User Manual - CNC4PC

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Parameter Name Setting Description Pn365.1 Pn365.2 Pn365.3 Once Reference Home switch or Signal, is found set search method for the Home position. Setting of Home Routine Start method Stopping mode after finding Home signal. Once the Home Reference switch or signal is detected, motor reverses direction in 2 nd speed to find the nearest Z 0 Phase pulse and sets this as the Home position, then stops in accordance with Pn365.3 setting method. Once the Home Reference switch or signal is detected, motor Continues in its direction in 2 nd speed to find the 1 nearest Z Phase pulse and sets this as the Home position, then stops in accordance with Pn365.3 setting method. When Pn365.0=2 or 3, it finds the rising edge of ORG to be the Home position, then stops in accordance with Pn365.3; 2 When Pn365.0=4 or 5, it finds Z Phase pulse to be the Home, then stops in accordance with Pn365.3. 0 Homing routine is Disabled. On power up and activation of Servo on the home routine is started automatically. 1 This method is useful for applications that do not require repeated home routines. No external home reference switch is required. Use SHOME input contact to start a home routine. 2 In position mode, SHOME can be used to start a home routine at any moment. After detecting the Home signal, it sets this position to be the Home reference (Un-14 encoder feed back rotating number and Un-15 encoder feed back pulse number are all 0), motor 0 decelerates and stops. Then it reverses direction in 2 nd speed to detect the Home Position again then it decelerates and stops.. After detecting the Home signal, it sets this position to be the Home reference (Un-14 encoder feed back rotating number and 1 Un-15 encoder feed back pulse number are all 0), motor decelerates and stops. Control Mode Pi/Pe Pi/Pe Pi/Pe Home Mode selection table Pn365.0 / Pn 365.1 selections can be made for each application as required according to the table below:- Pn365.0 Pn365.1 0 1 2 3 4 5 0 1 2 HOME routine available HOME routine not available. 5-45
Additional Home routine parameters Home search speed parameters 1st (Fast) and 2 nd (Slow) speeds are set according to table below: Parameter Signal Name Default Unit Setting Range Control Mode Pn366 1 st preset high speed of HOME 100 rpm 0~2000 Pi/Pe Pn367 2 nd preset low speed of HOME 50 rpm 0~500 Pi/Pe Parameters Pn368 and Pn 369 provide Home position offset feature for applications where the machine mechanical home position is a different position to the detected home position. This offset can be achieved by setting the two parameters below. Once the detected home position is found in accordance with Pn365 (Home routine mode), then it will search by number of revolutions and pulses set in Pn368 and Pn 369 to find the new off set Home position. Parameter Signal Pn368 Pn369 Name Default Unit Setting Range HOME Position Offset. (No of Revolutions) HOME position Bias Pulse value (No of pulses) Control Mode 0 rev -30000~30000 Pi/Pe 0 pulse -32767~32767 Pi/Pe 5-46
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■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
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(c) Pulse Command Input Interface C
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(f) Analog Output Interface Circuit
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(2) Name and Explanation of I/O Sig
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2-3-2 Position Control Mode (Pe Mod
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2-3-4 Speed Control Mode (S Mode) R
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Chapter 3 Panel Operator / Digital
Page 48 and 49:
Once the first parameter in a param
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Step Control Keys LED Display after
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3-2-2 Diagnostic function Following
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dn-03 (Input terminals status) Use
Page 56 and 57:
dn-07 (Auto offset adjustment of ex
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dn-08 Display Motor Standards Cn030
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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
Page 96 and 97: (3) Automatic gain 1&2 switch condi
Page 98 and 99: 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 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 164 and 165:
Parameter Name & Function Default U
Page 166 and 167:
Parameter Name & Functions Default
Page 168 and 169:
Quick Set-up Parameters Parameter N
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Parameter Signal ★Hn502 ★Hn503
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Parameter Signal Name & Function De
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Diagnosis Parameter Parameter Name
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(2) Read consecutive 2 words from d
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7-1-3 Modbus communication protocol
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ASCII Mode Framing Symbol Name Desc
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06H:Write Single Register Write a w
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10H:Write Multipile Registers Conti
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CRC Checking: CRC check code is fro
Page 190 and 191:
Low-Order Byte Table /* Table of CR
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RS485 RS232 0024 51BH Cn036 Servo I
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Address RS485 RS232 Parameter Name
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Display parameters Address RS485 RS
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Example: Following table are proced
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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
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※ Dimension for TSTA-15 and TSTA-
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※ Dimension for TSTA-50 and TSTA-
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TSB 07/08 SERIES SPECIFICATION 1(kg
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TSB 13 SERIES SPECIFICATION 1(kgf.c
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Appendix A: Peripheral for Servo mo
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