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Teco Electro Drives TSTA Series, Installation And Operation Manual

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Teco Electro Drives TSTA Series Installation And Operation Manual Download Page 128

5-59 

Process for Auto tuning 

The Diagram below show the process for Auto tuning.  

 

Note: After Auto tuning is complete Set 0 in Cn002.2, otherwise it will not record the present 
measured Load Inertia Ratio.

 

 

If the power is cut off during Auto tuning then when the power is established, Servo controller will use 

the previously recorded setting of Load Inertia Ratio which is stored in parameter Cn025. 

Summary of Contents for TSTA Series

Page 1: ......

Page 2: ...ting number it could lead to out of control or breakdown Safety proceeding Check the covering letter detail before installing running maintaining and examining Furthermore only the profession qualified people can proceed to the line assembly Safety proceeding in the covering letter discriminate between Warning Alert Indicating the possibility dangerous situation It could cause the death or serious...

Page 3: ...tion y Servo System control function running testing and procedures adjusted y Explanation for all parameter of Servo Driver y Standard specification of TSTA Series In order to daily examine maintain and understand the reason of unusual situation and handle strategy please put this covering letter in safe place to read it anytime P S The end user should own this covering letter in order to make th...

Page 4: ...r Terminal Layout 2 4 2 1 5 Typical Wiring for Motor and Main Circuit 2 6 2 1 6 TB Terminal 2 7 2 1 7 Wiring for Mechanical Brake 2 8 2 2 I O Terminal 2 9 2 2 1 Output Signals from the Servo pack 2 10 2 2 2 Encoder Connector CN2 Terminal Layout 2 23 2 3 Typical Circuit Wiring Examples 2 25 2 3 1 Position Control Mode Pe Mode Line Driver 2 25 2 3 2 Position Control Mode Pe Mode Open Collector 2 26 ...

Page 5: ...peed Loop Gain 5 18 5 3 9 Notch Filter 5 19 5 3 10 Limiting Servomotor Torque during Speed Control 5 21 5 3 11 Gain Switched 5 22 5 3 12 Other Functions 5 29 5 4 Position Mode 5 31 5 4 1 External Pulse Command 5 32 5 4 2 Internal Position Command 5 34 5 4 3 Electronic Gear 5 37 5 4 4 Smoothing Acceleration 5 41 5 4 5 Definition of Direction 5 42 5 4 6 Gain Adjustment 5 42 5 4 7 Deleting the Pulse ...

Page 6: ...n 7 1 RS232 RS485 7 1 7 1 1 Communication wiring 7 1 7 1 2 RS232 Communication Protocol and Format 7 2 7 1 3 Modbus communication protocol for RS 485 7 5 7 2 Communication Address table 7 16 Chapter 8 Troubleshooting 8 1 Alarm Display Table 8 1 8 2 Troubleshooting of Alarm and Warning 8 3 Chapter 9 Specifications 9 1 Specifications and Dimension for Servo Drives 9 1 9 2 Specifications and Dimensio...

Page 7: ...ing transportation do not power ON y Check if there are any bad assembly or slipped component in the Servo Drive and Motor y Check if the Motor s rotor and shaft can be rotated smoothly by hand The Servo Motor with Mechanical Brake can not be rotated directly y There must be the QC seal in each servo drive if not please do not proceed Power ON If there is any bug or irregular under the situation a...

Page 8: ... 1000 rpm B 2000 rpm C 3000 rpm H 1500 rpm Rated power 050 50 W 101 100W 201 200 W 301 300 W 401 400 W 551 550 W 751 750W 102 1 KW 152 1 5 KW 202 2 KW 302 3 KW Others AC input voltage 2 single phase220V 3 3 phase 220V Optional N None B Brake G Gear Box Lead Wire length A Military Conn 3 300mm long Encolder F 2000 ppr H 2500ppr L 8192 ppr ...

Page 9: ...1 3 1 2 Appearance and Panel Board External Regenerative Resistor Terminal Internal Regenerative Resistor Terminal TSTA 15 TSTA 20 TSTA 30 TSTA 50 TSTA 75 Key Board ...

Page 10: ... of the 16 positions is via Digital Input signals Speed Mode S Speed control for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 Vdc command Control of the internal speed parameters is via the Digital Inputs A maximum of three steps speed can be stored internally Single Mode Torque Mode T Torque control for the servo motor can be achieved v...

Page 11: ...ase and salt y To avoid the corrosive gases and liquids y To avoid the invading of airborne dust or metallic particles y When over 1 Drives are installed in control panel enough space have to be kept to get enough air to prevent the heat the fan also must be installed to keep the ambient temperature under 55 y Please Install the drive in a vertical position face to the front in order to prevent th...

Page 12: ...1 6 1 4 2 Direction and Distance Fan Fan ...

Page 13: ... dust or metallic particles y Do not mount the servo motor in a location where temperatures and humidity will exceed specification y Do not mount the motor in a location where it will be subjected to high levels of electromagnetic radiation 1 5 2 Method of Installation 1 Horizontal Install Please let the cable cavity downside to prevent the water or oil or other liquid flow into the servo motor At...

Page 14: ...ry 3 Please fixing the wiring cable certainly to avoid the cable ablating or breaking 4 The extending length of the shaft shall be enough otherwise there will be the vibration from motor operating Wrong Example Correct Example 5 Please do not beat the motor when installing or taking it apart Otherwise the shaft and the encoder of backside will be damaged Attention Brake Encoder ...

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Page 16: ...ces 200W 1KW Single Phase 3 Phase 200 230VAC Bectromagnetic Contactor MC External braking resistor is connected to P and PC Circuit between PC and P1 is open Servo motor No Fuse Break PLC PC BASE or Motion Module PC CN1 For I O Connection CN2 For Encoder Connection 2KW 3KW 3 Phase 200 230VAC Noise Filter ...

Page 17: ...rmal y Please do these below to avoid the wrong operation from noise Please install devices such as the insulated transformer and noise filter at the input power Keep more than 30 cm between Power wire power cable or motor cable etc and signal cable do not install them in the same conduit y Please set emergency stop switch to prevent abnormal operation y After wiring check the connection situation...

Page 18: ...r Output 15V 15V 29 32 44 Analog Ground Terminal 0 2mm or 0 3mm Twisted pair cable connecting to the Analog Grounding wire including shield cable 1 13 General Analog Input 18 25 43 General Analog Output 45 46 48 49 24V Power I O Ground 0 2mm or 0 3mm Twisted pair cable connecting to the I O Grounding wire including shield cable 14 17 Position Command Input CN1 Joint Control Signal 35 40 Encoder Si...

Page 19: ... W 4 Green FG Fine red DC 24V Brake control wire Fine yellow 0V 2 Military Specifications Joint No Brake Terminal Color Signal A Red U B White V C Black W D Green FG A B D C 3 Military Specifications Joint Brake Terminal Color Signal B Red U G White V E Black W C Green FG A Fine red DC 24V F Fine yellow BK control wire 0V A B D C E F G ...

Page 20: ...ol Color Signal 1 White 5V 2 Black 0V 3 Green A 4 Blue A 5 Red B 6 Purple B 7 Yellow Z 8 Orange Z 9 Shield FG 2 Military Specifications Joint Terminal Symbol Color Signal B White 5V I Black 0V A Green A C Blue A H Red B D Purple B G Yellow Z E Orange Z F Shield FG ...

Page 21: ... of Single Phase Main Power Less than 1KW The Wiring Example of 3 Phase Main Power More than 1KW r s R S T PC P FG W V U 3 Phase 220V R TB1 TB1 NFB MC M PG FG Red White Black Green External Regeneration BK Resistance Power ON Power OFF Power Filter MC R MC S MC T MC a CN2 ...

Page 22: ...sistance terminal P1 Please refer to Cn012 to see resistance value when using external regeneration resistance After installing regeneration resistance set the resistance power in Cn012 If NOT using external regeneration resistance PC P1 is a short circuit do not connect P terminal When using external regeneration equip regeneration resistance between PC P do not connect P1 terminal U Motor termin...

Page 23: ... Red wire and yellow wire connecting to DC 24V voltage No polarity z 550 1K 1 5K 2K 3KW series BK outputs from A C of Motor Power Joint servo motor can operate normally after releasing the brake Yellow Wire 200 300 1 5K 2K 3KW A C Red Wire Encoder Brake Encoder Brake 400 750W 550 1K ...

Page 24: ...2 2 I O Terminal There are 3 groups of I O terminal which contain RS232 communication terminal CN1 control signal terminal and CN2 encoder terminal The diagram below displays all positions for the terminal ...

Page 25: ...Output Signals from the Servopack 1 Diagram of CN1 Terminal P S 1 If there is unused terminal please do not connect it or let it be the relay terminal 2 The Shielded Wire of I O cable should connect to the ground ...

Page 26: ...ut B Phase PB 38 Encoder Output Z Phase PZ 39 Open Collector Position Command Power Input OPC 41 IO3 Z Phase PZ 40 IO4 Analog Signal Ground Terminal AG 29 32 44 Speed Torque Analog Command Input SIN 26 15Vdc Output Terminal 15V 33 Torque Control Speed Limit Command CCW Torque Command Limit PIC 27 15Vdc Output Terminal 15V 34 CW Torque Command Limit NIC 28 IO5 DigitaI input Com Terminal DICOM 47 An...

Page 27: ...it is be used at input connect point TLMT 1 P S input voltage range 10 0V to input 10V will limit the motor CW torque have 300 of ratio torque 5 3 10 Analog Monitor Output 1 MON1 ALL 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 5 6 9 Analog Monitor Output 2 ...

Page 28: ...utput IP24 ALL 24V power output terminal Max 0 2A 24V PW Ground Terminal IG24 ALL 24V power grounding terminal Shielded Wire Connect Point FG ALL Connect to Shield wire of signal cable P S 1 stands for close loop with IG24 0 stands for open loop with IG24 PW is abbreviation of Power ...

Page 29: ...nal Function Sign Pin No Wired Mode Servo ON DI 1 SON 1 Servo Lock DI 8 LOK 8 Alarm reset DI 2 ALRS 2 Emergency Stop DI 9 EMC 9 PI P Switch DI 3 PCNT 3 Internal speed command Limit select 1 DI 10 SPD1 10 CCW Operation Limit DI 4 CCWL 4 Internal speed command Limit select 2 DI 11 SPD2 11 CW Operation Limit DI 5 CWL 5 Control Mode Switch DI 12 MDC 12 External Torque Limit DI 6 TLMT 6 Reverse Directi...

