ESTUN

AC Servo Drive
PRONET User Manual

www.estun-servo.com
Product Line-up

Servo motor Servo drive

Series Power Model 200V 400V

EMJ 200W EMJ-02APA PRONET-02A□A

capacity

-1
3000min
Small

400W EMJ-04APA PRONET-04A□A

750W EMJ-08APA PRONET-08A□A
1000W EMJ-10APA PRONET-10A□A

EMG 1.0kW EMG-10A□A PRONET-10A□A

-1
2000min 1.5kW EMG-15A□A PRONET-15A□A
Medium inertia

2.0kW EMG-20A□A PRONET-20A□A

Medium capacity

3.0kW EMG-30A□A PRONET-30A□A

5.0kW EMG-50A□A PRONET-50A□A

EML 1.0kW EML-10A□A PRONET-10A□A

1000min-1 2.0kW EML-20A□A PRONET-20A□A
3.0kW EML-30A□A PRONET-30A□A
4.0kW EML-40A□A PRONET-50A□A

EMB 7.5kW EMB-75D□A PRONET-75D□A

capacity
Large

1500min-1 11kW EMB-1AD□A PRONET-1AD□A

15kW EMB-1ED□A PRONET-1ED□A
ESTUN Servo Motor

series
■ Fetures
● Medium inertia
● Instantaneous peak torque
(300% of rated torque)
● Wide selection: 200W to 1000W, holding
brake options
● Maximum speed: 4500r/min
● Mounted 2500P/R incremental encoder,
Optional mounted 17-bit absolute encoder

■ Application Examples
● Chip mounters
● PCB drilling stations
● Robots
● Material handling machines
● Food processing equipment
● Textile machines

■ Model Designations
EMJ – 08 A P A 1 1
ESTUN servo motor 【１＋２】 【３】 【４】 【５】 【６】 【７】
EMJ series

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

Code Specifications Code Specifications Code Specifications
02 200W P Increamental 1 Without options
wire-saving encoder ：
2500P/R
04 400W S 17digit absolute ： 2 With oil seal
131072P/R
08 750W 3 With holding
brake(DC24V)
10 1000W 【５】Design revision order 4 With oil seal and
holding brake(DC24V)
Code Specifications
【３】Power supply voltage A Design revision order
Code Specifications
A 200VAC 【６】Shaft end
Code Specifications
1 Straight without key
(standard)
2 Straight with key and
tap
ESTUN Servo motor

■ Ratings and specifications

Voltage 200VAC
Servomotor model EMJ- 02A□A 04□PA 08A□A 10A□A
Rated output power W 200 400 750 1000
Rated torque N·m 0.64 1.27 2.39 3.18
Instantaneous Peak
N·m 1.91 3.82 7.16 9.55
Torque
Rated Current Arms 1.3 2.7 4.0 5.3
Instantaneous Max.
Arms 3.9 8.1 12.0 15.9
Current
Rated Speed min-1 3000
-1
Max. Speed min 4500
Rotor Moment of Inertia x10-4kg·m2 0.19 0.32 1.48 1.89
Standard Increamental wire-saving：2500P/R
Encoder
Option 17 digit absolute：131072P/R
Insulation Class B
Ambient Temperature 0 to +40℃ (non freezing)
Ambient Humidity 20 to 80% RH (non condensing)
Enclosure Totally enclosed, self-cooled, IP55 (except for shaft opening and connectors)
Vibration 49m/s2

● Torque-Motor Speed Characteristics (A:Continuous Duty Zone,B:Intermittent Duty Zone)

ESTUN Servo motor

■ Dimension mm

Model Flange face Tap× Key

L LL S
EMJ- LR LE LF LC LA LB LZ Depth QK QL W T U
02APA 153 123 30 3 6 60 70 50 5.5 14 M5x10L 16 4 5 5 3
04APA 183 153 30 3 6 60 70 50 5.5 14 M5x10L 16 4 5 5 3
08APA 191 156 35 3 10 80 90 70 6 19 M6x15L 22 4 6 6 3.5
10APA 211 176 35 3 10 80 90 70 6 19 M6x15L 22 4 6 6 3.5

● 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 Green/yellow

● Encoder connector specification

connector：172169-1 (AMP)
pin： 170359-3 (AMP)
Increamental wire-saving 17 digit absolute
Pin Pin
Signal Color Signal Color
No. No.
1 A+ blue 1 S+ blue
2 B+ green 2 S- Blue/black
3 C+ yellow 3 — —
4 A- Blue/black 4 BAT+ brown
5 B- Green/black 5 BAT- Brown/black
6 C- Yellow/black 6 — —
7 PG5V red 7 PG5V red
8 PG0V black 8 PG0V black
9 FG shield 9 FG shield
ESTUN Servo motor

series
■ Features
● High-speed driving of feed shafts for
various
● Wide Selection: 1.0kW to 5.0kW, holding
brake options
● Mounted wire-saving encoder(2500P/R）
Optionalmounted 17-bit serial encoder
● Protective Structure: IP65

■ Application Examples
● Machine tools
● Material handling machines
● Food processing equipment
● Textile machines

■ Model Designations
EMG – 10 A P A 1 1
ESTUN servo motor 【１＋２】 【３】 【４】 【５】 【６】 【７】
EMG series

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

Code Specification Code Specification Code Specification
10 1.0kW P Increamental 1 Without option
wire-saving encoder ：
2500P/R
15 1.5kW S 17-bit absolute 2 With oil seal
encoder：131072P/R
20 2.0kW 3 With holding brake
(DC24V)
30 3.0kW 【５】design revision order 4 With oil seal and
holding brake(DC24V)
50 5.0kW Code Specification
A Design revision order
【３】power supply voltage
Code Specification 【６】shaft end
A 200VAC Code Specification
1 Straight without key
(standard)
2 Straight with key and
tap
ESTUN Servo motor

■ Ratings and Specifications

Voltage 200VAC
Servo motor Model EMG- 10A□A 15A□A 20A□A 30A□A 50A□A
Rated output power kW 1.0 1.5 2.0 3.0 5.0
Rated torque N·m 4.78 7.16 9.55 14.3 23.9
Instantaneous Peak
N·m 14.3 21.5 28.7 43.0 71.6
Torque
Rated Current Arms 6.0 9.0 12.0 18.0 28.0
Instantaneous Max.
Arms 18.0 27.0 36.0 54.0 84.0
Current
Rated Speed min-1 2000
-1
Max. Speed min 3000
Rotor Moment of Inertia x10-4kg·m2 9.43 13.7 18.0
Standard Increamantal wire-saving：2500P/R
Encoder
Option 17-bit absolute：131072P/R
Insulation Class
Ambient Temperature
Ambient Humidity
Enclosure
Vibration

● Torque-Motor Speed Characteristics (A:Continuous Duty Zone, B:Intermittent Duty Zone)

ESTUN Servo motor

■ Dimensions mm

Model Flange face Tap× Key

L LL KB1 KB2 KL1 KL2 S
EMG- LR LE LF LC LA LB LZ Depth QK QL W T U
10A□A 215 160 84 135 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4
15A□A 240 185 109 160 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4
20A□A 265 210 134 185 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4
30A□A 307 228 143 203 140 79 79 3.2 18 180 200 114.3 13.5 35 M8x16L 55 6 10 8 5
50A□A 347 268 183 243 140 79 79 3.2 18 180 200 114.3 13.5 35 M8x16L 55 6 10 8 5

● 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
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
Increamental wire-saving encoder 17-bit absolute
code signal color code signal color code signal color code signal color
A A+ blue K — — A — — K S+ blue
B A- Blue/black L — — B — — L S- Blue/black
C B+ green M — — C — — M — —
D B- Green/black N — — D — — N — —
E C+ yellow P — — E — — P — —
F C- Yellow/black R — — F — — R — —
G PG0V black S — — G PG0V black S BAT- Yellow/black
H PG5V red T — — H PG5V red T BAT+ yellow
J FG shield — — — J FG shield — — —
ESTUN Servo motor

series
■ Features
● High-speed driving of feed shafts for
various
● Wide Selection: 1.0kW to 5.0kW, holding
brake options
● Mounted 2500P/R incremental encoder,
Optional mounted 17-bit serial encoder
● Protective Structure: IP65

■Application Examples
● Machine tools
● Material handling machines
● Food processing equipment
● Textile machines

■ Model Designation
EML – 10 A P A 1 1
ESTUN servo motor 【１＋２】 【３】 【４】 【５】 【６】 【７】
EML series

【１＋２】rated output power 【４】encoder 【７】option

code Specification code Specification code Specification
10 1.0kW P Increamental 1 Without option
wire-saving：2500P/R
20 2.0kW S 17-bit absolute ： 2 With oil seal
131072P/R
30 3.0kW 3 With holding brake
(DC24V)
40 4.0kW 【５】design revision order 4 With oil seal and
holding brake(DC24V)
code Specification
【３】power supply voltage A Design revision order
code Specification
A 200VAC 【６】shaft end
code Specification
1 Straight without key
(standard)
2 Straight with key and
tap
ESTUN Servo motor

■ Ratings and specification

voltage 200VAC
Servo motor Model EML- 10A□A 20A□A 30A□A 40A□A
Rated output power kW 1.0 2.0 3.0 4.0
Rated torque N·m 9.55 19.1 28.7 38.2
Instantaneous Peak
N·m 28.7 57.3 86.0 114.6
Torque
Rated Current Arms 6.0 12.0 18.0 24.0
Instantaneous Max.
Arms 18.0 36.0 54.0 72.0
Current
Rated Speed min-1 1000
-1
Max. Speed min 1500
Rotor Moment of Inertia x10-4kg·m2 18.0
Standard Increamental wire-saving：2500P/R
Encoder
Option 17-bit absolute：131072P/R
Insulation Class F
Ambient Temperature 0 to +40℃ (non freezing)
Ambient Humidity 20 to 80% RH (non condensing)
Enclosure Totally enclosed, self-cooled, IP55 (except for shaft opening and connectors)
Vibration 24.5m/s2

Torque-Motor Speed Characteristics (A:Continuous Duty Zone, B:Intermittent Duty Zone)

ESTUN Servo motor

■ Dimention mm

Model Flange face Tap× key

L LL KB1 KB2 KL1 KL2 S
EML- LR LE LF LC LA LB LZ Depth QK QL W T U
10A□A 265 210 134 185 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4
20A□A 332 253 168 228 140 79 79 3.2 18 180 200 114.3 13.5 35 M8x16L 55 6 10 8 5
30A□A 372 293 208 268 140 79 79 3.2 18 180 200 114.3 13.5 35 M8x16L 55 6 10 8 5
40A□A 412 333 248 308 140 79 79 3.2 18 180 200 114.3 13.5 35 M8x16L 55 6 10 8 5

