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Quick Set-up Parameters Parameter Name & Function Default Unit ◆qn401 ◆qn402 ◆qn403 ◆qn404 ◆qn405 ◆qn406 ◆qn407 Speed Loop Gain 1. ( Same function as Sn211) Speed loop gain has a direct effect on the frequency response bandwidth of the Speed-control loop. Without causing vibration or noise Speed-loop-gain can be increased to obtain a faster speed response. If Cn025 (load Inertia ratio) is correctly set, the speed-loop-bandwidth will equal to speed-loop-gain. Speed-loop Integral time 1. (Same function as Sn212) Speed loop integral element can eliminate the steady speed error and react to even slight speed variations. Decreasing Integral time can improve system rigidity. The formula below shows the relationship between Integral time and Speed loop Gain. 1 SpeedLoopIntegrationTimeCons tant ≥ 5× 2π × SpeedLoopGain Speed Loop Gain 2. (Same function as Sn213) Refer to qn401 Speed Loop Integration Time Constant 2. (Same function as Sn214) Refer to qn402 Position Loop Gain 1. (Same function as Pn310) 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 (Same function as Pn311) Please refer to qn405 Position Loop Feed Forward Gain It can be used to reduce the follow up 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). 40 Hz 100 x0.2 ms 40 Hz 100 x0.2 ms 40 1/s 40 1/s 0 % Setting Range 10 │ 450 1 │ 500 10 │ 450 1 │ 500 1 │ 450 1 │ 450 0 │ 100 Control Mode Pi Pe S Pi Pe S Pi Pe S Pi Pe S Pi Pe Pi Pe Pi Pe Chapter 5-3-8 5-5 5-3-8 5-5 5-3-8 5-5 5-3-8 5-5 5-4-6 5-5 5-4-6 5-5 5-4-6 5-5 6-25
Multi-Function Input Parameters All digital inputs D1 to D13 are programmable and can be set to one of the funhctions listed below. Hn 501 which includes Hn 501.0 ,Hn501.1, Hn501.2 is used for digital input 1 ( D1-1). Hn502 to Hn513 are used for setting digital inputs 2 to 13.( D1-2 to D1-13). Parameter Name & Function Default Unit ★Hn501.0 ★Hn501.1 ★Hn501.2 DI-1 Seting Explanation Signal Functions 01 SON Servo On 02 ALRS Alarm Reset 03 PCNT PI/P Switching 04 CCWL CCW Limit 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 DI-1 Logic State. NO/NC Selection Setting Explanatoin Input contact state. NO (Normally Open). 0 Connecting (IG24) to inputs, enables the selected function. 1 Input contact state. NC (Normally Closed). Disconnecting (IG24) from inputs, enables the selected function. ★New setting will be<strong>com</strong>e effective after re-cycling the power. 01 X 0 X Setting Range 01 │ 26 0 │ 1 Control Mode Chapter ALL 5-6-1 Warning! If any of programmable Inputs of DI-1 ~ DI-13 are set for the same type of function then the logic state selection ( NO or NC selection) for these inputs must be the same type. Otherwise an Alarm will be displayed. AL-07 (Abnormal DI/DO programming). 6-26
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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
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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
Page 48 and 49:
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
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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
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 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
Page 216 and 217: Appendix A: Peripheral for Servo mo
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