Page 30: ... 4 8 5 6 3 5 6 4 CW Operation limit CWL ALL Connect to CW over travel detector CWL and IG24 close loop open loop with IG24 CW over travel operates 5 4 8 5 6 3 5 6 4 External torque limit TLMT Pi Pe S TLMT and IG24 close loop will cause the motor output torque limit to stay in the command voltage range of torque limit terminal layout PIC NIC 5 3 10 Pulse error amount delete CLR Pi Pe When CLR and I...

Page 31: ...ct G SEL Pi Pe S When G SEL and IG24 close loop first stage control gain switch to the second control gain 5 3 11 Electric Gear ratio Numerator 1 2 GN1 GN2 Pi Pe Electric gear ratio select explanation GN2 GN1 Electric Gear ratio Numerator 0 0 Pn302 0 1 Pn303 1 0 Pn304 1 1 Pn305 1 Close loop with IG24 0 Open loop withIG24 5 4 3 Internal Position Command Trigger PTRG Pi When PTRG and IG24 close loop...

Page 32: ...Command select 0 0 0 0 Pn317 Pn318 0 0 0 1 Pn320 Pn321 0 0 1 0 Pn323 Pn324 0 0 1 1 Pn326 Pn327 0 1 0 0 Pn329 Pn330 0 1 0 1 Pn332 Pn333 0 1 1 0 Pn335 Pn336 0 1 1 1 Pn338 Pn339 1 0 0 0 Pn341 Pn342 1 0 0 1 Pn344 Pn345 1 0 1 0 Pn347 Pn348 1 0 1 1 Pn350 Pn351 1 1 0 0 Pn353 Pn354 1 1 0 1 Pn356 Pn357 1 1 1 0 Pn359 Pn360 1 1 1 1 Pn362 Pn363 Internal position command select explanation 1 close loop with IG...

Page 33: ...trol motor 5 6 4 5 6 5 In Speed INS S When the motor speed has achieved the setting speed from Cn007 INS and IG24 close loop 5 3 12 In Position INP Pi Pe When the amount of position error counter is less than the amount range which is set in Pn307 INP and IG24 close loop 5 4 9 Home HOME Pi Pe When HOME is accomplished HOME and IG24 close 5 4 8 Limiting Torque Alarm No 0 LM A0 ALL When motor output...

Page 34: ...ow electric current in order to avoid the faulty contacting External voltage 24V Internal 24V Power External 24V Power IG24 DC24V 5 6KΩ SON Servo Driver i 4 3mA IP24 DICOM CN1 45 CN1 47 CN1 49 b Digital Output Interface Circuit IO2 When using external power please attention to the power polarity Adverse polarity will case circuit damage Digital output is Open Collector The maximum of external volt...

Page 35: ...cc is 24V limited Input current is about 8 15mA Please refer to the examples below to select resistance Please refer to 5 4 1 to check pulse input command timing Line Driver pulse command input Open Collector pulse command input The max frequency of line driver type pulse command is 500kpps Maximum input command frequency of open collector is 200kpps Open Collector Internal 24V Open Collector Sele...

Page 36: ...e is sometimes ripple inside the servo internal power Adverse external power polarity will cause severe damage Maximum external power voltage Vc should be less than12V terminal input voltage should not more than10V Over voltage will cause damage When using internal power of server user need to choose the resistance suggestion more than 3KΩ which maximum current is less than 10mA SIN Input impedanc...

Page 37: ...2 22 f Analog Output Interface Circuit IO6 The maximum current of analog output is 5mA so user need to choose the device which Impedance is larger Analog Input Interface Circuit AG TG Servo Driver V ...

Page 38: ... 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 ...

Page 39: ...er input A A Blue Green White C Encoder A Phase From motor terminal to the driver 7 B Red Gray H 8 B Phase encoder input B Pink Gray white D Encoder B Phase From motor terminal to the driver 9 Z Yellow Yellow G 10 Z Phase encoder input Z Orange Yellow white E Encoder Z Phase From motor terminal to the driver 11 U Brown 12 U Phase encoder input U Brown white When using fewer wiring type motor do no...

Page 40: ...2 25 2 3 Typical Circuit Wiring Examples 2 3 1 Position Control Mode Pe Mode Line Driver Pe mode External pulse positioning command ...

Page 41: ...2 26 2 3 2 Position Control Mode Pe Mode Open Collector Pe mode External pulse positioning command ...

Page 42: ...4 DICOM Supply Filter Internal 24V DC Digital input common Servo ON CCW Limit CW Limit Emergency stop External Torque Limit Position Select 2 24V ground CCW Torque Limit CW Torque Limit Analog Grounding Shield ground Regeneration resistor Encoder Encoder Output A Phase Encoder Output A Phase Encoder Output B Phase Encoder Output B Phase Encoder Output Z Phase Encoder Output Z Phase Vc 24V R4 4 7KΩ...

Page 43: ...ontrol MDC Alarm Clear ALRS PA PA PB PB PZ PZ IP24 DICOM Supply Filter Internal 24V DC Digital input common Servo ON CCW Limit CW Limit Emergency stop PI P Switch Speed 2 24V ground CCW Torque Limit CW Torque Limit Analog Ground Analog Ground Shield ground Regeneration resistor Encoder Encoder Output A Phase Encoder Output A Phase Encoder Output B Phase Encoder Output B Phase Encoder Output Z Phas...

Page 44: ...mit CW Limit Emergency stop Model Control Alarm Clear Torque Inverse TRQINV Speed1 Speed2 24 V ground Torque Control Speed Limit Analog Ground Analog Ground Shield ground Regeneration resistor Encoder Encoder Output A Phase Encoder Output A Phase Encoder Output B Phase Encoder Output B Phase Encoder Output Z Phase Encoder Output Z Phase External supply Max Vc 24V Vc 24V R4 4 7KΩ Vc 12V R4 2 4KΩ Vc...

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Page 46: ...ower capacitors are discharged complete Do NOT wire or assemble to the servo drive before Charge LED is off Key Name Function Keys Description MODE SET 1 To select a basic mode such as the status display mode utility function mode parameter setting mode or monitor mode 2 Returning back to parameter selection from data setting screen INCREMENT DECREMENT 1 Parameter Selection 2 To increase the set v...

Page 47: ...ow Step Key LED Display after Operation Description 1 Power on Drive status parameters 2 Diagnostic parameters 3 Alarm parameters 4 System Control parameters 5 Torque Control parameters 6 Speed Control parameters 7 Position Control parameters 8 Quick set up parameters 9 Multi function I O programmable Inputs Outputs Parameters 10 Return to Drive status parameters ...

Page 48: ...s ENTER Key once 6 Shift to next Digit by press ENTER Key once again 7 Change the digit preset value by press the DECREMET Key twice 8 To save the altered preset value Press the ENTER Key for 2 seconds until SET is displayed briefly and then display is returned to parameter Sn203 Following example shows the sequence where a parameter preset value is displayed When no change is made and it is skip ...

Page 49: ...nts on the display Ex Pn317 Internal Position Command 1 Rotation number Setting a negative value 1 If the negative value has 4 digits or less follow the steps in the example below Ex Sn201 Internal speed command 1 preset speed of 100 to 100 rpm Step Key LED Display after Operation Description 1 Power ON On power on Drive Status parameter is displayed 2 Pressing MODE Key 5 times Sn 201 will be disp...

Page 50: ...5 decimal points will light up to indicate a negative number 7 To save the altered preset value Press the ENTER Key for 2 seconds until SET is displayed briefly and then display is returned to parameter Pn 317 Alarm Reset from the Keypad All alarm displays can be cleared from the keypad without a need for an external Alarm clear Reset signal Ex Under voltage Alarm AL 01 Step Control Key LED Displa...

Page 51: ...imit command value in rpm Un 12 External CCW Torque limit command value Ex Display 100 Means current external CCW torque limit command is set to 100 Un 13 External CW Torque limit command value Ex Display 100 Means current external CW toque limit command is set to 100 Un 14 Motor feed back Rotation value absolute value rev After power on it displays motor rotation number as an absolute value Un 15...

Page 52: ...stment of external analog command voltag dn 08 Servo model code dn 09 ASIC software version display dn 01 Control Mode Display Access dn 01 to display the selected control mode Control mode display description is listed in the table below Control Mode dn 01 Control mode display Torque control T Speed control S Position control External pulse command Pe Position Speed control switch Pe S Speed Torq...

Page 53: ...able below shows the functions of the digital outputs DO 1 DO 4 are programmable outputs Default settings are shown below DO 5 DO 8 are fix function outputs non programmable For programmable output list see section 5 6 1 LED No Output terminal number Default function 1 DO 1 RDY 2 DO 2 ALM 3 DO 3 ZS 4 DO 4 INP 5 DO 5 LM A0 6 DO 6 PC A1 7 DO 7 ST A2 8 DO 8 BB A3 Note To set the logic state High or L...

Page 54: ...D will be on When Input terminal signal has a high logic level open loop with IG24 the corresponding LED will be off Table below shows the functions of the digital input DI 1 DI 10 are programmable Inputs Default settings are shown below For programmable function list see section 5 6 1 LED Number Input terminal number Default function 1 DI 1 SON 2 DI 2 ALRS 3 DI 3 PCNT 4 DI 4 CCWL 5 DI 5 CWL 6 DI ...

Page 55: ... is in accordance with setting of Sn201 internal speed command 1 Ensure that the required speed is set in Sn201 before executing this function Warning Motor will be agitated run as soon as JOG command is activated without the need for SON input Servo On signal Step Key LED display Description 1 Power on On power on Drive Status is displayed 2 Press MODE Key once to view diagnostics parameter dn 01...

Page 56: ...re proceeding 2 Power on On power on Drive Status is displayed 3 Press MODE Key twice into diagnostics parameter dn 01 4 Press INCREMENT Key 6 times to display dn 7 5 Press ENTER Key for 2 seconds to enter dn 07 6 Press INCREMENT Key once to set to 1 Enable auto offset adjustment 7 To save the altered preset value and activate auto offset adjust Press the ENTER Key for 2 seconds until SET is displ...

Page 57: ...500 H0122 TSB07301C 2NL3 300 3000 8192 H0130 6CC201G 3DEBE 2000 H1133 TST06201C 3NT3 2500 H1134 TST06201C 3NL3 200 3000 8192 H0140 6CC401G 3DEBE 2000 H1141 TSC06401C 3NT3 2500 H0142 TSC06401C 3NL3 8192 H1143 TST06401C 3NT3 2500 H1144 TSTA 15 TST06401C 3NL3 400 3000 8192 H0211 TSB08751C 2NH3 2500 H0212 TSB08751C 2NL3 750 3000 8192 H0220 6CC401G 3DEBE 2000 H1221 TSC06401C 3NT3 2500 H0222 TSC06401C 3...

