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Chapter 5 Control Functions 5-1 Control Mode Selection There are three control modes in the servo drive, torque, speed and position modes can be selected individually or as a combination according to the selection table below: Parameter Name Setting Description ★ Cn001 Control mode selection Torque control 0 To use one analog voltage command signal to control torque. Please refer to 5-2. Speed control 1 Input contacts SPD1 and SPD2 can be used to select 4 -steps of speed. Please refer to section 5-3-1. Position control (External pulse command) Four separate selectable pulse command types are 2 possible to control position. Please refer to section 5-4-1. 3 Position / Speed control switch Input contact MDC can be used to switch between position & speed control. Please refer to section 5-6-2. Speed / Torque control switch 4 Input contact MDC can be used to switch between speed & torque control. Please refer to section 5-6-2. Position / Torque control switch 5 6 Input contact MDC can be used to switch between position & torque control. Please refer to section 5-6-2. Position control (internal position command) Input contacts POS 1~POS 4 can be used to select 16 programmable preset position commands to control position. Please refer to 5-4-2. New setting will become effective after RESET the power. Default Value Control Mode 2 ALL 5-1
5-2 Torque mode Torque mode is used in applications such as printing machines, coil wiring machines, injection molding machines and specific application that requiring torque control. Diagram below shows the torque control process diagram. Analog voltage torque command is applied to the drive input terminals as shown below: Caution! Care should be taken in selection of required torque direction CW/CCW. Please refer to Chapter 5-2-4. 5-2
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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
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 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 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
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(5) Pn365.0=2. After Starting HOME
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5-4-9 Other Position Function In po
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Speed Loop Gain Speed Loop Gain has
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5-5-1 Automatic Adjusting This devi
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Process for Auto tuning The Diagram
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5-5-3 Improving Resonance The Servo
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Parameter Name Description ★Hn502
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5-6-2 Switch for the Control Mode S
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Timing for Brake output signal Set
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5-6-7 Selecting for External Regene
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Assess for an external resistor and
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In such applications, calculate ER
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Chapter 6 Parameter 6-1 Explanation
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Parameter Name & Function Default U
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Page 152 and 153:
Page 154 and 155:
Page 156 and 157:
Page 158 and 159:
Parameter Sn213 Sn214 Sn215 Speed l
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Page 164 and 165:
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Parameter Name & Functions Default
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Quick Set-up Parameters Parameter N
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Parameter Signal ★Hn502 ★Hn503
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Parameter Signal Name & Function De
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Diagnosis Parameter Parameter Name
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(2) Read consecutive 2 words from d
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7-1-3 Modbus communication protocol
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ASCII Mode Framing Symbol Name Desc
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06H:Write Single Register Write a w
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10H:Write Multipile Registers Conti
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CRC Checking: CRC check code is fro
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Low-Order Byte Table /* Table of CR
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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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