● Motor receptacle specification

receptacle：MS3102A20-4P (EML-10A)；MS3102A22-22P (EML-20A/30A/40A)
connector：MS3108B20-4S (EML-10A)；MS3108B22-22S (EML-20A/30A/40A)
cable clamp：MS3057-12A
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
connector：MS3108B20-29S
cable clamp：MS3057-12A
Increamental wire-saving encoder 17-bit absolute
code signal color code signal color code signal color code signal color
A A+ blue K — — A — — K S+ blue
B A- Blue/black L — — B — — L S- Blue/black
C B+ green M — — C — — M — —
D B- Green/black N — — D — — N — —
E C+ yellow P — — E — — P — —
F C- Yellow/black R — — F — — R — —
G PG0V black S — — G PG0V black S BAT- Yellow/black
H PG5V red T — — H PG5V red T BAT+ yellow
J FG shield — — — J FG shield — — —
ESTUN Servo motor

series
■ Features
● Power supply voltage 400V
● Driving of feed shafts for various
● Wide Selection: 1.0kW to 5.0kW, holding
brake options
● Mounted 2500P/R incremental encoder,
Optional mounted 17-bit serial encoder
● Protective Structure: IP65

■Application Examples
● Machine tools
● Material handling machines
● Food processing equipment
● Textile machines

■ Model Designation
EMB – 1E D P A 1 1
ESTUN servo motor 【１＋２】 【３】 【４】 【５】 【６】 【７】
EMB series

【１＋２】rated output power 【４】encoder 【７】option

code Specification code Specification code Specification
75 7.5kW P Increamental 1 Without option
wire-saving encoder ：
2500P/R
1A 11.0kW S 17-bit absolute 2 With oil seal
encoder：131072P/R
1E 15.0kW 3 With holding brake
(DC24V)
【５】design revision order 4 With oil seal and
holding brake(DC24V)
【３】power supplu voltage code Specification
code Specification A design revision order
D 400VAC
【６】shaft end
code Specification
1 Straight without key
(standard)
2 Straight with key and
tap
ESTUN Servo motor

■ Ratings and specifications

voltage 200VAC
Servo motor Model EMB- 75D□A 1AD□A 1ED□A
Rated output power kW 7.5 11.0 15.0
Rated torque N·m 47.8 70.0 95.5
Instantaneous Peak
N·m 119.4 175 191
Torque
Rated Current Arms 18.0 28.0 38.0
Instantaneous Max.
Arms 56.0 70.0 84.0
Current
Rated Speed min-1 1500
-1
Max. Speed min 2000
Rotor Moment of Inertia x10-4kg·m2
standard Increamental wire-saving：2500P/R
Encoder
option 17-bit absolute：131072P/R
Insulation Class F
Ambient Temperature 0 to +40℃ (non freezing)
Ambient Humidity 20 to 80% RH (non condensing)
Enclosure Totally enclosed, self-cooled, IP55 (except for shaft opening and connectors)
Vibration 24.5m/s2

● Torque-Motor Speed Characteristics (A:Continuous Duty Zone, B:Intermittent Duty Zone)

ESTUN Servo motor

■ Dimention mm

model Flange face Tap× key

L LL KB1 KB2 KL1 KL2 S
EMB- LR LE LF LC LA LB LZ Depth QK QL W T U
75D□A 116 4 18 220 235 200 13.5 42 M16×32 100 5 12 8 5
1AD□A 116 4 18 220 235 200 13.5 42 M16×32 100 5 12 8 5
1ED□A 116 4 18 220 235 200 13.5 42 M16×32 100 5 12 8 5

● Motor receptacle specification

receptical：MS3102A32-17P
connector：MS3108B32-17S
cable clamp：MS3057-12A
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
Increamental wire-saving encoder 17-bit absolute
code signal color code signal color code signal color code signal color
A A+ blue K — — A — — K S+ blue
B A- Blue/black L — — B — — L S- Blue/black
C B+ green M — — C — — M — —
D B- Green/black N — — D — — N — —
E C+ yellow P — — E — — P — —
F C- Yellow/black R — — F — — R — —
G PG0V black S — — G PG0V black S BAT- Yellow/black
H PG5V red T — — H PG5V red T BAT+ yellow
J FG shield — — — J FG shield — — —
 ESTUN Servo drive

series
■ Features
● PRONET series servo drive added function of current
forward-feedback control, acceleration forward-feedback control,
speed viewer and inertia viewer which, in turn, enable our PRONET series servo drive to improve response
performance more than three times than previous products. What is more, it is available to on-line real time
workload inertia check and adjustment of gain at any time to achieve the best control effect.

● Added switching control mode function,which could effectively reduce overshoot and adjustingtime by
setting reasonable switch conditions.
● PRONET series servo drive is able to match 17 digit serial encode which in turn enhanced position
precision and low speed stability & response performance.
● PRONET series servo drive designed expansion module interface. At represent, Profibus-DP bus
communication module is available.

■ Model Designation
PRONET – 10 A M A
ESTUN Servo drive 【１＋２】 【３】 【４】 【５】
PRONET Series

【１＋２】rated output power 【３】power supply voltage 【５】design revision order

code Specification 记号 Specification 记号 Specification
08 750W A 200VAC A Design revision order
10 1.0kW D 400VAC
15 1.5kW
20 2.0kW 【４】control mode
30 3.0kW 记号 Specification
50 5.0kW M Used for controlling
speed,torque and position
75 7.5kW E Used for controlling
1A 11kW speed,torque and position
（support option unit）
1E 15kW
ESTUN Servo drive

■ Ratings and specifications

Servo Drives Model： PRONET- 08A 10A 15A 20A 30A 50A 75D 1AD 1ED
Applicable
08A 10A
Servo Motors Model： EMJ-
Applicable
10A 15A 20A 30A 50A
Servo Motors Model： EMG-
Applicable
10A 20A 30A 40A
Servo Motors Model： EML-
Applicable
75D 1AD 1ED
Servo Motors Model： EMB-
C o n t in o us o u t pu t cu r r e n t
4.0 6.0 9.0 12.0 18.0 28.0 18.0 28.0 38.0
[ A r m s ]
P e a k o u t p u t c u r r e n t
12.0 18.0 28.0 42.0 56.0 84.0 56.0 70.0 84.0
[ A r m s ]
Main circuit 3 phase 200~230VAC +10~-15% (50/60Hz) 3 phase380~440VAC +10~-15% (50/60Hz)
Input power Single phase 380~440VAC +10~-15%
Control circuit Single phase 200~230VAC +10~-15% (50/60Hz)
supply (50/60Hz)
Power [kVA] 1.3 1.8 2.5 3.5 4.5 7.5 12.0 18.0 22.0
Control method IGBT PWM control SVPWM control
Increamental wire-saving encoder ：2500P/R
feedback
17-bit absolute encoder：131072P/R
Ambient/Storage Temperature Ambient temperature: 0 to +55°C, storage temperature: -20 to +85°C
Operating Ambient/Storage Humidity 90% RH or less (no condensation)
Conditions Elevation 1000m or less
Vibration/Impact Resistance Vibration resistance: 4.9m/s2, Impact resistance: 19.6m/s2
Configuration Based-mounted
Speed control range 1:5000
Load
0~100% load：±0.01% max.（at rated speed）
Regulation
Performance Speed Voltage
Rated voltage ±10%：0%（at rated speed）
Regulation Regulation
temperature
25±25℃：±0.1% max.（at rated speed）
Regulation
Reference ±10VDC at rated torque (variable setting range: ±1 to 10VDC)
voltage Max. input voltage: ±12V
Torque Input
Analog input About 47KΩ
control impendance
Circuit time
63μs
constant
Reference DC±10V/rated speed（variable setting range: ±1 to 10VDC）
voltage Max. input voltage：±12V
Input
Analog input About 47KΩ
impendance
Circuit time
63μs
constant
Speed
Rotation
control
Direction Switches the direction by /P-CON
Set Speed
Selection
Reference
Speed
Speed 1 to 3 selection
Selection
Soft Start
Function 0~10s（can be set individually for acceleration and deceleration）
Setting
Type Select one：sign+pulse、CCW+CW、90°phase difference 2-phase pulse（A phase+B phase）
Form Line driver（about+5V），collector open
Line drive：
Reference sign+pulse train、CCW+CW：4Mpps
pulse 90°phase difference 2-phase pulse：1Mpps
Positon frenquency Collector open：
control Sign+pulse、CCW+CW：200kpps
90°phase difference 2-phase pulse：200kpps
note：Frequencies drop when the dutues have errors
Setting
Position
position Can set 16 position reference
setting
reference
A phase、B phase、C phase：line drive output
Encoder Output Pulses
The number of dividing pulse: Any setting ratio is available
Number of
8 Channels
Channels
Sequence Signal allocations and positive/negative logics can be modified:
I/O signal Input Servo ON (/S-ON), P control (/P-CON), alarm reset (/ALM-RST), clear error pulse (/CLR), forward run
Function
prohibited (P-OT), reverse run prohibited (N-OT), forward torque limit (/P-CL), reverse torque limit
(/N-CL)
Number of
Sequence 4 Channels
Channels
output
Function Servo alarm（ALM）；
 Signal allocations and positive/negative logics can be modified:
Positioning completion (/COIN), speed agree detection (/V-CMP), motor rotation detection (/TGON),
servo ready (/S-RDY), torque limit detection (/CLT), brake interlock (/BK)
Dynamic Brake (DB) Functions Operates during main power OFF, servo alarm, servo OFF or overtravel
Regenerative Processing
0.5kW to 5.0kW: built-in regenerative resistor; 7.5kW to 15kW: External regenerative resistor (optional)
Functions
Built-in Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, overspeed, etc.
Functions Utility Functions Alarm trace back, JOG operation, Inertia detections, etc.
Display Functions CHARGE (red), POWER (green), 7-segment 5-digit LED
RS-485 communication port, use MODBUS protocol.
Communications
CAN communication port, use CANOpen protocol.

ESTUN Servo drive

■ Dimention mm
● Three-phase 200V，0.5kW/1.0kW/1.5kW：PRONET-08A/10A/15A

● Three-phase 200V，2.0kW/3.0kW/5.0kW：PRONET-20A/30A/50A
ESTUN Servo drive

● Three-phase 400V，7.5kW/11kW/15kW：PRONET-75D/1AD/1ED
Wirrings and connections

Caution
●Do not wire power lines and signal lines in the same duct or bundle them together. Wire such that
signal lines are kept apart from power lines by at least 30 cm.
●Twisted pair wire and multi-core twisted pair shielding wires should be used for signal lines,
encoder (PG) feedback line.
●The length for wiring is 3m maximum for the reference input line, 20 m maximum for the PG
feedback line.
●Do not touch the power terminal even if power is turned off.
High voltage may still remain in Servo drive. Perform inspection only after the CHARGE LED
extinct.