Page 58: ...3000 8192 H0361 TSB13152A 3NHA 2500 H0362 TSB13152A 3NLA 1000 8192 H0371 TSB13152B 3NHA 2500 H0372 TSB13152B 3NLA 2000 8192 H0381 TSB13152C 3NHA 2500 H0382 TSTA 30 TSB13152C 3NLA 1500 3000 8192 H0511 TSB13152A 3NHA 2500 H0512 TSB13152A 3NLA 1000 8192 H0521 TSB13152B 3NHA 2500 H0522 TSB13152B 3NLA 2000 8192 H0531 TSB13152C 3NHA 2500 H0532 TSB13152C 3NLA 1500 3000 8192 H0541 TSB13202B 3NHA 2500 H054...

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Page 60: ...Motor wiring Encoder wiring Setting servo motor rotation direction and speed 2 No load servo motor with a host controller Trial run Reference 4 2 A Servo drive wiring and motor installation B Purpose of trial run Confirm if the items below are correct Control signal wiring between host controller and servo drive Servo motor rotation direction speed and rotating number Brake function operation limi...

Page 61: ...e power Apply power to servo drive If the display shows any Alarm message such as graph below then refer to Alarm contents of chapter 8 to identify the cause AL 14 is caused by Input terminals CCWL Counter clockwise Limit and CWL Clockwise Limit being activated at the same time See the default setting of high or low input logic state according to the description in section 5 6 1 Because of the ala...

Page 62: ...teps reset the power If there are any other alarms then refer to section 8 2 Clearing Alarms Once there is no alarms then operate the drive again If any of the alarms can not be cleared please contact your local supplier for assistance 4 Mechanical Brake Release When a brake type servo motor is used then must release the brake before starting trial run by applying 24vdc voltage to brake terminals ...

Page 63: ...ress INCREMENT Key 4 times to display dn 5 4 Press ENTER Key for 2 seconds to enter JOG MODE Motor will power on immediately 5 Press INCREMENT Key motor will run in the pre defined positive direction 6 Press DECREMENT Key motor will run in the pre defined negative direction 7 Press MODE Key once to return to dn 05 and parameter selection Motor power will be turned off immediately ...

Page 64: ...ng Servo motor Example wiring diagram Speed Control Cn001 1 Position Control Cn001 2 SIN AG CN1 26 CN1 32 Servo Drives Servo Motor M SON CCWL CWL CN1 1 CN1 4 CN1 5 CN1 45 CN1 47 CN1 48 IG24 IP24 DICOM M CN1 14 CN1 15 CN1 16 CN1 17 Pulse Pulse Sign Sign SON CCWL CWL CN1 1 CN1 4 CN1 5 CN1 45 CN1 47 CN1 48 IG24 IP24 DICOM Servo Motor Servo Drives a Disable Analog Input command terminals Speed control...

Page 65: ...itching SON terminal to IG24 input digital Ground If the motor rotates slowly while the speed analog input voltage is 0 volts then use dn 07 function to auto offset adjustment for the analog input value refer to section 3 2 2 3 Check the relationship between motor speed and the analog input speed command Increase the analog speed input voltage gradually by potentiometer and monitor the actual moto...

Page 66: ...e diagram below 5 Confirm the rotation number and encoder output of Servo Motor Use parameter Un 14 to check if the Motor feed back number of revolutions per minute is correct and the same as number of revolutions sent by the host controller If there is any difference then check and make sure that parameter Cn005 Encoder ppr is set correctly Once this is complete remove SON signal to switch off po...

Page 67: ...irection and number of revolutions Apply a low speed pulse command from the host controller to the servo drive so that the servo motor operates at low speed Compare the number of pulses per revolution from parameters Un 15 motor feed back pulse ppr and Un 17 Input command ppr these should be the same Compare the number of revolutions using parameters Un 14 motor feed back rotation number and Un 16...

Page 68: ...ps required for Trial run 1 Ensure that the ServoDrive Power is off 2 Connect the servo motor to the load shaft Refer to Chapter 1 5 to check the installation guidelines for the servo motor 3 Gain adjustment for the servo control loop Refer to Chapter 5 5 for details 4 Trial run with a host controller Run command is to be signaled by the host controller Refer to Chapter 4 2 to choose the required ...

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Page 70: ...selectable pulse command types are possible to control position Please refer to section 5 4 1 Position Speed control switch 3 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 Input conta...

Page 71: ...lding 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 ...

Page 72: ...0 300 T Setting example refer to the following diagram 1 With Tn103 set to 300 a torque command input voltage of 10V corresponds to 300 of rated torque For input voltage of 5V actual torque command will be 150 of rated torque 2 With Tn03 set to 200 a torque command input voltage of 10V corresponds to 200 of rated torque For input voltage of 5V actual torque command will be 100 10 5 5 10 Input Volt...

Page 73: ... parameter Tn104 or use auto offset adjust feature Please refer to section 3 2 2 Note To check and set the offset to zero insert a link between analog torque command contact SIN CN1 26 and analog ground contact AG CN1 29 Parameter Name Default Unit Setting range Control mode Tn104 Analog torque command offset 0 mV 10000 10000 T Torque Command Input Voltage V Bias Voltage ...

Page 74: ...he 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 Control mode Tn102 Linear acceleration deceleration time period 1 msec 1 50000 T New setting will become effective after RESET the power Time ms Tn102 Torque Command Rated Torque Command Required Torque Command Setting examples 1 To achieve 50 of rated torque...

Page 75: ...irection 1 0 Reverse the current torque command direction 1 1 Zero torque T 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 Control mode No Torque Control Speed Control 0 Counter Clockwise CCW Counter Clockwise CCW 1 Clockwise CW Counter Clockwise CCW 2 Counter Clockwise CCW Clockwise CW ...

Page 76: ...For achieving smooth speed response please refer to section 5 3 6 Input contact SPD2 Input contact SPD1 Speed limit command Control mode 0 0 External analog command PIC CN1 27 0 1 Internal speed limit1 Tn105 1 0 Internal speed limit2 Tn106 1 1 Internal speed limit3 Tn107 T Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Belo...

Page 77: ... Torque output monitor level 100 0 300 ALL Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Torque Smoothing Filter Torque vibration can be diminution by setting an appropriate value in Cn034 Torque command smoothing filter In the other hand this will cause a delay in the response time of the torque loop Parameter Name Defaul...

Page 78: ...Input Contact SPDINV Speed Controller Speed Feed Back Cn004 Linear AC deceleration Sn206 Sn208 Sn210 S Curve AC deceleration Sn205 AC deceleration Method Analog Speed Command Limit Sn218 Sn217 Sn216 A D Analog Speed Command Host Controllor Cn005 Encoder Signal Encode ratio Output Sn201 Sn203 Internal Speed Command Ratio Bias Adjusting Speed Controller Analog Torque Limit A D Analog Torque Limit In...

Page 79: ...nal analog command SIN CN1 26 0 1 Internal speed command 1 Sn201 1 0 Internal speed command 2 Sn202 1 1 Internal speed command 3 Sn203 S Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Diagram below shows the external analog speed command wiring Internal presetable speed limit parameters for speed command mode are listed bel...

Page 80: ...n216 set to 2000 a speed command input voltage of 10V corresponds to 2000rpm for an input voltage of 5 volts speed command will be 1000rpm 5 3 3 Adjusting the analog reference offset For a speed command of 0V motor could possibly be rotating slowly To rectify this effect by adjusting offset value manually in parameter Sn217 or use auto offset adjust feature Please refer to section 3 2 2 Note To ch...

Page 81: ...it for analog speed can be set by Sn218 Parameter Name Default Unit Setting range Control mode Sn218 Analog speed command limit Rate rpm x 1 02 rpm 100 4500 S 5 3 5 Encoder Signal Output Servo motor encoder pulse signal can be output to a host controller to establish an external control loop Set the required encoder Pulse Per Revolution PPR in parameter Cn005 Default output value is the actual enc...

Page 82: ...he power Encoder pulse output terminal description Pin Name Pin NO of CN1 Control mode PA Encoder pulse output A Phase signal CN1 35 PA Encoder pulse output A Phase signal CN1 36 PB Encoder pulse output B Phase signal CN1 37 PB Encoder pulse output B Phase signal CN1 38 PZ Encoder pulse output Z Phase signal CN1 39 PZ Encoder pulse output Z Phase signal CN1 40 ALL PA PB PZ 90 PA PB PZ 90 TIME TIME...

Page 83: ...rding to parameter Sn207 Sn205 Speed command accel decel smooth method 3 S curve accel decel according to parameter Sn208 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 Control mode Sn206 Speed command smoo...

Page 84: ... function Parameter Name Default Unit Setting range Control mode Sn207 Speed command linear accel decel time constant 1 msec 1 50000 S Linear acceleration deceleration time corresponds to the time in which the speed increases linearly from zero to the rated speed As shown in the diagram below Speed Command Time ms Sn207 Current Speed Command Rated Speed Command Setting examples 1 To achieve 50 of ...

Page 85: ... Curve speed command acceleration time setting 200 msec 0 10000 S Sn210 S Curve speed command deceleration time setting 200 msec 0 10000 S In applications where normal acceleration deceleration on ramp up or ramp down bring in vibration of the mechanical system S curve acceleration deceleration parameters could help to reduce vibration as diagram below Speed Command rpm Time ms ts ts ta ts ts td t...

Page 86: ...tting Description Control mode No Torque control Speed control 0 Counter Colckwise CCW Counter Colckwise CCW 1 Colckwise CW Counter Colckwise CCW 2 Counter Colckwise CCW Colckwise CW Cn004 Motor rotation direction observation from load side CCW CW 3 Colckwise CW Colckwise CW S T Input contact SPDINV Description Control mode 0 Rotation by speed command direction 1 Rotation by reverse speed command ...

Page 87: ...ls Parameter Name Default Unit Setting range Control mode Sn211 Speed loop gain 1 40 Hz 10 450 Pe Pi S Sn212 Speed loop integral time constant 1 100 x0 2 ms 1 500 Pe Pi S Sn213 Speed loop gain 2 40 Hz 10 450 Pe Pi S Sn214 Speed loop integral time constant 2 100 x0 2 ms 1 500 Pe Pi S Diagram below shows the speed controller Setting a high speed loop gain or a lower speed loop integral time provides...

Page 88: ...m vibration resonance frequency in parameter Cn013 Notch Filter frequency and adjust Cn014 to set the filter bandwidth scaling factor Lower the setting of Cn014 value wider is the notch filter frequency bandwidth The adjustment required depends on the application Caution If Cn013 is set to 0 the Notch filter is disabled Parameter Name Defaul t Unit Setting range Control mode Cn013 Notch Filter fre...

