBO

CCW

PAO

Encoder pulse division output

PAO

PBO

CW

Encoder pulse division output

b.□□□1

Reverse rotation
mode
(CW=forward)

CW

PAO
PBO

Encoder pulse division output

CCW

PAO
PBO

Encoder pulse division output

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.

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.

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4.3.3 Setting the Overtravel Limit Function

Type

Signal Name

Pin No.

Setting

Meaning

Input

P-OT

ProNet-□□□MG: CN1_16

ProNet-□□□EG-EC: CN1_17

(factory setting)

ON(low level)

Forward rotation allowed. (Normal
operation status.)

OFF(high level)

Forward rotation prohibited.(Forward
overtravel)

Input

N-OT

ProNet-□□□MG: CN1_17

ProNet-□□□EG-EC: CN1_18

(factory setting)

ON(low level)

Reverse rotation (Normal operation
status.)

OFF(high level)

Reverse rotation prohibited.(Reverse
overtravel)

Connect limit switches as shown below to prevent damage
to the devices during linear motion.
Rotation in the opposite direction is possible during
overtravel.
For example, reverse rotation is possible during forward
overtravel.

Servomotor forward rotation direction.

Servodrive

Servomotor

Limit switch Limit switch

P-OT

N-OT

CN1

■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.

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.

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(2)Enabling/Disabling the Overtravel Signal

Parameter

Meaning

Pn000

b.□□0□

In the case of ProNet-□□□MG servo drives,the forward rotation prohibited(P-OT) signal
is input fromCN1-16(factory setting).
In the case of ProNet-□□□EG-EC servo drives, the forward rotation prohibited(P-OT)
signal is input fromCN1-17(factory setting).

b.□□1□

Disables the forward rotation prohibited (P-OT) signal. (Allows constant forward rotation.)

b.□0□□

In the case of ProNet-□□□MG servo drives,the reverse rotation prohibited(N-OT) signal
is input fromCN1-17(factory setting).
In the case of ProNet-□□□EG-EC servo drives,the reverse rotation prohibited(N-OT)
signal is input fromCN1-18 (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.

Parameter

Stop Mode

Mode After

Stopping

Meaning

Pn004

H.□□□0

Stop by dynamic

brake

Coast

Rapidlly stops the servomotor by dynamic braking(DB),
then places it into coast(power OFF) mode.

H.□□□1

Coast to a stop

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

H.□□□2

S-OFF

/Overtravel

Coast

Stops the servomotor by dynamic braking (DB) when
servo OFF, stops the servomotor by plug braking when
overtravel, and then places it into coast (power OFF)
mode.

H.□□□3

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

H.□□□4

Zero Clamp

Stops the servomotor by dynamic braking (DB) when
servo OFF, stops the servomotor by plug braking when
overtravel, and then places it into zero clamp mode.

H.□□□5

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

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.

(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 theservomotor is operating.

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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.

·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 theposition

reference zero.

ServomotorServodrive

Pn405

Plug braking torque limit`

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.

Vertical axis

Servomotor

Holding brake

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

External force

Servomotor

Prevents the servomotor from
shifting due to external force.

Shaft with external force applied

Speed

Position

Torque

·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

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.)

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M

PG

BK

U
V

W

L1
L2

L3
L1C

L2C

*1

*2

CN1

Power supply

R

S

T

Servodrive

BK-RY

(/BK+)

(/BK-)

+24V

BK-RY

Brake power supply

Yellow or blue

White

Red

Black

AC

DC

Servomotor with brake

BK-RY：Brake control relay
1*、2*：The output terminals allocated with Pn511.

CN2

Type

Signal Name

Connector Pin Number

Setting

Meaning

Output

/BK

Must be allocated

ON(Low level)

Releases the brake.

OFF(High level)

Applies the brake.

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

Servo drivers

Parameter

Connector Pin Number

Meaning

+ Terminal

- Terminal

ProNet-□□□MG

Pn511

H.□□□4

CN1-11

CN1-12

The /BK signal is output fromCN1-11,12.

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.

ProNet-□□□EG-EC

Pn511

H.□□□4

CN1_11

CN1_14

The /BK signal is output from CN1-11,14.

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.

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.

(2) Brake interlock output

(3) Allocating Brake Interlock Output (/BK)

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

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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

A

R-OUT1 remote output1

B

R-OUT2 remote output2

Parameter
No.

