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Parameter Name Default Unit Setting range ★Cn005 Encoder pulse output scale Encoder Pulse Per Revolution New setting will become effective after re-cycling the power. Encoder pulse output terminal description: Pin PA /PA PB /PB PZ /PZ Name Encoder pulse output A Phase signal Encoder pulse output /A Phase signal Encoder pulse output B Phase signal Encoder pulse output /B Phase signal Encoder pulse output Z Phase signal Encoder pulse output /Z Phase signal Control mode pulse 1~ Encoder PPR ALL Pin NO. of CN1 CN1-35 CN1-36 CN1-37 CN1-38 CN1-39 CN1-40 Control mode ALL 90 90 PA PA PB PB PZ PZ TIME TIME 5-13
5-3-6 Smoothing the speed command Sn205 can be used to eliminate speed overshoot and motor vibration by selecting one of the acceleration /deceleration methods which is suitable for the application from the table below. Parameter Name Setting Description Sn205 Speed command accel/decel smooth method 0 Disable accel/decel smooth function 1 Smooth accel/decel according to parameter Sn206 2 Linear accel/decel according to parameter Sn207 3 S-curve accel /decel according to parameter Sn208 Control mode S Above three methods of Acceleration/deceleration are described below. (1)Speed command smooth ac/deceleration: Set Sn205=1 to enable the use of speed command smooth acceleration/deceleration function. Parameter Name Default Unit Setting range Sn206 Speed command smooth accel/decel time Constant Control mode 1 msec 1~10000 S Smooth acceleration/deceleration time corresponds to the time in which the speed command increases from 0 to 63.2% as shown in diagram below. 5-14
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■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 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 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
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Parameter Name & Function Default U
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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:
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
Page 180 and 181:
7-1-3 Modbus communication protocol
Page 182 and 183:
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
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
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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-
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※ Dimension for TSTA-50 and TSTA-
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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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