■ Names and functions of main circuit terminals

Main
Servo unit
Terminal circuit
Name model Function
Symbol power
PRONET-
voltage[V]
+10,-15%
Three phase 200～230VAC
200 □□A
Main circuit power
(50/60Hz)
L1，L2，L3 supply input
+10,-15%
terminals Three phase 380～440VAC
400 □□D
(50/60Hz)
U，V，W Servo motor Connect with the servo motor。
connection － －
terminals
Control circuit +10,-15%
Single phase 200～230VAC
power supply 200 □□A
input terminals (50/60Hz)
L1C，L2C
+10,-15%
Single phase 380～440VAC
400 □□D
(50/60Hz)
Connects to the power supply ground
Ground terminal － － terminal and servo motor ground
terminal
Normal short B2-B3(for the inside
regenerative resistor)。Remove the
Outside wire between B2 and B3 and connect an
B1，B2，B3 regenerative 200 □□A external regenerative resistor
resistor between B1 and B2 if the capacity of
connection inside regenerative resistor is
terminal insufficient
Connect an external regenerative
B1，B2 400 □□D
resistor between B1 and B2.
DC reactor for Normally，short .If
200 □□A
 countermeasure against power supply
harmonic
harmonic waves is needed, connect an
suppression
DC reactor between
terminal
400 □□D －
Main circuit minus Normal not connected。
－ －
terminal

Wirings and Connections

■ Input and output signal connection

● Name and function of input signal
Control mode Signal Pin no. Function
Speed /S-ON 14 Servo ON：motor power on。
Position Choose this signal function through setting parameter。
Torque Proportion If on，switch speed circuit control mode PI control to IP
switch control。
Rotation
Use this signal for switching rotation direction when want
direction
to use the function “internal set speed selection”
/P-CON 15 switch
Control mode
Switch control mode
switch
Zero Clamp [Speed control]if ON, command speed value is “0”
Command pulse
[Position control]when ON, stop command pulse input。
prohibit
P-OT Forward drive
N-OT 16 prohibit Over travel prohibit：when ON, stop the servo motor’s
17 Reverse drive rotation。
prohibit
/PCL 41 Choose this signal function through setting parameter.
/NCL 42 Forward
current limit
Current limit function is available if on.
Reverse
current limit
 Speed inside
Choose different setting speed inside。
selection
/ALM-RST 39 Alarm reset：release servo alarm status。
DICOM 13 I/O signal power supply source，should provide 24VDC by the client
VREF+ 1
Speed Speed reference input：±10V。
VREF- 2
PULS+ 30 Pulse input form：
PULS- 31 *signal＋pulse string
SIGN+ 32 *CCW+CW pulse
SIGN- 33 *two phase pulse（90°phase differential）
Position
PPI Collector open-circuit reference power source（Separately preset 2KΩ/0.5W
34
resistor inside of the drive）
/CLR Position error pulse clearing：clear position error pulse during position
40
control
T-REF+ 26
Torque Torque reference input：±10V。
T-REF- 27

Wirings and Connections

● Name and function of output signal

Control mode Signal Pin no. Function
Speed ALM+ 5 Servo alarm：
Position ALM- 6 Turn off when check abnormal status.
Torque /TGON+ 7 Motor rotation detect：
/TGON- 8 Turn on when motor rotation is over the setting value。
/S-RDY+ 9 Servo ready：
/S-RDY- 10 Turn on if there is no alarm when control circuit and main circuit are powered.
PAO+ 20
A phase signal
PAO- 21 Two-phase（A phase、B phase）PG frequency dividing output
PBO+ 22 signal
B phase signal
PBO- 23
 PCO+ 24
C phase signal Zero-point pulse（C phase）signal
PCO- 25
If the shield of connector cable CN1 is connected with the metal shell, it
FG Metal shell
is connected with shell ground
/V-CMP+ 11 Consistent speed：
Speed
/V-CMP- 12 Turn on when the speed of motor is in the same condition with reference speed.
/COIN+ 11 Position complete：
Position
/COIN- 12 When on after position complete(deviation pulse reach to the 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。
Maintain /BK：Breaker linkage output. Release break when on.
4,18,19,29,35
— 36,37,38,43 Unused pins
44,45,47,49

Wirings and Connections

● Input and output connector(CN1)terminal array

Terminal Name Function Terminal Name Function

1 VREF+ 26 T-REF+ Torque reference input ： ±
Speed reference input：±10V。
2 VREF- 27 T-REF- 10V。
3 AGND Analog ground 28 AGND Analog ground
4 — maintain 29 — maintain
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-
Servo ready
9 /S-RDY+ 34 PPI Collector open-circuit
 reference power source
10 /S-RDY- 35 — maintain
11 /COIN+ 36 — maintain
Position complete
12 /COIN- 37 — maintain
13 DICOM I/O signal 24VDC power supply 38 — maintain
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
18 — maintain 43 — maintain
19 — maintain 44 — maintain
20 PAO+ Encoder A Two phase 45 — maintain
21 PAO- phase signal pulse PG 46 DGND Digital ground
22 PBO+ frequency 47 — maintain
Encoder B
dividing
23 PBO- phase signal 48 DGND Digital ground
output signal
24 PCO+ Encoder C Zero-point 49 — maintain
25 PCO- phase signal pulse signal 50 DGND Digital ground
(Note) 1. 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。

■ Encoder signal connection

● Encoder connector(CN2) terminal array

Terminal Name Function Terminal Name Function

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 19
PG5V PG power source ＋5V GND PG power source 0V
10 20

Wirings and Connections

■ Communication signal connection

● Communication connector(CN3) terminal array

Terminal Name Function

1 5V
5VDC power source
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 — maintain
2 — maintain
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
Wirings and Connections

■ Connection diagrams
● Three-phase 200V power supply specification
Wirings and Connection

● Three-phase 400V power supply specification

Wirings and Connections

■ Cables and connectors

Item length model Main specification picture
Connector kit connector：10150-3000PE (3M)
CN1 — EC-CN1-50
(CN1) connector shell：10350-52A0-008 (3M)
Connector kit connector：10120-3000PE (3M)
— EC-CN2-20
(CN2) connector shell：10320-52A0-008 (3M)
3m PMP-JB24-03
5m PMP-JB24-05
Incremental Encoder Cables
10m PMP-JB24-10
(EMJ series servo motor)
15m PMP-JB24-15
20m PMP-JB24-20
3m PMP-GA24-03
Incremental Encoder Cables
5m PMP-GA24-05
CN2 (EMG series、EML series、
10m PMP-GA24-10
↑ EMB series
15m PMP-GA24-15
↓ Servo motor)
20m PMP-GA24-20
Encoder
3m PSP-JB24-03
5m PSP-JB24-05
Incremental Encoder Cables
10m PSP-JB24-10
(EMJ series servo motor)
15m PSP-JB24-15
20m PSP-JB24-20
3m PSP-GA24-03
Incremental Encoder Cables
5m PSP-GA24-05
(EMG series、EML series、
10m PSP-GA24-10
EMB series
15m PSP-GA24-15
Servo motor)
20m PSP-GA24-20
3m PDM-JB18-03
5m PDM-JB18-05
Power cable
10m PDM-JB18-10
(EMJ series servo motor)
15m PDM-JB18-15
20m PDM-JB18-20
3m PDM-GA16-03
Power cable 5m PDM-GA16-05
(EMG-10A、EMG-15A、 10m PDM-GA16-10
EML-10A servo motor) 15m PDM-GA16-15
20m PDM-GA16-20
3m PDM-GA14-03
5m PDM-GA14-05
Power cable
10m PDM-GA14-10
(EMG-20A servo motor)
15m PDM-GA14-15
20m PDM-GA14-20
Servo drive 3m PDM-GD14-03
terminal 5m PDM-GD14-05
Power cable
↑ 10m PDM-GD14-10
(EML-20A servo motor)
↓ 15m PDM-GD14-15
motor 20m PDM-GD14-20
3m PDM-GD12-03
Power cable
5m PDM-GD12-05
(EMG-30A、EMG-50A、
10m PDM-GD12-10
EML-30A、EML-40A
15m PDM-GD12-15
Servo motor)
20m PDM-GD12-20
3m PDM-BE12-03
Power cable 5m PDM-BE12-05
(EMB-75D、EMB-1AD 10m PDM-BE12-10
Servo motor) 15m PDM-BE12-15
20m PDM-BE12-20
3m PDM-BE10-03
5m PDM-BE10-05
Power cable
10m PDM-BE10-10
(EMB-1ED servo motor)
15m PDM-BE10-15
20m PDM-BE10-20

CN3 PC connection cable 2m PSC-CC24-02

 Operation introduction
Digital Operator operation introduction

Name Function
Press to display the parameter settings and
INC key set values.
Press INC key to increment the set value
Press DEC key to decrement the set value.
DEC key

Press to select the status display mode,

setting mode, monitor mode, or error trace
MODE key back mode.
Press to cancel setting when set the
parameters.
Press to display the parameter settings and
ENTER key
set values and release alarm.

Basic Mode Selection

Through swithching among basic mode of digital operator，be able to operate status display,
parameter setting, operating reference ect.
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 function
Operation in Status Display Mode
The status display mode displays the Servodrive 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 is
not displayed, select the mode by using Mode Key to switch.
■Keys to the status display are shown below.
The display varies in different modes amond 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 Input Torque Reference Input

* It is highlighted when in torque control mode.

Bit displays
Bit data Descriptions
Control Power ON Lit when SERVODRIVE control power ON.
Lit for base block.
Base block
Not lit at servo ON.
Lit if the error between motor speed and the reference
Speed Coincidence speed is below preset value
Preset value：Pn501(default value10min/r)
Lit if motor speed exceeds preset value.
/TGON Not lit if motor speed is below preset value
Preset value: set in Pn503（default 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（default 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.
Power Ready Not lit when power is OFF or main power supply circuit is
faulty.
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 the alarm number.

For position control

Bit data Code
Positioning Complete

Base block /TGON

Control power ON Power ready
Reference pulse input Error Counter Clear Input

Bit data dispaly

Bit data Description
Control power ON Lit when Servodrive control power ON.
Lit for 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.
Error Counter Clear Input
Not lit when error counter clear signal is not input.
Lit when main power supply circuit is normal.
Main circuit Power Ready Not lit when power is OFF or main power supply circuit is
faulty.
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
Displays the alarm number.
Press ENTER to release alarm if present status is alarm

Operation in Parameter Setting Mode

Select or adjust the functions by setting parameters. The parameter list is in the appendix.
■Parameter changing procedures are described below:
he constant settings (Cn-03 to Cn-23) allow setting of a constant. Check the permitted range of the
constant in Appendix List of Parameters, before changing the data.
The example below shows how to change user setting Pn012 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 reaches the max. or Min., the value will remain
unchanged, if press INC/DEC.

5. Press ENTER again to go back to parameter display.

In addtion，press MODE and ENTER at the same time to enter parameter mode,then modify
parameter,after that,press both key to back off.Operate displacement of parameter in step 3 and
4:Press ENTER for a long timeto ender edit condition then press MODE to save and quit，or perss
ENTER for a long timeto quit then press ENTER to back off parameter display.
Note：
If the left side of digital operator display “b”,it will display parameter in binary
system。
 If display“H”,it will display in Hexadecimal and this parametercan only be modified in
displacement editing condition,or can not be modified.