Name

Unit

Setting

Range

Default

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

Pn505

Servo ON waiting time

Setting Range

Setting Unit

Factory Setting

Setting Validation

-2000～2000

ms

0

Immediately

Pn506

Basic waiting flow

Setting Range

Setting Unit

Factory Setting

Setting Validation

0～500

10ms

0

Immediately

Parameter Pn511 description as following:

Related parameter:

(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.

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·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.

Servo ON

Servo OFF

Brake released

Using brakes brake

Motor power up

Motor power down

Pn506 Pn505

/S-ON

/BK Output

Motor power up

Motor power up

Brake released

Servo ON

■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.

Pn507

Brake Waiting Speed

Setting Range

Setting Unit

Factory Setting

Setting Validation

10～100

1rpm

100

Immediately

Pn508

Brake Waiting Time

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.

Speed

Position

Torque

Speed

Position

Torque

Pn508

Brake held

Brake released

/BK Output

Servomotor Speed

/S-ON input
or alarm or
power OFF

Servo ON

Servo OFF

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

Pn507

(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.

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4.3.5 Instantaneous Power Loss Settings

Parameter

Signal Name and Meaning

Pn000

b.0□□□

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

b.1□□□

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

Absolute Encoder

Type

Resolution

Output Range of

Multiturn Data

Action when limit is exceeded

ProNet Series

16-bit/multiturn

17-bit/singleturn

-32768～+32767

·When the upper limit(+32767)is exceeded in the
forward direction, the multiturn data is -32768

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

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.

Determines whether to continue operation or turn the servo OFF when the power supply voltage to the servo drive main
circuit is instantaneously interrupted.

4.4 Absolute Encoders

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.

4.4.2 Handling Battery

In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backedup by a
battery.
Please purchase the special cable and battery case mabe by Estun if an absolute encoder is used.

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Install the battary to the encoder cable:

Encoder cable

A.Open the shell of the battery case.
B.Install the battery according to the following diagram.

C.Cover the shell of the battery case.

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 batteryreplacement 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)

Parameter

Meaning

Pn005

H.□□0□

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

Pn300

Analog Speed Reference Input Gain

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).

Set this slope

Reference voltage（V）

Reference speed

（min-1)

Speed

Position

Torque

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

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4.5.2 Setting Input Signals

Type

Signal Name

Connector Pin Number

Name

Input

V-Ref+

CN1-1

Speed Reference Input

V-Ref-

CN1-2

Speed Reference Input

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

Tpye

Signal

Connector Pin

Number

Setting

Meaning

Input

/P-CON

CN1-15

ON(low level)

Operates the servo drive with proportional

control

OFF(high level)

Operates the servo drive with proportional

integral control.

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

Reference Voltage

Offset
Speed Reference

Reference Voltage

Speed Reference

Offset automatically
adjusted in servodrive.

Automatic offset adjustment

(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.

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

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.

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.

Servomotor

Slow rotation

（Servo ON）

Servo OFF

0V Speed

Reference

Host
Controller

Servodrive

(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 to4.5.7 Using the Zero Clamp Function.

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

Adjust the speed reference offset automatically in the following procedure.

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

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

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

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

Speed Reference

Offset adjustment range

Analog voltage input

Offset adjustment range:

-1024~+1024

Offset setting
unit

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

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

·To deliberately set the offset to some value

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

This function operates in the same way as the reference offset automatic adjustment mode (Fn003), except that the
amount of offset is directly input during the adjustment.
The offset setting range and setting unit are as follows:

Adjust the speed reference offset manually in the following procedure.

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

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

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

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

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

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

7. Press the ENTER key for one second to return to the display in step 4.

8. Press the ENTER key to return to the Fn004 display of the utility function mode.

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

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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Pn306

Soft Start Acceleration Time

Setting Range

Setting Unit

Factory Setting

Setting Validation

0～10000

1ms

100

Immediately

Pn307

Soft Start Deceleration Time

Setting Range

Setting Unit

Factory Setting

Setting Validation

0～10000

1ms

100

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.

Before soft start

After soft start

Servomotor maximum speed

Pn306

Pn307

Pn308

Speed Reference Filter Time Constant

Setting Range

Setting Unit

Factory Setting

Setting Validation

0～10000

1ms

0

Immediately

This smooths the speed reference by applying a 1

st

–order delay filter to the analog speed reference (V-REF) input. A

value that is too large, however, will decrease response.