Page 89: ...2 Q3 Frequency After adding Notch Filter Gain The Response Line for Resonance Gain Frequency Frequency Resonant Frequency Gain Response Line for Notch Filter Cn014 Notch Filter Quality Factor Cn013 Notch Filter Frequency ...

Page 90: ...source Control mode 0 Cn010 Cn011 ALL 1 External analog command PIC CN1 27 External analog command NIC CN1 28 Pi Pe S Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Caution To use external analog torque command limit If analog torque command limit is greater than internal torque command limit the internal torque command lim...

Page 91: ...ons below Parameter Signal Name Setting Description Control mode 0 Switch from PI to P if the torque command is greater than Cn016 1 Switch from PI to P if the speed command is greater than Cn017 2 Switch from PI to P if the acceleration command is greater than Cn018 3 Switch from PI to P if the position error is greater than Cn019 Cn015 0 PI P control mode switch 4 Switch from PI to P by the inpu...

Page 92: ...e command is greater than Cn016 P control is selected As shown in diagram below 2 PI to P mode switch over by comparing Speed command When the Speed command is less than Cn017 PI control is selected When the Speed command is greater than Cn017 P control is selected As shown in diagram below Speed PI P Mode Switching Condition Speed Command ...

Page 93: ...r value When the Position Error value is less than Cn019 PI control is selected When the Position Error value is greater than Cn019 P control is selected As shown in diagram below 5 PI to P mode switch over by PCNT input contact When the PCNT input contact is open PI control is selected When the PCNT input contact is closed P control is selected Note Input contacts status 1 ON and 0 OFF Please che...

Page 94: ...utomatic gain 1 2 switch 4 Switch from gain 1 to 2 by input contact G SEL Set one of the multi function terminals to option 15 of Hn501 Pi Pe S Parameter Name Default Unit Setting Range Control Mode Cn020 Automatic gain 1 2 switch delay time 0 x0 2 msec 0 10000 Pi Pe S Cn021 Automatic gain 1 2 switch condition torque command 200 0 399 Pi Pe S Cn022 Automatic gain 1 2 switch condition speed command...

Page 95: ...tomatically switch back to Gain 1 the switch time delay can be set by Cn020 As shown in the diagram below 2 Automatic gain 1 2 switch condition by Speed command When speed command is less than Cn022 Gain 1 is selected When speed command is greater than Cn022 Gain 2 is selected When Gain 2 is active and speed command becomes less than Cn022 system will automatically switch back to Gain 1 the switch...

Page 96: ...n020 As shown in the diagram below 4 Automatic gain 1 2 switch condition by Position error value When position error value is less than Cn024 Gain 1 is selected When position error value is greater than Cn024 Gain 2 is selected When Gain 2 is active and position error value becomes less than Cn024 system will automatically switch back to Gain 1 and the switch time delay can be set by Cn020 As show...

Page 97: ... G SEL input contact opens again then Gain 1 is selected and switch delay time can be set by Cn20 As shown in the diagram below 1 0 Gain 2 Gain 1 Gain 1 Cn020 Delay Time Motion Input Contact G SEL Statu Use Input Contact G SEL to Switch 2 Stages Gain Mode Note Input contacts status 1 ON and 0 OFF Please refer to 5 6 1 for setting required high Low signal levels PNP NPN selection ...

Page 98: ...peed reached preset the output contact INS operates Speed reached preset Parameter Signal Name Default Unit Setting Range Control Mode Cn007 Speed reached preset Rated rpm 1 3 rpm 0 4500 S T Note Input contacts status 1 ON and 0 OFF Please check section 5 6 1 to set the required high Low signal levels PNP NPN selection ...

Page 99: ...215 set Sn204 to selection 1 Parameter Signal Name Setting Description Control Mode 0 No action Sn204 Zero Speed selection 1 Regard Speed command as Zero According to Sn215 setting S Speed Command Previous Speed Command Zero speed preset level Set the speed preset level as Zero speed Adjusted Speed Command Servo Lock In speed mode the Servo Lock is used to lock servo motor when input voltage comma...

Page 100: ...ioning command is signaled to the drive by a host Controller to achieve a fixed position In internal position command mode 16 preset position commands can be set by parameters Pn317 Pn364 and can be activated by use of input contacts POS1 POS4 Set parameter Cn001 control mode selection as required according to the table below Parameter Signal Name Setting Description Control Mode Position control ...

Page 101: ...l Name Setting Description Control Mode 0 Pulse Sign 1 CCW and CW pulse 2 AB Phase Pulsex2 Pn301 0 Position pulse command selection 3 AB Phase Pulsex4 Pe 0 Positive Logic Pn301 1 Position pulse command logic selection 1 Negative Logic Pe New setting will become effective after re cycling the power Positive Logic Negative Logic Position pulse command types CCW Command CW Command CCW Command CW Comm...

Page 102: ...r t1 t2 0 2μs t3 3μs τ 2 0μs τ T 50 LineDrive t1 t2 0 1μs t3 3μs τ 1 0μs τ T 50 CCW CW Pulse t1 t2 T t t3 Pulse Sign OpenCollector t1 t2 0 2μs t3 3μs τ 2 0μs τ T 50 LineDrive t1 t2 0 1μs τ 1 0μs τ T 50 AB Phase Pulse t2 t1 T t Pulse Sign OpenCollector t1 t2 0 2μs τ 2 0μs τ T 50 Position command can be disabled Inhibited by extrernal input contact INH Input Contact INH Description Control Mode 0 Po...

Page 103: ...umber Pn326 P4 0 0 1 1 Pulse Number Pn327 Pn328 Rotation Number Pn329 P5 0 1 0 0 Pulse Number Pn330 Pn331 Rotation Number Pn332 P6 0 1 0 1 Pulse Number Pn333 Pn334 Rotation Number Pn335 P7 0 1 1 0 Pulse Number Pn336 Pn337 Rotation Number Pn338 P8 0 1 1 1 Pulse Number Pn339 Pn340 Rotation Number Pn341 P9 1 0 0 0 Pulse Number Pn342 Pn343 Rotation Number Pn344 P10 1 0 0 1 Pulse Number Pn345 Pn346 Rot...

Page 104: ...the difference between absolute and incremental moves For two pulse commands of 10 pulse position pulse command and followed with another 20 pulse the traveled positions will be different PTRG Position Trigger Once any preset position is selected by input contacts POS1 POS4 then require a trigger signal PTRG from the input contact enable PTRG to start operation Diagram below shows an example for 4...

Page 105: ...CLR Clear position command If the CLR input is activated when a position command is in process then the motor will stop immediately and the remaining positioning pulses will be cleared Parameter Pn315 must be set to 1or 2 as required refer to section 5 4 7 Once the PTRG input contact is activated again then a new position command will be started according to the selection of input contacts POS1 PO...

Page 106: ...m then Ball screw needs to rotate by 10mm 5 mm rev 2 Revs 3 Command pulses required to cause one revolution Encoder ppr Internal multiplication factor 2000 ppr x 4 8000 pulses 4 So the Command pulses required to move 10mm 2 revs 8000 pulses x 2 revs 16000 Pulses Number of command pulses for an specific move distance can be calculated according to the formula below Number of Ball Screw Revs x Encod...

Page 107: ...ill move by 2mm 1um pulse 2000pulse The Electronic Gear Ratio must be set correctly 3 Calculate the Electronic Gear Ratio Calculate the Electronic Gear Ratio according to the formula below If the deceleration ratio between motor and load shaft is m n m Motor Rotating number n Load Shaft Rotating Value Then the formula for Electronic Gear Ratio is Warning The calculated Electronic Gear Ratio must b...

Page 108: ...erator of Electronic Gear Ratio 4 1 X 1 50000 Pi Pe Pn306 Denominator of Electronic Gear Ratio 1 X 1 50000 Pi Pe New setting will become effective after re cycling the power This device provides 4 selections of Numerator for Electronic Gear Ratio Input contacts GN1 and GN2 can be used to select the required Numerator for the Electronic Gear Ratio According to the table below Input Contact GN2 Inpu...

Page 109: ...1 5 b Load Shaft Mechanical Disc Move Value per one revolution 360 ﾟ Motor Encoder ppr Pulse per revolution 2500 pulses 2 Move distance per one pulse of move Command Distance for 1Pulse Command 0 1 ﾟ 3 Calculation of the Electronic Gear Ratio 3600 50000 1 5 1 0 360 4 2500 Ratio Gear Electronic pulse rev pulse 4 Set the parameter of Electronic Gear Ratio Numerator of Electronic Gear Ratio 50000 Den...

Page 110: ...nstant of One Time Smooth Acceleration Deceleration of Position Command The Time in which The Position Pulse Frequency increases one time from zero to 63 2 of Position Pulse Command Frequency Frequency of Position Pulse Command Time ms Pn313 100 50 63 2 Frequency of Position Pulse Command Setting Examples 1 To achieve 95 of Position Pulse Command Frequency Output in 30msec 10 msec 95 ln 1 30 msec ...

Page 111: ... from input contact terminals according to table below For selection methods refer to section 5 3 11 Parameter Signal Name Default Unit Setting Range Control Mode Pn310 Position Loop Gain1 40 1 s 1 450 Pe Pi Pn311 Position Loop Gain 2 40 1 s 1 450 Pe Pi Pn312 Position Feed Forward Gain 0 0 100 Pe Pi Cn033 Speed Feed Forward Smooth Filter 40 Hz 0 1000 Pe Pi Diagram below shows the position controll...

Page 112: ...put CLR contact clears the pulse error value Pe 1 When Input CLR contact to cancels the position command Stops the motor rotating the pulse error value is cleared and mechanical Home signal is reset Pi Pe Pn315 Pulse Error Clear Mode 2 When Input CLR contact to cancels the position command stops the motor rotating and the pulse error value is cleared Pi Note Input contacts status 1 ON and 0 OFF Pl...

Page 113: ...witch in 1st preset speed in CCW direction and sets the input contact ORG external sensor input as a Home reference when ORG contact is activated If Pn365 1 2 it will directly find the closest Rising Edge of ORG to be the Home position without a need for Home reference then it stops in accordance with Pn365 3 setting 3 Once the home routine is activated motor will search for Home Position switch i...

Page 114: ... started automatically This method is useful for applications that do not require repeated home routines No external home reference switch is required Pn365 2 Setting of Home Routine Start method 2 Use SHOME input contact to start a home routine In position mode SHOME can be used to start a home routine at any moment Pi Pe 0 After detecting the Home signal it sets this position to be the Home refe...

Page 115: ...ications where the machine mechanical home position is a different position to the detected home position This offset can be achieved by setting the two parameters below Once the detected home position is found in accordance with Pn365 Home routine mode then it will search by number of revolutions and pulses set in Pn368 and Pn 369 to find the new off set Home position Parameter Signal Name Defaul...

