User Manual - CNC4PC

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2-1-3 Specifications of Wiring Connection Terminal Servo Drives and Wire Specifications Connection Terminal Mark (Sign) Name of Connect Terminal TSTA-15 TSTA-20 TSTA-30 TSTA-50 TSTA-75 R, S, T Main Power Terminal 2.0mm ² A.W.G.14 2.0mm ² A.W.G.14 2.0mm ² A.W.G.14 2.0mm ² A.W.G.14 3.5mm ² A.W.G.12 TB Terminal U, V, W Motor Terminal r, s Power-Control Terminal 2.0mm ² A.W.G.14 1.25mm² A.W.G.16 2.0mm ² A.W.G.14 1.25mm² A.W.G.16 2.0mm ² A.W.G.14 1.25mm² A.W.G.16 2.0mm ² A.W.G.14 1.25mm² A.W.G.16 3.5mm ² A.W.G.12 1.25mm² A.W.G.16 1 FG Ground 2.0mm ² A.W.G.14 2.0mm ² A.W.G.14 2.0mm ² A.W.G.14 2.0mm ² A.W.G.14 3.5mm ² A.W.G.12 Connect Terminal Connect Point No. 26,27,28 30,31 33,34 Connect Point Name TSTA-15 TSTA-20 TSTA-30 TSTA-50 TSTA-75 Speed / Torque Command Input Analog Monitor Output 1 & 2 Power Output +15V & -15V 0.2mm ² or 0.3mm ² -> Twisted-pair-cable connecting to the Analog Grounding wire (including shield cable) CN1 Joint Control Signal CN2 Joint of motor encoder 29,32,44 Analog Ground Terminal 1~13 General Analog Input 18~25,43 General Analog Output 45,46, 48,49 24V Power & I/O Ground 14~17 Position Command Input 35~40 Encoder Signal Output 1,2 Output 5V 3,4 Output Grounding wire of power supply 5~18 Encoder Signal Input 0.2mm ² or 0.3mm ² -> Twisted-pair-cable connecting to the I/O Grounding wire (including shield cable) 0.2mm ² or 0.3mm ² -> Twisted-pair-cable (including shield cable) 0.2mm ² or 0.3mm ² -> Twisted-pair-cable (including shield cable) RS232 Joint of Communic ation 2,3 Data transfer & receive 5 Communication grounding wire 0.2mm ² or 0.3mm ² -> Twisted-pair-cable (including shield cable) 1,4,6,8 Floating — P.S.: 1. Please pay attention to the NFB and the capacity of noise filter when using multi ServoDrives. 2. CN1 ->50 Pins (3M Co.) 3. CN2 -> 20 Pins (3M Co.) 4. RS232 -> 9 Pins D-type Joint. 2-3
2-1-4 Motor Terminal Layout A Table of Motor-Terminal Wiring (1) General Joint: Terminal Symbol Color Signal 1 Red U 2 White V 3 Black W 4 Green FG Brake control wire Fine red DC +24V Fine yellow 0V (2)Military Specifications Joint (No Brake): Terminal Color Signal A Red U D A B White V C Black W C B D Green FG (3)Military Specifications Joint (Brake): Terminal Color Signal B Red U F A G White V E Black W E G B C Green FG A Fine red DC +24V BK control wire F Fine yellow 0V D C 2-4
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: 2-1-2 Wiring for Servo Drives • T
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.
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5-2-3 Torque command linear acceler
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5-2-5 Internal Torque Limit In torq
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5-3 Speed Mode Speed Mode is necess
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5-3-2 Analog speed command Ratio An
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Parameter Name Default Unit Setting
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Setting example: (1) To achieve 95%
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5-3-7 Setting rotation direction Mo
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5-3-9 Notch Filter The function of
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5-3-10 Torque limit of speed contro
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(1) PI to P mode switch over by com
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(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
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Speed Feed Back Smooth Filter When
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Two types of pulse command can be c
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For internal positioning mode there
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5-4-3 Electronic Gear Electronic ge
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4.Parameter Setting for Electronic
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5-4-4 Smooth Acceleration Using the
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5-4-7 Clear the Pulse Offset In pos
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Parameter Name Setting Description
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Home routine Timing Chart During th
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(2) Pn365.0=1or 3. After starting t
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(5) Pn365.0=2. After Starting HOME
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5-4-9 Other Position Function In po
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Speed Loop Gain Speed Loop Gain has
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5-5-1 Automatic Adjusting This devi
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Process for Auto tuning The Diagram
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5-5-3 Improving Resonance The Servo
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Parameter Name Description ★Hn502
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5-6-2 Switch for the Control Mode S
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Timing for Brake output signal Set
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5-6-7 Selecting for External Regene
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Assess for an external resistor and
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In such applications, calculate ER
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Chapter 6 Parameter 6-1 Explanation
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Parameter Name & Function Default U
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Page 150 and 151:
Page 152 and 153:
Page 154 and 155:
Page 156 and 157:
Page 158 and 159:
Parameter Sn213 Sn214 Sn215 Speed l
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Page 162 and 163:
Page 164 and 165:
Page 166 and 167:
Parameter Name & Functions Default
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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
Page 180 and 181:
7-1-3 Modbus communication protocol
Page 182 and 183:
ASCII Mode Framing Symbol Name Desc
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06H:Write Single Register Write a w
Page 186 and 187:
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
Page 192 and 193:
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
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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
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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