Pn309

S-curve Risetime

Setting Range

Setting Unit

Factory Setting

Setting Validation

0～10000

1ms 0 Immediately

Speed

Speed

Speed

Speed

4.5.5 Speed Reference Filter Time Constant

4.5.6 S-curve Risetime

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4.5.7 Using the Zero Clamp Function

Host Controller

Speed Reference

V-REF

Zero Clamp

/P-CON

When the /P-CON signal is turned ON, a
speed reference below the Pn502 setting is
detected.

Stops precisely!

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.

CN1

1

15

V-REF

/P-CON

Speed reference

Zero clamp

Servodrive

“V-REF”speed reference

Time

Speed

Preset value for zero
clamping Pn502

Open（OFF) Closed（ON)

“/P-CON”input

Zero clamp is performed.

ON

OFF OFF

ON

ON

(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.

(2) Parameter Setting

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Pn502

Zero clamp speed

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.

Type

Signal Name

Connector Pin Number

Setting

Meaning

Input

/P-CON

CN1-15

ON(low level)

Zero clamp function

ON(enabled)

OFF(high level)

Zero clamp function

OFF(disabled)

/ZCLAMP

Not including this setting in

the default setting,please

choose terminal output by

setting parameter

Pn509,Pn510

ON(low level)

Zero clamp function

ON(enabled)

OFF(high level)

Zero clamp function

OFF(disabled)

/P-CON and /ZCLAMPare 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.

Speed

(3) Input Signal Setting

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4.5.8 Encoder Signal Output

Type

Signal Name

Connector Pin Number

Name

Output

PAO

CN1-20

Encoder output phase A

/PAO

CN1-21

Encoder output phase /A

Output

PBO

CN1-22

Encoder output phase B

/PBO

CN1-23

Encoder output phase /B

Output

PCO

CN1-24

Encoder output phase C(zero-point pulse)

/PCO

CN1-25

Encoder output phase /C(zero-point pulse)

Host Controller

PG

Encoder

Serial Data

CN2

Frequency

dividing

circuit

CN1

Phase A(PAO)

Phase B(PBO)

Phase C(PCO)

These outputs explained here.

*

Servodrive

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

■Output phase form

Forward rotation(phase B leads 90º)

Phase A

Phase B

Phase C

Reverse rotation(phase A leads 90º)

t

90º

90º

t

Encoder feedback pulses processed inside the servo drive can be output externally.

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 isnumber of pulses/revolution.

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 Pulse Dividing Ratio Setting

Pn200

PG Dividing Ratio

Setting Range

Setting Unit

Factory Setting

Setting Validation

16～16384

puls

16384

After restart

Set the number of pulses for PG output signals(PAO,/PAO,PBO,/PBO) externally from the servo drive.
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)

PAO
PBO

1 revolution

Preset value：16

Type

Signal Name

Connector Pin Number

Setting

Meaning

Output

/V-CMP(/COIN)

ProNet-□□□MG: CN1_11, CN1_12

ProNet-□□□EG-EC: manually set

(factory setting)

ON(low level)

Speed coincides.

OFF(high level)

Speed does not coincide.

Pn501

Coincidence Difference

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 ifthe Pn501 parameter is set to 100 and the reference speed is 2000rpm.

Servomotor speed

Reference speed

/V-CMP is output in this range.

Pn501

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

Speed

Position

Torque

Speed

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.

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4.6 Operating Using Position Control

Parameter

Meaning

Pn005

H.□□1□

Control mode selection: position control(pulse train reference)

Differential

Feed forward

B
A

Feed forward
filter time
constant

Offset

Positioning

complete

Current loopSpeed loop

K

P

Error counter

Smoothing

×1
×2
×4

dividing

×4

B
A

Servodrive(in position control)

Pn112 Pn201

Pn202

Pn113

Pn111

Pn500

Pn004.2

Pn204

Pn201

Pn202

Pn200

Reference pulse

PG signal output

Pn104

M

PG

Servomotor

Encoder

-

+

+

+

+

Type

Signal Name

Connector Pin Number

Name

Input

PULS

CN1-30

Reference pulse input

/PULS

CN1-31

Reference pulse input

SIGN

CN1-32

Reference sign input

/SIGN

CN1-33

Reference sign input

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

Parameter

Reference

Pulse Form

Input Pulse

Multiplier

Forward Rotation

Reference

Reverse Rotation

Reverse

Pn004

H.□0□□

Sign+pulse train
(positive logic)
(factory setting)

—

PULS
(CN1-30)

SIGN
(CN1-32)

H

PULS
(CN1-30)

SIGN
(CN1-32)

L

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

Set the following parameters for position control using pulse trains.