Page 116: ... 1 1 1 Pn365 2 1 After Power ON Home function will be automatically operated when first time Servo ON 1 Time Input Contact SON Process of Home Output Contact Home Time Into the Process of Home Pn365 2 2 SHOME triggers HOME Turn ON Power Output Contact RDY Input Contact SON Input Contact SHOME Process of Home Output Contact Home Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set th...

Page 117: ... 3 4 2 5 6 7 8 No Home routine 1 Pn365 0 0 or 2 After starting HOME routine run CCW in 1st preset high speed for HOME Reference CCWL CWL or ORG Pn365 1 0 After finding HOME Reference reverse direction in 2nd preset low speed to search for the nearest Z Phase pulse to be set as the HOME position Pn365 2 2 Input Contact SHOME to Start Home routine Pn365 3 0 Reverse search for HOME position ...

Page 118: ... position 1 1 Speed Position Pn367 Pn365 1 0 2nd Stage low speed Pn365 3 0 Pn366 1st Stage high Speed Pn365 2 2 Z Phase Pulse of Motor Encoder Pn365 0 1 Pn365 0 3 Input Contact SHOME Input Contacts CWL CCWL or ORG 3 Pn365 0 2 After starting HOME routine run CCW in 1st preset high speed to search for HOME Reference ORG Pn365 1 1 After finding HOME Reference continues in the same direction in 2nd pr...

Page 119: ... direction in 2nd preset low speed to find the nearest Z Phase to be set as the HOME position Pn365 2 2 Input Contact SHOME Starts the HOME routine Pn365 3 0 Reverse search for HOME position 1 1 Speed Position Pn365 3 0 Z Phase Pulse of Motor Encoder Input Contact ORG Pn365 0 3 Input Contact SHOME Pn367 2nd Stage low speed Pn365 1 1 Pn366 1st Stage High Speed Pn365 2 2 ...

Page 120: ... stage low speed Pn365 1 2 Pn365 3 0 Pn366 1st stage high speed Pn365 2 2 Pn365 0 2 Input Contact SHOME 6 Pn365 0 3 After Starting HOME routine run CW in 1st preset high speed to search for HOME Reference ORG Pn365 1 2 After Finding the HOME Reference the Rising Edge of ORG sets the HOME Position Pn365 2 2 Input Contact SHOME Starts the HOME routine Pn365 3 0 Reverse search for HOME position 1 1 P...

Page 121: ... stage low speed Pn365 1 2 Z Phase Pulse of Motor Encoder Input Contact SHOME Pn365 0 4 Pn365 2 2 Speed 8 Pn365 0 5 After Starting HOME routine run CW in 1st preset high speed to search for the nearest Z phase pulse Pn365 1 2 After Finding the Z phase pulse set this position as the HOME position Pn365 2 2 Input Contact SHOME Starts the HOME routine Pn365 3 0 Reverse search for HOME position 1 Posi...

Page 122: ...orrect Value pulse Speed Command Motor Speed INP Statue 1 0 Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Position error alarm When the Position error value is greater than the preset pulse value of Pn308 Positive position error level or Pn309 Negative position error level this will generate AL 11 Position error signal Par...

Page 123: ...dth for these three control loops is as follows Current Loop Inner Speed Loop Middle Position Loop outer The default current control bandwidth has already been set for optimum response So Only speed and position control loop gains may be adjusted Table below shows the Gain adjustment parameters for the three control loops Parameter Name Default Unit Setting Range Control Mode Sn211 Speed Loop Gain...

Page 124: ...te error Under the condition of no vibration or noise reducing the speed loop Integral Time Constant can enhance system rigidity If the Load Inertia Ratio is very high or the system has vibration factors ensure that the Speed Loop Integral Time Constant is also high enough otherwise the mechanical system would produce resonance easily Integral Time Constant for Speed Loop can be set using the form...

Page 125: ...d function will be insignificant Quick Parameters for Gain adjustment Quick Gain adjust parameters are available for setting manually The related Gain Adjust parameters are listed in the Quick Parameter leaflet for convenient reference Quick adjust parameters once altered are saved and become effective immediately without pressing the Enter Key The table below shows the Gain Adjust Quick Parameter...

Page 126: ...214 Speed loop Integral time constant 2 Pn310 Position Loop Gain 1 Pn311 Position Loop Gain 2 Pn312 Position Loop Feed Forward Gain When Cn002 2 is set to 1 auto tuning is enabled and the Servo controller will adjust the Servo Gain in accordance with Cn026 Rigidity Setting and the measured Load Inertia Ratio by monitor parameter Un 19 Load Inertia Ratio when the Load Inertia Ratio is becomes stabl...

Page 127: ...sive Rigidity Setting When Auto tuning is used set the Rigidity Level depending on the various Gain settings for applications such as those listed below Rigidity Setting Cn026 Position Loop Gain Pn310 1 s Speed Loop Gain Sn211 Hz Speed loop Integral time constant 1 Sn212 x0 2msec Mechanical Rigidity Application 1 15 15 300 2 20 20 225 3 30 30 150 Machines driven by timing Belt Chain or Gear Large ...

Page 128: ...tuning is complete Set 0 in Cn002 2 otherwise it will not record the present measured Load Inertia Ratio If the power is cut off during Auto tuning then when the power is established Servo controller will use the previously recorded setting of Load Inertia Ratio which is stored in parameter Cn025 ...

Page 129: ...onstant of Speed Loop for minimum time setting that without causing mechanical vibration Step 5 Finally Slowly adjust the Speed Loop Gain Position Loop Gain of Host Controller and Integral Time Constant of Speed Loop until the servo system provides the best response Manual Gain Adjustment in Position Control mode Step 1 Set Rigidity level in parameter Cn 26 See section 5 5 1 for the selection tabl...

Page 130: ...Forward Gain Position Loop Feed Forward Gain can be used to reduce the error result from position control and improve the response speed Position loop Feed forward gain and position loop gain should be matched with If adjusting to higher position loop gain the feed fordward gain can be ignored Oppositly if the loop gain value is setting for a relatively low level adjust position loop feed forward ...

Page 131: ...old 14 SHOME Start Home 15 ORG Home Position Reference Origin 16 POS1 Internal Position select 1 17 POS2 Internal Position select 2 18 POS3 Internal Position select 3 19 POS4 Internal Position select 4 1A TRQINV Torque Inverse 1B RS1 Torque CW Selecting Hn501 0 Hn501 1 DI 1 Digital Input 1 programmable Functions 1C RS2 Torque CCW Selecting ALL New setting will become effective after re cycling the...

Page 132: ...DI 9 Programmable Hn510 DI 10 Programmable Hn511 DI 11 Programmable Hn512 DI 12 Programmable Hn513 DI 13 Programmable Refer to Hn501 for programmable options ALL Warning If any of programmable Inputs of DI 1 DI 13 are set for the same type of function then the logic state selection NO or NC selection for these inputs must be the same type Otherwise an Alarm will be displayed AL 07 Multi function c...

Page 133: ...514 1 DO 1 Logic state 08 INT In Torque ALL 0 Close when the output is activated Hn514 2 DO 1 1 Open when the output is activated ALL Parameter Name Description Control Mode Hn515 DO 2 Programmable Hn516 DO 3 Programmable Hn517 DO 4 Programmable Refer to Hn514 for programmable options ALL New setting will become effective after re cycling the power Warning When programmable DO 1 DO 4 are set for t...

Page 134: ...ve after re cycling the power Please check 5 6 1 to setting the input contact required high Low signal levels PNP NPN selection 5 6 3 Auxiliary Functions Function of Input Contacts SON CCWL and CWL can be set according to the list below Parameter Name Setting Description Control Mode 0 Use input contact SON to switch Servo On Cn002 0 SON Servo ON 1 Servo on with Power on SON input contact not requ...

Page 135: ...Inhibit occur the Cn009 has the higher priority than Cn008 Example If Cn008 is set to 0 or 1 which means no Dynamic Brake BUT Cn009 1 with Dynamic Brake then the dynamic brake will be effective enabled 5 6 5 Timing Diagram of Mechanical Brake In applications with vertical loading if the power is turned off to prevent the load from falling due to gravity a servo motor with electro mechanical brake ...

Page 136: ...on Servo on is activated at the same time then after a time delay set by parameter Cn003 Output Contact BI is switched on Signal to release the brake When SON input contact is switched off BI output contact is also switched off Signal to operate the brake Then after a time delay set by parameter Cn003 Servo ON is de activated 2 Cn003 set to a time value with a Negative sign AS soon as the input co...

Page 137: ... to stop then hold in dynamic brake status Cn009 setting has priority over Cn008 setting it require re cycling power to take effect after setting changed Cn009 CW CCW drive inhibit 2 Once max torque limit 300 is detected then deceleration to stop with zero clamp ALL New setting will become effective after re cycling the power Note When the Drive Inhibit occurs in CCW CW the Cn009 has the higher pr...

Page 138: ...rive Model Resistance Ω Power W The Regeneration Power W absorbed by the built in Resistor Average Power Minimum allowed Resistance Value Ω TSTA 15 50 60 24 50 TSTA 20 50 60 24 41 TSTA 30 25 60 24 23 TSTA 50 20 200 80 15 TSTA 75 12 5 200 80 9 Built in Regeneration Resistor The Regeneration Resistor which is built in this device can absorb the Regeneration Power from acceleration and deceleration r...

Page 139: ... P1 on TB1 Terminal Then the resistor should be installed between terminals P and PC For safety use of resistors with thermal protection is recommended The thermal switch contact can then be interlocked to disable drive or remove power if necessary Refer to connection diagram below When installing Regeneration Resistors care must be taken as the resistor absorbs the regeneration power and it is po...

Page 140: ...ad The regeneration energy capacity in Joules which can be absorbed by the built in resistor during no load acceleration deceleration period refer to the table list below Drive Model Motor Model Permitted number of no load operation cycles min Main Capacitor energy absorption capacity in Joules C E J TSB07301C 433 6CC201G 1775 TSTA 15 TSC06401C 1004 6 TSB08751C 118 TSC06401C 1004 8CC751G 321 TSB13...

Page 141: ... Energy of the servo system 182 2 rm T M ω J E M E Working Energy of Servo system J T J Inertia applied to the motor shaft 2 m kg rm ω Motor running Speed rpm 2 Calculate the Energy consumption by the load during deceleration D L rm L t T ω π E 60 L E The Energy during deceleration J L T Loading Torque Nm D t The Time from deceleration to stopping s 3 Calculate the Energy absorbed by internal main...