Operation in Monitor Mode

The monitor mode allows the reference values input into the SERVODRIVE, I/O signal status,
and Servodrive internal status to be monitored.

The monitor mode can be set during motor operation.

■Using the Monitor Mode

The example below shows how to display 1500, 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 data for the monitor number selected at step 2.

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

5． Above is the procedure for display 1500 in monitor number Un001

■Monitor Mode Displays

Below is the monitor mode dispalys：

Monitor
content
No.
Un000 Actual motor speed Units r/min
Un001 Input speed reference Units r/min
Input torque reference Units:% (with respect
Un002
to rated torque) internal status bit
Internal torque reference Units:% (with display
Un003
respect to rated torque)
Un004 Number of pulses of Encoder angles
Un005 Input signal monitor
Un006 Encoder signal monitor
Un007 input signal monitor
Un008 Speed given by pulse (when gear ratio is 1:1)
Un009 Pulse count of motor rotated
Pulse rate of motor rotated
Un010
（×104）
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
Bit No. Content
No.
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

Monitor
Bit No. Content
No.
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
Bit No. Content
No.
0 1CN_05，1CN_06
1 1CN_07，1CN_08
Un007
2 1CN_09，1CN_10
3 1CN_11，1CN_12
Operation in Assistant function mode
If it is in the assistant function mode, some operations could be select in digital operator. The
detailed functions are shown as below:

Function No. Content

Fn000 Display historical alarm data
Fn001 Turn to default value
Fn002 JOG mode
Set speed reference offset
Fn003
automatically
Fn004 Set speed reference manually
automatically adjustment of offset
Fn005
detected by motor current
Manually adjustment of offset
Fn006
detected by motor current
Fn007 Servo software version display
Fn008 Teaching function

Alarm Trace-back Data

In alarm trace-back data, latest ten times alarms could be displayed.
The following shows the procedure to display the historical record.
1． Press MODE to select assistant function mode
2． Press INC or DEC to select function number of alarm historical record.

1． Press ENTER to display the latest alarm code.

Alarm number Alarm code

3． Press INC or DEC to display other recent occurred alarm code.

2． Press ENTER to return to function number display.

 If the user wants to clear all the record, just hold ENTER for one second, then all the

historical data will be deleted.

Operation of recovering to default value

The follows are procedures to recovery of default value.
1． Press MODE to select assistant mode.
2． Press INC or DEC to select function number of recovering to default value

3． Press ENTER to enter parameter default recovery mode.

4. Hold ENTER key for one second to recover the parameter to default setting.

5. Release ENTER key to return to function number display.

Operation in JOG mode

The following is steps in JOG mode

1． Press MODE to select assistant 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.
6． Press INC or DEC (motor runs when press the keys.)
7． Press ENTER to return to function number display.(Servo is OFF)

Reference Offset Automatic Adjustment

The motor may rotate slowly when the reference voltage is intended to be 0 V. This occurs
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.
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.
Refer to 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 are zeroed when servo lock is stopped.
In this case, use the speed reference offset manual adjustment mode. Refer to Reference
Offset Manual Adjustment Mode for details.
Zero-clamp speed control is available to force the motor to stop during zero speed reference.
Refer to Using Zero-Clamp for details.

Note
Please automatively adjust analog reference offset on the servo OFF condition.
Follow the procedure below to automatically adjust the reference offset:
1． Input the (intended) 0 V reference voltage from the host controller or external circuit.

2． Press Mode to select assistant function mode.

3． Press INC or DEC key to select function number of speed reference offset.
4． Press ENTER to enter mode that automatically adjust the reference offset.

5． Press MODE. When the flashing lasts for one minute, the speed offset is adjusted
automatically.

6． Press ENTER to return to function number display

7. This is the end of reference offset automatic adjustment.

Reference Offset Manual Adjustment Mode

Speed reference offset manual adjustment is very convenient in the following situations:
• If a loop is formed with the host controller and the error is zeroed 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:
 Note:
When offset seting by automatic adjustment is over the range of adjusting reference offset
manually(-1024~+1024），manually adjustment is not available.
The following is procedures of adjusting reference offset manually.
1． Press MODE to select assistant function mode.
2. Press INC or DEC to select reference offset manual adjustment function number

3. Press ENTER to enter mode that manually adjust the reference offset

4. Select ON signal（/S-ON）ON, it displays as follows

5. Press ENTER key 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 the interface on step 4.
8. Press ENTER again to go back to function display.

This ends the procedure.

Motor Current Detection Offset Adjustment

Current detection offset adjustment is performed 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 will describe the operation of automatic offset and manual offset.
 Note:
Current detection offset manual adjustment could only be performed when the Servo is OFF.
Any accidentally activation of this function especially the manual adjustment, deteriorated
situations might occur.
If the torque pulse is obviously too high compared with other Servodrives. Please adjust the
offset automatically.

■ Motor current detection offset automatic adjustment

Follow the procedure below to perform current detection offset automatic adjustment
1． Press MODE key to select assistant function mode.
2． Press INC key or DEC key to select function number of motor current detection offset
automatic adjustment

3. Press ENTER to enter motor current detection offset automatic adjustment.

4. Press MODE key and the adjustment will be finished after it flashes for a second.

5. Press ENTER to return function number display.

This ends the operation of adjusting the motor current detection offset automatic adjustment
■ Motor current detection offset manual adjustment
Follow the procedure below to perform current detection offset manual adjustment
1． Press MODE key and select assistant function mode.
2． Press INC key or DEC key to select function number of motor current detection offset
manual adjustment.

3． Press ENTER key to enter into motor current detection offset manual adjustment.

4． Press MODE key to switch U phase（Cu1_o）and V phase（Cu2_o）current detection offset

adjustment mode.

5． Hold ENTER key for a second, current phase current detection data will be displayed.
6． Press INC key or DEC key to adjust the offset.

7． Hold ENTER key for a second to return the display of step 3 or step 4.
8． Press ENTER again to go back to function number display.

This ends the operation of the motor current detection offset manual adjustment
Note:
motor current detection offset manual adjustment range:-102~+102。

Checking Software Version

Use the following procedure to check the software version.
1. Press MODE key and select assistant function mode.
2. Press INC key or DEC to select the function number for servo software version.

3. Press ENTER to display software version(D,E,F is displayed at the highest position)

4. Press Mode key to display FPGA/CPLD software version(P is displayed at the highest
position)

5. Repress Mode key and switch back to display the DSP software version
6. Press ENTER key to return to display the function number

Teaching position

Following procedure is for teaching position.

1. Press MODE key and select assistant function mode.
2. Press INC key or DEC to select the function number for servo software version.

3. Press ENTER,to display as follows

4. Press ENTER for a second then it will display as follows

5. Teaching has been completed and release ENTER

 MODBUS Communication Functions
RS-485 communication cable wiring
PRONET series have MODBUS communication function with RS-485 interface,which can
modify parameters and monitor servo drive.Definitions of servo drive communication interface
are as follows:
CN3 interface definition：
Interface No. Name Function
1 5V
Power supply:5VDC
2 5V
3 485+ RS-485 communication interface
4 DGND
ground
5 DGND
6 485- RS-485 communication interface
7 CANH CAN communication interface
8 CANL CAN communication interface

CN4 interface definition：

Interface No. Name Function
1 — maintain
2 — maintain
3 485+ RS-485 communication interface
4 DGND
ground
5 DGND
6 485- RS-485 communication interface
7 CANH CAN communication interface
8 CANL CAN communication interface

Inductions：
（1）The cable length is less than 100 meters when in a less disturbed environment.，However, if
transmission speed is above 9600Kbps, it’s strongly recommended that the cable length is less
than 15 meters 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 separately connect a 120Ω resistor.If need to join more appliance,a relay
should be applied to expand. Need to separately connect a 120 Ω resistor.If you want to connect with
more appliance,a relay must be need to expand connection units.
（3）CN3 of servo drive is always taken as input terminals，and CN4 is always take as
communication cable output terminals（If still need to connect appendix station，connect cable
from this terminal to the next appliance；if needn’t，add balance resistor in this terminal）.If
connect more than one sets pronets servo drive,it is prohibited to directly connect CN3 of servo
drives.
For example，RS-485 network is composed of a pcs of PLC,A,B,C three sets of Pronets.Cable
wirring is as follows:
PLC → CN3 and CN4 of A servo drive→ CN3 and CN4 of B servo drive → CN3 and
CN4 of C servo drive → 120 terminal resistor.
MODBUS communication relative parameters
If need Which
Paramet Name and to control
Function and introduction
ers No. discription electrif mode is
ied available
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 16 bit datum Yes ALL [3] 8，N，2（Modbus,ASCII）
[4] 8，E，1（Modbus,ASCII）
[5] 8，O，1（Modbus,ASCII）
[6] 8，N，2（Modbus,RTU）
[7] 8，E，1（Modbus,RTU）
[8] 8，O，1（Modbus,RTU）
Pn700.2 communication protocol
selection
[0] no protocol SCI communicate
[1] MODBUS SCI communicate
Pn700.3 maintain
Aix address of MODBUS protocol
Pn701 Aix address Yes ALL
communication
MODBUS communication
Only when Pn213 is set as 1 or 2 can communication be put into operation with MODBUS
protocol.There are two modes for MODBUS communication. They are ASCII（American Standard
Code for information interchange）mode orRTU（Remote Terminal Unit）mode.
The brief introduction as follows:

Code Meaning

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 30H 31H 32H 33H 34H 35H 36H 37H
ASCII code
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
Relevant 38H 39H 41H 42H 43H 44H 45H 46H
ASCIIcode

RTU mode：
Every 8-bit datum is consisted by two 4-bit hex datum. That is to say, a normal hex number. For
instance: algorism 100 can be expressed into 1-byteRTU datum as 64 h.

