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(2) CN1 Signal Name and Explanation: (a) General I/O Signal: Explanation of General I/O Signal Function Signal Position Pulse Command Input Position Symbol Command Input Open Collector Position Command Power Input. Speed / Torque Analog Command Input Torque Control Speed Limit Command / CCW Torque Command Limit CW Torque Command Limit Analog Monitor Output 1 Analog Monitor Output 2 Function Symbol Pin No. Pulse 14 /Pulse 15 Sign 16 /Sign 17 Wired Mode IO3 OPC 41 IO3 SIN 26 PIC 27 NIC 28 IO5 Signal Function Symbol Pin No. Encoder Output A-Phase PA 35 Encoder Output / A Phase /PA 36 Encoder Output B-Phase PB 37 Encoder Output /B-Phase /PB 38 Encoder Output Z-Phase PZ 39 /Z-Phase /PZ 40 Analog Signal Ground Terminal +15Vdc Output Terminal -15Vdc Output Terminal DigitaI input Com Terminal AG 29,32,44 +15V 33 -15V 34 DICOM 47 MON1 30 +24Vdc Output IP24 45 MON2 31 IO6 +24Vdc Com Terminal IG24 46,48,49 Home Signal Output ZO 43 IO2 Shielded Wire Connect Point FG 50 Wired Mode IO4 2-11
Explanation of General I/O Signal Function Signal Name Position Pulse Command Input Position Sign Command Input Open Collect Position Command PW Input Speed Analog command Input Torque Analog Command Input Torque Control Speed Limit Command CCW Torque Limit Command CW Torque Limit Command Analog Monitor Output 1 Analog Monitor Output 2 Encoder Output A Phase Encoder Output / A Phase Encoder Output B Phase Encoder Output / B Phase Encoder Output Z Phase Encoder Output / Z Phase Home Signal Output Analog Signal Ground Terminal +15V PW Output Terminal -15V PW Output Terminal DI PW Conmen Terminal Function Symbol Pulse /Pulse Sign /Sign OPC SIN PIC NIC MON1 MON2 PA /PA PB /PB PZ /PZ Mode I/O Operation and Function Chapter Pe Pe S T T S S ALL ALL ALL The Driver can receive 3 kinds of Command below: . (Pulse)+ (Sign) . (CCW)/ (CW)Pulse .AB Phase pulse When open collect input in position command, OPC and IP24 can be close, and using internal 24V power and resistor. In Speed Mode, when external speed command is operated at SPD1=0, SPD2=0, input the voltage range: -10V~+10V, Sn216 can be set input voltage: ±10V’s Motor output speed. 2-12 5-4-1 ― 5-3-1 5-3-2 5-3-3 5-3-4 5-2-1 5-2-2 In Torque Mode, input the voltage range -10~+10V, Tn103 can be set input voltage ±10V’s motor output torque. In Torque Mode, when external speed limit is operated at input connect point SPD1=0 & SDP2=0(P.S), input voltage range: 5-2-6 0~+10V, 10V’s speed limit stands for motor’s ratio speed. In Speed Mode, when external torque limit is be used at input connect point TLMT=1(P.S.) , input voltage range: 0~+10V, to 5-3-10 input 10V will limit the motor CCW torque having 300% of ratio torque. In Speed Mode, when external torque limit is be used at input connect point TLMT=1(P.S.), input voltage range: -10~0V, to 5-3-10 input -10V will limit the motor CW torque have 300% of ratio torque. Operating the motor to control the current speed to transform the voltage output in accordance with the rate (±10V/1.5 times ratio speed) CCW stands for positive voltage, CW negative voltage. Operating the motor to control the current torque to transform the voltage output in accordance with the rate (±10V/3.5 times ratio torque) CCW torque stands for positive voltage, CW negative voltage. Outputting the Motor Encoder Signal through pulse per rotation handle. The pulse quantity of every rotating can be set in Cn005. When “1” is set in Cn004, it is CCW rotation from the motor load terminal direction, and A Phase gets 90 degree ahead B Phase. Signal Output is Line Driver. ZO ALL Z Phase Open Collector output connect point. ― AG ALL +15V ALL -15V ALL Analog signal grounding: CN1 - > Pin 26、27、28、30、31、 33、34. To provide ±15V output power (Max. 10mA), which can be used in servo drive – external voltage command. Suggestion: Using the variable resistance which is more than 3kΩ. DICOM ALL Digital input power supplement common terminal. ― 5-6-9 5-6-9 5-3-5 ― ―
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: 2-2-1 Output Signals from the Servo
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
Page 39 and 40: (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
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 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 144 and 145:
Chapter 6 Parameter 6-1 Explanation
Page 146 and 147:
Parameter Name & Function Default U
Page 148 and 149:
Page 150 and 151:
Page 152 and 153:
Page 154 and 155:
Page 156 and 157:
Page 158 and 159:
Parameter Sn213 Sn214 Sn215 Speed l
Page 160 and 161:
Page 162 and 163:
Page 164 and 165:
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
Page 216 and 217:
Appendix A: Peripheral for Servo mo
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