AC Servo Drive: PRONET Series User's Manual V. 1.04

PRONET series User’s Manual V. 1.
04
AC Servo Drive
PRONET series User’s Manual V. 1.04
Estun Limited Warranty

This manual does not entitle you to any rights. Estun reserves the right to change
this manual without prior notice. All rights reserved. The copyright is held by Estun.
No part of this publication may be copied or reproduced without written permission
from Estun.
-1-
General Precautions
Read this manual thoroughly before checking products on delivery, storage and transportation,
installation, wiring, operation and inspection, and disposal of the AC servodrive.
• Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
• Never touch the inside of the SERVO DRIVES.
Failure to observe this warning may result in electric shock.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions for trial operation precisely as described in this manual.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
• The multiturn limit value must be changed only for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• Do not remove the front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake
for a servomotor with brake is not a stopping device for ensuring safety.
• Do not come close to the machine immediately after resetting momentary power loss to avoid
an unexpected restart. Take appropriate measures to ensure safety against an unexpected
restart.
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.
• Do not modify the product.
Failure to observe this warning may result in injury or damage to the product.
• Always use the servomotor and SERVO DRIVE in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• When replacing the SERVO DRIVE, transfer the previous SERVO DRIVE parameters to the
new SERVO DRIVE before resuming operation.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble the servomotor.
Failure to observe this caution may result in electric shock or injury.
• When disposing of the products, treat them as ordinary industrial waste.
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Contents
PRONET SERIES USER ’S MANUAL V. 1.04.........................................................................................1
GENERAL PRECAUTIONS .....................................................................................................................2
CHAPTER 1................................................................................................................................. 5
CHECKING PRODUCTS AND PARTS NAMES.......................................................................... 5
1.1 CHECK PRODUCTS .................................................................................................................. 5
1.2 MODEL DESIGNATION ................................................................................................................... 5
1.2.1 Pronet series servo drive.................................................................................................... 5
1.2.2 EMJ series servo motor...................................................................................................... 6
1.2.3 EMG series servo motor..................................................................................................... 7
1.2.4 EML series servo motor...................................................................................................... 8
1.2.5 EMB series servo motor......................................................................................................9
CHAPTER 2............................................................................................................................... 10
INSTALLATION.......................................................................................................................... 10
2.1 SERVODRIVE ..............................................................................................................................10
2.2.1 STORAGE AND TRANSPORTATION ..............................................................................................10
2.2.2 INSTALLATION SITES.................................................................................................................11
2.2.3 INSTALLATION ORIENTATION ...................................................................................................... 11
2.2.4 INSTALLATION METHOD.............................................................................................................11
CHAPTER 3............................................................................................................................... 14
WIRINGS AND CONNECTIONS............................................................................................... 14
3.1 WIRINGS AND CONNECTIONS FOR MAIN CIRCUIT .......................................................................... 14
3.1.1 Names and Functions of Main Circuit Terminals...............................................................15
3.2 INPUT AND OUTPUT SIGNAL CONNECTION .....................................................................................16
3.2.1 Name and function of input signal.....................................................................................16
3.2.2Name and function of output signal....................................................................................17
3.2.3 Input and output connector(CN1)terminal array................................................................18
3.2.4 Encoder signal connection................................................................................................ 19
3.2.5 Communication signal connection.................................................................................... 19
3.2.6 Encoder cable & power cable connections....................................................................... 20
3.2.6.2 EMJ series servo motor..............................................................................................20
3.2.6.3 EMG series servo motor.............................................................................................20
3.2.6.4 EML series servo motor..............................................................................................21
3.2.6.5 EMB series servo motor............................................................................................. 22
3.3 STANDARD CONNECTION DIAGRAMS............................................................................................23
3.3.1 Three-phase 200V power supply specification................................................................. 23
3.3.2 Three-phase 400V power supply specification................................................................. 24
CHAPTER 4............................................................................................................................... 25
OPERATION INTRODUCTION................................................................................................. 25
4.1 OPERATION INTRODUCTION .........................................................................................................25
4.1.1 Digital Operator operation introduction............................................................................. 25
4.1.2 Basic Mode Selection........................................................................................................25
4.1.3 Operation in Status Display Mode.................................................................................... 26
4.1.4 Operation For position control...........................................................................................27
4.1.5 Operation for Parameter Setting Mode............................................................................. 28
4.1.6 Operation in Monitor Mode................................................................................................29
4.1.7 Operation in Assistant function mode............................................................................... 31
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4.1.7.1 Operation in displaying alarm historical data............................................................. 32

4.1.7.2 Operation in recovering default value........................................................................ 32
4.1.7.2 Operation in JOG mode............................................................................................. 33
4.2 Simulative Reference Offset Automatic Adjustment.............................................................33
4.3 Analog Reference Offset Manual Adjustment.......................................................................35
4.4 Motor Current detection signal offset adjustment.................................................................37
4.5 Motor current detection offset manual adjustment............................................................... 38
4.6 Checking Servo Software Version........................................................................................38
4.7 Teaching position function.................................................................................................... 39
4.8 static inertia detection.......................................................................................................... 39
4.9 Clear absolute encoder multiple-circle information and error.............................................. 40
4.10 Clear absolute encoder relevant error............................................................................... 40
CHAPTER 5............................................................................................................................... 41
MODBUS COMMUNICATION................................................................................................... 41
5.1 MODBUS COMMUNICATION FUNCTIONS .....................................................................................41
5.1.1 RS-485 communication cable wiring.................................................................................41
5.1.2 MODBUS communication relevant parameters................................................................43
5.2 MODBUS COMMUNICATION ........................................................................................................44
5.2.1 ASCII mode:...................................................................................................................... 44
5.2.2 RTU mode:........................................................................................................................ 44
5.2.3 Communication protocol structure:................................................................................... 46
5.2.4 Communication error disposal.......................................................................................... 51
5.2.5 Servo state data communication address.........................................................................53
CHAPTER 6............................................................................................................................... 56
PARAMETER LIST.................................................................................................................... 56
6.1 PARAMETER LIST.................................................................................................................. 56
6.2 ILLUSTRATION OF PARAMETER FORM........................................................................................... 63
CHAPTER 7............................................................................................................................... 64
PARAMETER EXPLANATION................................................................................................. 64
7.1 DETAIL EXPLANATION OF PARAMETERS........................................................................................ 64
APPENDIX................................................................................................................................. 84
LIST OF ALARM DISPLAY........................................................................................................ 84
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Chapter 1
Checking products and parts names
1.1 Check products

Check the following items after receiving Pronet Series AC servo systems:
Check Items Reference

Whether the models are the same Check the model numbers marked on the
as what were ordered. nameplates on the servo motor and Servo drive.
(Refer to the descriptions of model numbers in
the following section.)
Does the servomotor shaft rotate The servomotor shaft is normal if it can be turned
smoothly? smoothly by hand. Servomotors with brakes,
however, cannot be turned manually.
Is there any damage? Check the overall appearance, and check for
damage or scratches that may have occurred
during transportation.
Is there any screw loose? Check with the screwdriver.
1.2 Model Designation

1.2.1 Pronet series servo drive
PRONET – 10 A M A
ESTUN Servo drive 【１＋２】【３】【４】【５】
PRONET Series
【１＋２】
【３】power supply voltage 【５】design sequence
rated power
Sign Specification Sign Specification Sign Specification
Design
08 750W A 200VAC A
sequence
10 1.0kW D 400VAC
15 1.5kW
20 2.0kW 【４】control mode
30 3.0kW Sign Specification
Speed ,torque &
50 5.0kW M
position control
75 7.5kW Speed,torque &
position control
E
1A 11kW (support extended
modue）
1E 15kW
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1.2.2 EMJ series servo motor
EMJ – 08 A D A 1 1
ESTUN servo motor 【１＋２】【３】【４】【５】【６】【７】
EMJ series
【１＋２】Rated power 【４】Encoder 【７】Options

Code Specifications Code Specifications Code Specifications
Increamental wire- None
02 200W P saving encoder ： 1
2500P/R
incremental With oil seal
04 400W D encoder ： 2
131072P/R
Absolute encoder With brake(DC24V)
08 750W S 3
131072P/R
With oil seal,With
10 1000W R Resoler 4 brake(DC24V)
【５】 Design Sequence
Code Specifications
【３】Power voltage A
Design sequence
B
Code Specifications
A 200VAC 【６】Shaft end
Code Specifications
Flat,without keys
1
(standard)
Flat, with keys,with
2
screw thread
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1.2.3 EMG series servo motor
EMG – 10 A D A 1 1
EMG series
【１＋２】rated power 【４】encoder 【７】options

Sign Specification Sign Specification Sign Specification
Incremental encoder ：
10 1.0kW P 1 None
2500P/R
incremental encoder ：
15 1.5kW D 2 With oil seal
131072P/R
Absolute encoder With brake
20 2.0kW S 3
131072P/R (DC24V)
R Resoler
With oil seal,with
30 3.0kW 4
brake (DC24V)
【5】Design sequence
50 5.0kW Code Specifications
A Design sequence
【３】power voltage
Sign Specification 【６】shaft end
A 200VAC Sign Specification
1 Flat,without keys(standard)
Flat,with keys,With screw
2
thread
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1.2.4 EML series servo motor
EML – 10 A D A 1 1
EML series
【１＋２】rated power 【４】encoder 【７】option

cod
code Specification Specification code Specification
e
Incremental wire-
10 1.0kW P 1 None
saving：2500P/R
incremental
20 2.0kW D Encoder ： 2 With oil seal
131072P/R
Absolute encoder
30 3.0kW S 3 With brake (DC24V)
131072P/R
With oil seal and
40 4.0kW R Resolver 4
brake(DC24V)
【5】Design Sequence
【３】power supply A Design sequence
code Specification
A 200VAC 【６】shaft end
cod
Specification
e
Flat,without keys
1
(standard)
Flat, with keys,with
2
screw thread
-8-
1.2.5 EMB series servo motor
EMB – 1E D S A 1 1
EMB series
【１＋２】rated power 【４】encoder 【７】options

co
code Specification Specification code Specification
de
Incremental wire-
75 7.5kW P saving encoder ： 1 None
2500P/R
incremental
1A 11.0kW D encoder ： 2 With oil seal
131072P/R
absolute encoder ： With holding brake
1E 15.0kW S 3
131072P/R (DC24V)
R resolver With oil seal and
4
【５】design sequence holding brake(DC24V)
co
【３】power supply Specification
de
code Specification A Design sequence
D 400VAC
【６】shaft end
co
Specification
de
Flat, without keys
1
(standard)
Flat, with keys and
2
tap
-9-
Chapter 2
Installation
2.1 Servodrive
Pronet Series Servo drive is a base-mounted type servo controller. Incorrect installation will cause
problems. Always observe the installation instructions described below.
Caution
• Never use the products in an environment subject to water, corrosive gases,
inflammable gases, or combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet parts and prevent any foreign objects from
entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting
in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the SERVO DRIVE and the control
panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
2.2.1 Storage and transportation

When the Servo drive is to be stored with the power cable disconnected, store it in the following
temperature range: Between −20°C and 85°C
Caution
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage or
installation temperature conditions.
• Locations subject to humidity outside the range specified in the storage or
installation humidity conditions.
• Locations subject to condensation as the result of extreme changes in
temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust, salts, or iron dust.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the
product.
• Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
-10-
2.2.2 Installation sites

Notes of operation installation are described as follows:
Condition Safety notes
Installation in a Control Panel Design the control panel size, unit layout, and
cooling method so the temperature around
the servo drive does not exceed 55 °C (131
°F)
Installation Near a Heating Unit Minimize the heat radiating from the heating
unit as well as any temperature rise caused
by natural convection so the temperature
around the servo drive does not exceed 55
°C (131 °F).
Installation Near a Source of Vibration Install a vibration isolator on the servo dirve
to avoid subjecting it to vibration.
Installation at a Site Exposed to Corrosive Corrosive gas does not have an immediate
Gas effect on the servo drive but will eventually
cause the electronic components and
contactor-related devices to malfunction.
Take appropriate action to avoid corrosive
gas.
Other Situations Do not install the servo drive in hot, humid
locations or locations subject to excessive
dust or iron powder in the air.
2.2.3 Installation orientation

Install the SERVO DRIVE perpendicular to the wall as shown in the figure. The Servo drive must be
oriented this way because it is designed to be cooled by natural convection or a cooling fan.
2.2.4 Installation method

When installing multiple Servodrives side by side in a control panel, observe the following
installation method:
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█ Servo drive orientation

Install the Servo drive perpendicular to the wall so the front panel containing connectors faces
outward.
█ Cooling
As shown in the figure above, allow sufficient space around each Servo drive for cooling by cooling
fans or natural convection.
█ Side-by-side Installation
When installing Servodrives side by side as shown in the figure above, allow at least 10 mm (0.39 in)
between and at least 50 mm (1.97 in) above and below each Servo drive. Install cooling fans above
the Servo drives to avoid excessive temperature rise and to maintain even temperature inside the
control panel.
█ Environmental Conditions in the Control Panel

