Estun Pronet series User manual

ProNet Series AC Servo User's Manual

（Version：V2.10）

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.

ProNet Series ACServoUser'sManual

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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.

ProNet Series ACServoUser'sManual

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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 -

ProNet Series ACServoUser'sManual

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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 -

ProNet Series ACServoUser'sManual

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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 -

ProNet Series ACServoUser'sManual

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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

【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.

ProNet Series ACServoUser'sManual

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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○

ProNet Model

Extended module type

-D DP100

-E EC100

-P PL100

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