A block diagram for position control is shown as below.

4.6.1 Basic Setting in Position Control

(1)Setting a reference pulse sign

(2)Settingreference input filter for open collector signal

(3)Setting a Reference Pulse Form

Set the input form for the servo drive using parameter Pn004.2 according to the host controllerspecifications.

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H.□1□□

CW+CCW
(positive logic)

—

PULS
(CN1-30)

SIGN
(CN1-32)

L

PULS
(CN1-30)

SIGN
(CN1-32)

L

H.□2□□

Two-phase pulse
train with 90°
phase differential
(positive logic)

×1

PULS
(CN1-30)

SIGN
(CN1-32)

90º

PULS
(CN1-30)

SIGN
(CN1-32)

90º

H.□3□□

×2

H.□4□□

×4

■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)

Internal processing

×1倍

×2倍

×4倍

Servomotor movement
reference pulses.

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

Reference pulse signal form

Electrical specifications

Remarks

Sign+pulse train input
(SIGN+PULS signal)
Maximum reference frequency:
500kpps(For open-collector output:
200kpps)

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

SIGN

PULS

t1

t2

t3

t4

t

T

Forward reference Reverse reference

t5 t6

t7

SIGN
H=forward reference
L=reverse reference

CW pulse+CCW pulse Maximum
reference frequency:500kpps
(For open-collector output: 200kpps)

t1

CCW

CW

t2

T

t3

t

Forward reference

Reverse reference

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

Two-phase pulse train with 90° phase
differential(phase A +B)
Maximum reference frequency:
×1 input pulse multiplier: 500kpps
×2 input pulse multiplier: 400kpps
×4 input pulse multiplier:
200kpps

Reverse reference

Phase B lags B by 90º.

Forward reference
Phase B leads A by 90º.

t1

t2

Phase A

Phase B

T

t

t1，t2=0.1µs
t=1.0µs
(t /T)×100 = 50%

A parameter
Pn004.2 can be
used to switch of
the input pulse
multiplier mode.

(4)Inverse PULS and SIGN reference

(5)Reference Pulse Input Signal Timing

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Host controller

Line-driver

*

Servodrive

Photocoupler

PULS

/PULS

30

31

150Ω

CN1

SIGN

/SIGN

32

33

150Ω

*

Represents twisted-pair wires。

VDC

R

/SIGN

GND

75Ω

2KΩ

75Ω

1CN-30

1CN-31

1CN-34

1CN-32

1CN-33

2KΩ

R

SIGN

/PULS

PULS

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

VDC=12V,
R=1KΩ /0.25W

VDC=24V,
R=2KΩ /0.25W

75Ω

75Ω

Host controller

Servodrive

(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.

(b)Connection Example for Open-Collector Gate Output

 NPN OC GATE OUTPUT

 PNP OC GATE OUTPUT

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VDC

R

/SIGN

GND

75Ω

2KΩ

75Ω

1CN-30

1CN-31

1CN-34

1CN-32

1CN-33

2KΩ

R

SIGN

/PULS

PULS

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

VDC=12V,
R=1KΩ /0.25W

VDC=24V,
R=2KΩ /0.25W

75Ω

75Ω

Servodrive

Host controller

Type

Sign Name

Connector Pin Numbe

Function

Input

/CLR

ProNet-□□□MG: CN1_40

ProNet-□□□EG-EC: manually set

error counter clear

Pn004

□□0□

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

□□1□

Do not clear the error pulse.

□□2□

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

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

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 SignalMode

In positioncontrol 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.

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4.6.3 Setting the Electronic Gear

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

workpiece

workpiece

No. of encoder
pulses：32768

Ball screw pitch：6mm

No. of encoder
pulses：32768

Ball screw pitch：6mm

One revolution is 6mm. Therefore 10÷6＝

1.6666 revolutions.
32768×4 pulses is one revolution.
Therefore, 1.6666×32768×4＝218445
pulses. 218445 pulses are input as
reference pulses.
The equation must be calculated at the
host controller.

To move a workpiece 10mm :

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

To move a workpiece 10mm using
reference units:

Reference unit：1µm

(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.

