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2-2-2 Encoder Connector (CN2) Terminal Layout (1) Diagram of CN2 Terminal: (a) Diagram of Fewer Wiring Type Encoder: (b) Diagram of non-Fewer Wiring Type Encoder: P.S.: Do not wire to the terminal, which is un-operated. 2-23
(2) Name and Explanation of I/O Signal: Encoder Output No. and Color Pin No. Signal Name Code General Joint Plug-in Joint Terminal Layout Function 9 wires (fewer wiring) 15 wires (non-fewer wiring) Output No. 1 2 3 4 Power output + Terminal Power output - Terminal +5V white Red B 0V Black Black I 5V Power for encoder (provided from driver). When the cable is more than 20m, user should separately use 2 cables to avoid decreasing voltage of encoder. When the cable is more than 30m, please contact to the distributorship. 5 A Green Green A A Phase encoder 6 input A /A Green Blue C White 7 B Phase encoder B Red Gray H 8 input /B Pink Gray white D 9 Z Yellow Yellow G Z Phase encoder 10 input /Z Yellow Orange E white 11 U Brown U Phase encoder 12 input /U Brown white 13 V Phase encoder V Blue 14 input /V Blue white 15 W Orange W Phase encoder 16 input /W Orange white Encoder A Phase: From motor terminal to the driver. Encoder B Phase: From motor terminal to the driver. Encoder Z Phase: From motor terminal to the driver. When using fewer-wiring-type motor, do not wire. When using fewer-wiring-type motor, do not wire. When using fewer-wiring-type motor, do not wire. 17 18 19 No operated Do not wire. 20 Shielded wire terminal layout FG Shielded net wire F Shielded wire, which is connected to the signal wire. 2-24
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: (f) Analog Output Interface Circuit
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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