Datum structure:
10bit character form（apply in 7-bit datum）
11bit character form（apply in 8-bit datum）

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 below：

STX（communication start）
ASCII mode：‘：’character.
RTU mode：Sleep interval (no pulse) of transmission time which equals to four bytes at present
transmission speed.（automatively changed according to different communication speed）

ADR（communication address）
Acceptable 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: 03 h， read N words，N is not more than 20.
For instance: read 2 words from address 0200 h from servo addressed at 01 h.
ASCII mode：
Order information： Response information：
STX ‘:’
‘0’
ADR
STX ‘:’ ‘1’
‘0’ ‘0’
ADR CMD
‘1’ ‘3’
‘0’ 资料个数 ‘0’
CMD
‘3’ (以 byte计算) ‘4’
‘0’ ‘0’
‘2’ 起始资料地址 ‘0’
起始资料地址
‘0’ 0200H的内容 ‘B’
‘0’ ‘1’
‘0’ ‘1’
资料个数 ‘0’ 第二笔资料地址 ‘F’
(以word计算) ‘0’ 0201H的内容 ‘4’
‘2’ ‘0’
‘F’ ‘E’
LRC 校验 LRC 校验
‘8’ ‘8’
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)

RTU mode：
Order information： Response information：
ADR 01H
CMD 03H
ADR 01H 资料个数
04H
CMD 03H (以word计算)
02H(地址高位) 起始资料地址 00H(数据高位)
起始资料地址
00H(地址低位) 0200H的内容 B1H(数据低位)
资料个数 00H 第二笔资料地址 1FH(数据高位)
(以word计算) 02H 0201H的内容 40H(数据低位)
CRC校验低位 C5H(校验低位) CRC校验低位 A3H(校验低位)
CRC校验高位 B3H(校验高位) CRC校验高位 D3H(校验高位)
Order code: 06 h，write in one character（word）
For instance: write 100 （0064 h）in address 0200 h of servo addressed 01 h.
ASCII mode ：
Instruction information： Response information：
 STX ‘:’ STX ‘:’
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘6’ ‘6’
‘0’ ‘0’
‘2’ ‘2’
起始资料地址 资料地址
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
‘0’ 资料地址 ‘0’
资料内容
‘6’ 0200H的内容 ‘6’
‘4’ ‘4’
‘9’ ‘9’
LRC 校验 LRC 校验
‘3’ ‘3’
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)

RTU mode：
Instruction information： Response information：
ADR 01H ADR 01H
CMD 06H CMD 06H
02H(地址高位) 02H(地址高位)
起始资料地址 起始资料地址
00H(地址低位) 00H(地址低位)
00H(数据高位) 00H(数据高位)
资料内容 资料内容
64H(数据高位) 64H(数据低位)
CRC校验低位 89H(校验低位) CRC校验低位 89H(校验低位)
CRC校验高位 99H(校验高位) CRC校验高位 99H(校验高位)

LRC（ASCI mode）and CRC（RTU mode）checksum’s calculation：

LRC calculation in ASCII mode
ASCII mode use LRC checksum. 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 checksum.
 STX ‘:’
‘0’
ADR
‘1’
‘0’
CMD
‘3’
‘0’
‘2’
起始资料地址
‘0’
‘1’
‘0’
资料个数 ‘0’
(以word计算) ‘0’
‘1’
‘F’
LRC 校验
‘8’
End 1 (0DH)(CR)
End 0 (0AH)(LF)

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:

RTU mode use CRC( Cyclical Redundancy Check) checksum.
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 haven been operated the same way, then comment of CRC register is CRC
checksum.
Illustration: after calculate out the CRC checksum, in the instruction information, the CRC low bit
should be filled first, and then fill the high bit of CRC, please check the following example:

Read 2 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.
 ADR 01H
CMD 03H
01H(地址高位)
起始资料地址
01H(地址低位)
资料数 00H(高位)
（以word计） 02H(低位)
CRC校验低位 94H(校验低位)
CRC校验高位 37H(校验高位)
End1、End0（Communication check is done）
ASCII mode：
(0DH)—‘\r’ 『carriage return』and (0AH)--‘\n’ 『new line』, mean the end of communication.
RTU mode：
The silent period of 4 bits’ communication time exceeding present communication speed means
communication end.

Example:
The following C language create CRC value, the function need two parameters.
unsigned char * data;
unsigned char length;
The function will return unsigned integer mode’s 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;
}
 Communication fault disposal

While communication, faults may occur. Normal faults as follows: ：

¾ ；While read/write parameter, datum address wrong
¾ ；While write parameter, the datum exceeds the maximum value of this parameter or is less
than the minimum value of this parameter
¾ Communication is disturbed, datum transmission fault or verifying code fault

When above mentioned communication faults occur, servo drive running won’t be affected.
Meanwhile, servo drive will feed back a faulty frame.

The faulty frame form as follows:

Host controller datum frame:
Start Servo drive Instruction Datum address, Verifying
Address data
Instruction

Servo drive feedback fault frame:

Start Servo drive Response Fault code Verifying
address code
＋80H

Fault frame response code=order+80h

Fault code＝00h：communication in gear ＝01h：servo drive can not identify the required
functions
＝02h：The required address does not exist in the servo drive;
＝ 03 h ： The required datum in the servo is not workable. (Beyond maximum or minimum
value of the parameter)
＝04h：Servo drive starts to execute the requirement, but cannot achieve it

For instance: servo drive addressed at 03h，write in 06h into parameter Pn002, the written data are
not valid because the range of Pn002 is from 0--1,the driver will feedback a fault frame, the fault
code is 03H(beyond the maximal and minimal value),here following the structure.

Host controller datum frame

Start Servo driver Instruction Datum address, Verifying
address data
03H 06H 0002H 0006H

Start Servo driver Response Fault code Verifying

address code
03H 86H 03H

Besides, if the datum from host controller indicated servo drives address as 00 h , it
represents this datum is broadcasting datum, servo dries will not return any frames.
 Servo state data communication address

Communication data
address Meaning Illustration Operation
Hex
Parameter area Corresponding parameter to Read-write
0000 ~ 02FD
parameter list

07F1 ~07FA Alarm information memory area Ten former alarms Read only

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 with Read only

0806 ~ 0814
displayed data)
0806 Speed feedback R/min Read only
0807 Input speed value R/min Read only
0808 Input torque instruction percentage Corresponding rated torque Read only
0809 Inside torque instruction percentage Corresponding rated torque Read only
080A Encoder rotation pulse number Read only
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
present location high bits Unit:10000 instruction Read only
0810
pulse
0811 Deviation pulse counter low 16 bits Read only
0812 Deviation pulse counter high 16 bits Read only
0813 setting pulse counter low bits Unit:1 instruction pulse Read only
Setting pulse counter high bits Unit:10000 instruction Read only
0814
pulse
0815 Load/inertia % Read only
0816 Motor overload percentage % Read only
0817 Current alarm Read only

Modbus communication IO signal Power off without save Read and

0900
writable
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
software edition Edition is displayed by Read only
090E
digit
software edition Edition is displayed by Read only
090F
digit

Clear former alarms 01：Clear Read and

1021
writable
Clear current alarms 01：Clear Read and
1022
writable
01：Enable Read and
1023 JOG servo on
00：No enable writable
01： Forward rotation Read and
1024 JOG forward rotate
00： Stop writable
01： Backward rotation Read and
1025 JOG backward rotate
00： Stop writable
1026 JOG forward rotate at node 01： Forward rotation
position(start signal has been set) 00： Stop

1027 JOG backward rotate at node 01： Backward rotation

position(start signal has been set) 00： Stop
1028 01： Pause
Pause at node position
00： Cancel pause

Instruction:
1、parameter area（communication address 0000 h ～ 00DE h）
It is relevant to 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 input datum is
out of the parameter range, the datum shall be abnegated and servo drive will return an operation
unsuccessful signal.
2、Alarm information storage area（07F1 ～ 07FAH）
Previous
alarm Instruction Communication address
number
Previous alarm record 1 （ the last 07F1H
0
alarm）
1~8 Previous alarms record 1--9 07F2H ~ 07F9H
9 Previous alarm record (the longest time) 07F3H

3、monitor data area（0806 h ～ 0814 h）

These monitor data are relevant to servo drive display panel Un000~Un014.
For instance: read address 0807 h (speed setting) through communication as FB16 h. Therefore,
the speed setting is-1258RPM.
4、modbus communication IO signal
Use communication to control input number IO signal. This datum won’t be reserved after power
off.
5、drive state（0901 h）
This 1-word represents the current state of the system. Meaning of each bit as follows:

6、software edition（090E h）
It represents drive’s software edition by number. E.g. If the number is D201H，it means the
software edition is D-2.01.
 PARAMETER LIST
Need
Parame Name and description power
Unit Range Default
ter on
again
Binary
Pn000.0: parameter servo on
Pn000.1: Forward rotation prohibited
input (P-OT).
Pn000 — 0~1111 0 Need
Pn000.2: Forward rotation prohibited
input (N-OT).
Pn000.3: instant power off output servo
alarm output（ALM）
Binary
Pn001.0: CCW,CW selection
Pn001.1: analog speed limited enable
Pn001 — 0~1111 0 Need
Pn001.2: analog torque limited enable
Pn001.3: the second electronic gear
enable
Binary
Pn002.0: switch method of electronic
gear
Pn002 — 0~0011 0010 Need
Pn002.1: reserve
Pn002.2: reserve
Pn002.3: reserve
Binary
Pn003.0: code wheel fault code alarm
enale
Pn003 — 0~1111 0 Need
Pn003.1:C pulse protection
Pn003.2: low speed compensation
Pn003.3: overload increase
Hex
Pn004.0: Stop way
Pn004 Pn004.1: offset counter clear mode — 0~0x3425 0 Need
Pn004.2: instruction pulse form
Pn004.3: reverse pulse
1Hex
Pn005.0: torque forward feedback form
Pn005.1: Control method
[0] Speed control( analog instruction)
Pn005 [1] Positioning control (pulse train — 0~0x33d3 0 Need
instruction)
[2] Torque control (analog
instruction)
[3] Speed control(node instruction)
 Need
Parame Name and description power
Unit Range Default
ter on
again
Speed control (zero instruction)
[4] Speed control(node instruction)
←→peed control (analog instruction)

[5] Speed control (node instruction)

← → Positioning control(pulse train
instruction)
[6] Speed control(node instruction)
← → Torque control(analog
instruction)
[7] Positioning control(pulse train
instruction)←→Speed control(analog
instruction)
[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 clamp control
[B] positioning control(pulse train
instruction) ← → Positioning
control(pulse prohibited)
[C] Positioning control(parameter
instruction)
[D]Speed control (parameter
instruction)
Pn005.2:Our-of-tolerance alarm enable
Pn005.3: Motor type
Hex
Pn006.0: Bus mode
Pn006 Pn006.1: Reserved — 0~0x0002 0 Need
Pn006.2: Reserved
Pn006.3: Reserved
Real time auto tune setting
0: User manual gain
1,2,3= Regular mode;4,5,6= Upright
Pn100 load — 0~6 1 Need
1,4 = No change of overload inertia;2,5
=Small change of overload inertia;3,6=
Big change of overload inertia
Pn101 Load rigid selection — 0~15 5 No need
 Need
Parame Name and description power
Unit Range Default
ter on
again
Pn102 Speed loop gain Hz 1~2500 160 No need
Pn103 Speed loop integration time 0.1ms 1~4096 200 No need
Pn104 Position loop gain 1/s 0~1000 40 No need
Pn105 Torque instruction filter counstant 0.1ms 0~250 4 No need
Pn106 Load/inertia percentage — 0~20000 0 No need
Pn107 The second speed loop gain Hz 1~2500 40 No need
The second speed loop integration
Pn108 0.1ms 1~4096 200 No need
time count
Pn109 The second position loop gain Hz 0~1000 40 No need
The second torque instruction filter
Pn110 0.1ms 0~250 150 No need
constant
Pn111 Speed offset R/min 0~300 0 No need
Pn112 Forward feedback % 0~100 0 No need
Pn113 Forward feedback filtering 0.1ms 0~640 0 No need
Pn114 Torque forward feedback % 0~100 0 No need
Pn115 Torque forward feedback filtering 0.1ms 0~640 0 No need
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
Instruction
Pn118 Offset counter switch threshold 0~10000 0 No need
pulse
Pn119 Setting acceleration switch threshold 10rpm/s 0~3000 0 No need
Pn120 Setting speed switch threshold Rpm 0~10000 0 No need
Gain switch condition
0: The first group gain is fixed
1: Outside power switch gain swap
2: Torque percentage
Pn121 — 0~6 0 Need
3: Offset counter value
4: Setting acceleration value（10r/min）
5: Setting speed value
6: Input of instruction with position
Pn122 Deferred switch time 0.1ms 0~20000 0 No need
Pn123 Switch threshold level 0~20000 0 No need
Pn124 Reserved
Pn125 Position gain switch time 0.1ms 0~20000 0 No need
Pn126 Switch hysteresis 0~20000 0 No need
Pn127 Test filtering at low speed 0.1ms 0~100 10 No need
Pn128 The increase of speed gain — 0~3 3 No need
 Need
Parame Name and description power
Unit Range Default
ter on
again
relationship in real time adjustment
period
Pn129 Low speed verifying constant — 0~30000 0 No need