1. Ambient Temperature:0 to 55°C (32 to 131° F)
2. Humidity: 90% RH or less
3. Vibration: 4.9 m/s2
4. Condensation and Freezing: None
5. Ambient Temperature for Long-term Reliability: 45 °C (113 °F) or less
-12-
█ Operation
Caution
• Conduct trial operation on the servomotor alone with the motor shaft
disconnected from machine to avoid any unexpected accidents.
• Before starting operation with a machine connected, change the settings to
match the parameters of the machine.
Starting operation without matching the proper settings may cause the machine to
run out of control or malfunction.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not
effective in JOG mode.
• When using the servomotor for a vertical axis, install the safety devices to
prevent workpieces to fall off due to occurrence of alarm or overtravel. Set the
servomotor so that it will stop in the zero clamp state at occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
• Do not touch the SERVO DRIVE heatsinks, regenerative resistor, or servomotor
while power is ON or soon after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety,
and then resume operation.
• Do not use the servo brake of the servomotor for ordinary braking.
-13-
Chapter 3
Wirings and connections
3.1 Wirings and connections for main circuit
Always observe the following notes when wires or connects the circuit:
Caution
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminals and motor output terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal
lines separated by at least 30 cm (11.81 in).
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder
(PG) feedback lines.
The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG
feedback lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage
may still remain in the SERVO DRIVE.
Make sure the charge indicator is turned OFF first before starting an inspection.
• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per
minute.
Since the SERVO DRIVE has a capacitor in the power supply, a high charging current flows for
0.2 seconds when power is turned ON. Frequently turning power ON and OFF causes main
power devices such as capacitors and fuses to deteriorate, resulting in unexpected problems.
• Observe the following precautions when wiring main circuit terminal blocks.
• Remove the terminal block from the SERVO DRIVE prior to wiring.
• Insert only one wire per terminal on the terminal block.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
• Do not connect the SERVO DRIVEfor 200 V directly to a voltage of 400 V.
The SERVO DRIVE will be destroyed.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Take appropriate measures to ensure that the input power supply is supplied within the
specified voltage fluctuation range. Be particularly careful in places where the power supply is
unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
-14-
3.1.1 Names and Functions of Main Circuit Terminals
Drive
Terminal Power model
Name Function
Symbol supply PRONET
-
Three phase 200~230VAC+10,-15%
200V □□A
Main circuit power (50/60Hz)
L1，L2，L3
Supply input terminals Three phase 380~440VAC+10,-15%
400V □□D
(50/60Hz)
U，V，W Servo motor Connect with the servo motor
－－
connection terminals
Control circuit, power Single phase 200~230VAC+10,-15%
200V □□A
supply input terminals (50/60Hz)
L1C，L2C
Single phase 380~440VAC+10,-15%
400V □□D
(50/60Hz)
Connects to the power supply ground
Grounding terminal －－
terminal and servo motor ground terminal
Normal short B2-B3(for the inside
regenerative resistor). Remove the wire
between B2 and B3 and connect an
B1，B2，B3 Outside regenerative 200V □□A external regenerative resistor between B1
resistor connection and B2 if the capacity of inside
terminal regenerative resistor is insufficient
Connect an external regenerative resistor

B1，B2 400V □□D
between B1 and B2.
Normally,short .If
DC reactor for countermeasure against power supply
200V □□A
harmonic suppression harmonic waves is needed, connect an
terminal DC reactor between
400V □□D －
Main circuit minus Normal not connected
－－
terminal
-15-
3.2 Input and output signal connection

3.2.1 Name and function of input signal
Control Pin
Signal Function
mode no.
/S-ON 14 Servo ON：motor power on
Choose the following functions through setting parameter
If on ， switch speed loop control mode
PI/P control switch
from PI to P control
Use this signal for switching rotation
Rotation direction switch direction when use the function “internal
/P-CON 15 seting speed selection”
Control mode switch Switch control mode
[Speed control]if ON, reference speed
Zero Clamp
value is “0”
Speed [Position control] when ON, stop
Reference pulse prohibit
Position reference pulse input
Torque P-OT 16 Forward rotation prohibit Over travel prohibit：when ON, stop the
N-OT 17 Reverse rotation prohibit servo motor’s rotation
Choose the following functions through setting parameter
Forward rotation current limit Current limit function is effective if
/PCL 41
Reverse rotation current limit ON.
/NCL 42
Choose different internal setting
Internal speed selection
speed
/ALM-
39 Alarm reset：release servo alarm status
RST
DICOM 13 I/O signal power supply source，should provide 24VDC by the client
VREF+ 1
Speed Speed reference difference input: ±10V
VREF- 2
PULS+ 30 Pulse input form：
PULS- 31 *signal＋pulse train
SIGN+ 32 *CCW+CW pulse
SIGN- 33 *two phase pulse（90°phase differential）
Position
PPI Collector open-circuit reference power source （ Separately preset
34
2KΩ/0.5W resistor inside of the drive）
/CLR Position error pulse clearing:clear position error pulse during position
40
control
T-REF+ 26
Torque Torque reference difference input：±10V
T-REF- 27
-16-
3.2.2Name and function of output signal
Control
Signal Pin no. Function
mode
ALM+ 5 Servo alarm：
ALM- 6 Turn OFF when check abnormal status.
/TGON+ 7 Motor rotation detect:
/TGON- 8 Turn on when motor rotation is over the setting value。
/S-RDY+ 9 Servo ready：
/S-RDY- Turn on if there is no alarm when control circuit and main
10
Speed circuit are powered.
Position PAO+ 20
Torque A phase signal
PAO- 21 Two-phase （ A phase 、 B phase ） PG
PBO+ 22 frequency dividing output signal
B phase signal
PBO- 23
PCO+ 24
C phase signal Homing pulse（C phase）signal
PCO- 25
Metal If the shield of connector cable CN1 is connected with the
FG
shell metal shell, it is connected with shell ground
/V-CMP+ 11 Consistent speed：
Speed /V-CMP- Turn on when the speed of motor is in the same condition with
12
reference speed.
/COIN+ 11 Position complete:
Position /COIN- When on after position complete(deviation pulse reach to the
12
setting value）
/CLT Maintain functions could be allocated to /TGON、/S-RDY、/V-
CMP（/COIN）signal pins by amending parameter setting。
/BK —
/CLT：Torque limit output. Above setting value ON
/BK：Breaker linkage output. Release break when on.
Maintain 4,18,19,
29,35,
36,37,
— Unused pins
38,43,
44,45,
47, 49
-17-
3.2.3 Input and output connector(CN1)terminal array
Pin Pin
Name Function Name Function
no. no.
1 VREF+ Speed reference difference 26 T-REF+ Torque reference difference
2 VREF- input：±10V 27 T-REF- input：±10V
3 AGND Analog ground 28 AGND Analog ground
4 — Not use 29 — Not use
5 ALM+ 30 PULS+
Servo alarm Command pulse input
6 ALM- 31 PULS-
7 /TGON+ 32 SIGN+
Motor rotation detection Command pulse input
8 /TGON- 33 SIGN-
Collector open-circuit
9 /S-RDY+ 34 PPI
Servo ready reference power source
10 /S-RDY- 35 — Not use
11 /COIN+ 36 — Not use
Position complete
12 /COIN- 37 — Not use
I/O signal 24VDC power
13 DICOM 38 — Not use
supply
14 /S-ON Servo ON 39 /ALM-RST Alarm release
15 /P-CON Position control switch 40 /CLR Clear position bias pulse
16 P-OT Forward drive prohibit 41 /PCL Forward external torque limit
17 N-OT Reverse drive prohibit 42 /NCL Reverse external torque limit
20 PAO+ Encoder A 45 — Not use
Two phase
phase
21 PAO- pulse PG 46 DGND Digital ground
signal
frequency
22 PBO+ Encoder B 47 — Not use
dividing output
phase
23 PBO- signal 48 DGND Digital ground
signal
24 PCO+ Encoder C 49 — Not use
Homing pulse
phase
25 PCO- signal 50 DGND Digital ground
signal
Note:
The following input and output can be allocated or change the function by user parameters setting.
Input: /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /CLR, /PCL, /NCL

Output: /TGON, /S-RDY, /COIN
Related details, please reference to ‘parameter detail explanation’ Pn509, Pn510 and Pn511
-18-
3.2.4 Encoder signal connection

● Encoder connector(CN2) terminal array
Pin Pin
Name Function Name Function
no. no.
1 PA PG input A phase 11 PU PG input U phase
2 /PA PG input/A phase 12 /PU PG input/U phase
3 PB PG input B phase 13 PV PG input V phase
4 /PB PG input/B phase 14 /PV PG input/V phase
5 PC PG input C phase 15 PW PG input W phase
6 /PC PG input/C phase 16 /PW PG input/W phase
7 PS PG serial signal input 17 BAT+ Battery(+)[absolute encoder]
8 /PS PG serial signal input 18 BAT- Battery(-)[absolute encoder]
9 PG power source ＋ 19
PG5V GND PG power source 0V
10 5V 20
3.2.5 Communication signal connection

● Communication connector(CN3) terminal array
Terminal Name Function
1 5V
5VDC power supply
2 5V
3 485+ RS-485 communication terminal
4 DGND
Grounding
5 DGND
6 485- RS-485 communication terminal
7 CANH CAN communication terminal
8 CANL CAN communication terminal
● Communication connector(CN4) terminal array

Terminal Name Function
1 — Not use
2 — Not use
4 DGND
grounding
5 DGND
-19-
3.2.6 Encoder cable & power cable connections

3.2.6.2 EMJ series servo motor
● Motor connector specification
connector：172167-1 (AMP)
pin： 170360-1 (AMP)
Pin
Signal Color
No.
U
1 red
phase
V
2 blue
phase
W
3 white
phase
4 FG Greenyellow
● Encoder connector specification
connector(pin)：CGRSD-7BFMA-SL8001(CHOGRI)
Incremental/Absolute encoder resolver
Pin Pin
Signal Color Signal Color
No. No.
1 S+ blue 1 Sin+ blue
2 S- Blue/black 2 Sin- yellow
★3 BAT+ brown 3 Cos+ red
★4 BAT- Brown/black 4 Cos- black
5 PG5V Red 5 R1 Red/white
6 PG0V black 6 R2 Yellow/white
7 FG shield 7 FG shield
Notes:Incremental encoder has no BAT+、BAT- signal.
3.2.6.3 EMG series servo motor

● Motor receptacle specification
receptacle：MS3102A20-4P (EMG-10A/15A/20A)；MS3102A22-22P (EMG-30A/50A)
connector：MS3108B20-4S (EMG-10A/15A/20A)；MS3108B22-22S (EMG-30A/50A)
cable clamp：MS3057-12A
Pin Signal Color

A U phase red
B V phase blue
W
C white
phase
Green/yell
D FG
ow
-20-
●Encoder receptacle specification
receptacle：MS3102A20-29P
connector：MS3108B20-29S
Increamental/absolute encoder resolver
pin signal colour pin signal color
K S+ Blue K Sin+ blue
L S- Blue/black L Sin- yellow
★T BAT+ Brown T Cos+ red
★S BAT- Brown/black S Cos- black
H PG5V red H R1 Red/white
G PG0V black G R2 Yellow/white
J FG shield J FG shield
Notes:Incremental encoder has no BAT+、BAT- signal.
3.2.6.4 EML series servo motor

receptacle：MS3102A20-4P (EML-10A)；MS3102A22-22P (EML-20A/30A/40A)
connector：MS3108B20-4S (EML-10A)；MS3108B22-22S (EML-20A/30A/40A)
code signal color

U
A red
phase
V
B blue
pahse
W
C white
phase
D FG Green/black
● Encoder receptacle specification

receptacle：MS3102A20-29P
Increamental absolute encoder resolver
pin signal colour pin signal colour

K S+ Blue K Sin+ Blue
L S- Blue/black L Sin- Yellwo
★T BAT+ Brown ★T COS+ red
★S BAT- Brown/black ★S COS- black
-21-
3.2.6.5 EMB series servo motor
receptical：MS3102A32-17P
code signal color

U
A red
phase
V
B blue
phase
W
C white
phase
D FG Green/yellow
● Encoder receptacle specification
Receptacle：MS3102A20-29P
Connector：MS3108B20-29S
Cable clamp：MS3057-12A
absolute encoder resolver
pin signal colour pin signal colour

K S+ Blue K Sin+ Blue
L S- Blue/black L Sin- Yellwo
T BAT+ Brown T COS+ red
S BAT- Brown/black S COS- black
-22-
3.3 Standard Connection diagrams

3.3.1 Three-phase 200V power supply specification
非熔丝断路器 L1 L2 L3 三相交流 200~230V +10% -15% (50/60Hz)
Molded-case circuit breaker Three-phase 200 to 230VAC +10%
-15% (50/60Hz)
1QF
浪涌保护器
Surge protector 1Ry 1PL (伺服报警显示用 Servo alarm display)
噪声滤波器
Noise filter 电源OFF 电源ON
Power OFF Power ON 1KM
请在电磁接触器的线圈上接上浪涌抑制器。
1KM 1Ry 1SUP Be sure to attach a surge suppressor to the excitation
coil of the magnetic contactor and relay.
电磁接触器
Magnetic contector
1KM
L1 PRONET 系列
伺服电机
L2
伺服驱动器 U
A(1) Servo motor
PRONET series B(2)
L3 servo drives V M
C(3)
1 W
D(4)
2
CN2
L1C 选项增量式编码器
Options Incremental encoder
旋转变压器绝对值编码器 1 A+
L2C 编码器
Resolver Absolute encoder 2 A-
7 SIN+ 7 S+ 3 B+ Encoder
外置再生电阻器 B1 B1
External regenerative 8 SIN- 8 S- 4 B-
resistor 17 COS+ 17 BAT+ 5 C+ PG
B2 B2
18 COS- 18 BAT- 6 C-
9 R1 9 PG5V 9 PG5V
B3 B3
19 R2 19 PG0V 19 PG0V
壳体 Shield 壳体 Shield 壳体 Shield
必须接地。 Shell Shell Shell
Be sure to ground.
CN3
请切实进行屏蔽线的末端处理。
1 +5V Be sure to prepare the end of
2 +5V the shielded wire properly.
3 485+
CN1 4 DGND
5 DGND 通过专用通讯电缆连接 PC(个人电脑)
10K
40K ref 6 485- Use special communication cable link PC(personal computer)
速度指令 (±1V~10V / 额定转速) VREF+ 1 +
7 CANH
P
40K
Speed reference VREF- 2 -
(±1V to 10V / rated motor speed) 8 CANL

