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Parameter Name & Function Default Unit Internal Position Command Mode Setting Explanation ★Pn316 0 Absolute Position 1 Incremental Position Internal Position Command Hold (PHOLD) program select Setting Explanation ★Pn316.1 When PHOLD is active then received PTRG 0 signal. servomotor will be proceed internal posistion <strong>com</strong>mand from PHOLD position. When PHOLD is active then received PTRG 1 signal. Servomotor will operate interal position <strong>com</strong>mand of current selection. Internal Position Command 1 – Rotation Number Set the Rotation number of the internal Position Pn317 Command 1 Use input contacts POS1~POS4 to select Refer to 5-4-2. Internal Position Command 1 - Pulse Number Set the rotation pulse number of internal position Pn318 Command 1 Internal Position Command 1 =Pn317(Rotation Number) x Pulse number of One Rotate x 4 + Pn318(Pulse number) Internal Position Command 1 - Move Speed Pn319 Setting the Move Speed of internal Position Command 1 Internal Position Command 2-Rotation Number Pn320 Please refer to Pn317 Pn321 Pn322 Pn323 Pn324 Pn325 Pn326 Pn327 Pn328 Internal Position Command 2-Pulse Number Please refer to Pn318 Internal Position Command 2-Move Speed Please refer to Pn319 Internal Position Command 3-Rotation Number Please refer to Pn317 Internal Position Command 3-Pulse Number Please refer to Pn318 Internal Position Command 3-Move Speed Please refer to Pn319 Internal Position Command 4 -Rotation Number Please refer to Pn317 Internal Position Command 4-Pulse Number Please refer to Pn318 Internal Position Command 4-Move Speed Please refer to Pn319 0 X 0 X 0 rev 0 pulse 0 rpm 0 rev 0 pulse 0 rpm 0 rev 0 pulse 0 rpm 0 rev 0 pulse 0 rpm Setting Range 0 │ 1 0 │ 1 -30000 │ 30000 -32767 │ 32767 0 │ 3000 -30000 │ 30000 -32767 │ 32767 0 │ 3000 -30000 │ 30000 -32767 │ 32767 0 │ 3000 -30000 │ 30000 -32767 │ 32767 0 │ 3000 Control Mode Chapter Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 6-19
Parameter Name & Function Default Unit Pn329 Pn330 Pn331 Pn332 Pn333 Pn334 Pn335 Pn336 Pn337 Pn338 Pn339 Pn340 Pn341 Pn342 Pn343 Pn344 Pn345 Internal Position Command 5 -Rotation Number Please refer to Pn317 Internal Position Command 5-Pulse Number Please refer to Pn318 Internal Position Command 5-Move Speed Please refer to Pn319 Internal Position Command 6 -Rotation Number Please refer to Pn317 Internal Position Command 6-Pulse Number Please refer to Pn318 Internal Position Command 6-Move Speed Please refer to Pn319 Internal Position Command 7 -Rotation Number Please refer to Pn317 Internal Position Command 7-Pulse Number Please refer to Pn318 Internal Position Command 7-Move Speed Please refer to Pn319 Internal Position Command 8 -Rotation Number Please refer to Pn317 Internal Position Command 8-Pulse Number Please refer to Pn318 Internal Position Command 8-Move Speed Please refer to Pn319 Internal Position Command 9 -Rotation Number Please refer to Pn317 Internal Position Command 9-Pulse Number Please refer to Pn318 Internal Position Command 9-Move Speed Please refer to Pn319 Internal Position Command 10 -Rotation Number Please refer to Pn317 Internal Position Command 10-Pulse Number Please refer to Pn318 0 rev 0 pulse 0 rpm 0 rev 0 pulse 0 rpm 0 rev 0 pulse 0 rpm 0 rev 0 pulse 0 rpm 0 rev 0 pulse 0 rpm 0 rev 0 pulse Settin g Range -30000 │ 30000 -32767 │ 32767 0 │ 3000 -30000 │ 30000 -32767 │ 32767 0 │ 3000 -30000 │ 30000 -32767 │ 32767 0 │ 3000 -30000 │ 30000 -32767 │ 32767 0 │ 3000 -30000 │ 30000 -32767 │ 32767 0 │ 3000 -30000 │ 30000 -32767 │ 32767 Control Mode Chapter Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 Pi 5-4-2 6-20
Page 2 and 3:
■Warning and Alert: Warning • D
Page 4 and 5:
Contents Chapter 1 Checking and Ins
Page 6 and 7:
5-6-7 Selecting the External Regene
Page 8 and 9:
1-1-2 Confirming with Servo Motors
Page 10 and 11:
1-3 A Brief Introduction of Operati
Page 12 and 13:
1-4-2 Direction and Distance Fan Fa
Page 14:
1-5-3 Notice for install motor 1. P
Page 17 and 18:
2-1-2 Wiring for Servo Drives • T
Page 19 and 20:
2-1-4 Motor Terminal Layout A Table
Page 21 and 22:
2-1-5 Typical Wiring for Motor and
Page 23 and 24:
2-1-7 Wiring for Mechanical Brake R
Page 25 and 26:
2-2-1 Output Signals from the Servo
Page 27 and 28:
Explanation of General I/O Signal F
Page 29 and 30:
(b) Digital I/O Signal: For many ki
Page 31 and 32:
Digital Input Function Explanation
Page 33 and 34:
Digital Output Function Explanation
Page 35 and 36:
(c) Pulse Command Input Interface C
Page 37 and 38:
(f) Analog Output Interface Circuit
Page 39 and 40:
(2) Name and Explanation of I/O Sig
Page 41 and 42:
2-3-2 Position Control Mode (Pe Mod
Page 43 and 44:
2-3-4 Speed Control Mode (S Mode) R
Page 46 and 47:
Chapter 3 Panel Operator / Digital
Page 48 and 49:
Once the first parameter in a param
Page 50 and 51:
Step Control Keys LED Display after
Page 52 and 53:
3-2-2 Diagnostic function Following
Page 54 and 55:
dn-03 (Input terminals status) Use
Page 56 and 57:
dn-07 (Auto offset adjustment of ex
Page 58:
dn-08 Display Motor Standards Cn030
Page 61 and 62:
4-1 Trial Operation Servo motor wit
Page 63 and 64:
Steps for setting JOG function: Ste
Page 65 and 66:
B. Trial run in Speed control mode(
Page 67 and 68:
C. Position control mode trial run
Page 70 and 71:
Chapter 5 Control Functions 5-1 Con
Page 72 and 73:
5-2-1 Analog Torque command Ratio.