Pn200 PG frequency division Pulse 16~16384 16384 Need

Pn201 The first electronic gear molecule — 1~65535 1 Need
Pn202 Electronic gear denominator — 1~65535 1 Need
Pn203 The second electronic gear molecule — 1~65535 1 Need
Position instruction filtering time
Pn204 0.1ms 0~32767 0 No need
constant
Position instruction filtering form
Pn205 — 0~1 0 Need
selection

Pn300 Input gain of speed instruction Rpm/v 0~3000 150 No need

Pn301 Inside speed 1 Rpm 0~6000 100 No need
Pn302 Inside speed 2 Rpm 0~6000 200 No need
Pn303 Inside speed 3 Rpm 0~6000 300 No need
Pn304 Parameter speed Rpm 0~6000 500 No need
Pn305 JOG speed Rpm 0~6000 500 No need
Pn306 Soft accelerating time Ms 0~10000 0 No need
Pn307 Soft reset decelerating time Ms 0~10000 0 No need
Pn308 Speed filtering time constant Ms 0~10000 0 No need
Pn309 S Rising time of S curve. Ms 0~10000 0 No need
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. Rpm -6000~6000 500 No need

Pn400 Torque instruction gain 0.1V/100% 10~100 33 No need

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
Pn407 Wave trap 1 frequency Hz 50~5000 5000 No need
Pn408 Wave trap 1 depth — 0~11 1 No need
Pn408 Wave trap 2 frequency Hz 50~5000 5000 No need
Pn410 Wave trap 2 depth — 0~11 1 No need
 Need
Parame Name and description power
Unit Range Default
ter on
again

Pn500 Discrepancy of positioning Puls 0~5000 10 No need

Pn501 Discrepancy of speed Rpm 0~100 10 No need
Pn502 Zero clamp speed Rpm 0~3000 10 No need
Pn503 Rotation inspection speed TGON Rpm 0~3000 20 No need
Pn504 Offset counter overflow alarm 256Puls 1~32767 1024 No need
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 end to a end of signal hex
Pn509 — 0~0xbbbb 0x3210 Need
4 bit
Match input end to a end of signal hex
Pn510 — 0~0xbbbb 0x7654 Need
4 bit
Pn511 Output signal distribute — 0~0x0444 0x0210 Need
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
Pn514 Input end filtering 0.2ms 0~1000 1 No need
Pn515 Reserved 0.2ms 0~3 1 No need
Pn516 Select the contrary of input end signal — 0~1111 0 No need
Pn517 Select the contrary of input end signal — 0~1111 0 No need
Pn518 Reserved Ms 50~2000 125 No need
Pn519 Reserved 0.1ms 0~10000 3 No need
Pn520 Reserved 0.1ms 0~60000 50 No need

Pn600 Point position control position pulse 10000P -9999~9999 0 No need

Pn601 Point position control position pulse 1P -9999~9999 0 No need
……
Pn631 Point position control position pulse 1P -9999~9999 0 No need

Pn632 Point position speed control Rpm 0~6000 500 No need

……
Pn647 Point position speed control Rpm 0~6000 500 No need

Pn648 Point position once filtering 0.1ms 0~32767 0 No need

……
Pn663 Point position once filtering 0.1ms 0~32767 0 No need

Pn664 Stopping time 50ms 0~300 10 No need

……
Pn679 Stopping time 50ms 0~300 10 No need
 Need
Parame Name and description power
Unit Range Default
ter on
again

Pn680 Reserved
Hex
Pn681.0:One time/recycle,
reset/referring point selection
Pn681 Pn681.1: Change step and reset mode — 0~x0333 0x0000 No need
Pn681.2: Change step input signal
mode
Pn681.3: Reserved
Pn682 Program mode — 0~1 0 No need
Pn683 Program start step — 0~15 0 No need
Pn684 Program end 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
Pn687 Teaching position pulse 10000P -9999~9999 0 No need
Pn688 Teaching position pulse 1P -9999~9999 0 No need

Hex
Pn700.0: MODBUS communication baud
rate
Pn700 Pn700.1:MODBUS communication — 0~0x0182 0x0151 Need
protocols
Pn700.2:Communication protocols selection
Pn700.3: Reserved
Pn701 MODBUS shaft address — 1~247 1 Need

Illustration of parameter form

Form code description

Function selection switch Pn000~Pn006

Control mode, stop mode and other
function selection.
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
parameter so on
Speed control relationship Pn300~Pn312 Speed instruction input, soft reset and so
parameter on.
Torque control relationship Pn400~Pn406 Torque limit and so on
parameter
Parameter to control Pn500~Pn520 Distribution of input/output end’ functions
input/output ends.
Relevant parameter of point Pn600~Pn686 Relevant parameter of inside point position
position control control.
 Detail explanation of parameters
The
Power
Name and effective
No. on Function and meaning
illustration control
again
mode
Pn000.0: parameter servo on
[0] outside S-ON valid
[1] Outside S-ON outside S-ON invalid, after S-RDY output, motor
excitation signal is turned on automatically
Pn000.1 Forward direction input prohibited
[0] Outside P-OT valid, it moves according to the time sequence
movement set by Pn004.0 when it reach 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 time sequence
movement set by Pn004.0 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
Pn001.1 analog speed limit enable
[0]。Inter parameter Pn406 is the limited value of speed while torque
Pn001.0 control period
ALL [1] Vref input analog voltage corresponding value is the speed limit
Pn001.1 value while torque control.
T All control modes of the parameter are effective
Pn001 Binary Need
Pn001.2 Pn001.2 analog torque limit enable
P，S [0] Pn401~Pn404 Pn401→Pn404 act as torque limit
Pn001.3 [1] Tref Tref input corresponding value act as torque limit.
P Pn001.3 The second electric gear enable
[0] There is no the second electric gear PCON signal acting as P/PI
switch
[1] The second electric gear effective PCON signal can only act as
the second electric gear when Pn005.3=1

Pn002.0 Switch mode of electric gear

Pn002 Binary Need ALL
[0] Corresponding time sequence
 The
Power
Name and effective
No. on Function and meaning
illustration control
again
mode
Pn203
Pn201 电子齿轮分子2 Pn201
电子齿轮分子1 PCON有效 电子齿轮分子1
PCON无效 PCON无效

指令脉冲
t1 t2

t1，t2>1ms

[1] Corresponding time sequence

Pn203
Pn201 电子齿轮分子2 Pn201
电子齿轮分子1 PCON有效 电子齿轮分子1
PCON无效 PCON无效
指令脉冲
t1 t2
t1，t2>1ms

set to the time sequence 0 and 1 both available.

fault time sequence

Pn203
Pn201 电子齿轮分子2 Pn201
电子齿轮分子1 PCON有效 电子齿轮分子1
PCON无效 PCON无效

指令脉冲
t1 t2

t1，t2>1ms

Pn002.1 Reserved
Pn002.2 Reserved
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
Pn003 Binary Need ALL
[0] No C pulse protection
[1] with C pulse protection
Pn003.2 Low speed compensation
[0] No low speed verifying
 The
Power
Name and effective
No. on Function and meaning
illustration control
again
mode
[1] With low speed verifying to prevent motor crawling, but the
intensity of motor low speed verifying has to be determined by
value of Pn129 sometimes.
Pn003.3 overload enhancement
[0] No overload enhancement function
[1] With overload enhancement function, In some frequent start-stop
applications, the function can enhance the overload which
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, DB when servo off, plug braking stop servo
off when over travel.
[3] Stop freely when servo off, plug braking stop servo off when
over travel.
[4] DB when servo off, zero clamp after plug braking stop when
over travel
[5] Freely stop when servo off, zero clamp after plug braking stop
Pn004.0
when over travel.
ALL
Pn004.1 Offset counter clear mode
Pn004.1
[0] Offset counter clear when S-off, does not clear when over travel.
P
Pn004 Hex Need [1] Offset counter does not clear
Pn004.2
[2] Offset counter clear when both S-off and also over travel(except
P
zero clamp)
Pn004.3
Pn004.2 Instruction pulse mode
P
[0] Symbol + pulse
[1] CW+CCW
[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
Pn005.0 [0] Outside analog (Tref) feed forward invalid, use regular
P，S torque feed forward.
Pn005.1 [1] Outside analog (Tref) feed forward valid, use high
Pn005 Hex Need
ALL speed torque feed forward
Pn005.2 [2] Outside analog (Tref) feedforward invalid, use high
P speed torque feedforward
[3] Outside analog (Tref) feedforward valid, use regular
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Pn005.1 Control mode

[0] Speed control (analog instruction)
PCON：OFF，PI control；ON，P control
[1] Position control(pulse train instruction)
PCON：OFF，PI control；ON，P control
[2]) Torque control (analog instruction)
PCON invalid
[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 control
(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 control
(analog instruction)
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 control
(analog instruction)
PCON：OFF；Torque control(analog instruction)
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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