AGND 3 10K A/D
TREF+ 26
ref
壳体 Shield
转矩指令 (±1V~10V / 额定转矩) +
Shell
P
Torque reference TREF- 27 -
(±1V to 10V / rated motor torque) AGND 28 CN4
1 N.C.
2 N.C.
集电极开路指令使用 PPI 34
2KΩ
3 485+
Open-collector reference use 4 DGND
150Ω
PULS+ 30 5 DGND
位置指令 PULS / CW / A
P
PULS- 31 6 485-
Position reference 2KΩ
7 CANH
150Ω
SIGN+ 32 8 CANL
SIGN / CCW / B
P
SIGN- 33 壳体 Shield
Shell
可进行信号的分配 : DICOM 13 20 PAO+

+24V
Signal allocations can be modified: S-ON 14

3.3KΩ
21 PAO- PG分频输出
S-ON: 伺服使能 Servo ON P-CON 15 22 PBO+ 适用线接收器
P-CON: 比例控制 P control TI公司 AM26LS32A 或同类产品
P-OT: 正转驱动禁止 Forward run prohibited P-OT 16 23 PBO-
PG dividing ratio output
N-OT: 反转驱动禁止 Reverse run prohibited N-OT 17 24 PCO+ Applicable line receiver
ALM-RST: 报警复位 Alarm reset ALM-RST 39 25 PCO- AM26LS32A manufactured by TI or the equivalent
CLR: 位置偏差清零 Clear error pulse CLR 40 50 DGND
P-CL: 正转转矩限制 Forward torque limit P-CL 41
N-CL: 反转转矩限制 Reverse torque limit N-CL 42
可进行信号的分配:
7 TGON+ Signal allocations can be modified:
8 TGON- V-CMP: 速度一致 Speed agree detection
9 S-RDY+ COIN: 定位完成 Positioning completion
10 S-RDY- TGON: 电机旋转检测 Motor rotation detection
11 V-CMP+ S-RDY: 伺服准备就绪 Servo ready
12 V-CMP- CLT: 转矩限制检测 Torque limit detection
BK: 制动器连锁 Brake interlock
1Ry +24 V
屏蔽线与连接器壳体相连。壳体 5 ALM+
Shield
Connect shield to connector shell. Shell 6 ALM-
1D
0V
ALM: 伺服报警输出 Servo alarm output
表示双股绞合线
P
Represents twisted-pair wires 光耦输出:

最大工作电压 DC30V
-23- 最大输出电流 DC50mA
Photocoupler output:
Maximum operating voltage: 30VDC
Maximum operating current: 50mA DC
3.3.2 Three-phase 400V power supply specification

非熔丝断路器 L3 三相交流 380 ~440V +10% -15% (50/60Hz)
Molded-case circuit breaker Three-phase 380 to 440VAC +10%
-15% (50/60Hz)
1QF
浪涌保护器
Surge protector 1Ry 1PL (伺服报警显示用 Servo alarm display)
噪声滤波器
Noise filter 电源OFF 电源ON
Power OFF Power ON 1KM
请在电磁接触器的线圈上接上浪涌抑制器。
1KM 1Ry 1SUP Be sure to attach a surge suppressor to the excitation
coil of the magnetic contactor and relay.
电磁接触器
Magnetic contector
1KM
L1 PRONET 系列
伺服电机
L2
伺服驱动器 U
A(1) Servo motor
PRONET series B(2)
L3 servo drives V M
C(3)
W
D(4)
CN2
选项增量式编码器
L1C Options Incremental encoder
旋转变压器绝对值编码器 1 A+
L2C Resolver Absolute encoder 编码器
2 A-
7 SIN+ 7 S+ 3 B+ Encoder
外置再生电阻器 B1
External regenerative 8 SIN- 8 S- 4 B-
resistor 17 COS+ 17 BAT+ 5 C+ PG
B2
18 COS- 18 BAT- 6 C-
9 R1 9 PG5V 9 PG5V
19 R2 19 PG0V 19 PG0V
壳体 Shield 壳体 Shield 壳体 Shield
必须接地。 Shell Shell Shell
Be sure to ground.
CN3
请切实进行屏蔽线的末端处理。
1 +5V Be sure to prepare the end of
2 +5V the shielded wire properly.
3 485+
CN1 4 DGND
5 DGND 通过专用通讯电缆连接 PC(个人电脑)
10K
40K ref 6 485- Use special communication cable link PC(personal computer)
速度指令 (±1V~10V / 额定转速) VREF+ 1 +
7 CANH
P
40K
Speed reference VREF- 2 -
(±1V to 10V / rated motor speed) 8 CANL

AGND 3 10K A/D
TREF+ 26
ref
壳体 Shield
转矩指令 (±1V~10V / 额定转矩) +
Shell
P
Torque reference TREF- 27 -
(±1V to 10V / rated motor torque) AGND 28 CN4
1 N.C.
2 N.C.
集电极开路指令使用 PPI 34
2KΩ
3 485+
Open-collector reference use 4 DGND
150Ω
PULS+ 30 5 DGND
位置指令 PULS / CW / A
P
PULS- 31 6 485-
Position reference 2KΩ
7 CANH
150Ω
SIGN+ 32 8 CANL
SIGN / CCW / B
P
SIGN- 33 壳体 Shield
Shell
可进行信号的分配 : DICOM 13 20 PAO+

+24V
Signal allocations can be modified: S-ON 14

3.3KΩ
21 PAO- PG分频输出
S-ON: 伺服使能 Servo ON P-CON 15 22 PBO+ 适用线接收器
P-CON: 比例控制 P control TI公司 AM26LS32A 或同类产品
P-OT: 正转驱动禁止 Forward run prohibited P-OT 16 23 PBO- PG dividing ratio output
N-OT: 反转驱动禁止 Reverse run prohibited N-OT 17 24 PCO+ Applicable line receiver
ALM-RST: 报警复位 Alarm reset ALM-RST 39 25 PCO- AM26LS32A manufactured by TI or the equivalent
CLR: 位置偏差清零 Clear error pulse CLR 40 50 DGND
P-CL: 正转转矩限制 Forward torque limit P-CL 41
N-CL: 反转转矩限制 Reverse torque limit N-CL 42
可进行信号的分配:
7 TGON+ Signal allocations can be modified:
8 TGON- V-CMP: 速度一致 Speed agree detection
9 S-RDY+ COIN: 定位完成 Positioning completion
10 S-RDY- TGON: 电机旋转检测 Motor rotation detection
11 V-CMP+ S-RDY: 伺服准备就绪 Servo ready
12 V-CMP- CLT: 转矩限制检测 Torque limit detection
BK: 制动器连锁 Brake interlock
1Ry +24 V
屏蔽线与连接器壳体相连。壳体 5 ALM+
Shield Shell
Connect shield to connector shell. 6 ALM-
1D
0V
ALM: 伺服报警输出 Servo alarm output
表示双股绞合线
P
Represents twisted-pair wires 光耦输出:

最大工作电压DC30V
最大输出电流DC50mA
Photocoupler output:
-24- Maximum operating voltage: 30VDC
Maximum operating current: 50mA DC
Chapter 4
Operation introduction
4.1 Operation introduction
4.1.1 Digital Operator operation introduction
Name Function
INC key Press to display the parameter settings and set values.
Press INC key to increase the set value
Press DEC key to decrease the set value.
DEC key
Press to select the status display mode, set mode, monitor mode,
MODE key or error trace back mode.
Press to cancel setting when set the parameters.
ENTER key Press to display the parameter set, set values and release alarm.
4.1.2 Basic Mode Selection

Through swithching among basic modes of digital operator, It is able to operate status display,
parameter setting, Monitor and operation etc. Digital Operator operation allows status display,
parameter setting, operating reference, and auto-tuning operations. Each time the mode key is
pressed, the next mode in the sequence is selected.
Power ON
Status display mode
Parameter setting mode
Monitor mode
Assistant mode
-25-
4.1.3 Operation in Status Display Mode

The status display mode displays the Servo drive status as bit data and codes.
■Selecting Status Display Mode

The status display mode is displayed when the power is turned ON. If the status display mode
does not displayed, select the mode by using Mode Key to switch.
■Keys for the status display are shown below

The display varies in different contents among speed control, torque control and position control.
For Speed and torque Control Bit data Code
Speed coincidence *
Base block /TGON

Control Power ON Power ready
Speed Reference Inputing Torque Reference Input
* It is highlighted when in torque control mode.
Bit displays contents

Bit data Descriptions
Control Power ON Lit when SERVODRIVE control power ON.
Lit at base block.
Base block
Not lit at servo ON.
Lit when the error between motor speed and the
Speed Coincidence reference speed is below preset value
Preset value：Pn501(standard value10min/r)
Lit when motor speed exceeds preset value.
/TGON Not lit if motor speed is below preset value
Preset value: set in Pn503（standard value 20r/min）
Lit if input speed reference exceeds preset value.
Speed Reference Input Not lit if input speed reference is below preset value.
Preset value: set in Pn503（standard value 20r/min）
Lit if input torque reference exceeds preset value.
Torque Reference Input Not lit if input torque reference is below preset value.
Preset value：10% rated torque
Lit when main power supply circuit is normal.
Main circuit Power Ready
Not lit when power is OFF
-26-
Brief-Code displays
Code Description
Base block
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Rotation Prohibited (P-OT)
P-OT OFFstatus
Reverse Rotation Prohibited (N-OT)
N-OT OFF status
Alarm Status
Displays alarm number
Press ENTER to clear present alarm.
4.1.4 Operation For position control

Bit Data Code
Positioning Complete
Base block /TGON

Control power ON Power Ready
Reference Pulse Inputing Clear signal Inputing
Bit data dispaly

Bit data Display
Control power ON Lit when Servo drive control power ON.
Lit at base block.
Base block
Not lit at servo ON.
Lit if error between position reference and actual motor
Position position is below preset value.
Preset value：Pn501(standard setting:10 pulse)
Lit if motor speed exceeds preset value.
/TGON Not lit if motor speed is below preset value.
Preset value：set in Pn50（standard setting:20r/min）
Lit if reference pulse is input
Reference pulse input
Not lit if no reference pulse is input.
Lit when error counter clear signal is input.
Clear signal Input
Not lit when error counter clear signal is not input.
Lit when main circuit power is normal.
Main circuit Power Ready
Not lit when main circuit power is OFF
-27-
Code display
Code Description
Base Block
Servo OFF.（motor power OFF）
Run
Servo ON (motor power ON)
Forward Rotation Prohibited
1CN-12 (P-OT) OFF.
Reverse Rotation Prohibited
1CN-13 (N-OT) OFF
Alarm Status
Display the alarm number
Press ENTER to clear alarm if present status is alarm
4.1.5 Operation for Parameter Setting Mode

Select or adjust the functions through setting parameters. The parameter list is in the appendix.
■Parameter changing procedures

Set the parameter datas when need to adjust the parameters. Modify the confirmed range in
Appendix List of Parameters. These are the operation procedures for setting parameters Pn102
from 100 to 85.
1. Press MODE to select parameter setting mode.
2. Press INC key or DEC key to select parameter number.
3. Press ENTER key to display parameter data in step 2.
4. Press INC or DEC to change the data to the desired number 00085. Hold the button to
accelerate the change of value. When the data reach the max. or Min., the value will remain
unchanged, if press INC/DEC.
5. Press ENTER or MODE to go back to parameter display.
-28-
In addition, press MODE and ENTER at the same time to enter into parameter displacement
status to modify parameter, then press both MODE and ENTER key to back off. Operate
displacement of parameter in step 3 and 4. Press ENTER for longer time to enter into edit
condition then press MODE to save and quit，or perss ENTER for a longer time to quit then press
ENTER to back off parameter displacement edition status,then press ENTER to back to
parameter display.
Note: If the left side of digital operator display “b”, it will display parameter in present binary
system.
If display “H”, it will display Hexadecimal and this parameter can only be modified in displacement
editing condition, or can not be modified.
4.1.6 Operation in Monitor Mode

The monitor mode allows the reference values to input into the Servo Drive, I/O signal status, and
Servo drive internal status to be monitored.
The monitor mode can be set during motor operation.
■Using the Monitor Mode

The example operation procedure below show how to display 150, the contents of monitor
number Un-001.
1. Press MODE to select monitor mode.
2. Press INC key or DEC key to select the monitor number to display.
3. Press ENTER to display the selected monitor data at step 2.
4. Press ENTER again to back to monitor number display.
Above is the opertation procedure for displaying 1500 in monitor number Un001
-29-
■Monitor Mode Displays

Below is the monitor mode dispalys：
Monitor No. contents
Un000 Actual motor speed r/min
Un001 Input speed reference value r/min
Input torque reference percentage% (with
Un002
relative rated torque)
Internal torque reference value%(with internal status bit display
Un003
reletive rated torque)
Un004 Encoder rotating angle pulse numbers
Un005 Input signal monitor
Un006 Encoder signal monitor
Un007 output signal monitor
Un008 Pulse given frequency (Unit: 1KHz)
Un009 Pulse count of motor rotated
Pulse rate of motor rotated
Un010
（x104）
Un011 Error pulse counter lower 16 digit
Un012 Error pulse counter higher 16 digit
Un013 Received pulse counter lower digit
Un014 Received pulse counter high digit (x104)
Un015 Load inertia percentage
Un016 Motor overload ratio
Bit data display

Monitor No. Bit No. Display
0 1CN_14 input
1 1CN_15 input
2 1CN_16 input
3 1CN_17 input
Un005
4 1CN_39 input
5 1CN_40 input
6 1CN_41 input
7 1CN_42 input
-30-
Monitor No. Bit No. Dispaly

0 W phase
1 V phase
2 U phase
3 C phase
Un006
4 B phase
5 A phase
6 （Not used）
7 （Not used）
Monitor No. Bit No. Content

0 1CN_05，1CN_06
1 1CN_07，1CN_08
Un007
2 1CN_09，1CN_10
3 1CN_11，1CN_12
4.1.7 Operation in Assistant function mode

Use panel malipulator to do some application operation when in assistant function mode,The
detailed functions are shown as below:
Function No. Content

Fn000 Display historical alarm data
Fn001 recover factury default
Fn002 JOG mode
speed reference offset
Fn003
autoregulation
Fn004 speed reference hand regulation
Motor current inspection offset
Fn005
autoregulation
Motor current inspection offset hand
Fn006
regulation
Fn007 Servo software version display
Fn008 Positon Teaching function
Fn009 Static inertia inspection
Clear absolute value loopy
Fn010
information and error
Clear absolute value encoder
Fn011
relavent error
-31-
4.1.7.1 Operation in displaying alarm historical data

The latest ten times alarms could be displayed in alarm historical data
The following shows the procedure to display the historical data.
1.Press MODE to select assistant function mode
2.Press INC or DEC to select function number of alarm historical record.
3.Press ENTER to display the latest alarm code.