Page 142: ...s that equipped with the fan TSTA 50 TSTA 75 Parameter Name Setting Description Control Mode 0 Auto run by internal temperature sensor 1 Run when Servo ON 2 Always Running Cn031 Cooling fan running mode 3 Disabled ALL 5 6 9 Analog Monitor There are two analog output signals which can be used to monitor running Speed Torque Current and Position as follows Parameters Name Function Default Unit Setti...

Page 143: ...50 ALL Cn028 Analog Monitor 2 Offset adjustment 4 x40mV 250 250 ALL Analog Monitor Output Voltage V Adjusting Value for Bias Voltage Time 5 6 10Factory setting parameter This parameter can reset all parameter settings to default value factory reset Parameter Signal Name Setting Description Control Mode 0 Disabled Cn029 Reset parameters 1 All parameters are reset to default values ALL New setting w...

Page 144: ...Speed Control Parameters Pn3xx Position Control Parameters qn4xx Quick Set up Parameters Hn5xx Multi function I O parameters Control Mode Code Signal Control Mode ALL All Control Mode Pi Position Control Mode Internal Positional Command Pe Position Control Mode External Pulse Command S Speed Control Mode T Torque Control Mode Definition of Symbols Symbol Explanation Parameter becomes effective aft...

Page 145: ...function Setting Explanation 0 CCWL and CWL input contacts are able to control the drive inhibit of CCW and CW Cn002 1 1 CCWL CWL input contacts are not able to control CCW and CW drive inhibit CCW and CW drive inhibit is disable 0 X 0 1 ALL 5 6 3 Auto Tuning Setting Explanation 0 Continuously Auto Tuning is Disable Cn002 2 1 Continuously Auto Tuning is Enabled 0 X 0 1 Pi Pe S 5 5 1 EMC reset mode...

Page 146: ...al logic level status 1 ON 0 OFF Refer to section5 6 1 for setting contact the high Low logic levels 0 msec 2000 2000 ALL 5 6 5 Motor rotate direction Inspect from the load side CCW CW When Torque or Speed Command value is Positive the setting of Motor retation direction are Explanation Setting Torque Control Speed Control 0 Counter ClockWise CCW Counter ClockWise CCW 1 ClockWise CW Counter ClockW...

Page 147: ... to Cn006 0 for setting this parameter 0 X 0 6 ALL 5 6 9 Speed reached preset Cn007 Speed preset level for ClockWise or Counter ClockWise rotation When the speed is greater then preset level in Cn007 the Speed reached output signal INS will be activated Rate rpm 1 3 rpm 0 4500 S T 5 3 12 Brake Mode Selectable Brake modes for Servo off EMC and CCW CW drive inhibit Setting Explanation Dynamic brakes...

Page 148: ...he band width of the frequency lower the band width value in Cn014 restrain frequency Band width will be wider 7 X 1 100 Pi Pe S 5 3 9 PI P control switch mode Setting Explanation 0 Switch from PI to P if the torque command is larger than Cn016 1 Switch from PI to P if the speed command is larger than Cn017 2 Switch from PI to P if the acceleration rate is larger than Cn018 3 Switch from PI to P i...

Page 149: ...ntrol is selected If Position error value is greater than Cn019 P control is selected 0 pulse 0 50000 Pi Pe S 5 3 11 Automatic gain 1 2 switch delay time Cn020 Speed loop 2 to speed loop 1 Change over delay when two control speed loops P I gains 1 2 are used 0 x02 msec 0 10000 Pi Pe S 5 3 11 Automatic gain 1 2 switch condition Torque command Cn021 Set Cn015 1 0 first When torque command is less th...

Page 150: ...in 1 is selected When position error value is greater than Cn024 Gain 2 is selected When Gain 2 is active and position error value becomes less than Cn024 system will automatically switch back to Gain 1 and the switch time delay can be set by Cn020 0 pulse 0 50000 Pi Pe S 5 3 11 Load Inertia ratio Cn025 100 M Inertia J MotorRotor L J aToMotor LoadInerti aRatio LoadInerti 40 x0 1 0 1000 Pi Pe S 5 5...

Page 151: ...contact supplier for more information Default X X ALL 3 2 2 Cooling fan running modes Available for TSTA 50 TSTA 75 Setting Explanation 0 Auto run by internal temperature sensor 1 Run when Servo ON 2 Always Running Cn031 3 Disabled 0 X 0 3 ALL 5 6 8 Speed feed back smoothing filter Cn032 Restrain sharp vibration noise by the setting and this filter also delay the time of servo response 500 Hz 1 10...

Page 152: ...0 Cn037 1 3 38400 1 bps 0 3 ALL 7 Communication protocol Setting Explanation 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCII 2 7 O 1 Modbus ASCII 3 8 N 2 Modbus ASCII 4 8 E 1 Modbus ASCII 5 8 O 1 Modbus ASCII 6 8 N 2 Modbus RTU 7 8 E 1 Modbus RTU Cn038 8 8 O 1 Modbus RTU 0 X 0 8 ALL 7 Communication time out dection Cn039 Setting non zero value to enable this function communication Time should be in the ...

Page 153: ...etting Explanation 0 Disabled Tn101 1 Enabled 0 X 0 1 T 5 2 3 Linear accel decel time period Tn102 Time taken for the torque command to linearly accelerate to the rated torque level or Decelerate to zero torque 1 msec 1 50000 T 5 2 3 Analog Torque Command Ratio Tn103 Slope of voltage command Torque command can be adjusted 300 10V 0 300 T 5 2 1 ...

Page 154: ... Limit 2 Torque control mode Tn106 In Torque control input contacts SPD1 and SPD2 can be used to select Preset speed limit 2 As follows Input Contact SPD2 Input Contact SPD1 1 0 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels 200 rpm 0 3000 T 5 2 6 Preset Speed Limit 3 Torque control mode Tn107 In Torque control input contacts SPD1 and SPD2 can be use...

Page 155: ...fer to 5 6 1 to set high or low input logic levels 200 rpm 3000 3000 S 5 3 1 Internal Speed Command 3 Sn203 In Speed control input contacts SPD1 and SPD2 can be used to select 3 sets of internal speed command select for speed command 3 contact status shows below Input Contact SPD2 Input Contact SPD1 1 1 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels ...

Page 156: ... this function then set the time period for the speed to rise to 63 2 of the full speed 1 msec 1 10000 S 5 3 6 Speed command linear accel decel time constant Sn207 Set Sn205 2 to enable this function then set the time period for the speed to rise linearly to full speed 100 50 Ratio Speed Speed Command Speed Command Sn207 Time ms 1 msec 1 50000 S 5 3 6 ...

Page 157: ...deceleration time setting Sn210 Refer Sn208 200 msec 0 5000 S 5 3 6 Speed loop Gain 1 Sn211 Speed loop gain has a direct effect on the frequency response bandwidth of the Speed control loop Without causing vibration or noise Speed loop gain can be increased to obtain a faster speed response If Cn025 load Inertia ratio is set correctly the speed loop bandwidth will equal to speed loop gain 40 Hz 10...

Page 158: ... speed is lower than Sn215 value Output contact ZS is activated 50 rpm 0 4500 S 5 3 12 Analog Speed Command Ratio Sn216 Slope of voltage command Speed command can be adjusted Rate rpm rpm 10V 100 4500 S 5 3 2 Analog Speed Command offset adjust Sn217 The offset amount can be adjusted by this parameter Input Voltage V Offset Voltage Speed Command rpm 0 mV 10000 10000 S 5 3 3 Analog speed command lim...

Page 159: ...tatue of the input contacts GN1 GN2 should be as follows Input Contact GN2 Input Contact GN1 0 0 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels 1 X 1 50000 Pi Pe 5 4 3 Electronic Gear Ratio Numerator 2 Pn303 Use input contacts GN1 GN2 to select one of four electronic Gear Ratio Numerators To select Numerator 2 the statue of the input contacts GN1 GN2...

Page 160: ...r value is higher then number of pulses set in Pn308 an Alarm message AL 11 Position error value alarm will be displayed 50000 pulse 0 50000 Pi Pe 5 4 9 Incorrect position Error band lower limit Pn309 When the Position error value is lower then number of pulses set in Pn309 an Alarm message AL 11 Position error value alarm will be displayed 50000 pulse 0 50000 Pi Pe 5 4 9 Position Loop Gain 1 Pn31...

Page 161: ...tion Definition CCW CW Setting Explanation 0 CW Clockwise Pn314 1 CCW Counter Clockwise 1 X 0 1 Pi Pe 5 4 5 Pulse Error Clear Modes Setting Explanation 0 Once CLR signal is activated it eliminates the Pulse error amount Pe 1 Once CLR signal is activated following takes place The position command is cancelled Motor rotation is interrupted Pulse error amount is cleared Machine home reference is rese...

Page 162: ...tion Number x Pulse number of One Rotate x 4 Pn318 Pulse number 0 pulse 32767 32767 Pi 5 4 2 Internal Position Command 1 Move Speed Pn319 Setting the Move Speed of internal Position Command 1 0 rpm 0 3000 Pi 5 4 2 Internal Position Command 2 Rotation Number Pn320 Please refer to Pn317 0 rev 30000 30000 Pi 5 4 2 Internal Position Command 2 Pulse Number Pn321 Please refer to Pn318 0 pulse 32767 3276...

Page 163: ...ernal Position Command 7 Pulse Number Pn336 Please refer to Pn318 0 pulse 32767 32767 Pi 5 4 2 Internal Position Command 7 Move Speed Pn337 Please refer to Pn319 0 rpm 0 3000 Pi 5 4 2 Internal Position Command 8 Rotation Number Pn338 Please refer to Pn317 0 rev 30000 30000 Pi 5 4 2 Internal Position Command 8 Pulse Number Pn339 Please refer to Pn318 0 pulse 32767 32767 Pi 5 4 2 Internal Position C...

Page 164: ...osition Command 13 Rotation Number Pn353 Please refer to Pn317 0 rev 30000 30000 Pi 5 4 2 Internal Position Command 13 Pulse Number Pn354 Please refer to Pn318 0 pulse 32767 32767 Pi 5 4 2 Internal Position Command 13 Move Speed Pn355 Please refer to Pn319 0 rpm 0 3000 Pi 5 4 2 Internal Position Command 14 Rotation Number Pn356 Please refer to Pn317 0 rev 30000 30000 Pi 5 4 2 Internal Position Com...

Page 165: ...or CWL can be used as the Home Reference Switch Once Home position is detected then input contacts CCWL and CWL will act as normal max limits again Note When using this function Pn365 1 can not be set to 1 or 2 Cn002 1 selection for CCWL and CWL must be set to 0 2 Once the home routine is activated motor will search for Home position switch in 1st speed in CCW direction and sets the Home reference...

