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5-5-3 Improving Resonance The Servo drive provides the function of Gain Switching and Position Loop Feed-Forward Gain to improve system response. Note: Both of these features must be used correctly to improve system response, otherwise the response will become worse. Refer to the description below: Gain Switch Following Gain Switching features are provided:- a) Speed Loop Gain PI/P Switching b) 2-stage Gain Switching. Purposes list: (1) To restrict overshoot during acceleration/deceleration in speed control. (2) Reducing the in position oscillations and providing shorter settling time in position control. (3) Decrease the noise caused when using Servo Lock. For further details refer to section 5-3-11. Position Loop Feed-Forward Gain Position Loop Feed-Forward Gain can be used to reduce the error result from position control and improve the response speed. Position loop Feed forward gain and position loop gain should be matched with. If adjusting to higher position loop gain, the feed fordward gain can be ignored. Oppositly, if the loop gain value is setting for a relatively low level, adjust position loop feed forward gain will improve system response time obviously. The adjustment steps are as follows: Step 1: Refer to the procedures in sections 5-5-1~5-5-2 to adjust Speed and Position Gain. Step 2: Increase Pn312(Position Feed-Forward Gain) slowly, and observe the INP ( Output Signal of In Position) at the same time and INP output should be activated faster. Note: The Position Loop Feed-Forward Gain can not be set too high, otherwise it will cause speed overshooting and INP (In Position output signal) will be switching On/Off repeatedly. 5-61
5-6 Other Functions 5-6-1 Programmable I/O Functions Digital Inputs. There are 13 DI (Digital Inputs) contacts and 4 DO (Digital Outputs) contacts which are programmable as listed below:- Parameter Name Setting Description ★Hn501.0 ★Hn501.1 DI-1 Digital Input 1 programmable Functions Signal 01 SON Servo On 02 ALRS Alarm Reset 03 PCNT PI/P Switching 04 CCWL CCW Limit Contactor Function 05 CWL CW Limit 06 TLMT External Torque Limit 07 CLR Clear Pulse Error Value 08 LOK Servo Lock 09 EMC Emergency Stop 0A SPD1 Speed 1 0B SPD2 Speed 2 0C MDC Control Mode Switch 0D INH Position Command Inhibit 0E SPDINV Speed Inverse 0F G-SEL Gain Select 10 GN1 Electronic Gear Ratio Numerator 1 11 GN2 Electronic Gear Ratio Numerator 2 12 PTRG Position Trigger 13 PHOLD Position Hold 14 SHOME Start Home 15 ORG Home Position Reference (Origin) 16 POS1 Internal Position select 1 17 POS2 Internal Position select 2 18 POS3 Internal Position select 3 19 POS4 Internal Position select 4 1A TRQINV Torque Inverse 1B RS1 Torque CW Selecting 1C RS2 Torque CCW Selecting New setting will become effective after re-cycling the power. Control Mode ALL Parameter Signal ★Hn501.2 Name Setting Description DI-1 Logic State NO/NC Selection New setting will become effective after re-cycling the power. 0 1 Input contact state. NO (Normally Open). Connecting (IG24) to inputs, enables the selected function. Input contact state. NC (Normally Closed). Disconnecting (IG24) from inputs, enables the selected function. Control Mode ALL Digital Inputs 2 to 13 (Hn 502 to Hn 513). Are programmable and the logic state NO/NC can also be selected same as that shown for digital input 1. See Hn501. 5-62
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
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(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
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4-1 Trial Operation Servo motor wit
Page 63 and 64:
Steps for setting JOG function: Ste
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B. Trial run in Speed control mode(
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C. Position control mode trial run
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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 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 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
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Appendix A: Peripheral for Servo mo
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