Alarm serial number Alarm code
4.Press INC or DEC to display other recent occurred alarm code.
5.Press ENTER to return to function number display.
If the user wants to clear all the historical record, just hold ENTER for one second with displaying
alarm code , then all the historical data will be deleted.
4.1.7.2 Operation in recovering default value

The follows are procedures for recovering default value.
1.Press MODE to select assistant mode.
2.Press INC or DEC to select function number of recovering parameter default value
3.Press ENTER to enter parameter default recovery mode.
4. Hold ENTER key for one second to recover parameter to default value.
-32-
5. Release ENTER key to return to function number display.
4.1.7.2 Operation in JOG mode

The following are the operation procedures in JOG mode
1.Press MODE to select assistant function mode.

2.Press INC or DEC to select Function number of JOG mode.
3.Press ENTER to enter JOG mode.
4.Press MODE to enter Servo ON (motor ON) status.
5.Press MODE to switch between servo ON and Servo OFF. If motor running is required, servo
must be ON.
Motor runs when press INC or DEC.
6. Press ENTER to return to function number display.Servo is OFF. (Motor is not under positon.)
4.2 Simulative Reference Offset Automatic Adjustment

The motor may rotate slowly when the reference voltage is intended to be 0 V. This happens
when the host controller or external circuit has a small offset (measured in mV) in the reference
voltage.
The reference offset automatic adjustment mode automatically measures the offset and adjusts
the reference voltage. It adjusts both speed and torque references.
-33-
The following diagram illustrates automatic adjustment of an offset in the reference voltage from
the host controller or external circuit.
After completion of offset automatic adjustment, the amount of offset is stored in the Servodrive.
The amount of offset can be checked in the speed reference offset manual adjustment mode.
Please Refer to Simulative Reference Offset Manual Adjustment Mode for details
The reference offset automatic adjustment mode cannot be used where a position loop is formed
with the host controller and the error pulses recorded in servo are set to zero.
In this case, use the speed reference offset manual adjustment mode. Please Refer to Reference
Offset Manual Adjustment Mode for details.
When the input speed reference is zero, Zero-clamp speed control is able to force the motor to
stop. Please Refer to Using Zero-Clamp for details.
Note
Please automatively adjust analog reference offset on the servo OFF status.
The following are the operation procedures for analog reference offset automatic adjustment.
Input the (intended) 0 V reference voltage from the host controller or external circuit.
1.Press Mode to select assistant function mode.

2.Press INC or DEC key to select function number of speed reference offset.
-34-
3.Press ENTER to enter speed reference offset automatic adjustment.
4.Press MODE.Speed offset will be automatically adjusted after displaying twinkling for one
minute.
5.Press ENTER to return to function number display
6. This is the end of reference offset automatic adjustment.
4.3 Analog Reference Offset Manual Adjustment

Analog reference offset manual adjustment is the function of speed/torque control(analog
reference) mode. Please use it under the following conditions:
• If position loop is formed with the host controller and adjust the offset pulse ZERO when servo
lock is stopped.
• To deliberately set the offset to some value.
It is available when checking the data of offset automatic adjustment.
The basic function is the same as analog reference offset automatic adjustment.But must directly
input offset while adjusting.Offset can be set as speed reference or torque reference.
Offset Adjustment Range and Setting Units are as follows:
-35-
Note:
When automatic adjustment offset is over manual adjustment range (-1024~+1024 ），
manual adjustment is not effective.
The following is operation procedures of analog reference offset manual adjustment.

2.Press INC or DEC to select speed reference offset manual adjustment function number
3.Press ENTER to enter speed reference offset manual adjustment mode.
4. Set servo ON signal（/S-ON）ON, it displays as follows
5.Press ENTER for a second to display speed reference offset
6. Press INC or DEC to adjust the offset.

7. Press ENTER for a second to display step 4.
Press ENTER to go back to function number display.
This is the end of speed reference offset automatic adjustment.
-36-
4.4 Motor Current detection signal offset adjustment

Current detection offset is adjusted at Estun before shipping. Basically, the customer need not
perform this adjustment. Perform this adjustment only if highly accurate adjustment is required
when the Digital Operator is combined with a specific motor.
This section illustrates the offset automatic adjustment and manual adjustment operation
Note:
Motor current detection offset adjustment could only be performed when the Servo is OFF.
Deteriorated situations might occur when start this function involuntary; especially start the
manual adjustment involuntary.
Please perform the offset automatic adjustment when torque pulse is obviously too high
compared with other servodrivers.
Motor current detection offset automatic adjustment

Follow the procedure below to perform current detection offset automatic adjustment

2.Press INC or DEC to select function number of motor current detection offset automatic
adjustment
3.Press ENTER to enter motor current detection offset automatic adjustment mode.
4. Press MODE and offset will be adjusted after flashing for a second.
5. Press ENTER to return function number display.
This is the end of motor current detection offset automatic adjustment
-37-
4.5 Motor current detection offset manual adjustment

Follow the procedure below to perform motor current detection offset manual adjustment
2.Press INC or DEC to select function number of motor current detection offset manual
adjustment.
3.Press ENTER to enter into motor current detection offset manual adjustment.
4.Press MODE to switch U phase （ Cu1_o ） and V phase （ Cu2_o ） current detection offset
adjustment mode.
5.Hold ENTER for a second to diplay present phase current detection data.
6.Press INC or DEC to adjust offset.
7.Hold ENTER for a second to return to the display of step 3 or step 4.
8.Press ENTER again to return to function number display.
This is the end of motor current detection offset manual adjustment

Note:
Motor current detection offset manual adjustment range:-1024~+1024。
-38-
4.6 Checking Servo Software Version

The follow bellow is the operation procedures of servo software version.
1. Press MODE to select assistant function mode.

2.Press INC or DEC to select the function number of servo software version.
3.Press ENTER to display DSP software version number(D or E or F is displayed at the highest
position)
4.Press MODE to display FPGA/CPLD software version number(P is displayed at the highest
position)
5.Press MODE again to switch back to display the DSP software version number
6.Press ENTER to return to display the function number
4.7 Teaching position function

Following operation procedure is for teaching position.
1. Press MODE to select assistant function mode.
2.Press INC or DEC to select the function number of servo software version.
3.Press ENTER to display as follows
4.Press ENTER for long to display as follows
5.Teaching has been completed and release ENTER
4.8 static inertia detection

1. Press MODE key, choose assistant function mode
2．Press INC or DEC, choose servo software edition display function number
-39-
3．Press ENTER to display as follows:
4．Press MODE key to start rotate. Here, it displays motor dynamic speed.
5．When motor stops, it displays the total inertia of motor and load. The unit is kg.cm²
The inertia detection is complete.
Note: Please assure that motor has more than 6 circles of displacement in the CCW direction.
4.9 Clear absolute encoder multiple-circle information

and error
1． Press MODE, choose assistant function mode
2． Press INC or DEC, choose clear absolute encoder multiple-circle information and error function
number.
3．Press ENTER to display as follows:
4．Press MODE to proceed clear operation.
5．Operation complete
Note: This operation will clear the absolute position of the encoder. Please assure mechanical and
personnel safety beforehand. Besides, it will clear other encoder errorat the same time.
4.10 Clear absolute encoder relevant error

1． Press MODE, choose assistant function mode
2． Press INC or DEC, choose clear absolute encoder relevant error function number
3． Press ENTER to display as follows:
4．Press MODE to proceed clear operation
5． Operation complete
-40-
Chapter 5
Modbus communication
5.1 MODBUS Communication Functions
5.1.1 RS-485 communication cable wiring
PRONET drivers have MODBUS communication function with RS-485 interface, which can
modify parameters and monitor servo drive status and so on.Definitions of servo drive
communication connector terminal are as follows:
CN3 terminal definition：

Interface No. Name Function
1 5V
Power supply:5VDC
2 5V
4 DGND
ground
5 DGND
CN4 terminal definition：

Interface No. Name Function
1 — maintain
2 — maintain
4 DGND
ground
5 DGND
-41-
Instructions:
（1）The cable length can reach 100 meters when in a less disturbed environment.，However, if
transmission speed is above 9600bps, please use less than 15 meters communication cable to
ensure the accuracy of transmission.
（2）It’s available for up to 31 PCS servo drives to work together when RS485 is applied. 485
network end-point need to connect a 120Ω resistor separately.If need to connect more
appliances.If you want to connect with more appliance,a RS485 repeater must be needed to
expand connection units.
（ 3 ） CN3 of servo drive is always taken as input terminals ， and CN4 is always taken as
communication cable output terminals（If still need to connect slave station，connect cable from
this terminal to the next slave station facility; if needn’t, add balance resistor in this terminal ）.If
sevral pronet servo drives connected, it is prohibited to directly connect CN3 of any two servo
drivers.
For example，RS-485 network is composed of a piece of PLC,A,B,C three sets of Pronets. Cable
wirring is as follows:
PLC→CN3 of drive A , CN4 of drive A→CN3 of drive B, CN4 of drive B→CN3 of drive C, CN4 of
drive C→120Ω terminal resistor.
-42-
5.1.2 MODBUS communication relevant parameters
Effective
need
under
Pa. No. discription repower Function and meaning
control
on
mode
Pn700.0 MODBUS communication
baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
Pn700.1 communication protocol
selection
[0] 7，N，2（Modbus,ASCII）
[1] 7，E，1（Modbus,ASCII）
[2] 7，O，1（Modbus,ASCII）
Pn700 Hex Yes ALL [3] 8，N，2（Modbus,ASCII）
[6] 8，N，2（Modbus,RTU）
[7] 8，E，1（Modbus,RTU）
[8] 8，O，1（Modbus,RTU）
Pn700.2 communication protocol
selection
[0] no protocol SCI communicate
[1] MODBUS SCI communicate
Pn700.3 maintain
Modbus Axis Aix address of MODBUS protocol
Pn701 Yes ALL
address communication
-43-
5.2 MODBUS communication

Only when Pn213 is set as 1 or 2 can communicate with MODBUS protocol.There are two modes
for MODBUS communication:ASCII（American Standard Code for information interchange）mode
or RTU（Remote Terminal Unit）mode.
The brief introductions of the two communication modes are as follows:
Code Meaning
5.2.1 ASCII mode:

Every 8-bit datum is consisted by two ASCII characters. For instance: One 1-byte datum 64
H（Hex expression）is expressed as ASCII code ‘64’. It contains‘6’ as ASCII code（36 H） and‘4’as
ASCII code（34 H）.
ASCII code for Number 0 to 9、character A to F are as follows:

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

Every 8-bit datum is consisted by two 4-bit hex datums.That is to say, a normal hex number. For
instance: algorism 100 can be expressed as 64H by 1-byte RTU datum
Datum structure: 10bit character form（apply in 7-bit datum）
P n 0 6 2 =0：7，N，2（M odbus，A SCII ）
Sta rt Stop Stop

0 1 2 3 4 5 6
b it b it b it
7-da ta bits
1 0 - bits character frame
-44-
P n 0 6 2 =1：7，E，1（M odbus，A SCII ）
Sta rt Even Stop

0 1 2 3 4 5 6 pa rity
b it b it
7-da ta bits
P n 0 6 2 =2：7，O，1（M odbus，A SCII ）
Sta rt O dd Stop
0 1 2 3 4 5 6 pa rity
b it b it
7-da ta bits
11bit character form（apply in 8-bit datum）
8，N，2（Modbus，ASCII / R T U ）
Sta rt Stop Stop

0 1 2 3 4 5 6 7
b it b it b it
8-da ta bits
8，E，1（Modbus，ASCII / R T U ）
Sta rt Even Stop