Page 74 and 75:
5-2-3 Torque command linear acceler
Page 76 and 77:
5-2-5 Internal Torque Limit In torq
Page 78 and 79:
5-3 Speed Mode Speed Mode is necess
Page 80 and 81:
5-3-2 Analog speed command Ratio An
Page 82 and 83:
Parameter Name Default Unit Setting
Page 84 and 85:
Setting example: (1) To achieve 95%
Page 86 and 87:
5-3-7 Setting rotation direction Mo
Page 88 and 89:
5-3-9 Notch Filter The function of
Page 90 and 91:
5-3-10 Torque limit of speed contro
Page 92 and 93:
(1) PI to P mode switch over by com
Page 94 and 95:
(B) Automatic gain 1& 2 switching S
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(3) Automatic gain 1&2 switch condi
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5-3-12 Other Functions When the spe
Page 100 and 101:
Speed Feed Back Smooth Filter When
Page 102 and 103:
Two types of pulse command can be c
Page 104 and 105:
For internal positioning mode there
Page 106 and 107:
5-4-3 Electronic Gear Electronic ge
Page 108 and 109:
4.Parameter Setting for Electronic
Page 110 and 111:
5-4-4 Smooth Acceleration Using the
Page 112 and 113: 5-4-7 Clear the Pulse Offset In pos
Page 114 and 115: Parameter Name Setting Description
Page 116 and 117: Home routine Timing Chart During th
Page 118 and 119: (2) Pn365.0=1or 3. After starting t
Page 120 and 121: (5) Pn365.0=2. After Starting HOME
Page 122 and 123: 5-4-9 Other Position Function In po
Page 124 and 125: Speed Loop Gain Speed Loop Gain has
Page 126 and 127: 5-5-1 Automatic Adjusting This devi
Page 128 and 129: Process for Auto tuning The Diagram
Page 130 and 131: 5-5-3 Improving Resonance The Servo
Page 132 and 133: Parameter Name Description ★Hn502
Page 134 and 135: 5-6-2 Switch for the Control Mode S
Page 136 and 137: Timing for Brake output signal Set
Page 138 and 139: 5-6-7 Selecting for External Regene
Page 140 and 141: Assess for an external resistor and
Page 142 and 143: In such applications, calculate ER
Page 144 and 145: Chapter 6 Parameter 6-1 Explanation
Page 146 and 147: Parameter Name & Function Default U
Page 158 and 159: Parameter Sn213 Sn214 Sn215 Speed l
Page 166 and 167: Parameter Name & Functions Default
Page 168 and 169: Quick Set-up Parameters Parameter N
Page 170 and 171: Parameter Signal ★Hn502 ★Hn503
Page 172 and 173: Parameter Signal Name & Function De
Page 174: Diagnosis Parameter Parameter Name
Page 178 and 179: (2) Read consecutive 2 words from d
Page 180 and 181: 7-1-3 Modbus communication protocol
Page 182 and 183: ASCII Mode Framing Symbol Name Desc
Page 184 and 185: 06H:Write Single Register Write a w
Page 186 and 187: 10H:Write Multipile Registers Conti
Page 188 and 189: CRC Checking: CRC check code is fro
Page 190 and 191: Low-Order Byte Table /* Table of CR
Page 192 and 193: RS485 RS232 0024 51BH Cn036 Servo I
Page 194 and 195: Address RS485 RS232 Parameter Name
Page 196 and 197: Display parameters Address RS485 RS
Page 198 and 199: Example: Following table are proced
Page 200 and 201: Alarm Code Alarm Name and Descripti
Page 202 and 203: Alarm Reset Methods 1. carry out th
Page 204 and 205: Position Control Mode Command Sourc
Page 206 and 207: ※ Dimension for TSTA-15 and TSTA-
Page 208 and 209: ※ Dimension for TSTA-50 and TSTA-
Page 210 and 211: TSB 07/08 SERIES SPECIFICATION 1(kg
Page 212 and 213:
TSB 13 SERIES SPECIFICATION 1(kgf.c
Page 216 and 217:
Appendix A: Peripheral for Servo mo
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