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Parameter Name & Function Default Unit Pn305 ★Pn306 Pn307 Pn308 Pn309 Pn310 Pn311 Pn312 Electronic Gear Ratio Numerator 4 Use input contacts GN1 & GN2 to select one of four electronic Gear Ratio Numerators. To select Numerator 4, the statue of the input-contacts GN1 & GN2 should be as follows: Input Contact GN2 Input Contact GN1 1 1 Note: Input contacts status “1” (ON) and “0” (OFF). Refer to 5-6-1 to set high or low input logic levels. Electronic Gear Ratio Denominator Set the calculated Electronic Gear Ratio Denominator in Pn 306. ( Refer to section 5-4-3). Final Electronic Gear Ratio should comply with the formula below. 1 ≤ Electronic GearRatio ≤ 200 200 Position complete value Set a value for In position output signal. When the Position pulse error value is less then Pn307 output-contact INP (In position output signal) will be activated. “Incorrect position” Error band Upper limit. When the Position error value is higher then number of pulses set in Pn308, an Alarm message AL-11(Position error value alarm) will be displayed. Incorrect position” Error band lower limit. When the Position error value is lower then number of pulses set in Pn309, an Alarm message AL-11(Position error value alarm) will be displayed. Position Loop Gain 1 Without causing vibration or noise on the mechanical system the position loop gain value can be increased to speed up response and shorten the positioning time. Generally, the position loop bandwidth should not be higher then speed loop bandwidth. The relationship is according to the formula below: SpeedLoopGain PositionLo opGain ≤ 2π × 5 Position Loop Gain 2 Refer to Pn310 Position Loop Feed Forward Gain It can be used to reduce the track error of position control and speed up the response. If the feed forward gain is too large, it might cause speed Overshoot and in position oscillations which result in the repeated ON/OFF operation of the output contact INP(“In Position”output signal). 1 X 1 X 10 pulse 50000 pulse 50000 pulse 40 1/s 40 1/s 0 % Setting Range 1 │ 50000 1 │ 50000 0 │ 50000 0 │ 50000 0 │ 50000 1 │ 450 1 │ 450 0 │ 100 Control Mode Pi Pe Pi Pe Pi Pe Pi Pe Pi Pe Pi Pe Pi Pe Pi Pe Chapter 5-4-3 5-4-3 5-4-9 5-4-9 5-4-9 5-4-6 5-5 5-4-6 5-5 5-4-6 5-5 6-17
Parameter Name & Function Default Unit Position command smooth Acceleration/Deceleration Time Constant Set the time period for the Position command pulse frequency to rise from 0 to 63.2%. Setting Range Control Mode Chapter Position Pulse Command Frequency (%) ★Pn313 100 63.2 Position Pulse Command Frequency 10 msec 0 │ 10000 Pi Pe 5-4-4 50 Pn313 Time (ms) Positioning Command Direction Definition CCW CW ★Pn314 Pn315 Setting Explanation 0 (CW) .Clockwise 1 (CCW). Counter Clockwise Pulse Error Clear Modes. Setting Explanation Once CLR signal is activated, it eliminates, 0 the Pulse error amount. Once CLR signal is activated, following takes place: The position command is cancelled. 1 Motor rotation is interrupted Pulse error amount is cleared. Machine home reference is reset Once CLR signal is activated, following takes place:- 2 The position command is cancelled.. Motor rotation is interrupted Pulse error amount is cleared. 1 X 0 X 0 │ 1 0 │ 2 Pi Pe Pe Pi Pe Pi 5-4-5 5-4-7 6-18
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■Warning and Alert: Warning • D
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Contents Chapter 1 Checking and Ins
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5-6-7 Selecting the External Regene
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1-1-2 Confirming with Servo Motors
Page 10 and 11:
1-3 A Brief Introduction of Operati
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1-4-2 Direction and Distance Fan Fa
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1-5-3 Notice for install motor 1. P
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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
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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
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
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-
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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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