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Chapter 6 Parameter 6-1 Explanation of Parameter groups. There are 9 groups of parameters as listed below. Symbol Un-xx dn-xx AL-xx Cn-xx Tn1xx Sn2xx Pn3xx qn4xx Hn5xx Description Status Display Parameters. Diagnostics Parameters. Alarm Parameters System Parameters Torque Control Parameters Speed Control Parameters Position Control Parameters Quick Set-up Parameters Multi-function I/O parameters Control Mode Code Signal Control Mode ALL All Control Mode Pi Position Control Mode(Internal Positional Command ) Pe Position Control Mode(External Pulse Command) S Speed Control Mode T Torque Control Mode Definition of Symbols. Symbol ★ ◆ Explanation Parameter be<strong>com</strong>es effective after recycling the power. Parameter is Effective without pressing the Enter key. 6-1
6-2 Parameter Display Table System Parameters Parameter Name & Function Default Unit ★Cn001 Control Mode selection Setting Explanation 0 Torque Control 1 Speed Control 2 Position Control (external pulse Command) 3 Position/Speed Control Switching 4 Speed/Torque Control Switching 5 Position/Torque Control Switching Position Control (internal position 6 Command) SON (Servo On) Input contact function ★Cn002.0 Setting Explanation 0 Input Contact, Enables SON (Servo On). Input Contact has no function. 1 (SON is enabled when Power on). CCWL & CWL Input contact function. Setting Explanation Cn002.1 CCWL and CWL input contacts are able to 0 control the drive inhibit of CCW and CW. CCWL & CWL input contacts are not able to 1 control CCW and CW drive inhibit. CCW and CW drive inhibit is disable. Auto Tuning Cn002.2 Setting Explanation 0 Continuously Auto Tuning is Disable 1 Continuously Auto Tuning is Enabled. EMC reset mode selection Setting Explanation Reset EMC signal is only available in Servo Off condition (SON contact is open) and 0 reset AL-09 by ALRS signal. P.S.) It is NOT allow to reset when SON is ★Cn002.3 applied. When EMC status is released, AL-09 can be reset on both Servo ON and Servo OFF conditions. 1 Attention! Ensure that the speed <strong>com</strong>mand are removed before the alarm is reset to avoid motor unexpected start. 2 X 0 X 0 X 0 X 0 X Setting Range 0 │ 6 0 │ 1 0 │ 1 0 │ 1 0 │ 1 Control Mode ALL Chapter 5-1 5-6-2 ALL 5-6-3 Pi Pe S ALL 5-5-1 6-2
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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
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2-1-4 Motor Terminal Layout A Table
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2-1-5 Typical Wiring for Motor and
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2-1-7 Wiring for Mechanical Brake R
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2-2-1 Output Signals from the Servo
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Explanation of General I/O Signal F
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(b) Digital I/O Signal: For many ki
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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
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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
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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
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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
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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
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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
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 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 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
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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
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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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