0 1 2 3 4 5 6 7
b it pa r ity b it
8-da ta bits
8，O，1（Modbus，ASCII / R T U ）
Sta rt O dd Stop
0 1 2 3 4 5 6 7 pa r ity
b it b it
8-da ta bits
-45-
5.2.3 Communication protocol structure:

Communication protocol data format：
ASCII mode：
STX Start charactor‘：’＝＞(3AH)
ADR Communication address＝＞1-byte contains 2 pcs of ASCII code
CMD Reference code＝＞1-byte contains 2 pcs of ASCII code
DATA(n-1) Data content＝＞n-word=2n-byte contains 4 pcs of ASCIIcode，n≤12
……
DATA(0)
LRC Checking code＝＞1-byte contains 2 pcs of ASCII code
End 1 End code 1＝＞（0DH）（ CR）
End 0 End code 0＝＞（0AH）（ LF）
RTU mode：
STX At least stop transimission for 10ms
ADR Communication address＝＞1-byte
CMD Reference code＝＞1-byte
DATA(n-1) Data content＝＞n-word=2n-byte，n≤12
……
DATA(0)
CRC CRC Verifying code ＝＞1-byte
End 1 At least stop transimission for 10ms
Communication protocol data format instructions are as follows：

STX（communication start）
ASCII mode：‘ : ’character
RTU mode: stop time for more than 4 bytes communication tim e（automatively changed according
to different communication speed）
ADR（communication address）
Valid communication addresses range from 1 to 254.
For example:communicate with the servo drive which address is 32（hex as 20）：
ASCII mode：ADR=‘2’，‘0’=＞‘2’=32H，‘0’=30H
RTU mode：ADR=20H
CMD（order instruction） and DATA（datum）

Datum structure is formed by order code. Regular order code as follows:
Order code: 03H， read N words(word)，N is not morethan 20.
For instance: read 2 words from address 0200 H which start from servo addressed at 01 H
-46-
ASCII mode：
Order information: response information:
RTU mode:
Order information: Response information:
Order code: 06H，write in one character（word）

For instance: write 100（0064 H）into 01H servo address 0200 H of servo 01H.
-47-
ASCII mode:
RTU mode:
LRC（ASCII mode）and CRC（RTU mode）error detection value calculation：

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

01H+03H+02H+01H+00H01H=08H
The compensate value is F8H when 2 is selected from 08H, so LRC is “F”,”8”.
CRC calculation of RUT mode:
-48-
RTU mode uses CRC (Cyclical Redundancy Check) error detection value.
The process of CRC checksum calculation is as following:
The first step: Load in a 16-bit register of FFFFH, named “CRC” register.
The second step: Run XOR calculation between the first bit (bit 0) of instruction information and
16-bit CRC register’s Low bit (LSB), save back the result to CRC register.
The third step: Check the lowest bit (LSB) of CRC register, if it is 0, CRC register right move a bit;
if it is 1, CRC register right move a bit, then run XOR calculation with A001H;
The fourth step: turn back to the third step, know that the third step has been operated for 8 times,
then go to the fifth step.
The fifth step: repeat the second step to the fourth step to the next bit of instruction information,
know all the bits had been operated the same way, then comment of CRC register is CRC error
detection value.
Illustration: after calculating out the CRC error detection value, in instruction information, the CRC
low bit should be filled first, and then fill the high bit of CRC, please refer to the following example:
Read 2 charaters (word) from the 0101H address of 01H servo. The final CRC register comment
calculated from ADR to the last bit of information is 3794H, then the instruction information is as
following, please note that 94H is transmitted before 37H.
End1、End0（Communication check is done）
-49-
ASCII mode：
(0DH) as character‘\r’『carriage return』and (0AH) as character‘\n’『new line』, meaning the end of
communication.
RTU mode：
The stop period of 4 bytes communication time exceeding present communication speed rate
means communication finished.
Example:
The following C language causes CRC value, the function needs two parameters.
unsigned char * data;
unsigned char length;
The function will return unsigned integer mode CRC value.
unsigned int crc_chk(unsigned char * data,unsigned char length){
int i,j;
unsigned int crc_reg=oxFFFF;
While (length- -) {
Crc _ reg ^=*data++;
For (j=0;j<8;j++){
If (crc_reg & 0x01) {
crc_reg= (crc _reg >>1) ^ 0xA001;
} else {
crc_reg＝crc_reg >>1;
}
}
}
return crc_reg;
}
-50-
5.2.4 Communication error disposal

It may cause fault while communication, the common fault is as follows:
� Parameter datum address are wrong when read/write parameter.
� The datum exceeds the maximum value of this parameter or less than the minimum value
of this parameter while write parameter.
� Datum transmission fault or verifying code fault when communication is disturbed.
When above mentioned communication faults occur, servo drive running won’t be affected.
Meanwhile, servo drive will feed back an error frame.
The eror frame form is as follows:

Host controller datum frame:
Start Slave station Command Datum address, Verifying
Address data and so on
Command
Servo drive feedback fault frame:

Start Slave station Response error code Verifying
address code
Command ＋
80H
Error frame responses code=command+80H
Fault code＝00H：communication normal
＝01H：Servo drive can not identify the required functions
＝02H: The required datum address does not exist in the servo drive;
＝03H：The required datum in servo is not allowed. (Beyond maximum or minimum value of the
parameter)
＝04H：Servo drive starts to perform the requirement, but cannot achieve it.
For instance: servo drive axis number is 03H ， write into datum 06H corresponding parameter
Pn002.Because of the parameter Pn002 range of 0~1, the written data are not allowed.Servo
driver will feedback an error frame,the error code is 03H(Exceed parameters’ max.value or
min.value.The following is the structure:
Host controller datum frame

Start Slave station Instruction Datum address, Verifying
address data and so on
03H 06H 0002H 0006H
Servo driver feedback error frame

Start Slave station Response Fault code Verifying
address code
03H 86H 03H
Besides, if the datum frame sent from host controller slave station address is 00H, it represents
this datum is broadcasted datum, servo dries will not feedback any frames.
-51-
5.2.5 Servo state data communication address

Communication
data address Meaning Description Operation
Hex
Parameter area Corresponding parameters Read-write
0000 ~ 02FD
in parameter list
Alarm information memory Ten former alarms Read only

07F1 ~07FA
area
07FB Speed instruction zero offset Read only

07FC Torque instruction zero offset Read only
07FD Lu zero offset Read only
07FE Lv zero offset Read only
Monitor data (corresponding Read only

0806 ~ 0814
with displayed data)
0806 Speed feedback Unit:r/min Read only
0807 Input speed instruction value r/min Read only
Input torque instruction Corresponding rated torque Read only
0808
percentage
Internal torque instruction Corresponding rated torque Read only
0809
percentage
Encoder rotation pulse Read only
080A
number
080B Input signal state Read only
080C Encoder signal state Read only
080D Output signal state Read only
080E Pulse setting Read only
080F Present location low bits Unit:1 instruction pulse Read only
0810 present location high bits Unit:10000 instruction pulse Read only
error pulse counter low 16 Read only
0811
bits
error pulse counter high 16 Read only
0812
bits
0813 setting pulse counter low bits Unit:1 instruction pulse Read only
Setting pulse counter high Unit:10000 instruction pulse Read only
0814
bits
0815 Load/inertia percentage % Read only
0816 Motor overload percentage % Read only
0817 Current alarm Read only
-52-
ModBus communication IO Power off without save Read -write

0900
signal
0901 Driver state Read only
0902 Relevant phase value Read only
0903 Inertia inspection value Read only
0904 Driver running time Unit: minute Read only
090E Software DSP edition Edition is displayed by digit Read only
090F Software PLD edition Edition is displayed by digit Read only
17-bit encoder multi-round Unit:one round Read
1010
message only,only
17-bit encoder sigle round Unit:one pulse 17-bit
1011
message low bit encoder,mu
17-bit encoder sigle round lti-round 16
1012 message high bit bit,sigle-
round 17 bit.
1021 Clear former alarms 01：Clear Read -write
1022 Clear current alarms 01：Clear Read -write
01：Enable
1023 JOG servo enable Read -write
00：No enable
01： Forward rotate
1024 JOG forward rotate Read-write
00： Stop
01： Backward rotate
1025 JOG backward rotate Read - write
00： Stop
1026 JOG forward rotate at node 01： Forward rotate
position(start signal has been 00： Stop
set)
1027 JOG backward rotate at node 01： Backward rotate

position(start signal has been 00： Stop
set)
1028 01： Pause
Pause at node position
00： Cancel pause
1040 Clear encoder alrm 01： clear
1041 01： clear Write only

Clear encoder multi-round
,only 17-bit
data
encoder
-53-
Instruction:
1、parameter area（communication address 0000 ～ 00DEH）

Corresponding parameters in the parameter list, for instance: parameter Pn000 is relevant to
communication address 0000 H; parameter Pn101 is relevant to communication address 0065 H;
read-write operation to address 0000 H is the read-write operation to Pn000. If the communication
input datum is not within the parameter range, the datum will be abnegated and servo drive will
return an operation unsuccessful signal.
2、Alarm information storage area（07F1 ～ 07FAH）
Historical alarm number Instruction Communication address
0 Historical alarm 1（the latest alarm） 07F1H
1~8 Historical alarm 1~historical alarm 9 07F2H ~ 07F9H
9 Historical alarm 10 (the longest time) 07F3H
3、monitor data area（0806 H～ 0814H）

This monitor data corresponding sevo drive panel displays Un000~Un014.
For instance: the corresponding data of communication read address 0807 H (speed setting) is
FB16 H.Therefore, the speed setting is-1258r/m.
4、ModBus communication IO signal
Use communication control digit IO signal. This datum won’t be reserved after power off.
5、drive state（0901 H）
This 1-word represents system current state. Meaning of each bit is as follows:
6、software edition（090EH）
Use digit to represent drive’s software edition. E.g. If the read datum is D201H ， it means the
software edition is D-2.01.
-54-
Chapter 6
Parameter List
6.1 PARAMETER LIST
Default Re-power
Parameter Description Unit Range
value on needed
Binary
Pn000.0: parameter servo ON
Pn000.1: Forward rotation input signal
(P-OT) is prohibited.
Pn000 — 0~1111 0 Needed
Pn000.2: Forward rotation input signal
(N-OT) is prohibited.
Pn000.3: instant power off output servo
alarm（ALM）
Binary
Pn001.0: CCW,CW selection
Pn001.1: analog speed limited enable
Pn001 — 0~1111 0 Needed
Pn001.2: analog torque limited enable
Pn001.3:the second electronic gear
enable
Binary
Pn002.0: electronic gear switch mode
Pn002.1: reserved
Pn002 — 0~0111 0010 Needed
Pn002.2:absolute encoder used as
incremental encoder
Pn002.3: reserved
Binary
Pn003.0: code wheel fault code alarm
enable
Pn003 — 0~1111 0 Needed
Pn003.1:C pulse protection
Pn003.2:low speed compensation
Pn003.3: overload increase
Hex
Pn004.0: Stop mode
0~0x34
Pn004 Pn004.1:offset counter clear mode — 0 Needed
25
Pn004.2: instruction pulse form
Pn004.3: reverse pulse
-55-
Default Re-power
value on needed
Hex
Pn005.0:torque forward feedback mode
Pn005.1: Control mode
[0] Speed control(analog instruction)
[1] Position control (pulse train instruction)
[2] Torque control(analog instruction)
[3] speed control(node instruction)
Speed control (zero instruction)
[4] Speed control(node
instruction)←→speed control (analog
instruction)
instruction)←→Positioning
control(pulse train instruction)
instruction)←→Torque control(analog
instruction)
[7] Positioning control(pulse train
instruction)←→Speed control(analog 0~0x33
— 0 Need
instruction) D3
[8] Positioning control(pulse train
instruction)←→Torque control(analog
instruction)
[9] Torque control(analog
instruction)←→Speed control(analog
instruction)
[A] Speed control(analog
instruction)←→zero clamping control
[B] positioning control(pulse train
instruction)←→Positioning control(pulse
prohibited)
[C]Positioning control(parameter
instruction)
[D]Speed control (parameter instruction)
[E]Pressure control (parameter
instruction)
Pn005.2:Out-of-tolerance alarm enable
Pn005.3: Motor type
Hex
Pn006.0: Bus mode 0~0x00
Pn006 — 0x0020 Need
Pn006.1:Resolver resolution selection 32
Pn006.2: Reserved
-56-
Default Re-power
value on needed
Pn006.3: Reserved
Real time auto tune setting