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(2) Related Parameters

Pn009

□0□□

Use 16 bit electronic gear parameter

□1□□

Use 32 bit electronic gear parameter

Pn201

16 BitElectronic Gear Ratio(Numerator)

Setting Range

Setting Unit

Factory Setting

Setting Validation

1～65535

— 1 After restart

Pn202

16 Bit Electronic Gear Ratio(Denominator)

Setting Range

Setting Unit

Factory Setting

Setting Validation

1～65535

— 1 After restart

Pn705

32 Bit Electronic Gear Ratio (Numerator,H)

Setting Range

Setting Unit

Factory Setting

Setting Validation

1～9999

10000

0

After restart

Pn706

32 Bit Electronic Gear Ratio (Numerator,L)

Setting Range

Setting Unit

Factory Setting

Setting Validation

1～9999

1 1 After restart

Pn707

32 Bit Electronic Gear Ratio (Denominator,H)

Setting Range

Setting Unit

Factory Setting

Setting Validation

1～9999

10000

0

After restart

Pn708

32 Bit Electronic Gear Ratio (Denominator,L)

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 therotation of the servomotor and n
is the rotation of the load shaft.

Electronic gear ratio:

202

201

Pn

Pn

A

B



n

m

unitsreferencerevolutionshaft

loadpercedisTravel

pulsesencoderofNo







)(

tan

4.

·When 32 bit electronic gear function is enabled,

70810000707

70610000705

PnPn

PnPn

A

B







.

·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

Step

Operation

Description

1

Check machine specifications.

Check the deceleration ratio, ball screw pitch and pulley
diameter.

2

Check the number of encoder
pulses.

Check the number of encoder pulses for the servomotor used.

3

Determine the reference unit used.

Determine the reference unit from the host controller,
considering the machine specifications and positioning
accuracy.

4

Calculate the travel distance per load shaft
revolution.

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

Step

Operation

Load Configuration

Ball Screw

Disc Table

Belt and Pulley

17-bit encoder

Ball screw pitch：6mm

Reference unit：0.001mm
Load shaft

Reference unit：0.1º

Load shaft

17-bit encoder

Deceleration ratio:
3：1

Reference unit：0.01mm

Load shaft

Deceleration ratio:
2：1

17-bit encoder

Pulley diameter:
F 100mm

1

Check machine
specifications.

Ball screw pitch:6mm
Deceleration ratio:1/1

Rotation angle per
revolution:360°
Deceleration ratio:3/1

Pulley diameter:100 mm
(pulley circumference:314 mm)
Deceleration ratio:2/1

2

Encoder

17-bit:32768P/R

17-bit:32768P/R

17-bit:32768P/R

3

Determine the
reference unit
used

1 reference unit:

0.001mm(1μm)

1 reference unit:0.1°

1 reference unit:0.01mm

4

Calculate the
travel distance
per load shaft
revolution

6mm/0.001mm=6000

360°/0.1°=3600

314mm/0.01mm=31400

5

Calculate the
electronic gear
ratio

1

1

6000

432768







A

B

1

3

3600

432768







A

B

1

2

31400

432768







A

B

6

Set parameters
Pn201

131072

Pn201

393216

Pn201

262144

Pn202

6000

Pn202

3600

Pn202

31400

7

Final result
Pn201

32768

Pn201

32768

Pn201

32768

Pn202

1500

Pn202

300

Pn202

3925

Use the following procedure to set the electronic gear ratio.

(4)Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.

·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

：Deceleration ratio

Reference pulse

)/( Pmm

B

A

+

—

Speed
loop

×4

n

Pitch＝P（mm/rev）

m

Servomotor

PG(P/rev))

:)/( Pmm

Reference unit

Encoder pulses

P（mm/rev）：Ball screw pitch

n

m

mP

A

Bpn

G 





4)(



n

m

P

P

pn

mP

A

B GG

















 44

)(

Set A and B with the following parameters：

A B

：Pn202 ：Pn201

PG(P/rev))：

Position
loop

Parameter

Description

Pn205

0: 1st-order filter

1: 2nd-order filter

Pn204

Position Reference Acceleration/Deceleration Time Constant

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)

Position

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

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

(2)Filter-related Parameters

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4.6.5 Low Frequency Vibration Suppression

Workbench

Ball Screw

Moving part

Low Frequency Vibration

Servomotor

Coupling

ΔT

f ＝ 1 / ΔT

0

t

Position error counter

(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.

(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 between5.0Hz 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.

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 Related Parameters

Parameter

Meaning

Pn006

H.□0□□

0:Low frequency vibration suppression function disabled
1:Low frequency vibration suppression function enabled

H.□1□□

Pn411

Low frequency vibration frequency

Setting Range

Setting Unit

Factory Setting

Setting Validation

50～500

0.1Hz

100

Immediately

Pn412

Low frequency vibration damp

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).

