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For internal positioning mode there are two types of moves incremental move or absolute move, selectable byparameter Pn316 as below. Parameter Signal ★Pn316 Name Setting Description Internal position 0 Absolute mode command mode selection 1 Incremental mode Control Mode New setting will become effective after re-cycling the power. Example below shows the difference between absolute and incremental moves. For two pulse commands of 10 pulse position pulse command and followed with another 20 pulse, the traveled positions will be different. Pi PTRG. (Position Trigger). Once any preset position is selected by input contacts POS1~POS4 then require a trigger signal (PTRG) from the input contact , enable PTRG to start operation. Diagram below shows an example for 4 different absolute encoders. Note: Input contacts status “1” (ON) and “0” (OFF) Please check section 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection. 5-35
PHOLD. (Position Hold) The Position command can be inhibited (Held) at any time by input contact signal PHOLD. Once PHOLD is initiated the motor will decelerate and stop. As soon as the input contact PTRG is triggered again the original position command will be Completed. Diagram below shows PHOLD function with incremental encoder. CLR ( Clear position command). If the CLR input is activated when a position command is in process then the motor will stop immediately and the remaining positioning pulses will be cleared. Parameter Pn315 must be set to 1or 2 as required ( refer to section 5-4-7). Once the PTRG input contact is activated again then a new position command will be started according to the selection of input contacts POS1~POS4. Note: Input contacts status “1” (ON) and “0” (OFF) Please check section 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection. 5-36
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■Warning and Alert: Warning • D
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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
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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
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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
Page 41 and 42:
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
Page 50 and 51:
Step Control Keys LED Display after
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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
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 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
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Parameter Name & Function Default U
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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
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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
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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
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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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