0: User manual gain
1,2,3= Regular mode;4,5,6= Upright load
Pn100 — 0~6 1 Need
1,4 = No change of load inertia;2,5
=Small change of load inertia;3,6= Big
change of load inertia
Pn101 Load rigid selection — 0~15 5 No need
Pn102 Speed loop gain Hz 1~2500 160 No need
0.1m
Pn103 Speed loop integration time 1~4096 200 No need
s
Pn104 Position loop gain 1/s 0~1000 40 No need
0.1m
Pn105 Torque instruction filter constant 0~250 4 No need
s
0~2000
Pn106 Load inertia percentage — 0 No need
0
Pn107 The second speed loop gain Hz 1~2500 40 No need
The second speed loop integration time 0.1m
Pn108 1~4096 200 No need
counstant s
Pn109 The second position loop gain Hz 0~1000 40 No need
The second torque instruction filter 0.1m
Pn110 0~250 150 No need
constant s
Pn111 Speed offset r/min 0~300 0 No need
Pn112 Forward feedback % 0~100 0 No need
0.1m
Pn113 Forward feedback filter 0~640 0 No need
s
Pn114 Torque forward feedback % 0~100 0 No need
0.1m
Pn115 Torque forward feedback filter 0~640 0 No need
s
P/PI switch condition
0: Torque instruction percentage
1: Offset counter value
Pn116 — 0~4 0 Need
2: Setting acceleration value
3: Setting speed value
4: PI Fixed PI
Pn117 Torque switch threshold % 0~300 200 No need
Instru
0~1000
Pn118 Offset counter switch threshold ction 0 No need
0
pulse
Pn119 Setting acceleration switch threshold 10rp 0~3000 0 No need
-57-
Default Re-power
value on needed
m/s
0~1000
Pn120 Setting speed switch threshold rpm 0 No need
0
Gain switch condition
0: fixed to the first group gain
1: Outside switch gain switched
2: Torque percentage
Pn121 — 0~6 0 Need
3: Offset counter value
4:Setting acceleration value（10r/min）
6: positional instruction input
0.1m 0~2000
Pn122 switch delayed time 0 No need
s 0
0~2000
Pn123 Switch threshold level 0 No need
0
Pn124 Reserved
0.1m 0~2000
Pn125 Position gain switch time 0 No need
s 0
0~2000
Pn126 Switch hysteresis 0 No need
0
0.1m
Pn127 low speed test filtering 0~100 10 No need
s
speed gain increase relationship in real
Pn128 — 0~3 3 No need
time adjustment
0~3000
Pn129 Low speed verifying coefficient — 0 No need
0
Pn130 Friction load 0.1% 0~3000 0 No need
Friction compensation speed hysterics
Pn131 rpm 0~100 0 No need
zone
0.1%/
Pn132 Viscous friction load 1000r 0~1000 0 No need
pm
Pn133 Reserved — 1~2000 40 No need
0.1m 1~2000
Pn134 Reserved 200 No need
s 0
0~3000
Pn135 Reserved — 0 No need
0
Pn136 Reserved — 0~100 0 No need
0.1m
Pn137 Reserved 0~1000 10 No need
s
Pn138 Reserved 0.1m 0~1000 10 No need
-58-
Default Re-power
value on needed
s
16~163
Pn200 PG frequency Pulse 16384 Need
84
1~6553
Pn201 The first electronic gear molecule — 1 Need
5
1~6553
Pn202 Electronic gear denominator — 1 Need
5
1~6553
Pn203 The second electronic gear molecule — 1 Need
5
0.1m 0~3276
Pn204 Position instruction filtering time constant 0 No need
s 7
Pn205 Position instruction filtering form selection — 0~1 0 Need
Pn300 speed instruction input gain rpm/v 0~3000 150 No need

Pn301 Inside speed 1 rpm 0~6000 100 No need
Pn304 Parameter speed rpm 0~6000 500 No need
Pn305 JOG speed rpm 0~6000 500 No need
0~1000
Pn306 Soft reset accelerating time ms 0 No need
0
ms 0~1000
Pn307 Soft reset decelerating time 0 No need
0
ms 0~1000
Pn308 Speed filtering time constant 0 No need
0
ms 0~1000
Pn309 S curve rising time 0 No need
0
Speed instruction curve form
0: Incline
Pn310 1: S curve — 0~3 0 Need
2: Once filtering
3: Twice filtering
Pn311 S form selection — 0~3 0 No need
-
Pn312 DP communication inching speed rpm 6000~6 500 No need
000
Reserved 0.1m 0~1000
Pn313 0 No need
s 0
Reserved 0.1ba 0~1000
Pn314 400 No need
r/v 0
-59-
Default Re-power
value on needed
Reserved 0.1ba 0~1000 400
Pn315 No need
r/v 0
0.1V/
Pn400 Torque instruction gain 10~100 33 No need
100%
Pn401 Forward direction torque inside limit % 0~300 300 No need
Pn402 Reversed direction torque inside limit % 0~300 300 No need
Pn403 Forward direction outside torque limit % 0~300 100 No need
Pn404 Reversed outside torque limit % 0~300 100 No need
Pn405 Plug braking torque limit % 0~300 300 No need
Pn406 Speed limit in torque control period rpm 0~6000 1500 No need
50~500
Pn407 Wave trap 1 frequency Hz 5000 No need
0
Pn408 Wave trap 1 depth — 0~11 1 No need
50~500
Pn408 Wave trap 2 frequency Hz 5000 No need
0
Pn410 Wave trap 2 depth — 0~11 1 No need
Pn500 Position error Puls 0~5000 10 No need

Pn501 speed error rpm 0~100 10 No need
Pn502 Zero clamping rotating speed rpm 0~3000 10 No need
Pn503 Rotation inspection speed TGON rpm 0~3000 20 No need
256P 1~3276
Pn504 Offset counter overflow alarm 1024 No need
uls 7
Pn505 Servo on waiting time ms 0~2000 200 No need
Pn506 Basal waiting process 10ms 0~500 0 No need
Pn507 Braking waiting speed rpm 10~100 100 No need
Pn508 Braking waiting time 10ms 10~100 50 No need
Match input interface to the interface of 0~0xBB
Pn509 — 0x3210 Need
signal hex 4 bit BB
Match input interface to the interface of 0~0xBB
Pn510 — 0x7654 Need
signal hex 4 bit BB
0~0x04
Pn511 Output signal distribute — 0x0210 Need
44
Pn512 Bus control input node low bit enable 0~1111 0 No need
Pn513 Bus control input node high bit enable 0~1111 0 No need
0.2m
Pn514 Input end filtering 0~1000 1 No need
s
0.2m
Pn515 Reserved 0~3 1 No need
s
Pn516 Select the contrary of input end signal — 0~1111 0 No need
-60-
Default Re-power
value on needed
Pn517 Select the contrary of input end signal — 0~1111 0 No need
50~200
Pn518 Reserved ms 125 No need
0
0.1m 0~1000
s 0
0.1m 0~6000
s 0
-
1000
Pn600 Point position control position pulse 9999~9 0 No need
0P
999
-
Pn601 Point position control position pulse 1P 9999~9 0 No need
999
……
-
Pn631 Point position control position pulse 1P 9999~9 0 No need
999
Pn632 Point position speed control rpm 0~6000 500 No need

……
Pn647 Point position speed control rpm 0~6000 500 No need
0.1m 0~3276
Pn648 Point position once filtering 0 No need
s 7
……
0.1m 0~3276
Pn663 Point position once filtering 0 No need
s 7
Pn664 Stop time 50ms 0~300 10 No need

……
Pn679 Stop time 50ms 0~300 10 No need
Pn680 Reserved
Hex
Pn681.0:One time/recycle,
reset/reference point selection 0~x033
Pn681 — 0x0000 No need
Pn681.1: Change step and reset mode 3
Pn681.2: Change step input signal mode
Pn681.3: Reserved
Pn682 Program mode — 0~1 0 No need
-61-
Default Re-power
value on needed
Pn683 Program start step — 0~15 0 No need
Pn684 Program stop step — 0~15 1 No need
Pn685 Search travel speed rpm 0~3000 1500 No need
Pn686 Leave travel switch speed rpm 0~3000 30 No need
-
1000
Pn687 Teaching position pulse 9999~9 0 No need
0P
999
-
Pn688 Teaching position pulse 1P 9999~9 0 No need
999
Hex
Pn700.0:MODBUS communication baud
rate
Pn700.1:MODBUS communication 0~0x01
Pn700 — 0x0151 Need
protocols 82
Pn700.2:Communication protocols
selection
Pn700.3: Reserved
Pn701 MODBUS shaft address — 1~247 1 Need
6.2 Illustration of parameter form

Form code Brief description
Function selection switch Pn000~Pn006 Control mode, stop mode and some function
selections
Servo gain parameter and so Pn100~Pn129 Position gain, speed gain, rigidity and so on
on
Position control relationship Pn200~Pn205 PG frequency division, electronic gear and so on
parameter
Speed control relationship Pn300~Pn312 Speed instruction input, soft reset and so on.
parameter
Torque control relationship Pn400~Pn406 Torque limit and so on
parameter
Parameter to control input Pn500~Pn520 Distribution of input/output end’ functions
and output ends
Relevant parameter of point Pn600~Pn686 Relevant parameter of internal point position
position control control.
Communication parameter Pn700~Pn704 Communication relevant parameter set
-62-
Chapter 7
Parameter Explanation
7.1 Detail explanation of parameters

Need effective
Pa.
Name Repower control Function and meaning
No.
on mode
Pn000.0: parameter servo ON
[0] Outside S-ON valid
[1] Outside S-ON invalid, motor excitation signal
turned on automatically after S-RDY output
Pn000.1 Forward direction input prohibited
[0] Outside P-OT valid, it moves according to the
Pn004.0 setting time sequence when it reaches
the travel limit.
[1] Outside P-PT invalid.
Pn000 Binary Need ALL
Pn000.2 Reversed direction input prohibited
[0] Outside N-OT valid, it moves according to the
Pn004.0 setting time sequence when it reach the
travel limit.
[1]。Outside P-PT invalid.
Pn000.3 Momentary power off alarm output
[0] No alarm in one momentary power off circle
[1] Alarm in one momentary power off circle.
Pn001.0 CCW,CW selection

[0] CCW: counter clockwise is the forward
direction
[1] CW: clockwise is the forward direction
Pn001.0 Pn001.1 analog speed limit enable
ALL [0] Inter parameter Pn406 is the limited speed
Pn001.1 value while torque control period
T [1] Vref input analog voltage corresponding value
Pn001 Binary Need
Pn001.2 is the speed limited value while torque control.
P，S All control modes of this parameter are effective
Pn001.3 Pn001.2 analog torque limit enable
P [0] Pn401~Pn404 acts as torque limit
[1] Tref input corresponding value acts as torque
limit
Pn001.3 The second electric gear enable
[0] No the second electric gear PCON signal actin
-63-
Need effective
Pa.
No.
on mode
g as P/PI switch
[1] The second electric gear effective PCON
signal can only act when Pn005.3=1
Pn002.0 electric gear switch mode

[0] Corresponding time sequence, for electronic
gear 1
P n 203
P n201 电子齿轮分子2 P n 201
电子齿轮分子1 PCO N 有效电子齿轮分子1
PCO N 无效 PCO N 无效
指令脉冲
t1 t2
t1，t2>1m s
[1] Corresponding time sequence, for electronic

gear 2
P n 203
P n 201 电子齿轮分子2 P n201
电子齿轮分子1 PCO N有效电子齿轮分子1
PCO N 无效 PCO N 无效
指令脉冲
t1 t2
t1，t2>1m s
Set the time sequence 0 and 1 both available

Pn002 Binary Need ALL P n 203
P n 201 电子齿轮分子2 P n 201
电子齿轮分子1 PCO N 有效电子齿轮分子1
PCO N 无效 PCO N无效
指令脉冲
t1 t2 t3 t4
t1，t2，t3，t4>1m s
fault time sequence

P n 203
P n 201 电子齿轮分子2 P n 201
电子齿轮分子1 PCO N有效电子齿轮分子1
PCO N无效 PCO N 无效
指令脉冲
t1 t2
t1，t2>1m s
Pn002.1 Reserved
Pn002.2 serial absolute encoder alarms relevant
enable
[0] alarm valid
-64-
Need effective
Pa.
No.
on mode
[1] alarm invalid
Pn002.3:Reserved
Pn003.0 Code panel error code alarm enable
[0] A.30~A.33:Alarm invalid
[1] A.30~A.33:Alarm valid
Pn003.1 C pulse protection
[0] No C pulse protection
[1] with C pulse protection
Pn003.2 Low speed compensation
[0] No low speed verifying
[1] With low speed verifying to prevent motor
Pn003 Binary Need ALL
crawling, but sometimes the intensity of motor low
speed verifying has to be determined by value of
Pn129
Pn003.3 overload enhancement
[0] No overload enhancement function
[1] With overload enhancement function, In some
frequent start-stop applications, this function can
enhance the overload capacity when surpass 2
times’ rated overload in instantaneous time.
Pn004.0 Stop mode
[0] Cancel braking after DB braking and running
stop.
[1] Stop freely
[2] DB when servo OFF, plug braking stop when
over travel,servo OFF
[3] Stop freely when servo OFF, plug braking stop
Pn004.0
when over travel,servo OFF
ALL
[4] DB when servo OFF, zero clamp after plug
Pn004.1
braking stop when over travel
P
Pn004 Hex Need [5] Freely stop when servo OFF, zero clamp after
Pn004.2
plug braking stop when over travel
P
Pn004.1 Offset counter clear mode
Pn004.3
[0] Offset counter clear when S-OFF, does not
P
clear when over travel
[1] Offset counter does not clear
[2] Offset counter clear when S-OFF or over travel
(except zero clamp)
Pn004.2 Instruction pulse mode
[0] Symbol + pulse
[1] CW+CCW
-65-
Need effective
Pa.
No.
on mode
[2] A+B（orthogonal 1 frequency doubling）
[3] A+B（rthogonal 2 frequency doubling）
[4] A+B（orthogonal 4 frequency doubling）
Pn004.3 Pulse negation
[0] PULS instruction no negation, SIGN instruction
no negation
[1] PULS instruction no negation, SIGN instruction
negation
[2] PULS instruction negation, SIGN instruction no
negation.
[3] PULS instruction negation, SIGN instruction
negation
Pn005.0 Torque feedforward mode
[0] Outside analog (Tref) feedforward invalid,
using regular torque feedforward.
[1] Outside analog (Tref) feedforward valid, using
high speed torque feed forward
[2] Outside analog (Tref) feedforward invalid,
using high speed torque feedforward
[3] Outside analog (Tref) feedforward valid, using
regular torque feedforward
Pn005.1 Control mode