Type

Signal Name

Connector Pin Number

Setting

Meaning

Output

/COIN

CN1-11,CN1-12
(Factory setting)
ON(low level)

Positioning has been
completed.

OFF(high level)

Positioning is not
completed.

·This output signal can be allocated to an output terminal with parameter Pn511. Refer to 3.2.2 I/O Signal Names and
Functions.

·The factory setting is allocated to CN1-11,12.

Pn500

Positioning Error

Setting Range

Setting Unit

Factory Setting

Setting Validation

0～5000

puls

10

Immediately

Pn520

Position complete time

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.

Position

Position

Speed

Position

Speed

Position

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 completedat the host controller.

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Reference

Servomotor speed

Pn500

Speed

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.

Error Counter

+

-

Feedback pulse

OFF

ON

Pn005.1

Pn005=H.□□1□

Pn005=H.□□B□

Reference pulse

/P-CON

/P-CON

Servodrive

Parameter

Meaning

Pn005

H.□□B□

Control mode selection: position control(pulse train reference)⇔INHIBIT

■Inhibit(INHIBIT) switching condition

·/P-CON signal ON (low level)

ON

OFF

ON

t1 t2

t1，t2≤ 0.5ms

/P-CON

Reference pulse

Input reference pulses are not
counted during this period.

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.

(2)Setting Parameters

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(3)Setting Input Signals

Type

Signal

Name

Connector Pin

Number

Setting

Meaning

Input

/P-CON

CN1-15

ON(low level)

Turns the INHIBIT function ON.
(Inhibit the servo drive from countingreference
pulses)

OFF(high level)

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

4.6.8 Position Control (contact reference)

Position control under contact reference (parameter Pn005.1＝C). In this mode, servo drive can position with a single
axes without a host controller.
There are 16 position control points with each 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

Para. No.

Name and description

Setting

range

Default

Pn004.1

[0] Clear error pulse when S-0FF, not clear error pulse
when overtravel.
[1] Not clear error pulse
[2] Clear error pulse When S-OFF or over travel

0~2

0

Para. No.

Description

Unit

Setting range

Default

Pn685

Speed of looking for reference point (hits
the limit switch)

rpm

0~3000

1500

Pn686

Moving speed (move away from limit
switch)

rpm

0~200

30

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.

￭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:

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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Para. No.

Description

Observation

Pn681.0

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

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

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

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

Pn681.1

Change step and start mode
0: Delay changing steps, the start signal is not
needed.
1: Change steps by /P-CON, start signal not needed.

2. Delay changing steps, need start signal.

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

Change steps by external /P-CON
signals. The signal will be valid when
drive output reaches the desired
position. When input signal changes,
the signal is valid, then steps will be
changed by consequence from start
point to end point.

Pn681.2

Change step input signal mode
[0] High or low level

[1] sign pulse

Pn682

0: Incremental
1: Absolute

Incremental: relative moving
distance (distance from current point
to next point) programming.
Absolute: absolute moving distance
(distance between operatingplatform
and the reference point)
programming.

■Related parameter

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4.6.9 Position Homing Control (Homing Function)

Para. No.

Description

Pn689

b.□□□0

Homing in the forward direction

b.□□□1

Homing in the reverse direction

b.□□0□

Return to search C-Pulse when homing

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.

Pn685

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

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~3000

rpm

1500

Immediately

Pn686

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

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~200

rpm

30

Immediately

Pn690

Number of error pulses during homing

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~9999

10000P

0

Immediately

Pn691

Number of error pulses during homing

Setting Range

Setting Unit

Factory Setting

Setting Validation

0~9999

1P

0

Immediately

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

(2)Related Parameter

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Speed

(rpm)

Pn 685

Pn 686

ORG

0rpm

SHOM

Rising edge

Encoder C-pulse

Homing offset distance

（ Pn 690

*10000＋Pn 691

）

Return to find C-pulse

Begin to counter offset distance after the first C­pulse is produced when leaving zero posiion.

(3)Input Signal Setting

Type

Signal

Connector Pin

Setting

Meaning

Input

SHOM

Must be allocated by

Pn509,Pn510

ON=↑(rising edge)

Homing is enabled

OFF(not rising edge)

Homing is disabled

Input

ORG

Must be allocated by

Pn509,Pn510

ON=H

ORG is enabled

OFF=L

ORG is disabled

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

Parameter

Connector Pin Number

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.

Allocating HomingOutput Signal (/HOME)

(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: