Estun pronet series User manual

ProNet Series AC Servo User's Manual
（Version：V2.10）

Copyright © 2011 ESTUN AUTOMATION TECHNOLOGY CO., LTD
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of ESTUN.
No patent liability is assumed with respect to the use of the information contained herein.

ProNet Series ACServoUser'sManual
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About this manual
This manual describes the following information required for designing and maintaining ProNet series servo drives.
•Specification of the servo drives and servomotors.
•Procedures for installing the servo drives and servomotors.
•Procedures for wiring the servo drives and servomotors.
•Procedures for operating of the servo drives.
•Procedures for using the panel operator.
•Communication protocols.
•Ratings and characteristics.
Intended Audience:
•Those designing ProNet series servo drive systems.
•Those installing or wiring ProNet series servo drives.
•Those performing trial operation or adjustments of ProNet series servo drives.
•Those maintaining or inspecting ProNet series servo drives.

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

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—Contents—
About this manual ...........................................................................................................................................................- 1 -
Safety Precautions ..........................................................................................................................................................- 2 -
Chapter 1 ........................................................................................................................................................................- 7 -
Checking Products and Parts Names..............................................................................................................................- 7 -
1.1 Checking Products on Delivery .........................................................................................................................- 7 -
1.1.1 Servomotor ............................................................................................................................................- 7 -
1.1.2 Servo drive ............................................................................................................................................- 8 -
1.2 Part Names.....................................................................................................................................................- 15 -
1.2.1 Servomotor ..........................................................................................................................................- 15 -
1.2.2 Servo drive ..........................................................................................................................................- 16 -
Chapter 2 ......................................................................................................................................................................- 21 -
Installation .....................................................................................................................................................................- 21 -
2.1 Servomotor .....................................................................................................................................................- 21 -
2.1.1 Storage ................................................................................................................................................- 21 -
2.1.2 Installation Sites ..................................................................................................................................- 21 -
2.1.3 Installation Alignment...........................................................................................................................- 22 -
2.1.4 Installation Orientation .........................................................................................................................- 22 -
2.1.5 Handling Oil and Water........................................................................................................................- 22 -
2.1.6 Cable Tension......................................................................................................................................- 23 -
2.1.7 Install to the Client ...............................................................................................................................- 23 -
2.2 Servo Drive .....................................................................................................................................................- 23 -
2.2.1 Storage ................................................................................................................................................- 23 -
2.2.2 Installation Sites ..................................................................................................................................- 23 -
2.2.3 Installation Orientation .........................................................................................................................- 24 -
2.2.4 Installation Method ..............................................................................................................................- 24 -
Chapter 3 ......................................................................................................................................................................- 26 -
Wiring............................................................................................................................................................................- 26 -
3.1 Main Circuit Wiring..........................................................................................................................................- 26 -
3.1.1 Names and Functions of Main Circuit Terminals..................................................................................- 26 -
3.1.2 Typical Main Circuit Wiring Examples..................................................................................................- 27 -
3.2 I/O Signals ......................................................................................................................................................- 31 -
3.2.1 Examples of I/O Signal Connections ...................................................................................................- 31 -
3.2.2 I/O Signal Names and Functions .........................................................................................................- 32 -
3.2.3 I/O Signal Connector (CN1) Terminal Layout ......................................................................................- 34 -
3.2.4 Interface Circuit ...................................................................................................................................- 35 -
3.3 Wiring Encoders..............................................................................................................................................- 36 -
3.3.1 Connecting an Encoder(CN2)..............................................................................................................- 36 -
3.3.2 Encoder Connector(CN2) Terminal Layout .........................................................................................- 38 -
3.4 Communication Connection............................................................................................................................- 38 -
3.4.1 Communication Connector(CN3) Terminal Layout ..............................................................................- 38 -
3.4.2 Communication Connector(CN4) Terminal Layout ..............................................................................- 39 -
3.5 Standard Wiring Examples..............................................................................................................................- 40 -
3.5.1 Single-phase 200V ProNet-02A～04A/ProNet-E-02A～04A ...............................................................- 40 -

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3.5.2 Three-phase 200V ProNet-08A～50A/ProNet-E-08A～50A ................................................................- 41 -
3.5.3 Three-phase 400V ProNet-10D～75D/ProNet-E-10D～50D ...............................................................- 42 -
3.5.4 Three-phase 400V ProNet-1AD～2BD ................................................................................................- 43 -
3.5.5 Single-phase 100V ProNet-02B/ProNet-E-02B ...................................................................................- 44 -
3.5.6 Single-phase 100V ProNet-04B /ProNet-E-04B ..................................................................................- 45 -
3.5.7 Three-phase 100V ProNet-08B/ ProNet-E-08B ...................................................................................- 46 -
3.5.8 Position Control Mode .........................................................................................................................- 47 -
3.5.9 Speed Control Mode............................................................................................................................- 48 -
3.5.10 Torque Control Mode .........................................................................................................................- 49 -
3.6 Wiring for Noise Control..................................................................................................................................- 50 -
3.6.1 Noise Control.......................................................................................................................................- 50 -
3.6.2 Precautions on Connecting Noise Filter ..............................................................................................- 51 -
3.7 Installation Conditions of EMC Directives .......................................................................................................- 53 -
3.8 Using More than One Servo Drive ..................................................................................................................- 55 -
3.9 Connecting DC Bus ........................................................................................................................................- 57 -
Chapter 4 ......................................................................................................................................................................- 58 -
Operation ......................................................................................................................................................................- 58 -
4.1 Trial Operation ................................................................................................................................................- 58 -
4.1.1 Trial Operation for Servomotor Without Load ......................................................................................- 61 -
4.1.2 Trial Operation for Servomotor without Load from Host Reference .....................................................- 63 -
4.1.3 Trial Operation with the Servomotor Connected to the Machine..........................................................- 67 -
4.1.4 Trial Operation for Servomotor with Brakes.........................................................................................- 68 -
4.1.5 Position Control by Host Controller......................................................................................................- 68 -
4.2 Control Mode Selection...................................................................................................................................- 68 -
4.3 Setting Common Basic Functions...................................................................................................................- 70 -
4.3.1 Setting the Servo ON Signal................................................................................................................- 70 -
4.3.2 Switching the Servomotor Rotation Direction ......................................................................................- 71 -
4.3.3 Setting the Overtravel Limit Function...................................................................................................- 72 -
4.3.4 Setting for Holding Brakes ...................................................................................................................- 75 -
4.3.5 Instantaneous Power Loss Settings.....................................................................................................- 78 -
4.4 Absolute Encoders ..........................................................................................................................................- 79 -
4.4.1 Selecting an Absolute Encoder............................................................................................................- 79 -
4.4.2 Handling Battery ..................................................................................................................................- 80 -
4.4.3 Replacing Battery ................................................................................................................................- 81 -
4.4.4 Absolute Encoder Setup(Fn010、Fn011) ............................................................................................- 81 -
4.5 Operating Using Speed Control with Analog Reference..................................................................................- 82 -
4.5.1 Setting Parameters..............................................................................................................................- 82 -
4.5.2 Setting Input Signals............................................................................................................................- 83 -
4.5.3 Adjusting Reference Offset ..................................................................................................................- 84 -
4.5.4 Soft Start..............................................................................................................................................- 87 -
4.5.5 Speed Reference Filter Time Constant................................................................................................- 87 -
4.5.6 S-curve Risetime .................................................................................................................................- 88 -
4.5.7 Using the Zero Clamp Function ...........................................................................................................- 88 -
4.5.8 Encoder Signal Output ........................................................................................................................- 90 -
4.5.9 Speed coincidence output ...................................................................................................................- 91 -
4.6 Operating Using Position Control....................................................................................................................- 92 -

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4.6.1 Basic Setting in Position Control..........................................................................................................- 92 -
4.6.2 Setting the Clear Signal.......................................................................................................................- 96 -
4.6.3 Setting the Electronic Gear..................................................................................................................- 96 -
4.6.4 Smoothing ...........................................................................................................................................- 99 -
4.6.5 Low Frequency Vibration Suppression ..............................................................................................- 100 -
4.6.6 Positioning Completion Output Signal ...............................................................................................- 102 -
4.6.7 Reference Pulse Inhibit Function (INHIBIT).......................................................................................- 103 -
4.6.8 Position Control (contact reference) .................................................................................................- 104 -
4.6.9 Position Homing Control (Homing Function)......................................................................................- 107 -
4.7 Operating Using Torque Control.................................................................................................................... - 110 -
4.7.1 Setting Parameters............................................................................................................................ - 110 -
4.7.2 Torque Reference Input..................................................................................................................... - 111 -
4.7.3 Adjusting the Reference Offset .......................................................................................................... - 112 -
4.7.4 Limiting Servomotor Speed During Torque Control............................................................................ - 113 -
4.8 Operating Using Speed Control with an Internally Set Speed ....................................................................... - 114 -
4.8.1 Setting Parameters............................................................................................................................ - 115 -
4.8.2 Input Signal Settings..........................................................................................................................- 116 -
4.8.3 Operating Using an Internally Set Speed........................................................................................... - 116 -
4.9 Limiting Torque.............................................................................................................................................. - 117 -
4.9.1 Internal Torque Limit .......................................................................................................................... - 117 -
4.9.2 External Torque Limit ......................................................................................................................... - 118 -
4.9.3 Torque Limiting Using an Analog Voltage Reference ........................................................................ - 119 -
4.10 Control Mode Selection...............................................................................................................................- 120 -
4.10.1 Setting Parameters..........................................................................................................................- 120 -
4.10.2 Switching the Control Mode.............................................................................................................- 120 -
4.11 Other Output Signals...................................................................................................................................- 121 -
4.11.1 Servo alarm output...........................................................................................................................- 121 -
4.11.2 Rotation Detection Output Signal (/TGON) ......................................................................................- 122 -
4.11.3 Servo Ready (/S-RDY) Output.........................................................................................................- 122 -
4.11.4 Encoder C Pluse Output (/PGC) ......................................................................................................- 122 -
4.11.5 Over travel signal output (OT)..........................................................................................................- 123 -
4.11.6 Servo Enabled Motor Excitation Output(/RD) ..................................................................................- 123 -
4.11.7 Torque Limit Detection Output (/CLT)...............................................................................................- 123 -
4.11.8 Torque Detection Output (/TCR) ......................................................................................................- 125 -
4.12 Online Autotuning........................................................................................................................................- 125 -
4.12.1 Online Autotuning ............................................................................................................................- 125 -
4.12.2 Online Autotuning Procedure...........................................................................................................- 126 -
4.12.3 Setting Online Autotuning ................................................................................................................- 127 -
4.12.4 Machine Rigidity Setting for Online Autotuning................................................................................- 127 -
Chapter 5 ....................................................................................................................................................................- 128 -
Panel Operator............................................................................................................................................................- 128 -
5.1 Basic Operation ............................................................................................................................................- 128 -
5.1.1 Functions on Panel Operator.............................................................................................................- 128 -
5.1.2 Resetting Servo Alarms .....................................................................................................................- 128 -
5.1.3 Basic Mode Selection ........................................................................................................................- 129 -
5.1.4 Status Display Mode ..........................................................................................................................- 129 -

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5.1.5 Operation in Parameter Setting Mode ...............................................................................................- 131 -
5.1.6 Operation in Monitor Mode ................................................................................................................- 132 -
5.2 Operation in Utility Function Mode ................................................................................................................- 135 -
5.2.1 Alarm Traceback Data Display...........................................................................................................- 135 -
5.2.2 Parameter Settings Initialization ........................................................................................................- 136 -
5.2.3 Operation in JOG Mode.....................................................................................................................- 137 -
5.2.4 Automatic Adjustment of the Speed Reference Offset .......................................................................- 138 -
5.2.5 Manual Adjustment of the Speed Reference Offset ...........................................................................- 139 -
5.2.6 Offset-adjustment of Servomotor Current Detection Signal ...............................................................- 140 -
5.2.7 Software Version Display...................................................................................................................- 142 -
5.2.8 Position Teaching Function................................................................................................................- 142 -
5.2.9 Static Inertia Detection.......................................................................................................................- 142 -
5.2.10 Absolute Encoder Multiturn Data and Alarm Reset ..........................................................................- 143 -
5.2.11 Absolute Encoder Related Alarms Reset .........................................................................................- 143 -
Chapter 6 ....................................................................................................................................................................- 144 -
MODBUS Communication...........................................................................................................................................- 144 -
6.1 RS-485 Communication Wiring.....................................................................................................................- 144 -
6.2 MODBUS Communication Related Parameters ...........................................................................................- 145 -
6.3 MODBUS Communication Protocol ..............................................................................................................- 146 -
6.3.1 Code Meaning ...................................................................................................................................- 146 -
6.3.2 Communication Error Disposal ..........................................................................................................- 152 -
6.3.3 Data Communication Address of Servo State....................................................................................- 153 -
Chapter 7 ....................................................................................................................................................................- 156 -
Specifications and Characters.....................................................................................................................................- 156 -
7.1 Servo drive Specifications and Models .........................................................................................................- 156 -
7.2 Servo drive Dimensional Drawings ...............................................................................................................- 159 -
Appendix A ..................................................................................................................................................................- 162 -
Parameter ...................................................................................................................................................................- 162 -
A.1 Parameter List ..............................................................................................................................................- 162 -
A.2 Description of Parameter Type .....................................................................................................................- 169 -
A.3 Parameters in detail......................................................................................................................................- 170 -
Appendix B..................................................................................................................................................................- 188 -
Alarm Display ..............................................................................................................................................................- 188 -

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Chapter 1
Checking Products and Parts Names
1.1 Checking Products on Delivery
If any of the above items are faulty or incorrect, contact your ESTUN representative or the dealer from whom you
purchased the products.
1.1.1 Servomotor
Servomotor Model Designation
EMG– 10 A D A 1 1
ESTUN Servomoto
r
【1+2】【3】【4】 【5】【6】【7】
EMG Model
【1+2】Rated Output 【4】Encoder 【7】Option
Code Rated Output Code Encoder Code Option
10 1.0kW D Incremental encoder：131072P/R 1 None
15 1.5kW S Absolute encoder：131072P/R 2 With oil seal
20 2.0kW R Resolver 3 With brake(DC 24V)
30 3.0kW P Incremental Wire-saving Type：2500P/R 4 With oil seal and brake(DC 24V)
50 5.0kW
【3】Voltage 【5】Designing Sequence 【6】Shaft End
Code Voltage Code Designing Sequence Code Shaft End
A 200V AC A Designing sequence 1 Straight without key(Standard)
B 100VAC 2 Straight with key and tap
D 400VAC
Notes：
1. The EMG-30A□A□□, EMG-50A□A□□ servomotors are not mounted with an incremental encoder.
2. There is no brake mounted on the EMG-□□□DA□□ servomotor.
Check Items Comments
Are the delivered products the ones that
were ordered?
Check the model numbers marked on the nameplate on the
servomotor and servo drive.
Is there any damage? Check the overall appearance, and check for damage or scratches
that may have occurred during shipping.
Does the servomotor shaft rotate smoothly?
If the servomotor shaft can be easily rotated by hand, then the motor
is working normally. However, if a brake is installed on the
servomotor, then it cannot be turned by hand.

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Appearance and Nameplate
1.1.2 Servo drive
ProNet Servo drive Model Designation
PRONET – 10 A E A -P
Note:
○
1Resolver, with the feature of high reliability and long service life, is suitable for harsh environments and a wide range
of temperatures and humidity levels. The factory setting for the resolver precision used in the ESTUN servo drive is
4096.
○
2 ProNet-□□□E□Supports AE100 model. ProNet-□□□M□does not support extended module.
Rated Output
02 0.2kW
04 0.4 kW
08 0.75 kW
10 1.0 kW
15 1.5 kW
20 2.0 kW
30 3.0 kW
50 5.0 Kw
70 7.0kW
75 7.5 kW
1A 11kW
1E 15 Kw
2B 22kW
Voltage
A 200VAC
B：100VAC
D 400VAC
Control Mode
M Speed control, torque control, position control
E Speed control, torque control, position control (support extended module)
Encoder Interface
A 17-bit serial encoder
AbsoluteEncoder
B Resolver○
1
ProNet Model
Extended module type
-D DP100
-E EC100
-P PL100

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ProNet-E Servo drive Model Designation
PRONET–E – 10 A
Note:
○
1ProNet-E is only available with the wire-saving incremental encoder (2500 P/R)
○2 ProNet-E does not support extended module.
ProNet Servo Drive Appearance
ProNet-02A/04A ProNet-08A/10A
L1
L2
L3
CN3
CN4
CN1
CN2
L1C
L2C
B1
B2
B3
U
V
W
＋
－
1
＋2
CHARGE POWER
Rated Output
02 0.2kW
04 0.4 kW
08 0.75 kW
10 1.0 kW
15 1.5 kW
20 2.0 kW
30 3.0 kW
50 5.0 kW
Voltage
A：200VAC
B：100VAC
D
：
4
00
VA
C
ProNet-E Model

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ProNet-15A/20A ProNet-10D/15D/20D
L1
L2
L3
CN3
CN4
CN1
CN2
L1C
L2C
B1
B2
B3
U
V
W
＋
－
1
＋2
CHARGE POWER
L1
L2
L3
CN3
CN4
CN1
CN2
24V
B1
B2
B3
U
V
W
＋
－
1
＋2
CHARGE POWER
GND
ProNet-30A/50A ProNet-30D/50D/70D/75D
CN3
CN4
CN1
CN2
CHARGE POWER
L1
L2
L3
L1C
L2C
B1
B2
B3
U
V
W
＋
－
1
＋2
CN3
CN4
CN1
CN2
CHARGE POWER
L1
L2
L3
24V
GND
B1
B2
B3
U
V
W
＋
－
1
＋2

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ProNet-1AD/1ED/2BD ProNet-02B
ProNet-04B ProNet-08B

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ProNet-E Servo Drive Appearance
ProNet-E-02A/04A ProNet-E-08A/10A
CN3CN4
CN1
CN2
L1
L2
FG
L1C
L2C
－
1
2
＋
＋
B1
B2
B3
W
V
U
CHARGE
L1
L2
L3
CN3
CN4
CN1
CN2
L1C
L2C
B1
B2
B3
U
V
W
＋
－
1
＋
2
CHARGEPOWER
ProNet-E-15A/20A ProNet-E-10D/15D/20D
L1
L2
L3
CN3
CN4
CN1
CN2
L1C
L2C
B1
B2
B3
U
V
W
＋
－
1
＋2
CHARGE POWER
L1
L2
L3
CN3
CN4
CN1
CN2
24V
GND
B1
B2
B3
U
V
W
＋
－
1
＋2
CHARGE POWER

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ProNet-E-30A/50A ProNet-E-30D/50D
CN3
CN4
CN1
CN2
CHARGE POWER
L1
L2
L3
L1C
L2C
B1
B2
B3
U
V
W
＋
－
1
＋2
CN3
CN4
CN1
CN2
CHARGE POWER
L1
L2
L3
24V
GND
B1
B2
B3
U
V
W
＋
－
1
＋2
ProNet-E-02B ProNet-E-04B

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ProNet-E-08B
ProNet Servo Drive Nameplate
Servodrive model
Applicable power
supply
Applicable servomotor
capacity
Serial number

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ProNet-E Servo Drive Nameplate
1.2 Part Names
1.2.1 Servomotor
Servomotor without gear and brake.
Encoder
Shell
Flange
Output shaft
Mounting hole

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1.2.2 Servo drive
ProNet-02A/04A/ProNet-E-02A/04A
Charge indicator
Lights when the main circuit power supply is
ON and stays lit as long as the main circuit
power supply capacitor remains charged.
Ground terminal
Be sure to connect to protect electric shock.
Servomotor terminals
Connects to the servomotor power line.
Regenerative resistor connecting terminals
Used to connect external regenerative resistors.
Control power supply terminals
Used for control power supply input.
Connecting terminal of DC reactor
Main circuit power supply terminals
Used for main circuit power supply input.
Connector for communication
Used to communicate with other devices.
I/O signal connector
Used for reference input signals
and sequence I/O signals.
Encoder connector
Connects to the encoder in the
servomotor.
ProNet-08A/10A /ProNet-E-08A/10A
CN3
CN4
CN1
CN2

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ProNet-15A/20A/ ProNet-E-15A/20A
L1
L2
L3
CN3
CN4
CN1
CN2
L1C
L2C
B1
B2
B3
U
V
W
＋
－
1
＋
2
CHARGE POWER
ProNet-10D/15D/20D/ProNet-E-10D/15D/20D
L1
L2
L3
CN3
CN4
CN1
CN2
24V
B1
B2
B3
U
V
W
＋
－
1
＋
2
CHARGE POWER
GND

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ProNet-30A/50A/ ProNet-E-30A/50A
CN3
CN4
CN1
CN2
CHARGE POWER
L1
L2
L3
L1C
L2C
B1
B2
B3
U
V
W
＋
－
1
＋
2
ProNet-30D/50D/70D/75D/ ProNet-E-30D/50D
CN3
CN4
CN1
CN2
CHARGE POWER
L1
L2
L3
24V
GND
B1
B2
B3
U
V
W
＋
－
1
＋
2