[0] Speed control (analog instruction)
Pn005.0
PCON：OFF，PI control；ON，P control
P，S
[1] Position control(pulse train instruction)
Pn005.1
Pn005 Hex Need PCON：OFF，PI control；ON，P control
ALL
[2]) Torque control (analog instruction)
Pn005.2
PCON malfunction
P
[3] Speed control(node instruction)←→Speed
control(zero instruction)
PCON：OFF， motor forward rotate；ON， motor
backward rotate
PCL，NCL：OFF motor stop
[4] Speed control(node instruction)←→Speed
control (analog instruction)
PCON ： OFF Motor forward rotate ， ON motor
backward rotate
PCL，NCL：OFF switch to speed control(analog
instruction)
[5] Speed control (node instruction)←→Position c
-66-
Need effective
Pa.
No.
on mode
ontrol (pulse train instruction)
PCON ： OFF motor forward rotate ， ON Motor
backward rotate
PCL，NCL：OFF switch to position control (pulse
train instruction)
[6] Speed control (node instruction)←→Torque
PCON ： OFF motor forward rotate ， ON motor
backward rotate
PCL，NCL：OFF switch to torque control(analog
instruction)
[7] Position control (pulse train
instruction)←→Speed control (analog instruction)
PCON ： OFF ； position control (pulse train
instruction)
ON speed control (analog instruction)
[8] position control (pulse train
instruction)←→Torque control (analog instruction)
PCON ： OFF ； position control (pulse train
instruction)
ON Torque control (analog instruction)
[9] Torque control (analog instruction)←→Speed
PCON：OFF；Torque control(analog instruction)
ON Speed control (analog instruction)
[A])Speed control(analog instruction)←→zero
clamp control
PCON：OFF；speed control(analog instruction)
ON zero clamp control
[B] position control(pulse train instruction)
←→position control (pulse prohibited)
PCON ： OFF position control (pulse train
instruction)；
ON Position control(pulse prohibited)
[C] Position control(node instruction)
PCON： can be as changing step
PCL，NCL： can be as searching reference point
or start.
[D] Speed control( parameter instruction)
PCON，PCL，NCL invalid
-67-
Need effective
Pa.
No.
on mode
Pn005.2 Overproof alarm enable
[0] Overproof alarm no enable
[1] overproof alarm enable, alarm when offset
counter value surpass the corresponding value of
Pn504
[2] Reserved
[3] Reserved
Pn005.3 Selection of motor type
[0] EMJ
[1] EMG
[2] EML
[3] EMB
Pn006.0 Bus mode
[0] No bus
[1] PROFIBUS-DP V0/V1
[2] PROFIBUS-DP V2
Pn006.1 resolver resolution selection
Pn006 Hex Need [0] 10 bits
[1] 12 bits
[2] 14 bits
[3] 16 bits
Pn006.2 Reserved
Pn006.3 Reserved
[0] User manual gain
[1,2,3] Regular mode
[4,5,6] Upright load
[1,4] No change of load inertia
[2,5] Small change of load inertia
[3,6] Big change of load inertia
Attention:
Real time The auto-adjustment is invalid when the highest
auto speed is below 100rpm in the movement of servo
Pn100 Need P，S
adjustment motor,it should be set to user manual gain
set The auto-adjustment is invalid when the
acceleration and deceleration lower than
5000rpm/s, it should be set to user manual gain
When leak of machine is too big to be suitable for
auto-adjustment during movement course, it
should be set to user manual gain
When the differences of various speed load are
too much to be suitable for auto-adjustment during
-68-
Need effective
Pa.
No.
on mode
movement course, it should be set to manual gain
This value determines the response speed of

servo system, normally the rigid should be set
Load rigid larger, but if it is too large, it would suffer the
Pn101 No need P，S
selection Mechanical impaction. It should be set smaller
when vibration is big. The value is valid only when
auto-adjustment time
This value determines speed loop gain value and
Speed
Pn102 No need P，S load inertia percentage. The corresponding unit is
loop gain
HZ when Pn 106 is set correctly
Speed
loop Decreasing the value can shorten position time,
Pn103 No need P，S
integral the speed response unit is 0.1ms
time
This value determines the position loop gain,
position increasing this value can improve the rigid of
Pn104 No need P
loop gain position control servo.It will cause vibration when
the value is too much.Unit is 1/s
Torque Setting torque filtering can remove or decrease
instruction the mechanical vibration, but sometimes
Pn105 No need P，S，T
filter unreasonable setting will cause mechanical
constant vibration.Unit is 0.1m/s
Load
The percentage between load inertia and motor
inertia
Pn106 No need P，S rotor inertia. The unit is %. Setting value=( load
percentag
inertia/rotor inertia)x100
e
The
second
Pn107 No need P，S
speed loop
gain
The
These parameters’ meaning is same with
second
Pn102~Pn105.
speed loop
Pn108 No need P，S These parameters are only need to set when two
integral
level gain switch mode is open.
time
constant
The
Pn109 second No need P
loop gain
-69-
Need effective
Pa.
No.
on mode
The
second
torque
instruction
filter
constant
The value is to shorten the position time, But if it is
set too big or not corresponded well with Pn111,
vibration occurs, The relationship between the
value and speed instruction, offset counter is as
following.
速度指令
P n111
Speed
Pn111 No need P P n500
offset
偏差计数
P n111
P n500
It is used to set position feed forward value, more

Feed higher position lead to faster response and less
Pn112 No need P
forward position offset. It would cause vibration and
overswing when it is set too big.Unit:%
The mechanical impaction caused by smooth
Feed
position feed forward. It would enlarge feed
Pn113 forward No need P
forward lag and cause vibration if it is set too big.
filtering
Unit:0.1ms
it is used to set torque feed forward value in order
Torque
to accelerate the speed response. Pls set load
Pn114 feed No need P，S
rotation inertia percentage correctly while in
forward
manual adjustment mode
-70-
Need effective
Pa.
No.
on mode
Torque
feed Mechanical impaction caused by smooth torque
Pn115 No need P，S
forward feed forward . Unit:0.1ms
filtering
0: torque instruction percentage
1: offset counter value
P/PI switch
Pn116 Need P，S 2: setting acceleration value
conditions
3: setting speed value
4: fixed PI
Torque
The torque threshold value unit from PI control to
Pn117 switch No need P，S
P control:%
threshold
Offset
counter The offset counter threshold value unit from PI
Pn118 No need P
switch control to P :Pulse
threshold
Setting
acceleratio The acceleration threshold value unit from PI
Pn119 No need P，S
n switch control to P :10rpm/s
threshold
Setting
speed
Pn120 No need P，S The speed threshold value unit from PI control to
switch
P:rpm
threshold
0: Fixed to the first group gain
1: Outside power switch gain transfer(G-SEL)
Gain
2: Torque percentage
switch
Pn121 No need P，S 3: Offset counter value
condition
4: Setting acceleration value(10r/min)
6: there are position instructions input
switch How long should the gain switch be delayed when
Pn122 No need P，S
delay time it get to the switch condition.
Switch
Pn123 threshold No need P，S Gain switch’s trigger level
level
Pn124 Reserved
Position
It can bridge smoothly by the parameter if the
Pn125 gain switch No need P
change between the two groups’ gain is too large.
time
Pn126 Hysterics s No need P，S It is used to set gain switch movement delay
-71-
Need effective
Pa.
No.
on mode
witch
speed
It sets the filtering during speed inspection at low
inspection
Pn127 No need P，S speed, if it is too large, the speed inspection at
filtering at
low speed will delay.
low speed
Real time
It is the increase times of speed loop gain at the
adjustment
same rigid in the real time auto adjustment. The
speed gain
Pn128 No need P，S real time auto adjustment speed loop gain is
increase
larger as the value is set larger.
relationshi
p
Low speed The anti outside friction, anti crawl strength at low
Pn129 verifying No need P，S speed. But it will cause vibration if it is set too
constant large.
Friction
Pn130 No need P，S Friction load or fixed load compensation
load
Friction
compensat
Pn131 No need P，S Friction start compensation threshold
ion speed
period
Viscous
Viscous damping which is direct proportional to
Pn132 friction No need P，S
speed
load
Pn133 Reserved No need -------
Analog encoder output orthogonal differential
PG
Need pulse, the value means the encoder output
Pn200 frequency P，S，T
orthogonal pulses No. When motor rotate a round
division
analog encoder output.
The first Using electrical gear can match the instruction
electrical pulse along with the amount of motor movement
Pn201 Need P
gear corresponding to the motor, it makes the upper
numerator device do not need to care mechanical
Electrical deceleration ratio and encoder pulse No.,
gear essentially, it is a setting of frequency doubling or
Pn202 Need P
denominat frequency division to instruction pulse.
or
-72-
Need effective
Pa.
No.
on mode
The
second
Pn203 electrical Need P
gear
numerator
Position
instruction The smooth effect is better if the smoothness of
Pn204 filtering No need P input pulse is bigger. Delay will occur when it is
time too big.
constant
Selection
of position
[0]： Once filtering
Pn205 instruction Need P
[1]： Twice filtering
filtering
mode
Speed
The corresponding speed to Each voltage’s
Pn300 instruction No need S
analog
input gain
Inside speed, the parameter is valid as the control
Inside mode is 3~6
Pn301 No need S
speed 1 Name of State of Actual Inside speed
interface interface value
PCL OFF Zero speed or switch
Inside to other control
Pn302 No need S NCL OFF
speed 2 modes
PCL OFF
Inside speed 1
NCL ON
PCL ON
Inside speed 3
NCL OFF
Inside
Pn303 No need S PCL ON
speed 3 Inside speed 2
NCL ON
PCON ： OFF forward rotation ， ON backward
rotation
The parameter can be set to positive value and
Parameter
Pn304 No need S negative value. When control mode is set to D, it
speed
determines the speed of motor
JOG
Pn305 No need S The speed of JOG running, direction is decided by
speed
the keys
Pn306 Soft reset No need S The time to 1000rpm acceleration of trapezoid
-73-
Need effective
Pa.
No.
on mode
acceleratio
acceleration, Unit: ms
n time
Soft reset
The time to 1000rpm deceleration of trapezoid
Pn307 deceleratio No need S
acceleration, Unit: ms
n time
Speed
filtering
Pn308 No need S Once filtering time constant unit: ms
time
constant
S curve The time from one speed spot to another by S
Pn309 No need S
rising time curve transferring
Speed 0: Incline
instruction 1: S curve
Pn310 Need S
curve 2: Once filtering
mode 3: Twice filtering
Selection This value determines the transfer mode of S
Pn311 Need S
of S shape curve
Communic
ation Bus inching’s communication speed’s value can
inching be set to positive and negative.
speed
Can set the bus inching communication speed
Pn313 Reserved No need --------
positive or negative
Torque
It means the needed analog input voltage’s unit is
Pn400 instruction No need T
0.1v/100% in order to get to the rated torque
gain
forward
rotation
Pn401 No need P，S，T Motor output torque limit value
torque
inside limit
Backward
Pn402 torque No need P，S，T Motor output torque limit value
inside limit
Forward
rotation
Pn403 No need P，S，T Motor output torque limit value
outside
torque limit
Pn404 Backward No need P，S，T Motor output torque limit value
-74-
Need effective
Pa.
No.
on mode
outside
torque limit
Plug
Pn405 braking No need P，S，T Motor output torque limit value
torque limit
Torque
Pn406 control No need T Torque control speed limit value
speed limit
Wave trap
Wave trap 1
Pn407 1 No need P，S，T
frequency 1 、 Setting wave trap might
frequency
enlarge the mechanical vibration
Wave trap Wave trap 1
Pn408 No need P，S，T and response delay under certain
1 depth depth
work condition
Wave trap
Wave trap 2 2、The wave trap is invalid when
Pn409 2 No need P，S，T
frequency the frequency of wave trap is set
frequency
to 5000
Wave trap Wave trap 2
2 depth depth
Position COIN signal is output if the offset counter value is