Page 166: ... switch or signal is detected motor reverses direction in 2nd speed to find the nearest Z Phase pulse and sets this as the Home position then stops in accordance with Pn365 3 setting method 1 Once the Home Reference switch or signal is detected motor Continues in its direction in 2nd speed to find the nearest Z Phase pulse and sets this as the Home position then stops in accordance with Pn365 3 se...

Page 167: ...coder feed back pulse number are all 0 motor decelerates and stops 0 X 0 1 Pi Pe 5 4 8 Machine Home reference search speed 1st speed Fast Pn366 HOME Refeence search speed Speed 1 100 rpm 0 2000 Pi Pe 5 4 8 Machine Home position search speed 2nd Speed Slow Pn367 Home position search speed Speed 2 50 rpm 0 500 Pi Pe 5 4 8 Home position offset Number of revolutions Pn368 Once the searched home positi...

Page 168: ...Speed Loop Gain 2 Same function as Sn213 qn403 Refer to qn401 40 Hz 10 450 Pi Pe S 5 3 8 5 5 Speed Loop Integration Time Constant 2 Same function as Sn214 qn404 Refer to qn402 100 x0 2 ms 1 500 Pi Pe S 5 3 8 5 5 Position Loop Gain 1 Same function as Pn310 qn405 Without causing vibration or noise on the mechanical system the position loop gain value can be increased to speed up response and shorten...

Page 169: ... GN2 Electronic Gear Ratio Numerator 2 12 PTRG Position Trigger 13 PHOLD Position Hold 14 SHOME Start Home 15 ORG Home Position Reference Origin 16 POS1 Internal Position select 1 17 POS2 Internal Position select 2 18 POS3 Internal Position select 3 19 POS4 Internal Position select 4 1A TRQINV Torque Inverse 1B RS1 Torque CW Selecting Hn501 0 Hn501 1 1C RS2 Torque CCW Selecting 01 X 01 26 DI 1 Log...

Page 170: ...arse refer to Hn501 008 X 001 11C ALL 5 6 1 DI 9 Hn509 Plearse refer to Hn501 009 X 001 11C ALL 5 6 1 DI 10 Hn510 Plearse refer to Hn501 00A X 001 11C ALL 5 6 1 DI 11 Hn511 Plearse refer to Hn501 00B X 001 11C ALL 5 6 1 DI 12 Hn512 Plearse refer to Hn501 00C X 001 11C ALL 5 6 1 DI 13 Hn513 Plearse refer to Hn501 00E X 001 11C ALL 5 6 1 New setting will become effective after re cycling the power W...

Page 171: ...n514 2 1 Open when the output is activated 0 X 0 1 ALL 5 6 1 DO 2 Hn515 Plearse refer to Hn514 002 X 001 108 ALL 5 6 1 DO 3 Hn516 Plearse refer to Hn514 003 X 001 108 ALL 5 6 1 DO 4 Hn517 Plearse refer to Hn514 006 X 001 108 ALL 5 6 1 New setting will become effective after re cycling the power Warning If any of programmable Inputs of DI 1 DI 13 are set for the same type of function then the logic...

Page 172: ... communication Ex Set DI 1 3 6 10 12 for communication control other pins by external terminal The corresponding binary code is 0 1010 0010 0101 convert to Hex code is H 0A25 for entering parameter For the setting Bit0 DI 1 is control by communication and Bit1 DI 2 is control by external terminal etc H0000 X H0000 H1FFF HEX ALL 5 6 1 7 Setting digital input status in communication mode Hn519 Chang...

Page 173: ...External CCW Torque Limit Command Value Ex Display 100 Means current external CCW torque limit command is set to 100 Un 13 External CW Torque LimitCommand Value Ex Display 100 Means current external CW toque limit command is set to 100 Un 14 Motor feed back Rotation value absolute value rev After power on it displays motor rotation number as an absolute value Un 15 Motor feed back Less then 1 rota...

Page 174: ... dn 01 Selected control mode dn 02 Output terminal signal status dn 03 Input terminal signal status dn 04 Software version dn 05 JOG mode operation dn 06 Hold position dn 07 Auto offset adjustment of external analog command volta dn 08 Servo model code 3 2 2 ...

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Page 176: ... 485 Driver terminal 485 Driver terminal D D D D Type 9Pins Type 9Pins Type 9Pins Type 9Pins PC terminal D PC terminal D PC terminal D PC terminal D Type 9Pins female Type 9Pins female Type 9Pins female Type 9Pins female 1 2 3 5 6 8 CN3 CN4 8 8 8 8 Data RS 485 Serial data Communication 7 7 7 7 6 6 6 6 Data RS 485 Serial data Communication 5 5 5 5 4 4 4 4 3 3 3 3 2 2 2 2 1 1 1 1 Name Name Name Name...

Page 177: ...Hex representation Ss Check Sum Ss R 5 X x Unit Byte Hex representation Ex1 Read register address 30H and Convert R530 into ASCII codes Check Sum 52H 35H 33H 30H EA H Æ R 5 3 0 Obtain Function code for read register address 30H R530EA Servo drive response XxYySs Ss is Check Sum Ss X x Y y Response message of example 1 0008H is the data store in register address 30H Check Sum 25H 30H 30H 30H 38H ED...

Page 178: ...Sum 4CH 35H 36H 30H E7 L 5 6 0 Obtain Function code for read register address 60H L560E7 Servo drive response XxYyAaBbSs Ss is Check Sum Ss X x Y y A a B b XxYy is the data store in register address Nn 1 AaBb is the data store in register address Nn Response message of example 2 0001 000AH is the data store in register 60H Check Sum 25H 30H 30H 30H 31H 30H 30H 30H 41H 1B7H 0 0 0 1 0 0 0 A Drive re...

Page 179: ...e response ASCII code 21H 4 Write consecutive 2 words to drive Function code format M5NnXxYyAaBbSs Nn Address for write data Unit Byte Hex representation XxYy Writes the data contents of address Nn 1 Unit Word Hex representation AaBb Writes the data contents of address Nn Unit Word Hex representation Ss Check Sum Ss M 5 N n X x Y y A a B b Unit Byte Hex representation Ex4 Write data 0002 000BH to ...

Page 180: ... or RTU ASCII American Standard Code for information interchange Mode and RTU Remote Terminal Unit Mode Use Cn038 to select ASCII or RTU mode Coding method ASCII Mode 8 bits Data consist of two ASCII code Ex Data 26H 1 byte the 26 convert to ASCII code is include character 2 Æ 32H and 6 Æ 36H ASCII Chart 0 9 and A F Character 0 1 2 3 4 5 6 7 ASCII code Hex 30H 31H 32H 33H 34H 35H 36H 37H Character...

Page 181: ...s Character Frame 10 bits 7O1 Start bit 0 1 2 3 4 5 6 Odd parity Stop bit Data 7 bits Character Frame 10 bits 11 bits Frame 8 bits Data 8N2 Start bit 0 1 2 3 4 5 6 7 Stop bit Stop bit Data 8 bits Character Frame 11 bits 8E1 Start bit 0 1 2 3 4 5 6 7 Even parity Stop bit Data 8 bits Character Frame 11 bits 8O1 Start bit 0 1 2 3 4 5 6 7 Odd parity Stop bit Data 8 bits Character Frame 11 bits ...

Page 182: ...depend on Function code LRC Check code Include 2 ASCII code within 1 byte END 1 END 1 CR 0DH Char r END 0 END 0 LF 0AH Char n RTU Mode Symbol Name Description STX Comm start Excess comm loss time setting 10ms ADR Slave address 1 byte Comm address 1 254 convert to Hex representation Ex Comm address 20 convert representation to 14 Hex ADR 14H Function Code Function code 1 byte Function codes 03H Rea...

Page 183: ...e 4 Exception code 2 0 0 7 Register ADD Lo 0 Hi 0 LRC A 0 B END1 CR 0DH 0 Data of 0200H Lo 1 END0 LF 0AH 0 1 Data length word 2 Hi F F 4 LRC 8 Data of 0201H Lo 0 END1 CR 0DH E END0 LF 0AH LRC 8 END1 CR 0DH END0 LF 0AH RTU Mode Query PC Æ Servo Response Servo ÆPC OK Servo Æ PC ERROR ADR 01H ADR 01H ADR 01H Function Code 03H Function Code 03H Function Code 83H Hi 02H Data Byte 04H Exception 02H Regi...

Page 184: ... 0 7 Register ADD Lo 0 Register ADD Lo 0 LRC 6 0 0 END1 CR 0DH 0 0 END0 LF 0AH 6 6 Write data word 4 Write data word 4 9 9 LRC 3 LRC 3 END1 CR 0DH END1 CR 0DH END0 LF 0AH END0 LF 0AH RTU Mode Query PC Æ Servo Response Servo ÆPC OK Servo Æ PC ERROR ADR 01H ADR 01H ADR 01H Function Code 06H Function Code 03H Function Code 86H Hi 02H Hi 02H Exception code 03H Registe r ADD Lo 00H Registe r ADD Lo 00H...

Page 185: ...unction Code 8 0 0 0 HI 0 HI 0 Exception code 3 0 0 7 Sub Function Lo 0 Sub Function Lo 0 LRC 4 A A END1 CR 0DH 5 5 END0 LF 0AH 3 3 Data word 7 Data word 7 1 1 LRC B LRC B END1 CR 0DH END1 CR 0DH END0 LF 0AH END0 LF 0AH RTU Mode Query PC Æ Servo Response Servo ÆPC OK Servo Æ PC ERROR ADR 01H ADR 01H ADR 01H Function Code 08H Function Code 08H Function Code 88H HI 00H HI 00H Exception code 03H Sub ...

Page 186: ...ponse Servo ÆPC OK Servo Æ PC ERROR STX STX STX 0 0 0 ADR 1 ADR 1 ADR 1 1 1 9 Function Code 0 Function Code 0 Function Code 0 0 0 0 HI 1 HI 1 Exception code 2 0 0 6 Register ADD Lo 0 Register ADD Lo 0 LRC D 0 0 END1 CR 0DH 0 0 END0 LF 0AH 0 0 Data length word 2 Data length word 2 0 E Byte counters byte 4 LRC C 0 END1 CR 0DH HI 0 END0 LF 0AH 6 ADD 0100H Lo 4 0 HI 1 C ADD 0101H Lo 2 5 LRC 7 END1 CR ...

Page 187: ...de and CRC RTU Mode Check methods LRC Checking ASCII Mode LRC Longitudinal Redundancy Check checking method The LRC is calculated by adding together successive 8 bit bytes of the message discarding any carries Ex add ADR Function code register address and data contents together if it get the sum 19DH then discard carrier 1 and find two s complement for 9DH to obtain LRC code Ex Execute diagnostic ...

