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5-2-3 Torque command linear acceleration and deceleration An smooth torque command can be achieved by enabling acceleration /Deceleration parameter Tn101. Parameter Name Setting Description ★ Tn101 Linear acceleration/ deceleration method 0 Disable 1 Enable Torque command accelleration/deceleration time, is the time taken for the torque to rise from zero to the required level by Tn102. As per diagram below:- Parameter Name Default Unit Setting Range ★ Tn102 Linear acceleration /deceleration time period New setting will become effective after RESET the power. Torque Command Control mode T Control mode 1 msec 1~50000 T Rated Torque Command Required Torque Command Tn102 Time (ms) Setting examples: (1) To achieve 50% of rated torque output in 10msec: 100% Tn102 = 10(msec) × = 20(msec) 50% (2) To achieve 75% of rated torque output in 10msec: 100% Tn102 = 10(msec) × = 13(msec) 75% 5-5
5-2-4 Definition of torque direction In torque mode, torque direction can be defined by one of the following three methods. (1) Input contacts RS1, RS2. (torque command CW/CCW selectable by programmable input) (2) Parameter Cn004. (motor rotation direction ) (3) Input contact TRQINV. (reverse torque command) Caution ! All 3 methods can be active at the same time. User must ensure that correct selections are made for these three selections. Input Contact Control Description RS2 RS1 mode 0 0 Zero torque 0 1 Rotation in the current torque command direction T 1 0 Reverse the current torque command direction 1 1 Zero torque Note: RS2 and RS1 contact status “1” (ON) and “0” (OFF). Please check 5-6-1 to set the required high /Low signal levels ( PNP/NPN) . Parameter Signal Name Setting Description No. Torque Control Speed Control Control mode Motor rotation direction (load end) CCW 0 Counter Clockwise (CCW) Counter Clockwise (CCW) Cn004 1 Clockwise (CW) Counter Clockwise (CCW) S/T CW 2 Counter Clockwise (CCW) Clockwise (CW) 3 Clockwise (CW) Clockwise (CW) Input contact TRQINV Description Control mode Rotation in current torque command 0 direction T 1 Reverse torque command direction Note: Input contacts status “1” (ON) and “0” (OFF). Please refer to 5-6-1 to set the required high /Low signal levels ( PNP/NPN) selection. 5-6
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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 70 and 71: Chapter 5 Control Functions 5-1 Con
Page 72 and 73: 5-2-1 Analog Torque command Ratio.
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
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Speed Loop Gain Speed Loop Gain has
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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
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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 156 and 157:
Page 158 and 159:
Parameter Sn213 Sn214 Sn215 Speed l
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Page 162 and 163:
Page 164 and 165:
Page 166 and 167:
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
Page 204 and 205:
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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