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
Pn006 Hex Need [2] PROFIBUS-DP V2
Pn006.1 Reserved
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
Real time auto
[2,5] Small change of load inertia
Pn100 adjustment Need P，S
[3,6] Big change of load inertia
set
Attention:
The auto adjustment below the highest speed 100rpm is
invalid while the movement of servo motor
The adjustment is invalid while the acceleration and
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deceleration be 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 speed load are different too much to be suitable for
auto-adjustment during movement course, it should be set
to manual gain.
The value determines the response speed of servo system, normally
Load rigid No the rigid should be set larger, but if it is too large, it would suffer the
Pn101 P，S
selection need Mechanical impaction. It should be set smaller when vibration is
big. The value is valid only when auto-adjustment time.
The value determines speed loop gain’s value and load inertia
No
Pn102 Speed loop gain P，S percentage. The right corresponding unit is HZ when Pn 106 is set
need
correctly.
Speed loop No Decreasing the value can shorten position time, the speed response
Pn103 P，S
integral time need raising unit is 0.1ms
position loop No
Pn104 P The value determines the position loop gain’s value,
gain need
Torque Setting torque filtering can remove or decrease the mechanical
No
Pn105 instruction filter P，S，T vibration, but wrong setting will cause mechanical vibration
need
constant sometimes.
Load inertia No 0 The percentage between load inertia and motor rotor inertia. The
Pn106 P，S
percentage need unit is %. Setting value=( load inertia/rotor inertia)x100
The second No
Pn107 P，S
speed loop gain need
The second
speed loop No
Pn108 P，S
integral time need
These parameters’ meaning is same with Pn102~Pn105.
constant
These parameters are only need to set when two level gain switch
The second loop No
Pn109 P mode is open.
gain need
The second
torque No
Pn110 P，S，T
instruction filter need
constant
The value is to shorten the position time, But if it is set too big or
No not corresponded well with Pn111, vibration occurs, The
Pn111 Speed offset P
need relationship between the value and speed instruction, offset counter
is as following.
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速度指令

Pn111
Pn500

偏差计数

Pn111
Pn500

It is used to set position feed forward value, more higher position

Pn112 Feed forward no need P lead to faster response, less position offset. It would cause vibration
and overswing when it is set too big.
The mechanical impaction caused by smooth position feed forward.
Feed forward
Pn113 no need P It would enlarge feed forward lag and cause vibration if it is set too
filtering
big. Unit:0.1ms
it is used to set torque feed forward value in order to fasten the
Torque feed
Pn114 no need P，S speed response. Pls set load rotation inertia percentage correctly
forward
while in the manual adjustment mode
Torque feed Mechanical impaction caused by smooth torque feed forward .
Pn115 no need P，S
forward filtering Unit:0.1ms
0: torque instruction percentage
1: offset counter value
switch
Pn116 Need P，S 2: setting acceleration value
conditions
3: setting speed value
4: fixed PI
Torque switch
Pn117 no need P，S The torque threshold value unit from PI control to P control:%
threshold
Offset counter No
Pn118 P The offset counter threshold value unit from PI control to P :Pulse
switch threshold need
Setting
No
Pn119 acceleration P，S The acceleration threshold value unit from PI control to P :10rpm/s
need
switch threshold
Pn120 Setting speed No No P，S
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switch threshold need The speed threshold value unit from PI control to P:rpm
0: Fixed to the first group gain
1: Outside power switch gain transfer(G-SEL)
Gain switch 2: Torque percentage
No
Pn121 condition P，S 3: Offset counter value
need
4: Setting acceleration value(10r/min)
5: Setting speed value
6: there are position instructions input
switch delay No How long should the gain switch be delayed when it get to the
Pn122 P，S
time need switch condition.
Switch No
Pn123 P，S Gain switch’s trigger level
threshold level need
Pn124 Reserved
Position gain No It can bridge smoothly by the parameter if the change between the
Pn125 P
switch time need two groups’ gain is too large.
No
Pn126 Hysterics switch P，S It is used to set gain switch movement delay
need
speed inspection
No It sets the filtering during speed inspection at low speed, if it is too
Pn127 filtering at low P，S
need large, the speed inspection at low speed will delay.
speed
Real time
It is the increase times of speed loop gain at the same rigid in the
adjustment
No real time auto adjustment. The real time auto adjustment speed loop
Pn128 speed gain P，S
need gain is larger as the value is set larger.
increase
relationship
Low speed
No The anti crawl strength, anti outside friction at low speed. But it will
Pn129 verifying P，S
need cause vibration if it is set too large.
constant

Analog encoder output orthogonal differential pulse, the value

PG frequency
Pn200 Need P，S，T means the encoder output orthogonal pulses No. When motor rotate
division
a round.
The first Using electrical gear can match the instruction pulse along with the
Pn201 electrical gear Need P amount of motor movement corresponding to the motor, it makes
numerator the upper device do not need to care mechanical deceleration ratio
Electrical gear and encoder pulse No., essentially, it is a setting of frequency
Pn202 Need P
denominator doubling or frequency division to instruction pulse.
The second
分倍频分子( Pn201或Pn203)
Pn203 electrical gear Need P
指令脉冲分倍频分母( Pn202)
numerator
Position No The smooth effect is better if the smoothness of input pulse is
Pn204 P
instruction need bigger. Delay will occur when it is too big.
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filtering time
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Selection of
position [0]： Once filtering
Pn205 Need P
instruction [1]： Twice filtering
filtering mode

Speed
No
Pn300 instruction input S The corresponding speed to Each voltage’s analog
need
gain
Inside speed, the parameter is valid as the control mode is 3~6
No Name of State of Actual Inside speed
Pn301 Inside speed 1 S
need ends ends value
PCL OFF Zero speed or switch
NCL OFF to other control modes
No PCL OFF
Pn302 Inside speed 2 S Inside speed 1
need NCL ON
PCL ON
Inside speed 3
NCL OFF
No PCL ON
Pn303 Inside speed 3 S Inside speed 2
need NCL ON
PCON：OFF forward rotation，ON backward rotation
No The parameter can be set to positive value and negative value. When
Pn304 Parameter speed S
need control mode is set to D, it determines the speed of motor
No
Pn305 JOG speed S
need The speed of JOG running, direction is decided by the keys
Soft reset
No The time to 1000rpm acceleration of trapezoid acceleration, Unit:
Pn306 acceleration S
need ms
time
Soft reset
No The time to 1000rpm deceleration of trapezoid acceleration, Unit:
Pn307 deceleration S
need ms
time
Speed filtering No
Pn308 S Once filtering time constant unit: ms
time constant need
S curve rising No
Pn309 S The time from one speed spot to another by S curve transferring
time need
0: Incline
Speed
1: S curve
Pn310 instruction Need S
2: Once filtering
curve mode
3: Twice filtering
Selection of S
Pn311 Need S It determines the transfer mode of S curve
shape
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Communication No Bus inching’s communication speed’s value can be set to positive
Pn312 P，S，T
inching speed need and negative.

Torque No It means the needed analog input voltage’s unit is 0.1v/100% in

Pn400 T
instruction gain need order to get to the rated torque.
forward rotation
No
Pn401 torque inside P，S，T Motor output torque limit value
need
limit
Backward
No
Pn402 torque inside P，S，T Motor output torque limit value
need
limit
Forward
No
Pn403 rotation outside P，S，T Motor output torque limit value
need
torque limit
Backward
No
Pn404 outside torque P，S，T Motor output torque limit value
need
limit
Plug braking No
Pn405 P，S，T Motor output torque limit value
torque limit need
Torque control No
Pn406 T Torque control speed limit value
speed limit need
Wave trap 1 No 1、Setting wave trap might
Pn407 P，S，T Wave trap 1 frequency
frequency need enlarge the mechanical
Wave trap 1 No vibration and response
Pn408 P，S，T Wave trap 1 depth
depth need delay under certain work
Wave trap 2 No condition
Pn409 P，S，T Wave trap 2 frequency
frequency need 2、The wave trap is invalid
Wave trap 2 No when the frequency of wave
Pn410 P，S，T Wave trap 2 depth
depth need trap is set to 5000

No
Pn500 Position offset P COIN signal is output if the offset counter value is less than it
need
The same speed signal VCMP is output if the differ between speed
Same speed No
Pn501 P instruction value and speed feedback value is lees than the set value
offset need
of the parameter.
The motor is locked by the temporary position loop mode when the
Zero clamp No
Pn502 S speed corresponding to input analog is lees than the set value of the
speed need
parameter.
Rotation The motor is considered to be rotated steady and TGON signal is
No
Pn503 inspection speed P，S，T output when the speed of motor surpass the set value of the
need
TGON parameter.
Pn504 Offset counter No P It is considered that offset counter alarm occur and alarm signal is
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overflow alarm need output when the value of offset counter is larger than the set value of
the parameter.
These parameter are only valid when there is BK output set by end
output parameter.
Servo-on No
Pn505 P，S，T These parameters is used to keep braking(prevent from gravity
waiting time need
glissade or continuous outside force on motor) time sequence
Servo on waiting time
BK signal is output at first when servo-on is input, then motor
Basic waiting No stimulant signal is created after the parameter setting time is
Pn506 P，S，T
course need delayed.
The basic waiting course
The standard is: BK output ( braking motion) servo-off at the same
time. Now, the machine moves a little sometimes caused by gravity,
Braking waiting No because of the machine’s constitution and characters of braking.
Pn507 P，S，T
speed need 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
BK signal is output when the speed of motor after servo off is
dropped below the set value of the parameter.
Braking waiting No
Pn508 P，S，T Braking waiting time
time need BK signal is output when the delay after servo off surpass 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
Pn509.1 corresponding to 1CN_15
Pn509.2 corresponding to 1CN_16
Pn509.3 corresponding to 1CN_17
Match the ends
Pn509 Need P，S，T Pn510.0 corresponding to 1CN_39
to signals
Pn510.1 corresponding to 1CN_40
Pn510.2 corresponding to 1CN_41
Pn510.3 corresponding to 1CN_42
Every data’s corresponding signal as following:
0：S-ON
1：P-CON
2：P-OT
3：N-OT
Match the ends Need
Pn510 P，S，T 4：ALMRST
to signals Need
5：CLR
6：P-CL
7：N-CL
8：G-SEL
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9：JDPOS-JOG+
A：JDPOS-JOG-
B：JDPOS-HALT

Pn511.0 corresponding to1cn_11，1CN_12

Pn511.1 corresponding to1cn_07，1CN_08
Pn511.2 corresponding to1cn_09，1CN_10
Every data’s corresponding signal as following:
Match the
Pn511 output signals to Need P，S，T
0：COIN/VCMP
signals
1：TGON
2：S-RDY
3：CLT
4：BK
Bus communication input ends enable
Bus control [0]： no enable
No
Pn512 input node low P，S，T [1]： enable
need
bit enable Pn512.0Æ1CN_14
Pn512.1Æ1CN_15
Pn512.2Æ1CN_16
Pn512.3Æ1CN_17
Bus control Pn513.0Æ1CN_39
No
Pn513 input node high P，S，T Pn513.1Æ1CN_40
need
bit enable Pn513.2Æ1CN_41
Pn513.3Æ1CN_42
input end No Input end filtering time, too long set time will make the input end
Pn514 P，S，T
filtering need signal delay.
Pn515 Reserved P，S，T For user

[0]： No negate
Input end signal No [1]： Negate
Pn516 P，S，T
negate need Pn516.0Æ1CN_14 Negate
Pn516.1Æ1CN_15 Negate
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Pn516.2Æ1CN_16 Negate
Pn516.3Æ1CN_17 Negate
Output end No Pn517.0Æ1CN_39 Negate
Pn517 P，S，T
signal negate need Pn517.1Æ1CN_40 Negate
Pn517.2Æ1CN_41 Negate
Pn517.3Æ1CN_42 Negate
No
Pn518 Reserved P，S，T For user
need
No
Pn519 Reserved P，S，T For user
need
No
Pn520 Reserved P For user
need