Pn500 No need P
error less than it
The same speed signal VCMP is output if the
Same
error between speed instruction value and speed
Pn501 speed No need P
feedback value is lees than the set value of the
error
parameter.
Zero
The motor is locked by the temporary position
clamping
Pn502 No need S loop mode when the speed corresponding to input
rotating
analog is lees than the set value of the parameter.
speed
Rotation
The motor is considered to be rotated steady and
inspection
Pn503 No need P，S，T TGON signal is output when the speed of motor
speed
surpassed the set value of the parameter.
TGON
Offset It is considered that offset counter alarm occur
counter and alarm signal is output when the value of offset
Pn504 No need P
overflow counter is larger than the set value of the
alarm parameter.
-75-
Need effective
Pa.
No.
on mode
These parameters are only valid when there is BK
Servo-on output set by end output parameter.
Pn505 waiting No need P，S，T These parameters are used to keep
time braking(prevent from gravity glissade or
continuous outside force on motor) time
sequence
Basic
Servo on waiting time
Pn506 waiting No need P，S，T
BK signal is output at first when servo-on is input,
course
then motor stimulant signal is created after the
parameter setting time is delayed.
The basic waiting course
Braking
The standard is: BK output (braking motion)
servo-off at the same time. Now, the machine
speed
moves a little sometimes caused by gravity,
because of the machine’s constitution and
characters of braking. Now the movement can be
eliminated by using user constant relay servo-off
motion. The parameter can only be valid when the
motor is stop or at low speed.
Braking waiting speed
Braking
BK signal is output when the speed of motor after
servo off is dropped below the set value of the
time
parameter.
Braking waiting time
BK signal is output when they delayed after servo
off surpassed the set value of the parameter.
The BK signal can be output either the barking
waiting speed or the braking waiting time is met.
Pn509.0 corresponding to 1CN_14
Match the Pn509.3 corresponding to 1CN_17
Pn509 interface to Need P，S，T Pn510.0 corresponding to 1CN_39
signals Pn510.1 corresponding to 1CN_40
Every data’s corresponding signal is as followings:
0：S-ON
1：P-CON
2：P-OT
3：N-OT
-76-
Need effective
Pa.
No.
on mode
4：ALMRST
5：CLR
6：P-CL
Match the 7：N-CL
Pn510 interface to Need P，S，T 8：G-SEL
signals 9：JDPOS-JOG+
A：JDPOS-JOG-
B：JDPOS-HALT
C:HOME(only effective under CANopen mode)
Pn511.0 corresponding interface 1CN_11 ，
1CN_12
1CN_08
Match the
1CN_10
output
Pn511 Need P，S，T Every data’s corresponding signal is as followings:
signals to
signals
0：COIN/VCMP
1：TGON
2：S-RDY
3：CLT
4：BK
Bus Bus communication input interface enable
control [0]： no enable
Pn512 input node No need P，S，T [1]： enable
low bit Pn512.0�1CN_14
enable Pn512.1�1CN_15
Pn512.2�1CN_16
Bus Pn512.3�1CN_17
control Pn513.0�1CN_39
Pn513 input node No need P，S，T Pn513.1�1CN_40
high bit Pn513.2�1CN_41
enable Pn513.3�1CN_42
input end Input end filtering time, too long set time will make
filtering the input end signal delay.
Pn515 Reserved P，S，T For manufactures
[0]： No negate
Input end [1]： Negate
Pn516 signal No need P，S，T Pn516.0�1CN_14 Negate
negate Pn516.1�1CN_15 Negate
Pn516.2�1CN_16 Negate
-77-
Need effective
Pa.
No.
on mode
Output end Pn517.0�1CN_39 Negate
Pn517 signal No need P，S，T Pn517.1�1CN_40 Negate
negate Pn517.2�1CN_41 Negate
Pn518 Reserved No need P，S，T For manufacture
Pn519 Reserved No need P，S，T For manufacture
Pn520 Reserved No need P For manufacture
JPOS0
point
position
Pn600 No need P The two parameters are used combinedly, their
control
algebraic sum is the position that JPOS0’s point
position
position need to reach( How many rounds the real
pulse
motor really rotate is relevant to the programming
JPOS0
mode when point position control)
point
Pn602 unit：10000P
position
Pn601 No need P Pn603 unit：1P
control
position
pulse
…… Other point position parameters mean same
JPOS15
point
position The two parameters are used combinedly, their
Pn630 No need P
control algebraic sum is the position that JPOS0’s point
mode position need to reach( How many rounds the real
pulse motor really rotate is relevant to the programming
JPOS15 mode when point position control)
point
position Pn630 unit：10000P
Pn631 No need P
control Pn631 unit：1P
mode
pulse
JPOS0
point
JPOS0 point position control speed
Pn632 position No need P
unit：rpm
speed
control
…… other point position control speed
-78-
Need effective
Pa.
No.
on mode
JPOS15
point
JPOS15 point position control speed
Pn647 position No need P
Unit：rpm
speed
control
JPOS0
point JPOS0 Point position control’s once filtering time,
Pn648 position No need P it makes motor start-stop
once More tender
filtering
…… other point position’s once filtering
JPOS15
point JPOS15 Point position control’s once filtering time,
Pn663 position No need P it makes motor start-stop
once More tender
filtering
JPOS0
point JPOS0 point position control’s stop time
Pn664 No need P
position unit ：50ms
stop time
…… other point position control stop time
JPOS15 间
point JPOS15 point position control stop time
Pn679 No need P
position unit ：50ms
stop time
Pn680 Reserved
Pn681.0 once/recycle, start/reference point
selection
[0] recycle run, PCL start signal, NCL forward
direction search reference point.
[1] once run, PCL start signal, NCL forward
Pn681 Hex No need P
[2] recycle run, NCL start signal, PCL forward
[3] once run, NCL start signal, PCL forward
Pn681.1 change step and start mode
[0] Change step delay, no need of start signal, star
-79-
Need effective
Pa.
No.
on mode
t delay after S-ON.
[1] PCON change step, no need of start signal,
PCON start delay after S-ON, but inside pulse can
not stop when PCON off.
[2] Change step delay, need start signal,
canceling start signal can immediately shut down
inside pulse, turn back to programme start point
process step when reset.
[3] Change PCON step , need start signal,
canceling start signal can immediately shut down
inside pulse, turn back to programme start point
process step when reset.
Pn681.2 Change step input signal valid mode

[0] Change step input signal electrical level mode
[1] Change step input signal pulse mode
Pn681.3 Reserved
programmi [0]： Incremental programming
Pn682 No need P
ng mode [1]： Absolute programming
programmi
Pn683 ng start No need P Select the start point of point position control
step
programmi
Pn684 ng stop No need P Select the stop point of point position control
step
Search
Search the travel switch forward direction
Pn685 travel No need P
reference point’s motor speed.
speed
leave
travel Search the travel switch backward direction
Pn686 No need P
switch reference point’s motor speed.
speed
If these two parameters are used combinedly,
their algebraic sum is the present position of
Teaching teaching, the two parameters’ algebraic sum will
Pn687 position No need P be given to present position at the assistant
pulse function teaching
Pn600 unit：10000P
Pn601 unit：1P
Teaching
Pn688 No need P
position pu
-80-
Need effective
Pa.
No.
on mode
lse
Pn700.0 MODBUS Communication baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
Pn700.1 communication protocols selection
Pn700 Hex Need ALL
[6] 8，N，2（Modbus,RTU）
[7] 8，E，1（Modbus,RTU）
[8] 8，O，1（Modbus,RTU）
Pn700.2 communication protocols selection
[0] No protocol SCI communication
[1] MODBUS SC communication
Pn700.3 Reserved
MODBUS
The axis address when MODBUS protocols
Pn701 axis Need ALL
communication
address
Pn702 Reserved
Pn703.0 CANopen Communication baud rate
[0] 50Kbps
[1] 100Kbps
[2] 125Kbps
[3] 250Kbps
Pn703 Hex Need ALL
[4] 500Kbps
[5] 1Mbps
Pn703.1 Reserved
Pn703.2 Reserved
Pn703.3 Reserved
MODBUS
Pn704 axis Need ALL The axis address when CANopen communication
address
If the selected driver is BUS mode, the pulse input and analog input are invalid.The motor is
controlled by bus circular data at this moment. If controlling motor speed is needed, the control
mode can be set to analog instruction speed control. It equals to use bus data directly to indicate
speed instruction now while using analog to match speed before. And now, the other functions are
the same with No bus control.
-81-
Appendix
List of Alarm Display
List of Alarm Display
Alarm Alarm Alarm Name Instruction

display output
Checksum results of parameters are
A．01 ╳ Parameter breakdown
abnormal.
A．02 ╳ A/D shift channels breakdown AD relevant electrical circuit damaged
A．03 ╳ Overspeed Motor is out of control
Continuous running when surpass the

A．04 ╳ Overload
rated torque
A．05 ╳ Position error counter overflow Internal counter overflow
Position error pulse exceeded the value

A．06 ╳ position error pulse overflow
set in parameter Pn-036
The setting of electrical gear and Electronic gear setting is not
A．07 ╳ setting of given pulse frequency reasonable or pulse frequency is too
are not reasonable high
Something wrong with the first Something wrong with inside chip of
A．08 ╳
tunnel of current sense the first tunnel
Something wrong with the Something wrong with inside chip of
A．09 ╳
second tunnel of current sense the second tunnel
Encoder PA ， PB or PC At least one of PA, PB or PC is
A．10 ╳
disconnected disconnected
Encoder PU ， PV or PW At least one of PU, PV or PW is
A．11 ╳
disconnected disconnected
An overcurrent flowed through the IPM
A．12 ╳ Overcurrent
module.
Main electrical circuit voltage for motor
A．13 ╳ Overvoltage
running is too high.
Main electrical circuit voltage for motor
A．14 ╳ Undervoltage
running is too low.
A．15 ╳ Bleeder resistor damaged Bleeder resistor is damaged
A．16 ╳ Regenerative error Regenerative circuit error
-82-
Power lines One phase is not connected in

A．20 ╳
Open phase The main circuit power supply
More than one power cycle’s off in
A．21 ╳ instantaneous power off alarm
alternating current .
A．30 ╳ Encoder UVW illegal code U,V, W all “1” or “0”
A．31 ╳ Encoder UVW wrong code U,V,W code sequence is fault
A．32 ╳ Encoder C pulse is not correct C pulse appears in wrong position
No C pulse appeared after encoder

A．33 ╳ Encoder has no C pulse
rotated for one round.
A．41 ╳ reserved reserved
The model of servo and motor is Servo parameter is not match with
A．43 ╳
not correct. motor.
Absolute encoder multi-loop

A．45 ╳ Multi-loop message is not correct.
message
Absoluteencoder multi-loop
A．46 ╳ Multi-loop message overflow
message overflow
A．47 ╳ Battery voltage below 2.5V Multi-loop message disappeared
A．48 ╳ Battery volatage below 3.1V Battery voltage is too low
Encoder disconnect, encoder signal is

Encoder communication over disturbed, encoder damaged or
A．50 ╳
time encoder decode electric circuit
damaged
No power supply absolute
A．51 ╳ encoder rotated speed over Multi-loop message may error.
100rpm
Encoder or encoder decode electric
A．52 ╳ Encoder absolute state is wrong
circuit is damaged
Encoder or encoder decode electric
A．53 ╳ Encoder count error
circuit is damaged
Encoder control field parity bit, Encoder signal is disturbed or encoder
A．54 ╳
cut off bit error. decode electric circuit is damaged
Encoder communication datum Encoder signal is disturbed or encoder
A．55 ╳
verify error decode electric circuit is damaged
-83-
Encoder status field cut off point Encoder signal is disturbed or encoder
A．56 ╳
error decode electric circuit is damaged
A．58 ╳ No serial encoder datum No serial encoder EEPROM datum
Serial endoer EEPROM data form is

A．59 ╳ Serial encoder data form error
not correct
No communication module or
Can not detect communication
A．60 ╳ something wrong with communication
module
module
Can not managed to connect Communication module CPU does not
A．61 ╳
with communication module work well
drive can not receive circular something wrong with the drive data
A．62 ╳ data from communication receiving tunnel or communication
module module sending tunnel
The communication module can
Something wrong with communication
A．63 ╳ not receive the drive’s response
module
data
No connection between
A．64 ╳ Bus communication is abnormal
communication module and bus
A．00 〇 No error display Display normal motion state
〇： Output transistor=Open(ON)
╳： Output transistor=Cut off(Alarm state)(OFF)
A. 45、A. 46、A. 47、A.51 will recover the alarm when need to clear the absolute arm.For multi-loop
message is not correct, so often need to set the multi-loop zero.
-84-

AC Servo Drive: PRONET Series User's Manual V. 1.04

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PRONET series User’s Manual V. 1.

Estun Limited Warranty

• Installation, disassembly, or repair must be performed only by authorized personnel.

• When disposing of the products, treat them as ordinary industrial waste.

4.1.7.1 Operation in displaying alarm historical data............................................................. 32

1.1 Check products

Check Items Reference

1.2 Model Designation

1.2.2 EMJ series servo motor

【１＋２】Rated power 【４】Encoder 【７】Options

1.2.3 EMG series servo motor

【１＋２】rated power 【４】encoder 【７】options

1.2.4 EML series servo motor

【１＋２】rated power 【４】encoder 【７】option

1.2.5 EMB series servo motor

【１＋２】rated power 【４】encoder 【７】options

2.2.1 Storage and transportation

2.2.2 Installation sites

2.2.3 Installation orientation

2.2.4 Installation method

█ Servo drive orientation

█ Environmental Conditions in the Control Panel

3.1.1 Names and Functions of Main Circuit Terminals

Connect an external regenerative resistor

3.2 Input and output signal connection

3.2.2Name and function of output signal

3.2.3 Input and output connector(CN1)terminal array

Input: /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /CLR, /PCL, /NCL

3.2.4 Encoder signal connection

3.2.5 Communication signal connection

● Communication connector(CN4) terminal array

3.2.6 Encoder cable & power cable connections

● Encoder connector specification

Notes:Incremental encoder has no BAT+、BAT- signal.

3.2.6.3 EMG series servo motor

Pin Signal Color

●Encoder receptacle specification

Notes:Incremental encoder has no BAT+、BAT- signal.

3.2.6.4 EML series servo motor

● Motor receptacle specification

code signal color

● Encoder receptacle specification

pin signal colour pin signal colour

3.2.6.5 EMB series servo motor

● Motor receptacle specification

code signal color

● Encoder receptacle specification

pin signal colour pin signal colour

3.3 Standard Connection diagrams

(±1V to 10V / rated motor speed) 8 CANL

Torque reference TREF- 27 -

(±1V to 10V / rated motor torque) AGND 28 CN4

可进行信号的分配 : DICOM 13 20 PAO+

Signal allocations can be modified: S-ON 14

Represents twisted-pair wires 光耦输出:

3.3.2 Three-phase 400V power supply specification

(±1V to 10V / rated motor speed) 8 CANL

Torque reference TREF- 27 -

(±1V to 10V / rated motor torque) AGND 28 CN4