Page 188: ...st followed by the high order byte For example if the CRC value is 1241 hex the CRC 16 Low put the 41h the CRC 16 Hi put the 12h Example An example of a C language function performing CRC generation is shown on the following pages All of the possible CRC values are preloaded into two arrays which are simply indexed as the function increments through the message buffer One array contains all of the...

Page 189: ...41 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x...

Page 190: ... 0xBC 0x7C 0xB4 0x74 0x75 0xB5 0x77 0xB7 0xB6 0x76 0x72 0xB2 0xB3 0x73 0xB1 0x71 0x70 0xB0 0x50 0x90 0x91 0x51 0x93 0x53 0x52 0x92 0x96 0x56 0x57 0x97 0x55 0x95 0x94 0x54 0x9C 0x5C 0x5D 0x9D 0x5F 0x9F 0x9E 0x5E 0x5A 0x9A 0x9B 0x5B 0x99 0x59 0x58 0x98 0x88 0x48 0x49 0x89 0x4B 0x8B 0x8A 0x4A 0x4E 0x8E 0x8F 0x4F 0x8D 0x4D 0x4C 0x8C 0x44 0x84 0x85 0x45 0x87 0x47 0x46 0x86 0x82 0x42 0x43 0x83 0x41 0x81...

Page 191: ...rol switch Mode Torque Command 0011 5F9H Cn017 PI P control switch Mode Speed Command 0012 5FAH Cn018 Switch condition in PI P mode accelerate Command 0013 5FBH Cn019 PI P control switch Mode position error number 0014 53CH Cn020 Automatic Gain 1 2 switch delay time 0015 53DH Cn021 Automatic Gain 1 2 switch condition Torque command 0016 53EH Cn022 Automatic Gain 1 2 switch condition Speed Command ...

Page 192: ...que output monitor value Speed control parameters Address RS485 RS232 Parameter Name of parameter 0201 536H Sn201 Internal Speed Command 1 0202 537H Sn202 Internal Speed Command 2 0203 538H Sn203 Internal Speed Command 3 0204 529H Sn204 Zero Speed preset selection 0205 52AH Sn205 Speed command acceleration deceleration methods 0206 52BH Sn206 Speed command Smooth acceleration deceleration time con...

Page 193: ... Loop Feed Forward Gain 030DH 55CH Pn313 Position command Smooth Accel Decel time constant 030EH 55DH Pn314 Position Command Direction definition 030FH 51FH Pn315 Position Pulse error clear mode 0310H 50DH Pn316 Internal Position Command Mode 0311H 568H Pn317 Internal Position Command 1 Rotation Number 0312H 569H Pn318 Internal Position Command 1 Pulse Number 0313H 56AH Pn319 Internal Position Com...

Page 194: ...0 5AFH Pn348 Internal Position Command 11 Pulse Number 0331 5B3H Pn349 Internal Position Command 11 Move Speed 0332 5E0H Pn350 Internal Position Command 12 Rotation Number 0333 5E1H Pn351 Internal Position Command 12 Pulse Number 0334 5E3H Pn352 Internal Position Command 12 Move Speed 0335 5E4H Pn353 Internal Position Command 13 Rotation Number 0336 5E5H Pn354 Internal Position Command 13 Pulse Nu...

Page 195: ...l inupt 0504 5C3H Hn504 DI 4 Pragrammable digital inupt 0505 5C4H Hn505 DI 5 Pragrammable digital inupt 0506 5C5H Hn506 DI 6 Pragrammable digital inupt 0507 5C6H Hn507 DI 7 Pragrammable digital inupt 0508 5C7H Hn508 DI 8 Pragrammable digital inupt 0509 5C8H Hn509 DI 9 Pragrammable digital inupt 050A 5C9H Hn510 DI 10 Pragrammable digital inupt 050B 5CAH Hn511 DI 11 Pragrammable digital inupt 050C 5...

Page 196: ...xternalVoltage Command 060A 6B7H Un 10 Vdc Bus Main Loop Voltage 060B 695H Un 11 External Spped Limit Command Value 060C 6C0H Un 12 External CCW Torque Limit Command Value 060D 6C1H Un 13 External CW Torque Limit Command Value 060E 8BBH Un 14 Motor feed back Rotation value absolute value 060F 8BAH Un 15 Motor feed back Less then one rotation pulse value absolute value 0610 8C5H Un 16 Pulse command...

Page 197: ...For Alarm List refer to the section 8 2 In the example above AL 01 indicate Under Voltage There is also an Alarm history which can record ten entry of alarm record History record is listed as alarm history record table shows Alarm History Record Display Explanation AL The Latest Alarm A1 Previous First Alarm A2 Previous Second Alarm A3 Previous Third Alarm A4 Previous Fourth Alarm A5 Previous Fift...

Page 198: ... 2 Press MODE key to enter the Alarm History record 3 Press Key to view the Alarm 1 message that previously happened and the alarm code is 03 Overload 4 Press Key again to view Alarm 2 message and repeat this to see entire alarm history list In this example Alarm code is 01 Under voltage 5 Press MODE key once to view System Parameters Repeat this to select all other available parameters ...

Page 199: ...ears during operation Extend ac deceleration time or reduce load ratio in the permitted range Otherwise an external regeneration resistor is needed Please contact your supplier for assistance Turn ALRS DI ON 1 1 0 1 Motor Over load 03 The drive has exceeded its rated load during continuous operation When the loading is equal to 2 times of rated loading alarm occurs within 10sec 1 Check connection ...

Page 200: ...ould be the same for all inputs DI 1 DI 13 2 Check parameters setting of Hn514 Hn517 should NOT be the same for outputs contact DO 1 DO 4 Reset Power Supply 1 0 0 0 Memory Error 08 Parameter write in error Disconnect all command cable then re cycle the power If alarm still occurs it means the Drive was failure Reset Power Supply 0 1 1 1 Emergency Stop 09 When the input contact point EMC is activat...

Page 201: ...peed command 2 Electronic gear ratio is incorrect check and set correctly 3 Adjust speed loop gains Sn211 Sn213 for a better motor response Turn ALRS DI ON 0 0 1 1 CPU Error 13 Control system Mal function Turn off the power Turn on again after 30min If error alarm still exists this may be due to external interference Refer to the chapter 2 Motor power cable and control signals connections Reset Po...

Page 202: ...s rectified disable SON signal Switch off Servo ON then press the buttons and at the same time to reset Alarm and the drive will be ready for operation 2 Power reset Once the cause of Alarm is rectified disable SON signal Switch off Servo ON and re cycling power Alarm condition can be reset and the drive will be ready for operation Waning 1 Before applying power rest ensure that SON is off SON sig...

Page 203: ...er Supply Control Circuit R S Single Phase 200 230Vac 50 60Hz 5 Cooling System Natural Air Cooling Fan Cooling Control of Main Circuit Three phase full wave rectification IGBT SVPWM Control Control Mode Position Pulse input Position Internal control Speed Torque Position Speed Speed Torque Position Torque Resolution of Encoder Feedback Incremental type 2000ppr 2500ppr 8192ppr Regeneration Dynamic ...

Page 204: ...d Source External Analog Command 3 Stage internal Parameters Analog voltage input range 10Vdc Input Impedance Approx 10k ohm Speed Control Range 1 5000 Internal speed control 1 2000 External analog voltage control Speed fluctuation Rate 0 03 or less at Load fluctuation 0 to 100 at Rated Speed 0 2 or less at power fluctuation 10 at Rated Speed 0 5 or less at ambient temperature fluctuation 0 to 50 ...

Page 205: ...ntrol model switching forward reverse switching internal speedsetting inhibit pulse command Fix Output To 4 Ports Reached Torques Limits In Position Forward Reverse Drive Inhibit Base Block Alarm Bit Output Digital DO Output Optional Input to 4 ports Servo Motor Warning Servo Ready Zero Speed Positioning Completed Speed Reach Brake interlock Home Completed Analog Monitoring Output Monitor Signal c...

Page 206: ...9 4 Dimension for TSTA 15 and TSTA 20 ...

Page 207: ...9 5 Dimension for TSTA 30 ...

Page 208: ...9 6 Dimension for TSTA 50 and TSTA 75 ...

Page 209: ... 08 86 13 130 Motor Speed A 1000 rpm B 2000 rpm C 3000 rpm H 1500 rpm Rated power 050 50 W 101 100W 201 200 W 301 300 W 401 400 W 551 550 W 751 750W 102 1 KW 152 1 5 KW 202 2 KW 302 3 KW Others AC input voltage 2 single phase220V 3 3 phase 220V Optional N None B Brake G Gear Box Lead Wire length A Military Conn 3 300mm long Encolder F 2000 ppr H 2500ppr L 8192 ppr ...

Page 210: ... To customize motors please contact with us or our agent 1 kgf cm 0 0980665 N m 1 gf cm s2 0 980665 kg cm2 SPECIFICATION TSB 07 08 SERIES 9 8 ...

Page 211: ...DIMENSION TSB 07 08 SERIES 9 9 ...

Page 212: ...SPECIFICATION TSB 13 SERIES To customize motors please contact with us or our agent 1 kgf cm 0 0980665 N m 1 gf cm s 2 0 980665 kg cm2 9 10 ...

Page 213: ...SPECIFICATION DIMENSION TSB 13 SERIES To customize motors please contact with us or our agent 1 kgf cm 0 0980665 N m 1 gf cm s2 0 980665 kg cm2 9 11 ...

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Page 216: ...Power Connector MS 4pin DTY3CMS08A2018S00 Encoder Connector MS 9pin DTY3CMS06A2004S00 Power Connector MS 4pin DTY3CMS06A2018S00 Encoder Connector MS 9 pin DTY3FCB01MUVWCB00 1M Power Cable AMP DTY3FCB03MUVWCB00 3M Power Cable AMP DTY3FCB05MUVWCB00 5M Power Cable AMP DTY3FCB10MUVWCB00 10M Power Cable AMP DTY3FCB01M0PGCB00 1M Encoder Cable AMP 3M DTY3FCB03M0PGCB00 3M Encoder Cable AMP 3M DTY3FCB05M0P...

Page 217: ... Cable MSL DTY3FCB05MUVWMB00 5M L type Power Cable MSL DTY3FCB10MUVWMB00 10M L type Power Cable MSL DTY3FCB01M0PGMB00 1M L type Encoder Cable MSL D SUB DTY3FCB03M0PGMB00 3M L type Encoder Cable MSL D SUB DTY3FCB05M0PGMB00 5M L type Encoder Cable MSL D SUB DTY3FCB10M0PGMB00 10M L type Encoder Cable MSL D SUB ...

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