JPOS0 point The two parameters are used combinedly, their algebraic sum is the
No
Pn600 position control P position that JPOS0’s point position need to reach( How many rounds
need
position pulse the real motor really rotate is relevant to the programming mode when
JPOS0 point point position control)
No
Pn601 position control P Pn602 unit：10000P
need
position pulse Pn603 unit：1P
…… Other point position parameters mean same
JPOS15 point The two parameters are used combinedly, their algebraic sum is the
No
Pn630 position control P position that JPOS0’s point position need to reach( How many rounds
need
mode pulse the real motor really rotate is relevant to the programming mode when
point position control)
JPOS15 point
No
Pn631 position control P
need Pn630 unit：10000P
mode pulse
Pn631 unit：1P

JPOS0 point
No JPOS0 point position control speed
Pn632 position speed P
need unit：rpm
control
…… other point position control speed
JPOS15 point
No JPOS15 point position control speed
Pn647 position speed P
need Unit：rpm
control

JPOS0 point JPOS0 Point position control’s once filtering time, it makes motor
No
Pn648 position once P start-stop
need
filtering More tender
…… 其他点位的一次滤波 other point position’s once filtering
JPOS15 point No JPOS15 Point position control’s once filtering time, it makes motor
Pn663 P
position once need start-stop
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filtering More tender

JPOS0 point
No JPOS0 point position control’s stop time
Pn664 position stop P
need unit ：50ms
time
…… other point position control stop time
JPOS15 间 point
No JPOS15 point position control stop time
Pn679 position stop P
need unit ：50ms
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 direction search
reference point.
[2] recycle run, NCL start signal, PCL forward direction search
reference point.
[3] once run, NCL start signal, PCL forward direction search
reference point.
Pn681.1 change step and start mode
[0] Change step delay, no need of start signal, start delay after
S-ON.
No
Pn681 Hex P [1] PCON change step, no need of start signal, PCON start delay
need
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
programming No [0]： Increase programming
Pn682 P
mode need [1]： Absolute programming
programming No
Pn683 P Select the start point of point position control
start step need
programming No
Pn684 P Select the stop point of point position control
stop step need
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Search travel No Search the travel switch forward direction reference point’ s motor
Pn685 P
speed need speed.
leave travel No Search the travel switch backward direction reference point’ s motor
Pn686 P
switch speed need speed.
If these two parameters are used combinedly, their algebraic sum is
the present position of teaching, the two parameters’ algebraic sum will
Teaching No
Pn687 P be given to present position at the assistant function teaching
position pulse need
Pn600 unit：10000P
Pn601 unit：1P
Teaching No
Pn688 P
position pulse need
Pn700.0 MODBUS Communication baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
Pn700.1 communication protocols selection
[0] 7，N，2（Modbus,ASCII）
[1] 7，E，1（Modbus,ASCII）
[2] 7，O，1（Modbus,ASCII）
[3] 8，N，2（Modbus,ASCII）
Pn700 Hex Need ALL [4] 8，E，1（Modbus,ASCII）
[5] 8，O，1（Modbus,ASCII）
[6] 8，N，2（Modbus,RTU）
[7] 8，E，1（Modbus,RTU）
[8] 8，O，1（Modbus,RTU）
Pn700.2 communication protocols selection

[0] No protocols SCI communication

[1] MODBUS SC communication
Pn700.3 Reserved
MODBUS axis
Pn701 Need ALL The axis address when MODBUS protocols communication
address

If the selected driver is BUS mode, the pulse input and analog input are invalid. This moment, the
motor is controlled by bus circular data. If controlling motor speed is needed, the control mode
can be set to analog instruction speed control mode. It equals that the bus data is used directly to
indicate speed instruction now instead of using analog to match along with speed. And now, the
other functions are the same with None bus control.
List of Alarm Displays

Alarm
display on Alarm Alarm Name Meaning
digital output
operator
Checksum results of parameters are
A．01 ╳ Parameter breakdown
abnormal.
AD relevant electrical circuit
A．02 ╳ A/D breakdown
breakdown

A．03 ╳ Overspeed Motor is out of control

Continuous running which surpass the

A．04 ╳ Overloaded
rated torque
Position error counter
A．05 ╳ Inside counter overflow
overflow
position error pulse Position error pulse has exceeded the
A．06 ╳
overflow value set in parameter Pn-036
The setting of electrical gear
Electrical gear setting is not reasonable or
A．07 ╳ and setting of given pulse
pulse frequency is too high
frequency are not reasonable
Something wrong with the
Something wrong with inside chip of the
A．08 ╳ first tunnel of electric
first tunnel
current.
Something wrong with the
Something wrong with inside chip of the
A．09 ╳ second tunnel of electric
second tunnel
current.
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.
Voltage supply for the main motor circuit
A．13 ╳ Overvoltage
exceeds rating.
Voltage supply for the main motor circuit
A．14 ╳ Undervoltage
is too low.

A．15 ╳ Bleeder resistor damaged Bleeder resistor damaged

A．16 ╳ Regenerative error Regenerative circuit error

Power lines One phase is not connected in

A．20 ╳
Open phase The main power supply
 instantaneous power off There are more than one power cycle’s
A．21 ╳
alarm power off

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

Encoder C pulse is not

A．32 ╳ C pulse appears in wrong position
correct
No C pulse appear after one round of
A．33 ╳ Encoder has no C pulse
encoder.
Encoder disconnect, encoder signal is
Encoder communication
A．50 ╳ disturbed, encoder or encoder decode
exceed time
electric circuit is damaged
Encoder absolute state is Encoder or encoder decode electric
A．52 ╳
wrong circuit is damaged
Encoder or encoder decode electric
A．53 ╳ Encoder count error
circuit is damaged
。The parity bit, cut off point Encoder signal is disturbed or encoder
A．54 ╳
error. decode electric circuit is damaged
Encoder communication Encoder signal is disturbed or encoder
A．55 ╳
verifying error decode electric circuit is damaged
Encoder status field cut off Encoder signal is disturbed or encoder
A．56 ╳
point error decode electric circuit is damaged
Can not detect No communication module or something
A．60 ╳
communication module wrong with communication module.
Can not managed to connect CPU of communication does not work
A．61 ╳
with communication module well
drive can not receive There are something wrong with The
A．62 ╳ circular data from drive data receiving tunnel or
communication module communication module sending tunnel
The communication module
Something wrong with communication
A．63 ╳ can not receive the drive’s
module.
response data
No connection between
A．64 ╳ communication module and Bus communication is abnormal
bus

A．00 〇 No display of error Display normal motion state.

〇： Output transistor=Open(ON)
╳： Output transistor=Cut off(Alarm state)(OFF)
ASCII 模式：
指令信息： 回应信息：
STX ‘:’ STX ‘:’
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘6’ ‘6’
‘0’ ‘0’
‘2’ ‘2’
起始资料地址 资料地址
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
‘0’ 资料地址 ‘0’
资料内容
‘6’ 0200H的内容 ‘6’
‘4’ ‘4’
‘9’ ‘9’
LRC 校验 LRC 校验
‘3’ ‘3’
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)

RTU 模式：
指令信息： 回应信息：
ADR 01H ADR 01H
CMD 06H CMD 06H
02H(地址高位) 02H(地址高位)
起始资料地址 起始资料地址
00H(地址低位) 00H(地址低位)
00H(数据高位) 00H(数据高位)
资料内容 资料内容
64H(数据高位) 64H(数据低位)
CRC校验低位 89H(校验低位) CRC校验低位 89H(校验低位)
CRC校验高位 99H(校验高位) CRC校验高位 99H(校验高位)

LRC（ASCII 模式）和 CRC（RTU 模式）侦误值的计算：

ASCII 模式的 LRC 计算：
ASCII 模式采用 LRC（Longitudinal Redunancy Check）侦误值。LRC 侦误值是从 ADR 至最
后一笔资料内容之和，得到之结果以 256 为单位，去除超出的部分（例如加总后得到的结果
为十六进制的 128H，则只取 28H），然后计算其补数，最后得到的结果即为 LRC 侦误值。
例如：从局号 01H 伺服驱动器的 0201 地址读取 1 个字（word） 。
STX ‘:’
‘0’
ADR
‘1’
‘0’
CMD
‘3’
‘0’
‘2’
起始资料地址
‘0’
‘1’
‘0’
资料个数 ‘0’
(以word计算) ‘0’
‘1’
‘F’
LRC 校验
‘8’
End 1 (0DH)(CR)
End 0 (0AH)(LF)

从 ADR 的数据加至最后一笔数据：
01H+03H+02H+01H+00H01H=08H
对 08H 取 2 的补数为 F8H，所以 LRC 为‘F’，‘8’。

RTU 模式的 CRC 计算：

RTU 模式采用 CRC（Cyclical Redundancy Check）侦误值。
CRC 侦误值计算步骤如下：
步骤一：载入一个内容为 FFFFH 的 16-bit 寄存器，称之为“CRC”寄存器。
步骤二：将指令讯息的第一个位（bit0）与 16-bit CRC 寄存器的低位位（LSB）进行 XOR
运算，并将结果存回 CRC 寄存器；
步骤三：检查 CRC 寄存器的最低位（LSB），若此位为 0，则 CRC 寄存器值右移一位；若
此位为 1，则 CRC 寄存器值右移一位后，再与 A001H 进行 XOR 运算；
步骤四：回到步骤三，知道步骤三已被执行过 8 次，才进行到步骤五；
步骤五：对指令讯息的下一位重复步骤二到步骤四，知道所有位都被这样处理过，此时 CRC
寄存器的内容即是 CRC 侦误值。
说明：计算出 CRC 侦误值之后，在指令讯息中，须先填上 CRC 的低位，再填上 CRC 的高
位，请参考以下例子。

例如：从局号为 01H 伺服的 0101H 地址读取 2 个字（word）

。从 ADR 至资料数的最后一位
所计算出的 CRC 寄存器的最后内容为 3794H，则其指令讯息如下所示，须注意的是 94H 在
37H 的前面传送。
ADR 01H
CMD 03H
01H(地址高位)
起始资料地址
01H(地址低位)
资料数 00H(高位)
（以word计） 02H(低位)
CRC校验低位 94H(校验低位)
CRC校验高位 37H(校验高位)
End1、End0（通讯侦完成）
ASCII 模式：
『carriage return』及（0AH）即字符为‘\n’
以（0DH）即字符‘\r’ 『new line』
，代表通讯结
束。
RTU 模式：
超过当前通讯速率下的 4 个字节通讯时间的静止时段表示通讯结束。

范例：
下面以 C 语言产生 CRC 值。此函数需要两个参数：
unsigned char * data;
unsigned char length;
此函数将回传 unsigned integer 型态的 CRC 值。
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;
}